Vehicle testing method, vehicle testing device and electronic equipment

Abstract

The invention provides a vehicle testing method, a vehicle testing device and electronic equipment, and relates to the technical field of vehicle test.The method comprises the steps that when a vehicle actuator is iteratively updated, a historical control instruction corresponding to a to-be-tested scene is obtained according to historical driving data; according to the historical control instruction corresponding to the to-be-tested scene, generating a target control instruction corresponding to the vehicle actuator after iteration updating; and controlling the iteratively updated vehicle actuator according to the target control instruction to obtain a test result of the iteratively updated vehicle actuator in the to-be-tested scene. By adopting the scheme, the reproduction difficulty of the target control instruction adopted for testing the actuator is reduced, and the testing efficiency of the actuator is improved.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle testing technology, and in particular to a vehicle testing method, a vehicle testing device, and electronic equipment. Background Technology

[0002] The various vehicle functions provided by a vehicle (such as intelligent driving functions) are typically performed by the vehicle's controller and actuators. Specifically, the controller receives signals from various sensors, performs calculations and judgments based on preset control strategies and algorithms, and then issues control commands to the actuators. The actuators respond to the control commands, driving the vehicle's physical components to move, thereby changing the vehicle's operating state.

[0003] The responsiveness of actuators to control commands directly determines whether various vehicle functions can be performed correctly. To test whether actuators can respond normally during actual vehicle operation, related technologies simulate various driving scenarios using target vehicles and specific roads. In these simulated scenarios, the vehicle can issue control commands similar to those used in actual driving. Then, the actuator's response to these control commands is used to determine whether it can respond normally during actual vehicle operation. While these technologies can reproduce control commands similar to those used in actual driving to test actuators, simulating various driving scenarios is difficult and costly, resulting in low testing efficiency. Summary of the Invention

[0004] This disclosure provides a vehicle testing method, a vehicle testing device, and an electronic device to at least solve the problems of high testing difficulty and low testing efficiency of vehicle actuators in related technologies.

[0005] This disclosure provides a vehicle testing method applied to a vehicle testing device. The method includes: when the vehicle actuator undergoes an iterative update, obtaining historical control commands corresponding to the test scenario based on historical driving data; the historical driving data includes: historical control commands acting on the vehicle actuator during driving in various driving scenarios; generating a target control command corresponding to the iteratively updated vehicle actuator based on the historical control commands corresponding to the test scenario; and controlling the iteratively updated vehicle actuator according to the target control command to obtain the test results of the iteratively updated vehicle actuator in the test scenario.

[0006] In this way, by utilizing the historical control commands generated by the vehicle during its previous driving in various test scenarios, target control commands for controlling the iteratively updated actuators can be generated. This eliminates the need for a target vehicle and roads to construct the test scenario, allowing for the reproduction of the target control commands required for testing the actuators in the test scenario. This reduces the difficulty of reproducing the control commands needed for testing the actuators in the test scenario and improves the testing efficiency of the actuators. Secondly, the target control commands are essentially the same as the historical control commands applied to the actuators by the vehicle during its driving in the test scenario. In other words, the target control commands are equivalent to the control commands applied to the iteratively updated actuators by the vehicle during its driving in the test scenario. By using the control commands applied to the actuators by the vehicle during its driving in the test scenario (i.e., the target control commands), accurate test results of the actuators in the test scenario can be obtained.

[0007] Optionally, the above method further includes: when the vehicle is in a preset state, starting to collect historical control commands sent by the vehicle controller to the vehicle actuator during the vehicle's driving process; the preset state includes a stationary state or a constant speed driving state; until the collection ends, the historical control commands sent by the vehicle controller to the vehicle actuator under each driving scenario are obtained. Historical driving data is generated and saved based on all collected historical control commands.

[0008] In this way, by collecting historical control commands applied to the actuators from a stationary or stable state of the vehicle, and then generating updated target control commands for the actuators based on these historical commands, the target control commands can be applied to the updated actuators while the vehicle is also stationary or stable. This makes it easier to determine when the target control commands should be used on the updated actuators. It also ensures that the timing of the target control commands' application aligns with the timing of historical control commands for the test scenario, guaranteeing that the target control commands are used at the correct time and improving the accuracy of the test results.

[0009] Optionally, the above-mentioned control of the iteratively updated vehicle actuator according to the target control command to obtain the test results of the iteratively updated vehicle actuator in the test scenario includes: sending a target communication message including the target control command to the iteratively updated vehicle actuator; obtaining the target response information of the iteratively updated vehicle actuator to the target communication message; and analyzing the target response information to obtain the test results.

[0010] In this way, after generating target control instructions based on historical control instructions corresponding to the test scenario, the target control instructions can be used to perform control testing on the iteratively updated vehicle actuators. Compared with applying the iteratively updated vehicle actuators to the test scenario for control testing, this improves testing efficiency and reduces testing costs.

[0011] Optionally, the above analysis of the target response information to obtain test results includes: obtaining the first historical performance index of the vehicle actuator and the first historical test result corresponding to the first historical performance index based on the historical joint debugging data of the vehicle actuator in the experimental environment; wherein, the first historical performance index includes at least one of the following: first historical response time and first historical completion rate; the first historical test result includes test success, test failure or first problem to be improved; and analyzing the target response information based on the first historical performance index and the first historical test result to obtain test results.

[0012] In this way, by referring to the first historical performance index and the first historical test result corresponding to the first historical performance index in the historical joint debugging data of the vehicle actuator, the target response information of the iteratively updated vehicle actuator can be automatically analyzed to obtain the test result corresponding to the target response information.

[0013] Optionally, the above method further includes: collecting the first historical response message issued by the vehicle actuator during the historical joint debugging process, where the historical joint debugging process refers to the process of debugging the vehicle actuator in an experimental environment; and generating and saving historical joint debugging data based on the first historical response message.

[0014] In this way, after collecting historical joint debugging data generated by the vehicle actuator during the historical joint debugging process in advance, the historical joint debugging data can be used as an evaluation basis to evaluate the target response information of the vehicle actuator after iterative update, thereby obtaining the test results of the vehicle actuator after iterative update.

[0015] Optionally, the above method further includes: obtaining a second historical performance index of the vehicle actuator and a second historical test result corresponding to the second historical performance index based on the vehicle's historical acceptance data; wherein the second historical performance index includes at least one of the following: second historical response time and second historical completion rate; the second historical test result includes test success, test failure, or a second issue to be improved; and analyzing the target response information based on the second historical performance index and the second historical test result to obtain the test result.

[0016] In this way, by referring to the second historical performance index and the second historical test results corresponding to the second historical performance index in the past historical acceptance data of the vehicle actuator, the target response information of the iteratively updated vehicle actuator can be automatically analyzed to obtain the test results corresponding to the target response information.

[0017] Optionally, the above method further includes: collecting a second historical response message issued by the vehicle actuator during the historical vehicle acceptance process; generating and saving historical acceptance data based on the second historical response message.

[0018] In this way, after collecting historical acceptance data generated by the vehicle actuator during the historical acceptance process in advance, the historical acceptance data can be used as an evaluation basis to evaluate the target response information of the iteratively updated vehicle actuator, thereby obtaining the test results of the iteratively updated vehicle actuator.

[0019] Optionally, the above-mentioned generation of the target control command corresponding to the vehicle actuator after iterative updates based on the historical control commands corresponding to the test scenario includes: generating the target control command including the control parameters based on the control parameters in the historical control commands.

[0020] In this way, the control parameters in the historical control instructions are used to generate the target control instructions, and then the control parameters in the target control instructions can be used to control the actuator.

[0021] Optionally, the above method further includes: obtaining a verification signal corresponding to the target control command; and generating a target communication message based on the verification signal and the target control command. The target communication message includes the verification signal and the target control command.

[0022] In this way, the target communication message sent to the iteratively updated vehicle actuator includes a verification signal. The iteratively updated vehicle actuator can then determine, based on the verification signal in the target communication message, whether the received target communication message was intended for it, and thus decide whether to respond. It can also determine whether the correct target communication message has been received. This ensures the integrity and reliability of communication between the vehicle testing device and the iteratively updated vehicle actuator.

[0023] This disclosure provides a vehicle testing apparatus, including: The instruction generation module is used to: obtain historical control instructions corresponding to the test scenario based on historical driving data when the vehicle actuator undergoes iterative updates; the historical driving data includes: historical control instructions acting on the vehicle actuator during driving in various driving scenarios; and generate target control instructions corresponding to the iteratively updated vehicle actuator based on the historical control instructions corresponding to the test scenario. The control module is used to control the iteratively updated vehicle actuator according to the target control command, so as to obtain the test results of the iteratively updated vehicle actuator in the test scenario.

[0024] Optionally, the above-mentioned device may also include a data acquisition module; The data acquisition module is used to: start collecting historical control commands sent by the vehicle controller to the vehicle actuators during the vehicle's driving process when the vehicle is in a preset state; the preset state includes a stationary state or a constant speed driving state; until the end of the collection, the historical control commands sent by the vehicle controller to the vehicle actuators under each driving scenario are obtained; and generate and save historical driving data based on all the collected historical control commands.

[0025] Optionally, the control module is specifically used for: sending a target communication message including target control instructions to the iteratively updated vehicle actuator; obtaining target response information of the iteratively updated vehicle actuator to the target communication message; and analyzing the target response information to obtain test results.

[0026] Optionally, the control module is specifically used to: obtain the first historical performance index of the vehicle actuator and the first historical test result corresponding to the first historical performance index based on the historical joint debugging data of the vehicle actuator in the experimental environment; wherein, the first historical performance index includes at least one of the following: first historical response time and first historical completion rate; the first historical test result includes test success, test failure or first problem to be improved; and analyze the target response information based on the first historical performance index and the first historical test result to obtain the test result.

[0027] Optionally, the data acquisition module is also used to: acquire the first historical response message issued by the vehicle actuator during the historical joint debugging process, which refers to the process of debugging the vehicle actuator in an experimental environment; and generate and save historical joint debugging data based on the first historical response message.

[0028] Optionally, the control module is specifically used to: obtain a second historical performance index of the vehicle actuator and a second historical test result corresponding to the second historical performance index based on the vehicle's historical acceptance data; wherein, the second historical performance index includes at least one of the following: second historical response time and second historical completion rate; the second historical test result includes test success, test failure, or a second issue to be improved; and analyze the target response information based on the second historical performance index and the second historical test result to obtain the test result.

[0029] Optionally, the data acquisition module is also used to: acquire second historical response messages issued by the vehicle actuators during historical vehicle acceptance processes; and generate and save historical acceptance data based on the second historical response messages.

[0030] Optionally, the control module is also used to: acquire the verification signal corresponding to the target control command; and generate a target communication message based on the verification signal and the target control command. The target communication message includes the verification signal and the target control command.

[0031] This disclosure provides an electronic device including a memory and a processor, wherein the memory stores executable program code, and the processor is used to call and execute the executable program code to perform any optional vehicle testing method as described above.

[0032] This disclosure provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements any of the optional vehicle testing methods performed by the vehicle testing apparatus described above.

[0033] This disclosure provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned related steps to implement any of the optional vehicle testing methods performed by the aforementioned vehicle testing apparatus.

[0034] The above description is merely an overview of the technical solution disclosed herein. In order to better understand the technical means of this disclosure and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this disclosure more apparent and understandable, specific embodiments of this disclosure are described below. Attached Figure Description

[0035] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this disclosure. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 A schematic diagram of a vehicle testing system provided in an embodiment of this disclosure is shown. Figure 1 ; Figure 2 A schematic diagram of two actuator control methods provided by related technologies is shown; Figure 3 A schematic diagram of a vehicle testing system provided in an embodiment of this disclosure is shown. Figure 2 ; Figure 4 One of the flowcharts of a vehicle testing method provided in this disclosure is shown; Figure 5 A second schematic flowchart of a vehicle testing method provided in this disclosure is shown. Figure 6 The third schematic flowchart of a vehicle testing method provided in this disclosure is shown; Figure 7 The fourth schematic flowchart of a vehicle testing method provided in this disclosure is shown. Figure 8Fifth of the flowcharts illustrating a vehicle testing method provided in this disclosure is shown; Figure 9 A schematic diagram of the structure of a vehicle testing apparatus provided in an embodiment of this disclosure is shown. Figure 1 ; Figure 10 A schematic diagram of the structure of a vehicle testing apparatus provided in an embodiment of this disclosure is shown. Figure 2 . Detailed Implementation

[0036] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0037] To more clearly illustrate the embodiments of this application, the technical terms used in the embodiments will be briefly introduced below: (1) Vehicle controller and actuator: The controller is the decision-making center of the vehicle control system. The controller is used to receive signals from various sensors, perform calculations and judgments according to preset control strategies and algorithms, and then issue control commands to the actuators. The actuators are used to receive control commands from the controller, drive physical components to move, and thus change the operating state of the vehicle.

[0038] For example, such as Figure 1 As shown, a vehicle may include advanced driver-assistance systems (ADAS). ADAS acts as a controller for the vehicle, controlling several actuators within the vehicle: the Hybrid Control Unit (HCU), the Transmission Control Unit (TCU), the Electronic Stability Program (ESP), the Electric Power Steering (EPS), and the Electronic Park Brake (EPB).

[0039] The HCU (Hydraulic Control Unit) determines when to use the engine, when to use the electric motor, and when to perform energy recovery based on information such as throttle, vehicle speed, and battery charge, and coordinates the operation of the engine and electric motor. The TCU (Total Control Unit) determines when to shift gears and which gear to shift to based on signals such as vehicle speed, throttle, and driving mode. The ESP (Electronic Stability Program) monitors the vehicle's driving status in real time (using sensors such as wheel speed, steering angle, and yaw rate); when it detects loss of control or slippage, it decides which wheels to brake to restore vehicle stability. The EPS (Electronic Power Steering) receives steering wheel angle, torque, and vehicle speed signals to calculate and determine the amount of steering assistance needed. The EPB (Electronic Power Assist) receives parking commands and controls the clamping or releasing of the parking brake.

[0040] (2) The actuator commissioning process, the actual vehicle testing process, and the vehicle acceptance process are three key stages that are both independent and closely connected. Together, they ensure that the vehicle's functions, performance, and safety from parts to the whole vehicle meet the design goals.

[0041] The actuator integration testing process refers to individually testing the function of a single actuator in an experimental environment to verify whether it operates as designed. Specifically, the debugging tool sends test messages to the actuator and observes its response. For example, integration testing is performed on each actuator controlled by ADAS (such as HCU, TCU, ESP, EPS, EPB) to verify whether the actuator can correctly respond to control commands sent by its controller (i.e., ADAS).

[0042] Real-vehicle testing refers to verifying the functionality and performance of the entire vehicle (including all electronic components, mechanical systems, and body systems) under various driving scenarios. Real-vehicle testing can uncover issues not apparent during actuator integration testing. For example, an actuator that responds quickly during integration testing may exhibit a delayed response due to changes in pipeline pressure within the vehicle's thermal management system; a sensor signal that is stable in the laboratory may be interfered with in the electromagnetic environment of a real vehicle, causing abnormal actuator operation.

[0043] The vehicle acceptance process refers to the final confirmation of a vehicle's conformity based on specific standards (such as vehicle standards or manufacturer standards).

[0044] (3) Controller Area Network (CAN) bus: This is a reliable and low-cost in-vehicle network communication protocol widely used in vehicles. It allows vehicle controllers and actuators to communicate with each other without a host computer. Various electronic control units (e.g., controllers and actuators) in the vehicle are connected together via the CAN bus to exchange data.

[0045] The CAN bus includes the ADAS-CAN bus, which is one of the multiple CAN buses inside the vehicle. It is specifically responsible for connecting the sensors, controllers and actuators related to the ADAS system, enabling them to exchange data at high speed and reliably.

[0046] (4) CANoe: It is a bus development, testing and analysis platform that not only supports traditional automotive buses such as CAN bus and LIN bus, but also fully covers modern vehicle networks, such as controller area network with flexible data rate (CAN FD) and Ethernet.

[0047] For example, such as Figure 1 As shown, the development test tool CANoe may include: a graphical user interface module (panel), a communication access programming language (CAPL) for describing test logic and simulation logic, a graphics display module (graphics), a trace module (trace), a logging module (logging), etc.

[0048] The graphical user interface module (panel) is CANoe's interactive control panel, used to create custom dashboards, control buttons, sliders, indicator lights, etc., so that users can intuitively monitor bus data (such as vehicle speed and RPM) or manually send control commands.

[0049] The programming language (CAPL) can be used to write automated test cases, defining when to send what messages, how to wait for and judge responses, and how to report test results (Pass / Fail).

[0050] The graphics module is CANoe's data visualization tool, used to dynamically display the acquired bus data in the form of charts.

[0051] The trace module is used to monitor bus communication in real time. Specifically, it displays all messages sent and received on the bus in real time as a time-ordered list.

[0052] The logging module is used for offline data storage and analysis. Specifically, it records information such as bus data, test results, and panel operations to hard disk files according to the set format and trigger conditions.

[0053] Currently, to test whether the actuator can respond normally during actual vehicle operation, or to test the performance of the actuator, the relevant technologies employ the following two control methods to control the actuator and obtain the test results. For example... Figure 2 As shown, two control methods for actuators are provided by related technologies. The first control method includes: using a vehicle-independent testing device (e.g., CANoe) to generate waveform signals (e.g., ramp signals, sine signals, step signals, etc.), sending these waveform signals as control signals to the actuator, analyzing the actuator's response to the waveform signals, and obtaining test results. The second control method includes: simulating various driving scenarios using a target vehicle and specific roads, with the vehicle, including the actuator and controller, driving in the simulated driving scenarios. The controller can send control commands to the actuator similar to those used in actual driving; then, analyzing the actuator's response to the control commands to obtain test results.

[0054] It is known that although the first control method is easy to implement, the waveform signal generated by the vehicle testing device differs from the control signal issued by the controller during vehicle operation, and the test results obtained using this waveform signal are not accurate enough. Secondly, this waveform signal cannot reproduce the control signal issued by the controller during vehicle operation in some driving scenarios. Therefore, it can be concluded that the test results of the actuator in some driving scenarios cannot be obtained using this waveform signal.

[0055] In addition, although the second control method can reproduce the control commands issued by the vehicle in various driving scenarios and use them to control the actuator to obtain the test results of each driving scenario, it is difficult and costly to simulate each driving scenario, resulting in low test efficiency of the actuator.

[0056] To address the aforementioned problems in related technologies, this disclosure utilizes historical control commands generated by the vehicle during its past operation in various test scenarios to generate target control commands for controlling the iteratively updated actuator. This eliminates the need for a target vehicle and roads to construct the test scenario, allowing for the reproduction of the target control commands for controlling the iteratively updated actuator in the test scenario. This reduces the difficulty of reproducing the control commands required for testing the actuator in the test scenario and improves the testing efficiency of the actuator. Furthermore, the target control commands are essentially the same as the historical control commands applied to the actuator by the vehicle during its operation in the test scenario. In other words, the target control commands are equivalent to the control commands applied to the iteratively updated actuator by the vehicle during its operation in the test scenario. By using the control commands applied to the actuator by the vehicle during its operation in the test scenario (i.e., the target control commands) to control the actuator, accurate test results for the actuator in the test scenario can be obtained.

[0057] refer to Figure 3This disclosure provides a vehicle testing system, such as Figure 3 As shown, the system mainly includes a vehicle testing device 310 and an actuator network 320. The vehicle testing device 310 may include a development and testing tool 311 (e.g., CANoe) and a communication module 312. The development and testing tool 311 is used to generate target control commands that act on the actuator network 320 under the test scenario; then, it sends the target control commands to the actuator network 320 through the communication module 312. After receiving the target control commands, the actuator network 320 can send the target response information generated in response to the target control commands to the development and testing tool 311 through the communication module 312.

[0058] In some embodiments, the development and testing tool 311 may be multiple software or software modules in an electronic device, or a single software or software module in an electronic device, without specific limitations.

[0059] In some embodiments, the communication module 312 may be a hardware communication device that supports connection and communication between the development and testing tool 311 and the actuator network 320. For example, the communication module 312 may include a VN1640 network interface device, which supports connection between the communication interface of the development and testing tool 311 and the communication interface of the actuator network 320.

[0060] In some embodiments, the actuator network 320 may include multiple actuators in the vehicle. The actuator network 320 of vehicles with different power sources includes different actuators; for example, the actuator network 320 of a hybrid electric vehicle may include, for example,... Figure 1 The HCU, TCU, ESP, EPS, and EPB are shown. For example, the actuator network 320 of a gasoline or electric vehicle may not include an HCU, but may include an electronic control unit (ECU).

[0061] The vehicle testing device 310 provided in this embodiment may be a device consisting of a development and testing tool 311 (e.g., CANoe) and a communication module 312, or an electronic device integrating the development and testing tool 311 and the communication module 312. The electronic device integrating the development and testing tool 311 and the communication module 312 includes, but is not limited to, tablet computers, personal computers (PCs), etc.

[0062] Based on the aforementioned vehicle testing system, and to address the technical problems of high testing difficulty and low testing efficiency of vehicle actuators, this disclosure provides a vehicle testing method. For example... Figure 4 As shown, a vehicle testing method provided in this disclosure embodiment may include: S401. When the vehicle actuator undergoes an iterative update, obtain the historical control commands corresponding to the test scenario based on the historical driving data; the historical driving data includes: the historical control commands that act on the vehicle actuator during driving in each driving scenario.

[0063] As vehicles of the same model undergo iterative updates, or as vehicles are updated to different models, the actuators (or vehicle actuators) within the vehicle also receive iterative updates. After an actuator undergoes an iterative update, the vehicle testing device can acquire the vehicle's historical driving data and then obtain the historical control commands corresponding to the test scenario based on that data. The vehicle testing device can then use the historical control commands corresponding to the test scenario to control the iteratively updated actuator, thereby obtaining the test results of the iteratively updated actuator under the test scenario.

[0064] The actuator can be any actuator to be tested in the vehicle; for example, the actuator is... Figure 1 The advanced driver assistance system (ADAS) shown refers to one of the following: HCU, TCU, ESP, EPS, and EPB.

[0065] In some embodiments, the vehicle can drive in various driving scenarios to complete the historical real-vehicle testing process before the actuator undergoes iterative updates. The vehicle testing device can acquire and save historical driving data during the historical real-vehicle testing process.

[0066] For example, such as Figure 5 As shown, the process by which the vehicle testing device acquires and saves historical driving data during historical real-vehicle testing may include S501-S503.

[0067] S501. When the vehicle is in a preset state, start collecting historical control commands sent by the vehicle controller to the vehicle actuator during the vehicle's operation; the preset state includes a stationary state or a constant speed driving state.

[0068] The communication module in the vehicle testing device can connect to the controller (or vehicle controller) in the vehicle used to control the actuators. When the vehicle is in a preset state, the vehicle testing device can begin collecting historical control commands sent by the controller to the actuators during the vehicle's operation in various driving scenarios via the communication module. Optionally, the vehicle's operation in various driving scenarios can be referred to as the historical real-vehicle testing process.

[0069] The various driving scenarios can be simulated using target vehicles and roads. Optionally, these scenarios can include: standard test scenarios, daily commuting scenarios, extreme performance scenarios, and ADAS scenarios. The vehicle performance tested differs in each scenario. For example, daily commuting scenarios primarily test frequent start-stop maneuvers, low-speed following, acceleration and overtaking, lane changing, and hill driving; ADAS scenarios primarily test automatic emergency braking (AEB), adaptive cruise control (ACC), and lane keeping assist (LKA).

[0070] Optionally, the above driving scenarios can be further subdivided. For example, daily commuting scenarios can be subdivided into highway scenarios, suburban road scenarios, and hill driving scenarios. This disclosure does not limit the degree of subdivision of driving scenarios.

[0071] In some embodiments, the controller can send historical control instructions to the actuator in historical control messages. Therefore, the vehicle testing device can collect historical control messages sent by the controller to the actuator during vehicle operation, which include historical control instructions.

[0072] Optionally, historical control messages can be any type of network communication message, such as CAN messages, CANFD messages, local interconnect network (LIN) messages, or Ethernet messages. The type of historical control message depends on the type of communication network between the controller and the actuator.

[0073] S502. Until the end of the data collection, the historical control commands sent by the vehicle controller to the vehicle actuator in each driving scenario are obtained.

[0074] The vehicle testing device continuously collects historical control commands sent from the controller to the actuators during real-world vehicle testing until the entire testing process concludes. Since the historical vehicle testing process covers various driving scenarios, the device can obtain the historical control commands sent from the controller to the actuators under each scenario.

[0075] In some embodiments, the vehicle testing device can obtain historical control messages sent by the vehicle controller to the vehicle actuators under various driving scenarios.

[0076] S503. Generate and save the historical driving data based on all collected historical control commands.

[0077] The vehicle testing device can generate and save historical driving data based on all historical control messages, including historical control commands, collected from the system.

[0078] In this way, by collecting historical control commands applied to the actuators from a stationary or stable state of the vehicle, and then generating updated target control commands for the actuators based on these historical commands, the target control commands can be applied to the updated actuators while the vehicle is also stationary or stable. This makes it easier to determine when the target control commands should be used on the updated actuators. It also ensures that the timing of the target control commands' application aligns with the timing of historical control commands for the test scenario, guaranteeing that the target control commands are used at the correct time and improving the accuracy of the test results.

[0079] In some embodiments, the process of generating historical driving data based on all historical control messages may include the following steps: Step S11: Mark the actuator identifier for all historical control messages. The actuator identifier can be used to indicate the actuator that received all historical control messages; for example, the actuator identifier can be a number.

[0080] Step S12: Mark the corresponding test type for all historical control messages. The test type corresponding to all historical control messages can refer to the process that generated all historical control messages, such as the actual vehicle testing process.

[0081] Step S13: Mark the corresponding driving scenario for each historical control message, such as highway scenario, suburban road scenario, and ramp driving scenario.

[0082] Step S14: Obtain the third historical performance index of the actuator corresponding to each historical control message. The third historical performance index may include the third historical response time and the third historical completion rate, etc. Among them, the third historical response time can refer to the time required for the actuator to complete the response to the historical control message; the third historical completion rate can refer to the degree to which the actuator completes the target required by the historical control message.

[0083] Optionally, the vehicle testing device can also collect historical response information of the actuator to each historical control message during historical real vehicle testing; the historical response information corresponding to the historical control message may record a third historical performance index, then the vehicle testing device can read the third historical performance index from the historical response information; or, if the historical response information corresponding to the historical control message does not record a third historical performance index, then the vehicle testing device can obtain the third historical performance index based on the specific content in the historical response information corresponding to the historical control message.

[0084] Step S15: Obtain the third historical evaluation standard corresponding to each historical control message; the third historical evaluation standard is used to evaluate the third historical performance index corresponding to the historical control message; the third historical evaluation standard may include the target duration threshold corresponding to the third historical response duration and the target completion threshold corresponding to the third historical completion degree.

[0085] Step S16: Based on the third historical performance index and third historical evaluation standard corresponding to each historical control message, generate the third historical test result corresponding to each historical control message. The third historical test result may include test success, test failure, or a third issue to be improved. For example, the vehicle testing device can generate at least one third historical test result corresponding to at least one historical control message based on the third historical performance index and the third historical evaluation standard corresponding to at least one historical control message marking the same driving scenario.

[0086] After the vehicle testing device completes the processing of all historical control messages by executing the above steps S11-S16, it can map all historical control messages, the actuator identifiers corresponding to all historical control messages, the test types corresponding to all historical control messages, the driving scenarios corresponding to each historical control message marker, the third historical performance indicators corresponding to each historical control message, the third historical evaluation criteria corresponding to each historical control message, and the third historical test results corresponding to each historical control message to obtain historical driving data and save the historical driving data.

[0087] It can be determined that the historical driving data may include the actuator identifier used to indicate the actuator. Therefore, it can be known that when an actuator in the vehicle sends an iterative update, the vehicle testing device obtains the historical driving data corresponding to that actuator, and the historical driving data corresponding to that actuator includes the actuator identifier used to indicate that actuator.

[0088] In some embodiments, the vehicle testing device can obtain historical control commands acting on the vehicle actuators during driving in the test scenario from historical driving data. These historical control commands acting on the vehicle actuators during driving in the test scenario are the historical control commands corresponding to the test scenario. Optionally, the test scenario may include all driving scenarios, or any several of all driving scenarios.

[0089] Alternatively, the vehicle testing equipment can execute S401 and S501-S503 by developing testing tools.

[0090] S402. Based on the historical control commands corresponding to the test scenario, generate the target control commands corresponding to the vehicle actuators after iterative updates.

[0091] The vehicle testing device can generate target control instructions for controlling the iteratively updated actuators based on the specific content of the historical control instructions corresponding to the test scenario. There can be multiple historical control instructions corresponding to the test scenario, and the vehicle testing device can generate multiple target control instructions based on these multiple historical control instructions.

[0092] In some embodiments, the vehicle testing device can generate a target control command based on the specific content (including control parameters) of each historical control command corresponding to the test scenario. For example, a historical control command requiring acceleration may include acceleration parameters. The vehicle testing device generates a target control command corresponding to the historical control command based on the acceleration parameters in the historical control command. The acceleration parameters may include torque values, enable flags, and operating modes, etc.

[0093] In some embodiments, in addition to generating target control commands, the vehicle testing device may also generate corresponding verification signals for the target control commands. These verification signals are used to ensure the accuracy, integrity, and reliability of the transmission of the target control commands, preventing interference, tampering, or errors during transmission. For example, the verification signal may be a checksum, a cyclic redundancy check, or a rolling counter.

[0094] Alternatively, the vehicle testing equipment can execute S402 by developing testing tools.

[0095] S403. Control the iteratively updated vehicle actuator according to the target control command to obtain the test results of the iteratively updated vehicle actuator in the test scenario.

[0096] The vehicle testing device can send target control commands to the iteratively updated actuators via the communication module; then it can receive the target response information of the iteratively updated actuators in response to the target control commands, and obtain the test results based on the target response information.

[0097] In this way, historical control commands generated by the vehicle during its previous operation in the test scenario are used to generate target control commands for controlling the iteratively updated actuators. The target control commands are essentially the same as the historical control commands applied to the actuators by the vehicle during its operation in the test scenario. In other words, the target control commands are equivalent to the control commands used by the vehicle to control the iteratively updated actuators during its operation in the test scenario. In summary, this approach eliminates the need to build a test scenario to reproduce the control commands (i.e., target control commands) applied to the actuators by the vehicle during its operation in the test scenario, reducing the difficulty of reproducing these commands and thus improving the accuracy of the target control commands for the actuators.

[0098] In some embodiments, such as Figure 6 As shown, S403 may include S601-S603.

[0099] S601, Send a target communication message including target control instructions to the iteratively updated vehicle actuator.

[0100] The vehicle testing device can generate a target communication message containing the target control command based on each target control command; and then send at least one target communication message to the iteratively updated actuator (i.e., the iteratively updated vehicle actuator) through the communication module.

[0101] In some embodiments, the target communication message may further include a check signal and other message data. For example, the other message data may include data used to establish communication with the actuator.

[0102] In this way, the iteratively updated actuator can determine whether the received target communication message was intended for it based on the verification signal in the target communication message, thus deciding whether to respond and whether the correct target communication message has been received. This ensures the integrity and reliability of communication between the vehicle testing device and the iteratively updated actuator.

[0103] In some embodiments, the vehicle testing device can send at least one target communication message to the iteratively updated actuator via a communication module according to preset message sending rules. Optionally, the preset message sending rules may include message sending frequency and conditions that the actuator must meet.

[0104] For example, the conditions that the actuator needs to meet may include the updated actuator operating in an environment where the vehicle is in a preset state. Specifically, if the updated actuator is independent and not installed in the vehicle, the vehicle testing device can simulate an environment where the vehicle is in a preset state for the updated actuator. If the updated actuator is installed in the vehicle, then the vehicle to which the updated actuator belongs is in a preset state, indicating that the updated actuator is operating in an environment where the vehicle is in a preset state.

[0105] For example, the vehicle testing device can start sending a first target communication message from at least one target communication message to the actuator when the actuator is in a preset state, and send at least one target communication message according to the message sending frequency.

[0106] S602. Obtain the target response information of the vehicle actuator to the target communication message after iterative update.

[0107] The vehicle testing device can receive the target response information of the actuator to each target communication message through the communication module after iterative updates.

[0108] In some embodiments, the target response information corresponding to each target communication message may record target performance indicators, and the vehicle testing device can read the target performance indicators from the target response information; alternatively, if the target response information does not record target performance indicators, the vehicle testing device can obtain the target performance indicators based on the specific content in the target response information. The target performance indicators may include target response time and target completion rate, etc.; the target response time may be the time required for the actuator to complete the response to the target control message; the target completion rate may refer to the degree to which the actuator completes the target required by the target control message.

[0109] S603. Analyze the target response information to obtain the test results.

[0110] The vehicle testing device can obtain test results based on the target performance indicators in the target response message. The test results may include successful iterative updates to the actuator, failed iterative updates to the actuator, or target issues that need to be improved in the updated actuator.

[0111] Alternatively, the vehicle testing equipment can execute S403 and S601-S603 by developing testing tools.

[0112] In this way, after generating target control instructions based on historical control instructions corresponding to the test scenario, the target control instructions can be used to perform control testing on the iteratively updated vehicle actuators. Compared with applying the iteratively updated vehicle actuators to the test scenario for control testing, this improves testing efficiency and reduces testing costs.

[0113] In some embodiments, the historical debugging process of the actuator is performed before the actuator undergoes an iterative update. The vehicle testing device can acquire and save historical debugging data during this process. Then, based on the historical debugging data generated during the actuator's historical debugging process, the vehicle testing device can analyze the target response information to obtain test results. Here, the historical debugging process refers to the process of debugging the vehicle actuator in an experimental environment.

[0114] For example, such as Figure 7 As shown, the process of the vehicle testing device acquiring historical debugging data during the historical debugging process of the actuator may include S701-S702, and S603 may include S703-S704.

[0115] S701, Collect the first historical response message sent by the vehicle actuator during the historical commissioning process.

[0116] The vehicle testing device can also collect the first historical response information of the actuator to each historical test message during the historical integration process. The historical test message refers to the network communication message used to control the actuator during the historical integration process. The historical test message can be any type of network communication message, such as CAN message, CAN FD message, LIN message, or Ethernet message. The type of historical test message depends on the type of communication network between the debugging tool and the actuator during the historical integration process.

[0117] S702. Based on the first historical response message, generate and save historical joint debugging data.

[0118] The vehicle testing device can obtain the first historical performance index and the first historical test result corresponding to the first historical performance index based on the first historical response message; then, based on the first historical performance index and the first historical test result corresponding to the first historical performance index, it can generate and save historical joint debugging data.

[0119] The first historical performance metric may include at least one of the following: first historical response time and first historical completion rate. The first historical response time may refer to the time required for the actuator to respond to historical test messages during the integration process; the first historical completion rate may refer to the degree to which the actuator completes the objectives required by the historical test messages. The first historical test results include success, failure, or the first issue requiring improvement.

[0120] In some embodiments, the process of generating historical integration data based on a first historical response message may include the following steps: Step S21: Mark the executor identifier corresponding to all first historical response messages. The executor identifier corresponding to the first historical response message can be used to indicate the executor that issued the first historical response message.

[0121] Step S22: Mark the corresponding test type for all first historical response messages. The test type corresponding to all first historical response messages can refer to the process that generated all first historical response messages, such as the actuator integration process.

[0122] Step S23: Mark the driving scenario corresponding to each first historical response message, such as highway scenario, suburban road scenario, and ramp driving scenario.

[0123] Step S24: Obtain the first historical performance metric based on each first historical response message.

[0124] Optionally, the first historical response information may record a first historical performance index, in which case the vehicle testing device can read the first historical performance index from the first historical response information; or, if the first historical response information does not record a first historical performance index, the vehicle testing device can obtain the first historical performance index based on the specific content in the first historical response information.

[0125] Step S25: Obtain the first historical evaluation standard corresponding to each first historical response message; the first historical evaluation standard is used to evaluate the first historical performance index corresponding to the first historical response message; the first historical evaluation standard may include the target duration threshold corresponding to the first historical response duration and the target completion threshold corresponding to the first historical completion degree.

[0126] Step S26: Based on the first historical performance index and first historical evaluation criterion corresponding to each first historical response information, generate a first historical test result corresponding to each first historical response information. The first historical test result may include success, failure, or a first issue to be improved. For example, the vehicle testing device may generate a first historical test result corresponding to at least one first historical response information based on the first historical performance index and the first historical evaluation criterion corresponding to at least one first historical response information that marks the same driving scenario.

[0127] After the vehicle testing device completes the processing of all first historical response messages by executing the above steps S21-S26, it can map all first historical response messages, the actuator identifiers corresponding to all first historical response messages, the test types corresponding to all first historical response messages, the driving scenarios corresponding to each first historical response message, the first historical performance indicators corresponding to each first historical response message, and the first historical test results corresponding to each first historical response message to obtain historical joint debugging data and save the historical joint debugging data.

[0128] It can be determined that the historical integration data may include actuator identifiers. Therefore, it can be known that when an actuator in a vehicle sends an iterative update, the vehicle testing device obtains the historical integration data corresponding to that actuator. The historical integration data corresponding to that actuator includes the actuator identifier used to indicate that actuator.

[0129] S703. Based on the historical joint debugging data of the vehicle actuator in the experimental environment, obtain the first historical performance index of the vehicle actuator and the first historical test result corresponding to the first historical performance index; wherein, the first historical performance index includes at least one of the following: first historical response time and first historical completion rate; the first historical test result includes success, failure or first problem to be improved.

[0130] The vehicle testing device can obtain the first historical performance index of the actuator and the first historical test result corresponding to the first historical performance index from the historical joint debugging data corresponding to the actuator.

[0131] S704. Based on the first historical performance index and the first historical test results, the target response information is analyzed to obtain the test results.

[0132] The vehicle testing device can acquire target performance indicators based on target response information. Target performance indicators may include at least one of the following: target response time and target completion rate. Target response time may refer to the time required for the actuator to complete a response to a target control message; target completion rate may refer to the degree to which the actuator completes the target required by the target control message.

[0133] However, the vehicle testing device can compare the target performance index with the first historical performance index, and then combine this with the first historical test result corresponding to the first historical performance index to obtain the iteratively updated test result of the actuator. For example, if the target performance index is better than the first historical performance index, and the first historical test result corresponding to the first historical performance index is a successful test, then the obtained iteratively updated actuator test result can include a successful iterative update of the actuator.

[0134] It should be noted that the process by which the vehicle testing device obtains the target performance index based on the target response information can be referred to the above-mentioned details on obtaining the first historical performance index based on the first historical response information, and will not be repeated here.

[0135] Optionally, the above analysis of the target response information to obtain test results includes: obtaining the first historical performance index of the vehicle actuator and the first historical test result corresponding to the first historical performance index based on the historical joint debugging data of the vehicle actuator in the experimental environment; wherein, the first historical performance index includes at least one of the following: first historical response time and first historical completion rate; the first historical test result includes test success, test failure or first problem to be improved; and analyzing the target response information based on the first historical performance index and the first historical test result to obtain test results.

[0136] In this way, by referring to the first historical performance index and the first historical test result corresponding to the first historical performance index in the historical joint debugging data of the vehicle actuator, the target response information of the iteratively updated vehicle actuator can be automatically analyzed to obtain the test result corresponding to the target response information.

[0137] Optionally, the above method further includes: collecting the first historical response message issued by the vehicle actuator during the historical joint debugging process, where the historical joint debugging process refers to the process of debugging the vehicle actuator in an experimental environment; and generating and saving historical joint debugging data based on the first historical response message.

[0138] In this way, after collecting historical joint debugging data generated by the vehicle actuator during the historical joint debugging process in advance, the historical joint debugging data can be used as an evaluation basis to evaluate the target response information of the vehicle actuator after iterative update, thereby obtaining the test results of the vehicle actuator after iterative update.

[0139] In some embodiments, the vehicle's historical acceptance process is executed before the actuator undergoes an iterative update. The vehicle testing device can acquire and save historical acceptance data during this process. Then, based on the historical acceptance data generated during the vehicle's historical acceptance process, the vehicle testing device can analyze the target response information to obtain test results.

[0140] For example, such as Figure 8 As shown, the process by which the vehicle testing device acquires historical acceptance data during the historical acceptance process of the vehicle may include S801-S802, and S603 may include S803-S804.

[0141] S801. Collect the second historical response message issued by the vehicle actuator during the historical vehicle acceptance process.

[0142] The vehicle testing device can also collect second historical response information from actuators to each historical acceptance message during the historical vehicle acceptance process. These historical acceptance messages refer to the network communication messages used to control the actuators during the historical vehicle acceptance process. Historical acceptance messages can be any type of network communication message, such as CAN messages, CAN FD messages, LIN messages, or Ethernet messages. The type of historical acceptance message depends on the type of communication network between the vehicle controller and the actuators during the historical vehicle acceptance process.

[0143] S802. Based on the second historical response message, generate and save historical acceptance data.

[0144] The vehicle testing device can obtain the second historical performance index and the second historical test result corresponding to the second historical performance index based on the second historical response message; then, based on the second historical performance index and the second historical test result corresponding to the second historical performance index, it can generate and save historical acceptance data.

[0145] The second historical performance metric may include at least one of the following: second historical response time and second historical completion rate. The second historical response time may refer to the time required for the actuator to complete a response to a historical acceptance message during the vehicle acceptance process; the second historical completion rate may refer to the degree to which the actuator completes the objectives required by the historical acceptance message. The second historical test results may include success, failure, or a second issue requiring improvement.

[0146] It should be noted that the process by which the vehicle testing device generates historical acceptance data based on the second historical response message can be referred to the above introduction on the generation of historical joint debugging data based on the first historical response message by the vehicle testing device, and will not be repeated here.

[0147] S803. Based on the vehicle's historical acceptance data, obtain the second historical performance index of the vehicle actuator and the second historical test result corresponding to the second historical performance index; wherein, the second historical performance index includes at least one of the following: second historical response time and second historical completion rate; the second historical test result includes success, failure or second issue to be improved.

[0148] The vehicle testing device can obtain the second historical performance index of the actuator and the second historical test result corresponding to the second historical performance index from the historical acceptance data corresponding to the actuator during the historical vehicle acceptance process.

[0149] S804. Based on the second historical performance index and the second historical test results, the target response information is analyzed to obtain the test results.

[0150] The vehicle testing device can obtain target performance indicators based on target response information. However, the device can also compare the target performance indicator with a second historical performance indicator, and then combine this comparison with the second historical test result corresponding to the second historical performance indicator to obtain the iteratively updated test result of the actuator. For example, if the target performance indicator is better than the second historical performance indicator, and the second historical test result corresponding to the second historical performance indicator is a successful test, then the obtained iteratively updated actuator test result can include a successful iterative update of the actuator.

[0151] In this way, by pre-collecting historical acceptance data generated by the vehicle actuator during the historical acceptance process, and referring to the second historical performance index and the second historical test results corresponding to the second historical performance index in the past historical acceptance data of the vehicle actuator, the target response information of the iteratively updated vehicle actuator can be automatically analyzed to obtain the test results corresponding to the target response information.

[0152] Optionally, the vehicle testing device can analyze the target response information based on a third historical performance index and third historical test results to obtain test results. Alternatively, the vehicle testing device can analyze the target response information based on a first historical performance index, a first historical test result, a second historical performance index, a second historical test result, a third historical performance index, and a third historical test result to obtain test results.

[0153] For example, with Figure 1 Taking the development and testing tool shown as an example, the process of a vehicle testing device executing vehicle testing methods through the development and testing tool is described: After the development and testing tool (e.g., CANoe) in the vehicle testing device is connected to the iteratively updated actuator through a communication module, the graphical user interface module (panel) in the development and testing tool controls the display screen in the vehicle testing device to display a first test interface. The first test interface includes a first button for triggering testing of the iteratively updated actuator. The development and testing tool stores the test cases written in the programming language (CAPL) associated with this first button. When the user operates the first button, the development and testing tool executes the test cases written in the programming language (CAPL), realizing the execution of S401-S403.

[0154] During the testing process of the development and testing tool executing the tests corresponding to the first programming language (CAPL) events, the graphical user interface (GUI) module (panel) in the development and testing tool can control the display screen to show the trace window. The GUI module (panel) displays the sending status of historical control commands recorded by the trace module (trace) in the trace window; for example, historical control commands were issued. The GUI module (panel) also displays the target response information returned by the executor, recorded by the trace module (trace), in the trace window. The logging module (logging) in the development and testing tool automatically records and saves target response information, and can also save historical driving data, historical integration data, and historical acceptance data.

[0155] The graphical user interface module (panel) can also control the display screen to show a dynamic display of multiple target control commands generated by the graphics module (graphics). For example, the dynamic display of multiple target control commands can include waveform changes of multiple target control commands.

[0156] The graphical user interface module (panel) can also control the display screen to show the test results.

[0157] This disclosure embodiment can divide the vehicle testing device into functional modules according to the above method example. For example, each function can be divided into its own functional modules, or two or more functions can be integrated into one processing unit. The integrated modules can be implemented in hardware or as software functional modules. It should be noted that the module division in this disclosure embodiment is illustrative and only represents one logical functional division; other division methods may be used in actual implementation.

[0158] This disclosure provides a schematic diagram of the structure of a vehicle testing device. Figure 1 ,like Figure 9 As shown, the vehicle testing device 900 includes: The instruction generation module 901 is used to: obtain historical control instructions corresponding to the test scenario based on historical driving data when the vehicle actuator undergoes iterative updates; the historical driving data includes: historical control instructions acting on the vehicle actuator during driving in various driving scenarios; and generate target control instructions corresponding to the iteratively updated vehicle actuator based on the historical control instructions corresponding to the test scenario. The control module 902 is used to control the iteratively updated vehicle actuator according to the target control command, so as to obtain the test results of the iteratively updated vehicle actuator in the test scenario.

[0159] In one specific embodiment, the instruction generation module 901 is used to: obtain historical control instructions corresponding to the test scenario based on historical driving data when the vehicle actuator undergoes iterative update; the historical driving data includes: historical control instructions acting on the vehicle actuator during driving in various driving scenarios; and generate target control instructions corresponding to the iteratively updated vehicle actuator based on the historical control instructions corresponding to the test scenario. The control module 902 is used to control the iteratively updated vehicle actuator according to the target control command, so as to obtain the test results of the iteratively updated vehicle actuator in the test scenario.

[0160] In one specific embodiment, the vehicle testing device 900 further includes a data acquisition module 903; The data acquisition module 903 is used to: when the vehicle is in a preset state, start collecting historical control commands sent by the vehicle controller to the vehicle actuator during the vehicle's driving process; the preset state includes a stationary state or a constant speed driving state; until the end of the collection, obtain the historical control commands sent by the vehicle controller to the vehicle actuator under each driving scenario; generate historical driving data based on all collected historical control commands and save it.

[0161] In one specific embodiment, the control module 902 is specifically configured to: send a target communication message including a target control command to the iteratively updated vehicle actuator; obtain target response information of the iteratively updated vehicle actuator in response to the target communication message; and analyze the target response information to obtain test results.

[0162] In one specific embodiment, the control module 902 is specifically used to: obtain a first historical performance index of the vehicle actuator and a first historical test result corresponding to the first historical performance index based on the historical joint debugging data of the vehicle actuator in the experimental environment; wherein, the first historical performance index includes at least one of the following: first historical response time and first historical completion rate; the first historical test result includes test success, test failure or first problem to be improved; and analyze the target response information based on the first historical performance index and the first historical test result to obtain the test result.

[0163] In one specific embodiment, the data acquisition module 903 is further configured to: acquire the first historical response message issued by the vehicle actuator during the historical joint debugging process, the historical joint debugging process referring to the process of debugging the vehicle actuator in an experimental environment; and generate and save historical joint debugging data based on the first historical response message.

[0164] In one specific embodiment, the control module 902 is specifically used to: obtain a second historical performance index of the vehicle actuator and a second historical test result corresponding to the second historical performance index based on the vehicle's historical acceptance data; wherein, the second historical performance index includes at least one of the following: second historical response time and second historical completion rate; the second historical test result includes test success, test failure or second problem to be improved; and analyze the target response information based on the second historical performance index and the second historical test result to obtain the test result.

[0165] In one specific embodiment, the data acquisition module 903 is further configured to: acquire a second historical response message issued by the vehicle actuator during the historical vehicle acceptance process; generate historical acceptance data based on the second historical response message and save it.

[0166] In one specific embodiment, the control module 902 is further configured to: acquire a verification signal corresponding to the target control command; and generate a target communication message based on the verification signal and the target control command. The target communication message includes the verification signal and the target control command.

[0167] This disclosure provides a schematic diagram of the structure of a vehicle testing device. Figure 2 ,like Figure 10As shown, the vehicle testing device 100 includes a memory 101 and a processor 102. The memory 101 stores executable program code 103, and the processor 102 is used to call and execute the executable program code 103 to execute the vehicle testing method executed by the vehicle testing device in the above embodiment.

[0168] This embodiment also provides a computer-readable storage medium (including but not limited to disk storage, compact disc read-only memory (CD-ROM), optical storage, etc.) storing computer program code. When the computer program code is run on a computer, the computer executes the above-mentioned related method steps to implement a vehicle testing method executed by the vehicle testing device in the above embodiment.

[0169] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned related steps to implement a vehicle testing method executed by the vehicle testing device in the above embodiment.

[0170] The beneficial effects of the above embodiments can be referred to the beneficial effects of the corresponding methods provided above, and will not be repeated here.

[0171] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0172] In the embodiments provided in this disclosure, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms.

[0173] In the description of this disclosure, it should be understood that if the terms "upper", "lower", "front", "rear", "left" and "right" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the position or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure.

[0174] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0175] The above are merely embodiments of this disclosure and are not intended to limit the scope of this disclosure. Various modifications and variations can be made to this disclosure by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of the claims of this disclosure.

Claims

1. A vehicle testing method, characterized in that, Applied to a vehicle testing device, the method includes: When the vehicle actuator undergoes an iterative update, the historical control commands corresponding to the test scenario are obtained based on historical driving data; the historical driving data includes: historical control commands that acted on the vehicle actuator during driving in various driving scenarios. Based on the historical control commands corresponding to the test scenario, generate the target control commands corresponding to the vehicle actuators after iterative updates. The vehicle actuator is controlled according to the target control command to obtain the test results of the iteratively updated vehicle actuator in the test scenario.

2. The method according to claim 1, characterized in that, The method further includes: When the vehicle is in a preset state, the historical control commands sent by the vehicle controller to the vehicle actuator during the vehicle's operation are collected; the preset state includes a stationary state or a constant speed driving state. Until the end of the data collection, the historical control commands sent by the vehicle controller to the vehicle actuator in each driving scenario are obtained; The historical driving data is generated and saved based on all the collected historical control commands.

3. The method according to claim 1, characterized in that, The step of controlling the iteratively updated vehicle actuator according to the target control command to obtain the test results of the iteratively updated vehicle actuator in the test scenario includes: Send a target communication message including the target control command to the iteratively updated vehicle actuator; Obtain the target response information of the vehicle actuator in response to the target communication message after the iterative update; The test results are obtained by analyzing the target response information.

4. The method according to claim 3, characterized in that, The analysis of the target response information to obtain the test results includes: Based on the historical joint debugging data of the vehicle actuator in the experimental environment, a first historical performance index of the vehicle actuator and a first historical test result corresponding to the first historical performance index are obtained; wherein, the first historical performance index includes at least one of the following: first historical response time and first historical completion rate; the first historical test result includes test success, test failure or first issue to be improved; Based on the first historical performance index and the first historical test results, the target response information is analyzed to obtain the test results.

5. The method according to claim 4, characterized in that, The method further includes: The first historical response message issued by the vehicle actuator during the historical joint debugging process is collected. The historical joint debugging process refers to the process of debugging the vehicle actuator under the experimental environment. Based on the first historical response message, the historical joint debugging data is generated and saved.

6. The method according to claim 3, characterized in that, The analysis of the target response information to obtain the test results includes: Based on the vehicle's historical acceptance data, a second historical performance index of the vehicle actuator and a second historical test result corresponding to the second historical performance index are obtained; wherein, the second historical performance index includes at least one of the following: second historical response time and second historical completion rate; the second historical test result includes test success, test failure, or a second issue to be improved; Based on the second historical performance index and the second historical test results, the target response information is analyzed to obtain the test results.

7. The method according to claim 6, characterized in that, The method further includes: Collect the second historical response message sent by the vehicle actuator during the historical vehicle acceptance process; Based on the second historical response message, the historical acceptance data is generated and saved.

8. The method according to any one of claims 1-7, characterized in that, The step of generating the iteratively updated target control command corresponding to the vehicle actuator based on the historical control commands corresponding to the test scenario includes: Based on the control parameters in the historical control instructions, the target control instruction including the control parameters is generated.

9. A vehicle testing device, characterized in that, The device includes: The instruction generation module is used to: obtain historical control instructions corresponding to the test scenario based on historical driving data when the vehicle actuator undergoes iterative updates; the historical driving data includes: historical control instructions acting on the vehicle actuator during driving in various driving scenarios. Based on the historical control commands corresponding to the test scenario, generate the target control commands corresponding to the vehicle actuators after iterative updates. The control module is used to control the iteratively updated vehicle actuator according to the target control command, so as to obtain the test results of the iteratively updated vehicle actuator in the test scenario.

10. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor, configured to implement the steps of the vehicle testing method as described in any one of claims 1 to 7 when executing the computer program.

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