Joint debugging test method, device, equipment, vehicle and medium

Abstract

The invention provides a joint debugging test method and a vehicle, and is applied to the field of computers, and the method comprises the steps: determining a corresponding test transmission mode after the handshake with a lower computer succeeds, and the test transmission mode is used for indicating the transmission mode of test data; acquiring corresponding test data based on the test transmission mode; and performing joint debugging test on the lower computer based on the test scene, the test waveform and the steering request value in the test data to obtain a corresponding test result. Therefore, the technical problems of long test time consumption, low test efficiency and the like in the prior art can be solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of computers, and in particular to a joint debugging test method, device, equipment, vehicle and medium. BACKGROUND

[0002] An automatic driving system (also referred to as an auxiliary driving system) needs to be jointly debugged with associated components in the initial stage, so that the components achieve an optimal performance state, thereby achieving the purpose of accurate control of a lower machine by an upper machine.

[0003] In the existing joint debugging scheme, a tester actively gives corresponding test data, and then tests based on the test data given by the tester. However, in practice, it is found that, considering the tedious operation, user experience or labor cost and the like, only some obvious or important test data are usually given. For example, in the prior art, a tester controls and determines a steering wheel rotation direction and a steering wheel rotation angle by operating a keyboard, and then tests the steering wheel rotation direction and the steering wheel rotation angle, which causes the problem of simple or single scheme test and low reliability. SUMMARY

[0004] Therefore, the embodiments of the present application aim to provide a joint debugging test method, device, equipment, vehicle and medium, which can solve the technical problem of simple or single scheme test and low reliability caused by manual test data given in the prior art.

[0005] In a first aspect, the present application provides a joint debugging test method, comprising: After a successful handshake with a lower machine, a corresponding test transmission mode is determined, the test transmission mode being used to indicate a transmission mode of test data; Corresponding test data is obtained based on the test transmission mode, the test data at least including a test scene, a test waveform and a steering request value; The lower machine is tested based on the test scene, the test waveform and the steering request value in the test data, and a corresponding test result is obtained.

[0006] In the embodiments, after a successful handshake with a lower machine, the present application can safely and efficiently obtain multi-source or various test data based on different test transmission modes, and then automatically test the lower machine based on the test data, thereby improving the safety and efficiency of joint debugging test. Meanwhile, the technical problem of simple or single scheme test and low reliability caused by manual test data given (for example, steering wheel rotation direction and steering wheel rotation angle) in the prior art is solved.

[0007] In some embodiments, the determination manner of the test transmission mode and / or the test data respectively comprises: A display control panel is provided, which includes operation options corresponding to the test transmission mode and / or the test data respectively. In response to an operation instruction of a corresponding operation option in the control panel, the test transmission mode and / or the test data are determined and obtained.

[0008] In this embodiment, the test personnel / research personnel can obtain the test transmission mode and / or the test data by operating the corresponding options on the designed control panel. By reserving a manual window to edit and adjust the corresponding data, the problem of erroneous operation can be avoided, thereby ensuring the safety and operability of the joint debugging test.

[0009] In some embodiments, the control panel includes a variable observation box, a data prompt box, a first transmission mode box, and a second transmission mode box. The variable observation box includes key parameter information in the joint debugging test, the data prompt box includes key prompt information in the joint debugging test, the first transmission mode box includes at least test data matched with the first transmission mode, and the second transmission mode box includes at least test data matched with the second transmission mode.

[0010] In this embodiment, to realize the joint debugging test function, some operable options of the control panel are provided, such as the variable observation box, the data prompt box, the first transmission mode box, and the second transmission mode box, which facilitates subsequent joint debugging test, thereby improving the safety and operability of the joint debugging test.

[0011] In some embodiments, the control panel further includes a test progress, which is used to indicate the current progress of the joint debugging test.

[0012] In this embodiment, the control panel further includes a test progress, which is used to visually display / prompt the current progress of the joint debugging test, thereby facilitating the test personnel to understand the test progress in real time, and being beneficial to improve the user experience and the practicality of the joint debugging test.

[0013] In some embodiments, after the corresponding test data is obtained based on the test transmission mode, the following steps are further included: The other test data associated under the test scenario is allocated to a multi-branch selection Switch-Case structure to match a test waveform corresponding to the test scenario, and the test scenario and the test waveform are re-associated and bound.

[0014] In this embodiment, the other test data associated on the control panel, for example, can be input into the Switch-Case structure to design and match the test waveform corresponding to the test scenario, and the test scenario and the test waveform are re-associated and bound, thereby achieving the purpose of scenario binding and improving the subsequent test efficiency.

[0015] In some embodiments, the method further comprises: controlling the vehicle speed to a specified speed by proportional-integral-derivative (PID) control; The obtaining of the corresponding test data based on the test transmission mode comprises: obtaining the corresponding test data based on the test transmission mode at the specified speed.

[0016] In this embodiment, the stable vehicle speed can be adjusted and controlled by PID, and the corresponding test data can be obtained at different vehicle speeds, so as to ensure sufficient sample test data, thereby improving the accuracy and reliability of subsequent joint debugging test.

[0017] In some embodiments, the joint debugging test of the lower machine based on the test scene, the test waveform and the steering request value in the test data further comprises: in response to a data sending instruction, sending the test data; and / or, in response to a data pause instruction, pausing sending the test data.

[0018] In this embodiment, the test data can be sent in response to a data sending instruction, and / or the sending of the test data can be paused / stopped in response to a data pause instruction during the joint debugging test, so as to realize the joint debugging test of the lower machine. In this way, the sending of the test data can be started or paused according to real-time system requirements, thereby increasing the operability and practicality of the joint debugging test.

[0019] In some embodiments, the test data has multiple test data, and the sending of the test data comprises: determining whether the steering request value in the test data sent last time is 0; if yes, the test data with the steering request value of 0 is sent first to control the vehicle steering wheel to be at a preset return-to-zero position, and then the test data with the next steering request value is sent; if no, the test data with the steering request value of 0 is sent first to control the vehicle steering wheel to be at a preset return-to-zero position, and then the test data with the next steering request value is sent.

[0020] In this embodiment, there is an incomplete data sending situation in the sending and pausing of the test data, and the above-mentioned scheme can solve the problem of incomplete test data sending, resulting in data loss, sending error and the like, so as to ensure the safety of data transmission, and also improve the safety and accuracy of subsequent joint debugging test.

[0021] In some embodiments, the method further comprises at least one of: generate the data sending instruction after a preset first time length when detecting an activation operation of a preset button; generate the data sending instruction after a preset second time length when detecting that the lateral acceleration is less than a preset acceleration threshold value; generate the data sending instruction after a preset third time length when detecting that a torque value applied to a steering wheel of the vehicle is less than a preset torque threshold value; generate the data sending instruction when detecting a target sending operation for the test data; generate the data pause instruction when detecting that a brake signal is set; generate the data pause instruction when detecting that a vehicle electric power steering system (EPS) fails; generate the data pause instruction when detecting that a vehicle speed is greater than or equal to a preset vehicle speed threshold value; generate the data pause instruction when detecting a target stop operation for the test data; generate the data pause instruction after a preset fourth time length when detecting that the lateral acceleration is greater than or equal to a preset acceleration threshold value; generate the data pause instruction after a preset fifth time length when detecting that the torque value applied to the steering wheel of the vehicle is greater than or equal to a preset torque threshold value.

[0022] In the embodiment, several embodiments of the data sending instruction and the data pause instruction are provided, for example, the existing preset button can automatically enter / pause data sending, which is beneficial to improving the practicability and operability of data sending or pausing.

[0023] In some embodiments, before the corresponding test transmission mode is determined, the method further includes: performing E2E (end-to-end) checking with the lower machine through an E2E checking program to determine whether handshaking with the lower machine is successful; after the E2E checking is successful, it is determined that the handshaking with the lower machine is successful; or after the E2E checking fails, the E2E checking program is checked.

[0024] In the embodiment, whether the handshaking with the lower machine is successful is determined through the E2E checking program, after the checking fails / handshaking fails, the E2E checking program can be automatically checked, subsequent joint debugging test work can be facilitated, and the safety of the joint debugging test can be further ensured.

[0025] In some embodiments, before the handshaking with the lower machine is successful, the method further includes: sending a mute instruction to the lower machine, the mute instruction being used to instruct the lower machine to prohibit external communication.

[0026] In the embodiment, the lower computer external communication is prohibited by the silence instruction, only internal communication is supported, and occupation of relevant resources (such as network transmission resources) by external communication is avoided to affect the joint debugging test, so that the safety and practicability of the joint debugging test are ensured to a certain extent.

[0027] In some embodiments, the test result includes test function data, and the method further includes: The test function data is prompted by the instrument.

[0028] In the embodiment, the test function data in the joint debugging test can be intuitively prompted by the instrument, and the practicability of the joint debugging test is improved.

[0029] In a second aspect, the application provides a joint debugging test device, including: The processing module is configured to determine a corresponding test transmission mode after a successful handshake with the lower computer, the test transmission mode being used to indicate a transmission mode of test data; The acquisition module is configured to acquire corresponding test data based on the test transmission mode, the test data including at least a test scene, a test waveform, and a steering request value; The processing module is further configured to perform joint debugging test on the lower computer based on the test scene, the test waveform, and the steering request value in the test data, and obtain corresponding test results.

[0030] The content not introduced or described in the embodiments of the application can be correspondingly referred to the related description in the foregoing method embodiments, which will not be described here.

[0031] In a third aspect, the application provides a computer device, including a processor, a memory for storing processor executable instructions, wherein the processor is configured to execute the executable instructions to implement the steps of the joint debugging test method.

[0032] In a fourth aspect, the application provides a vehicle, including a processor, a memory for storing processor executable instructions, wherein the processor is configured to execute the executable instructions to implement the steps of the joint debugging test method.

[0033] In a fifth aspect, the application provides a computer readable storage medium having computer program instructions stored thereon, wherein the computer program instructions are executed by a processor to implement the steps of the joint debugging test method.

[0034] The technical scheme provided by the embodiment of the application can have the following beneficial effects: after the handshake with the lower machine is successful, the corresponding test transmission mode is determined, the test transmission mode is used to indicate the transmission mode of test data; the corresponding test data is obtained based on the test transmission mode, the test data at least includes a test scene, a test waveform and a steering request value, the steering request value includes a steering request angle and / or a steering request torque; the lower machine is tested based on the test scene, the test waveform and the steering request value in the test data, and the corresponding test result is obtained. In this way, the application can safely and efficiently obtain multi-source or various test data based on different test transmission modes, and then automatically test the lower machine based on the test data, thereby improving the safety and efficiency of the test. Meanwhile, the technical problems such as simple or single test and low reliability caused by manual test data (for example, steering wheel rotation direction and rotation angle) in the prior art are solved.

[0035] The above description is only a summary of the technical scheme of the application. In order to enable the technical means of the application to be more clearly understood, the application can be implemented according to the content of the description, and in order to enable the above and other purposes, characteristics and advantages of the application to be more obvious and easy to understand, the following specific embodiments of the application are described. BRIEF DESCRIPTION OF DRAWINGS

[0036] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of the preferred embodiments and are not meant to limit the present application. Furthermore, the same reference numerals are used throughout the several views to denote the same or similar parts.

[0037] Figure 1 A flowchart of a test method provided by the embodiment of the application.

[0038] Figure 2 A control panel diagram provided by the embodiment of the application.

[0039] Figure 3 A state machine design diagram provided by the embodiment of the application.

[0040] Figure 4 A data sending and suspension mechanism diagram provided by the embodiment of the application.

[0041] Figure 5 A structure diagram of a test device provided by the embodiment of the application.

[0042] Figure 6 A structure diagram of a computer device provided by the embodiment of the application.

[0043] Figure 7 A structural schematic diagram of a vehicle is provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of the present application.

[0045] Unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should be understood as the common meanings of the technical terms or scientific terms by those skilled in the art to which the embodiments of the present application belong. The terms “first”, “second”, and the like used in the embodiments of the present application do not represent any order, number, or importance, but are only used to distinguish the components from each other.

[0046] Unless otherwise required by the context, throughout the specification, “plurality” means “at least two”, “comprising” is interpreted to be open, inclusive meaning, namely “including, but not limited to”. In the description of the specification, the terms “one embodiment”, “some embodiments”, “exemplary embodiments”, “example”, “specific example”, or “some examples” are intended to mean that the specific features, structures, materials, or characteristics related to the embodiment or example are included in at least one embodiment or example of the specification. The illustrative representation of the above terms does not necessarily mean the same embodiment or example.

[0047] Exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided so that the present application can be more thoroughly understood and the scope of the present application can be accurately conveyed to those skilled in the art.

[0048] In the above-mentioned existing joint debugging scheme, the way of actively giving test data by the tester can also be manual input. However, due to different test scenarios, a large amount of joint debugging data and test data will be generated, and manual input of test data will inevitably have errors, which will cause a lot of time to be spent on testing and data re-entry, and reduce the testing efficiency. To solve the above-mentioned problems, the present application provides a joint debugging test method, device, equipment and medium.

[0049] Please refer to Figure 1 is a flowchart of a joint debugging test method provided in an embodiment of the present application. As shown in Figure 1The method shown can be applied in a computer device (for example, a vehicle), and the method can include the following implementation steps: S101, after successful handshake with the lower computer, determine a corresponding test transmission mode, which is used to indicate the transmission mode of test data.

[0050] The test transmission mode described above in the application can refer to a data transmission mode that is pre-defined by the system according to actual conditions, such as manual transmission or automatic transmission, etc., which is not limited in the application. The lower computer described above in the application can refer to an executor that can execute control instructions or control information issued by the upper computer and feedback device status data, such as sensors, engines and electric power steering (EPS) controllers in a vehicle. The upper computer described above can refer to a device with strong computing and data processing capabilities, responsible for monitoring the entire system, issuing control instructions or control information, etc., such as an auxiliary driving system in a vehicle. The upper computer and the lower computer described above can be devices or components in the same computer device (such as a vehicle), which is not limited and described in detail in the application.

[0051] S102, based on the test transmission mode, obtain corresponding test data, which at least includes test scenarios, test waveforms and steering request values.

[0052] The test data described above in the application can refer to data for functional testing of the lower computer, which can include but is not limited to, for example, test scenarios, scene data, test waveforms, steering request values, request slopes, cycle times or other custom test data, etc. The steering request value described above can include a steering request angle and / or a steering request torque, the steering request angle can refer to, for example, the steering request angle of the steering wheel of the vehicle, the steering request torque can refer to, for example, the request torque output by the motor of the vehicle, etc., which is not limited in the application. The request slope is used to reflect the change slope of the steering request value, and the cycle time can refer to the sending cycle time of the test data, etc., which is not limited and described in detail in the application.

[0053] S103, based on the test scenarios, test waveforms and steering request values in the test data, perform joint debugging test on the lower computer, and obtain corresponding test results.

[0054] The test results described above in the application can include the test data and corresponding test function data, the test function data can refer to data obtained after functional testing of the lower computer, such as vehicle speed, whether the EPS fails, etc., which is not limited in the application.

[0055] By implementing the embodiments of the present application, after successfully performing handshaking with the lower machine, the corresponding test transmission mode is determined, the test transmission mode is used to indicate the transmission mode of test data; the corresponding test data is obtained based on the test transmission mode, the test data at least includes test scene, test waveform and steering request value, the steering request value includes steering request angle and / or steering request torque; the lower machine is tested based on the test scene, test waveform and steering request value in the test data, and the corresponding test result is obtained. In this way, the present application can safely and efficiently obtain multi-source or various test data based on different test transmission modes, and then automatically test the lower machine based on the test data, thereby improving the safety and efficiency of the test. At the same time, it also solves the technical problems that the existing scheme needs to manually give test data for testing, which leads to simple or single scheme testing, low reliability and low test efficiency.

[0056] Some specific embodiments and optional embodiments related to the present application are introduced below.

[0057] Before step S101, the present application can send a mute instruction to the lower machine, the mute instruction is used to indicate that the lower machine is prohibited to perform external communication. In actual application, in order to improve the test efficiency and reduce the time of manually plugging and unplugging the controller (such as auxiliary driving controller), the present application can design a mute mechanism to prohibit the lower machine to perform external communication, and only support internal bus communication, etc. In specific implementation, after starting and running the test tool (such as CAN tool), the system can actively send a mute instruction to the lower machine. The specific implementation of the mute instruction is not limited by the present application, for example, the present application can first send a 10 service instruction (specifically, a Unified Diagnostic Services (UDS) instruction) to the lower machine, which is used to request a communication session with the lower machine. After receiving the response information of the lower machine, a 28 service instruction (specifically, a Communication Control (CC) instruction) can be sent to the lower machine, which is used to indicate that the upper machine is prohibited to perform external communication, for example, to mute the upper machine, so that the upper machine cannot receive or send external communication data, which can save the time of plugging and unplugging the corresponding controller and improve the test efficiency.

[0058] In step S101, the application can realize handshake verification with the lower machine through the code writing End to End (E2E) verification program. In the specific implementation, the application can perform E2E verification with the lower machine through the E2E verification program to determine whether the handshake with the lower machine is successful. In actual application, the application can send a corresponding verification message to the lower machine through the E2E verification program, and the verification message carries verification information. After receiving the verification message, the lower machine can verify the verification information carried in the verification message. If the verification is successful, the lower machine can return corresponding verification success information; otherwise, if the verification fails, the lower machine can return corresponding verification failure information. Correspondingly, the application can determine that the handshake with the lower machine is successful after receiving the above-mentioned verification success information; otherwise, the application can determine that the handshake with the lower machine fails. Alternatively, after the above-mentioned verification fails, the application can actively troubleshoot the above-mentioned E2E verification program, for example, troubleshoot whether the verification logic or code has a problem, and solve the corresponding problem, and the application does not make too many limitations.

[0059] In steps S101 and S102, the application does not make limitations on the implementation mode of determining / obtaining the test transmission mode and the test data, for example, the application can display a control panel, and the control panel includes operation options corresponding to the test transmission mode and / or the test data. The user or the developer can operate the corresponding operation options in the control panel according to the actual needs (for example, selecting the corresponding test transmission mode, inputting the corresponding test data, etc.), so as to generate corresponding operation instructions. After detecting the operation instructions, the application can obtain the corresponding test transmission mode and / or test data in response to the operation instructions, and the application does not make too many limitations and detailed descriptions.

[0060] In actual application, the application can design or provide a visual control panel for the convenience of operation of the joint debugging tool. For the design function of the control panel, please refer to Figure 2 is a possible control panel schematic diagram provided by the application, but it does not constitute a limitation. As Figure 2The control panel shown can include a variable observation box (also referred to as a handshake state and variable observation box), a data prompt box (also referred to as a pre-warning and data information box), a first transmission mode box (which can be a manual transmission box or a manual sending box, for example), and a second transmission mode box (which can be an automatic transmission box or an automatic sending box, for example). The variable observation box can include key / important parameter information in the joint debugging test, such as handshake state (whether the handshake with the lower machine is successful), actual steering angle, actual steering torque, lateral acceleration, lateral angular velocity, or other custom important parameter information. The data prompt box can include key / important prompt information that needs to be prompted in the joint debugging test, such as steering request angle, steering request torque, steering request slope, prompt information, suppression information, fault information, or other custom important prompt information. The first transmission mode box can include test data matched with the first transmission mode. Taking the first transmission mode as an example, manual transmission, the test personnel can manually input test data such as test waveform, steering request angle, steering request torque, request slope, cycle time, or other custom test data. The test personnel or user can click the activation button / key or other custom sending key to send the test data, and click the pause button / key or other custom pause key to pause sending the test data. The sending embodiment of the test data will be described in detail below, and will not be described here. The second transmission mode box can include test data matched with the second transmission mode. Taking the second transmission mode as an example, automatic transmission, the system can automatically obtain other test data matched with the test scene after selecting the test scene, such as steering request angle, steering request torque, cycle time, and the like. The control panel can also include a test progress, such as a test progress bar, which is used to display / indicate the current progress of the joint debugging test and serves as a prompt. The control panel can support arbitrary modification or replacement of test data to improve the flexibility of the test. The first transmission mode box and the second transmission mode box support common request test waveforms, such as waveform parameters of the test waveform, to avoid repeated design and simplify the design process. If no corresponding test scene is selected in the second transmission mode box, the joint debugging test of the second transmission mode is not performed, which can optimize the error-proof mechanism and reduce the failure rate.

[0061] To achieve the above functions, the state machine or other implementation methods can be used for design, please refer to Figure 3 is a state machine design schematic provided by an embodiment of the present application. As shown in Figure 3The state machine design shown includes test data receiving and waveform sending, silence mechanism, constant speed mechanism, data sending mechanism (referred to as entering mechanism), data pause mechanism (referred to as pause mechanism), delay mechanism, E2E checksum message sending mechanism and the like. Among them, in the above test data receiving and waveform sending, the application can distribute other test data associated in the above test scenario (which can specifically include the scene parameters (such as the selected test scenario) input in the above control panel, system internally defined scene data and the like test data) to the Switch-Case structure, to match the test waveform corresponding to the above test scenario, and to associate and bind the above test scenario and the above test waveform again, so as to achieve the purpose of scene binding and improve efficiency. The above Switch-Case structure can include at least one test scenario and at least one test waveform, each test scenario corresponds to a test waveform, which can include but is not limited to, for example, ramp waveform, sine waveform, step waveform, sawtooth waveform or other custom waveform and the like. That is, the application can associate the test data of the above control panel, specifically for example, can define array type or specify format file and the like, and pass in the test data such as steering request value, request slope and the like into the above Switch-Case structure to match / design the test waveform corresponding to the above test scenario, and to associate and bind to output the test waveform corresponding to the above test scenario, which will not be limited and described in detail.

[0062] The above-mentioned silence mechanism can be implemented by, for example, a UDS instruction, which can be referred to in the foregoing embodiments, and will not be described here. The above-mentioned constant speed mechanism can be designed to control the vehicle speed to be stable and reduce human operation errors. For example, the vehicle speed is controlled to be a specified speed by a proportional-integral-derivative (PID) algorithm, and then the corresponding test data is obtained at the specified speed, which is a stable speed set by the system according to actual needs, which will not be limited and described in detail. In specific implementation, the application can access vehicle signals such as cruise, brake, speed and torque, and design cruise button activation and exit functions. Based on the deviation value of the vehicle speed, the motor controller (which can also be a generator controller or a hybrid controller) is controlled to start outputting from the current steering request value (such as the current torque value) by the PID algorithm, thereby realizing the constant speed function. The above-mentioned delay mechanism mainly utilizes the periodic characteristics of the test data, and in combination with software independent variable accumulation and the like, after reaching a preset time threshold (such as the above-mentioned cycle time), it can automatically enter the joint debugging test of the next test data. The specific implementation of joint debugging test can be referred to in the foregoing embodiments, and will not be described here. The above-mentioned preset time threshold is a time threshold set by the system in advance according to actual conditions, which can be an empirical value set according to user experience, or a statistical value calculated according to a series of experimental data, and the like, which will not be limited and described in detail.

[0063] For easy operation and improve test efficiency, the application can also design the above-mentioned data sending mechanism and data pause mechanism (i.e. entering and pausing mechanism) to realize it by using existing buttons (such as cruise button, brake pedal, electrical park brake (EPB) button, etc.). For example, the above-mentioned cruise button can be defined to have the functions of activating the above-mentioned constant speed mechanism and data sending mechanism. Vehicle braking is an important signal, and also has the functions of exiting the above-mentioned constant speed mechanism and data pause mechanism. In addition to the above-mentioned two definitions, the application can also consider signals such as torque value (which can be referred to as hand force value) applied to the steering wheel of the vehicle, lateral acceleration, vehicle speed and fault, and set them to automatically determine the entering and pausing mechanism. At the same time, other operation buttons are reserved for researchers or operators to check, which will not be limited and described in detail. The above-mentioned E2E check and message sending mechanism is mainly responsible for data checking and sending, which will be described in detail below, and will not be described here.

[0064] In step S103, the application does not limit the specific implementation of the above-mentioned joint debugging test. For example, the application can also send the above-mentioned test data to the lower machine based on the above-mentioned test transmission mode. After receiving the above-mentioned test data, the lower machine executes the above-mentioned test data to obtain the corresponding test result. Optionally, the application can also automatically save the above-mentioned test result. The above-mentioned test result can include the above-mentioned test data and the corresponding test function data. The above-mentioned test data can be displayed through the above-mentioned control panel. Optionally, the application can also display the key / important information generated by each mechanism in the above-mentioned joint debugging test on the above-mentioned control panel for the user to view or prompt, etc. The application does not make too many limitations. The above-mentioned test function data can be displayed or prompted by the corresponding instrument, for example, the current vehicle speed, the activation of the corresponding prompt light (such as the fault prompt light, the steering indicator light), etc. The application does not make too many limitations and detailed descriptions.

[0065] In the implementation, the application can send the above-mentioned test data in response to the data sending instruction. During the process of sending the above-mentioned test data, the application can also pause / stop sending the above-mentioned test data at any time in response to the data pause instruction, etc. During the test data sending and pausing process, it is also necessary to handle the incomplete test data sending situation, for example, the test data with the steering request value of 0 (such as the steering request angle of 0°) can be sent each time. The purpose is to ensure that the starting point of controlling the vehicle steering wheel is consistent each time, for example, it is in the preset return position, such as the steering wheel return position, the 0 angle position, etc. The application does not make too many limitations. The application does not limit the implementation of the above-mentioned test data sending. For example, when the above-mentioned test data is continued to be sent from pausing, the application needs to determine / judge whether the steering request value in the test data sent last time is 0. If the steering request value last time is 0, the application can first send the test data with the steering request value of 0 at the beginning to control the vehicle steering wheel to be in the preset return position. Then the next test data is continued to be sent, that is, the test data including the next steering request value is sent. Conversely, if the steering request value last time is not 0, the application can still first send the test data with the steering request value of 0 at the beginning to control the vehicle steering wheel to be in the preset return position. Then the next test data is continued to be sent. The next test data carries the steering request value last time (which can be simply referred to as the last steering request value), that is, the test data is sent from the last steering request value. The application does not make too many limitations and detailed descriptions.

[0066] The specific sending form of the test data is not limited, for example, in the form of Controller Area Network (CAN) message, Ethernet message or other communication message, and the application does not make too many limitations. When sending data, the application can also perform E2E check on the test data to be sent through the E2E check mechanism, and send the checked check information (such as checksum) and the test data to a message (such as a CAN message) to ensure the safety of data transmission, and the application does not make too many limitations and details.

[0067] The application does not limit the specific implementation of the above data sending instruction and / or the above data pause instruction, and the specific implementation can be realized through the above data sending mechanism and data pause mechanism (i.e. entering and pausing mechanism). For example, please refer to Figure 4 is a schematic diagram of a data sending and pausing mechanism provided by an embodiment of the application. The data sending and pausing mechanism can include any one or more of the embodiments in Figure 4 , but does not constitute a limitation: In one embodiment, the application can automatically generate the data sending instruction to start sending the test data after a preset first time period when detecting the activation operation of the preset key. That is, the preset key activation can delay entering the data sending. The preset key can be an existing key in the system, such as a speed setting key, a cruise key, etc. The preset first time period is a delay time set by the system according to actual conditions, which can be an empirical value set according to user experience, or a statistical value calculated from a series of experimental data, etc., and the application does not make too many limitations and details.

[0068] In another embodiment, the application can determine that the brake signal is set when detecting that the brake signal is set, for example, when detecting that the driver steps on the brake pedal, and can automatically generate the data pause instruction to pause sending the test data. That is, the brake signal setting immediately pauses the data sending.

[0069] In yet another embodiment, the application can automatically generate the above-mentioned data sending instruction to start sending the above-mentioned test data after detecting that the lateral acceleration of the vehicle is less than a preset acceleration threshold value for a preset second time length. That is, the data sending is entered after a delay when the lateral acceleration is less than the corresponding threshold value. The preset acceleration threshold value can be an acceleration threshold value predefined by the system according to actual conditions, which can be an empirical value set according to user experience, or a statistical value calculated from a series of experimental data, etc., which will not be limited and described in detail herein. The preset second time length is also a delay time predefined by the system according to actual conditions. The preset second time length and the preset first time length can be the same or different, which can be set according to actual conditions, for example, they can both be 3s, etc., which will not be limited herein.

[0070] In yet another embodiment, the application can automatically generate the above-mentioned data sending instruction to start sending the above-mentioned test data after detecting that the lateral acceleration of the vehicle is less than a preset acceleration threshold value for a preset second time length. That is, the data sending is entered after a delay when the lateral acceleration is less than the corresponding threshold value. The preset acceleration threshold value can be an acceleration threshold value predefined by the system according to actual conditions, which can be an empirical value set according to user experience, or a statistical value calculated from a series of experimental data, etc., which will not be limited and described in detail herein. The preset second time length is also a delay time predefined by the system according to actual conditions. The preset second time length and the preset first time length can be the same or different, which can be set according to actual conditions, for example, they can both be 3s, etc., which will not be limited herein.

[0071] In yet another embodiment, the application can automatically generate the above-mentioned data sending instruction to start sending the above-mentioned test data after detecting that the lateral acceleration of the vehicle is less than a preset acceleration threshold value for a preset second time length. That is, the data sending is entered after a delay when the lateral acceleration is less than the corresponding threshold value. The preset acceleration threshold value can be an acceleration threshold value predefined by the system according to actual conditions, which can be an empirical value set according to user experience, or a statistical value calculated from a series of experimental data, etc., which will not be limited and described in detail herein. The preset second time length is also a delay time predefined by the system according to actual conditions. The preset second time length and the preset first time length can be the same or different, which can be set according to actual conditions, for example, they can both be 3s, etc., which will not be limited herein.

[0072] In yet another embodiment, the application can automatically generate the above-mentioned data sending instruction to start sending the above-mentioned test data after detecting that the lateral acceleration of the vehicle is less than a preset acceleration threshold value for a preset second time length. That is, the data sending is entered after a delay when the lateral acceleration is less than the corresponding threshold value. The preset acceleration threshold value can be an acceleration threshold value predefined by the system according to actual conditions, which can be an empirical value set according to user experience, or a statistical value calculated from a series of experimental data, etc., which will not be limited and described in detail herein. The preset second time length is also a delay time predefined by the system according to actual conditions. The preset second time length and the preset first time length can be the same or different, which can be set according to actual conditions, for example, they can both be 3s, etc., which will not be limited herein.

[0073] In another embodiment, the application can automatically generate the data sending instruction and start sending the test data when detecting a target sending operation for the test data. The application does not limit the specific implementation of the target sending operation. For example, the target sending operation can be manually clicking or controlling a custom button on a computer to immediately enter data sending, or performing other pre-defined data sending operations. The application does not make further limitations and details. Figure 4 The application is exemplified by manually controlling a custom button to immediately enter data sending, but this does not constitute a limitation.

[0074] In another embodiment, the application can automatically generate the data pause instruction and pause sending the test data when detecting a target stop / pause operation for the test data. The application does not limit the specific implementation of the target stop / pause operation. For example, the target stop / pause operation can be manually clicking or controlling a custom button on a computer to immediately pause data sending, or performing other pre-defined data pause operations. The application does not make further limitations and details. Figure 4 The application is exemplified by manually controlling a custom button to immediately pause data sending, but this does not constitute a limitation.

[0075] In another embodiment, the application can automatically generate the data pause instruction and pause sending the test data when detecting a system failure, such as a failure of the vehicle power steering system EPS or other critical components. Figure 4 The application is exemplified by immediately pausing data sending when the EPS fails, but this does not constitute a limitation.

[0076] In another embodiment, the application can automatically generate the data pause instruction and pause sending the test data when detecting that the vehicle speed is greater than or equal to (or exceeds) a pre-set speed threshold. That is, the vehicle speed exceeds a certain range to immediately pause data sending. The pre-set speed threshold is a speed threshold or speed range pre-defined by the system according to actual conditions. It can be an empirical value set according to user experience, or a statistical value calculated from a series of experimental data. The application does not make further limitations and details.

[0077] It can be seen that the scheme of the application realizes test automation by using existing user-friendly tools such as keys, and can automatically save test results after the test is completed. In this way, not only the failure rate of the test is reduced, the safety is improved, but also the time of joint debugging test is shortened, the personnel configuration is reduced, thereby the test work efficiency is improved, and finally the purpose of reducing and increasing efficiency is achieved. In the specific implementation, after the handshake with the lower machine is successful, the corresponding test transmission mode is determined, the test transmission mode is used to indicate the transmission mode of test data; the corresponding test data is obtained based on the test transmission mode, the test data at least includes test scene, test waveform and steering request value, the steering request value includes steering request angle and / or steering request torque; the lower machine is tested based on the test scene, the test waveform and the steering request value in the test data, and the corresponding test result is obtained. In this way, the application can safely and accurately automatically test the lower machine based on different test transmission modes, thereby improving the safety, accuracy and efficiency of joint debugging test. At the same time, the technical problems that the test data needs to be manually given in the prior art, resulting in simple or single test, low reliability and the like are solved.

[0078] Based on the foregoing embodiments, please refer to Figure 5 is a structural schematic diagram of a joint debugging test device provided by an embodiment of the application. As Figure 5 The device shown in the figure can be applied to a computer device, and the device can include an acquisition module 501 and a processing module 502; wherein: The processing module 502 is configured to determine a corresponding test transmission mode after a handshake with a lower machine is successful, the test transmission mode being used to indicate a transmission mode of test data. The acquisition module 501 is configured to obtain corresponding test data based on the test transmission mode, the test data at least including test scene, test waveform and steering request value. The processing module 502 is further configured to test the lower machine based on the test scene, the test waveform and the steering request value in the test data, and obtain a corresponding test result.

[0079] In some embodiments, the processing module 502 is specifically configured to: display a control panel, the control panel including operation options corresponding to the test transmission mode and / or the test data respectively; determine and obtain the test transmission mode and / or the test data in response to an operation instruction of a corresponding operation option in the control panel.

[0080] In some embodiments, the control panel comprises a variable observation box, a data prompt box, a first transmission mode box and a second transmission mode box; wherein the variable observation box comprises key parameter information in the joint debugging test, the data prompt box comprises key prompt information in the joint debugging test, the first transmission mode box comprises at least test data matched with a first transmission mode, and the second transmission mode box comprises at least test data matched with a second transmission mode.

[0081] In some embodiments, the control panel further comprises a test progress, which is used to indicate a current progress of the joint debugging test.

[0082] In some embodiments, the processing module 502 is further configured to: allocate other test data associated with the test scenario to a multi-branch selection Switch-Case structure to match a test waveform corresponding to the test scenario, and re-associate and bind the test scenario and the test waveform.

[0083] In some embodiments, the processing module 502 is further configured to: control the vehicle speed to be a specified speed by proportional-integral-derivative (PID) control; The acquisition module 501 is specifically configured to acquire corresponding test data based on the test transmission mode at the specified speed.

[0084] In some embodiments, the processing module 502 is further specifically configured to: in response to a data sending instruction, send the test data; and / or, in response to a data pause instruction, pause sending the test data.

[0085] In some embodiments, the test data is multiple, and the processing module 502 is specifically configured to: determine whether a steering request value in the test data sent last time is 0; if yes, first send the test data with the steering request value of 0 to control the vehicle steering wheel to be at a preset return-to-center position, and then continue to send test data of a next steering request value; if no, first send the test data with the steering request value of 0 to control the vehicle steering wheel to be at a preset return-to-center position, and then continue to send test data from the test data of the last steering request value.

[0086] In some embodiments, the processing module 502 is further configured to perform at least one of the following: when detecting an activation operation of a preset key, generate the data sending instruction after a preset first time length; generate the data sending instruction after detecting that the lateral acceleration is less than a preset acceleration threshold value for a preset second time length; generate the data sending instruction after detecting that the torque value applied to the steering wheel of the vehicle is less than a preset torque threshold value for a preset third time length; generate the data sending instruction after detecting a target sending operation for the test data; generate the data pause instruction after detecting that a brake signal is set; generate the data pause instruction after detecting that the vehicle electric power steering system (EPS) fails; generate the data pause instruction after detecting that the vehicle speed is greater than or equal to a preset vehicle speed threshold value; generate the data pause instruction after detecting a target stopping operation for the test data; generate the data pause instruction after detecting that the lateral acceleration is greater than or equal to a preset acceleration threshold value for a preset fourth time length; generate the data pause instruction after detecting that the torque value applied to the steering wheel of the vehicle is greater than or equal to a preset torque threshold value for a preset fifth time length.

[0087] In some embodiments, before determining the corresponding test transmission mode, the processing module 502 is further configured to: perform E2E checking with the lower machine through an E2E checking program written by the processing module 502, to determine whether the processing module 502 successfully performs handshaking with the lower machine; or after the E2E checking succeeds, determine that the processing module 502 successfully performs handshaking with the lower machine; or after the E2E checking fails, troubleshoot the E2E checking program.

[0088] In some embodiments, before the processing module 502 successfully performs handshaking with the lower machine, the processing module 502 is further configured to: send a mute instruction to the lower machine, where the mute instruction is used to instruct the lower machine to stop external communication.

[0089] In some embodiments, the test result includes test function data, and the processing module 502 is further configured to: prompt the test function data through an instrument.

[0090] Aspects of the present application not described or explained in the embodiments of the present application can correspond to the relevant descriptions in the foregoing method embodiments, which will not be described here.

[0091] Please refer to Figure 6 is a structural schematic diagram of a computer device provided by an embodiment of the present application. As shown in Figure 6The illustrated computer device can be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, and the like. The computer device can be applied to various kinds of vehicles.

[0092] Referring to Figure 6 The device 600 can include one or more of the following components: a processing component 602, a memory 604, a power supply component 606, a multimedia component 608, an audio component 610, an input / output (I / O) interface 612, a sensor component 614, and a communication component 616.

[0093] The processing component 602 usually controls overall operations of the device 600, such as operations associated with displaying, making phone calls, data communications, camera operations, and recording operations. The processing component 602 can include one or more processors 620 to execute instructions to complete all or part of steps of the above-mentioned joint test method. Further, the processing component 602 can include one or more modules to facilitate the interaction between the processing component 602 and other components. For example, the processing component 602 can include a multimedia module to facilitate the interaction between the multimedia component 608 and the processing component 602.

[0094] The memory 604 is configured to store various types of data to support operations of the device 600. Examples of these data include instructions for any application or method operating on the device 600, contact data, phonebook data, messages, pictures, videos, and the like. The memory 604 can be implemented by any type of volatile or non-volatile storage devices or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic or optical disk.

[0095] The power supply component 606 supplies electrical power for the various components of the device 600. The power supply component 606 can include a power supply management system, one or more power supplies, and other components associated with generating, managing, and distributing electrical power for the device 600.

[0096] The multimedia component 608 includes a screen providing an output interface between the device 600 and a user. In some embodiments, the screen includes a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touch, swiping, and gestures on the touch panel. The touch sensors can not only sense a boundary of a touching or swiping action, but also detect duration and pressure associated with the touching or swiping action. In some embodiments, the multimedia component 608 includes a front camera and / or a rear camera. When the device 600 is in an operation mode, such as a shooting mode or a video mode, the front camera and / or the rear camera can receive external multimedia data. Each of the front and rear cameras can be a fixed optical lens system or have a focal length and optical zooming capability.

[0097] The audio component 610 is configured to output and / or input audio signals. For example, the audio component 610 includes a microphone (MIC) that is configured to receive an external audio signal when the device 600 is in an operation mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signal can be further stored in the memory 604 or transmitted via the communication component 616. In some embodiments, the audio component 610 also includes a speaker for outputting audio signals.

[0098] The input / output interface 612 provides an interface between the processing component 602 and peripheral interface modules, which can be a keypad, a click wheel, buttons, and so on. The buttons can include, but are not limited to, a home button, a volume button, a start button, and a lock button.

[0099] The sensor component 614 includes one or more sensors to provide various state assessments for the device 600. For example, the sensor component 614 can detect an open / closed state of the device 600, relative positioning of components, such as a display and a keypad of the device 600, a change in position of the device 600 or a component of the device 600, presence or absence of user contact with the device 600, a change in orientation of the device 600 or acceleration / deceleration of the device 600, and a temperature change of the device 600. The sensor component 614 can include a proximity sensor configured to detect presence of a nearby object without any physical touch. The sensor component 614 can further include a light sensor, such as a CMOS or CCD image sensor, for use in an imaging application. In some embodiments, the sensor component 614 can further include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0100] The communication component 616 is configured to facilitate wired or wireless communication between the device 600 and other devices. The device 600 can access a wireless network based on a communication standard, such as WiFi, 2G, or 3G, or a combination thereof. In an exemplary embodiment, the communication component 616 receives broadcast signals or broadcast-related information from external broadcast management systems via the broadcast channel. In an exemplary embodiment, the communication component 616 further includes a Near Field Communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0101] In an exemplary embodiment, the device 600 can be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components, for performing the above-described joint testing method.

[0102] It can be understood that the processor 620 in the embodiments of the present application can be an integrated circuit chip with a signal processing capability. In the implementation process, the steps of the method embodiments described above can be completed by hardware integrated logic circuits in the processor or by instructions in the form of software. The processor can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0103] Understandably, the memory 604 in the embodiments of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (read-only memory, ROM), a programmable read-only memory (programmable ROM, PROM), an erasable programmable read-only memory (erasable PROM, EPROM), an electrically erasable programmable read-only memory (electrically EPROM, EEPROM) or a flash memory. The volatile memory can be a random access memory (random access memory, RAM) used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static random access memory (static RAM, SRAM), dynamic random access memory (dynamic RAM, DRAM), synchronous dynamic random access memory (synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (double data rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (synchlink DRAM, SLDRAM) and direct memory bus random access memory (direct rambus RAM, DR RAM). It should be noted that the memory of the system and method described herein is intended to include but not limited to these and any other suitable type of memory.

[0104] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions, such as the memory 604 including instructions, is also provided, which can be executed by the processor 620 of the device 600 to complete the above-mentioned high-level commissioning test method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk and an optical data storage device, etc.

[0105] The apparatus can be an independent electronic device or a part of an independent electronic device. For example, in an embodiment, the apparatus can be an integrated circuit (IC) or a chip. The integrated circuit can be an IC or a collection of ICs. The chip can include, but is not limited to, a GPU (Graphics Processing Unit), a CPU (Central Processing Unit), an FPGA (Field Programmable Gate Array), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an SOC (System on Chip), and the like. The integrated circuit or the chip can execute executable instructions (or code) to implement the above-described joint debugging method. The executable instructions can be stored in the integrated circuit or the chip, or obtained from other devices or apparatuses. For example, the integrated circuit or the chip can include a processor, a memory, and an interface for communicating with other devices. The executable instructions can be stored in the memory and executed by the processor to implement the above-described joint debugging method. Alternatively, the integrated circuit or the chip can receive the executable instructions through the interface and transmit the executable instructions to the processor for execution to implement the above-described joint debugging method.

[0106] See Figure 7 is a structural schematic diagram of a vehicle provided by an embodiment of the present application. For example, as shown in Figure 7 The vehicle 700 includes a memory 701 and a processor 702. The memory 701 stores executable program code 7011. The processor 702 is configured to invoke and execute the executable program code 7011 to perform a joint debugging method.

[0107] The embodiments of the present application can divide the vehicle into functional modules according to the above-described method embodiments. For example, each functional module can be provided, or two or more functions can be integrated into one processing module. The integrated module can be implemented in the form of hardware. It should be noted that the division of the modules in the present embodiment is illustrative, and is only a logical functional division. In actual implementation, another division manner can be used. In the case of dividing each functional module according to each function, the vehicle can include a processing module, a communication module, and the like.

[0108] It should be noted that all the related content of each step involved in the above method embodiments can be referred to the function description of the corresponding function module, which will not be repeated here. The vehicle provided in the embodiment is used to execute the above-mentioned joint debugging test method, and thus the same effects as the above-mentioned implementation method can be achieved.

[0109] In another exemplary embodiment, a computer program product is also provided, which contains a computer program capable of being executed by a programmable device, and the computer program has a code part for executing the above-mentioned joint debugging test method when executed by the programmable device.

[0110] It should be noted here that the description of the above storage medium, device and equipment embodiments is similar to the description of the above method embodiments, and has similar beneficial effects as the method embodiments. For technical details of the storage medium, storage medium and equipment embodiments not disclosed in the present application, please refer to the description of the method embodiments of the present application for understanding.

[0111] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application. The specification and examples are intended to be exemplary only and are not intended to limit the true scope and spirit of the application. The true scope and spirit of the application are indicated by the following claims.

[0112] The above only represents the preferred embodiments of the present application, and is not used to limit the present application, and any modification, equivalent replacement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A co-simulation test method, characterized in that, The method comprises the following steps: After a successful handshake with the lower machine, determine the corresponding test transmission mode, which indicates the transmission mode of test data; Based on the test transmission mode, obtain the corresponding test data, which at least includes test scenarios, test waveforms, and steering request values; Based on the test scenarios, test waveforms, and steering request values in the test data, perform a joint debugging test on the lower machine to obtain the corresponding test results.

2. The method of claim 1, wherein, The determination method of the test transmission mode and / or the test data respectively comprises: Display a control panel, which includes the operation options corresponding to the test transmission mode and / or the test data respectively; Determine and obtain the test transmission mode and / or the test data in response to the operation instruction of the corresponding operation option in the control panel.

3. The method of claim 2, wherein, The control panel includes a variable observation box, a data prompt box, a first transmission mode box, and a second transmission mode box; wherein the variable observation box includes key parameter information in the joint debugging test, the data prompt box includes key prompt information in the joint debugging test, the first transmission mode box at least includes test data matched with the first transmission mode, and the second transmission mode box at least includes test data matched with the second transmission mode.

4. The method of claim 3, wherein, The control panel further includes a test progress, which is used to indicate the current progress of the joint debugging test.

5. The method of claim 1, wherein, After obtaining the test data based on the test transmission mode, the method further comprises: Assign other test data associated under the test scenario to a multi-branch selection structure to match the test waveform corresponding to the test scenario, and re-associate and bind the test scenario and the test waveform.

6. The method according to any one of claims 1-5, characterized in that, The joint debugging test on the lower machine based on the test scenarios, test waveforms, and steering request values in the test data further comprises: Send the test data in response to a data sending instruction; and / or, Pause sending the test data in response to a data pause instruction.

7. The method of claim 6, wherein, The test data has multiple test data, and the sending of the test data comprises: Determine whether the steering request value in the test data sent last time is 0; If yes, first send the test data with the steering request value of 0 to control the vehicle steering wheel to be at a preset return-to-zero position, and then continue to send the test data with the next steering request value; If no, first send the test data with the steering request value of 0 to control the vehicle steering wheel to be at a preset return-to-zero position, and then continue to send the test data starting from the test data with the last steering request value.

8. The method of claim 6, wherein, The method further comprises at least one of the following: When detecting an activation operation of a preset key, generate the data sending instruction after a preset first time period; When detecting that the lateral acceleration is less than a preset acceleration threshold, generate the data sending instruction after a preset second time period; When detecting that the torque value applied to the vehicle steering wheel is less than a preset torque threshold, generate the data sending instruction after a preset third time period; When detecting a target sending operation for the test data, generate the data sending instruction; When detecting that a brake signal is set, generate the data pause instruction; generating the data suspension instruction when detecting that the vehicle electric power steering system EPS is faulty; generating the data suspension instruction when detecting that the vehicle speed is greater than or equal to a preset speed threshold; generating the data suspension instruction when detecting that the target stop operation for the test data; generating the data suspension instruction when detecting that the lateral acceleration is greater than or equal to a preset acceleration threshold for a preset fourth time length; generating the data suspension instruction when detecting that the torque value applied to the vehicle steering wheel is greater than or equal to a preset torque threshold for a preset fifth time length.

9. The method according to any one of claims 1-5, characterized in that, Before determining the corresponding test transmission mode, the method further comprises: performing E2E checking with the lower machine through the written E2E checking program to determine whether the handshake with the lower machine is successful; after the E2E checking is successful, determining that the handshake with the lower machine is successful; or after the E2E checking fails, troubleshooting the E2E checking program.

10. A vehicle characterized by comprising: comprise: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute the executable instructions to implement the steps of the method of any one of claims 1-9.

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