A vehicle-in-the-loop testing method and related apparatus

Abstract

The application discloses a vehicle-in-the-loop test method and related device, and relates to the technical field of intelligent driving, and comprises the following steps: collecting a driving control signal fed back by a vehicle controller of a tested vehicle according to a received radar message signal, collecting a real radar message signal of a real radar of the tested vehicle through a first CAN channel, and obtaining simulation data sent by VTD scene simulation software; replacing a message header in the real radar message signal with a first data segment of the simulation data, replacing target list data in the real radar message signal with a second data segment of the simulation data, and obtaining a radar message signal; and sending the radar message signal to the vehicle controller of the tested vehicle through a second CAN channel. The application realizes the improvement of the accuracy of a vehicle-in-the-loop test response and the overall test efficiency based on the data complementation of a real radar and a virtual radar.

Description

A vehicle-in-the-loop testing method and related apparatus Technical Field

[0001] This application relates to the field of intelligent driving technology, and in particular to a vehicle-in-the-loop testing method and related apparatus. Background Technology

[0002] With the rapid development of intelligent driving technology, vehicle-in-the-loop (VIL) testing methods are widely used for the verification and performance evaluation of intelligent driving functions. Traditional VIL testing schemes typically rely on virtual scenario simulation systems (such as VTD) to generate virtual radar, camera, and other sensor data, which are then sent to the intelligent vehicle controller under test via a test platform. However, the real vehicle environment differs from the test bench environment. Various influencing factors in the real vehicle environment can affect the stability of the components in the VIL testing system. If the virtual radar and other sensor data generated by the virtual scenario simulation system (such as VTD) on the test bench are directly used for real vehicle simulation, it can lead to problems such as unstable message transmission cycles. How to ensure the authenticity of the test while improving the stability of the message cycle and reducing development complexity remains a pressing technical challenge. Summary of the Invention

[0003] In view of the above problems, this application provides a vehicle-in-the-loop testing method and related apparatus to improve the accuracy of vehicle-in-the-loop test response and overall testing efficiency. The specific solution is as follows:

[0004] The first aspect of this application provides a vehicle-in-the-loop testing method, comprising:

[0005] The vehicle controller of the test vehicle collects driving control signals fed back from the received radar message signals. The vehicle controller has intelligent driving functions.

[0006] During the process of the test vehicle performing actions according to the driving control signal, the real radar message signal of the test vehicle's real radar is collected through the first CAN channel.

[0007] Simulation data sent by VTD scenario simulation software is obtained during the process of the test vehicle performing actions according to driving control signals;

[0008] The message header in the real radar message signal is replaced with the first data segment of the simulated data, and the target list data in the real radar message signal is replaced with the second data segment of the simulated data to obtain the radar message signal.

[0009] The radar message signal is sent to the vehicle controller of the vehicle under test through the second CAN channel.

[0010] Optionally, the simulation data is generated by VTD scenario simulation software based on the driving control signals of the vehicle controller of the vehicle under test and the preset virtual test object. The simulation data carries the radar data of the preset virtual test object.

[0011] Optional, driving control signals include: wake-up signals for the actual radar of the test vehicle.

[0012] Optionally, the message header in the real radar message signal is replaced with the first data segment of the simulated data, including:

[0013] The original data frames of the real radar message signal are parsed using bus analysis tools, and the message header of the real radar message signal is determined.

[0014] The original data frames of the simulation data are parsed using bus analysis tools, and the first data segment of the simulation data is determined.

[0015] Based on the bus analysis tool, the message header of the real radar message signal is replaced with the first data segment of the simulated data, and field correction and protocol consistency checks are performed.

[0016] Optionally, the target list data in the real radar message signal can be replaced with the target list data in the simulated radar message signal, including:

[0017] The original data frames of the real radar message signals are parsed using bus analysis tools, and the target list data of the real radar message signals is determined.

[0018] The original data frames of the simulation data are parsed using bus analysis tools, and the second data segment of the simulation data is determined.

[0019] Based on the bus analysis tool, the target list data of the real radar message signal is replaced with the second data segment of the simulation data, and field correction and protocol consistency check are performed.

[0020] A second aspect of this application provides a vehicle-in-the-loop testing apparatus, comprising:

[0021] The data acquisition module is used to acquire driving control signals fed back by the vehicle controller of the test vehicle based on the received radar message signals. The vehicle controller has intelligent driving functions.

[0022] The real radar message signal acquisition module is used to acquire the real radar message signal of the test vehicle through the first CAN channel during the process of the test vehicle acting according to the driving control signal.

[0023] The simulation data acquisition module is used to obtain simulation data sent by the VTD scenario simulation software during the process of the vehicle under test performing actions according to the driving control signals.

[0024] The data replacement module is used to replace the message header in the real radar message signal with the first data segment of the simulated data, and to replace the target list data in the real radar message signal with the second data segment of the simulated data, so as to obtain the radar message signal.

[0025] The data transmission module is used to send radar message signals to the vehicle controller of the vehicle under test via the second CAN channel.

[0026] A third aspect of this application provides a vehicle-in-the-loop testing system comprising:

[0027] VTD scenario simulation software is used to generate the simulation data required to simulate radar message signals and send them to the bus analysis tool.

[0028] Real radar, used to send real radar message signals to bus analysis tools;

[0029] A bus analysis tool is used to perform the steps in the vehicle-in-the-loop test method of the first aspect or any implementation thereof described above.

[0030] The vehicle controller is used to generate driving control signals based on the received radar message signals and send them to the bus analysis tool, and to receive radar message signals sent by the bus analysis tool. The vehicle controller has intelligent driving functions.

[0031] The fourth aspect of this application provides a computer program product including computer-readable instructions that, when executed on an electronic device, cause the electronic device to implement the vehicle-in-the-loop testing method of the first aspect or any implementation thereof.

[0032] A fifth aspect of this application provides an electronic device, comprising at least one processor and a memory connected to the processor, wherein:

[0033] The memory is used to store computer programs;

[0034] The processor is used to execute the computer program to enable the electronic device to implement the vehicle-in-the-loop testing method of the first aspect or any implementation thereof.

[0035] The sixth aspect of this application provides a computer storage medium carrying one or more computer programs, which, when executed by an electronic device, enable the electronic device to perform a vehicle-in-the-loop testing method as described in the first aspect or any implementation thereof.

[0036] By employing the above technical solution, the vehicle-in-the-loop testing method provided in this application achieves synchronous fusion of real and simulated data by replacing the header and target list portions of the real radar message signals collected by the test vehicle's actual radar with the header and target list data of the simulated radar message signals generated by VTD scenario simulation software. This method avoids the periodic instability caused by directly simulating real radar and other sensor data generated by virtual scenario simulation systems (such as VTD) on the test bench. Simultaneously, it reduces development workload, lowers system complexity and testing costs, and improves the accuracy of vehicle-in-the-loop test response and overall testing efficiency. Attached Figure Description

[0037] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the originals and elements are not necessarily drawn to scale.

[0038] Figure 1 is a schematic flowchart of a vehicle-in-the-loop testing method provided in this application;

[0039] Figure 2 is a schematic diagram of a vehicle-in-the-loop testing device provided in this application;

[0040] Figure 3 is a schematic diagram of a vehicle-in-the-loop testing system provided in this application;

[0041] Figure 4 is a schematic block diagram of an electronic device provided in this application. Detailed Implementation

[0042] The embodiments of this application are described below with reference to the accompanying drawings. The terminology used in the implementation section of this application is for explaining specific embodiments only and is not intended to limit the scope of this application.

[0043] The embodiments of this application will now be described with reference to the accompanying drawings. Those skilled in the art will recognize that, with technological advancements and the emergence of new scenarios, the technical solutions provided in the embodiments of this application are equally applicable to similar technical problems.

[0044] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms are interchangeable where appropriate; this is merely a way of distinguishing objects with the same attributes in the embodiments of this application. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, so that a process, method, system, product, or apparatus that comprises a series of elements is not necessarily limited to those elements, but may include other elements not explicitly listed or inherent to those processes, methods, products, or apparatuses.

[0045] This application provides a vehicle-in-the-loop testing method, as shown in Figure 1, which may include the following steps:

[0046] S101: Collects driving control signals fed back by the vehicle controller of the test vehicle based on the received radar message signals. The vehicle controller has intelligent driving functions.

[0047] Optionally, in this embodiment, the test vehicle refers to the target vehicle whose intelligent driving function is to be verified, and this vehicle is equipped with a vehicle controller. The vehicle controller is the core computing unit of the vehicle's intelligent driving system, used to comprehensively process environmental information from onboard sensors and generate corresponding driving control signals based on this information to achieve autonomous driving, assisted driving, or partial driving decision-making functions. The radar message signal is a signal collected by the real millimeter-wave radar on the test vehicle and transmitted through the CAN bus. This signal contains information about the target object's position, relative speed, distance, and reflection intensity. The radar message signal is one of the important inputs for the vehicle controller to perform target detection and decision-making control. In this embodiment, the input and output signals of the vehicle controller can be synchronously collected through a data acquisition board. The collected objects include the driving control signals fed back by the vehicle controller based on the received radar message signals. For example, when the vehicle controller identifies the presence of an obstacle ahead or the characteristic data of the vehicle decelerating in the radar message signal, it will generate a braking control signal or deceleration command and send it to the execution unit (such as a brake actuator or drive motor control unit) through the vehicle bus, thereby realizing the vehicle's automatic braking or following control. In this embodiment, the driving control signals may include, but are not limited to, acceleration control signals, deceleration control signals, lane change signals, steering angle control signals, following distance control signals, and emergency braking trigger signals. This application collects the driving control signals fed back by the vehicle controller of the test vehicle after receiving radar message signals, ensuring the synchronization and accuracy of data acquisition.

[0048] S102: During the process of the test vehicle performing actions according to the driving control signal, the real radar message signal collected by the real radar of the test vehicle is acquired through the first CAN channel.

[0049] Optionally, in this embodiment, after the vehicle controller generates driving control signals based on the radar message signals, it can drive the vehicle to perform corresponding actions, such as automatic acceleration, braking, maintaining distance, lane changing, or obstacle avoidance. To verify the vehicle controller's decision-making logic and perception accuracy, it is necessary to collect the raw output data of the vehicle's actual radar in real time while the vehicle is performing its actions. To achieve this, this embodiment provides a first CAN channel, which serves as a data acquisition path for accessing the radar bus network of the vehicle under test. This allows for real-time monitoring and recording of the actual radar message signals transmitted by the radar without interfering with the vehicle's normal operation. The actual radar message signal can be a standard CAN protocol data message generated by the actual millimeter-wave radar installed on the vehicle under test when detecting targets in the surrounding environment. This message typically contains multiple fields such as the number of targets detected by the radar, target ID, distance information, azimuth angle, relative speed, and reflection intensity, and is key input data for the vehicle controller's environmental perception and decision-making. The first CAN channel can be connected to the bus node where the vehicle's actual radar is located via a CAN acquisition device. This device is equipped with a high-precision timestamp function, enabling microsecond-level time synchronization to ensure that the acquired real radar message signals are consistent with the test vehicle's action events in the time dimension. Specifically, when the vehicle controller generates driving control signal commands to drive the vehicle to perform actions (such as vehicle acceleration or lane changing), the real radar module continuously scans the space area in front of and around the vehicle. At this time, the first CAN channel continuously listens to the real radar message signals output by the real radar. In an optional implementation, the acquisition of real radar message signals can also be combined with vehicle attitude data for fusion recording. For example, information such as the vehicle's yaw angle, acceleration, and yaw rate can be collected through the vehicle's IMU (Inertial Measurement Unit). This allows for a more accurate reconstruction of the test vehicle's actual driving trajectory and radar detection characteristics in the test scenario during data playback or simulation verification. This application, through the first CAN channel, acquires the real radar message signals output by the test vehicle's real radar in real time during the vehicle's execution of driving control signal actions. This not only achieves high precision and high synchronization in data acquisition but also provides a reliable source of raw data for subsequent steps such as simulation radar data replacement and algorithm verification.

[0050] S103: During the process of the test vehicle performing actions according to the driving control signals, obtain simulation data sent by the VTD scenario simulation software.

[0051] Optionally, in this embodiment, the VTD scenario simulation software is a simulation testing platform for intelligent driving systems, capable of generating simulation data based on a preset virtual test environment, road scenario, traffic targets, and the driving state of the vehicle under test. Specifically, when the vehicle controller executes actions such as automatic acceleration, braking, or lane changing according to the aforementioned driving control signals, the VTD software calculates a radar echo model based on the vehicle's real-time pose, speed, and information on obstacles or traffic participants in the virtual scenario, generating simulation data containing information such as the number of targets, target distance, relative speed, azimuth angle, and reflection intensity, and packages and sends this data to the bus analysis tool.

[0052] S104: Replace the message header in the real radar message signal with the first data segment of the simulated data, and replace the target list data in the real radar message signal with the second data segment of the simulated data to obtain the radar message signal.

[0053] Optionally, in this embodiment, the real radar message signal collected by the real radar of the test vehicle through the first CAN channel can be transmitted to the second CAN channel based on the bus analysis tool. Here, message transmission means transmitting the data completely from the source to the destination without modifying the original data format.

[0054] First, the raw data frames of the real radar message signal can be parsed frame by frame using a bus analysis tool. The message header and target list data of the real radar message signal are extracted according to a predetermined message format. Field validation and byte order alignment are then performed on each extracted field to obtain a structured real message header and a structured real target list. Simultaneously, the simulation data received from the VTD scenario simulation software is parsed according to a pre-defined format to extract the first and second data segments of the simulation data. The first data segment contains control fields such as identification information, DLC, and time synchronization flags corresponding to the message header. The second data segment contains perception fields corresponding to the target list data, such as the number of targets, target ID, distance, relative velocity, azimuth, and reflection intensity. After establishing a consistent mapping between message ID and frame type, the system replaces the message header of the real radar message signal with the first data segment of the simulated data. Simultaneously, it replaces the target list data of the real radar message signal item by item with the second data segment of the simulated data. During the replacement process, necessary data type conversions, unit conversions, range clipping, and bit field alignment are performed. The DLC and checksum of the message are recalculated or verified to ensure frame structure consistency. To ensure timing consistency, the replaced radar message signal is synchronously updated or retains timestamp information and calibrated to the unified time base of the vehicle controller via a time synchronization module. Integrity verification and anomaly handling strategies are embedded in the replacement process. If parsing fails, fields mismatch, or verification fails, the system records the anomaly and reverts to the real radar message signal or enters a safe stop state according to a preset strategy to avoid false triggering. Finally, the synthesized radar message signal meets the parsing requirements of the vehicle controller in terms of format, length, verification, and timing. It can be sent to the vehicle controller of the vehicle under test via a CAN injection module or bus gateway to drive the vehicle controller to generate corresponding driving control responses based on simulated target information, thereby achieving closed-loop verification of virtual-real fusion in-loop testing. The radar message signal sent through the second CAN channel has the same frame format and signal field structure as the real radar message signal acquired through the first CAN channel.

[0055] S105: Sends radar message signals to the vehicle controller of the vehicle under test via the second CAN channel.

[0056] Optionally, in this embodiment, the radar message signal can be rewritten into the control bus of the vehicle under test in the form of a standard CAN frame using a second CAN channel or a signal injection device, so that it can be processed as a sensor input signal of the vehicle controller. The CAN communication module can use hardware devices compatible with the vehicle bus system, such as VN1640, VN1670, etc. Through these devices, the generated radar message signal can be sent to the designated CAN channel, and bidirectional communication between the physical layer and data link layer can be achieved with the bus node where the vehicle controller is located.

[0057] In another optional embodiment, to ensure the traceability and accuracy of test data, data recording can be performed simultaneously with signal transmission. This recording module synchronously saves the content of the transmitted radar message signal, the transmission timestamp, and the driving control signals fed back by the vehicle controller, thereby establishing a mapping relationship between input and output behaviors in subsequent analysis. Furthermore, the operating status of the vehicle controller can be monitored through a diagnostic interface (such as UDS or DoIP) to promptly stop signal transmission upon detecting abnormal responses or signal loss, preventing erroneous triggering during the test. This application enables seamless injection of radar message signals from the simulation environment into the real vehicle control system, thus completing vehicle-in-the-loop testing.

[0058] In one embodiment, the simulation data is generated by VTD scenario simulation software based on the driving control signals of the vehicle controller of the vehicle under test and a preset virtual test object. The simulation data carries the radar data of the preset virtual test object.

[0059] Specifically, the VTD scenario simulation software serves as the core virtual environment generation platform, used to construct simulation test scenarios that are highly consistent with real road environments, including road structures, lane lines, traffic signs, static obstacles, and dynamic traffic participants.

[0060] When the vehicle controller of the test vehicle outputs driving control signals based on the received radar message signals, the VTD scenario simulation software receives these control signals through an interface module and feeds them back to the virtual vehicle model in the simulation scenario. This allows for real-time updates to the vehicle's attitude parameters and driving status information in the simulation space, such as position, speed, acceleration, and heading angle. The simulation system then calculates the relative motion relationship between the vehicle and the virtual target, and uses this as a basis to generate simulation data of the radar echo. The virtual test objects in the preset simulation test scenario can include virtual vehicles ahead, oncoming vehicles, stationary obstacles, pedestrians, traffic cones, or other dynamic and static targets that may affect the vehicle's driving decisions. The VTD scenario simulation software calculates the reflection characteristics of each virtual test object under the radar detection beam based on its physical characteristics (including size, radar cross-section, trajectory, and surface material), forming the foundational data for the simulation.

[0061] Furthermore, the VTD simulation system can dynamically adjust the behavior of the virtual test object based on the driving control signals from the vehicle controller. For example, when the vehicle controller outputs an acceleration signal, the virtual vehicle in front in the simulation scenario can decelerate or maintain a constant speed according to preset logic, thereby generating a change in target data indicating a decrease in the distance ahead in the simulated radar message signal; when the vehicle controller outputs a lane-changing signal, VTD will adjust the target position in the adjacent lane in the virtual road, simulating the scenario where the vehicle radar detects a new target, realizing dynamic interaction between the virtual environment and the real control logic.

[0062] Ultimately, the simulation data is input into the bus analysis tool as virtual sensor output data. After decoding and replacing the message header and target list data of the real radar signal, it is input into the vehicle controller. The vehicle controller identifies, judges, and makes decisions based on the signal, thereby realizing intelligent driving behavior driven by virtual scenarios in the test platform.

[0063] From the above, it can be concluded that this application enables the test system to simulate complex driving conditions in a risk-free environment by constructing a controllable virtual test object and the interaction process with the vehicle controller, and accurately evaluates the stability and reliability of intelligent driving algorithms under multiple objectives and multiple conditions.

[0064] In one embodiment, the driving control signal includes: a wake-up signal for the actual radar of the vehicle under test.

[0065] Specifically, the driving control signal is generated by the vehicle controller of the test vehicle after receiving and parsing the radar message signal. It instructs the vehicle to perform control actions under the current driving state and is a crucial link in the perception-decision-execution closed-loop control of the vehicle's intelligent driving system. The wake-up signal controls the switch of the real radar module of the test vehicle from standby to active state. When the vehicle controller detects the start command of the in-loop test system or driving task, it sends a wake-up signal to the radar module via the internal communication bus to activate the radar sensor's power supply and data acquisition functions. This signal is typically sent in CAN message format, containing information such as the radar module ID, control bytes, and status flags. Through the wake-up signal, the test system ensures that the radar equipment is available before the test vehicle enters the test scenario, thereby guaranteeing the effectiveness and continuity of subsequent radar message signal acquisition and simulation replacement processes.

[0066] From the above, it can be concluded that this application ensures the timing consistency and signal coordination among the vehicle controller, the real radar module, and the VTD scenario simulation software during the in-loop testing process, enabling the vehicle under test to make decisions and execute according to real logic in the virtual environment, thereby improving the accuracy and reproducibility of the vehicle in-loop testing method.

[0067] In one embodiment, the message header in the real radar message signal is replaced with the first data segment of the simulated data, including:

[0068] The original data frames of the real radar message signal are parsed using a bus analysis tool to determine the message header of the real radar message signal; the original data frames of the simulation data are parsed using a bus analysis tool to determine the first data segment of the simulation data; the message header of the real radar message signal is replaced with the first data segment of the simulation data using a bus analysis tool, and field correction and protocol consistency checks are performed.

[0069] Specifically, the bus analysis tool can be data acquisition and parsing software that supports the CAN communication protocol, such as CANoe, CANalyzer, or a self-developed bus parsing module. This bus analysis tool can capture radar message signals transmitted on the CAN bus, identify frame structure, and decode data fields. The message header identifies the source, type, and priority of the message and is a crucial part of node identification and data routing during CAN communication. The original data frame of the real radar message signal is generated by the real radar device installed on the test vehicle and transmitted through the first CAN channel. This message header typically contains a message ID (Identifier), Data Length Code (DLC), transmission flags, and a transmission timestamp to identify the radar device and its data type. After decoding the real radar message signal using the bus analysis tool, the message header portion can be accurately extracted for subsequent replacement operations. During the parsing process, the bus analysis tool decodes the bit stream of the original CAN frame, obtains the complete message header structure by identifying areas such as the synchronization segment, control segment, and arbitration segment, and stores it as the real message header data in the form of a byte sequence. Secondly, the system uses a bus analysis tool to parse the original data frames of the simulation data to determine the first data segment. After obtaining the first and second data segments, the system uses the bus analysis tool to replace the header of the real radar message signal with the first data segment of the simulation data. During the replacement process, the system first establishes a field correspondence to ensure consistency between the first data segment of the simulation data and the real radar message header in terms of the number of fields, data types, and byte alignment. Then, it performs a field-level replacement operation, that is, it uses the field values ​​of the simulation data to sequentially overwrite the corresponding fields of the real message header. To ensure that the replacement result meets the communication protocol standard, the system performs field correction and protocol consistency checks after the replacement, including message length and DLC consistency verification to ensure that the data area length is consistent with the control field description; verification recalculation to ensure the transmission integrity of the replaced frame; frame type comparison and timestamp synchronization checks to ensure that the simulation message header matches the vehicle controller communication protocol and that the time error is within an acceptable range. If the detection result is abnormal, the system will automatically record the message and execute a rollback mechanism to restore the original real radar message header to avoid affecting the normal parsing of the vehicle controller.

[0070] As can be seen from the above, this application can smoothly embed simulation data into the real radar message structure without changing the vehicle controller's receiving logic, achieving seamless injection of simulation data at the communication layer. This improves the accuracy and system stability of vehicle-in-the-loop testing.

[0071] In one embodiment, the target list data in the real radar message signal is replaced with a second data segment of the simulated data, including:

[0072] The original data frames of the real radar message signals are parsed using bus analysis tools, and the target list data of the real radar message signals is determined.

[0073] The original data frames of the simulation data are parsed using bus analysis tools, and the second data segment of the simulation data is determined.

[0074] Based on the bus analysis tool, the target list data of the real radar message signal is replaced with the second data segment of the simulation data, and field correction and protocol consistency check are performed.

[0075] Specifically, the raw data frames of real radar message signals can first be parsed using bus analysis tools to identify and extract target list data. Real radar message signals are typically generated by radar sensors acquiring real-time data about the vehicle's surrounding environment, and their raw data frames contain detection information for several target objects. The target list data mainly includes fields such as each target's identification number, distance information, relative speed, azimuth angle, lateral position, longitudinal speed, reflection intensity, and confidence parameters, used to describe the spatial characteristics of obstacles or other traffic participants around the tested vehicle.

[0076] Secondly, the original data frames of the simulation data are parsed using a bus analysis tool to determine the second data segment. This second data segment is generated by the VTD scenario simulation software based on the test objects in the virtual environment, and its content corresponds to the format of the real radar target list data. The second data segment of the simulation data may contain simulation radar detection result parameters such as the number, number, distance, relative speed, azimuth angle, and reflection intensity of virtual target objects. These values ​​are calculated by the simulation physics engine based on the motion state of the test vehicle in the virtual scene, the traffic environment, and the simulation radar model. During the parsing process, the bus analysis tool can extract the second data segment of the simulation data according to the same signal parsing rules as the real radar message, thereby ensuring the consistency of the format of the replaced data structure and the accuracy of the field correspondence. After completing the extraction of the above two datasets, the system replaces the target list data of the real radar message signal with the second data segment of the simulation data using the bus analysis tool. In the replacement process, a field mapping table is first established to correspond each field in the second data segment of the simulation data to the target list data field of the real radar message signal; then, the target information fields in the real message are replaced one by one with the target parameters of the simulation data. After the replacement is completed, the system performs field correction and protocol consistency checks to ensure that the replaced message meets communication protocol requirements and can be correctly recognized and parsed by the vehicle controller. Furthermore, to prevent format mismatches or data overflows caused by differences in the structure of simulated data and real radar messages, the system automatically checks the correspondence between the length of the second data segment of the simulated data and the length of the real target list segment before the replacement.

[0077] From the above, it can be concluded that this application can achieve seamless replacement of the real radar message target list with virtual target data without changing the vehicle controller hardware interface and communication protocol, thereby simulating perception input under different environments during vehicle-in-the-loop testing and supporting the functional verification and performance evaluation of intelligent driving algorithms in complex traffic scenarios.

[0078] The above describes a vehicle-in-the-loop testing method provided by the embodiments of this application. The following will describe the vehicle-in-the-loop testing device that performs the above-described vehicle-in-the-loop testing.

[0079] Please refer to Figure 2, which is a schematic diagram of a vehicle-in-the-loop testing device provided in an embodiment of this application. As shown in Figure 2, the vehicle-in-the-loop testing device includes:

[0080] The data acquisition module 401 is specifically used to acquire the driving control signals fed back by the vehicle controller of the test vehicle based on the received radar message signals. The vehicle controller has intelligent driving functions.

[0081] The real radar message signal acquisition module 402 is used to acquire the real radar message signal of the real radar of the test vehicle through the first CAN channel during the process of the test vehicle acting according to the driving control signal.

[0082] The simulation data acquisition module 403 is specifically used to obtain simulation data sent by the VTD scenario simulation software during the process of the vehicle under test performing actions according to the driving control signal.

[0083] The data replacement module 404 is used to replace the message header in the real radar message signal with the first data segment of the simulated data, and to replace the target list data in the real radar message signal with the second data segment of the simulated data, so as to obtain the radar message signal.

[0084] The data transmission module 405 is used to send radar message signals to the vehicle controller of the vehicle under test through the second CAN channel.

[0085] In one embodiment, the data replacement module 404 is specifically used to parse the original data frame of the real radar message signal based on a bus analysis tool and determine the message header of the real radar message signal.

[0086] The original data frames of the simulation data are parsed using bus analysis tools, and the first data segment of the simulation data is determined.

[0087] Based on the bus analysis tool, the message header of the real radar message signal is replaced with the first data segment of the simulated data, and field correction and protocol consistency checks are performed.

[0088] In one embodiment, the data replacement module 404 is specifically used to: parse the original data frame of the real radar message signal based on the bus analysis tool, and determine the target list data of the real radar message signal;

[0089] The original data frames of the simulation data are parsed using bus analysis tools, and the second data segment of the simulation data is determined.

[0090] Based on the bus analysis tool, the target list data of the real radar message signal is replaced with the second data segment of the simulation data, and field correction and protocol consistency check are performed.

[0091] This application also provides a vehicle-in-the-loop testing system. As shown in Figure 3, the system includes VTD scenario simulation software for simulating data and sending it to a bus analysis tool; a real radar for sending real radar message signals to the bus analysis tool; a bus analysis tool for executing each step of any of the vehicle-in-the-loop testing methods provided in this application; and a vehicle controller for generating driving control signals based on the received radar message signals and sending them to the bus analysis tool, as well as receiving radar message signals sent by the bus analysis tool. The vehicle controller has intelligent driving functions.

[0092] This application also provides an electronic device. Referring to Figure 4, it shows a schematic diagram of an electronic device suitable for implementing the vehicle-in-the-loop testing method of this application. The electronic device in this application may include, but is not limited to, fixed terminals such as mobile phones, laptops, PDAs (personal digital assistants), PADs (tablet computers), desktop computers, etc. The electronic device shown in Figure 4 is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0093] As shown in Figure 4, the electronic device may include a processing unit (e.g., a central processing unit, a graphics processing unit, etc.) 601, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from a storage device 608 into a random access memory (RAM) 603. When the electronic device is powered on, the RAM 603 also stores various programs and data required for the operation of the electronic device. The processing unit 601, ROM 602, and RAM 603 are interconnected via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0094] Typically, the following devices can be connected to I / O interface 605: input devices 606 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 607 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 608 including, for example, memory cards, hard drives, etc.; and communication devices 609. Communication device 609 allows the electronic device to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 4 shows an electronic device with various devices, it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed alternatively.

[0095] This application also provides a computer program product including computer-readable instructions, which, when executed on an electronic device, cause the electronic device to implement any of the vehicle-in-the-loop testing methods provided in this application.

[0096] This application also provides a computer-readable storage medium carrying one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement any of the vehicle-in-the-loop testing methods provided in this application.

[0097] It should also be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. In addition, in the device embodiment drawings provided in this application, the connection relationship between modules indicates that they have a communication connection, which can be implemented as one or more communication buses or signal lines.

[0098] Through the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware, or it can be implemented by special-purpose hardware including application-specific integrated circuits, special-purpose CPUs, special-purpose memory, special-purpose components, etc. Generally, any function performed by a computer program can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be diverse, such as analog circuits, digital circuits, or special-purpose circuits. However, for this application, software program implementation is more often the preferred implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium, such as a computer floppy disk, USB flash drive, mobile hard disk, ROM, RAM, magnetic disk, or optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, training equipment, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0099] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product.

[0100] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, training device, or data center to another website, computer, training device, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a training device or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state drives (SSDs)).

Claims

1. A vehicle-in-the-loop testing method, characterized in that, include: The vehicle controller of the test vehicle collects driving control signals fed back by the received radar message signals. The vehicle controller has intelligent driving functions. During the process of the vehicle under test acting according to the driving control signal, the real radar message signal collected by the real radar of the vehicle under test is acquired through the first CAN channel without interfering with the normal operation of the vehicle; during the process of the vehicle under test acting according to the driving control signal, simulation data sent by VTD scenario simulation software is obtained; the message header in the real radar message signal is replaced with the first data segment of the simulation data, and the target list data in the real radar message signal is replaced with the second data segment of the simulation data to obtain the radar message signal. The radar message signal obtained after data replacement is synchronously updated or retains timestamp information and calibrated to the unified time base of the vehicle controller through the time synchronization module; the radar message signal is sent to the vehicle controller of the vehicle under test through the second CAN channel; wherein, the simulation data is generated by the VTD scenario simulation software based on the driving control signal of the vehicle controller of the vehicle under test and the preset virtual test object, and the simulation data carries the radar data of the preset virtual test object; the driving control signal includes: the wake-up signal of the real radar of the vehicle under test.

2. The vehicle-in-the-loop testing method according to claim 1, characterized in that, The step of replacing the header of the real radar message signal with the first data segment of the simulated data includes: parsing the original data frame of the real radar message signal using a bus analysis tool and determining the header of the real radar message signal; parsing the original data frame of the simulated data using a bus analysis tool and determining the first data segment of the simulated data; replacing the header of the real radar message signal with the first data segment of the simulated data using the bus analysis tool and performing field correction and protocol consistency checks.

3. The vehicle-in-the-loop testing method according to claim 1, characterized in that, The step of replacing the target list data in the real radar message signal with the second data segment of the simulated data includes: parsing the original data frame of the real radar message signal using a bus analysis tool and determining the target list data of the real radar message signal; parsing the original data frame of the simulated data using a bus analysis tool and determining the second data segment of the simulated data; replacing the target list data of the real radar message signal with the second data segment of the simulated data using the bus analysis tool and performing field correction and protocol consistency checks.

4. A vehicle-in-the-loop testing device, characterized in that, include: The data acquisition module is used to acquire driving control signals fed back by the vehicle controller of the test vehicle based on the received radar message signals. The vehicle controller has intelligent driving functions. The real radar message signal acquisition module is used to acquire the real radar message signal of the vehicle under test through the first CAN channel without interfering with the normal operation of the vehicle, while the vehicle under test is acting according to the driving control signal; the simulation data acquisition module is used to obtain the simulation data sent by the VTD scenario simulation software while the vehicle under test is acting according to the driving control signal. The data replacement module is used to replace the message header in the real radar message signal with the first data segment of the simulated data, and to replace the target list data in the real radar message signal with the second data segment of the simulated data, so as to obtain the radar message signal. The radar message signal obtained after data replacement is synchronously updated or the timestamp information is retained and calibrated to the unified time base of the vehicle controller through the time synchronization module; The data transmission module is used to send the radar message signal to the vehicle controller of the vehicle under test through the second CAN channel; wherein, the simulation data is generated by the VTD scenario simulation software based on the driving control signal of the vehicle controller of the vehicle under test and a preset virtual test object, and the simulation data carries the radar data of the preset virtual test object; the driving control signal includes: the wake-up signal of the real radar of the vehicle under test.

5. A vehicle-in-the-loop testing system, characterized in that, include: VTD scenario simulation software is used to simulate data and send it to bus analysis tools; Real radar, used to send real radar message signals to bus analysis tools; A bus analysis tool for performing each step of the vehicle-in-the-loop test method according to any one of claims 1 to 3; The vehicle controller is used to generate driving control signals based on the received radar message signals and send them to the bus analysis tool, and to receive radar message signals sent by the bus analysis tool. The vehicle controller has intelligent driving functions.

6. A computer program product, characterized in that, Includes computer-readable instructions that, when executed on an electronic device, cause the electronic device to implement the vehicle-in-the-loop testing method as described in any one of claims 1 to 3.

7. An electronic device, characterized in that, The device includes at least one processor and a memory connected to the processor, wherein: the memory is used to store a computer program; and the processor is used to execute the computer program to enable the electronic device to implement the vehicle-in-the-loop testing method as described in any one of claims 1 to 3.

8. A computer storage medium, characterized in that, The storage medium carries one or more computer programs that, when executed by an electronic device, enable the electronic device to implement the vehicle-in-the-loop testing method as described in any one of claims 1 to 3.

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