Sensor data link test method based on vehicle rack and vehicle rack
By using a vehicle-based sensor data link testing method, and leveraging sensor middleware and data processing units to generate end-to-end test results, the problem of inaccurate environmental perception sensor data link test results is solved, achieving high-reliability testing and reducing resource consumption and debugging costs.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-28
- Publication Date
- 2026-03-13
AI Technical Summary
The reliability of data link test results for environmental perception sensors in existing technologies is low, and analog signals cannot fully reproduce complex situations in the physical environment, resulting in inaccurate test results.
A sensor data link testing method based on a vehicle bench is adopted. Environmental perception data is received through sensor middleware, multiple operating parameters are obtained, and the data is processed in the data processing unit to generate full-link test results, including anomaly detection in data reception, forwarding and processing.
It improves the reliability of environmental perception sensor data link testing, can fully reproduce complex situations in the real environment, reduces the consumption of real vehicle resources, reduces debugging and rework costs, and reduces the risk of project delays.
Smart Images
Figure CN121655899A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of intelligent driving testing technology, and in particular to a sensor data link testing method and a vehicle test bench based on a vehicle test bench. Background Technology
[0002] Intelligent driving refers to the use of multiple environmental perception sensors to collect data on the surrounding environment and to provide a basis for vehicle decision-making and control based on this data. To ensure driving safety and the reliability of intelligent driving, testing the data links of these multiple environmental perception sensors is crucial.
[0003] Currently, in the testing of data links for environmental sensing sensors, simulated environmental sensing sensor signals are often used to replace the outputs of real physical environmental sensing sensors. However, simulated environmental sensing sensor signals cannot fully reproduce the complex situations faced by physical environmental sensing sensors in real-world environments, such as the inherent noise characteristics of the physical environmental sensing sensors and the impact of environmental interference on the signal. This results in low reliability of the final test results for the data links of environmental sensing sensors. Summary of the Invention
[0004] This application provides a sensor data link testing method and a vehicle test bench based on a vehicle test bench, which is used to solve the problem of low reliability of test results of data links of environmental perception sensors in the prior art.
[0005] Firstly, this application provides a sensor data link testing method based on a vehicle test bench, applied to the intelligent driving domain controller of the vehicle test bench. The intelligent driving domain controller is configured with sensor middleware and a data processing unit. The vehicle test bench also includes multiple environmental perception sensors. The method provided in this application includes: Based on the sensor middleware, it receives environmental perception data collected by multiple environmental perception sensors and obtains the first operating parameters when the sensor middleware receives the environmental perception data. Based on the sensor middleware, environmental perception data is forwarded to the data processing unit, and the second operating parameters when the sensor middleware forwards environmental perception data are obtained; The data processing unit processes the environmental sensing data and outputs the actual data processing results, and obtains the third operating parameters when the data processing unit processes the environmental sensing data. Analyze the first, second, and third operating parameters, and generate data link test results.
[0006] In some implementations, the first operating parameter includes the actual data received frame rate. The analysis of the first operating parameter, the second operating parameter, and the third operating parameter generates data link test results, including: Check whether the actual received frame rate matches the preset theoretical received frame rate; If there is a discrepancy, a data link test result is generated to characterize the data reception anomaly. If they match, a data link test result is generated to characterize normal data reception.
[0007] In some implementations, the first operating parameter includes the operating logs of the sensor middleware. The first operating parameter, the second operating parameter, and the third operating parameter are analyzed to generate data link test results, including: Check the operation logs of the sensor middleware for any errors; If an error is found, a data link test result is generated to characterize the data preprocessing anomaly. If no errors are reported, a data link test result is generated to characterize that the data preprocessing is normal.
[0008] In some implementations, the second operating parameter includes the actual data forwarding frame rate. The analysis of the first, second, and third operating parameters, and the generation of data link test results, include: The actual forwarding frame rate of the sensor middleware is consistent with the preset theoretical forwarding frame rate. If there is a discrepancy, a data link test result is generated to characterize the data forwarding anomaly; If they match, a data link test result is generated to characterize normal data forwarding.
[0009] In some implementations, the second operating parameter includes the actual data forwarding frame rate. The analysis of the first, second, and third operating parameters, and the generation of data link test results, include: Continuously monitor whether the actual data forwarding frame rate of the sensor middleware decreases; If the actual data forwarding frame rate decreases, data link test results are generated to characterize data transmission channel congestion or interruption.
[0010] In some implementations, the first operating parameter, the second operating parameter, and the third operating parameter are analyzed, and data link test results are generated, including: Determine whether the third operating parameter is within the preset parameter threshold range; If the third running parameter is not within the preset parameter threshold range, a data link test result is generated to characterize data processing anomalies.
[0011] In some implementations, the third operating parameter includes at least one of the following: CPU utilization of the data processing unit, memory occupancy, and data processing frame rate.
[0012] In some implementations, the third operating parameter includes the frame rate at which the data processing unit receives environmentally aware data and the frame rate at which the data processing unit outputs the processing result. The first operating parameter, the second operating parameter, and the third operating parameter are analyzed, and data link test results are generated, including: Determine whether the frame rate at which the data processing unit outputs the processing results is less than the frame rate at which the data processing unit receives the environmental perception data. If so, generate data link test results to characterize data processing anomalies.
[0013] In some implementations, after forwarding environmentally perceived data to the data processing unit based on sensor middleware, the method provided in this application further includes: Verify the integrity of the environmental sensing data received by the data processing unit; If the received environmental awareness data is incomplete, output the data link test result indicating an abnormal data forwarding.
[0014] In some embodiments, after processing the environmental perception data based on the data processing unit and outputting the actual data processing results, the method provided in this application further includes: Compare the actual data processing results with the preset standard data processing results to see if they are consistent; If there is a discrepancy, a data link test result is generated to characterize the data processing anomaly.
[0015] In some implementations, multiple environmental perception sensors include cameras and radar, and the environmental perception data includes environmental image data acquired by the cameras and point cloud data acquired by the radar. The data processing unit includes a target recognition unit. The actual data processing results include the target recognition unit's recognition results of target objects in environmental image data and point cloud data.
[0016] In some implementations, multiple environmental perception sensors include a positioning sensor, environmental perception data includes location data collected by the positioning sensor, a data processing unit includes a positioning unit, and the actual data processing result includes the vehicle's location information on the map and the vehicle's motion state obtained by the positioning unit based on the location data.
[0017] Secondly, this application also provides a vehicle test bench, including a smart driving domain controller and multiple environmental perception sensors. The smart driving domain controller is equipped with sensor middleware and a data processing unit, and is used to execute the method provided in the first aspect of this application.
[0018] Thirdly, this application also provides a storage medium storing a computer program, characterized in that, when the computer program is executed by a processor, it causes the computer to perform the method provided in the first aspect of this application.
[0019] Fourthly, this application also provides a computer program product, including a computer program that, when run, causes a vehicle test bench to perform the method of the first aspect of this application.
[0020] This application provides a sensor data link testing method and a vehicle test bench based on a vehicle test bench. The method can receive environmental perception data collected by multiple environmental perception sensors based on sensor middleware, and obtain first operating parameters of the sensor middleware when receiving the environmental perception data. The sensor middleware forwards the environmental perception data to a data processing unit, and obtains second operating parameters of the sensor middleware when forwarding the environmental perception data. The data processing unit processes the environmental perception data and outputs actual data processing results, and obtains third operating parameters of the data processing unit when processing the environmental perception data. The first, second, and third operating parameters are analyzed to generate data link test results. Understandably, since the aforementioned environmental perception data is sensed by multiple real physical sensors, it can completely reproduce the complex situations faced by physical environmental perception sensors in real-world environments, thus ensuring high reliability of the final test results for the data link of the environmental perception sensors. Furthermore, testing is performed on the environmental perception data at each stage of data transmission, achieving full-link testing of the environmental perception data during transmission. Moreover, it does not require a large amount of real vehicle resources, reducing manpower, material resources, and time consumption. At the same time, problems with the data link of environmental perception sensors can be discovered in the early stages of development, which can prevent these problems from being carried into the actual vehicle road test or mass production stage, and significantly reduce the cost of later debugging and rework, as well as the risk of project delays. Attached Figure Description
[0021] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0022] Figure 1 A schematic diagram of the vehicle test bench provided in an embodiment of this application; Figure 2 A flowchart of a sensor data link testing method based on a vehicle bench provided in an embodiment of this application. Detailed Implementation
[0023] Embodiments of the present disclosure will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the disclosure. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concepts of the present disclosure.
[0024] The accompanying drawings illustrate various structural schematics according to embodiments of the present disclosure. These drawings are not to scale, and some details have been enlarged for clarity, and some details may have been omitted. The shapes of the various regions and layers shown in the drawings, as well as their relative sizes and positional relationships, are merely exemplary and may deviate from reality due to manufacturing tolerances or technical limitations. Furthermore, those skilled in the art can design regions / layers with different shapes, sizes, and relative positions as needed.
[0025] In the context of this disclosure, when a layer / element is referred to as being "above" another layer / element, the layer / element may be directly above the other layer / element, or there may be an intermediate layer / element between them. Additionally, if a layer / element is "above" another layer / element in one orientation, then when the orientation is reversed, the layer / element may be "below" the other layer / element.
[0026] Explanation of technical terms used in this application: Test bench: A test device used to install the object under test (such as the perception module or function execution module of a vehicle) so that the object under test is in a real working environment.
[0027] Smoke testing is an initial stage in the software testing process, designed to quickly verify the most basic and core functional paths of a new version of the software to confirm that the key functions of the version are normal and there are no "blocking" defects, thereby determining whether it is qualified to enter the subsequent detailed testing stage.
[0028] Sensor middleware: It is the "neural network" and "information manager" of the intelligent driving system. It is responsible for efficiently and reliably managing and transmitting massive amounts of raw data from various sensors, and "translating" it into standardized information that can be easily understood and used by upper-level algorithms.
[0029] The technical solutions of this application and how they solve the aforementioned technical problems will be described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.
[0030] This application provides a sensor data link testing method based on a vehicle test bench, applied to the intelligent driving domain controller of the vehicle test bench. For example... Figure 1As shown, the intelligent driving domain controller is equipped with sensor middleware and a data processing unit (both of which are software units). The vehicle test bench also includes multiple environmental perception sensors. These environmental perception sensors may include, but are not limited to, a forward-facing binocular camera, a surround-view camera, a rear-view camera, a front millimeter-wave radar, a rear corner radar, and a positioning module. Figure 2 As shown, the method provided in this application embodiment includes: S201: Based on the sensor middleware, receive environmental perception data collected by multiple environmental perception sensors, and obtain the first operating parameters when the sensor middleware receives the environmental perception data.
[0031] S202: Based on the sensor middleware, forward environmental perception data to the data processing unit, and obtain the second operating parameters when the sensor middleware forwards environmental perception data.
[0032] S203: The data processing unit processes the environmental sensing data and outputs the actual data processing results, and obtains the third operating parameters when the data processing unit processes the environmental sensing data.
[0033] S204: Analyze the first operating parameter, the second operating parameter, and the third operating parameter, and generate data link test results.
[0034] For example, the first operating parameter may include the actual data reception frame rate. S204 can be specifically implemented as follows: detecting whether the actual data reception frame rate is consistent with the preset theoretical reception frame rate (for example, detecting whether the number of image frames transmitted per second by the forward-looking binocular camera is consistent with the preset theoretical number of received frames; or, for example, detecting whether the number of detection data transmitted per second by the millimeter-wave radar is consistent with the preset theoretical threshold). If they are inconsistent, a data link test result is generated to characterize abnormal data reception; if they are consistent, a data link test result is generated to characterize normal data reception. In this way, the data reception function of the sensor middleware can be accurately and reliably tested.
[0035] For example, the first operating parameter includes the operating log of the sensor middleware. S204 can also be specifically implemented as detecting whether there are errors (such as memory overflow, thread conflict, etc.) in the operating log of the sensor middleware; if there are errors, generating data link test results to characterize data preprocessing abnormalities; if there are no errors, generating data link test results to characterize data preprocessing normalities.
[0036] For example, the second operating parameter includes the actual data forwarding frame rate. It checks whether the actual data forwarding frame rate of the sensor middleware is consistent with the preset theoretical forwarding frame rate. If they are inconsistent, a data link test result is generated to characterize abnormal data forwarding; if they are consistent, a data link test result is generated to characterize normal data forwarding. In this way, accurate and reliable testing of the data forwarding function of the sensor middleware can be achieved.
[0037] Furthermore, the method provided in this application embodiment also includes: verifying the integrity of the environmental sensing data received by the data processing unit; if the received environmental sensing data is incomplete, outputting a data link test result indicating an abnormal data forwarding. This further enables accurate and reliable testing of the data forwarding function of the sensor middleware.
[0038] Furthermore, it can continuously detect whether the actual data forwarding frame rate of the sensor middleware decreases; if the actual data forwarding frame rate decreases, it generates data link test results to characterize data transmission channel congestion or interruption.
[0039] Furthermore, S204 above can be specifically implemented as follows: determining whether the third operating parameter is within a preset parameter threshold range; if the third operating parameter is not within the preset parameter threshold range, generating a data link test result to characterize data processing anomalies. For example, the third operating parameter includes at least one of the data processing unit's CPU utilization, memory usage, and data processing frame rate. In this way, accurate and reliable testing of the data processing function of the data processing unit can be achieved.
[0040] In addition, the third operating parameter includes the frame rate at which the data processing unit receives environmentally aware data and the frame rate at which the data processing unit outputs the processing result. Specifically, S204 can be implemented as follows: determining whether the frame rate at which the data processing unit outputs the processing result is less than the frame rate at which the data processing unit receives environmentally aware data; if so, generating a data link test result to characterize data processing anomalies. This further enables accurate and reliable testing of the data processing function of the data processing unit.
[0041] In summary, this application provides a sensor data link testing method based on a vehicle test bench. It can receive environmental perception data collected by multiple environmental perception sensors based on sensor middleware, and obtain first operating parameters when the sensor middleware receives the environmental perception data. The sensor middleware forwards the environmental perception data to a data processing unit, and obtains second operating parameters when the sensor middleware forwards the environmental perception data. The data processing unit processes the environmental perception data and outputs actual data processing results, and obtains third operating parameters when the data processing unit processes the environmental perception data. The first, second, and third operating parameters are analyzed to generate data link test results. It is understandable that since the aforementioned environmental perception data is sensed by multiple real physical sensors, it can completely reproduce the complex situations faced by physical environmental perception sensors in the actual environment, thus ensuring high reliability of the final test results for the data link of the environmental perception sensors. Furthermore, it tests the environmental perception data at each stage of data transmission, achieving full-link testing of the environmental perception data during transmission. Moreover, it does not require a large amount of real vehicle resources, reducing manpower, material resources, and time consumption. At the same time, problems with the data link of environmental perception sensors can be discovered in the early stages of development, which can prevent these problems from being carried into the actual vehicle road test or mass production stage, and significantly reduce the cost of later debugging and rework, as well as the risk of project delays.
[0042] Furthermore, following S204, the method provided in this application embodiment further includes: comparing whether the actual data processing result is consistent with the preset standard data processing result; if they are inconsistent, generating a data link test result to characterize data processing anomalies. This further enables accurate and reliable testing of the data processing function of the data processing unit.
[0043] For example, multiple environmental perception sensors include cameras and radar. Environmental perception data includes environmental image data acquired by the cameras and point cloud data acquired by the radar. The data processing unit includes a target recognition unit. The actual data processing result includes the target recognition unit's recognition result of the target object in the environmental image data and point cloud data (such as the type and location of the target object). In this way, it is possible to compare whether the target object recognition result obtained by the target recognition unit is consistent with the preset standard object recognition result.
[0044] For example, multiple environmental perception sensors include a positioning sensor, environmental perception data includes location data collected by the positioning sensor, the data processing unit includes a positioning unit, and the actual data processing result includes the vehicle's location information on the map and the vehicle's motion state obtained by the positioning unit based on the location data. Thus, it is possible to compare whether the vehicle's location information on the map obtained by the positioning unit is consistent with preset standard location information, and to compare whether the vehicle's motion state obtained by the positioning unit is consistent with preset standard vehicle motion state.
[0045] In addition, this application also provides a vehicle test bench, including a smart driving domain controller and multiple environmental perception sensors. The smart driving domain controller is configured with sensor middleware and a data processing unit, and is used to execute the methods provided in the above embodiments of this application.
[0046] In addition, this application embodiment also provides a storage medium storing a computer program, characterized in that when the computer program is executed by a processor, it causes the computer to perform the method provided in the above embodiments of this application.
[0047] In addition, this application also provides a computer program product, including a computer program, which, when run, causes a vehicle test bench to perform the method provided in the above embodiments of this application.
[0048] The above description does not provide detailed technical specifications regarding the structure of each layer. However, those skilled in the art should understand that layers and regions of desired shapes can be formed using various technical means. Furthermore, to form the same structure, those skilled in the art can also design methods that are not entirely identical to those described above. Additionally, although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be advantageously combined.
[0049] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.
[0050] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.
Claims
1. A sensor data link testing method based on a vehicle test bench, characterized in that, A smart driving domain controller applied to a vehicle test bench, the smart driving domain controller being configured with sensor middleware and a data processing unit, the vehicle test bench also including multiple environmental perception sensors, the method comprising: Based on the sensor middleware, environmental perception data collected by multiple environmental perception sensors is received, and the first operating parameters of the sensor middleware when receiving the environmental perception data are obtained. The sensor middleware forwards the environmental perception data to the data processing unit and obtains the second operating parameters when the sensor middleware forwards the environmental perception data. The data processing unit processes the environmental perception data and outputs the actual data processing results, and obtains the third operating parameters when the data processing unit processes the environmental perception data. The first operating parameter, the second operating parameter, and the third operating parameter are analyzed, and data link test results are generated.
2. The method according to claim 1, characterized in that, The first operating parameter includes the actual data received frame rate. The analysis of the first operating parameter, the second operating parameter, and the third operating parameter, and the generation of data link test results, includes: Detect whether the actual received frame rate of the data is consistent with the preset theoretical received frame rate; If there is a discrepancy, a data link test result is generated to characterize the data reception anomaly. If they match, a data link test result is generated to characterize normal data reception.
3. The method according to claim 1, characterized in that, The first operating parameter includes the operating log of the sensor middleware. The analysis of the first operating parameter, the second operating parameter, and the third operating parameter, and the generation of data link test results, includes: Check if there are any errors in the operation log of the sensor middleware; If an error is found, a data link test result is generated to characterize the data preprocessing anomaly. If no errors are reported, a data link test result is generated to characterize that the data preprocessing is normal.
4. The method according to claim 1, characterized in that, The second operating parameter includes the actual data forwarding frame rate. The analysis of the first operating parameter, the second operating parameter, and the third operating parameter, and the generation of data link test results, includes: The actual forwarding frame rate of the sensor middleware is checked to see if it matches the preset theoretical forwarding frame rate. If there is a discrepancy, a data link test result is generated to characterize the data forwarding anomaly; If they match, a data link test result is generated to characterize normal data forwarding.
5. The method according to claim 1, characterized in that, The second operating parameter includes the actual data forwarding frame rate. The analysis of the first operating parameter, the second operating parameter, and the third operating parameter, and the generation of data link test results, includes: Continuously monitor whether the actual data forwarding frame rate of the sensor middleware decreases; If the actual forwarding frame rate of the data decreases, a data link test result is generated to characterize the data transmission channel congestion or interruption.
6. The method according to claim 1, characterized in that, The analysis of the first operating parameter, the second operating parameter, and the third operating parameter, and the generation of data link test results, includes: Determine whether the third operating parameter is within the preset parameter threshold range; If the third operating parameter is not within the preset parameter threshold range, a data link test result is generated to characterize data processing anomalies.
7. The method according to claim 6, characterized in that, The third operating parameter includes at least one of the following: CPU utilization rate, memory usage rate, and data processing frame rate of the data processing unit.
8. The method according to claim 6, characterized in that, The third operating parameter includes the frame rate at which the data processing unit receives the environmental perception data and the frame rate at which the data processing unit outputs the processing result. The analysis of the first operating parameter, the second operating parameter, and the third operating parameter, and the generation of data link test results, includes: Determine whether the frame rate at which the data processing unit outputs the processing result is less than the frame rate at which the data processing unit receives the environmental perception data; If so, generate data link test results to characterize data processing anomalies.
9. The method according to claim 1, characterized in that, After forwarding the environmental perception data to the data processing unit based on the sensor middleware, the method further includes: Verify the integrity of the environmental perception data received by the data processing unit; If the received environmental awareness data is incomplete, output the data link test result indicating an abnormal data forwarding.
10. The method according to claim 1, characterized in that, After the environmental perception data is processed by the data processing unit and the actual data processing result is output, the method further includes: Compare the actual data processing results with the preset standard data processing results to see if they are consistent. If there is a discrepancy, a data link test result is generated to characterize the data processing anomaly.
11. The method according to claim 10, characterized in that, The plurality of environmental perception sensors include cameras and radar; the environmental perception data includes environmental image data acquired by the cameras and point cloud data acquired by the radar; and the data processing unit includes a target recognition unit. The actual data processing results include the target recognition unit's recognition results of target objects in the environmental image data and the point cloud data.
12. The method according to claim 10, characterized in that, The plurality of environmental perception sensors include a positioning sensor, the environmental perception data includes location data collected by the positioning sensor, the data processing unit includes a positioning unit, and the actual data processing result includes the vehicle's location information on the map and the vehicle's motion state obtained by the positioning unit based on the location data.
13. A vehicle test bench, characterized in that, The system includes an intelligent driving domain controller and multiple environmental perception sensors. The intelligent driving domain controller is configured with sensor middleware and a data processing unit. The intelligent driving domain controller is used to perform the method described in any one of claims 1-12.
14. A storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it causes the computer to perform the method as described in any one of claims 1 to 12.
15. A computer program product, comprising a computer program, characterized in that, When the computer program is run, it causes the vehicle bench to perform the method as described in any one of claims 1 to 12.