Simulation test credibility evaluation method and device, equipment and storage medium
By simulating and testing the pre-testing scenarios of intelligent connected vehicles, recording six degrees of freedom data, calculating and evaluating the credibility of simulation tests, the problem of difficulty in evaluating the credibility of simulation tests in existing technologies is solved, and credibility quantification and test efficiency improvement are achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-22
- Publication Date
- 2026-03-31
AI Technical Summary
In existing technologies, the credibility assessment of intelligent connected vehicle simulation tests is difficult, mainly due to differences in the selection of simulation toolchains, dynamic model construction methods, and data communication interface modeling accuracy, which make it difficult to assess the credibility of simulation tests.
By simulating and testing the pre-test scenarios and real vehicles, six-degree-of-freedom test data are recorded, credibility is calculated, and the credibility of the simulation test is evaluated by combining the credibility of the pre-test scenarios. Data processing and normalization are performed using formulas to form a credibility pre-test scenario database and to extract the credibility index of the simulation test.
It provides reliable and trustworthy metrics, improves the efficiency of simulation testing, reduces costs, and ensures the accuracy of the credibility assessment of simulation testing.
Smart Images
Figure CN121763802A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of intelligent connected vehicle simulation testing technology, and in particular to a simulation testing credibility assessment method, apparatus, equipment, and storage medium. Background Technology
[0002] As a crucial component of future transportation systems, intelligent connected vehicles rely heavily on simulation testing during their development and testing. By mimicking real-world road environments and driving scenarios, simulation testing can efficiently and safely verify various vehicle performance characteristics. Particularly in the development of autonomous driving functions, simulation testing can cover a wide range of complex and extreme scenarios, significantly reducing the cost and risks of real-vehicle testing.
[0003] However, both the L3 and L2 access pilot programs for intelligent connected vehicles currently require simulation testing. While the intelligent connected vehicle industry acknowledges the need for simulation testing, it also questions the credibility of such testing. The credibility assessment of simulation testing is difficult due to differences in the choice of simulation toolchains, the method of constructing dynamic models and the selected software, and the modeling accuracy of data communication interfaces.
[0004] Therefore, how to evaluate the credibility of simulation tests is a technical problem that urgently needs to be solved. Summary of the Invention
[0005] The main objective of this invention is to provide a method, apparatus, device, and storage medium for evaluating the credibility of simulation testing, which can provide reliable quantifiable indicators for evaluating the credibility of simulation testing, and can also improve testing efficiency and reduce costs.
[0006] Firstly, this application provides a method for evaluating the credibility of simulation tests, wherein the method includes the following steps: Simulation and real vehicle testing were performed on the pre-test scenarios to obtain test data of the vehicle's six degrees of freedom, in order to calculate the credibility of the pre-test scenarios. The credibility of the test data is calculated and combined with the credibility of the pre-test scenario to evaluate the credibility of the simulation test.
[0007] In conjunction with the first aspect mentioned above, as an optional implementation method, the credibility of multiple scenario test data in the pre-test scenario is aggregated to form a credibility pre-test scenario database. Simulated test scenarios are used to obtain six degrees of freedom data of the vehicle under test. The credibility of the corresponding test data is extracted from the database and combined with the credibility of the previous test scenario to evaluate the credibility of the simulation test. The six degrees of freedom data include: lateral velocity, longitudinal velocity, vertical velocity, pitch angle, yaw angle and yaw angle.
[0008] In conjunction with the first aspect mentioned above, as an optional implementation method, according to the formula: To assess the credibility of the simulation test, among which, To ensure the credibility of the pre-test scenario, The number of six-degree-of-freedom test data. This is six-degree-of-freedom test data. For a moment, To record the total number of time-domain data in the test. For simulation testing The test data for the s-th six-degree-of-freedom time step. For real vehicle testing The test data for the s-th six-degree-of-freedom time step.
[0009] In conjunction with the first aspect mentioned above, as an optional implementation method, the credibility of the extracted test data is normalized.
[0010] In conjunction with the first aspect mentioned above, as an optional implementation method, according to the formula: Calculate the credibility of the j-th scene, where, For a moment, The total number of time-domain data recorded during the test. For test data, To record the number of data types for the test scenario, For the number of scenes, To assess the number of scenarios in advance, For simulation test A scenario The first moment One test data point, For the first real vehicle test A scenario The first moment One test data; According to the formula: Calculate the credibility of the pre-test scenario.
[0011] In conjunction with the first aspect mentioned above, as an optional implementation method, according to the formula: Calculate the reliability of the test data, where For test data, For a moment, For simulation testing The first moment One test data point, For real vehicle testing The first moment Test data.
[0012] In conjunction with the first aspect mentioned above, as an optional implementation method, a reliability assessment pre-test scenario is designed based on the six degrees of freedom data of the test vehicle. The pre-test scenario is a test scenario for the longitudinal control, longitudinal plus vertical control and lateral control of the vehicle. Simulation tests and real vehicle tests are performed on the aforementioned pre-test scenario to record six degrees of freedom test data, which include: longitudinal velocity, longitudinal acceleration, distance, vehicle pitch angle, vertical velocity, vertical acceleration, distance, steering wheel angle, vehicle steering angle, lateral acceleration, and roll angle.
[0013] Secondly, this application provides a simulation test credibility evaluation device, the device comprising: The processing module is used to simulate and test the set pre-test scenarios on real vehicles to obtain test data of the vehicle's six degrees of freedom, so as to calculate the credibility of the pre-test scenarios. An evaluation module is used to calculate the credibility of the test data and combine it with the credibility of the pre-test scenario to evaluate the credibility of the simulation test.
[0014] Thirdly, this application also provides an electronic device, the electronic device comprising: a processor; and a memory storing computer-readable instructions, which, when executed by the processor, implement the method described in any one of the first aspects.
[0015] Fourthly, this application also provides a computer-readable storage medium storing computer program instructions that, when executed by a computer, cause the computer to perform the method described in any of the first aspects.
[0016] This application provides a method, apparatus, device, and storage medium for evaluating the credibility of simulation testing. The method includes the steps of: performing simulation and real-vehicle testing on a set pre-test scenario to obtain test data for the vehicle's six degrees of freedom, and calculating the credibility of the pre-test scenario; calculating the credibility of the test data and combining it with the credibility of the pre-test scenario to evaluate the credibility of the simulation test. This application can provide reliable quantifiable metrics for simulation testing to evaluate its credibility, and can also improve testing efficiency and reduce costs.
[0017] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit the invention. Attached Figure Description
[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.
[0019] Figure 1 This is a flowchart of a simulation test credibility evaluation method provided in the embodiments of this application; Figure 2 This is a schematic diagram of a simulation test credibility evaluation device provided in the embodiments of this application; Figure 3 This is a schematic diagram of an electronic device provided in an embodiment of this application; Figure 4 This is a schematic diagram of a computer-readable program medium provided in an embodiment of this application. Detailed Implementation
[0020] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.
[0021] Furthermore, the accompanying drawings are merely illustrative of this disclosure and are not necessarily drawn to scale. Some of the block diagrams shown in the drawings represent functional entities and do not necessarily correspond to physically or logically independent entities.
[0022] The embodiments of this application will be further described in detail below with reference to the accompanying drawings.
[0023] Reference Figure 1 , Figure 1 The diagram shown is a flowchart of a simulation test credibility evaluation method provided by the present invention. Figure 1 As shown, the method includes the following steps: Step S101: Simulate and test the set pre-test scenario on a real vehicle to obtain test data of the vehicle's six degrees of freedom, so as to calculate the credibility of the pre-test scenario.
[0024] Specifically, based on the six degrees of freedom data of the test vehicle, a pre-test scenario for reliability assessment is designed. The pre-test scenario is a test scenario for longitudinal control, longitudinal plus vertical control and lateral control of the vehicle. Simulation and real-vehicle tests were conducted on the aforementioned pre-test scenario to record six-degree-of-freedom test data. This six-degree-of-freedom test data included: longitudinal velocity, longitudinal acceleration, distance, vehicle pitch angle, vertical velocity, vertical acceleration, distance, steering wheel angle, vehicle steering angle, lateral acceleration, and roll angle. It should be explained that the pre-test scenario is used to evaluate the reliability of the constructed simulation toolchain, dynamics model, and sensor model.
[0025] To make it easier to understand, we will design a prerequisite scenario for credibility assessment, taking into account six aspects: lateral, longitudinal, and vertical displacement of the vehicle, and lateral, longitudinal, and vertical angles.
[0026] I. Longitudinal Control. Acceleration, deceleration, and constant speed scenarios: record longitudinal velocity, longitudinal acceleration, distance, and vehicle pitch angle.
[0027] II. Longitudinal + Vertical. Driving on a slope at a constant speed. Record longitudinal velocity, longitudinal acceleration, vertical velocity, vertical acceleration, distance, and vehicle pitch angle.
[0028] III. Lateral Control. Idle circling, serpentine movement, and step steering wheel angle. Record steering wheel angle, vehicle steering angle, lateral acceleration, and roll angle. See Table 1 for the preliminary test scenarios.
[0029] Table 1
[0030] Real vehicle tests were conducted based on the pre-evaluation test scenarios, and the data required for each scenario were recorded as control group data for the credibility evaluation of the simulation test.
[0031] Pre-assessment group: Simulation test a. Construction of pre-assessment scenarios for simulation test, including (1) The accelerator pedal opening data in longitudinal control acceleration test ① comes from the actual vehicle test accelerator pedal opening data in this scenario; (2) The slope data in the longitudinal + vertical measurement scenario comes from the road slope data of the actual vehicle test in this scenario; (3) Lateral control serpentine test scenario, the steering wheel steering data comes from the steering wheel angle data of the actual vehicle test in this scenario.
[0032] (4) Other pre-assessment scenario sub-item parameters refer to the pre-assessment scenario content.
[0033] b. Simulate the execution of pre-test evaluation scenarios, record the data required for the corresponding scenarios, and use it as pre-test evaluation group data for the credibility assessment of simulation tests.
[0034] In summary, we first set up a preliminary test scenario, and then conducted simulation and real vehicle tests on the preliminary test scenario, recording the corresponding data, namely the six degrees of freedom test data, which includes: longitudinal velocity, longitudinal acceleration, distance, vehicle pitch angle, vertical velocity, vertical acceleration, distance, steering wheel angle, vehicle steering angle, lateral acceleration, and roll angle.
[0035] Specifically, the credibility of the pre-test scenario is calculated as follows: According to the formula: Calculate the credibility of the j-th scene, where, For a moment, The total number of time-domain data recorded during the test. For test data, To record the number of data types for the test scenario, For the number of scenes, To assess the number of scenarios in advance, For simulation test A scenario The first moment One test data point, For the first real vehicle test A scenario The first moment One test data; According to the formula: Calculate the credibility of the pre-test scenario.
[0036] It needs to be explained that, To test the total number of time-domain data records, for example, if a set of data is recorded every second, the total number of data records from 1 second to 10 minutes is _____. .
[0037] This refers to test data, specifically test records. For example, in Table 1, scene number 1 contains longitudinal control data records including longitudinal velocity, longitudinal acceleration, distance, and pitch angle. Represents longitudinal velocity. It represents longitudinal acceleration. The number of data types recorded for the test scenario can be understood as recording four types of data: longitudinal velocity, longitudinal acceleration, distance, and pitch angle. The value is 4.
[0038] It is understandable that the credibility of the pre-test scenario is calculated based on data recorded from simulation tests and real vehicle tests.
[0039] Step S102: Calculate the credibility of the test data and combine it with the credibility of the pre-test scenario to evaluate the credibility of the simulation test.
[0040] Specifically, according to the formula: Calculate the reliability of the test data, where For test data, For a moment, For simulation testing The first moment One test data point, For real vehicle testing The first moment Test data.
[0041] The database includes: , , , , , .
[0042] Lateral velocity sequence, minimum value: step: maximum value, where step is the data recording interval; lateral velocity Corresponding credibility; Longitudinal velocity sequence, minimum value: step: maximum value, where step is the data recording interval; Longitudinal velocity Corresponding credibility; Vertical velocity sequence, minimum value: step: maximum value, where step is the data recording interval; Vertical velocity Corresponding credibility; Pitch angle sequence, minimum value: step: maximum value, where step is the data recording interval; pitch angle Corresponding credibility; Heading angle sequence, minimum value: step: maximum value, where step is the data recording interval; For heading angle Corresponding credibility; Roll angle sequence, minimum value: step: maximum value, where step is the data recording interval; For roll angle The corresponding credibility.
[0043] Calculate the credibility of the test data and combine it with the credibility of the pre-test scenario to evaluate the credibility of the simulation test, including: The credibility of test data from multiple scenarios in the pre-test scenarios is aggregated to form a credibility pre-test scenario database; A simulated test scenario is used to obtain six degrees of freedom (DOF) data of the vehicle under test. The reliability of the corresponding test data is extracted from the database and combined with the reliability of the preceding test scenario to evaluate the reliability of the simulation test. The six DDF data includes lateral velocity, longitudinal velocity, vertical velocity, pitch angle, yaw angle, and yaw angle. Specifically, a simulated test is executed according to the simulated test scenario. The lateral velocity, longitudinal velocity, vertical velocity, pitch angle, yaw angle, and yaw angle of the vehicle are extracted for simulation test reliability evaluation. Corresponding reliability data is extracted from the reliability-preliminary test scenario database based on the lateral velocity, longitudinal velocity, vertical velocity, pitch angle, yaw angle, and yaw angle.
[0044] According to the formula: To assess the credibility of the simulation test, among which, To ensure the credibility of the pre-test scenario, The number of six-degree-of-freedom test data. This is six-degree-of-freedom test data. For a moment, To record the total number of time-domain data in the test. For simulation testing The test data for the s-th six-degree-of-freedom time step. For real vehicle testing The test data S for the s-th six-DOF test at time s is , , , , , , Number of In one embodiment, after extracting the credibility of the corresponding test data from the database, the process includes: normalizing the credibility of the extracted test data.
[0045] It is understandable that this application obtains the credibility of the corresponding parameters based on the actual simulation function test of the vehicle's driving data parameters (lateral speed, longitudinal speed, vertical speed, heading angle, yaw angle, roll angle, etc.), and then integrates the credibility of each parameter with the credibility of the preceding scenario to obtain the credibility of each test case actually conducted in the simulation test, so as to more accurately evaluate the credibility of a certain test case (for example, this application can evaluate scenario 1: 89%, scenario 2: 93%, scenario 3: 85%, ... scenario n: 95%, which is more accurate).
[0046] In summary, this application designs a credibility assessment pre-test scenario (mainly covering the credibility of the simulated test vehicle's 6 degrees of freedom (longitudinal, lateral, and vertical displacement and rotation) in simulation testing, which can also be understood as accuracy. The degree of data fit with the real vehicle scenario can be understood as the credibility of the simulation test) → Simulation modeling and simulation testing of the pre-test scenario, while simultaneously conducting real vehicle testing of the pre-test scenario → Data analysis of the simulation test data and real vehicle test data of the pre-test scenario, performing a single-scenario (a single scenario in the pre-test scenario) credibility assessment based on time-series analysis, calculating the credibility of the pre-test scenario based on the single-scenario credibility → Summarizing the credibility data of multiple scenarios in the pre-test scenario to form a credibility assessment pre-test scenario database → (All the above work serves the subsequent formal simulation test execution) → Simulation testing, based on the 6 degrees of freedom (longitudinal, lateral, and vertical displacement and rotation) data of the test vehicle obtained from the formal simulation test scenario, extracting the corresponding credibility data from the evaluation pre-test scenario database, and then combining it with the credibility of the pre-test scenario to obtain the credibility of a certain functional scenario simulation test.
[0047] Reference Figure 2 , Figure 2 The diagram shown is a schematic of a simulation test credibility evaluation device provided by the present invention. Figure 2 As shown, the device includes: Processing module 201: It is used to simulate and test the set pre-test scenarios on real vehicles to obtain test data of the vehicle's six degrees of freedom, so as to calculate the credibility of the pre-test scenarios.
[0048] Evaluation module 202: It is used to calculate the credibility of the test data and combine it with the credibility of the pre-test scenario to evaluate the credibility of the simulation test.
[0049] Furthermore, in one possible implementation, the evaluation module is also used to summarize the credibility of multiple scenario test data in the pre-test scenario to form a credibility pre-test scenario database. Simulated test scenarios are used to obtain six degrees of freedom data of the vehicle under test. The credibility of the corresponding test data is extracted from the database and combined with the credibility of the previous test scenario to evaluate the credibility of the simulation test. The six degrees of freedom data include: lateral velocity, longitudinal velocity, vertical velocity, pitch angle, yaw angle and yaw angle.
[0050] Furthermore, in one possible implementation, the processing module is also configured to process according to the formula: To assess the credibility of the simulation test, among which, To ensure the credibility of the pre-test scenario, The number of six-degree-of-freedom test data. This is six-degree-of-freedom test data. For a moment, To record the total number of time-domain data in the test. For simulation testing The test data for the s-th six-degree-of-freedom time step. For real vehicle testing The test data for the s-th six-degree-of-freedom time step.
[0051] Furthermore, in one possible implementation, the processing module is also used to normalize the credibility of the extracted test data.
[0052] Furthermore, in one possible implementation, the processing module is also configured to process according to the formula: Calculate the credibility of the j-th scene, where, For a moment, The total number of time-domain data recorded during the test. For test data, To record the number of data types for the test scenario, For the number of scenes, To assess the number of scenarios in advance, For simulation test A scenario The first moment One test data point, For the first real vehicle test A scenario The first moment One test data; According to the formula: Calculate the credibility of the pre-test scenario.
[0053] Furthermore, in one possible implementation, the processing module is also configured to process according to the formula: Calculate the reliability of the test data, where For test data, For a moment, For simulation testing The first moment One test data point, For real vehicle testing The first moment Test data.
[0054] Furthermore, in one possible implementation, the processing module is also used to design a confidence assessment pre-test scenario based on the six degrees of freedom data of the test vehicle, wherein the pre-test scenario is a test scenario for longitudinal control, longitudinal plus vertical control and lateral control of the vehicle. Simulation tests and real vehicle tests are performed on the aforementioned pre-test scenario to record six degrees of freedom test data, which include: longitudinal velocity, longitudinal acceleration, distance, vehicle pitch angle, vertical velocity, vertical acceleration, distance, steering wheel angle, vehicle steering angle, lateral acceleration, and roll angle.
[0055] The following reference Figure 3 To describe an electronic device 300 according to this embodiment of the present invention. Figure 3 The electronic device 300 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.
[0056] like Figure 3 As shown, the electronic device 300 is presented in the form of a general-purpose computing device. The components of the electronic device 300 may include, but are not limited to: at least one processing unit 310, at least one storage unit 320, and a bus 330 connecting different system components (including storage unit 320 and processing unit 310).
[0057] The storage unit stores program code that can be executed by the processing unit 310, causing the processing unit 310 to perform the steps described in the "Embodiment Methods" section of this specification according to various exemplary embodiments of the present invention.
[0058] Storage unit 320 may include readable media in the form of volatile storage units, such as random access memory (RAM) 321 and / or cache memory 322, and may further include read-only memory (ROM) 323.
[0059] Storage unit 320 may also include a program / utility 324 having a set (at least one) of program modules 325, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.
[0060] Bus 330 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.
[0061] Electronic device 300 can also communicate with one or more external devices (e.g., keyboard, pointing device, Bluetooth device, etc.), one or more devices that enable a user to interact with electronic device 300, and / or any device that enables electronic device 300 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 350. Furthermore, electronic device 300 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 360. As shown, network adapter 360 communicates with other modules of electronic device 300 via bus 330. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 300, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.
[0062] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.
[0063] According to the present disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the methods described above is stored. In some possible embodiments, various aspects of the present invention can also be implemented as a program product comprising program code that, when the program product is run on a terminal device, causes the terminal device to perform the steps of the various exemplary embodiments of the present invention described in the "Exemplary Methods" section above.
[0064] refer to Figure 4 As shown, a program product 400 for implementing the above-described method according to an embodiment of the present invention is described. This product may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.
[0065] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.
[0066] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, apparatus, or device.
[0067] The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.
[0068] Program code for performing the operations of this invention can be written in any combination of one or more programming languages, including object-oriented programming languages such as Java and C++, and conventional procedural programming languages such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).
[0069] Furthermore, the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of the present invention, and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Additionally, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.
[0070] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.
[0071] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.
Claims
1. A method for evaluating the credibility of simulation tests, characterized in that, The method comprises: simulate and test the set pre-test scene to obtain six degrees of freedom test data of the vehicle, so as to calculate the credibility of the pre-test scene; calculate the credibility of the test data and combine the credibility of the pre-test scene to evaluate the credibility of the simulation test.
2. The method of claim 1, wherein, The calculation of the credibility of the test data and the combination of the credibility of the pre-test scene to evaluate the credibility of the simulation test comprises: aggregate the credibility of the scene test data in the pre-test scene to form a credibility pre-test scene database; simulate the simulation test scene to obtain six degrees of freedom data of the vehicle to be tested, extract the credibility of the corresponding test data in the database, and combine the credibility of the pre-test scene to evaluate the credibility of the simulation test, wherein the six degrees of freedom data comprises: lateral velocity, longitudinal velocity, vertical velocity, pitch angle, heading angle and yaw angle.
3. The method of claim 2, wherein, The simulation of the simulation test scene to obtain the six degrees of freedom data of the vehicle to be tested and the extraction of the credibility of the corresponding test data in the database and the combination of the credibility of the pre-test scene to evaluate the credibility of the simulation test comprises: According to the formula: , the reliability of the simulation test is evaluated, wherein, is the reliability of the pre-test scene, is the number of six-degree-of-freedom test data, is the six-degree-of-freedom test data, is the time, is the total number of test record time domain data, is the simulation simulation test the s th six-degree-of-freedom test data at the time, is the real vehicle test the s th six-degree-of-freedom test data at the time.
4. The method of claim 2, wherein, After extracting the credibility of the corresponding test data in the database, it comprises: normalizing the extracted credibility of the test data.
5. The method of claim 1, wherein, The calculation of the credibility of the pre-test scene comprises: According to the formula: Calculate the credibility of the j-th scene, where, For a moment, The total number of time-domain data recorded during the test. For test data, To record the number of data types for the test scenario, For the number of scenes, To assess the number of scenarios in advance, For simulation test A scenario The first moment One test data point, For the first real vehicle test A scenario The first moment One test data; The credibility of the pre-test scenario is calculated according to the formula: .
6. The method of claim 1, wherein, The method comprises: According to the formula: Calculate the reliability of the test data, where For test data, For a moment, For simulation testing The first moment One test data point, For real vehicle testing The first moment Test data.
7. The method of claim 1, wherein, The simulation and real vehicle test of the set pre-test scene to obtain six degrees of freedom test data of the vehicle comprises: design a credibility evaluation pre-test scene based on the six degrees of freedom data of the test vehicle, wherein the pre-test scene is a test scene for longitudinal control, longitudinal plus vertical control and lateral control of the vehicle; simulate and test the pre-test scene to record six degrees of freedom test data respectively, wherein the six degrees of freedom test data comprises: longitudinal velocity, longitudinal acceleration, distance, vehicle pitch angle, vertical velocity, vertical acceleration, distance, steering wheel angle, vehicle steering angle, lateral acceleration and roll angle.
8. An emulated test trustworthiness evaluation apparatus characterized by comprising: The method comprises: a processing module for simulating and testing the set pre-test scene to obtain six degrees of freedom test data of the vehicle, so as to calculate the credibility of the pre-test scene; an evaluation module for calculating the credibility of the test data and combining the credibility of the pre-test scene to evaluate the credibility of the simulation test.
9. An electronic device, comprising: The electronic device comprises: a processor; a memory, wherein the memory stores computer readable instructions, and the computer readable instructions are executed by the processor to implement the method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that, The computer program instructions stored in the memory are executed by the computer to execute the method according to any one of claims 1 to 7.