A whole-vehicle level intelligent driving hil test system for cockpit interaction and a control method thereof

Abstract

The application discloses a whole-vehicle intelligent driving HIL test system for cockpit interaction and a control method thereof, and relates to the technical field of intelligent driving test systems.The system comprises an intelligent driving domain host computer, a vehicle control domain host computer and a cockpit domain host computer; three corresponding domain HIL cabinets which communicate with the corresponding domain host computers and intercommunicate among the three domain HIL cabinets to realize start-stop control, data operation and power supply; three domain controllers which communicate with the corresponding domain HIL cabinets and intercommunicate among the three domain controllers to realize data integration; wherein, the intelligent driving domain host computer, the vehicle control domain host computer and the cockpit domain host computer are all arranged with test management software, and the intelligent driving domain host computer further comprises automatic test software.The application has the characteristics of improving test efficiency and shortening test period.

Description

Technical Field

[0001] This invention relates to the field of intelligent driving vehicle testing technology, and more specifically, to a vehicle-level intelligent driving HIL testing system and its control method for cockpit interaction. Background Technology

[0002] HIL (Hardware-in-the-Loop) testing is a test system that uses a real-time processor to run a simulation model to simulate the state of a controlled object and connects to the controller under test via I / O interfaces for system verification. This test system consists of a hardware platform, experimental management software, and a real-time software model. It can perform functional verification on electronic control systems such as the vehicle control system and BMS battery management system of new energy vehicles, effectively shortening the R&D cycle and reducing development costs, and plays an extremely important role in the automotive development and testing process.

[0003] The existing intelligent driving HIL test system can only simulate the external environment to test intelligent driving-related functions for a single intelligent driving domain controller. It cannot test the interaction performance between cockpit domains, and related cockpit interaction tests still need to be carried out on real vehicles.

[0004] The parameters between the cockpit domain, vehicle control domain, and intelligent driving domain cannot be simply stacked. The amount of data in the cockpit domain is relatively small, while the amount of data in the vehicle control domain and intelligent driving domain is enormous. Furthermore, the intelligent driving domain controller has extremely high time accuracy requirements, with its sensors requiring time accuracy at the millisecond level. Simple stacking cannot achieve synchronization between test environments. In addition, the interaction logic between the cockpit domain, vehicle control domain, and intelligent driving domain is complex. If the synchronization accuracy between systems is poor, the path planned by the intelligent driving system cannot be displayed in real time, and changes in the vehicle's UI interaction interface cannot be effectively tested. Summary of the Invention

[0005] The purpose of this invention is to design and develop a vehicle-level intelligent driving HIL test system for cockpit interaction, which realizes the communication connection between the intelligent driving domain, vehicle control domain and cockpit domain.

[0006] This invention also designed and developed a control method for a vehicle-level intelligent driving HIL test system for cockpit interaction, which realizes the testing of interactive signals and functional performance between the cockpit and the intelligent driving domain controller, improving testing efficiency and shortening the testing cycle.

[0007] The technical solution provided by this invention is as follows:

[0008] A vehicle-level intelligent driving HIL testing system for cockpit interaction includes:

[0009] Intelligent driving domain host computer, vehicle control domain host computer, and cockpit domain host computer; and

[0010] The intelligent driving domain HIL cabinet, vehicle control domain HIL cabinet, and cockpit domain HIL cabinet communicate with their respective domain host computers, and are interconnected to realize start-stop control, data processing, and power supply.

[0011] The intelligent driving domain controller, vehicle control domain controller, and cockpit domain controller communicate with their respective domain HIL cabinets, and they also communicate with each other to achieve data integration.

[0012] Test management software is installed in the host computer of the intelligent driving domain, the host computer of the vehicle control domain, and the host computer of the cockpit domain. The host computer of the intelligent driving domain also includes automated testing software.

[0013] Preferably, the hardware of the intelligent driving domain HIL cabinet, the vehicle control domain HIL cabinet, and the cockpit domain HIL cabinet all include:

[0014] A switch, which communicates with the corresponding domain host computer.

[0015] A real-time machine that communicates with a switch;

[0016] Digital input / output board, which communicates with the real-time machine;

[0017] Analog signal board, which communicates with the real-time machine;

[0018] A resistor simulation board that communicates with a real-time machine.

[0019] The programmable power supply is connected to the switch.

[0020] The power distribution board is connected to the programmable power supply and the real-time machine;

[0021] The switches in the Intelligent Driving Domain HIL cabinet communicate with each other, as do the switches in the Vehicle Control Domain HIL cabinet and the switches in the Cockpit Domain HIL cabinet. Digital quantity boards, analog quantity boards, resistor simulation boards, and power distribution boards all communicate with their corresponding domain controllers.

[0022] Preferably, it also includes:

[0023] A graphics workstation containing scene simulation software for generating real-time data on the vehicle's surrounding environment.

[0024] The graphics workstation outputs images, raw point clouds, and target list data to the switches in the HIL cabinet of the intelligent driving domain.

[0025] Preferably, the intelligent driving domain HIL cabinet further includes:

[0026] The video injection board connects to the graphics workstation and the intelligent driving domain controller to receive video data.

[0027] Preferably, it also includes:

[0028] Multiple bus emulation devices are connected between the intelligent driving domain controller, vehicle control domain controller, and cockpit domain controller and the real-time machine in the corresponding domain HIL cabinet, and the multiple bus emulation devices are interconnected.

[0029] Preferably, it also includes:

[0030] The vehicle's infotainment screen is connected to the cockpit domain controller and is used for issuing commands and displaying the status of the intelligent driving domain and the vehicle control domain.

[0031] A control method for a vehicle-level intelligent driving HIL (Hybrid Intelligent Driving In-Service) test system with cockpit interaction, using the aforementioned vehicle-level intelligent driving HIL test system with cockpit interaction, includes the following steps:

[0032] Step 1: The host computer of the intelligent driving domain calls its own test management software and the scene simulation software in the graphics workstation through the automated test software, selects and loads the scene in the scene simulation software, the system variable values ​​and CAN bus signal values ​​in the intelligent driving domain test management software, and controls the start and stop of the simulation project.

[0033] Step 2: In the current simulation scenario, the vehicle control domain test management software simultaneously interacts with both the scenario simulation software and the dynamics simulation software.

[0034] Step 3: The scenario simulation software sends the data to the intelligent driving domain test management software;

[0035] Step 4: The intelligent driving domain test management software updates the control operation of the vehicle control domain test management software by controlling system variables;

[0036] Step 5: The vehicle control domain test management software updates the data in the intelligent driving domain test management software project by updating variables, simulates combined inertial navigation data, and the cockpit domain test management software achieves data sharing with other projects through the Multi method. The automated test software obtains the automated test report.

[0037] Preferably, step two specifically includes:

[0038] The vehicle control domain test management software obtains the vehicle's status information through its internal dynamics software, and then sends the vehicle status information to the scenario simulation software. The scenario simulation software feeds back the vehicle's initial coordinates and the driver model's output signals to the vehicle control domain test management software. The vehicle control domain test management software sends the vehicle's initial coordinates and the vehicle model's lateral and longitudinal control signals to the dynamics software. The dynamics software then feeds back the updated vehicle status information to the vehicle control domain test management software.

[0039] Preferably, the vehicle status information includes: direction coordinates, velocity, acceleration, pitch angle, pitch rate, pitch acceleration, roll angle, roll rate, roll acceleration, yaw angle, yaw rate, and yaw acceleration based on the geodetic coordinate system.

[0040] Preferably, the driver model output signals include: accelerator pedal opening, brake pedal opening, and steering wheel angle.

[0041] The beneficial effects of this invention are as follows:

[0042] This invention designs and develops a vehicle-level intelligent driving HIL test system for cockpit interaction. It uses a Mutli approach to synchronously control data interaction and start / stop control between control engineering components, overcoming the closed-loop synchronization barrier of multi-domain heterogeneous systems at the millisecond timescale. The process involves scenario simulation -> intelligent driving domain (decision-making) -> vehicle control domain (execution) -> dynamic model -> scenario simulation (screen update). At the hardware level, the data link is established, enabling controllers in the three domains to achieve real message interaction (CAN and Eth) through physical connections, thus reproducing the vehicle-level communication environment in the laboratory. It achieves automated simulation of KL30 and KL15, with test scripts automatically controlling the entire process of "vehicle power-off-sleep-wake-up" without manual intervention. This automation foundation cannot be achieved through simple stacking. Cross-domain fault injection can be performed at the hardware level; for example, it can simultaneously cut off the power output of the vehicle control domain (simulating motor failure) and monitor whether the intelligent driving domain has made the correct degradation processing and whether the cockpit domain displays fault codes, simulating complex scenarios.

[0043] This invention presents a control method for a vehicle-level intelligent driving HIL test system with cockpit interaction. It realizes the testing of interactive signals and functional performance between the cockpit and the intelligent driving domain controller, reduces the actual vehicle testing tasks, automates testing in the HIL system, improves testing efficiency, shortens the testing cycle, and reduces time and labor costs. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of the hardware equipment for the vehicle-level intelligent driving HIL test system for cockpit interaction described in this invention.

[0045] Figure 2This is a schematic diagram of the software data interaction of the vehicle-level intelligent driving HIL test system for cockpit interaction described in this invention.

[0046] Figure 3 This is a schematic diagram of the vehicle-level intelligent driving HIL test system for cockpit interaction described in this invention. Detailed Implementation

[0047] The present invention will now be described in further detail with reference to the accompanying drawings, so that those skilled in the art can implement it based on the description.

[0048] like Figure 1 As shown, the present invention provides a vehicle-level intelligent driving HIL testing system for cockpit interaction, comprising:

[0049] The peripheral computer S1, the domain controller corresponding to the HIL cabinet S2 and HIL rack S3.

[0050] The peripheral computer S1 includes three host computers and a graphics workstation;

[0051] The HIL cabinet S2 corresponding to the domain controller includes three cabinets, specifically the intelligent driving domain HIL cabinet, the vehicle control domain HIL cabinet, and the cockpit domain HIL cabinet. The hardware in the three cabinets includes switches, real-time machines, digital quantity boards, analog quantity boards, resistor simulation boards, programmable power supplies, and power distribution boards. The intelligent driving domain HIL cabinet also includes a video injection box.

[0052] The HIL bench S3 includes three domain controllers: the intelligent driving domain controller, the vehicle control domain controller, and the cockpit domain controller.

[0053] In the peripheral computer S1, three host computers are connected to the real-time machines in the intelligent driving domain HIL cabinet, the vehicle control domain HIL cabinet, and the cockpit domain HIL cabinet, respectively. The host computer in the intelligent driving domain runs test management software and automated testing software; the host computers in the vehicle control domain and cockpit domain run test management software, and the three test management software programs in the three host computers run synchronously through Multi mode; the graphics workstation runs scene simulation software, which configures cameras, LiDAR, millimeter-wave radar, and ultrasonic radar as sensors to simulate sensor images, radar point clouds, and target list data (including the coordinates, angles, speeds, angular velocities, accelerations, and standard deviations of targets identified by the sensors on the three axes of the vehicle coordinate system), and outputs the above raw data to the switch in the intelligent driving domain, while simultaneously outputting video data to the video injection board through HDMI or DP graphics card interfaces.

[0054] In this embodiment, the test management software is CANoe 18.0 SP5, the automated testing software is ECU-test 2023.1, and the scenario simulation software is VTD2024.2.

[0055] In the HIL cabinet S2 corresponding to the domain controller, the hardware connections in the Intelligent Driving Domain HIL cabinet, Vehicle Control Domain HIL cabinet, and Cockpit Domain HIL cabinet are identical. Real-time machines (RTMs) are all connected to switches via network cables to communicate with their respective host computers. The host computers issue test management software project configurations, the RTMs perform calculations, and the results are displayed on the host computers. The switches in the three cabinets are interconnected via network cables. By configuring the three RTMs and three host computers to be on the same network segment, data exchange and start / stop control between projects are achieved through Multi mode. The test management software in the Intelligent Driving Domain host computer acts as the master control node. (Master) controls the operation and shutdown of the test management software in the other two domains; I / O resources such as digital quantity boards, analog quantity boards, and resistor simulation boards are brought out to the HIL test bench, and the real-time machine controls the status of the resources for use in the simulation of peripheral signals of their respective controllers; the programmable power supply is connected to the switch via a network cable, and its IP is configured to be on the same network segment as the real-time machine. The real-time machine sends UDP packets to control the voltage, current limiting, and output switch of the programmable power supply. The output voltage of the programmable power supply is sent to the power distribution board as the input terminal of the power distribution board, and the output terminal is brought out to the HIL test bench, realizing the division of one power supply into 6 channels, which are controlled by the real-time machine to realize the simulation of KL30 and KL15.

[0056] In addition, the video injection box in the HIL cabinet of the intelligent driving domain outputs RGB color space data of the simulated camera from the graphics workstation, converts it into RAW or YUV color space data, and connects it to the HIL bench via LVDS coaxial cable to realize camera simulation.

[0057] In the HIL S3 rack, resources are brought out from the HIL rack connection cabinet, and the controller is installed in the rack. The bus emulation device is also placed in the rack, and hardware synchronization is achieved through a synchronization line connection. Specifically, this includes:

[0058] The three domain controllers are interconnected via automotive Ethernet and CAN bus. The bus simulation device includes automotive Ethernet and CAN bus, which are connected to the bus interfaces of the three domain controllers respectively, and are connected to the real-time machines of the three domains via USB. In the test management software, it simulates peripheral data or listens to the message data sent by the controller. The peripheral millimeter-wave radar and ultrasonic radar data of the intelligent driving domain controller are injected via CAN bus, while the raw point cloud data of lidar and the combined inertial navigation data are injected via Ethernet. The peripheral simulation of power, chassis, and body-related data of the vehicle control domain controller is injected via CAN bus. The cockpit domain controller is connected to the real vehicle screen, enabling the vehicle screen to send settings and display the status of the intelligent driving and vehicle control domains by clicking on the screen. The power supply of the three domain controllers is provided by the power distribution boards of the corresponding domain cabinets.

[0059] like Figure 2 As shown, this invention illustrates the control method of the vehicle-level intelligent driving HIL test system. Following the software data flow interaction within the test system, the automated test software is responsible for running automated scripts, controlling the start and stop of the simulation project, scene selection and loading, pre-test preparation, signal status detection, etc., and outputting an automated test report. The test management software is responsible for simulating the peripheral environment of each controller and relaying data between the dynamics software and the scene simulation software, acquiring and monitoring controller data and storing it in system variables for testing by the test management software. The dynamics software installed in the host computer of the vehicle control domain is responsible for calculating the vehicle's pose and providing actuator status feedback. The scene simulation software is responsible for real-time rendering of the virtual simulation world and outputting sensor data. Therefore, the specific steps include:

[0060] Step 1: The host computer of the intelligent driving domain calls its own test management software and the scene simulation software in the graphics workstation through the automated test software, selects and loads the scene in the scene simulation software, the system variable values ​​and CAN bus signal values ​​in the intelligent driving domain test management software, and controls the start and stop of the simulation project.

[0061] In another embodiment, the scenario simulation software can be controlled to start and stop via test management software in the vehicle control domain host computer;

[0062] Step 2: In the current simulation scenario, the vehicle control domain test management software simultaneously interacts with both the scenario simulation software and the dynamics simulation software within its own test management software. Specifically:

[0063] The vehicle control domain test management software obtains the vehicle's status information through its internal dynamics software, and then sends the vehicle status information to the scene simulation software. The scene simulation software feeds back the vehicle's initial coordinates and the driver model's output signal to the vehicle control domain test management software. Subsequently, the vehicle control domain test management software sends the vehicle's initial coordinates and the vehicle model's lateral and longitudinal control signals to the dynamics software, and the dynamics software feeds back the updated vehicle status information to the vehicle control domain test management software.

[0064] The vehicle status information includes: x, y, z coordinates based on the geodetic coordinate system, velocity, acceleration, pitch angle, pitch rate, pitch acceleration, roll angle, roll rate, roll acceleration, yaw angle, yaw rate, and yaw acceleration.

[0065] The driver model outputs signals including: accelerator pedal opening, brake pedal opening, and steering wheel angle;

[0066] The vehicle model's lateral and longitudinal control signals include: driver model output signals and steering torque;

[0067] Step 3: The scenario simulation software sends sensor data to the intelligent driving domain test management software;

[0068] Step 4: The intelligent driving domain test management software controls the vehicle control domain test management software to simulate the control operations of shifting gears, pressing the pedal, turning on the turn signal, turning the steering wheel, and controlling the assisted driving function switch by updating the system variable.

[0069] Step 5: The vehicle control domain test management software updates the data in the intelligent driving domain test management software project by updating variables such as the vehicle's position and posture system, and simulates the combined inertial navigation data. At the same time, the cockpit domain test management software realizes data sharing with other projects through the Multi method, and the automated test software obtains the automated test report.

[0070] like Figure 3 As shown, the closed-loop control principle of the vehicle-level intelligent driving HIL test system of the present invention is as follows:

[0071] In the testing system, a closed-loop environment is formed by people (driver model / intelligent driving domain controller), vehicles (automotive dynamics model), and roads (dynamic and static scenarios). Various virtual sensors in the scenario simulation software perceive data of the vehicle's surrounding environment. The intelligent driving domain controller performs behavior prediction, localization and path planning, and decision-making based on the fused perception data and high-precision map data, controls the vehicle, and feeds back attitude information to the scenario simulation for updates.

[0072] In the driver control closed loop, the scene simulation software provides static roads and dynamic scenes, generating road structure information; the driver model sends accelerator and brake pedal opening and steering wheel angle information to the vehicle control domain test management software to control the operation of the dynamic model based on the scene information; at the same time, the dynamic output position and attitude information (heading angle, pitch angle, roll angle and three-axis velocity and acceleration) is sent to the vehicle control domain test management software, which is then transferred to the scene simulation software for real-time rendering.

[0073] In the closed-loop circuit of the intelligent driving domain controller, the driver model control is not excluded. The vehicle control domain test management software reads the message messages sent by the intelligent driving domain controller via Multi mode to determine whether lateral and longitudinal control is enabled. If enabled, the driver control data stream is cut off. Information such as torque, acceleration, and steering wheel angle sent by the intelligent driving domain controller is sent to the dynamics software. Simultaneously, the vehicle control domain test management software sends actuator status information to the vehicle control domain controller via CAN or Eth. The scenario simulation software sends sensor data to the intelligent driving domain test management software, which then drives the bus to transmit external sensor data to the intelligent driving domain controller. Data interaction between the three controllers (vehicle control domain, intelligent driving domain, and cockpit domain) is not simulated; it is directly connected as in a real vehicle, and the messages of each controller are monitored in the test management software. The test focuses on whether the data exchanged between the intelligent driving domain and cockpit domain controllers is correct, whether the vehicle's infotainment system displays correctly under various function activations and setting button changes, and whether the CAN and DDS data exchanged between domain controllers are normal.

[0074] In this embodiment, the driver model is the GhostDriver model in VTD software, and the vehicle dynamics model is the DYNA4 software.

[0075] This invention presents a vehicle-level intelligent driving HIL (Hybrid Intelligence In-Service) test system for cockpit interaction. At the hardware level, it establishes a data link, enabling real message exchange (CAN and Eth) between the controllers of the three domains via physical connections, thus reproducing the vehicle-level communication environment in the laboratory. It achieves automated simulation of KL30 and KL15, with test scripts automatically controlling the entire process of "vehicle power-off-sleep-wake-up" without manual intervention. This automation foundation is impossible with simple stacking. It allows for cross-domain fault injection at the hardware level; for example, it can simultaneously cut off the power output of the vehicle control domain (simulating motor failure) and monitor whether the intelligent driving domain has performed the correct degradation processing, as well as whether the cockpit domain displays fault codes, simulating complex scenarios.

[0076] This invention presents a control method for a vehicle-level intelligent driving HIL test system with cockpit interaction. It realizes the testing of interactive signals and functional performance between the cockpit and the intelligent driving domain controller, reduces the actual vehicle testing tasks, automates testing in the HIL system, improves testing efficiency, shortens the testing cycle, and reduces time and labor costs.

[0077] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and embodiments shown and described herein.

Claims

1. A vehicle-level intelligent driving HIL testing system for cockpit interaction, characterized in that, include: Intelligent driving domain host computer, vehicle control domain host computer and cockpit domain host computer; as well as The intelligent driving domain HIL cabinet, vehicle control domain HIL cabinet, and cockpit domain HIL cabinet communicate with their respective domain host computers, and are interconnected to realize start-stop control, data processing, and power supply. The intelligent driving domain controller, vehicle control domain controller, and cockpit domain controller communicate with their respective domain HIL cabinets, and they also communicate with each other to achieve data integration. Test management software is installed in the host computer of the intelligent driving domain, the host computer of the vehicle control domain, and the host computer of the cockpit domain. The host computer of the intelligent driving domain also includes automated testing software.

2. The vehicle-level intelligent driving HIL testing system for cockpit interaction as described in claim 1, characterized in that, The hardware of the Intelligent Driving Domain HIL Cabinet, Vehicle Control Domain HIL Cabinet, and Cockpit Domain HIL Cabinet all include: A switch, which communicates with the corresponding domain host computer. A real-time machine that communicates with a switch; Digital input / output board, which communicates with the real-time machine; Analog signal board, which communicates with the real-time machine; A resistor simulation board that communicates with a real-time machine. The programmable power supply is connected to the switch. The power distribution board is connected to the programmable power supply and the real-time machine; The switches in the Intelligent Driving Domain HIL cabinet communicate with each other, as do the switches in the Vehicle Control Domain HIL cabinet and the switches in the Cockpit Domain HIL cabinet. Digital quantity boards, analog quantity boards, resistor simulation boards, and power distribution boards all communicate with their corresponding domain controllers.

3. The vehicle-level intelligent driving HIL testing system for cockpit interaction as described in claim 2, characterized in that, Also includes: A graphics workstation containing scene simulation software for generating real-time data on the vehicle's surrounding environment. The graphics workstation outputs images, raw point clouds, and target list data to the switches in the HIL cabinet of the intelligent driving domain.

4. The vehicle-level intelligent driving HIL testing system for cockpit interaction as described in claim 3, characterized in that, The Intelligent Driving Domain HIL cabinet also includes: The video injection board connects to the graphics workstation and the intelligent driving domain controller to receive video data.

5. The vehicle-level intelligent driving HIL testing system for cockpit interaction as described in claim 4, characterized in that, Also includes: Multiple bus emulation devices are connected between the intelligent driving domain controller, vehicle control domain controller, and cockpit domain controller and the real-time machine in the corresponding domain HIL cabinet, and the multiple bus emulation devices are interconnected.

6. The vehicle-level intelligent driving HIL testing system for cockpit interaction as described in claim 5, characterized in that, Also includes: The vehicle's infotainment screen is connected to the cockpit domain controller and is used for issuing commands and displaying the status of the intelligent driving domain and the vehicle control domain.

7. A control method for a vehicle-level intelligent driving HIL test system with cockpit interaction, using the vehicle-level intelligent driving HIL test system with cockpit interaction as described in any one of claims 1-6, characterized in that, Includes the following steps: Step 1: The host computer of the intelligent driving domain calls its own test management software and the scene simulation software in the graphics workstation through the automated test software, selects and loads the scene in the scene simulation software, the system variable values ​​and CAN bus signal values ​​in the intelligent driving domain test management software, and controls the start and stop of the simulation project. Step 2: In the current simulation scenario, the vehicle control domain test management software simultaneously interacts with both the scenario simulation software and the dynamics simulation software. Step 3: The scenario simulation software sends the data to the intelligent driving domain test management software; Step 4: The intelligent driving domain test management software updates the control operation of the vehicle control domain test management software by controlling system variables; Step 5: The vehicle control domain test management software updates the data in the intelligent driving domain test management software project by updating variables, simulates combined inertial navigation data, and the cockpit domain test management software achieves data sharing with other projects through the Multi method. The automated test software obtains the automated test report.

8. The control method of the vehicle-level intelligent driving HIL test system for cockpit interaction as described in claim 7, characterized in that, Step two specifically includes: The vehicle control domain test management software obtains the vehicle's status information through its internal dynamics software, and then sends the vehicle status information to the scenario simulation software. The scenario simulation software feeds back the vehicle's initial coordinates and the driver model's output signals to the vehicle control domain test management software. The vehicle control domain test management software sends the vehicle's initial coordinates and the vehicle model's lateral and longitudinal control signals to the dynamics software. The dynamics software then feeds back the updated vehicle status information to the vehicle control domain test management software.

9. The control method of the vehicle-level intelligent driving HIL test system for cockpit interaction as described in claim 8, characterized in that, The vehicle status information includes: orientation coordinates, velocity, acceleration, pitch angle, pitch rate, pitch acceleration, roll angle, roll rate, roll acceleration, yaw angle, yaw rate, and yaw acceleration based on the geodetic coordinate system.

10. The control method of the vehicle-level intelligent driving HIL test system for cockpit interaction as described in claim 9, characterized in that, The driver model outputs signals including: accelerator pedal opening, brake pedal opening, and steering wheel angle.

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