HIL-based V2X scene test method and system

Abstract

The invention relates to the technical field of Internet of vehicles, and specifically discloses a HIL(hardware-in-the-loop)-based V2X scene test method, which comprises: acquiring Internet of vehicles function application test scene design data, and outputting Internet of vehicles function application test scene simulation data; receiving vehicle motion data and navigation satellite ephemeris data, and generating a navigation satellite signal according to a scene setting parameter; receiving the vehicle motion data and a vehicle dynamics model parameter, and generating a vehicle CAN bus signal according to scene setting parameter; establishing a communication connection with a tested V2X device, and performing a scene test to the tested V2X device under the driving of the scene setting parameter, the navigation satellite signal, and the vehicle CAN bus signal; and detecting and recording the scene test result of the tested V2X device. The invention also discloses a HIL-based V2X scenetest system. The HIL-based V2X scene test method provided by the present invention can satisfy the scene reproducibility of the test.

Description

technical field [0001] The present invention relates to the technical field of Internet of Vehicles, in particular to a hardware-in-the-loop-based V2X scenario testing method and a hardware-in-the-loop-based V2X scenario testing system. Background technique [0002] V2X technology provides a new technical approach for various vehicle active safety functions such as forward collision warning, lane departure warning, and blind spot detection warning. Compared with other technical implementation methods, vehicle active safety functions based on V2X technology have Over-the-horizon, anti-bad weather interference and other advantages. However, since the scene application performance of V2X technology is affected by various factors such as the vehicle itself and the external environment, it is necessary to adopt test cases corresponding to different scene conditions to carry out quantitative test verification of the V2X function application. [0003] Existing test methods for V...

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Problems solved by technology

[0003] Existing test methods for V2X functional application scenarios can be divided into three types: software test, actual road test and hardware-in-the-loop test. The software test method mainly uses network simulation software and traffic simulation software to simulate wireless communication and vehicle movement respectively. The information interaction between the two software forms a data closed loop, and then verifies the application performance of V2X functions under different scenarios. And most of them lack the model description of key elements such as satellite navigation system and vehicle dynamics system, so the approach of this method to the real scene is limited; the actual road test method mainly refers to the real vehicle equipped with V2X communication equipment in the actual road environment. The advantage is that the real scene test can accurately reflect the functional application performance, but because the driver's operation mode and the configuration of the navigation satellite constellation are difficult to keep accurate and consistent in multiple tests, the test scene cannot be accurately reproduced. This will affect the comparability of test conclusions; the hardware-in-the-loop test method inherits the advantages of the previous two methods, and realizes the standardization of test cases by quantifying scene elements, ensuring the reproducibility of test scenarios and the comparability of test results This method is a new trend in the development of V2X scene testing technology. The difficulty lies in how to accurately model key scene element information and introduce real physical signals. For example, the existing hardware-in-the-loop test system does not include navigation satellite visibility and The factors affecting the performance of the onboard satellite receiver are reasonably introduced into the test loop, which in turn affects the accuracy of the test results of the V2X functional application

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