CN111191379A - Virtual scene testing system and method for V2X early warning application - Google Patents
Virtual scene testing system and method for V2X early warning application Download PDFInfo
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Abstract
The invention relates to a virtual scene test system and a method thereof for V2X early warning application, wherein the system comprises a GPS simulator, a channel simulator, an information simulation platform and a scene display; the GPS simulator converts the driving route of the equipment to be tested into GPS numerical points and transmits the GPS numerical points to the equipment to be tested; the information simulation platform simulates a target to send a BSM information set to be transmitted to the channel simulator and the scene display; the channel simulator processes the BSM information set and then transmits the BSM information set to the equipment to be tested; the device to be tested sequentially carries out early warning type classification and early warning judgment on the BSM information set according to frames and sends the result to a scene display; the scene display displays a virtual scene. The invention has reasonable design, simulates a plurality of BSM information sets through the information simulation platform, thereby simulating a plurality of vehicle terminals and interacting with the DUT at one time, verifying whether the performance and function of the DUT are seriously reduced under the condition of one-to-many, reducing the dependence on the surrounding environment and further improving the efficiency and the accuracy of the test.
Description
Technical Field
The invention belongs to the technical field of automobile intellectualization, and particularly relates to a virtual scene testing system and a virtual scene testing method for V2X early warning application.
Background
Economic development and technological progress have promoted the automobile industry towards the direction of automation and intellectualization. With the continuous increase of the automobile holding capacity, a series of problems such as traffic accidents, crowding and the like are caused. In order to improve the perception of the automobile, allow drivers to plan routes better and avoid collision accidents, the technology of V2X (Vehicle to electric-driving) has come to work. As one of the key technologies of automobile intellectualization, compared with an automatic driving technology, the V2X technology does not need a high-performance sensor to detect the surrounding environment and acquire a large amount of data, and the V2X can perform collision early warning and inform a driver of a crowded area by only acquiring other vehicles or traffic facilities, so that accidents such as scratch and collision caused by the fact that the driver does not pay attention to the road condition in time in the driving process can be reduced as much as possible, and the driving process is safe and efficient.
Since the development of the V2X is still only in an early stage, the mature and widely-applied early warning function testing technology of the V2X terminal is a real road test in a real road environment. The technology evaluates and judges whether the early warning function is qualified or not by designing the driving routes and the driving speeds of two vehicles in advance and recording the early warning type and the early warning distance when the early warning occurs by a tester, and the test result is seriously influenced by too large artificial subjective factors. And when the real vehicle road is tested, surrounding environment variables are uncontrollable, and the change of environmental factors such as weather, temperature, haze and the like during the test can affect the GPS positioning precision and the communication channel of the space, so that the test result is inaccurate and cannot be used for guiding the threshold value debugging in the research and development process. Meanwhile, due to the uncontrollable environment variables, different driving behaviors of drivers and the like, the test scene of each designed real vehicle road cannot be reproduced again, so that the result of each test case is inconsistent, and a manufacturer cannot be convinced that the test result is correct.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a virtual scene testing system and a virtual scene testing method for V2X early warning application, which reduce the dependence on the surrounding environment in the testing process and further improve the testing efficiency and accuracy.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
a virtual scene testing system for V2X early warning application comprises a GPS simulator, a channel simulator, an information simulation platform and a scene display; the GPS simulator converts the driving route of the equipment to be tested into a string of GPS numerical points and transmits the GPS numerical points to the equipment to be tested; the information simulation platform sends a BSM information set to the channel simulator and the scene display; the channel simulator processes the received BSM information set and then transmits the BSM information set to the equipment to be tested; the device to be tested sequentially carries out early warning type classification and early warning judgment on the BSM information set processed by the channel simulator according to frames, and sends state information of the device to be tested and an early warning result information set at the moment of triggering an early warning threshold to a scene display; and the scene display displays the BSM information set, the state information of the equipment to be tested and the early warning result information set which are sent by the information simulation platform.
The early warning result information set comprises an application type, a warning priority, a warning grade, a collision time, a vehicle distance and a relative direction.
The scene display is communicated with the equipment to be tested and the information simulation platform through UDP.
The channel simulator performs a signal-to-noise ratio on the received BSM information set that includes loading the BSM information set with a fading factor and a multipath gain adjustment setting signal.
A virtual scene testing method facing V2X early warning application comprises the following steps:
step 1, planning a motion track of equipment to be tested;
step 2, importing the GPS data set into a GPS simulator, and sending the GPS simulator to the equipment to be tested according to the timestamp attached to the data of each point;
step 3, the equipment to be tested finishes time synchronization after receiving the GPS signal, starts to run in a virtual scene according to the received GPS signal, and builds a BSM information set of the equipment to be tested to send the BSM information set out and wait for receiving the BSM information of the target vehicle;
step 4, planning the motion trail of the target vehicle;
step 5, the information simulation platform directly sends a BSM information set to the scene display to simulate the movement of a target vehicle in a virtual scene on one hand, and sends BSM information to be imported into the channel simulator and then transmitted to the device to be tested for communication interaction on the other hand;
step 6, the channel simulator simulates a communication channel, and the signal-to-noise ratio of the BSM signal loading attenuation factor and the multipath gain adjustment setting signal is transmitted to the equipment to be tested;
and 7, displaying the motion state and the early warning result of the equipment to be tested and the target vehicle by the scene displayer.
The method for planning the motion trail of the equipment to be tested or the target vehicle comprises the following steps: in a virtual scene, a whole track is subdivided into a series of position points by a differential method aiming at a device to be detected or a target vehicle travelling track line, each position point acquires a GPS value according to a map file, a GPS data set of the motion track is acquired and added with a time stamp, and the speed V of the device to be detected or the target vehicle travelling from a point A to a point B is calculated according to the following formulaAB：
Wherein A isW、AJ、ATLatitude, longitude and time stamp of point A, BW、BJ、BTRespectively, latitude, longitude and time stamp of point B, and R is the radius of the earth.
The specific implementation method of the step 7 is as follows: the scene display is communicated with the device to be tested and the information simulation platform through UDP communication, receives the motion state of the target vehicle transmitted by the information simulation platform, simultaneously receives the motion state sent by the device to be tested and the early warning judgment result after the two vehicles are communicated, displays the communication interaction application scene of the two vehicles after receiving the motion state of the two vehicles, simultaneously records the early warning judgment result generated each time and forms a test report to complete the scene test of V2X early warning application.
The invention has the advantages and positive effects that:
1. the invention simulates a plurality of BSM (basic Safety message) information sets through the information simulation platform, thereby simulating a plurality of vehicle terminals to interact with a DUT (Device Under Test) at one time, and verifying whether the performance and the function of the DUT are seriously reduced Under the condition of one-to-many.
2. The invention can be used for testing in a laboratory, thereby reducing the dependence of the V2X early warning application test process on the surrounding environment and further improving the efficiency and accuracy of the test.
3. The channel simulator matched with the method can collect the number of spatial clusters and multipath components of each cluster in various channels such as an urban micro scene, an urban macro scene, an indoor scene, a return scene, a device-to-device scene, an automobile-to-automobile scene, a stadium scene and the like in reality, and reappear the influence of the dynamic change of the spatial channels on V2X communication.
4. The invention can transmit dynamic data to the DUT through a GPS (Global Positioning System) simulator to enable the DUT to run in a virtual scene, and can also accurately control the speed of the DUT.
5. The invention displays the GPS data of the two-vehicle motion state in the scene display together with the map file for the reference of the tester, and is friendly to man-machine interaction.
6. Compared with the real vehicle road test, the method has the advantages of low time cost, high test result accuracy, capability of simulating different environments, perfect reproduction of test scenes, and good market application prospect and popularization and use values.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a flow chart of the test of the present invention;
FIG. 3 is a driving trajectory diagram of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
A virtual scenario test system for V2X early warning application, as shown in fig. 1, includes a GPS simulator, a channel simulator, an information simulation platform, and a scenario display. The method comprises the following steps that a GPS simulator converts a driving route of a device to be tested (DUT) into a string of GPS numerical value points and transmits the GPS numerical value points to the DUT; the information simulation platform simulation V2X terminal sends a BSM information set to be transmitted to the channel simulator and the scene display; the channel simulator sets the received BSM information set and transmits parameters such as communication distance, relative speed, signal to noise ratio and the like of the two devices to the DUT; and the DUT carries out early warning type classification on the processed BSM information sets in sequence according to frames, and enters corresponding early warning judgment until an early warning threshold value is triggered at a certain time point, and finally sends the DUT state information at the time, the BSM information set sent by the information simulation platform and the early warning result information set to a scene display for displaying.
In this embodiment, the warning result information set includes an application type, a warning priority, a warning level, a time to collision ttc (time to collision), a vehicle distance, a relative direction, and the like.
In this embodiment, the scene display communicates with the device under test and the information simulation platform through UDP.
In the actual test process, each test case can be executed 10 times, an early warning result information set when early warning is sent for the first time is recorded, and the early warning success rate and the average Time To Collision (TTC) in the 10 test processes can be obtained by averaging results obtained by the 10 tests. The scene display can display the motion states of the two vehicles in real time, meanwhile, a program is embedded in the scene display, the test times of each test case are modified according to test requirements, and the size of the early warning threshold value is modified.
Based on the test system, the invention provides a test method of a virtual scene test system facing V2X early warning application, as shown in FIG. 2, comprising the following steps:
step 1, planning the motion track of the DUT.
V2X each early warning scene is clear in GB/T31024 standardSpecifically, guidance examples are given, wherein each scene comprises the driving heading angle, the driving speed and the vehicle steering of the DUT. In a virtual scene, longitude and latitude of each position of a map are real data, a whole track of a DUT travelling track line designed in advance is subdivided into a series of position points by utilizing a differential concept, each position point acquires a GPS value according to a map file, and a GPS data set of the motion track can be obtained. After the GPS data sets are generated, each GPS data set is added with a time stamp, and the GPS data (A, A) is taken as the example of two adjacent points in the road sectionW、AJ、ATDEG C), B Point GPS data (. DEG C.), BW、BJ、BTV. taking the latitude A of the point A thereinWLongitude AJTime stamp ATAnd latitude B of point BWLongitude BJTime stamp BTAnd substituting the earth radius R into the following speed calculation formula to obtain the speed of the DUT from the point A to the point B:
when the track points are constructed, the driving state of the DUT is ensured to be smooth in the driving process. A. The trajectories of the two points B are shown in FIG. 3.
And 2, after the movement locus planning of the DUT is finished, importing the obtained GPS data set into a GPS simulator, and sending a signal to the DUT equipment by the GPS simulator according to the timestamp added to the data of each point.
And 3, completing time synchronization after the DUT receives the GPS signal, starting the DUT to run in a virtual scene according to the received GPS signal, and establishing a BSM information set of the DUT to send and wait for receiving the BSM information of the target vehicle.
And 4, planning the motion track of the target vehicle.
The target vehicle track design method is similar to the DUT track design method, a whole track is subdivided into a series of position points by a differential concept through a target vehicle travelling track line which is designed in advance, each position point acquires a GPS value according to a map file, a GPS data set of the motion track can be obtained, and in order to avoid interference caused by simultaneous work of two GPS simulators, data such as longitude and latitude, speed, course angle and the like of each point are directly assembled into a BSM information set according to the GB/T31024 standard.
And 5, simulating the target vehicle by the information simulation platform. The information simulation platform simulates the target vehicle to move in a virtual scene by directly sending a BSM information set, and the sent BSM information is led into the channel simulator and then transmitted to the DUT for communication interaction.
And 6, simulating a communication channel by the channel simulator. The introduced BSM signal is loaded with the signal-to-noise ratio of the attenuation factor and multipath gain adjustment setting signals by the channel simulator and then transmitted to the DUT.
And 7, displaying the motion states of the two vehicles and recording an early warning result by the scene displayer.
The scene display, the DUT and the information simulation platform are communicated through UDP, the BSM generated by the information simulation platform is transmitted to the DUT through the channel simulator to complete communication on one hand, on the other hand, the motion state of the target vehicle is directly and uninterruptedly sent to the scene display, and the DUT sends the motion state and the early warning judgment result after the two vehicles are communicated to the scene display. And the scene displayer visually displays the communication interaction application scene of the two vehicles after receiving the motion states of the two vehicles, simultaneously records the early warning judgment result generated each time, and processes data to form a test report to complete the scene test of the V2X early warning application.
It should be emphasized that the embodiments described herein are illustrative rather than restrictive, and thus the present invention is not limited to the embodiments described in the detailed description, but other embodiments derived from the technical solutions of the present invention by those skilled in the art are also within the scope of the present invention.
Claims (7)
1. The utility model provides a virtual scene test system towards V2X early warning application which characterized in that: the system comprises a GPS simulator, a channel simulator, an information simulation platform and a scene display; the GPS simulator converts the driving route of the equipment to be tested into a string of GPS numerical points and transmits the GPS numerical points to the equipment to be tested; the information simulation platform sends a BSM information set to the channel simulator and the scene display; the channel simulator processes the received BSM information set and then transmits the BSM information set to the equipment to be tested; the device to be tested sequentially carries out early warning type classification and early warning judgment on the BSM information set processed by the channel simulator according to frames, and sends state information of the device to be tested and an early warning result information set at the moment of triggering an early warning threshold to a scene display; and the scene display displays the BSM information set, the state information of the equipment to be tested and the early warning result information set which are sent by the information simulation platform.
2. The virtual scene testing system facing the V2X early warning application as claimed in claim 1, wherein: the early warning result information set comprises an application type, a warning priority, a warning grade, a collision time, a vehicle distance and a relative direction.
3. The virtual scene testing system facing the V2X early warning application as claimed in claim 1, wherein: the scene display is communicated with the equipment to be tested and the information simulation platform through UDP.
4. The virtual scene testing system facing the V2X early warning application as claimed in claim 1, wherein: the channel simulator performs a signal-to-noise ratio on the received BSM information set that includes loading the BSM information set with a fading factor and a multipath gain adjustment setting signal.
5. A test method of the virtual scene test system facing the V2X early warning application according to any claim 1 to 4, characterized by comprising the following steps:
step 1, planning a motion track of equipment to be tested;
step 2, importing the GPS data set into a GPS simulator, and sending the GPS simulator to the equipment to be tested according to the timestamp attached to the data of each point;
step 3, the equipment to be tested finishes time synchronization after receiving the GPS signal, starts to run in a virtual scene according to the received GPS signal, and builds a BSM information set of the equipment to be tested to send the BSM information set out and wait for receiving the BSM information of the target vehicle;
step 4, planning the motion trail of the target vehicle;
step 5, the information simulation platform directly sends a BSM information set to the scene display to simulate the movement of a target vehicle in a virtual scene on one hand, and sends BSM information to be imported into the channel simulator and then transmitted to the device to be tested for communication interaction on the other hand;
step 6, the channel simulator simulates a communication channel, and the signal-to-noise ratio of the BSM signal loading attenuation factor and the multipath gain adjustment setting signal is transmitted to the equipment to be tested;
and 7, displaying the motion state and the early warning result of the equipment to be tested and the target vehicle by the scene displayer.
6. The test method of the virtual scene test system for the V2X early warning application, according to claim 5, wherein: the method for planning the motion trail of the equipment to be tested or the target vehicle comprises the following steps: in a virtual scene, a whole track is subdivided into a series of position points by a differential method aiming at a device to be detected or a target vehicle travelling track line, each position point acquires a GPS value according to a map file, a GPS data set of the motion track is acquired and added with a time stamp, and the speed V of the device to be detected or the target vehicle travelling from a point A to a point B is calculated according to the following formulaAB：
Wherein A isW、AJ、ATLatitude, longitude and time stamp of point A, BW、BJ、BTRespectively, latitude, longitude and time stamp of point B, and R is the radius of the earth.
7. The test method of the virtual scene test system for the V2X early warning application, according to claim 5, wherein: the specific implementation method of the step 7 is as follows: the scene display is communicated with the device to be tested and the information simulation platform through UDP communication, receives the motion state of the target vehicle transmitted by the information simulation platform, simultaneously receives the motion state sent by the device to be tested and the early warning judgment result after the two vehicles are communicated, displays the communication interaction application scene of the two vehicles after receiving the motion state of the two vehicles, simultaneously records the early warning judgment result generated each time and forms a test report to complete the scene test of V2X early warning application.
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| CN111741446A (en) * | 2020-06-16 | 2020-10-02 | 重庆大学 | V2X communication and application combined test method and system |
| CN111818485A (en) * | 2020-06-24 | 2020-10-23 | 公安部交通管理科学研究所 | V2X man-machine cooperation performance testing system and method |
| CN111818485B (en) * | 2020-06-24 | 2022-10-14 | 公安部交通管理科学研究所 | V2X man-machine cooperation performance testing system and method |
| CN112073938A (en) * | 2020-08-04 | 2020-12-11 | 中汽研汽车检验中心（天津）有限公司 | Simulation design method for Internet of vehicles in laboratory |
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| CN112730992A (en) * | 2020-12-18 | 2021-04-30 | 中国汽车工程研究院股份有限公司 | System and method for non-road test of V2X application scene in anechoic chamber |
| CN113759752A (en) * | 2021-08-31 | 2021-12-07 | 信通院车联网创新中心(成都)有限公司 | Simulation test method for vehicle road early warning function of V2X vehicle-mounted terminal |
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| CN113886209B (en) * | 2021-10-14 | 2023-07-11 | 东风汽车集团股份有限公司 | Simulation verification platform and method for V2X early warning function |
| CN113886209A (en) * | 2021-10-14 | 2022-01-04 | 东风汽车集团股份有限公司 | Simulation verification platform and method for V2X early warning function |
| CN114153154A (en) * | 2021-10-28 | 2022-03-08 | 华人运通(上海)自动驾驶科技有限公司 | V2X-based driving scene testing method and system |
| CN115987845B (en) * | 2023-03-16 | 2023-07-07 | 智道网联科技(北京)有限公司 | V2X equipment testing system and method |
| CN116015487A (en) * | 2023-03-16 | 2023-04-25 | 智道网联科技(北京)有限公司 | V2X equipment testing system and method |
| CN115987845A (en) * | 2023-03-16 | 2023-04-18 | 智道网联科技(北京)有限公司 | Test system and method of V2X equipment |
| CN116133012A (en) * | 2023-04-14 | 2023-05-16 | 智道网联科技(北京)有限公司 | Communication device, test method, system, equipment and storage medium |
| CN116133012B (en) * | 2023-04-14 | 2023-07-07 | 智道网联科技(北京)有限公司 | Communication device, test method, system, equipment and storage medium |
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