An electronic parking brake controller testing method and system

Abstract

The present invention discloses a method and system for testing an electronic parking brake controller, which includes establishing a logical control model including multiple model operation parameters based on the vehicle's logical state; performing logical association on different model operation parameters to simulate the vehicle's operation state; changing one of the model operation parameters so that other model operation parameters change synchronously and updating the model operation state; sending the model operation state to the EPB controller for functional testing; wherein the functional testing includes at least one of basic function testing, fault injection testing, and basic diagnostic function testing; receiving and analyzing the test feedback information of the EPB controller and displaying it; wherein the signal transmission with the EPB controller is realized through the CAN bus. The present invention realizes the simulation of the vehicle's logical state and model establishment in the upper computer, has little dependence on the simulation hardware, and has a low test cost; at the same time, the test functions are complete, the operation is simple and convenient, and the test efficiency is high.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle braking, and particularly to a method and system for testing an electronic parking brake controller. Background Art

[0002] The application of electronic control in modern automotive machinery is becoming more and more extensive. Electronic parking brake (EPB) is a system that uses electronic control to replace the traditional driver's operation of the mechanical structure for parking. Its core is a controller that receives signals, makes logical judgments, and issues commands. The software of the EPB controller directly affects the function, performance, and reliability of the system. It is very important to build a controller test environment, conduct a large number of tests on it, and achieve convenient and efficient testing.

[0003] However, most of the existing test systems do not consider fault injection testing and basic diagnostic testing, or the simulation of the vehicle test environment is highly dependent on real-time simulation cabinets such as dSPACE. The cabinets are expensive and occupy a large space, resulting in inconvenient testing and high testing costs.

[0004] Therefore, there is a need for a method and system for testing an electronic parking brake controller that does not rely on additional real-time simulation cabinets, has little hardware dependence, has complete test functions, and is simple and convenient to operate. Summary of the Invention

[0005] In view of the problems existing in the above-mentioned prior art, the present invention provides a method and system for testing an electronic parking brake controller that does not rely on additional real-time simulation cabinets, has little hardware dependence, has complete test functions, and is simple and convenient to operate. The technical solution is as follows:

[0006] On the one hand, the present invention provides a method for testing an electronic parking brake controller, including:

[0007] Based on the logical state of the whole vehicle, establish a logical control model of the vehicle; wherein, the logical control model includes a plurality of model operation parameters, and the model operation parameters can be changed through controls.

[0008] Logically associate different model operation parameters to establish a vehicle operation model and simulate the operation state of the vehicle.

[0009] Change one of the model operation parameters so that other model operation parameters in the vehicle operation model change synchronously, and obtain an updated model operation state; wherein, the updated model operation state includes the changed model operation parameter.

[0010] Send the updated model running status to the EPB controller for functional testing of the EPB controller; wherein, the functional testing includes at least one of basic function testing, fault injection testing, and basic diagnostic function testing. The fault injection testing includes directly injecting faults into the hardware device components of the EPB controller and injecting faults by sending the model running status containing fault information to the EPB controller. The basic diagnostic function testing is implemented by sending diagnostic service messages to the EPB controller;

[0011] Receive and parse the test feedback information of the EPB controller for the functional testing, and display the content information after parsing the test feedback information; wherein, the signal transmission with the EPB controller is realized through the CAN bus.

[0012] Further, the logical control model of the vehicle established based on the vehicle's logical state is obtained through the following steps:

[0013] Create the model running parameters that can map the vehicle's logical state; wherein, the adjustment of the model running parameters can change the state of the logical control model;

[0014] Create a control panel, and set various controls in the control panel for association with the corresponding model running parameters to control the change of the model running parameters;

[0015] Create multiple vehicle nodes to simulate the message sending of various controllers in the vehicle; wherein, multiple status messages are established for each vehicle node, and the status messages are all the messages received by the EPB controller;

[0016] According to the changed model running parameters, change the signal values of the status messages sent to each vehicle node, and send each status message to the CAN bus.

[0017] Further, the model running parameters include signal type variables and control type variables.

[0018] Further, the fault injection by sending the model running status containing fault information to the EPB controller includes:

[0019] Obtain the host computer fault information; wherein, the host computer fault information is obtained by changing the model running parameters in the control panel;

[0020] Send the host computer fault information to the EPB controller through the CAN bus so that the EPB controller can perform fault identification according to the host computer fault information.

[0021] Further, the host computer fault information includes:

[0022] The abnormal signal value of the status message changed through the control panel and the abnormal status of sending the status message.

[0023] Further, after sending the host computer fault information to the EPB controller through the CAN bus so that the EPB controller performs fault identification according to the host computer fault information, the method further includes:

[0024] Receiving and parsing, through the CAN bus, the identification result of the EPB controller for performing the fault identification;

[0025] Displaying the content information after parsing the identification result according to the identification result.

[0026] Further, after directly injecting a fault into the hardware device components of the EPB controller, the method further includes:

[0027] Monitoring and acquiring, through the CAN bus, the fault information of the hardware device components;

[0028] Receiving and parsing, through the CAN bus, the identification result sent by the EPB controller; wherein, the identification result is obtained by the EPB controller performing fault identification on the fault information of the hardware device components;

[0029] Displaying the content information after parsing the identification result.

[0030] Further, if the function test is the basic diagnostic function test and the test feedback information is a service response message, then after sending the updated model running status to the EPB controller to perform a function test on the EPB controller, the method further includes:

[0031] Sending a diagnostic service message to the EPB controller through the CAN bus;

[0032] Receiving and parsing the service response message fed back by the EPB controller and displaying the content information after parsing the service response message; the service response message is generated by the EPB controller after receiving the diagnostic service message.

[0033] On the other hand, the present invention provides an electronic parking brake controller test system, including a host computer, a CAN bus transceiver device, an EPB controller and the hardware device components of the EPB controller. The EPB controller is connected to the hardware device components through a wire harness, and the EPB controller and the host computer perform information interaction through the CAN bus transceiver device;

[0034] The host computer includes a vehicle overall logic state simulation module, a vehicle operation model module, a fault injection module, a diagnostic service module, and a signal acquisition and display module;

[0035] The vehicle overall logic state simulation module is used to establish a logic control model of the vehicle based on the vehicle overall logic state; the vehicle overall logic state simulation module is also used to change the model operation parameters of the logic control model through controls;

[0036] The vehicle operation model module is used to perform logical association on different model operation parameters to establish a vehicle operation model and simulate the operation state of the vehicle;

[0037] The fault injection module is used to obtain host computer fault information and send the host computer fault information to the CAN bus transceiver device, so that the EPB controller CAN bus transceiver device can receive the host computer fault information through the CAN bus transceiver device for fault injection testing;

[0038] The diagnostic service module is used to send a diagnostic service message to the EPB controller through the CAN bus transceiver device, and is also used to receive a service response message sent by the EPB controller through the CAN bus transceiver device;

[0039] The signal acquisition and display module is used to collect, analyze, and display all information sent by the EPB controller through the CAN bus transceiver device.

[0040] Further, the hardware device components include a power supply device, an ignition switch, an electronic parking brake switch, and an actuator;

[0041] The positive and negative poles of the power supply device are connected to the voltage input pins of the EPB controller through a wire harness;

[0042] The ignition switch is connected to the power supply device, and the ignition switch is also connected to the ignition signal input pin of the EPB controller, and is used to simulate the ignition signal of the vehicle to activate the EPB controller;

[0043] The switch input pin of the EPB controller is connected to the electronic parking brake switch and is used to identify different switch states;

[0044] The actuator is an assembly of a motor and a caliper, and the voltage output pin of the EPB controller is connected to the actuator and is used to supply power to the motor of the actuator.

[0045] Implementing the present invention has the following beneficial effects:

[0046] The present invention realizes the simulation of the overall vehicle logic state and the establishment of the vehicle model in the host computer, without relying on an additional real-time simulation cabinet. It only needs to transplant the software on different host computers, which is convenient and easy to transplant, has little dependence on the simulation hardware, and can greatly reduce the test cost. At the same time, the present invention introduces fault injection testing and basic diagnostic testing, with complete test functions. During testing, the information interaction between the host computer and the EPB controller can be realized through the CAN bus transceiver device, the operation is simple and convenient, and the test efficiency is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0048] Figure 1 It is the logic structure diagram of the electronic parking brake controller test method in a possible implementation manner of the present invention;

[0049] Figure 2 It is the logic structure diagram of a method for establishing a logic control model provided by an embodiment of the present invention;

[0050] Figure 3 It is the structure diagram of the CAN bus transceiver node in a possible implementation manner of the present invention;

[0051] Figure 4 It is the logic structure diagram of the host computer fault injection test method in a possible implementation manner of the present invention;

[0052] Figure 5 It is the logic structure diagram of the hardware device component fault injection test method in a possible implementation manner of the present invention;

[0053] Figure 6 It is the logic structure diagram of the basic diagnostic function test method in a possible implementation manner of the present invention;

[0054] Figure 7 It is the structure diagram of the electronic parking brake controller test system in a specific embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0055] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Therefore, it should not be construed as a limitation of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0056] It should be noted that the terms "first", "second", etc. in the specification, claims and drawings of the present invention are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention can be implemented in an order other than those shown in the following drawings or described below. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or server that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0057] In view of the problem in the prior art that the test of the electronic parking brake system is too dependent on large real-time simulation cabinets such as dSPACE and the test functions are not comprehensive enough, this embodiment provides an electronic parking brake controller test method and system, which provides a test environment and test method for hardware-in-the-loop test of the functions and performances of the electronic parking brake system controller (i.e., EPB controller), and uses simple hardware equipment and CAN bus to implement basic function test, fault injection test and basic diagnostic function test; the electronic parking brake controller test method can be applied to the electronic parking brake controller test system of the embodiment of the present invention, and is implemented based on the upper computer in the system, by acquiring the logical state of the whole vehicle to establish a logical control model of the vehicle, and then logically associates the model operation parameters in different logical control models to establish a vehicle operation model, simulate the operation state of the vehicle, and change one of the model operation parameters so that the vehicle operation model Other model operation parameters in the system are changed synchronously to obtain a real-time updated model operation status, and the updated model operation data includes all the changed model operation parameters. The updated model operation status can be sent to the EPB controller through the CAN bus to perform any one of the basic function tests, fault injection tests and basic diagnostic function tests on the EPB controller. Finally, the test feedback information of the EPB controller for the function test is received and parsed, and the content information after the test feedback information is parsed is displayed. When the electronic parking brake controller test method is executed by using the electronic parking brake controller test system, there is no need to rely on large real-time simulation cabinets such as dSPACE as in traditional tests. The test can be completed by transplanting the software on different host computers and transmitting it through the CAN bus transceiver. It is convenient and easy to transplant, has little dependence on simulation hardware, greatly saves system space, and improves test convenience and test efficiency.

[0058] The electronic parking brake controller test system provided by the present invention includes a host computer, a CAN bus transceiver, an EPB controller to be tested, and a hardware device component of the EPB controller to form a hardware-in-the-loop simulation test system, wherein the EPB controller and the hardware device component are connected via a wiring harness, and the bus interface of the EPB controller is also connected to the host computer via the CAN bus transceiver to achieve data interaction with the host computer.

[0059] Specifically, in this embodiment, as shown in the attached specification Figure 7As shown in the figure, the hardware device components connected to the EPB controller include an electronic parking brake switch (EPB switch), an ignition switch, a power supply device, and an actuator; among them, the power supply device is a stable voltage source with adjustable voltage and current limiting, and its positive and negative poles are connected to the voltage input pins of the EPB controller through a wire harness; the ignition switch is connected to the power supply device and also to the EPB controller to simulate the ignition signal of the whole vehicle. After the switch is closed, a high-level input will be given to the ignition signal input pin of the EPB controller to activate the EPB controller, and the voltage signal of this high-level input comes from the power supply device; the EPB switch is a four-wire system and is connected to 4 switch input pins of the EPB controller. The EPB controller identifies different switch states, including pulling up, pressing down, intermediate state, open circuit, short circuit, etc., by distinguishing the high and low levels input by the 4 pins; the actuator is an assembly of a motor and a caliper, and 4 voltage output pins of the EPB controller supply power to the motors of the two actuators respectively.

[0060] The technical solutions of the embodiments of the present invention will be introduced in detail below. Refer to the attached Figure 1 description of the specification. The method is implemented based on a host computer and includes:

[0061] S101, based on the logical state of the whole vehicle, establish a logical control model of the vehicle; wherein, the logical control model includes multiple model operation parameters, and the model operation parameters can be changed through controls.

[0062] Among them, the logical state of the whole vehicle includes signal information such as vehicle speed state, gear state, ignition state, brake pedal state, accelerator pedal state, output torque magnitude, longitudinal acceleration magnitude, etc. that can reflect the vehicle state; moreover, the establishment of the logical control model depends on various logical states of the whole vehicle, and the model operation parameters are equivalent to the mapping of the corresponding logical states of the whole vehicle. That is, this step is equivalent to simulating the CAN network of the whole vehicle. The logical control model includes the single-wire control logic of multiple model operation parameters, and the change in the logical control model in this step is to change the same model operation parameter between different values. Then, the change of each model operation parameter can only affect its own change and cannot change the change of another model operation parameter; for example, the vehicle speed can be changed between different vehicle speeds through the vehicle speed control, so as to realize the change of the vehicle speed state; and the gear shift can be changed through the gear control to realize the change of the gear state.

[0063] S103, perform logical association on different model operation parameters to establish a vehicle operation model and simulate the operation state of the vehicle.

[0064] S105, change one of the model operation parameters so that other model operation parameters in the vehicle operation model change synchronously, and obtain an updated model operation state; wherein, the updated model operation state includes the changed model operation parameter.

[0065] Among them, logically correlating different model operation parameters means logically correlating the signals of model operation parameters, which refers to correlating simple single-line control logics so that multiple single-line control logics influence each other to form a multi-line associated control logic, enabling a change in one model operation parameter to also affect the change in another model operation parameter, thereby simulating the running state of the vehicle and performing simple driving and braking on the vehicle according to the real vehicle parameters. The real vehicle parameters here at least include dynamic performance parameters such as the maximum vehicle speed, acceleration performance, and maximum climbing gradient, as well as overall performance parameters such as vehicle length, wheelbase, and power.

[0066] For example, there is a logical correlation between the signal of the gear state and the signal of the vehicle speed state. When the signal of the gear state is in the parking gear, acceleration operation cannot be performed. Even if the vehicle speed is changed through the vehicle speed control, the signal of the vehicle speed state cannot be changed, so that the driving of the model is more in line with the state of the actual vehicle and the simulation effect is good. Another example is that according to the change of the throttle opening signal, the vehicle speed state and the output torque state of the whole vehicle can be correspondingly changed; and according to the change of the brake pedal opening signal, the master cylinder pressure value and the deceleration condition can be correspondingly changed, etc.

[0067] S107, send the updated model operation state to the EPB controller to perform a function test on the EPB controller.

[0068] Among them, the function test includes at least one of a basic function test, a fault injection test, and a basic diagnostic function test. The fault injection test includes directly injecting faults into the hardware device components of the EPB controller and injecting faults by sending the model operation state containing fault information to the EPB controller. The basic diagnostic function test is implemented by sending a diagnostic service message to the EPB controller.

[0069] The basic function test is used to test the normal control process of the EPB controller. By monitoring the action and state and other signal information of the EPB controller or the hardware device components of the EPB controller through the upper computer, it is judged whether the function of the EPB controller is normally executed.

[0070] It should be noted that the EPB controller participates in the braking control of the vehicle. Then, according to the signal information fed back by the currently updated model operation state, the vehicle operation model will also receive it, and according to these passively changed signals, it will cooperate with the model operation parameters in step S105 to further update the model operation state at the next moment, further improving and enriching the current model operation state, getting closer to the actual driving or braking state of the vehicle, with high simulation degree and high reliability.

[0071] S109. Receive and parse the test feedback information of the EPB controller for the function test, and display the content information after parsing the test feedback information.

[0072] Among them, the signal transmission with the EPB controller is realized through the CAN bus, which not only includes the EPB controller sending test feedback information to the host computer in this step, but also includes sending the updated model operation status to the EPB controller in step S107; in this embodiment, the implementation of the CAN bus function relies on the CAN bus transceiver device, with one end connected to the host computer and the other end connected to the EPB controller under test to achieve signal interaction.

[0073] Then, through the test method of steps S101 - S109, the functions of the EPB controller can be comprehensively tested quickly and conveniently, without being restricted by large real-time simulation cabinets, and thus not restricted by location and space. Only a host computer capable of porting software is needed to perform the test anytime and anywhere, with high test efficiency and low test cost.

[0074] Specifically, as shown in the attached Figure 2 description, the establishment of the logical control model of the vehicle based on the vehicle's overall logical state is obtained through the following steps:

[0075] S202. Create the model operation parameters that can map the overall vehicle logical state; among them, the adjustment of the model operation parameters can change the state of the logical control model.

[0076] The model operation parameters here are variables used to map the overall vehicle logical state and change the state of the logical control model through this variable.

[0077] Specifically, in a possible implementation manner of this specification, the model operation parameters can be selected to include signal type variables and control type variables. The signal type variables can be further divided into three types: boolean variables, enumeration variables, and numerical variables; among them, boolean variables are used to simulate state signals with only two states such as wheel speed validity, enumeration variables are used to simulate discrete signals such as gear states, and numerical variables are used to simulate continuous signals such as master cylinder pressure; in addition, in a possible implementation manner of this specification, according to the functions of the model operation parameters, the signal type variables can also be divided into active variables and passive variables. Active variables are variables with active assignment that are mapped to signals that need to be sent to other normal nodes, and passive variables are variables that passively receive signals sent by the EPB controller and are mapped to variables.

[0078] The control type variables are used to implement specific operations and working conditions; for example, define a variable to implement two operations: normal sending and loss of a certain message.

[0079] S204. Create a control panel, and set a variety of controls in the control panel for association with the corresponding model operation parameters to control the change of the model operation parameters.

[0080] The association here refers to the corresponding association of each control with each model operation parameter, so that the model operation parameter can be correspondingly changed through this control. On the one hand, the value of the model operation parameter can be adjusted and changed through the operation control, which is convenient for control; on the other hand, the change of the passive variable can be more intuitively feedback through the visual control, with a high degree of visualization.

[0081] S206. Create multiple vehicle nodes to simulate the message sending of various controllers in the vehicle; among them, each vehicle node establishes multiple status messages, and the status messages are all messages received by the EPB controller.

[0082] The message sending of various controllers simulated in this step refers to other controllers in the vehicle except the EPB controller, including ESC (Electronic Stability Control) controller, TCU (Transmission Control Unit) controller, etc.; and, referring to the actual vehicle situation, define the ID, sending period and signals to be carried for each message, so as to set the initial value, coefficient and offset of various vehicle logic state signals, etc., to ensure that the initial state of the sent signal is the normal initial state of the actual vehicle. For example, if the initial vehicle speed is 0, then this step actually simulates the model operation state of the vehicle operation model to be established under the initial conditions.

[0083] S208. According to the changed model operation parameters, change the signal values of the status messages sent to each vehicle node, and send each status message to the CAN bus.

[0084] This step is implemented by programming. The status message contains signal information of various model operation parameters, and sending to the CAN bus is to enable the status message to finally send the status message to the EPB controller through the CAN bus to achieve functional testing.

[0085] In a possible implementation manner of this specification, as shown in the attached Figure 3 description of the specification, create at least three vehicle nodes in the host computer to simulate the periodic message sending of other vehicle controllers. Among them, the diagnostic message sending node triggers the sending of diagnostic service messages according to the commands of the basic diagnostic function test, and the data acquisition node receives and parses the messages from the EPB controller.

[0086] Specifically, in a possible implementation manner of this specification, as shown in the attached Figure 4As shown, the fault injection by sending the model operation state containing fault information to the EPB controller includes:

[0087] S402, obtain the host computer fault information; wherein, the host computer fault information is obtained by changing the model operation parameters in the control panel.

[0088] S404, send the host computer fault information to the EPB controller through the CAN bus, so that the EPB controller performs fault identification according to the host computer fault information.

[0089] The fault injection test of the EPB controller is to test the fault identification, function degradation and alarm function of the EPB controller by changing the model operation parameters. The fault injection test in step S107 includes two methods, namely the fault injection of the host computer software and the fault injection of the hardware device components of the EPB controller, and steps S402 to S404 are the fault injection of the host computer.

[0090] Among them, the fault injection of the host computer is realized based on the transceiver of the CAN bus. Using the control panel in step S204, the host computer can obtain specific host computer fault information and then send it to the EPB controller through the CAN bus transceiver device, so that the EPB controller performs fault identification after receiving it.

[0091] Specifically, in a possible implementation manner of this specification, the host computer fault information includes the abnormal signal value of the status message changed through the control panel and the abnormal status of sending the status message, that is, it includes signal - type fault injection and message - type fault injection; when injecting, using the control panel, change the normal signal value in the status message to be sent to an abnormal signal value, or change the status of sending the status message to an abnormal status, and then send the status message containing the abnormality to the EPB controller through the CAN bus, so that the EPB controller performs fault identification after receiving the abnormal status message.

[0092] In another possible implementation manner of this specification, the signal - type fault injection may include invalidating the validity signal, for example, invalidating the wheel speed validity signal; it may also include injecting abnormal values into enumerated signals, such as undefined values of the gear signal other than the normal gear values; it may also include making the continuous - type signal out of range, such as the vehicle speed signal exceeding the maximum value.

[0093] In addition, the fault injection of the message can be divided into message loss and message untrustworthiness. Among them, message loss is achieved by using the control in the control panel to stop sending specific status messages, thereby implementing the fault injection of message loss. Message untrustworthiness means that the security check of the status message is incorrect. The specific operation is to change the Checksum (Cyclic Redundancy Check) or RollingCounter of a specific message to make the message untrustworthy.

[0094] Specifically, as shown in the attached drawings of the specification Figure 4 After sending the host computer fault information to the EPB controller through the CAN bus so that the EPB controller performs fault identification according to the host computer fault information, the method further includes:

[0095] S406, receiving and parsing, through the CAN bus, the identification result of the fault identification performed by the EPB controller.

[0096] S408, displaying the content information after parsing the identification result according to the identification result.

[0097] That is, after the fault injection and the EPB controller performs fault identification, the host computer also receives, through the CAN bus, the identification result generated after the EPB controller performs fault identification, and parses the identification result and then displays the corresponding content information on the host computer, so that the tester can obtain an intuitive test result.

[0098] On the other hand, the fault injection of the hardware device components is to perform manual intervention on the above-mentioned hardware device components to change the state of the hardware device components and achieve the occurrence of faults. For example, by changing the output voltage of the power supply device, power supply voltage type faults can be injected to verify the identification and recovery logic of the EPB controller for under-voltage, over-voltage and other faults; by operating the switch and wiring harness, faults such as EPB switch open circuit, short circuit (short to ground / short to power / mutual short circuit), and jamming can be injected; by changing the actuator wiring harness and the friction plate and clamping block of the caliper, related faults of the actuator can be achieved, such as actuator wiring harness not connected, no brake disc fault, excessive clamping force fault, etc.

[0099] Specifically, in a possible implementation manner of this specification, as shown in the attached drawings of the specification Figure 5 After directly performing fault injection on the hardware device components of the EPB controller, the method further includes:

[0100] S501, monitoring and obtaining, through the CAN bus, the fault information of the hardware device components.

[0101] S503, receive and parse the recognition result sent by the EPB controller via the CAN bus; wherein, the recognition result is obtained by the EPB controller through fault recognition of the fault information of the hardware device component.

[0102] S505, display the content information after parsing the recognition result.

[0103] During the fault injection process of the hardware device component, the host computer only monitors the states of the EPB controller and its hardware device component without sending fault information to both of them. That is, the difference between the fault injection of the hardware device component and the fault injection of the host computer is that the fault is directly applied to the hardware device component manually without sending a message containing fault information from the host computer to the EPB controller; the subsequent process of the EPB controller performing fault recognition and feeding back the fault recognition information to the host computer is the same as the fault injection test of the host computer, that is, the steps of S406 to S408 are the same as the steps of S503 to S505.

[0104] Specifically, the function test is the basic diagnostic function test, and the test feedback information is the service response message. Then, in a possible implementation manner of this specification, as shown in the attached Figure 6 figures of the specification, after sending the updated model running state to the EPB controller to perform a function test on the EPB controller, the method further includes:

[0105] S602, send a diagnostic service message to the EPB controller via the CAN bus.

[0106] S604, receive and parse the service response message fed back by the EPB controller, and display the content information after parsing the service response message; the service response message is generated by the EPB controller after receiving the diagnostic service message.

[0107] The steps of S602 to S604 are the process of the basic diagnostic function test. The diagnosis is realized by actively sending a diagnostic service message to the EPB controller, receiving the service response message fed back by the EPB controller, and presenting it intuitively in the host computer after parsing; this function test can be carried out after the normal basic function test to diagnose the basic function of the EPB controller; it can also be carried out after the fault injection test to more clearly and directly obtain the fault occurrence situation; it can also be carried out alone. That is, the basic function test, the fault injection test and the basic diagnostic function test are parallel, and can be carried out alone, or any two or three of them can be selected to be carried out successively.

[0108] In a possible implementation of this specification, the diagnostic service message can be set with two sending methods: direct input type and button trigger type. The direct input type means that a specific service request is input through the input box on the control panel. For example, for common services such as session control, secure access, reading data through identifiers, reading and clearing fault codes, etc., the host computer can send a specific service request message to the EPB controller according to the specific service request content obtained. In this way, only a simple extraction is performed on the service response message of the EPB controller, and the hexadecimal original code content is directly presented in the host computer.

[0109] The button trigger type sending is completed by using the controls on the control panel. Clicking on a certain control corresponds to a specific function, then the host computer obtains the click information of the control and sends the corresponding diagnostic service message according to the click information. For example, when clicking to read the EPB controller information, the host computer will send a message for reading data through identifiers service request according to the pre-written program. After receiving the service response message from the EPB controller, it will be parsed according to its actual meaning and displayed in the way of "parameter item + physical value". Another example is that when clicking the caliper release buttons on both sides, the host computer will gradually send a series of instructions through the CAN bus to enter the extended diagnostic mode, secure access request, send the secure access key, and perform action tests according to the identifier to complete the caliper release action. This button trigger type diagnostic function can greatly improve the test efficiency and verify the diagnostic service response of the EPB controller. In addition, according to the actual test requirements, the button function types corresponding to the controls can be continuously expanded, and the response display method and more display content can be modified.

[0110] Specifically, the reception, parsing, and display in step S109, including the reception, parsing, and display in steps S406 - S408, S503 - S505, and step S602, are all implemented in the host computer. Then, in a specific embodiment of the electronic parking brake controller test system provided by the present invention, a signal acquisition and display module can be set in the host computer. The message sent by the EPB controller on the CAN bus is collected through the signal acquisition part, and after parsing, it is displayed through the display part according to the signal content. In a possible implementation of the present invention, the signal acquisition and display module can also be separately set as a signal acquisition module and a display module, with clear division of labor.

[0111] The messages sent by the EPB controller are divided into two categories. One category is the messages periodically sent during normal operation, which include signals such as EPB status, EPB switch status, warning light lighting situation, text display request, etc. The other category is the service response messages sent by the EPB controller after receiving the diagnostic service message.

[0112] Meanwhile, the display module in the host computer is crucial for performance evaluation during the EPB controller test. Thus, the display module should at least be able to implement data image display, HMI-related function display, and diagnosis-related display.

[0113] Among them, data image display plots signal values in a time series, enabling intuitive observation of signals to judge the function implementation of the controller. For example, simultaneously displaying the EPB status signal and the EPB switch signal in an image can effectively observe the clamping and release times of the EPB caliper.

[0114] HMI refers to the information that the EPB controller requests the vehicle to display according to its operating status. Relevant displays are set in the entire test system to simulate the vehicle's status display. These display statuses mainly include the parking status light, warning light, text prompt, sound prompt, and brake tail light. During the fault injection test process, the status of the EPB controller can be intuitively judged based on the HMI display.

[0115] Diagnosis-related display is the parsing and display of service response messages during the basic diagnostic service function test.

[0116] As can be seen from the above embodiments, the electronic parking brake controller test method and system in the embodiments of the present invention have the following beneficial effects:

[0117] The present invention realizes the simulation of the vehicle's logical state and the establishment of the vehicle model in the host computer. It does not rely on an additional real-time simulation cabinet and only needs to transplant the software on different host computers, which is convenient for transplantation, has little dependence on simulation hardware, and can significantly reduce the test cost. At the same time, the present invention introduces fault injection testing and basic diagnostic testing, with complete test functions. During testing, information interaction between the host computer and the EPB controller can be achieved through the CAN bus transceiver device, which is simple and convenient to operate and has high test efficiency.

[0118] Then, in a possible implementation manner of this specification, matching the above electronic parking brake controller test method, the virtual module in the host computer can be set to include:

[0119] A vehicle logical state simulation module for establishing a logical control model of the vehicle based on the vehicle's logical state. Among them, the logical control model includes multiple model operation parameters, and the model operation parameters can be changed through controls.

[0120] A vehicle operation model module for logically associating different model operation parameters to establish a vehicle operation model and simulate the vehicle's operation state.

[0121] A control module, which is used to change one of the model operation parameters so that other model operation parameters in the vehicle operation model are synchronously changed, and an updated model operation state is obtained; wherein, the updated model operation state includes the changed model operation parameters.

[0122] A function test module, which is used to send the updated model operation state to the EPB controller for functional testing of the EPB controller; wherein, the functional testing includes at least one of basic function testing, fault injection testing, and basic diagnostic function testing. The fault injection testing includes directly injecting faults into the hardware device components of the EPB controller and injecting faults by sending the model operation state containing fault information to the EPB controller. The basic diagnostic function testing is implemented by sending a diagnostic service message to the EPB controller.

[0123] A signal acquisition and display module, which is used to receive and analyze the test feedback information of the EPB controller for the functional test and display the content information after analyzing the test feedback information; wherein, the signal transmission with the EPB controller is realized through the CAN bus.

[0124] In another specific embodiment of this specification, the upper computer in the electronic parking brake controller test system can also be set as the module structure shown in the attached Figure 7 specification, including a vehicle integrated logic state simulation module, a vehicle operation model module, a fault injection module, a diagnostic service module, and a signal acquisition and display module.

[0125] Among them, the vehicle integrated logic state simulation module is used to establish a logic control model of the vehicle based on the vehicle integrated logic state; the vehicle integrated logic state simulation module can also be used to change the model operation parameters of the logic control model through controls to control the execution of normal basic function testing, fault injection testing, and basic diagnostic function testing.

[0126] The vehicle operation model module is used to logically associate different model operation parameters to establish a vehicle operation model and simulate the operation state of the vehicle.

[0127] The fault injection module is used to obtain the upper computer fault information (that is, change the model operation parameters through controls) and send the upper computer fault information to the CAN bus transceiver device, so that the EPB controller can receive the upper computer fault information through the CAN bus transceiver device for fault injection testing, that is, this fault injection module is dedicated to the fault injection of the upper computer.

[0128] The diagnostic service module is used to send diagnostic service messages to the EPB controller through the CAN bus transceiver device, and is also used to receive service response messages sent by the EPB controller through the CAN bus transceiver device.

[0129] The signal acquisition and display module is used to acquire, parse, and display all information sent by the EPB controller through the CAN bus transceiver device.

[0130] Taking one specific test process as an example, before the test starts, first connect the hardware of the test system. Connect one end of the CAN bus transceiver device to the upper computer, and the other end to the bus output of the EPB controller. Adjust the power supply voltage to the normal working range and adjust the current limit to the maximum allowable current.

[0131] Run the upper computer. The software system of the upper computer sends the model running status to the EPB controller through the CAN bus, wakes up the EPB controller by turning on the ignition switch, and opens the signal display interface in the upper computer to complete the preparation work.

[0132] Conduct the normal clamping function test; when the caliper is in the released state, pull the EPB switch, monitor and display signals such as the status of the EPB switch, the current of the actuator, and text prompts through the upper computer to determine whether the basic functions of the EPB controller are executed correctly.

[0133] Conduct the fault injection test; when the caliper is in the released state, make the vehicle speed signal invalid through the fault injection module, and send the message containing the invalid vehicle speed signal to the EPB controller through the CAN bus. Pull the EPB switch, observe whether the actuator performs an action, whether the warning light in the interface of the upper computer display module lights up, and whether there are text prompts for faults, so as to judge the fault recognition function of the EPB controller.

[0134] Conduct the basic diagnostic function test; send a request to read fault codes to the EPB controller through the diagnostic service module, and judge whether the fault codes are sent correctly according to the feedback information generated by the EPB controller and sent to the upper computer, so as to realize the test of the basic diagnostic function.

[0135] In the electronic parking brake controller test system based on the CAN bus in the present invention, the basic functions and performance tests, fault injection tests, and basic diagnostic service tests of the EPB controller can be realized. At the same time, the software in the upper computer is used to simulate the vehicle, and the control component actively sends status messages to the CAN bus to change the operating parameters of the test system model. Moreover, the upper computer can also collect and display the feedback signals of the EPB controller, which is convenient for the test and evaluation of the EPB controller function, and the operation is convenient and fast. In addition, the entire system only requires one upper computer and software, and the test can be completed by connecting to the bus through a CAN transceiver device. It has a low dependence on hardware, does not require an expensive real-time simulation cabinet, has strong software portability, and greatly saves the test cost.

[0136] The embodiment of the present invention also provides a storage medium in which at least one instruction or at least one program segment is stored. The at least one instruction or the at least one program segment is loaded and executed by a processor to implement the above-mentioned electronic parking brake controller test method. Optionally, the storage medium can be located in at least one of multiple network servers in a computer network. In addition, the storage medium can include, but is not limited to, various storage media that can store program codes such as random access memory (RAM), read-only memory (ROM), USB flash drives, mobile hard disks, magnetic disk storage devices, flash memory devices, and other volatile solid-state storage devices.

[0137] It should be noted that the above sequence of embodiments of the present invention is only for description and does not represent the superiority or inferiority of the embodiments. And the above specific embodiments of this specification have been described. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be executed in a different order than in the embodiments and still achieve the desired results. Additionally, the processes depicted in the drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0138] Each embodiment in this specification is described in a progressive manner. The same or similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiments.

[0139] The above description is only some embodiments of the present invention and is not intended to limit the present invention. Those skilled in the art should understand that the present invention will have various changes and improvements, and any modifications, equivalent substitutions, and improvements made in accordance with the present invention fall within the scope of protection required by the present invention.

Claims

1. An electronic parking brake controller testing method, implemented based on a host computer, characterized in that, The method includes: Based on the vehicle's logic state, establish a logic control model for the vehicle; wherein, the logic control model includes multiple model operation parameters, and the model operation parameters can be changed through controls; Logically associate different ones of the model operation parameters to establish a vehicle operation model and simulate the operation state of the vehicle; Change one of the model operation parameters so that other model operation parameters in the vehicle operation model change synchronously, obtaining an updated model operation state; wherein, the updated model operation state includes the changed model operation parameter; Send the updated model operation state to the EPB controller to perform a function test on the EPB controller; wherein, the function test includes a basic function test, a fault injection test, and a basic diagnostic function test, and the fault injection test includes directly injecting a fault into the hardware device components of the EPB controller and injecting a fault by sending the model operation state containing fault information to the EPB controller; the basic diagnostic function test is implemented by sending a diagnostic service message to the EPB controller, and in the case where the function test is the basic diagnostic function test, send the diagnostic service message to the EPB controller through the CAN bus; the sending method of the diagnostic service message includes a direct input type and a key trigger type; Receive and parse the test feedback information of the EPB controller for the function test, and display the content information after parsing the test feedback information; wherein, the signal transmission with the EPB controller is achieved through the CAN bus; in the case where the test feedback information is a service response message, receive and parse the service response message fed back by the EPB controller, and display the content information after parsing the service response message; the service response message is generated after the EPB controller receives the diagnostic service message.

2. The test method of an electronic parking brake controller according to claim 1, wherein The establishing of the logic control model for the vehicle based on the vehicle's logic state is obtained by the following steps: Create the model operation parameters that can map the vehicle's logic state; wherein, the adjustment of the model operation parameters can change the state of the logic control model; Create a control panel, and set various controls in the control panel for association with the corresponding model operation parameters to control the change of the model operation parameters; Create multiple vehicle nodes to simulate the message sending of various controllers in the vehicle; wherein, each vehicle node establishes multiple status messages, and the status messages are all messages received by the EPB controller; According to the changed model operation parameters, change the signal values of the status messages sent to each vehicle node, and send each status message to the CAN bus.

3. The method for testing an electronic parking brake controller according to claim 2, wherein The model operation parameters include signal type variables and control type variables.

4. The test method of an electronic parking brake controller according to claim 2, characterized in that The injecting a fault by sending the model operation state containing fault information to the EPB controller includes: Obtain the host computer fault information; wherein, the host computer fault information is obtained by changing the model operation parameters in the control panel; Send the host computer fault information to the EPB controller through the CAN bus, so that the EPB controller performs fault identification according to the host computer fault information.

5. The test method for an electronic parking brake controller according to claim 4, wherein The host computer fault information includes: The abnormal signal value of the status message changed through the control panel and the abnormal status of sending the status message.

6. The test method for an electronic parking brake controller according to claim 4, characterized in that After sending the host computer fault information to the EPB controller through the CAN bus, so that the EPB controller performs fault identification according to the host computer fault information, the method further includes: Receive and parse the identification result of the EPB controller for the fault identification through the CAN bus; Display the content information after parsing the identification result according to the identification result.

7. A method for testing an electronic parking brake controller according to claim 1, characterized in that, After directly injecting a fault into the hardware device components of the EPB controller, the method further includes: Monitor and obtain the fault information of the hardware device components through the CAN bus; Receive and parse the identification result sent by the EPB controller through the CAN bus; wherein, the identification result is obtained by the EPB controller performing fault identification on the fault information of the hardware device components; Display the content information after parsing the identification result.

8. An electronic parking brake controller test system, characterized in that, It includes a host computer, a CAN bus transceiver device, an EPB controller and the hardware device components of the EPB controller. The EPB controller is connected to the hardware device components through a wire harness, and the EPB controller and the host computer perform information interaction through the CAN bus transceiver device; The host computer includes a vehicle logic state simulation module, a vehicle operation model module, a control module, a function test module, a fault injection module, a diagnostic service module, and a signal acquisition and display module; The vehicle logic state simulation module is used to establish a logical control model of the vehicle based on the vehicle logic state; the vehicle logic state simulation module is also used to change the model operation parameters of the logical control model through controls; The vehicle operation model module is used to perform logical association on different model operation parameters to establish a vehicle operation model and simulate the operation state of the vehicle; The control module is used to change one of the model operation parameters, so that other model operation parameters in the vehicle operation model are synchronously changed to obtain an updated model operation state, wherein the updated model operation state includes the changed model operation parameters; The function test module is used to send the updated model running status to the EPB controller for functional testing of the EPB controller. Among them, the function test includes basic function test, fault injection test, and basic diagnostic function test; the fault injection test includes directly injecting faults into the hardware device components of the EPB controller and injecting faults by sending the model running status containing fault information to the EPB controller; the basic diagnostic function test is implemented by sending a diagnostic service message to the EPB controller; when the function test is the basic diagnostic function test, a diagnostic service message is sent to the EPB controller through the CAN bus; the sending method of the diagnostic service message includes direct input type and button trigger type; The fault injection module is used to obtain the host computer fault information and send the host computer fault information to the CAN bus transceiver device, so that the EPB controller can receive the host computer fault information through the CAN bus transceiver device for fault injection testing; The diagnostic service module is used to send a diagnostic service message to the EPB controller through the CAN bus transceiver device, and is also used to receive the service response message sent by the EPB controller through the CAN bus transceiver device; The signal acquisition and display module is used to collect, analyze, and display all the information sent by the EPB controller through the CAN bus transceiver device, including receiving and analyzing the test feedback information of the EPB controller for the function test, and displaying the content information after parsing the test feedback information; among them, the signal transmission with the EPB controller is realized through the CAN bus; when the test feedback information is a service response message, receive and analyze the service response message fed back by the EPB controller, and display the content information after parsing the service response message; the service response message is generated after the EPB controller receives the diagnostic service message.

9. An electronic parking brake controller test system according to claim 8, characterized in that, The hardware device components include a power supply device, an ignition switch, an electronic parking brake switch, and an actuator; The positive and negative poles of the power supply device are connected to the voltage input pins of the EPB controller through a wire harness; The ignition switch is connected to the power supply device, and the ignition switch is also connected to the ignition signal input pin of the EPB controller, and is used to simulate the ignition signal of the vehicle to activate the EPB controller; The switch input pin of the EPB controller is connected to the electronic parking brake switch, and is used to identify different switch states; The actuator is an assembly of a motor and a caliper, and the voltage output pin of the EPB controller is connected to the actuator, and is used to supply power to the motor of the actuator.

10. A storage medium, characterized in that, At least one instruction or at least one program is stored in the storage medium, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the electronic parking brake controller test method according to any one of claims 1-7.

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