Method, device and system for determining the operating state of a vehicle actuator

Abstract

The application provides a method, device and system for determining the working state of a vehicle actuator, which comprises the following steps: obtaining a plurality of test signals of the actuator and a plurality of index standards of the actuator, wherein the test signals are used to simulate the instructions of a vehicle control host to test the ability of the actuator to execute the instructions, the index standards correspond to the test signals one by one, and the index standards are indexes for determining whether the ability of the actuator to execute the instructions is qualified; testing the actuator according to each test signal to obtain a plurality of test data, wherein the test data correspond to the test signals one by one; comparing each test data with the corresponding index standard to obtain a plurality of test results, wherein the test results are that the test data meet the corresponding index standard or the test data do not meet the corresponding index standard; and generating a test report according to all the test results. The method solves the problem that the working state of a vehicle actuator cannot be automatically detected in the prior art.

Description

Technical Field

[0001] This application relates to the field of autonomous driving, and more specifically, to a method, apparatus, computer-readable storage medium, processor, and system for determining the operating state of a vehicle actuator. Background Technology

[0002] Automated vehicle status testing is an indispensable part of the mature and successful application of unmanned mining dump trucks. Only by confirming that the functions and performance of key actuators meet operational requirements can the vehicles deployed for unmanned operation be guaranteed to be in a safe and controllable state. For unmanned mining dump trucks, the key actuator systems include the steering system, hydraulic braking system, and drive system. Currently, there is a lack of reasonable testing systems to automate the testing of actuators with drive-by-wire capabilities, reducing manual inspection and improving testing efficiency and accuracy, thereby ensuring the safe and reliable operation of unmanned vehicles. Furthermore, there is a lack of reasonable testing methods to simulate the common and extreme operational inputs faced by actuators during actual operation, enabling comprehensive and accurate testing of actuator performance and ensuring that actuator response performance meets the safety control requirements of unmanned driving.

[0003] The information disclosed above in the background section is only intended to enhance the understanding of the background art of the art described herein. Therefore, the background art may contain certain information that does not constitute prior art known to those skilled in the art in this country. Summary of the Invention

[0004] The main objective of this application is to provide a method, apparatus, computer-readable storage medium, processor, and system for determining the operating state of a vehicle actuator, in order to solve the problem that the operating state of a vehicle actuator cannot be automatically detected in the prior art.

[0005] According to one aspect of the present invention, a method for determining the working state of a vehicle actuator is provided. The vehicle includes an on-board control host and an actuator. The method includes: acquiring multiple test signals of the actuator and multiple indicator standards of the actuator, wherein the test signals are used to simulate instructions from the on-board control host to test the actuator's ability to execute the instructions, and the indicator standards correspond one-to-one with the test signals, and the indicator standards are indicators for determining whether the actuator's ability to execute the instructions is qualified; testing the actuator according to each test signal to obtain multiple test data, wherein the test data corresponds one-to-one with the test signals; comparing each test data with the corresponding indicator standard to obtain multiple test results, wherein the test results are either the test data meets the corresponding indicator standard or the test data does not meet the corresponding indicator standard; and generating a test report based on all the test results.

[0006] Optionally, the actuator is tested according to each of the test signals to obtain multiple test data, including: a conversion step, converting the target test signal into multiple discrete signals, wherein any two adjacent discrete signals have the same time interval, and the target test signal is one of the test signals; a testing step, testing the actuator according to each of the discrete signals to obtain the test data; repeating the conversion step and the testing step at least once in sequence until all the test signals are converted to obtain multiple test data.

[0007] Optionally, testing the actuator based on each of the discrete signals to obtain the test data includes: inputting each of the discrete signals into the actuator; receiving the output signal of the actuator to obtain multiple output signals, wherein each output signal corresponds one-to-one with the discrete signal; and measuring based on each of the output signals to obtain the test data.

[0008] Optionally, the test data includes multiple indicator parameters, and the indicator standards include multiple indicator parameter standards. Each indicator parameter corresponds one-to-one with each indicator parameter standard. Comparing each set of test data with its corresponding indicator standard yields multiple test results, including: a comparison step, where each indicator parameter of the target test data is compared with its corresponding indicator parameter standard to obtain multiple comparison results. The target test data is one of the multiple sets of test data. The comparison result indicates that the indicator parameter conforms to the corresponding indicator parameter standard or does not conform to the corresponding indicator parameter standard; a determination step, where the test result is determined based on the multiple comparison results; and the comparison step and the determination step are repeated at least once until all the test data have been compared with their corresponding indicator standards to obtain multiple test results.

[0009] Optionally, the instruction includes a fixed-value instruction and a continuously changing instruction, and the test signal includes a fixed-value signal and a continuously changing signal. The fixed-value signal is used to simulate the fixed-value instruction to test the actuator's ability to execute the fixed-value instruction, and the continuously changing signal is used to simulate the continuously changing instruction to test the actuator's ability to execute the continuously changing instruction. When the test signal is the fixed-value signal, the index parameters of the test data include a first response time, overshoot, and steady-state error. The index parameter standard of the index standard corresponding to the test signal includes a first response time threshold, an overshoot threshold, and a steady-state error threshold. When the test signal is the continuously changing signal, the index parameters of the test data include a second response time, peak error, and waveform execution integrity. The index parameter standard of the index standard corresponding to the test signal includes a second response time threshold, a peak error threshold, and a waveform execution integrity threshold.

[0010] Optionally, before acquiring multiple test signals of the actuator and multiple performance indicators of the actuator, the method further includes: configuring a test configuration table for the actuator, the test configuration table including the test signals of the actuator and the performance indicators of the actuator.

[0011] According to another aspect of the present invention, a device for determining the working state of a vehicle actuator is also provided. The vehicle includes an on-board control host and an actuator, comprising: an acquisition unit, configured to acquire multiple test signals of the actuator and multiple index standards of the actuator, wherein the test signals are used to simulate instructions from the on-board control host to test the actuator's ability to execute the instructions, and the index standards correspond one-to-one with the test signals, and the index standards are indicators for determining whether the actuator's ability to execute the instructions is qualified; a testing unit, configured to test the actuator according to each test signal to obtain multiple test data, wherein the test data corresponds one-to-one with the test signals; a comparison unit, configured to compare each test data with the corresponding index standard to obtain multiple test results, wherein the test results are either the test data conforms to the corresponding index standard or the test data does not conform to the corresponding index standard; and a generation unit, configured to generate a test report based on all the test results.

[0012] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein the program executes any one of the methods described.

[0013] According to another aspect of the present invention, a processor is also provided, the processor being configured to run a program, wherein the program, when running, performs any of the methods described herein.

[0014] According to another aspect of the present invention, a system for determining the operating state of a vehicle actuator is also provided, comprising: a vehicle, one or more processors, a memory, and one or more programs, wherein the vehicle includes an on-board control host and actuators, the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include methods for performing any one of the methods described.

[0015] In this embodiment of the invention, the method for determining the working state of the vehicle actuator involves first acquiring multiple test signals and multiple performance indicators of the actuator. The test signals are used to simulate the instructions of the vehicle control host to test the actuator's ability to execute the instructions. The performance indicators correspond one-to-one with the test signals and are indicators used to determine whether the actuator's ability to execute the instructions is qualified. Then, the actuator is tested according to each test signal to obtain multiple test data, which correspond one-to-one with the test signals. Next, each test data is compared with the corresponding performance indicator to obtain multiple test results, which are either the test data meets the corresponding performance indicator or does not meet the corresponding performance indicator. Finally, a test report is generated based on all the test results. This method tests the actuator based on multiple test signals, obtains multiple test data, compares each test data with the corresponding index standard, and obtains multiple test results. It determines whether each test data meets the corresponding index standard, thereby determining whether the actuator's ability to execute the instructions of the vehicle control host is qualified. A test report is generated based on all test results, and the test report reflects the working status of the vehicle actuator. This method solves the problem that the working status of vehicle actuators cannot be automatically detected in the prior art. Attached Figure Description

[0016] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0017] Figure 1 A flowchart illustrating a method for determining the operating state of a vehicle actuator according to an embodiment of this application is shown;

[0018] Figure 2 A connection diagram of a vehicle actuator and a control host device according to an embodiment of this application is shown;

[0019] Figure 3 A flowchart illustrating a method for determining the operating state of a vehicle actuator according to a specific embodiment of this application is shown;

[0020] Figure 4 A schematic diagram of a device for determining the operating state of a vehicle actuator according to an embodiment of this application is shown. Detailed Implementation

[0021] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0022] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0023] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0024] It should be understood that when an element (such as a layer, film, region, or substrate) is described as being "on" another element, the element may be directly on the other element, or there may be an intermediate element present. Furthermore, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element, or "connected" to the other element via a third element.

[0025] As mentioned in the background section, the operating status of vehicle actuators cannot be automatically detected in the prior art. In order to solve the above problem, in a typical embodiment of this application, a method, a device, a computer-readable storage medium, a processor, and a system for determining the operating status of vehicle actuators are provided.

[0026] According to an embodiment of this application, a method for determining the working state of a vehicle actuator is provided.

[0027] Figure 1This is a flowchart of a method for determining the working state of a vehicle actuator according to an embodiment of this application. Figure 1 As shown, the method includes the following steps:

[0028] Step S101: Obtain multiple test signals of the actuator and multiple indicator standards of the actuator. The test signals are used to simulate the instructions of the vehicle control host to test the actuator's ability to execute the instructions. The indicator standards correspond one-to-one with the test signals. The indicator standards are indicators for determining whether the actuator's ability to execute the instructions is qualified.

[0029] Step S102: Test the actuator according to each of the above-mentioned test signals to obtain multiple test data, and the test data corresponds one-to-one with the above-mentioned test signals.

[0030] Step S103: Compare each of the above test data with the corresponding above indicator standards to obtain multiple test results. The above test results are either that the above test data meets the corresponding above indicator standards or that the above test data does not meet the corresponding above indicator standards.

[0031] Step S104: Generate a test report based on all the above test results.

[0032] In the method for determining the working state of the vehicle actuator described above, firstly, multiple test signals and multiple performance indicators of the actuator are acquired. The test signals are used to simulate the instructions of the vehicle control host to test the actuator's ability to execute the instructions. The performance indicators correspond one-to-one with the test signals and are indicators for determining whether the actuator's ability to execute the instructions is qualified. Then, the actuator is tested according to each test signal to obtain multiple test data, which correspond one-to-one with the test signals. Next, each test data is compared with the corresponding performance indicator to obtain multiple test results, which indicate whether the test data meets or does not meet the corresponding performance indicator. Finally, a test report is generated based on all the test results. This method tests the actuator based on multiple test signals, obtains multiple test data, compares each test data with the corresponding index standard, and obtains multiple test results. It determines whether each test data meets the corresponding index standard, thereby determining whether the actuator's ability to execute the instructions of the vehicle control host is qualified. A test report is generated based on all test results, and the test report reflects the working status of the vehicle actuator. This method solves the problem that the working status of vehicle actuators cannot be automatically detected in the prior art.

[0033] It should be noted that the aforementioned vehicle is an unmanned mining dump truck, and the aforementioned onboard control host is an onboard unmanned driving control host. This onboard unmanned driving control host is the central command for testing and evaluating the working status of the aforementioned actuators, possessing communication interfaces and computing capabilities. The hardware can be an industrial control computer or a controller, such as... Figure 2 As shown, the aforementioned vehicle-mounted unmanned driving control host mainly consists of three parts: an automated test configuration table, a test signal sequence generation module, and an analysis and evaluation module. The automated test configuration table includes an expert knowledge base for evaluating the actuator's functions and performance, as well as constraints on the waveform, amplitude, period, and other configuration elements of the test signal. The test signal sequence generation module generates a discrete sequence of the test signal based on the constraints of each configuration element in the automated test configuration table and sends it to the actuator's electronic controller. The analysis and evaluation module acquires the test data in real time. The test results are obtained by combining the above test data with the corresponding indicator standards, and the above test reports are automatically generated. The actuators are actuators that have been modified to be steer-by-wire and have steer-by-wire capabilities. The actuators include a steering system, a drive system and a braking system. Each actuator system has an independent electronic controller, which is responsible for receiving the above test signals from the control host, translating and distributing instructions to specific execution modules or components, collecting the above test data and feeding the above test data back to the above autonomous driving control host. The autonomous driving control host and the above vehicle actuators can communicate via CAN bus or Ethernet.

[0034] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0035] In one embodiment of this application, the actuator is tested according to each of the aforementioned test signals to obtain multiple test data, including: a conversion step, converting the target test signal into multiple discrete signals, wherein any two adjacent discrete signals have the same time interval, and the target test signal is one of the test signals; a testing step, testing the actuator according to each of the aforementioned discrete signals to obtain the aforementioned test data; repeating the conversion step and the testing step at least once in sequence until all the aforementioned test signals are converted to obtain multiple test data. In this embodiment, the target test signal is converted into multiple discrete signals. Specifically, the test signal sequence generation module generates a discrete sequence of the target test signal according to the constraints of each configuration element of the target test signal in the automated configuration table. Then, the actuator is tested based on each discrete signal to obtain test data, which is the actuator's response performance to the target test signal, and thus the actuator's ability to execute instructions simulated by the target test signal. The conversion and testing steps are repeated sequentially to complete the conversion of all test signals, obtaining multiple test data, which is the actuator's response performance to all test signals, and thus the actuator's ability to execute instructions simulated by all test signals.

[0036] In one embodiment of this application, testing the actuator based on each of the discrete signals to obtain the test data includes: inputting each of the discrete signals into the actuator; receiving the output signal of the actuator to obtain multiple output signals, each output signal corresponding to one of the discrete signals; and measuring each of the output signals to obtain the test data. In this embodiment, as... Figure 3 As shown, after generating the discrete sequence of the signal to be tested, each discrete signal is periodically input into the actuator, that is, the test command is periodically issued to obtain each output signal. The test data is obtained by measuring each output signal, that is, the response performance of the actuator to the signal to be tested is extracted from each output signal, that is, the execution capability of the actuator to simulate the command of the signal to be tested is obtained.

[0037] In one embodiment of this application, the test data includes multiple indicator parameters, the indicator standards include multiple indicator parameter standards, and the indicator parameters correspond one-to-one with the indicator parameter standards. The test data is compared with its corresponding indicator standard to obtain multiple test results, including: a comparison step, comparing each indicator parameter of the target test data with its corresponding indicator parameter standard to obtain multiple comparison results, wherein the target test data is one of the multiple test data, and the comparison result is either that the indicator parameter conforms to the corresponding indicator parameter standard or that the indicator parameter does not conform to the corresponding indicator parameter standard; a determination step, determining the test result based on the multiple comparison results; and repeating the comparison step and the determination step at least once until all the test data have been compared with their corresponding indicator standards to obtain multiple test results. In this embodiment, the analysis and evaluation function module compares each index parameter in the target test data with the corresponding index standard to obtain the comparison results, and determines the test results based on each comparison result. That is, it determines whether the actuator's response performance to the test signal corresponding to the target test data is qualified, that is, it determines whether the actuator's ability to execute the instructions simulated by the test signal corresponding to the target test data is qualified. The comparison and determination steps are repeated to obtain each test result, that is, to determine whether the actuator's response performance to the test signal corresponding to each test data is qualified, that is, to determine whether the actuator's ability to execute the instructions simulated by the test signal corresponding to each test data is qualified.

[0038] In one embodiment of this application, the instruction includes a setpoint instruction and a continuously changing instruction, and the test signal includes a setpoint signal and a continuously changing signal. The setpoint signal is used to simulate the setpoint instruction to test the actuator's ability to execute the setpoint instruction, and the continuously changing signal is used to simulate the continuously changing instruction to test the actuator's ability to execute the continuously changing instruction. When the test signal is the setpoint signal, the index parameters of the test data include a first response time, overshoot, and steady-state error. The index parameter standard of the index standard corresponding to the test signal includes a first response time threshold, an overshoot threshold, and a steady-state error threshold. When the test signal is the continuously changing signal, the index parameters of the test data include a second response time, peak error, and waveform execution integrity. The index parameter standard of the index standard corresponding to the test signal includes a second response time threshold, a peak error threshold, and a waveform execution integrity threshold.In this embodiment, the setpoint command includes a continuous step change command and a sudden step change command. The continuous change command includes a continuously differentiable change command and a continuously linear change command. The setpoint signal includes a ladder-shaped step signal and a rectangular pulse signal. The continuous change signal includes a sine wave signal and a triangular wave signal. The ladder-shaped step signal is used to test the actuator's ability to execute continuous step change commands. The rectangular pulse signal is used to test the actuator's ability to execute sudden step commands. The sine wave signal is used to test the actuator's ability to execute continuously differentiable change commands. The triangular wave signal is used to test the actuator's ability to execute continuously linear change commands. When the test signal is a ladder-shaped step signal, it is determined whether the first response time of the test data meets the first response time threshold, whether the overshoot of the test data meets the overshoot threshold, and whether the steady-state error of the test data meets the steady-state error threshold, thereby determining the actuator's response performance to the ladder-shaped step signal, i.e., determining the actuator's ability to execute continuous step change commands. When the test signal is a rectangular pulse signal, it is determined whether the test data... The first response time, overshoot of the test data, and steady-state error of the test data are all assessed to determine the actuator's response performance to rectangular pulse signals, i.e., its ability to execute sudden step commands. When the test signal is a sine wave, the second response time, peak error, and waveform execution integrity of the test data are assessed to determine the actuator's response performance to sine wave signals, i.e., its ability to execute continuously differentiable commands. When the test signal is a triangular wave, the second response time, peak error, and waveform execution integrity of the test data are assessed to determine the actuator's response performance to triangular wave signals, i.e., its ability to execute continuously linear commands.

[0039] In one embodiment of this application, before acquiring multiple test signals and multiple performance indicators of the actuator, the method further includes: configuring a test configuration table for the actuator, wherein the test configuration table includes the test signals and performance indicators of the actuator. In this embodiment, the constraints on the waveform, amplitude, period, and other configuration elements of each test signal in the automated test configuration table need to be configured based on expert experience, thereby more reasonably simulating common and extreme operations and ensuring that the test data meets the usage requirements.

[0040] It should be noted that the above test configuration table is the same as the above automated test configuration table.

[0041] This application also provides a device for determining the working state of a vehicle actuator. It should be noted that this device can be used to execute the method for determining the working state of a vehicle actuator provided in this application. The following describes the device for determining the working state of a vehicle actuator provided in this application.

[0042] Figure 4 This is a schematic diagram of a device for determining the operating state of a vehicle actuator according to an embodiment of this application. Figure 4 As shown, the device includes:

[0043] The acquisition unit 10 is used to acquire multiple test signals of the actuator and multiple index standards of the actuator. The test signals are used to simulate the instructions of the vehicle control host to test the actuator's ability to execute the instructions. The index standards correspond one-to-one with the test signals. The index standards are indicators for determining whether the actuator's ability to execute the instructions is qualified.

[0044] The test unit 20 is used to test the actuator according to each of the above-mentioned test signals to obtain multiple test data, and the test data corresponds one-to-one with the above-mentioned test signals.

[0045] The comparison unit 30 is used to compare each of the above test data with the corresponding above indicator standard to obtain multiple test results, wherein the above test results are either that the above test data meets the corresponding above indicator standard or that the above test data does not meet the corresponding above indicator standard.

[0046] The generation unit 40 is used to generate a test report based on all the above test results.

[0047] In the aforementioned device for determining the working state of a vehicle actuator, the acquisition unit acquires multiple test signals and multiple performance indicators of the actuator. The test signals are used to simulate the instructions of the vehicle control host to test the actuator's ability to execute the instructions. The performance indicators correspond one-to-one with the test signals and are indicators for determining whether the actuator's ability to execute the instructions is qualified. The testing unit tests the actuator based on each test signal to obtain multiple test data, which correspond one-to-one with the test signals. The comparison unit compares each test data with the corresponding performance indicator to obtain multiple test results, which are either the test data meets the corresponding performance indicator or does not meet the corresponding performance indicator. The generation unit generates a test report based on all the test results. This device tests the actuator based on multiple test signals, obtaining multiple test data. Each test data is compared with the corresponding index standard to obtain multiple test results, that is, to determine whether each test data meets the corresponding index standard, and thus to determine whether the actuator's ability to execute the instructions of the vehicle control host is qualified. Based on all the test results, a test report is generated, which reflects the working status of the vehicle actuator. This device solves the problem that the working status of vehicle actuators cannot be automatically detected in the prior art.

[0048] It should be noted that the aforementioned vehicle is an unmanned mining dump truck, and the aforementioned onboard control host is an onboard unmanned driving control host. This onboard unmanned driving control host is the central command for testing and evaluating the working status of the aforementioned actuators, possessing communication interfaces and computing capabilities. The hardware can be an industrial control computer or a controller, such as... Figure 2As shown, the aforementioned vehicle-mounted unmanned driving control host mainly consists of three parts: an automated test configuration table, a test signal sequence generation module, and an analysis and evaluation module. The automated test configuration table includes an expert knowledge base for evaluating the actuator's functions and performance, as well as constraints on the waveform, amplitude, period, and other configuration elements of the test signal. The test signal sequence generation module generates a discrete sequence of the test signal based on the constraints of each configuration element in the automated test configuration table and sends it to the actuator's electronic controller. The analysis and evaluation module acquires the test data in real time. The test results are obtained by combining the above test data with the corresponding indicator standards, and the above test reports are automatically generated. The actuators are actuators that have been modified to be steer-by-wire and have steer-by-wire capabilities. The actuators include a steering system, a drive system and a braking system. Each actuator system has an independent electronic controller, which is responsible for receiving the above test signals from the control host, translating and distributing instructions to specific execution modules or components, collecting the above test data and feeding the above test data back to the above autonomous driving control host. The autonomous driving control host and the above vehicle actuators can communicate via CAN bus or Ethernet.

[0049] In one embodiment of this application, the test unit includes a conversion module, a test module, and a first iteration module. The conversion module is used to convert the target test signal into multiple discrete signals, wherein any two adjacent discrete signals have the same time interval, and the target test signal is one of the test signals. The test module is used to test the actuator according to each discrete signal to obtain the test data. The first iteration module is used to repeat the conversion step and the test step at least once in sequence until all the test signals are converted to obtain multiple test data. In this embodiment, the target test signal is converted into multiple discrete signals. Specifically, the test signal sequence generation module generates a discrete sequence of the target test signal according to the constraints of each configuration element of the target test signal in the automated configuration table. Then, the actuator is tested based on each discrete signal to obtain test data, which is the actuator's response performance to the target test signal, and thus the actuator's ability to execute instructions simulated by the target test signal. The conversion and testing steps are repeated sequentially to complete the conversion of all test signals, obtaining multiple test data, which is the actuator's response performance to all test signals, and thus the actuator's ability to execute instructions simulated by all test signals.

[0050] In one embodiment of this application, the test module includes an input submodule, a receiving submodule, and a measurement submodule. The input submodule is used to input each of the discrete signals to the actuator; the receiving submodule is used to receive the output signal of the actuator to obtain multiple output signals, each of which corresponds one-to-one with the discrete signal; the measurement submodule is used to perform measurements based on each of the output signals to obtain the test data. In this embodiment, as... Figure 3 As shown, after generating the discrete sequence of the signal to be tested, each discrete signal is periodically input into the actuator, that is, the test command is periodically issued to obtain each output signal. The test data is obtained by measuring each output signal, that is, the response performance of the actuator to the signal to be tested is extracted from each output signal, that is, the execution capability of the actuator to simulate the command of the signal to be tested is obtained.

[0051] In one embodiment of this application, the comparison unit includes a comparison module, a determination module, and a second iteration module. The comparison module is used to compare each of the above-mentioned indicator parameters of the target test data with the corresponding above-mentioned indicator parameter standards to obtain multiple comparison results. The target test data is one of the multiple above-mentioned test data. The comparison result is that the above-mentioned indicator parameter meets the corresponding above-mentioned indicator parameter standard or the above-mentioned indicator parameter does not meet the corresponding above-mentioned indicator parameter standard. The determination module is used to determine the above-mentioned test result based on the multiple above-mentioned comparison results. The second iteration module is used to repeat the above-mentioned comparison step and the above-mentioned determination step at least once in sequence until all the above-mentioned test data are compared with the corresponding above-mentioned indicator standards to obtain multiple above-mentioned test results. In this embodiment, the analysis and evaluation function module compares each index parameter in the target test data with the corresponding index standard to obtain the comparison results, and determines the test results based on each comparison result. That is, it determines whether the actuator's response performance to the test signal corresponding to the target test data is qualified, that is, it determines whether the actuator's ability to execute the instructions simulated by the test signal corresponding to the target test data is qualified. The comparison and determination steps are repeated to obtain each test result, that is, to determine whether the actuator's response performance to the test signal corresponding to each test data is qualified, that is, to determine whether the actuator's ability to execute the instructions simulated by the test signal corresponding to each test data is qualified.

[0052] In one embodiment of this application, the instruction includes a setpoint instruction and a continuously changing instruction, and the test signal includes a setpoint signal and a continuously changing signal. The setpoint signal is used to simulate the setpoint instruction to test the actuator's ability to execute the setpoint instruction, and the continuously changing signal is used to simulate the continuously changing instruction to test the actuator's ability to execute the continuously changing instruction. When the test signal is the setpoint signal, the index parameters of the test data include a first response time, overshoot, and steady-state error. The index parameter standard of the index standard corresponding to the test signal includes a first response time threshold, an overshoot threshold, and a steady-state error threshold. When the test signal is the continuously changing signal, the index parameters of the test data include a second response time, peak error, and waveform execution integrity. The index parameter standard of the index standard corresponding to the test signal includes a second response time threshold, a peak error threshold, and a waveform execution integrity threshold.In this embodiment, the setpoint command includes a continuous step change command and a sudden step change command. The continuous change command includes a continuously differentiable change command and a continuously linear change command. The setpoint signal includes a ladder-shaped step signal and a rectangular pulse signal. The continuous change signal includes a sine wave signal and a triangular wave signal. The ladder-shaped step signal is used to test the actuator's ability to execute continuous step change commands. The rectangular pulse signal is used to test the actuator's ability to execute sudden step commands. The sine wave signal is used to test the actuator's ability to execute continuously differentiable change commands. The triangular wave signal is used to test the actuator's ability to execute continuously linear change commands. When the test signal is a ladder-shaped step signal, it is determined whether the first response time of the test data meets the first response time threshold, whether the overshoot of the test data meets the overshoot threshold, and whether the steady-state error of the test data meets the steady-state error threshold, thereby determining the actuator's response performance to the ladder-shaped step signal, i.e., determining the actuator's ability to execute continuous step change commands. When the test signal is a rectangular pulse signal, it is determined whether the test data... The first response time, overshoot of the test data, and steady-state error of the test data are all assessed to determine the actuator's response performance to rectangular pulse signals, i.e., its ability to execute sudden step commands. When the test signal is a sine wave, the second response time, peak error, and waveform execution integrity of the test data are assessed to determine the actuator's response performance to sine wave signals, i.e., its ability to execute continuously differentiable commands. When the test signal is a triangular wave, the second response time, peak error, and waveform execution integrity of the test data are assessed to determine the actuator's response performance to triangular wave signals, i.e., its ability to execute continuously linear commands.

[0053] In one embodiment of this application, the device for determining the operating state of the vehicle actuator further includes a setting unit. The setting unit is used to configure a test configuration table for the actuator. The test configuration table includes the test signals of the actuator and the actuator's performance indicators. In this embodiment, the constraints on the waveform, amplitude, and period of each test signal in the automated test configuration table need to be configured based on expert experience to more reasonably simulate common and extreme maneuvers and ensure that the test data meets the usage requirements.

[0054] It should be noted that the above test configuration table is the same as the above automated test configuration table.

[0055] The device for determining the working state of the vehicle actuator includes a processor and a memory. The acquisition unit, testing unit, comparison unit, and generation unit are all stored in the memory as program units, and the processor executes the program units stored in the memory to achieve the corresponding functions.

[0056] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and adjusting kernel parameters can address the problem of the inability to automatically detect the operating status of vehicle actuators in existing technologies.

[0057] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0058] This invention provides a storage medium storing a program that, when executed by a processor, implements the method for determining the working state of a vehicle actuator.

[0059] This invention provides a processor for running a program, wherein the program executes a method for determining the working state of a vehicle actuator.

[0060] This invention provides a system for determining the operating state of a vehicle actuator, comprising: a vehicle, one or more processors, a memory, and one or more programs. The vehicle includes an onboard control host and actuators. The one or more programs are stored in the memory and configured to be executed by the one or more processors. Each of the one or more programs includes methods for performing any of the aforementioned methods. When the processor executes the program, it implements at least the following steps:

[0061] Step S101: Obtain multiple test signals of the actuator and multiple indicator standards of the actuator. The test signals are used to simulate the instructions of the vehicle control host to test the actuator's ability to execute the instructions. The indicator standards correspond one-to-one with the test signals. The indicator standards are indicators for determining whether the actuator's ability to execute the instructions is qualified.

[0062] Step S102: Test the actuator according to each of the above-mentioned test signals to obtain multiple test data, and the test data corresponds one-to-one with the above-mentioned test signals.

[0063] Step S103: Compare each of the above test data with the corresponding above indicator standards to obtain multiple test results. The above test results are either that the above test data meets the corresponding above indicator standards or that the above test data does not meet the corresponding above indicator standards.

[0064] Step S104: Generate a test report based on all the above test results.

[0065] The devices mentioned in this article can be servers, PCs, tablets, mobile phones, etc.

[0066] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having at least the following method steps:

[0067] Step S101: Obtain multiple test signals of the actuator and multiple indicator standards of the actuator. The test signals are used to simulate the instructions of the vehicle control host to test the actuator's ability to execute the instructions. The indicator standards correspond one-to-one with the test signals. The indicator standards are indicators for determining whether the actuator's ability to execute the instructions is qualified.

[0068] Step S102: Test the actuator according to each of the above-mentioned test signals to obtain multiple test data, and the test data corresponds one-to-one with the above-mentioned test signals.

[0069] Step S103: Compare each of the above test data with the corresponding above indicator standards to obtain multiple test results. The above test results are either that the above test data meets the corresponding above indicator standards or that the above test data does not meet the corresponding above indicator standards.

[0070] Step S104: Generate a test report based on all the above test results.

[0071] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0072] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units described above can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0073] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0074] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0075] If the aforementioned integrated units are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0076] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0077] 1) In the method for determining the working state of a vehicle actuator according to this application, firstly, multiple test signals and multiple index standards of the actuator are acquired. The test signals are used to simulate the instructions of the vehicle control host to test the actuator's ability to execute the instructions. The index standards correspond one-to-one with the test signals and are indicators for determining whether the actuator's ability to execute the instructions is qualified. Then, the actuator is tested according to each test signal to obtain multiple test data, which correspond one-to-one with the test signals. Afterward, each test data is compared with the corresponding index standard to obtain multiple test results, which are either the test data meets the corresponding index standard or does not meet the corresponding index standard. Finally, a test report is generated based on all the test results. This method tests the actuator based on multiple test signals, obtaining multiple test data. Each test data is compared with the corresponding index standard to obtain multiple test results, i.e., to determine whether each test data meets the corresponding index standard, and thus to determine whether the actuator's ability to execute the instructions of the vehicle control host is qualified. Based on all the test results, a test report is generated, which reflects the working status of the vehicle actuator. This method solves the problem that the working status of vehicle actuators cannot be automatically detected in the prior art.

[0078] 2) In the vehicle actuator working state determination device of this application, the acquisition unit acquires multiple test signals of the actuator and multiple index standards of the actuator. The test signals are used to simulate the instructions of the vehicle control host to test the actuator's ability to execute the instructions. The index standards correspond one-to-one with the test signals and are indicators for determining whether the actuator's ability to execute the instructions is qualified. The testing unit tests the actuator according to each test signal to obtain multiple test data. The test data corresponds one-to-one with the test signals. The comparison unit compares each test data with the corresponding index standard to obtain multiple test results. The test results are either the test data meets the corresponding index standard or the test data does not meet the corresponding index standard. The generation unit generates a test report based on all the test results. This device tests the actuator based on multiple test signals, obtaining multiple test data. It compares each test data with the corresponding index standard to obtain multiple test results, thereby determining whether each test data meets the corresponding index standard and thus determining whether the actuator's ability to execute the instructions of the vehicle control host is qualified. Based on all the test results, a test report is generated, which reflects the working status of the vehicle actuator. This device solves the problem of the inability to automatically detect the working status of vehicle actuators in the prior art.

[0079] 3) The vehicle actuator working status determination system of this application includes: a vehicle, one or more processors, a memory, and one or more programs. The vehicle includes an on-board control host and an actuator. The one or more programs are stored in the memory and configured to be executed by the one or more processors. The one or more programs include methods for executing any one of the above-mentioned methods. The system tests the actuator based on multiple test signals to obtain multiple test data. Each test data is compared with the corresponding index standard to obtain multiple test results, i.e., it determines whether each test data meets the corresponding index standard, thereby determining whether the actuator's ability to execute the instructions of the on-board control host is qualified. A test report is generated based on all test results. The test report reflects the working status of the vehicle actuator. This system solves the problem that the working status of vehicle actuators cannot be automatically detected in the prior art.

[0080] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for determining the working state of a vehicle actuator, characterized in that, The vehicle includes an onboard control unit and actuators, including: Multiple test signals and multiple performance indicators of the actuator are acquired. The test signals are used to simulate the instructions of the vehicle control host to test the actuator's ability to execute the instructions. The performance indicators correspond one-to-one with the test signals and are indicators for determining whether the actuator's ability to execute the instructions is qualified. The actuator is tested according to each of the test signals to be tested, and multiple test data are obtained. The test data corresponds one-to-one with the test signals. Each set of test data is compared with the corresponding indicator standard to obtain multiple test results, wherein the test results are either that the test data meets the corresponding indicator standard or that the test data does not meet the corresponding indicator standard. Based on all the test results, generate a test report; The test data includes multiple indicator parameters, and the indicator standards include multiple indicator parameter standards. Each indicator parameter corresponds one-to-one with each indicator parameter standard. The test data is compared with its corresponding indicator standard to obtain multiple test results, including: a comparison step, where each indicator parameter of the target test data is compared with its corresponding indicator parameter standard to obtain multiple comparison results. The target test data is one of the multiple test data. The comparison result indicates that the indicator parameter conforms to the corresponding indicator parameter standard or does not conform to the corresponding indicator parameter standard; a determination step, where the test result is determined based on the multiple comparison results; the comparison step and the determination step are repeated at least once until all the test data have been compared with their corresponding indicator standards to obtain multiple test results. The instructions include fixed-value instructions and continuously changing instructions. The test signal includes a fixed-value signal and a continuously changing signal. The fixed-value signal is used to simulate the fixed-value instructions to test the actuator's ability to execute the fixed-value instructions. The continuously changing signal is used to simulate the continuously changing instructions to test the actuator's ability to execute the continuously changing instructions. When the test signal is the fixed-value signal, the index parameters of the test data include a first response time, overshoot, and steady-state error. The index parameter standard of the index standard corresponding to the test signal includes a first response time threshold, an overshoot threshold, and a steady-state error threshold. When the test signal is the continuously changing signal, the index parameters of the test data include a second response time, peak error, and waveform execution integrity. The index parameter standard of the index standard corresponding to the test signal includes a second response time threshold, a peak error threshold, and a waveform execution integrity threshold. The actuator is tested according to each of the test signals to obtain multiple test data, including: a conversion step, in which the target test signal is converted into multiple discrete signals, wherein the time interval between any two adjacent discrete signals is the same, and the target test signal is one of the test signals; a testing step, in which the actuator is tested according to each of the discrete signals to obtain the test data; the conversion step and the testing step are repeated at least once in sequence until all the test signals are converted to obtain multiple test data.

2. The method according to claim 1, characterized in that, The actuator is tested based on each of the discrete signals to obtain the test data, including: Each of the discrete signals is input to the actuator; The output signal of the actuator is received to obtain multiple output signals, and each output signal corresponds one-to-one with the discrete signal. The test data is obtained by measuring each of the output signals.

3. The method according to claim 1, characterized in that, Before acquiring multiple test signals from the actuator and multiple performance metrics of the actuator, the method further includes: A test configuration table is configured for the actuator, the test configuration table including the test signal of the actuator and the index standard of the actuator.

4. A device for determining the working state of a vehicle actuator, characterized in that, The vehicle includes an onboard control unit and actuators, including: The acquisition unit is used to acquire multiple test signals of the actuator and multiple index standards of the actuator. The test signals are used to simulate the instructions of the vehicle control host to test the actuator's ability to execute the instructions. The index standards correspond one-to-one with the test signals and are indicators for determining whether the actuator's ability to execute the instructions is qualified. The testing unit is used to test the actuator according to each of the signals to be tested, and obtain multiple test data, wherein the test data corresponds one-to-one with the signals to be tested; The comparison unit is used to compare each of the test data with the corresponding indicator standard to obtain multiple test results, wherein the test result is that the test data meets the corresponding indicator standard or the test data does not meet the corresponding indicator standard. The generation unit is used to generate a test report based on all the test results. The test data includes multiple indicator parameters, and the indicator standards include multiple indicator parameter standards. Each indicator parameter corresponds one-to-one with an indicator parameter standard. The comparison unit includes a comparison module, a determination module, and a second iteration module. The comparison module performs a comparison step, comparing each indicator parameter of the target test data with its corresponding indicator parameter standard to obtain multiple comparison results. The target test data is one of the multiple test data sets. The comparison result indicates whether the indicator parameter conforms to or does not conform to the corresponding indicator parameter standard. The determination module performs a determination step, determining the test result based on the multiple comparison results. The second iteration module repeats the comparison step and the determination step at least once until all the test data has been compared with its corresponding indicator standard, resulting in multiple test results. The instructions include fixed-value instructions and continuously changing instructions. The test signal includes a fixed-value signal and a continuously changing signal. The fixed-value signal is used to simulate the fixed-value instructions to test the actuator's ability to execute the fixed-value instructions. The continuously changing signal is used to simulate the continuously changing instructions to test the actuator's ability to execute the continuously changing instructions. When the test signal is the fixed-value signal, the index parameters of the test data include a first response time, overshoot, and steady-state error. The index parameter standard of the index standard corresponding to the test signal includes a first response time threshold, an overshoot threshold, and a steady-state error threshold. When the test signal is the continuously changing signal, the index parameters of the test data include a second response time, peak error, and waveform execution integrity. The index parameter standard of the index standard corresponding to the test signal includes a second response time threshold, a peak error threshold, and a waveform execution integrity threshold. The testing unit includes a conversion module, a testing module, and a first iteration module. The conversion module is used to convert the target test signal into multiple discrete signals, wherein any two adjacent discrete signals have the same time interval, and the target test signal is one of the test signals. The testing module is used to test the actuator according to each discrete signal to obtain the test data. The first iteration module is used to repeat the conversion step and the testing step at least once in sequence until all the test signals are converted to obtain multiple test data.

5. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein the program performs the method according to any one of claims 1 to 3.

6. A processor, characterized in that, The processor is used to run a program, wherein the program executes the method according to any one of claims 1 to 3 when it runs.

7. A system for determining the working state of a vehicle actuator, characterized in that, include: A vehicle, one or more processors, a memory, and one or more programs, wherein the vehicle includes an onboard control host and actuators, the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include methods for performing any one of claims 1 to 3.

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