A vehicle steering wheel rotation angle pulse test data automatic processing method

Abstract

The present application relates to a kind of vehicle steering wheel corner pulse test data automatic processing method, including based on storage path sequentially extracting test data and pre-processing test data, continuous multiple test data is automatically intercepted as single test data;Automatic processing is carried out to the test data after interception, and the steering wheel corner pulse test related index result is obtained, the test processing result obtained by processing is automatically judged, and unreasonable result value is removed;Effective test result after removing unreasonable value is scored, and the target vehicle steering wheel corner pulse test working condition score is obtained;Based on data processing result and scoring result, test report is automatically generated.The processing method of the present application can realize vehicle steering wheel corner pulse test data automatic interception, processing, scoring and report generation process, solve the problems such as long time-consuming, easy to make mistakes in manual processing, while improving processing precision also greatly improves processing efficiency, shortens the vehicle development cycle, and saves development cost.

Description

Technical Field

[0001] This invention belongs to the field of vehicle handling stability performance development technology, specifically relating to an automatic processing method for vehicle steering wheel angle pulse test data. Background Technology

[0002] The steering wheel angle pulse test is one of the important verification tests in the development of vehicle handling stability performance, and it plays an important role in the development of overall vehicle handling stability performance. However, the current steering wheel angle pulse test processing process has problems such as long processing time and susceptibility to errors. In order to improve the efficiency of the test, multiple rounds of steering wheel angle pulse tests are usually performed during each test data acquisition. Therefore, a set of test results will contain test data from multiple rounds.

[0003] In traditional manual experimental data processing, continuous experimental data needs to be extracted into individual experiments, and then processed to obtain relevant index results. Due to the large number of experiments, the large volume of data, and the complexity of data channels, manual processing is time-consuming and prone to errors. Furthermore, due to limitations in experimental conditions or operational errors, unqualified experiments may occur during multiple rounds of testing, requiring manual identification, which further reduces processing efficiency and increases the probability of errors.

[0004] Currently, there are no technical solutions related to the automatic processing of vehicle steering wheel angle pulse tests. Chinese patent CN107238500A discloses a method for establishing a rapid evaluation system for vehicle handling stability testing, which can identify and preprocess steering wheel angle pulse test conditions. However, this method can only identify the angle pulse condition within other handling stability conditions; it cannot extract multiple consecutive rounds of steering wheel angle pulse tests into a single test. Furthermore, the purpose of data preprocessing is to improve the condition recognition rate, but it does not improve the efficiency and accuracy of test data processing. Therefore, this technical solution cannot achieve automatic identification, extraction, processing, and evaluation of vehicle steering wheel angle pulse tests. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic processing method for vehicle steering wheel angle pulse test data, so as to solve the problems of long processing time and error susceptibility in the current steering wheel angle pulse test processing.

[0006] The objective of this invention is achieved through the following technical solution:

[0007] An automatic processing method for vehicle steering wheel angle pulse test data includes the following steps: Step S1, import the target vehicle steering wheel angle pulse test data storage path into Matlab, extract the test data sequentially based on the storage path and preprocess the test data, and automatically extract multiple consecutive test data into single test data;

[0008] Step S2: The test data extracted in step S1 is processed automatically to obtain the relevant index results of the steering wheel angle pulse test. The processed test results are automatically judged and unreasonable result values ​​are removed.

[0009] Step S3: Score the valid test results after removing unreasonable values ​​in step S2 to obtain the target vehicle steering wheel angle pulse test condition score;

[0010] Step S4: Based on the data processing results and scoring results, automatically generate the test report.

[0011] Further, in step S1, the target vehicle steering wheel angle pulse test data includes: time signal channel data, yaw rate signal channel data, lateral acceleration signal channel data, and steering wheel angle signal channel data.

[0012] Further, step S1, the preprocessing of automatically extracting multiple consecutive test data into single test data, specifically includes the following steps:

[0013] Step S11: Filter and denoise the yaw rate, lateral acceleration, and steering wheel angle signals respectively. Based on the denoised steering wheel angle signal data, find the positions P of each peak point of the time-domain curve of the steering wheel angle data. ix and peak size P iy ;

[0014] Step S12, in the interval (P) ix -0.5 / f, P ix Within ), the steering wheel angle data is determined according to formula (1), and the maximum value j satisfying formula (1) is obtained. max ; in the interval (P) ix P ix Within +0.5 / f), the steering wheel angle data is judged according to formula (2), and the maximum value m that satisfies formula (2) is obtained. max ; By interval (P) ix -j max P ix +m max +2 / f) is used to extract the test data to obtain single-pulse test data; where f is the test sampling frequency in Hz;

[0015]

[0016] Where j is the interval (P) ix -0.5 / f, P ix The data points within the range are j = 1, 2, 3…0.5 / f; δ is the steering wheel angle, deg; t is the time corresponding to the steering wheel angle δ, s;

[0017]

[0018] Where m is the interval (P) ix P ix Data points within +0.5 / f, j = 1, 2, 3…0.5 / f; δ is the steering wheel angle, deg; t is the time corresponding to the steering wheel angle δ, s;

[0019] Step S13: Verify the single-pulse test data obtained in S12, remove invalid test data, and name the valid data according to the left and right rotation categories and order.

[0020] Furthermore, in step S13, if the experimental data satisfy equations (3) to (6) respectively, then the experimental data is valid; otherwise, the experimental data is invalid and is discarded.

[0021] 0.3≤t(P ix +m max )-t(P ix -j max Equation (3) ≤ 0.5

[0022] Wherein, t(P) ix -j max ), t(P ix +m max ) represent the start and end times of the pulse input, respectively, in seconds;

[0023] 3.8≤A ymax ≤4.2 Equation (4)

[0024] Among them, A ymax These represent the maximum lateral acceleration during the pulse test, in m / s². 2 .

[0025] V max ≤V ref *1.1 Equation (5)

[0026] V min ≥V ref *0.9 Equation (6)

[0027] Among them, V max V min V represents the maximum and minimum vehicle speeds during the test, in km / h. ref The set test speed is in km / h.

[0028] Furthermore, when naming, if the left turn is in sequence 1, it is named Left_1; if the right turn is in sequence 4, it is named Right_4.

[0029] Further, in step S2, the automatic processing of the extracted test data specifically includes the following steps: based on the program, automatically read the data extraction file obtained in step one, and automatically classify the left and right turn test data according to the left and right in the result name, and then process the test data one by one according to the sequence number in the test data file name; according to the formula (7), obtain the amplitude frequency characteristic and phase frequency characteristic curve of the steering wheel angle pulse input and yaw rate response, and finally obtain the resonant frequency, resonant peak level and phase lag angle index results under each test, and store the relevant indexes in the storage unit according to the left and right turns and the sequence number.

[0030]

[0031] Further, in step S2, the automatic determination of the obtained test processing results specifically includes the following steps: based on the obtained resonant frequency, resonant peak level and phase lag angle index results of each steering wheel angle pulse test, the test results are determined respectively. If the result does not meet the equation (8), the test data processing result needs to be removed.

[0032]

[0033] Where, x i This refers to the corresponding index value in a certain experiment; s is the arithmetic mean of the values ​​of this index across all trials; s is the standard deviation of this index.

[0034] Further, step S3, scoring the valid test results, specifically includes the following steps: setting standard reference scores for the resonant frequency, resonant peak level, and phase lag angle parameters in the steering wheel angle pulse test; and fitting the score curve f of the index value based on the above index values ​​and score correspondences. i Substitute the values ​​of each index obtained in step S2 into the corresponding score curve to obtain the score of each index. Then, based on the weight of each index, calculate the total score of the vehicle steering wheel angle pulse test condition, as shown in equation (9).

[0035] p=f1(d)*h+f2(e)*j+f3(g)*k Formula (9)

[0036] Where p is the total score of the vehicle steering wheel angle pulse test condition; f1, f2, and f3 are the score curves of the fitted resonant frequency, resonant peak level, and phase lag angle index, respectively; d, e, and f are the result values ​​of the resonant frequency, resonant peak level, and phase lag angle index obtained from the steering wheel angle pulse test, respectively; and h, j, and k are the weights of the resonant frequency, resonant peak level, and phase lag angle index.

[0037] Furthermore, the steps for setting the standard reference score are as follows: for a certain indicator, set the score of the indicator to be 60 points, 80 points, and 100 points when the values ​​of the indicator are a, b, and c, respectively.

[0038] Compared with the prior art, the beneficial effects of the present invention are:

[0039] This invention provides an automatic processing method for vehicle steering wheel angle pulse test data. It enables the automatic capture, processing, scoring, and report generation of vehicle steering wheel angle pulse test data, solving the problems of time-consuming and error-prone manual processing. While improving processing accuracy, it also significantly increases processing efficiency, shortens the vehicle development cycle, and saves development costs. Specifically, it offers the following advantages:

[0040] 1. To address the problem that a set of steering wheel angle pulse test results may contain test data from multiple rounds, requiring data truncation, this invention proposes a method for automatic identification and truncation of test data, which realizes automatic truncation of test data and greatly improves the efficiency of test data processing.

[0041] 2. To address the problem of unqualified test data appearing during multiple rounds of testing due to limitations in experimental conditions or operational errors, this invention proposes a method for automatic judgment of test data. This method can automatically judge test data and automatically remove unqualified test data, thereby improving efficiency while ensuring the accuracy of test data processing results.

[0042] 3. In response to the problem of large data volume and long processing time in the steering wheel angle pulse test, this invention provides a method for automatic test data processing. It can automatically process test data, automatically judge the test processing results, remove outliers, and automatically score the steering wheel angle pulse test of the vehicle and automatically generate test reports, further improving test processing efficiency and avoiding the error-prone problems of manual processing. Attached Figure Description

[0043] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 Flowchart of automatic processing method for vehicle steering wheel angle pulse test data;

[0045] Figure 2 Steering wheel angle data time-domain curve;

[0046] Figure 3Extract the single-pulse test data curve after interception;

[0047] Figures 4a-4b Steering wheel angle pulse test amplitude-frequency and phase-frequency characteristic curves. Detailed Implementation

[0048] The present invention will be further described below with reference to embodiments:

[0049] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0050] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this invention, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0051] The present invention provides an automatic processing method for vehicle steering wheel angle pulse test data, such as... Figure 1 As shown, the implementation based on a Matlab program includes the following steps:

[0052] Step S1: Import the data storage path of the target vehicle steering wheel angle pulse test into Matlab, extract the test data sequentially based on the storage path and preprocess the test data, and automatically extract the test data from multiple consecutive test data into single test data.

[0053] Step S2: The test data extracted in step S1 is processed automatically to obtain the relevant index results of the steering wheel angle pulse test. The processed test results are automatically judged and unreasonable result values ​​are removed.

[0054] Step S3: Score the valid test results after removing unreasonable values ​​in step S2 to obtain the target vehicle steering wheel angle pulse test condition score;

[0055] Step S4: Based on the data processing results and scoring results, automatically generate the test report.

[0056] Step S1, the target vehicle steering wheel angle pulse test data includes: time signal channel data, yaw rate signal channel data, lateral acceleration signal channel data, and steering wheel angle signal channel data.

[0057] Step S1, the preprocessing of automatically extracting multiple consecutive test data into single test data, specifically includes the following steps:

[0058] Step S11: Filter and denoise the yaw rate, lateral acceleration, and steering wheel angle signals respectively. Based on the denoised steering wheel angle signal data, find the positions P of each peak point of the time-domain curve of the steering wheel angle data. ix and peak size P iy ;

[0059] Step S12, in the interval (P) ix -0.5 / f, P ix Within (f is the test sampling frequency, Hz), the steering wheel angle data is judged according to Equation 1, and the maximum value j satisfying Equation (1) is obtained. max In the interval (P) ix P ix Within +0.5 / f), the steering wheel angle data is judged according to formula (2), and the maximum value m that satisfies formula (2) is obtained. max By interval (P) ix -j max P ix +m max +2 / f) is used to truncate the experimental data to obtain single-pulse experimental data;

[0060]

[0061] Where j is the interval (P) ix -0.5 / f, P ix The data points within the range are j = 1, 2, 3…0.5 / f; δ is the steering wheel angle, deg; t is the time corresponding to the steering wheel angle δ, s;

[0062]

[0063] Where m is the interval (P) ix P ix Data points within +0.5 / f, j = 1, 2, 3…0.5 / f; δ is the steering wheel angle, deg; t is the time corresponding to the steering wheel angle δ, s;

[0064] Step S13: Verify the single pulse test data obtained in S1-2 respectively. If the test data satisfies Equations 3 to 6 respectively, the test data is valid. If it does not satisfy, the test data is invalid and the test data is discarded. The valid data is named according to the left and right turn categories and order. For example, if it turns left and the order is 1, it is named Left_1. If it turns right and the order is 4, it is named Right_4.

[0065] 0.3≤t(P ix +m max )-t(P ix -jmax Equation (3) ≤ 0.5

[0066] Where t(P) ix -j max ), t(P ix +m max ) represent the start and end times of the pulse input, respectively, in seconds.

[0067] 3.8≤A ymax ≤4.2 Equation (4)

[0068] Where A ymax These represent the maximum lateral acceleration during the pulse test, in m / s². 2 .

[0069] V max ≤V ref *1.1 Equation (5)

[0070] V min ≥V ref *0.9 Equation (6)

[0071] Among them, V max V min V represents the maximum and minimum vehicle speeds during the test, in km / h. ref The set test speed is in km / h.

[0072] Step S2, the automatic processing of the extracted test data specifically includes the following steps: based on the program, automatically read the data extraction file obtained in step one, and automatically classify the left and right turn test data according to the left and right in the result name, and then process the test data one by one according to the sequence number in the test data file name; according to the formula (7), obtain the amplitude frequency characteristic and phase frequency characteristic curve of the steering wheel angle pulse input and yaw rate response, and finally obtain the resonant frequency, resonant peak level and phase lag angle index results under each test, and store the relevant indexes in the storage unit according to the left and right turns and the sequence number.

[0073]

[0074] Step S2, the automatic determination of the obtained test processing results, specifically includes the following steps: based on the obtained resonant frequency, resonant peak level and phase lag angle index results of each steering wheel angle pulse test, the test results of each test are determined respectively. If the result does not meet the equation (8), the test data processing result of this test needs to be removed.

[0075]

[0076] Where, x i This refers to the corresponding index value in a certain experiment; s is the arithmetic mean of the values ​​of this index across all trials; s is the standard deviation of this index.

[0077] Step S3, scoring the valid test results, specifically includes the following steps: setting standard reference scores for the resonant frequency, resonant peak level, and phase lag angle parameters in the steering wheel angle pulse test, respectively. That is, for a certain indicator, when the indicator values ​​are a, b, and c, the score for the indicator is set to 60 points, 80 points, and 100 points, respectively. Based on the above indicator values ​​and score correspondences, a score curve f for the indicator value is fitted. i Substitute the values ​​of each indicator obtained in step S2 into the corresponding score curve to obtain the score of each indicator. Then, based on the weight of each indicator, calculate the total score of the vehicle steering wheel angle pulse test condition, as shown in Equation 9.

[0078] p=f1(d)*h+f2(e)*j+f3(g)*k Formula (9)

[0079] Where p is the total score of the vehicle steering wheel angle pulse test condition; f1, f2, and f3 are the score curves of the fitted resonant frequency, resonant peak level, and phase lag angle index, respectively; d, e, and f are the result values ​​of the resonant frequency, resonant peak level, and phase lag angle index obtained from the steering wheel angle pulse test, respectively; and h, j, and k are the weights of the resonant frequency, resonant peak level, and phase lag angle index.

[0080] This invention relates to an automatic processing method for vehicle steering wheel angle pulse test data, comprising automatic data extraction, processing, scoring, and report generation processes. The invention also relates to a method for automatic identification and judgment of test data, which, based on the peak value and slope of the steering wheel angle and lateral acceleration signal data curves, achieves automatic data extraction and validity judgment, greatly improving the efficiency of test data processing. Furthermore, the invention relates to a method for automatic test data processing, which achieves automatic identification, classification, and data processing of test data based on the test data file name. Finally, the invention relates to a method for automatic scoring of test processing results, which obtains the scores of each indicator in the test results based on preset score curves, and then automatically calculates the steering wheel angle pulse test score result of the vehicle according to preset weights.

[0081] Example 1

[0082] Step S1: Import the data storage path of the target vehicle steering wheel angle pulse test data into the Matlab program, and extract data from each group of data one by one. The specific data extraction steps are as follows:

[0083] Step S11: Filter and denoise the yaw rate, lateral acceleration, and steering wheel angle signals respectively. Based on the denoised steering wheel angle signal data, find the positions P of each peak point of the time-domain curve of the steering wheel angle data. ix and peak size P iy ,like Figure 2 As shown;

[0084] Step S12, in the interval (P) ix -0.5 / f, P ix Within (f is the test sampling frequency, Hz), the steering wheel angle data is judged according to Equation 1, and the maximum value j satisfying Equation 1 is obtained. max In the interval (P) ix P ix Within +0.5 / f), the steering wheel angle data is judged according to Equation 2, and the maximum value m that satisfies Equation 2 is obtained. max By interval (P) ix -j max P ix +m max +2 / f) truncates the experimental data to obtain single-pulse experimental data, such as Figure 3 As shown;

[0085]

[0086] Where j is the interval (P) ix -0.5 / f, P ix The data points are within the range, j = 1, 2, 3…0.5 / f; δ is the steering wheel angle, deg; t is the time corresponding to the steering wheel angle δ, s.

[0087]

[0088] Where m is the interval (P) ix P ix Data points within +0.5 / f, j = 1, 2, 3…0.5 / f; δ is the steering wheel angle, deg; t is the time corresponding to the steering wheel angle δ, s.

[0089] Step S13: Verify the single pulse test data obtained in S1-2 respectively. If the test data satisfies Equations 3 to 6 respectively, the test data is valid. If it does not satisfy the equations, the test data is invalid and is discarded. The valid data is named according to the left and right turn categories and order. For example, if it turns left and the order is 1, it is named left_1. If it turns right and the order is 4, it is named right_4.

[0090] 0.3≤t(P ix +m max )-t(P ix -jmax Equation (3) ≤ 0.5

[0091] Wherein, t(P) ix -j max ), t(P ix +m max ) represent the start and end times of the pulse input, respectively, in seconds.

[0092] 3.8≤A ymax ≤4.2 Equation (4)

[0093] Where A ymax These represent the maximum lateral acceleration during the pulse test, in m / s². 2 .

[0094] V max ≤V ref *1.1 Equation (5)

[0095] V min ≥V ref *0.9 Equation (6)

[0096] Where V max V min V represents the maximum and minimum vehicle speeds during the test, in km / h. ref The set test speed is in km / h.

[0097] Step S2: Based on the program, the data capture file obtained in Step 1 is automatically read, and the left and right turn test data are automatically classified according to the left and right in the result name. Then, the test data are processed one by one according to the sequence number in the test data file name. The amplitude frequency characteristic and phase frequency characteristic curve of the steering wheel angle pulse input and yaw rate response are obtained according to Equation (7), as shown in Figure 4. Finally, the resonant frequency, resonant peak level and phase lag angle index results of each test are obtained, and the relevant indexes are stored in the storage unit according to the left and right turns and the sequence number.

[0098]

[0099] Based on the results of the resonant frequency, resonant peak level and phase lag angle of each steering wheel angle pulse test, the results of each index are shown in Table 1. The results of each test are judged. Taking the resonant frequency as an example, the arithmetic mean of the resonant frequency of the 6 tests is 1.325H and the standard deviation is 0.156. Based on Equation 8, it can be determined that the test Right_3 is unqualified and the data should be removed.

[0100] Table 1. Corner Pulse Processing Results

[0101]

[0102]

[0103]

[0104] Where x_i is the corresponding index value in a certain experiment; s is the arithmetic mean of the values ​​of this index across all trials, and s is the standard deviation of this index.

[0105] Step S3: The resonant frequency, resonant peak level, and phase lag angle parameters in the steering wheel angle pulse test are scored respectively. Taking the resonant frequency index as an example, when the resonant frequencies are 1Hz, 1.4Hz, and 1.8Hz, the scores for this index are set to 60, 80, and 100 points respectively. Based on the above index values ​​and corresponding scores, the score curve f1 for this index value is fitted. The resonant frequency value obtained in step S2 is substituted into this score curve, resulting in a score of 72.9 points. Following the same steps, the resonant peak level and phase lag scores are obtained as 80.4 and 82.3 respectively. The weights of each index are 0.4, 0.3, and 0.3 respectively. Based on Equation 9, the steering wheel angle pulse test score for this vehicle is obtained, which is 77.97 points.

[0106] poi=f1(d)*h+f2(e)*j+f3(g)*k Formula (9)

[0107] Step S4: Based on the data processing results and scoring results, automatically generate the test report.

[0108] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. An automatic processing method for vehicle steering wheel angle pulse test data, characterized in that, Includes the following steps: Step S1: Import the data storage path of the target vehicle steering wheel angle pulse test into Matlab, extract the test data sequentially based on the storage path and preprocess the test data, and automatically extract the test data from multiple consecutive test data into single test data. Step S2: The test data extracted in step S1 is processed automatically to obtain the steering wheel angle pulse test results. The processed test results are automatically judged and unreasonable result values ​​are removed. Step S3: Score the valid test results after removing unreasonable values ​​in step S2 to obtain the target vehicle steering wheel angle pulse test condition score; Step S4: Based on the data processing results and scoring results, automatically generate the test report; Step S1: The target vehicle steering wheel angle pulse test data includes: time signal channel data, yaw rate signal channel data, lateral acceleration signal channel data, and steering wheel angle signal channel data; preprocessing of continuously multiple test data into single test data specifically includes the following steps: Step S11: Filter and denoise the yaw rate, lateral acceleration, and steering wheel angle signals respectively. Based on the denoised steering wheel angle signal data, find the positions P of each peak point of the time-domain curve of the steering wheel angle data. ix and peak size P iy ; Step S12, in the interval (P) ix -0.5 / f, P ix Within ), the steering wheel angle data is determined according to formula (1), and the maximum value j satisfying formula (1) is obtained. max ; in the interval (P) ix P ix Within +0.5 / f), the steering wheel angle data is judged according to formula (2), and the maximum value m that satisfies formula (2) is obtained. max By interval (P) ix -j max P ix +m max +2 / f) is used to extract the test data to obtain single-pulse test data; where f is the test sampling frequency in Hz; Equation (1) Where j is the interval (P) ix -0.5 / f, P ix The data points within the range are j=1,2,3…0.5 / f; where j is the steering wheel angle (deg); and t is the time corresponding to the steering wheel angle. Equation (2) Where m is the interval (P) ix P ix Data points within +0.5 / f, j=1,2,3…0.5 / f; represent the steering wheel angle; t represents the time corresponding to the steering wheel angle. Step S13: Verify the single-pulse test data obtained in S12, remove invalid test data, and name the valid data according to the left and right rotation categories and order; If the experimental data satisfy equations (3) to (6) respectively, then the experimental data is valid; otherwise, the experimental data is invalid and should be discarded. Equation (3) in, , These are the start and end times of the pulse input, respectively. Equation (4) in, These represent the maximum lateral acceleration during the pulse test; Equation (5) Equation (6) in, , These are the maximum and minimum vehicle speeds during the test. The set test speed; When naming, if you turn left and the order is 1, name it Left_1; if you turn right and the order is 4, name it Right_4. Step S2 involves automatically processing the extracted test data, specifically including the following steps: Based on the program, the data extraction file obtained in Step 1 is automatically read, and the left and right turn test data are automatically classified according to the left and right in the result name. Then, the test data are processed one by one according to the sequence number in the test data file name. The amplitude frequency characteristic and phase frequency characteristic curve of the steering wheel angle pulse input and yaw rate response are obtained according to Equation (7). Finally, the resonant frequency, resonant peak level and phase lag angle index results under each test are obtained, and the relevant indexes are stored in the storage unit according to the left and right turns and the sequence number. Equation (7); The test processing results obtained by the processing are automatically judged, specifically including the following steps: Based on the results of the resonant frequency, resonant peak level and phase lag angle under each steering wheel angle pulse test, the test results are judged respectively. If the results do not meet the equation (8), the test data processing results need to be removed. Equation (8) in, This refers to the corresponding index value in a certain experiment; s is the arithmetic mean of the index values ​​for all trials; s is the standard deviation of the index. Step S3 involves scoring the valid test results, specifically including the following steps: setting standard reference scores for the resonant frequency, resonant peak level, and phase lag angle parameters in the steering wheel angle pulse test; and fitting the score curve f of the index values ​​based on the corresponding scores. i Substitute the values ​​of each index obtained in step S2 into the corresponding scoring curves to obtain the scores of each index. Then, based on the weight of each index, calculate the total score of the vehicle steering wheel angle pulse test condition, as shown in equation (9): Equation (9) in, p The total score for the vehicle steering wheel angle pulse test condition; f 1. f 2. f 3 represents the score curves of the fitted resonant frequency, resonant peak level, and phase lag angle index; d, e, and f represent the result values ​​of the resonant frequency, resonant peak level, and phase lag angle index obtained from the steering wheel angle pulse test; h, j, and k represent the weights of the resonant frequency, resonant peak level, and phase lag angle index.

2. The automatic processing method for vehicle steering wheel angle pulse test data according to claim 1, characterized in that, The steps to set the standard reference score are as follows: For a certain indicator, set the indicator score to 60 points, 80 points, and 100 points when the indicator values ​​are a, b, and c, respectively.

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