Functional safety test method, device and computer readable storage medium

Abstract

The application discloses a functional safety test method and device and a computer readable storage medium. The method comprises the following steps: determining a to-be-tested functional safety type of a target system of a vehicle; generating a target test working condition corresponding to the to-be-tested functional safety type; constructing a target test scene corresponding to the to-be-tested functional safety type; collecting vehicle state data of the vehicle under the target test working condition in the target test scene; and determining a functional safety test result of the vehicle based on the vehicle state data. The application solves the technical problem that the electric power steering system of the vehicle cannot be accurately and integrally tested in terms of functional safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of functional safety testing, in particular to a functional safety testing method, device and computer readable storage medium. BACKGROUND

[0002] In the related art, the functional safety of a certain system or component of a vehicle is usually tested at the single-piece level by means of simulation simulation, but the functional test results obtained by this method are not accurate enough, and there is a large error with the actual whole-vehicle-level functional safety.

[0003] Therefore, in the related art, there is a technical problem that the functional safety of the electric power steering system of the vehicle cannot be accurately tested at the whole-vehicle level.

[0004] In view of the above problems, no effective solution has been proposed so far. SUMMARY

[0005] The embodiments of the present application provide a functional safety testing method, device and computer readable storage medium, to at least solve the technical problem that the functional safety of the electric power steering system of the vehicle cannot be accurately tested at the whole-vehicle level.

[0006] According to an aspect of an embodiment of the present application, a functional safety testing method is provided, comprising: determining a type of functional safety to be tested of a target system of a vehicle; generating a target test condition corresponding to the type of functional safety to be tested; constructing a target test scene corresponding to the type of functional safety to be tested; collecting vehicle state data of the vehicle under the target test condition in the target test scene; and determining a functional safety test result of the vehicle based on the vehicle state data.

[0007] Optionally, the target test condition corresponding to the type of functional safety to be tested is generated by: determining a fault port of the target system based on the type of functional safety to be tested and the internal structure of the target system; inputting fault information to the target system through the fault port, wherein the fault information is communication type fault information and / or sensor type fault information; and controlling the target system to run to the target test condition based on the fault information.

[0008] Optionally, the target test scene corresponding to the type of functional safety to be tested is constructed by: determining a preset test scene corresponding to the type of functional safety to be tested; obtaining preset scene data corresponding to the preset test scene; determining an initial scene and initial scene data corresponding to the initial scene; comparing the initial scene data and the preset scene data to obtain scene adjustment parameters; and adjusting the initial scene based on the scene adjustment parameters to obtain the target test scene.

[0009] Optionally, the initial scene is adjusted based on the scene adjustment parameter to obtain a target test scene, including: adjusting the initial scene based on the scene adjustment parameter; iteratively updating the scene adjustment parameter according to the adjustment result of the initial scene; and adjusting the iteration corresponding adjustment result multiple times by using the updated adjustment parameter to obtain the target test scene.

[0010] Optionally, the functional safety test result of the vehicle is determined based on the vehicle state data, including: obtaining ideal vehicle state data under the target test working condition; and determining the functional safety test result of the vehicle according to whether the difference between the vehicle state data and the ideal vehicle state data conforms to a predetermined error range.

[0011] Optionally, the functional safety test result of the vehicle is determined based on the vehicle state data, including: performing data integration on the vehicle state data, the target measurement working condition and the target measurement scene according to data types, correlations between a plurality of data types and importance degrees of the plurality of data types to obtain the functional safety test result of the vehicle.

[0012] Optionally, the target system is an electric power steering system.

[0013] According to another aspect of the embodiment of the present application, a functional safety test device is also provided, including: a first determination module configured to determine a to-be-tested functional safety type of a target system of a vehicle; a generation module configured to generate a target test working condition corresponding to the to-be-tested functional safety type; a construction module configured to construct a target test scene corresponding to the to-be-tested functional safety type; an acquisition module configured to acquire vehicle state data of the vehicle under the target test working condition in the target test scene; and a second determination module configured to determine a functional safety test result of the vehicle based on the vehicle state data.

[0014] According to another aspect of the embodiment of the present application, a computer readable storage medium is also provided, including a stored program, wherein the program controls a device where the computer readable storage medium is located to execute the functional safety test method of any one of the above when the program is running.

[0015] According to another aspect of the embodiment of the present application, a computer device is also provided, including: a memory and a processor, the memory stores a computer program; and the processor is configured to execute the computer program stored in the memory, and the computer program makes the processor execute the functional safety test method of any one of the above when running.

[0016] In the embodiment of the present application, based on the type of functional safety to be tested for the vehicle, fault injection is performed on the target system in the vehicle to make the target system reach the required fault working condition for testing, i.e., the target test working condition, and then the test scene required for the real vehicle test according to the type of functional safety to be tested is built, and in the process of building the test scene, scene data is collected in the process of building the test scene, the scene data is matched with the preset test scene data, and the real vehicle test scene under construction is adjusted according to the matching result, so that the target test scene built has sufficient accuracy and applicability, and finally, according to the test data collection result of the vehicle in the process of functional safety test in the target test scene, the functional safety performance of the vehicle under the target test working condition of the target system is determined, so as to realize the technical effect of the functional safety of the vehicle at the whole vehicle level, and further solve the technical problem that the functional safety of the electric power steering system of the vehicle cannot be accurately tested at the whole vehicle level. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings, which are included to provide a further understanding of the present application and constitute a part of this application, illustrate certain illustrative embodiments of the present application and together with the description serve to explain the present application. In the drawings:

[0018] Figure 1 is a flowchart of the functional safety test method according to the embodiment of the present application;

[0019] Figure 2 is a schematic diagram of the overall principle according to the optional embodiment of the present application;

[0020] Figure 3 is a schematic diagram of the working principle of the electric power steering system according to the optional embodiment of the present application;

[0021] Figure 4 is a schematic diagram of the whole vehicle fault injection module according to the optional embodiment of the present application;

[0022] Figure 5 is a schematic diagram of the whole vehicle data collection module according to the optional embodiment of the present application;

[0023] Figure 6 is a schematic diagram of the scene building and collection module according to the optional embodiment of the present application;

[0024] Figure 7 is a schematic diagram of the upper computer general control module according to the optional embodiment of the present application;

[0025] Figure 8 is a structural block diagram of the functional safety test device according to the embodiment of the present application. DETAILED DESCRIPTION

[0026] In order to make the persons skilled in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by the persons skilled in the art without creative labor should belong to the protection scope of the present application.

[0027] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to the clearly listed steps or units, but can include other steps or units not clearly listed or inherent to the process, method, product or device.

[0028] Term Explanation

[0029] Electric Power Steering (EPS) is a power steering system that directly relies on an electric motor to provide auxiliary torque.

[0030] Functional safety, also known as machine safety, refers to a system or device as a whole safety component. The way to achieve safety is that the system or component can normally operate after receiving input signals. For example, a temperature sensor is installed in a motor, and if the temperature exceeds a certain value, the motor will stop running. This function belongs to functional safety.

[0031] According to an embodiment of the present application, a functional safety test method embodiment is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described herein can be executed in a different order.

[0032] Figure 1 is a flowchart of the functional safety test method according to an embodiment of the present application, as shown in Figure 1 The method comprises the following steps:

[0033] In step S102, the type of function safety to be tested of the target system of the vehicle is determined.

[0034] In step S104, the target test condition corresponding to the type of function safety to be tested is generated.

[0035] In step S106, the target test scene corresponding to the type of function safety to be tested is constructed.

[0036] In step S108, the vehicle state data of the vehicle under the target test condition is collected in the target test scene.

[0037] In step S110, the function safety test result of the vehicle is determined based on the vehicle state data.

[0038] Through the above steps, the type of function safety to be tested of the vehicle is used to perform fault injection on the target system in the vehicle, so that the target system reaches the fault condition required for testing, i.e., the target test condition. Then, the test scene required for real vehicle testing according to the type of function safety to be tested is constructed. During the construction of the test scene, scene data of the test scene under construction is continuously collected. The collected scene data is matched with preset test scene data, and the real vehicle test scene under construction is adjusted according to the matching result, so that the target test scene constructed has sufficient accuracy and applicability. Finally, the function safety performance of the vehicle under the target test condition of the target system is determined according to the test data collected during the function safety test of the vehicle in the target test scene, so that the function safety of the vehicle is tested at the vehicle level, and the technical problem that the electric power steering system of the vehicle cannot be accurately tested at the vehicle level is solved.

[0039] As an optional embodiment, the target test condition corresponding to the type of function safety to be tested is generated, including: determining a fault port of the target system based on the type of function safety to be tested and the internal structure of the target system; inputting fault information to the target system through the fault port, wherein the fault information is communication type fault information and / or sensor type fault information; and controlling the target system to run to the target test condition based on the fault information.

[0040] In the embodiment, the fault information injected into the target system can be divided into communication type fault information and sensor type fault information according to the fault working condition type of the target system, and when the fault injection is performed on the target system, the circuit breaker can be used to realize the circuit breaking based on the internal result in the target system to determine the circuit breaking port for injecting the fault information. For example, when the unexpected lateral movement functional safety in the fault working condition that the unexpected activation or excessive steering assistance of the electric power steering system of the vehicle occurs needs to be tested, the circuit breaking port of the target system can be determined as the port of the torque angle sensor in the electric power steering system based on the unexpected lateral movement functional safety, and the injected fault information is the communication type fault information. When the unexpected lateral out-of-control functional safety in the fault working condition that the steering mechanism locking or sticking of the electric power steering system of the vehicle occurs needs to be tested, the circuit breaking port of the target system can be determined as the port of the motor position sensor in the electric power steering system based on the unexpected lateral out-of-control functional safety, and the injected fault information is the sensor type fault information.

[0041] As an optional embodiment, the target test scene corresponding to the to-be-tested functional safety type is constructed, including: determining a preset test scene corresponding to the to-be-tested functional safety type; obtaining preset scene data corresponding to the preset test scene; determining an initial scene and initial scene data corresponding to the initial scene; comparing the initial scene data and the preset scene data to obtain scene adjustment parameters; and adjusting the initial scene based on the scene adjustment parameters to obtain the target test scene.

[0042] As an optional embodiment, the initial scene is adjusted based on the scene adjustment parameters to obtain the target test scene, including: adjusting the initial scene based on the scene adjustment parameters; iteratively updating the scene adjustment parameters according to the adjustment result of the initial scene; and adjusting the adjustment result corresponding to the iteration multiple times by using the updated adjustment parameters to obtain the target test scene.

[0043] In the process of building the test scene, the scene data of the test scene in the building process is continuously collected, the scene data is matched with the preset test scene data, the scene adjustment parameters for the test scene are determined according to the matching result, the real vehicle test scene in the building is adjusted by using the scene adjustment parameters, so that the target test scene built has sufficient accuracy and applicability.

[0044] It should be noted that the above scene data collection, matching the collected scene data with the preset scene to obtain the scene adjustment parameter, and adjusting the test scene under construction according to the scene adjustment parameter can be iterated in real time according to the predetermined time interval or construction progress interval during the construction of the test scene, so as to ensure that the real vehicle test scene, that is, the target test scene, is always highly consistent with the preset scene. At the same time, through such multiple iterations of scene data collection, matching and scene adjustment, it can also avoid the loss of manpower and material resources caused by the large scene change after discovering the error between the target test scene and the preset scene after the construction of the target test scene is completed.

[0045] It should be noted that in the embodiment of the application, a simulation-then-actual construction method can also be used, that is, the test scene can be simulated and constructed according to the function safety type to be tested, the target test working condition, and the data of the vehicle and its target system, and the test situation under the simulated test scene can be verified through simulation, for example, whether the simulated scene meets the test requirements, whether the lane length or lane curvature needs to be adjusted, whether the lane position needs to be adjusted, and the like. If the simulated scene is verified, the target test scene can be constructed according to the simulated scene. The simulated scene described above can be obtained by adjusting the preset scene data, or can be directly used as the preset scene in the embodiment of the application after the test practicability of the simulated scene is verified.

[0046] As an optional embodiment, the function safety test result of the vehicle is determined based on the vehicle state data, including: obtaining ideal vehicle state data under the target test working condition; determining the function safety test result of the vehicle according to whether the difference between the vehicle state data and the ideal vehicle state data meets a predetermined error range.

[0047] For different types of functional safety tests, a functional safety test result comparison database can be constructed in advance, which is used to store the response execution of the target system under different fault conditions, for example, under the fault condition of unexpected activation or excessive steering assist of the electric power steering system, the vehicle generates unexpected lateral movement, and the electric power steering system needs to test whether it can execute the action of cutting off the assist within a predetermined time, and whether the vehicle as a whole can respond to the action of the electric power steering system in time, whether the driving state can be adjusted in time, etc. The ideal vehicle state data when the vehicle generates unexpected lateral movement can be stored in advance in the functional safety test result comparison database, so as to determine the functional safety test result of the vehicle by comparing the vehicle state data collected during the test with the ideal vehicle state data. For example, taking the above-mentioned vehicle generating unexpected lateral movement as an example, the corresponding ideal vehicle state data can include the time for the electric power steering system to complete the action of cutting off the assist after determining the fault, the response time of the vehicle to the action of cutting off the assist of the electric power steering system, the acceleration adjustment time of the vehicle during turning, the vehicle driving posture, etc.

[0048] It should be noted that according to the accuracy requirement of the test result, a predetermined error range between the vehicle state data and the ideal vehicle state data can be set, and if the predetermined error range is met, the vehicle function test is considered to be qualified, otherwise it is not qualified, wherein the size of the predetermined error range can be set according to the actual test accuracy requirement.

[0049] As an optional embodiment, based on the vehicle state data, the functional safety test result of the vehicle is determined, including: according to the data type, the correlation between a plurality of data types and the importance of a plurality of data types, the vehicle state data, the target measurement condition and the target measurement scene are integrated to obtain the functional safety test result of the vehicle.

[0050] It should be noted that in this embodiment, the vehicle state data includes: bus signals of the vehicle, vehicle dynamics parameters such as vehicle end pitch angle, trim angle and roll angle, vehicle position, lateral and longitudinal speed, lateral and longitudinal acceleration, etc.

[0051] In the process of testing the functional safety of the vehicle, various data are collected, and when determining the test result of the functional safety of the vehicle, the test result can be directly used as the test result of the functional safety of the vehicle, or the various data collected in the test process can be integrated, and the integrated result can be used as the test result of the functional safety of the vehicle. For example, the collected data can be classified according to signal transmission conditions, vehicle dynamics parameters, vehicle driving information, fault working condition types, scene parameters of target test scenes, and the like. The collected data can also be integrated according to the correlation between data types (for example, vehicle dynamics parameters are related to vehicle driving information, vehicle driving information is related to scene parameters of target test scenes, and the like), or the importance of each data relative to the test result of the functional safety (for example, relative to the test result of the functional safety, it can be assumed that the importance of signal transmission conditions, vehicle dynamics parameters and vehicle driving information is relatively high, and the importance of fault working condition types and scene parameters of target test scenes is relatively low) to obtain a more refined test result of the functional safety.

[0052] It should be noted that the various data collected in the embodiment can be stored after the test is completed according to the vehicle or the functional safety type of the test, so as to be used as reference data for the vehicle or subsequent functional safety tests in the future.

[0053] It should be noted that in the embodiment of the application, the test result of the functional safety of the vehicle can be output in the form of a report.

[0054] As an optional embodiment, the target system is an electric power steering system.

[0055] Based on the above embodiment and optional embodiment, an optional implementation of the application is proposed, which is described below.

[0056] With the increasing complexity of whole vehicle intelligent networking and drive control technology, the control right of electronic and electrical system and the amount of software code are constantly rising, and the random failure risk from the electronic and electrical system is also increasing. The functional safety of the whole vehicle has become an important technical index of the vehicle.

[0057] As an important control system related to safety, handling stability and driving experience in the vehicle electronic and electrical system, the electric power steering system, the architecture definition error, hardware design error, software algorithm error, software and hardware integration mismatch, system integration interaction anomaly, and whole vehicle integration environment interference of the electric power steering system in the development and verification process will all cause partial failure of the electronic and electrical system function, and further cause potential hazard events to occur.

[0058] Therefore, a vehicle-level test device and method are needed to verify whether functional safety indicators of the electronic and electrical system in the whole life cycle are achieved, to avoid or reduce potential hazards caused by functional safety failures in the product development stage by verifying correct implementation of functional safety requirements of the electric power steering system at the vehicle level, correct definition of the functional safety mechanism at the vehicle level, consistency and correctness of the internal and external interfaces at the vehicle level, and the level of loss of control coverage and robustness.

[0059] However, in the related art, only simulation is usually used to perform functional safety testing on a single part of a vehicle, but the functional safety test result obtained by this method is not accurate enough and the precision is not high enough.

[0060] To solve the above technical problems, the optional embodiment of the present application provides a functional safety test device and method based on a vehicle fault injection module, a vehicle data acquisition module, a test scene building module and an upper computer general control module. Through the device and method of the optional embodiment of the present application, vehicle-level functional safety testing of the electric power steering system in normal and fault states can be realized, and the risks and injuries caused by functional failure of the electric power steering system can be verified.

[0061] The principles involved in the optional embodiment of the present application and the various systems and devices will be introduced first.

[0062] (1) Implementation principle

[0063] Figure 2 The overall principle diagram according to the optional embodiment of the present application is shown in FIG. 1, which includes an electric power steering system 1, a vehicle fault injection module 2, a vehicle data acquisition module 3, a scene building and acquisition module 4, and an upper computer general control module 5. Figure 2

[0064] Among them, the connection mode of each module is that the electric power steering system 1 and the vehicle fault injection module 2 are connected in communication through a hard line, the electric power steering system 1 and the vehicle data acquisition module 3 are connected in communication through a hard line, the vehicle fault injection module 2 and the upper computer general control module 5 are connected in communication through an Ethernet bus, the vehicle data acquisition module 3 and the upper computer general control module 5 are connected in communication through an Ethernet bus, and the scene building and acquisition module 4 and the upper computer general control module 5 are connected in communication through an Ethernet bus.

[0065] ​The functions of each module are as follows: the vehicle fault injection module 2 provides communication fault injection simulation and electrical fault injection simulation for the functional safety test; the vehicle data acquisition module 3 collects bus data, vehicle attitude data, sensor data and vehicle position data for the functional safety test; the scene building and acquisition module builds and monitors the external test working condition environment required by the functional safety test; and the upper computer general control module 5 performs unified scheduling and data management, task management, fault injection management and scene building management on the functional safety test process.

[0066] (2) Electric power steering system

[0067] Figure 3 The electric power steering system working principle schematic diagram according to the optional embodiment of the present application is shown in FIG. 1. Figure 3 As shown in FIG. 1, the electric power steering system comprises a torque and angle sensor 11, an electric power steering system main controller 12 and an electric power steering system motor 13.

[0068] The electric power steering system main controller is composed of a power management module 121, a power drive module 122, a communication transceiver module 123, a torque sensor conversion module 124, an angle sensor conversion module 125 and a motor position sensor conversion module 126. The electric power steering system motor 13 is composed of a motor body 131 and a motor position sensor 132.

[0069] The functions of each module are as follows: the torque and angle sensor 11 collects steering wheel hand torque signal and steering wheel angle signal; the power management module 121 provides working voltage for the electric power steering system main controller through filtering and voltage stabilization module; the power drive module 122 converts PWM digital quantity drive signal into three-phase motor analog quantity control signal; the communication transceiver module 123 realizes bus signal interaction between the electric power steering system and the vehicle communication network; the torque sensor conversion module 124 converts and processes the steering wheel torque signal of the torque and angle sensor 11, and outputs drive signal for closed-loop control of the electric power steering system motor 13; the angle sensor conversion module 125 converts and processes the steering wheel angle signal of the torque and angle sensor 11, and outputs drive signal for closed-loop control of the electric power steering system motor 13 after calculation by the main controller; the motor position sensor conversion module 126 converts and processes the motor rotor position signal of the motor position sensor 132, and outputs drive signal for closed-loop control of the electric power steering system motor 13 after calculation by the main controller; the motor body 131 executes the motor control instruction of the power drive module 122; and the motor position sensor 132 collects the motor rotor position signal of the electric power steering system motor body 131.

[0070] (3) Vehicle fault injection module

[0071] Figure 4 is a schematic diagram of a vehicle fault injection module according to an optional embodiment of the present application, as shown in Figure 4 The vehicle fault injection module 2 comprises a vehicle end circuit breaker interface 21, a communication fault injection module 22, an electrical fault injection module 23, and a controller end circuit breaker interface 24.

[0072] The communication fault injection module 22 comprises a signal level virtual gateway module 221, a node level virtual gateway module 222, and a communication signal monitoring module 223. The electrical fault injection module 23 comprises an analog quantity generation module 231, a bus fault generation module 232, and a hard-wire fault generation module 233. The communication fault injection module 22 and the circuit breaker interface are connected through bus communication, and the electrical fault injection module 23 and the circuit breaker interface are connected through hard-wire communication.

[0073] The functions of each module are as follows: the communication fault injection module 22 provides communication fault simulation for functional safety testing. The signal level virtual gateway module 221 provides signal level bus fault simulation by modifying signal values. The node level virtual gateway module 222 implements node level bus fault simulation through node loss and message loss. The communication signal monitoring module 223 realizes real-time monitoring of communication faults and communication states through CAN network monitoring components. The electrical fault injection module 23 provides electrical fault simulation for functional safety testing. The analog quantity generation module 231 provides electrical fault types such as power supply short circuit, ground short circuit, signal-to-signal short circuit, and signal open circuit through power supply positive, power supply ground, circuit breaker positive, and circuit breaker negative. The bus fault generation module 232 realizes fast connection switching between CAN bus signals, SENT torque signals, and the analog quantity generation module 231 through a mechanical relay group. The hard-wire fault generation module 233 realizes fast connection switching between sensor hard-wire signals and actuator hard-wire signals and the analog quantity generation module 231 through a solid-state relay group.

[0074] (4) Vehicle data acquisition module

[0075] Figure 5 is a schematic diagram of a vehicle data acquisition module according to an optional embodiment of the present application, as shown in Figure 5 The vehicle data acquisition module 3 comprises a bus data acquisition module 31, a vehicle attitude acquisition module 32, a sensor data acquisition module 33, and a vehicle position acquisition module 34.

[0076] The bus data acquisition module 31 includes: a CAN signal 311, a LIN signal 312, and an ETH signal 313. The vehicle posture acquisition module 32 includes: a vehicle pitch angle 321, a vehicle trim angle 322, and a vehicle roll angle 323. The sensor data acquisition module 33 includes: a hand torque acquisition 331, a steering wheel angle acquisition 332, and a motor position acquisition 333. The vehicle position acquisition module 34 includes: a real-time navigation positioning 341, a lateral and longitudinal speed 342, and a lateral and longitudinal acceleration 343. The bus data acquisition module 31, the vehicle posture acquisition module 32, the sensor data acquisition module 33, and the vehicle position acquisition module 34 are uniformly scheduled by the host computer general control module 4.

[0077] The functions of each module are as follows: The bus data acquisition module 31 collects the bus signals of the whole vehicle through an external data acquisition device, and monitors the communication information in the real vehicle end during the functional safety test of the whole vehicle. The vehicle posture acquisition module 32 collects the pitch angle, the trim angle, and the roll angle of the whole vehicle through an external inertial navigation device, and monitors the body posture information of the whole vehicle during the functional safety test of the whole vehicle. The sensor data acquisition module 33 collects the steering wheel torque and the steering wheel angle of the real vehicle through an external torque steering wheel device, and collects the motor position information through an external motor position monitoring device, to determine the working state and the fault state of the steering system. The vehicle position acquisition module 34 collects the position, speed, and acceleration information of the vehicle through a true value device, to determine the motion trajectory of the vehicle.

[0078] (5) Scene building and acquisition module

[0079] Figure 6 A scene building and acquisition module schematic diagram provided according to an optional embodiment of the present application is shown in FIG. 4. Figure 6 As shown in FIG. 4, the scene building and acquisition module 4 includes: a lane line building module 41 and a lane line acquisition module 42. The lane line building module 41 includes: a lane line planning 411 and a lane line building 412.

[0080] The lane line acquisition module 42 includes: a lane line acquisition 413. The lane line building module 41 provides the required external test working condition environment for the functional safety test, and the lane line acquisition module 42 collects the actual external test working condition environment for the functional safety test, to confirm the accuracy of the test working condition environment. The lane line planning 411 plans the road running scene, such as a straight road and a curved road with a certain turning radius, based on the specific use case of the functional safety test. The lane line building 412 lays the lane line in the standard test field according to the planning requirements through a lane line laying tool. The lane line acquisition 413 collects the real-time lane line information during the functional safety test based on a true value tool.

[0081] (6) Host computer general control module

[0082] Figure 7is a schematic diagram of a host computer general control collection module provided according to an optional embodiment of the present application, as shown in Figure 7 The host computer general control module 5 includes a test data management module 51, a test task management module 52, a fault injection management unit 53, and a scene building management unit 54.

[0083] The test data management module includes a test data synchronization module 511, a test data storage module 512, a test data calling module 513, and a test data analysis module 514. The test task management module includes a test engineering building module 521, a test process execution module 522, a test result evaluation module 523, and a test report generation module 524.

[0084] The functions of each module are as follows: The test data synchronization module 511 synchronizes the data of the vehicle fault injection module 2, the vehicle data collection module 3, and the scene building and collection module 4 with time stamps to meet the data synchronization requirement. The test data storage module 512 stores the data of the vehicle fault injection module 2, the vehicle data collection module 3, and the scene building and collection module 4 in the local and cloud in a classified manner. The test data calling module 513 calls and processes the data of the vehicle fault injection module 2, the vehicle data collection module 3, and the scene building and collection module 4. The test data analysis module 514 analyzes and processes the data of the vehicle fault injection module 2, the vehicle data collection module 3, and the scene building and collection module 4. The test engineering building module 521 establishes test tasks and generates test case sequences. The test process execution module 522 parameterizes the test sequence corresponding to the working condition and automatically executes the test sequence implementation. The test result evaluation module 523 automatically determines the test result according to the data of the test data management module 52 and the test evaluation index. The test report generation module 524 integrates the test case output by the test engineering building module 521, the test execution step output by the test process execution module 522, and the test result output by the test result evaluation module 523 into a test report corresponding to the working condition, and automatically generates the test report. The fault injection management unit 53 initializes the vehicle fault injection module 2 according to different test working conditions, and controls the vehicle fault injection module 2 in real time in a closed loop. The scene building management unit 54 initializes the scene building and collection module 4 according to different test working conditions, and controls the scene building and collection module 4 in real time in a closed loop.

[0085] The optional embodiments of the present application will be introduced below based on specific test method embodiments.

[0086] (1) Determine the test working condition

[0087] For different functional safety tests of the vehicle, different test working conditions need to be generated.

[0088] 1. For unintended lateral motion, the test condition is that the electric power steering system is unexpectedly activated or the steering assist is too large. Therefore, the vehicle-level test can simulate the hazard condition of unintended lateral motion by injecting the maximum motor control torque value into the electric power steering system. The test needs to verify that when the electric power steering system outputs the maximum motor torque target value, the electric power steering system performs the expected action of cutting off the assist, ensuring that the steering control force of unintended lateral motion meets the functional safety metric of unintended lateral motion.

[0089] 2. For unintended lateral loss of control, the test condition is that the electric power steering system has a steering mechanism lock, jam, etc. Therefore, the vehicle-level test simulates the hazard condition of unintended lateral loss of control by injecting a constant motor position target value into the electric power steering system. The test needs to verify that when the electric power steering system outputs the constant motor position value, the electric power steering system performs the expected action of slow loss of assist, ensuring that the steering control force of unintended lateral loss of control meets the functional safety metric of unintended lateral loss of control.

[0090] 3. For loss of assist steering heavy, the test condition is that the electric power steering system has a small assist, loss of assist, or reverse assist. Therefore, the vehicle-level test simulates the hazard condition of loss of assist steering heavy by injecting sensor open circuit / faults, etc. into the electric power steering system. The test needs to verify that when the electric power steering system has a sensor fault, the electric power steering system performs the expected action of slow loss of assist, ensuring that the steering control force of loss of assist steering heavy meets the functional safety metric of loss of assist steering heavy.

[0091] (2) Fault injection

[0092] Before fault injection, the port of the electric power steering system for fault injection needs to be determined. The determination method can be to connect the disconnect switch in the vehicle fault injection module to the electric power steering system to form a disconnect port, and then use the disconnect port for fault injection. For different functional safety tests of the vehicle, the corresponding disconnect port and the specific content of fault injection also differ.

[0093] 1. For unintended lateral motion, take the communication fault of the torque and angle sensor 11 as an example.

[0094] The electric power steering system 1 is the measured system for the unintended lateral motion condition, and before testing, the steering electronic control system main controller 12 is disconnected from the torque and angle sensor 11 through the disconnect switch of the vehicle fault injection module 2, and the port of the torque and angle sensor 11 is exposed.

[0095] The vehicle fault injection module 2 provides the communication fault required by the test of the unexpected lateral motion of the measured system. The circuit breaker of the vehicle fault injection module 2 is connected between the electric power steering system 1 and the vehicle wire harness through the vehicle end circuit breaker interface 21 and the controller end circuit breaker interface 24. The maximum motor control torque corresponding to the torque angle sensor is simulated through the signal level virtual gateway module 221, and the SENT value of the maximum motor control torque is injected into the port of the torque angle sensor 11 to realize the test condition.

[0096] 2. Take the hard-wire electrical fault of the motor position sensor 132 as an example for the unexpected lateral loss of control.

[0097] The electric power steering system 1 is the measured system of the unexpected lateral loss of control condition. Before the test, the steering electronic control system main controller 12 and the electric power steering system motor actuator 13 are disconnected through the circuit breaker of the vehicle fault injection module 2, and the port of the motor position sensor 132 is exposed.

[0098] The vehicle fault injection module 2 provides the hard-wire fault required by the test of the unexpected lateral loss of control of the measured system. The circuit breaker of the vehicle fault injection module 2 is connected between the electric power steering system 1 and the vehicle wire harness through the vehicle end circuit breaker interface 21 and the controller end circuit breaker interface 24. The constant motor position value is simulated through the hard-wire fault generation module 233, and the value is injected into the port of the motor position sensor 132 to realize the test condition.

[0099] 3. Take the bus electrical fault of the electric power steering system main controller 12 as an example for the heavy steering without power.

[0100] The electric power steering system 1 is the measured system of the heavy steering without power condition. Before the test, the CAN bus of the electric power steering system main controller 12 is disconnected through the circuit breaker of the vehicle fault injection module 2, and the port of the communication transceiver module 123 is exposed.

[0101] The vehicle fault injection module 2 provides the bus electrical fault required by the test of the heavy steering without power of the measured system. The circuit breaker of the vehicle fault injection module 2 is connected between the electric power steering system 1 and the vehicle wire harness through the vehicle end circuit breaker interface 21 and the controller end circuit breaker interface 24. The CAN bus signal is simulated through the bus electrical fault generation module 232, and the value is injected into the port of the communication transceiver module 123 to realize the test condition.

[0102] (3) Build a test scene

[0103] The scene building and collecting module 4 builds the external environment scene required for the unintended lateral motion test. The lane line planning module 411 plans the lane line, for example, a straight road 500 meters wide 3.5 meters, a curved road 500 meters wide 3.5 meters and a turning radius 35 meters. The lane line building module 412 lays the lane line in the standard test field according to the requirements planned by 411 through the lane line laying tool. The lane line collecting module 413 collects real-time lane line information in the functional safety test process through the true value device collection function, matches the test environment and test data in real time, and ensures the consistency of the real environment and the planned environment.

[0104] (4) Test data collection

[0105] After the vehicle reaches the test working condition and the test scene is built, the test can begin. During the test process, the vehicle data collection module 3 collects the in-vehicle and out-vehicle data signals of the unintended lateral motion, the hand torque torque collection module 331 collects the hand torque torque value of the steering wheel through the torque steering wheel. The bus data collection module 31 collects the CAN, LIN, ETH and other signals of the vehicle bus for monitoring the vehicle signals and synchronously checking and comparing with the steering and torque signals collected by 331. The vehicle attitude collection module 32 collects the vehicle dynamics parameters such as the vehicle pitch angle, the longitudinal angle and the roll angle through the inertial navigation device, and assists in determining the correctness of the execution result of the functional safety strategy based on the vehicle body attitude. The vehicle position collection module 34 collects the vehicle information such as the vehicle position, the lateral and longitudinal speed, the lateral and longitudinal acceleration through the true value, and assists in determining the correctness of the execution result of the functional safety test based on the vehicle motion trajectory.

[0106] (5) Determining the test result

[0107] The host computer overall control module 5 is responsible for data management and scheduling control of the entire test process. The test data management module 51 synchronizes, stores, calls and analyzes the bus data, vehicle body attitude data, sensor data and position data collected by the vehicle data acquisition module 3, serving as a test database for the test result evaluation 523. The test engineering construction module 521 generates a non-intended lateral motion test case based on the test task of non-intended lateral motion. The test process execution module 522 parameterizes and automatically calls the vehicle fault injection module 2, the vehicle data acquisition module 3 and the scene construction and acquisition module 4 to participate in the implementation process of the test sequence. The test result evaluation module 523 compares the test database of the test data management module 51 with the non-intended lateral motion evaluation index library preset in the module, determines whether the electric power steering system 1 detects the safety hazard of non-intended lateral motion within the specified time T1, and performs the expected action of cutting off the power within the specified time T2. The test report generation module 524 integrates the output test case of the test engineering construction module 521, the output test execution step of the test process execution module 522 and the output test result of the test result evaluation module 523 into a test report of the non-intended lateral motion working condition, and automatically generates a test report file. The fault injection management unit 53 configures and issues the initial parameters of the vehicle fault injection module 2 under the non-intended lateral motion working condition, and controls the vehicle fault injection module 2 in real time. The scene construction management unit 54 configures and issues the initial parameters of the scene construction and acquisition module 4 under the non-intended lateral motion working condition, and controls the scene construction and acquisition module 4 in real time.

[0108] In summary, the optional embodiments of the present application can perform communication fault injection and sensor fault injection in a vehicle environment, truly reflect the fault link timing state, can perform real-time acquisition of vehicle attitude and position data in a vehicle environment, accurately evaluate the vehicle safety state, and can also perform test scene construction and acquisition of real traffic environment in a vehicle environment, supporting functional safety test scene quantitative design and analysis.

[0109] According to the embodiments of the present application, a functional safety test device is also provided, Figure 8 is a structural diagram of the functional safety test device provided by the embodiments of the present application, as Figure 8 shown, the device comprises a first determination module 81, a generation module 82, a construction module 83, an acquisition module 84 and a second determination module 85, which will be introduced below.

[0110] The first determining module 81 is configured to determine a function safety type to be tested of a target system of the vehicle; the generating module 82 is connected to the first determining module 81 and configured to generate a target test working condition corresponding to the function safety type to be tested; the constructing module 83 is connected to the generating module 82 and configured to construct a target test scene corresponding to the function safety type to be tested; the collecting module 84 is connected to the constructing module 83 and configured to collect vehicle state data of the vehicle under the target test working condition in the target test scene; and the second determining module 85 is connected to the collecting module 84 and configured to determine a function safety test result of the vehicle based on the vehicle state data.

[0111] According to the embodiments of the application, a computer readable storage medium is also provided, which comprises a stored program, wherein the program controls the device where the computer readable storage medium is located to perform the function safety test method of any of the above embodiments when the program is running.

[0112] According to the embodiments of the application, a computer readable storage medium is also provided, which comprises a stored program, wherein the program controls the device where the computer readable storage medium is located to perform the function safety test method of any of the above embodiments when the program is running.

[0113] The above-mentioned serial numbers of the embodiments of the application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0114] In the above-mentioned embodiments of the application, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0115] In the several embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. Of course, the unit described as the division is only a logical function division, and there can be other division manners in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, units or modules, and can be electrical or other forms.

[0116] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0117] In addition, each function unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software function unit.

[0118] When the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application, essentially or the part that contributes to the prior art, or all or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in each embodiment of the present application. The foregoing storage medium includes: a U disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0119] The above is only the preferred embodiment of the present application, and it should be pointed out that for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, and these improvements and refinements should be considered as the protection scope of the present application.

Claims

1. A method of functional safety testing, characterized in that, The method comprises the following steps: determining a function safety type to be tested of a target system of a vehicle, wherein the target system is an electric power steering system, and the function safety type to be tested comprises an unintended lateral movement function, an unintended lateral out-of-control function, and a heavy steering function without power assistance; generating a target test working condition corresponding to the function safety type to be tested, wherein the target test working condition is used to represent a fault working condition required for the target system to reach a test; constructing a target test scene corresponding to the function safety type to be tested; collecting vehicle state data of the vehicle in the target test working condition in the target test scene; determining a function safety test result of the vehicle based on the vehicle state data; wherein the generation of the target test working condition corresponding to the function safety type to be tested comprises: determining a fault injection port of the target system based on the function safety type to be tested and an internal structure of the target system, wherein the fault injection port is used to represent a port for injecting a fault in the electric power steering system; inputting fault information to the target system by using the fault injection port, wherein the fault information is communication type fault information and / or sensor type fault information; controlling the target system to operate to the target test working condition based on the fault information.

2. The method of claim 1, wherein, The construction of the target test scene corresponding to the function safety type to be tested comprises: determining a preset test scene corresponding to the function safety type to be tested; obtaining preset scene data corresponding to the preset test scene; determining an initial scene and initial scene data corresponding to the initial scene; comparing the initial scene data and the preset scene data to obtain a scene adjustment parameter; adjusting the initial scene based on the scene adjustment parameter to obtain the target test scene.

3. The method of claim 2, wherein, The adjustment of the initial scene based on the scene adjustment parameter to obtain the target test scene comprises: adjusting the initial scene based on the scene adjustment parameter; iteratively updating the scene adjustment parameter according to an adjustment result of the initial scene; adjusting the adjustment result corresponding to the iteration by using the updated adjustment parameter multiple times to obtain the target test scene.

4. The method of claim 1, wherein, The determination of the function safety test result of the vehicle based on the vehicle state data comprises: obtaining ideal vehicle state data in the target test working condition; determining the function safety test result of the vehicle according to whether a difference between the vehicle state data and the ideal vehicle state data meets a predetermined error range.

5. The method of claim 2, wherein, The determination of the function safety test result of the vehicle based on the vehicle state data comprises: performing data integration on the vehicle state data, the target test working condition, and the target test scene according to a data type, a correlation between multiple data types, and an importance of the multiple data types to obtain the function safety test result of the vehicle.

6. A functional safety test apparatus employing the functional safety test method according to claim 1, characterized by The method comprises the following steps: a first determining module configured to determine a function safety type to be tested of a target system of a vehicle; a generating module configured to generate a target test working condition corresponding to the function safety type to be tested. A construction module, configured to construct a target test scene corresponding to the functional safety type of the to-be-tested function; A collection module, configured to collect vehicle state data of the vehicle under the target test working condition in the target test scene; A second determination module, configured to determine a functional safety test result of the vehicle based on the vehicle state data.

7. A computer-readable storage medium, characterized in that, The computer readable storage medium comprises a stored program, wherein the program, when executed, controls a device where the computer readable storage medium is located to perform the functional safety test method in any one of claims 1 to 5.

8. A computer device, comprising: Comprise: A memory and a processor, The memory stores a computer program; The processor is configured to execute the computer program stored in the memory, and the computer program, when executed, causes the processor to perform the functional safety test method in any one of claims 1 to 5.

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