Test method, device and processing equipment for speed limit control function test of test system

Abstract

This invention provides a method, apparatus, and processing device for testing the speed limiting control function of a testing system. The testing method includes: determining a target maximum speed corresponding to the target maximum vehicle speed; controlling the vehicle in a hardware-in-the-loop simulation system to operate at the target maximum speed to obtain a first torque of the vehicle; comparing the first torque with a second torque to obtain a test result for the vehicle's maximum speed limiting function; wherein the second torque is the limiting torque corresponding to the target maximum vehicle speed. The method involves determining the corresponding target maximum speed using the target maximum vehicle speed, setting the drive motor speed to the target maximum speed, and reading the first torque emitted by the electronic control system. The test result is obtained by comparing the values ​​of the first torque and the limiting torque corresponding to the target maximum vehicle speed. Compared to real-vehicle testing, the speed limiting control function testing method in the hardware-in-the-loop simulation system is simpler and safer.

Description

Technical Field

[0001] This invention relates to the vehicle technology industry, and in particular to a test method, apparatus, and processing equipment for testing the speed limit control function of a test system. Background Technology

[0002] To ensure vehicle safety, speed limit control is one of the fundamental functions of a vehicle's electronic control system. Speed ​​limit control typically exists in two scenarios: maximum speed limitation and speed limitation in case of a malfunction. Because factors such as the maturity of the vehicle dynamics model and the completeness of the vehicle parameters required for modeling significantly affect the simulation results of the model's speed, speed limit control is usually tested on a real vehicle. However, testing speed limit control on a real vehicle is a complex process with high risks. Summary of the Invention

[0003] The purpose of this invention is to provide a testing method, apparatus, and processing equipment for testing the speed limit control function of a testing system, in order to solve the problems of complexity and high risk in the process of testing the speed limit control function using real vehicles in the prior art.

[0004] To address the aforementioned technical problems, this invention provides a method for testing the speed limit control function of a testing system, wherein the method includes:

[0005] Based on the target maximum vehicle speed to be tested, determine the target maximum speed corresponding to the target maximum vehicle speed;

[0006] The vehicle in the hardware-in-the-loop simulation system is controlled to run at the target maximum speed to obtain the first torque of the vehicle;

[0007] The first torque is compared with the second torque to obtain the test result of the maximum speed limit function test of the vehicle; wherein, the second torque is the limiting torque corresponding to the target maximum speed.

[0008] Optionally, the speed limit control function testing method further includes:

[0009] Based on predefined test requirements, obtain the limiting torque corresponding to the target maximum vehicle speed.

[0010] Optionally, the speed limit control function testing method further includes:

[0011] Calculate the driving torque corresponding to the target maximum vehicle speed based on the vehicle driving dynamics equation;

[0012] The limiting torque is determined to be the driving torque.

[0013] Optionally, the speed limit control function test method, wherein comparing the first torque with the second torque to obtain the test result of the vehicle's maximum speed limit function test includes:

[0014] Determine whether the absolute value of the difference between the first torque and the second torque is less than or equal to a first preset value;

[0015] If the judgment result is yes, the test result is determined to be passed;

[0016] If the result is negative, the test result is determined to be failed.

[0017] Optionally, the speed limit control function test method, wherein the vehicle in the hardware-in-the-loop simulation system is operated at the target maximum speed to obtain the first torque of the vehicle, includes:

[0018] The vehicle in the hardware-in-the-loop simulation system is controlled to run at the target maximum speed, and the vehicle's operating conditions are drive gear, accelerator pedal opening of 100%, and brake pedal opening of less than a second preset value, thereby obtaining the vehicle's first torque.

[0019] Optionally, the speed limit control function testing method further includes:

[0020] The vehicle in the hardware-in-the-loop simulation system is controlled to travel at a speed greater than a first vehicle speed, wherein the first vehicle speed is higher than the target fault limit vehicle speed.

[0021] After a preset time elapsed following the triggering of a fault in the vehicle's electronic control system, the current second vehicle speed is obtained;

[0022] The second vehicle speed is compared with the target fault-limited vehicle speed to obtain the test result of the fault speed limit function test of the vehicle.

[0023] Optionally, the speed limit control function test method, wherein comparing the second vehicle speed with the target fault-limited vehicle speed to obtain the test result of the fault-limited vehicle speed function test of the vehicle includes:

[0024] Determine whether the absolute value of the difference between the second vehicle speed and the target fault-limited vehicle speed is less than or equal to a third preset value;

[0025] If the judgment result is yes, the test result is determined to be passed;

[0026] If the result is negative, the test result is determined to be failed.

[0027] To achieve the above objectives, the present invention provides a testing device for the speed limit control function of a testing system, wherein the device comprises:

[0028] The first processing module is used to determine the target maximum speed corresponding to the target maximum speed based on the target maximum speed to be tested.

[0029] The second processing module is used to control the vehicle in the hardware-in-the-loop simulation system to run at the target maximum speed and obtain the first torque of the vehicle;

[0030] The third processing module is used to compare the first torque with the second torque to obtain the test result of the maximum speed limit function test of the vehicle; wherein the second torque is the limit torque corresponding to the target maximum speed.

[0031] To achieve the above objectives, the present invention provides a processing device, comprising: a processor, a memory, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the speed limit control function testing method as described above.

[0032] The beneficial effects of the above-described technical solution of the present invention are as follows:

[0033] In the above scheme, the target maximum speed is determined by the target maximum vehicle speed to be tested. The speed of the vehicle's drive motor in the hardware-in-the-loop simulation system is set to the target maximum speed, and the first torque issued by the electronic control system is read. By comparing the value of the first torque with the limiting torque corresponding to the target maximum vehicle speed, the test result of the vehicle's maximum speed limiting function is obtained. Compared with the existing real-vehicle testing, the speed limiting control function testing method in the hardware-in-the-loop simulation system is simpler and safer. Attached Figure Description

[0034] Figure 1 This is a flowchart illustrating a speed limit control function testing method for a testing system according to one embodiment of the present invention.

[0035] Figure 2 This is a flowchart illustrating a speed limit control function testing method for a testing system according to another embodiment of the present invention.

[0036] Figure 3 A flowchart illustrating a speed limit control function testing method for a testing system according to one embodiment of the present invention;

[0037] Figure 4 A flowchart illustrating a test method for the speed limit control function of a test system according to another embodiment of the present invention;

[0038] Figure 5This is a schematic diagram of the structure of the device described in an embodiment of the present invention;

[0039] Figure 6 This is a second schematic diagram illustrating the structure of the device described in an embodiment of the present invention. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] This invention addresses the problems of complexity and high risk in testing speed limit control functions using real vehicles in existing technologies by providing a testing method for the speed limit control function of a testing system.

[0042] like Figure 1 As shown, an embodiment of the present invention provides a method for testing the speed limit control function of a test system, wherein the method includes:

[0043] S110, determine the target maximum speed corresponding to the target maximum speed based on the target maximum vehicle speed to be tested;

[0044] S120, control the vehicle in the hardware-in-the-loop simulation system to run at the target maximum speed, and obtain the first torque of the vehicle;

[0045] S130, compare the first torque with the second torque to obtain the test result of the maximum speed limit function test of the vehicle; wherein, the second torque is the limit torque corresponding to the target maximum speed.

[0046] The target maximum speed is determined by setting the target maximum vehicle speed to be tested. The drive motor speed of the vehicle in the hardware-in-the-loop simulation system is set to the target maximum speed, and the first torque emitted by the electronic control system is read. By comparing the first torque with the limiting torque corresponding to the target maximum vehicle speed, the test result of the vehicle's maximum speed limiting function is obtained. Compared with existing real-vehicle testing, the speed limit control function testing method in the hardware-in-the-loop simulation system is simpler and safer.

[0047] Optionally, the speed limit control function testing method further includes:

[0048] Based on predefined test requirements, obtain the limiting torque corresponding to the target maximum vehicle speed.

[0049] If the required torque control strategy corresponding to the target maximum speed has been defined in the requirement description, the limiting torque corresponding to the target maximum vehicle speed is calculated based on the target maximum speed.

[0050] Optionally, the speed limit control function testing method further includes:

[0051] Calculate the driving torque corresponding to the target maximum vehicle speed based on the vehicle driving dynamics equation;

[0052] The limiting torque is determined to be the driving torque.

[0053] If the required torque control strategy corresponding to the target maximum speed is not defined in the requirement description, the drive torque under the target maximum vehicle speed condition is calculated based on the vehicle driving dynamics equation. The vehicle driving dynamics equation is:

[0054] F t =F f +F w +F i +F j ,

[0055] Among them, driving force F t :F t =(T q *i g *i0*η T ) / r, where η T This refers to the mechanical efficiency of the transmission system.

[0056] Rolling resistance F f :F f = mgf, where m is the mass of the car in kg; g is the acceleration due to gravity in m / s². 2 f is the rolling resistance coefficient.

[0057] Air resistance F w :F w =(C D *AV 2 ) / 21.15, where C D A is the air resistance coefficient; A is the frontal area, in m². 2 .

[0058] Slope resistance F i :F i = mgi, where i is the slope.

[0059] Acceleration resistance F j :F j =δm*dV / dt, where δ is the vehicle rotational mass conversion factor; dV / dt is the vehicle acceleration, m / s².2 .

[0060] like Figure 1 and Figure 3 As shown, optionally, the speed limit control function test method includes comparing the first torque with the second torque to obtain the test result of the vehicle's maximum speed limit function test, including:

[0061] Determine whether the absolute value of the difference between the first torque and the second torque is less than or equal to a first preset value;

[0062] If the judgment result is yes, the test result is determined to be passed;

[0063] If the result is negative, the test result is determined to be failed.

[0064] By controlling the vehicle in the hardware-in-the-loop simulation system to achieve the target maximum speed n using the first torque. max Run, and obtain the torque command T of the vehicle. cmd And the second torque, i.e., based on the target maximum speed n max The target maximum vehicle speed V was calculated. max The corresponding limiting torque T L Or the driving torque T calculated through the vehicle's driving dynamics equation. q The difference obtained by subtraction is within the allowable error range, i.e. (T) L -ΔT)≤T cmd ≤(T L +ΔT) or (T) q -ΔT1)≤T cmd ≤(T q If +ΔT1), then the test is passed.

[0065] Optionally, the speed limit control function test method, wherein the vehicle in the hardware-in-the-loop simulation system is operated at the target maximum speed to obtain the first torque of the vehicle, includes:

[0066] The vehicle in the hardware-in-the-loop simulation system is controlled to run at the target maximum speed, and the vehicle's operating conditions are drive gear, accelerator pedal opening of 100%, and brake pedal opening of less than a second preset value, thereby obtaining the vehicle's first torque.

[0067] The hardware-in-the-loop simulation system is configured with the vehicle operating in drive gear, accelerator pedal opening at 100%, brake pedal opening at 0%, and drive motor speed at the target maximum speed. The torque command value issued by the vehicle's electronic control system is read, which is the vehicle's first torque. The vehicle's maximum speed limit control function is tested using the system's speed limit control function test method, which is simpler, easier to operate, and cost-effective.

[0068] like Figure 2 As shown, optionally, the speed limit control function test method further includes:

[0069] S210, control the vehicle in the hardware-in-the-loop simulation system to travel at a speed greater than a first vehicle speed, wherein the first vehicle speed is higher than the target fault limit vehicle speed;

[0070] S220, after a preset time period following the triggering of a fault in the vehicle's electronic control system, the current second vehicle speed is obtained;

[0071] S230, compare the second vehicle speed with the target fault-limited vehicle speed to obtain the test result of the fault speed limit function test of the vehicle.

[0072] When a vehicle malfunctions while in operation, its speed needs to be limited to a certain level to ensure driving safety. To test the speed limit function during a malfunction, first adjust the vehicle speed to a relatively high level, and then determine whether the speed after the malfunction occurs meets the target malfunction speed limit.

[0073] like Figure 2 and Figure 4 As shown, optionally, the speed limit control function test method, wherein comparing the second vehicle speed with the target fault-limited vehicle speed to obtain the test result of the fault-limited vehicle speed function test of the vehicle includes:

[0074] Determine whether the absolute value of the difference between the second vehicle speed and the target fault-limited vehicle speed is less than or equal to a third preset value;

[0075] If the judgment result is yes, the test result is determined to be passed;

[0076] If the result is negative, the test result is determined to be failed.

[0077] Using a virtual driver model in a hardware-in-the-loop testing system, the virtual vehicle's speed is increased above the target fault speed limit (Ve). The driver's operation remains unchanged, triggering a speed limit fault. After a certain period, the real-time speed is monitored. If the speed remains within the target speed limit error range (i.e., (Ve-ΔV2)≤V≤(Ve+ΔV2), the vehicle's fault speed limit function test passes; otherwise, the test fails. This method of testing the vehicle's fault speed limit control function is simpler, more convenient, safer, and cost-effective.

[0078] like Figure 5 As shown, in order to achieve the above objectives, the present invention provides a testing device for the speed limit control function of a testing system, wherein the device includes:

[0079] The first processing module is used to determine the target maximum speed corresponding to the target maximum speed based on the target maximum speed to be tested.

[0080] The second processing module is used to control the vehicle in the hardware-in-the-loop simulation system to run at the target maximum speed and obtain the first torque of the vehicle;

[0081] The third processing module is used to compare the first torque with the second torque to obtain the test result of the maximum speed limit function test of the vehicle; wherein the second torque is the limit torque corresponding to the target maximum speed.

[0082] Optionally, in the speed limit control function testing device, the third processing module is further used for:

[0083] Based on predefined test requirements, obtain the limiting torque corresponding to the target maximum vehicle speed.

[0084] Optionally, in the speed limit control function testing device, the third processing module is further used for:

[0085] Calculate the driving torque corresponding to the target maximum vehicle speed based on the vehicle driving dynamics equation;

[0086] The limiting torque is determined to be the driving torque.

[0087] Optionally, in the speed limit control function testing device, the third processing module is further used for:

[0088] Determine whether the absolute value of the difference between the first torque and the second torque is less than or equal to a first preset value;

[0089] If the judgment result is yes, the test result is determined to be passed;

[0090] If the result is negative, the test result is determined to be failed.

[0091] Optionally, in the speed limit control function testing device, the second processing module is further used for:

[0092] The vehicle in the hardware-in-the-loop simulation system is controlled to run at the target maximum speed, and the vehicle's operating conditions are drive gear, accelerator pedal opening of 100%, and brake pedal opening of less than a second preset value, thereby obtaining the vehicle's first torque.

[0093] like Figure 6 As shown, optionally, the speed limit control function testing device further includes:

[0094] The fourth processing module is used to control the vehicle in the hardware-in-the-loop simulation system to travel at a speed greater than the first vehicle speed, wherein the first vehicle speed is higher than the target fault limit vehicle speed.

[0095] The fifth processing module is used to obtain the current second vehicle speed after a preset time period following the triggering of a fault in the vehicle's electronic control system;

[0096] The sixth processing module is used to compare the second vehicle speed with the target fault-limited vehicle speed to obtain the test result of the fault speed limit function test of the vehicle.

[0097] Optionally, in the speed limit control function testing device, the sixth processing module is further used for:

[0098] Determine whether the absolute value of the difference between the second vehicle speed and the target fault-limited vehicle speed is less than or equal to a third preset value;

[0099] If the judgment result is yes, the test result is determined to be passed;

[0100] If the result is negative, the test result is determined to be failed.

[0101] To achieve the above objectives, the present invention provides a processing device, comprising: a processor, a memory, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the speed limit control function testing method as described above.

[0102] The processing device tests the speed limit control function of a virtual vehicle in a hardware-in-the-loop system. Compared with the existing technology that uses a physical vehicle to test the speed limit control function, this method is more convenient, simpler, and safer.

[0103] It should be noted that the method provided by the present invention can implement all the method steps implemented in the above method embodiments and can achieve the same technical effect. Therefore, the parts and beneficial effects that are the same as those in the method embodiments will not be described in detail here.

[0104] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A method for testing the speed limiting control function of a testing system, characterized in that, The method includes: Based on the target maximum vehicle speed to be tested, determine the target maximum speed corresponding to the target maximum vehicle speed; The vehicle in the hardware-in-the-loop simulation system is controlled to run at the target maximum speed to obtain the first torque of the vehicle; The first torque is compared with the second torque to obtain the test result of the maximum speed limit function test of the vehicle; wherein, the second torque is the limiting torque corresponding to the target maximum speed; The method further includes: The vehicle in the hardware-in-the-loop simulation system is controlled to travel at a speed greater than a first vehicle speed, wherein the first vehicle speed is higher than the target fault limit vehicle speed. After a preset time elapsed following the triggering of a fault in the vehicle's electronic control system, the current second vehicle speed is obtained; The second vehicle speed is compared with the target fault-limited vehicle speed to obtain the test result of the fault speed limit function test of the vehicle. The second vehicle speed is compared with the target fault-limited vehicle speed to obtain the test results of the fault-limited vehicle speed function test of the vehicle, including: Determine whether the absolute value of the difference between the second vehicle speed and the target fault-limited vehicle speed is less than or equal to a third preset value; If the judgment result is yes, the test result is determined to be passed; If the result is negative, the test result is determined to be failed.

2. The speed limit control function test method according to claim 1, characterized in that, The method further includes: Based on predefined test requirements, obtain the limiting torque corresponding to the target maximum vehicle speed.

3. The speed limit control function test method according to claim 1, characterized in that, The method further includes: Calculate the driving torque corresponding to the target maximum vehicle speed based on the vehicle driving dynamics equation; The limiting torque is determined to be the driving torque.

4. The speed limit control function test method according to claim 1, characterized in that, The first torque is compared with the second torque to obtain the test results of the vehicle's maximum speed limit function test, including: Determine whether the absolute value of the difference between the first torque and the second torque is less than or equal to a first preset value; If the judgment result is yes, the test result is determined to be passed; If the result is negative, the test result is determined to be failed.

5. The speed limit control function test method according to claim 1, characterized in that, Controlling the vehicle in the hardware-in-the-loop simulation system to operate at the target maximum speed and obtaining the vehicle's first torque includes: The vehicle in the hardware-in-the-loop simulation system is controlled to run at the target maximum speed, and the vehicle's operating conditions are drive gear, accelerator pedal opening is 100%, and brake pedal opening is less than a second preset value, thereby obtaining the vehicle's first torque.

6. A testing device for the speed limiting control function of a testing system, characterized in that, The device includes: The first processing module is used to determine the target maximum speed corresponding to the target maximum speed based on the target maximum speed to be tested. The second processing module is used to control the vehicle in the hardware-in-the-loop simulation system to run at the target maximum speed and obtain the first torque of the vehicle; The third processing module is used to compare the first torque with the second torque to obtain the test result of the maximum speed limit function test of the vehicle; wherein the second torque is the limit torque corresponding to the target maximum speed; The fourth processing module is used to control the vehicle in the hardware-in-the-loop simulation system to travel at a speed greater than the first vehicle speed, wherein the first vehicle speed is higher than the target fault limit vehicle speed. The fifth processing module is used to obtain the current second vehicle speed after a preset time period following the triggering of a fault in the vehicle's electronic control system; The sixth processing module is used to compare the second vehicle speed with the target fault-limited vehicle speed to obtain the test result of the fault speed limit function test of the vehicle. The sixth processing module is also used for: Determine whether the absolute value of the difference between the second vehicle speed and the target fault-limited vehicle speed is less than or equal to a third preset value; If the judgment result is yes, the test result is determined to be passed; If the result is negative, the test result is determined to be failed.

7. A processing device, characterized in that, include: A processor, a memory, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the speed limit control function test method as described in any one of claims 1 to 5.

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