A sensor safety detection device and method for electric vehicle electric drive system

Abstract

The present invention discloses a sensor safety detection device and method for an electric drive system of an electric vehicle, belonging to the field of vulnerability detection. It includes a vehicle dynamics model module, which is used to construct a vehicle dynamics model based on the electric drive system; an electric drive system model simulation module, which is used to simulate the constructed electric drive system model; a motor virtual domain-real domain conversion device, which is used to map the motor operating state quantity from the virtual domain to the real domain; a sensor common mode interference test device, which is used to perform common mode interference sweep frequency injection on the sensor to be tested, read the sensor output data and feed it back to the electric drive system model simulation module, and generate an electric drive system sensor safety test report based on the motor and vehicle operating state quantity and vehicle operation animation before and after the interference. The present invention breaks through the defect of the traditional safety detection method that only performs single module testing on the sensor itself, improves the sensor safety detection method, is easy to operate, has strong compatibility, and low testing cost.

Description

Technical Field

[0001] The present invention belongs to the field of vulnerability detection, and in particular relates to a sensor safety detection device and method for an electric drive system of an electric vehicle. Background Art

[0002] Hardware-in-the-loop (HIL) simulation testing is a real-time simulation technology that replaces the actual controlled object or other system components with a simulation model running in real time on a computer. The module under test (DUT) or other system components are physically connected to the simulation model for real-time communication. The computer and the physical device work together to complete the simulation, and the simulation results are analyzed on the computer, enabling rapid testing of the DUT. HIL simulation testing addresses many shortcomings of digital simulation testing, improves test confidence, and provides highly intuitive test results. Therefore, HIL simulation testing technology is increasingly being used in testing various large-scale systems and holds broad development prospects.

[0003] With the increasing popularity of electric vehicles and the continuous development of electric drive systems, sensors, the "eyes" of electric drive systems that sense the motor and vehicle operating status, are becoming increasingly widely used in these systems. The operation of electric drive systems has become increasingly dependent on sensors. However, insufficient attention has been paid to the security risks of electric drive system sensors. Upper-level controllers typically assume that sensor data is trustworthy. However, once a sensor is interfered with, its measurement data will be tampered with. This blind trust in hardware poses a significant threat to the safe operation of electric vehicles. For example, the four-wheel drive power distribution system makes decisions based on sensor information. If the sensor's sensing signal is erroneous, the system will make incorrect power distribution decisions, causing the vehicle to lose control and lead to serious consequences. Therefore, ensuring the accuracy of sensor measurements is crucial to the safety of electric vehicles.

[0004] Electric vehicles are large floating power systems, and their sensors are prone to common-mode interference signals. Therefore, common-mode interference testing of electric vehicle sensors is necessary. However, existing common-mode interference testing methods for vehicle sensors mostly only test the sensor module itself, rarely considering the impact of a sensor error on the entire electric vehicle's operation. To test this impact, most experiments must be conducted on a real vehicle in a test field, which is economically and time-consuming. Therefore, using hardware-in-the-loop simulation testing technology to simulate scenarios that are difficult to achieve in a real vehicle and conduct related safety tests is an effective method. It can quickly and easily analyze and evaluate the consequences of abnormal vehicle operation caused by sensor errors.

[0005] In summary, constructing a sensor safety detection device and method for electric vehicle electric drive system with easy operation, strong compatibility, accurate testing and reliable operation has far-reaching significance for the safety research and protection of electric vehicle electric drive system. Summary of the Invention

[0006] The purpose of the present invention is to provide a sensor safety detection device and method for an electric vehicle electric drive system. The present invention aims to provide a low-cost testing solution to address the problem that most existing vehicle sensor anti-common-mode interference testing methods only perform single-module testing on the sensor itself, but do not test the impact of sensor errors on the entire electric vehicle's driving. This solves the problem of high actual vehicle testing costs.

[0007] The present invention adopts the following technical solutions to solve the above problems:

[0008] A sensor safety detection device for an electric vehicle electric drive system includes a vehicle dynamics model module, an electric drive system model simulation module, a motor virtual domain-real domain conversion device, a sensor common mode interference test device, and an animation rendering module.

[0009] The vehicle dynamics model module is used to construct a vehicle dynamics model. Specifically, the outputs of the driver model, road surface model, and driving scenario are fed into the electric drive system model. The outputs of the electric drive system model are then fed into the vehicle body model, driving force and tire model, and steering system model to generate vehicle operating state variables that reflect the vehicle's driving behavior. These driver model, road surface model, vehicle body model, driving force and tire model, and steering system model are well known in the art.

[0010] The electric drive system model simulation module simulates the digital domain model of the electric drive system where the sensors are located. Specifically, the multi-motor coordination algorithm and the single-motor drive algorithm generate motor operating status data, which are fed into the real-time control unit. Sensor feedback is received from the real-time sensor reading device and fed into the multi-motor coordination algorithm and the single-motor drive algorithm.

[0011] The motor virtual domain-real domain conversion device is used to map the motor operating state quantity from the virtual domain to the real domain, facilitating the subsequent hardware-in-the-loop sensor safety testing. Specifically, the real-time control unit generates six PWM signals and transmits them to the power electronic device through a six-way interface. The power electronic device outputs three-phase drive signals U, V, and W to the vehicle motor through a three-phase power line, causing the vehicle motor to rotate. The vehicle motor drives the transmission, wheels, adjustable load unit, etc. to rotate through a coaxial connecting rod. The load torque parameters set on the real-time control unit are transmitted to the load controller, which controls the adjustable load unit to generate variable load torque to achieve dynamic loading of the vehicle motor. At the same time, the real-time control unit obtains information such as the position, speed, and torque of the vehicle motor through trusted sensors.

[0012] The sensor common-mode interference test device is used to perform common-mode interference sweep frequency injection on the sensor under test. It includes a common-mode interference sweep frequency injection device, an optical coupler isolator, and a sensor real-time reading device. Specifically, the common-mode interference sweep frequency injection device injects a common-mode interference signal into the sensor under test via a cable. The sensor under test is connected to the sensor real-time reading device via the optical coupler isolator to prevent common-mode interference from affecting the normal operation of the sensor real-time reading device. The sensor real-time reading device reads and analyzes the sensor output data and sends it to the electric drive system model.

[0013] The animation rendering module is used to draw graphs of the output values ​​of the sensors to be tested, the motor operating status quantities, the vehicle operating status quantities, etc., and can also display the vehicle operation animation simulated by the vehicle dynamics model module.

[0014] The electric drive system model simulation module communicates with the real-time control unit and the sensor real-time reading device in real time through a synchronous data bus.

[0015] The electric drive system model simulation module is a subsystem of the vehicle dynamics model module and is called by the vehicle dynamics model module.

[0016] Preferably, the vehicle dynamics model is constructed using Carsim simulation software. Parameters such as the vehicle body model, driver model, and driving scenario are set in the Carsim simulation software, and after the settings are completed, the electric drive system model is opened through the Carsim simulation software.

[0017] Preferably, the electric drive system model is built using MATLAB Simulink simulation software.

[0018] The vehicle dynamics model and the electric drive system model are preferably interoperable using Simulink's S-Function module. Specifically, the Carsim simulation software encapsulates the pre-configured vehicle body model, driver model, driving scenario, vehicle body model, drive force and tire model, and steering system model into a Simulink S-Function module, which provides interfaces for interacting with the electric drive system model.

[0019] Preferably, the real-time control unit adopts an STM32F407 single-chip microcomputer, into which a high-performance motor control program based on FreeRTOS and a synchronous data bus communication program are burned.

[0020] Preferably, the common-mode interference sweep frequency injection device uses a signal generator and a high-power signal amplifier, and the signal generated by the signal generator is amplified by the high-power signal amplifier to generate a common-mode interference signal.

[0021] Preferably, the sensor real-time reading device adopts an STM32F407 single-chip microcomputer, which is burned with a real-time reading program for the sensor to be tested and a synchronous data bus communication program based on FreeRTOS.

[0022] Preferably, the synchronous data bus adopts a USB bus.

[0023] Preferably, the sensors to be tested include but are not limited to torque sensors, speed sensors, wheel speed sensors, current sensors and other on-board sensors of electric vehicles.

[0024] Preferably, the animation rendering module adopts the VS Visualizer component in the Carsim simulation software.

[0025] The present invention also provides a detection method based on the electric vehicle electric drive system sensor safety detection device, comprising the following steps:

[0026] Step 1: Simulation preparation and startup. Set the vehicle body model, driver model, driving scenario and other parameters in the Carsim simulation software. After setting, open the electric drive system model through the Carsim simulation software. Start the simulation program and wait for the real motor to run to a state consistent with the simulation model.

[0027] Step 2: Perform a common-mode interference sweep test. Set the sweep test parameters and inject a common-mode interference signal into the sensor to be tested.

[0028] Step 3: After the simulation is completed, the motor and vehicle operating status data curves and vehicle operation animation are generated;

[0029] Step 4: Compare the motor and vehicle operating status data curves and vehicle operating animation when the sensor is interfered with with the normal operating status of the electric vehicle;

[0030] Step 5: Generate electric drive system sensor safety test report.

[0031] Furthermore, the frequency sweep test parameters include but are not limited to the type of common-mode interference signal, the amplitude of the common-mode interference signal, the frequency sweep start frequency, the frequency sweep end frequency, the number of frequency sweep points, the frequency sweep duration, etc.

[0032] Furthermore, the safety test report includes but is not limited to the type of fragile common-mode signal, the frequency range of fragile common-mode interference, the maximum amplitude of resistance to common-mode interference, the duration of resistance to common-mode interference, the record of sensor error output values, the safety consequence rating, the test accuracy, etc., among which the test accuracy is equal to the sweep end frequency minus the sweep start frequency divided by the number of sweep frequency points.

[0033] The beneficial effects of the present invention include:

[0034] (1) The present invention addresses the systemic safety issues of on-board sensors of electric vehicles, breaks through the defect of traditional safety detection methods that only perform single-module testing on the sensor itself, and improves the sensor safety detection method. It is easy to operate and has strong compatibility, which is of great significance for ensuring the reliability of perception data in the electric drive system of electric vehicles.

[0035] (2) The present invention uses hardware-in-the-loop simulation testing technology to provide technical support for vehicle-mounted sensor safety testing. Since the entire detection system is divided into two parts, virtual and real, it has excellent decoupling efficiency and strong compatibility, making it very easy to replace various components, which is conducive to conducting large-scale testing of multiple types of sensors or other components. In addition, the use of virtual models to simulate real vehicles can effectively reduce the number of real vehicle tests, reducing economic and time costs.

[0036] (3) In the electric vehicle electric drive system sensor safety detection method of the present invention, an animation rendering module is introduced, which can visually and intuitively display the safety consequences and facilitate graded evaluation. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a block diagram of the overall structure of the sensor safety detection device for the electric drive system of an electric vehicle of the present invention;

[0038] Figure 2 It is a control flow diagram of the real-time control unit of the present invention;

[0039] Figure 3 This is a schematic diagram of the working process of the real-time reading device for sensors of the present invention;

[0040] Figure 4 Schematic diagram of the working process of the hardware-in-the-loop simulation system of the present invention;

[0041] Figure 5 This is a flow chart of a sensor safety detection method for an electric vehicle electric drive system according to the present invention;

[0042] Figure 6 1. It is a schematic diagram of the working process of the common mode interference sweep frequency injection device of the present invention;

[0043] Figure 7 This is a vehicle longitudinal speed curve diagram of a common-mode interference sweep test of a wheel speed sensor according to the present invention;

[0044] Figure 8 This is a comparison diagram of vehicle driving trajectories when the common-mode interference sweep frequency test of the wheel speed sensor is performed according to the present invention;

[0045] Figure 9 FIG. 4 is a schematic diagram of a safety consequence rating shown in an embodiment of the present invention. DETAILED DESCRIPTION

[0046] The implementation manner and technical solutions of the present invention are further described in detail below with reference to the accompanying drawings.

[0047] Taking into account the characteristics that on-board sensors of electric vehicles are susceptible to common-mode interference, the present invention combines hardware-in-the-loop simulation testing technology to realize a safety detection device and method for sensors of electric drive systems of electric vehicles. By rating the safety consequences, the vulnerability of on-board sensors of electric vehicles in common-mode signals can be effectively detected.

[0048] like Figure 1 As shown, taking the wheel speed sensor safety detection in the electric drive system of an electric vehicle as an example, the implementation scheme of the electric drive system sensor safety detection of an electric vehicle of the present invention is introduced.

[0049] In this embodiment, the vehicle dynamics model module is built using Carsim simulation software. The driver model uses Open-Loop Steering (Constant: 0deg.) to maintain straight driving in the simulation test; the road surface model uses a highway, and the driving scene uses Deer Crossing, which is consistent with the real scene; the body model uses D-Class, Sedan (External Powertrains) to facilitate the use of an external electric drive system model; the driving force and tire model uses 215 / 55R17; and the steering system model uses Power, R&P, Pk Tq. This module feeds the outputs of the driver model, road surface model, and driving scene into the electric drive system model, and then feeds the output of the electric drive system model into the body model, driving force and tire model, and steering system model. It calculates the body state based on sensor feedback, draws curves, and renders animations.

[0050] The electric drive system model simulation module was built using MATLAB Simulink. The multi-motor coordination algorithm utilizes a coordinated control algorithm based on vehicle dynamic characteristics. By analyzing vehicle dynamic characteristics such as speed, steering angle, and acceleration, it adjusts the output power and torque of each motor in real time to ensure vehicle stability. The single-motor drive algorithm utilizes a field-oriented control (FOC) algorithm, which precisely controls the stator current of the permanent magnet synchronous motor to achieve precise control of motor speed and torque. This module feeds the motor operating status data generated by the multi-motor coordination algorithm and the single-motor drive algorithm into the real-time control unit. It also receives sensor feedback from the real-time sensor reading device and feeds it into the multi-motor coordination algorithm and the single-motor drive algorithm.

[0051] The vehicle dynamics model and the electric drive system model interact using Simulink's S-Function module. Specifically, the Carsim simulation software encapsulates the pre-configured vehicle model (body model, driver model, driving scenario, body model, drive force and tire model, and steering system model) into a Simulink S-Function module, which provides interfaces for interacting with the electric drive system model.

[0052] The animation rendering module uses the VS Visualizer component that comes with Carsim to draw graphs such as the output values ​​of each sensor and the vehicle's operating status, and can also display the driving scene images simulated by the Carsim simulation software.

[0053] The above three modules are all run on a laptop with Windows 11 operating system, loaded with Carsim 2020 and MATLAB R2021b.

[0054] The motor virtual-to-real-domain conversion device is a hardware system. The real-time control unit (RTC) utilizes an STM32F407 microcontroller, loaded with a high-performance FreeRTOS-based motor control program and a synchronous data bus communication program. During operation, the RTC generates six PWM signals, which are transmitted via a six-way interface to the power electronics. The power electronics then output three-phase drive signals (U, V, and W) to the vehicle motor via a three-phase power line, causing the motor to rotate. The motor drives the transmission, wheels, and load via a coaxial connecting rod. The load torque parameters set on the RTC are transmitted to the load controller, which controls the adjustable load unit to generate variable load torque, achieving dynamic loading of the vehicle motor. Simultaneously, the RTC obtains information such as the vehicle motor's position, speed, and torque through trusted sensors.

[0055] like Figure 2 As shown, the high-performance motor control program in the real-time control unit adopts a speed-current dual-loop control method based on Clark-Park transformation, which specifically includes the following steps:

[0056] Step 1: The real-time control unit receives the motor operating state information sent from the electric drive system model simulation module, including the rotor torque τ and the rotor reference speed ω ref , the actual rotor speed ω is collected from the reliable rotor speed sensor, and the motor phase current i is collected from the reliable current sensor a ,i b ,i c , collect the actual rotor angle θ from the trusted rotor angle sensor;

[0057] Step 2: Motor phase current i a ,ib ,i c Perform Clark transformation to obtain i α ,i β , and then combine the actual rotor angle θ to i α ,i β Perform Park transformation to get i q ,i d ;

[0058] Step 3: Calculate the speed error e = ω ref -ω, and perform speed loop PI calculation to obtain the control quantity output Let i q Reference value i q，ref =u,i d Reference value i d，ref =0; where K P Indicates the speed loop PI proportional gain coefficient, K I Indicates the speed loop PI integral gain coefficient.

[0059] Step 4: Calculate the current error e q =i q，ref -i q , e d =i d，ref -i d , and perform current loop PI calculation to obtain the control quantity output Among them, K P，q , K I，q Respectively represent the current loop q-axis proportional gain coefficient and integral gain coefficient, K P，d , K I，d Respectively represent the current loop d-axis proportional gain coefficient and integral gain coefficient, U q , U d represent the q-axis and d-axis voltages respectively.

[0060] Step 5: Combine the actual rotor angle θ with the q-axis and d-axis voltage U q , U d Perform inverse Park transform to get U α , U β ;

[0061] Step 6: U α , U β Perform SVPWM conversion and output PWM control signal U a , U b , U c ;

[0062] Step 7: The PWM control signal is sent to the power electronic device, which drives the motor to operate;

[0063] Step 8: Output the rotor torque τ in the motor running state quantity to the load controller, and the load controller controls the adjustable load unit to output the corresponding load;

[0064] Step 9: The motor runs to a state consistent with the electric drive system model simulation.

[0065] The sensor common-mode interference test device is a hardware system. The sensor under test is an on-board wheel speed sensor; the optocoupler isolator uses a high-frequency optocoupler relay; the sensor real-time reading device uses an STM32F407 microcontroller, which is programmed with a FreeRTOS-based real-time reading program for the sensor under test and a synchronous data bus communication program. The common-mode interference sweep frequency injection device uses a Puyuan voltage waveform generator (DG4012, supporting a maximum frequency of 100 MHz and a sampling rate of 500 MSa / s) and a high-power signal amplifier (NF's high-power amplifier HAS 4051, supporting a maximum signal frequency of 500 kHz; Coaxial's high-voltage RF amplifier ZHL-100W-GAN+, supporting an amplified frequency range of 20-500 MHz). During operation, the voltage waveform generator generates a common-mode interference signal, which is amplified by the high-power signal amplifier and then injected into the sensor via a cable. The sensor under test is connected to the sensor real-time reading device via the optocoupler isolator. The sensor real-time reading device reads and analyzes the sensor output data and sends it as sensor feedback to the electric drive system model.

[0066] like Figure 3 As shown, the working process of the sensor real-time reading device includes three stages: data reading, filtering processing and data sending. Among them, if the sensor to be tested is analog output, analog-to-digital conversion is adopted in the data reading stage; if the sensor to be tested is digital output, interrupt reading is adopted in the data reading stage.

[0067] The electric drive system model simulation module communicates with the real-time control unit and the sensor real-time reading device in real time through the USB synchronous data bus.

[0068] like Figure 4 As shown in the figure, the workflow of hardware-in-the-loop simulation is:

[0069] Step 1: Motor operating state simulation calculation. The Carsim vehicle dynamics model calculates the vehicle's required power based on driver instructions and environmental parameters, and sends this to the Simulink electric drive system model. The model then uses the electronic control algorithms (multi-motor coordination algorithm and single-motor drive algorithm) to calculate multi-motor power distribution and generate single-motor drive voltage. The motor operating state is then sent to the hardware.

[0070] Step 2: Hardware-in-the-loop operation. The real-time control unit receives the motor operating status data sent by the electric drive system model, drives the motor to the simulation state, and drives other components to rotate; the sensor under test senses the motor operating status and receives the common-mode interference injection test; the real-time reading device reads the sensor output value and sends it to the electric drive system model;

[0071] Step 3: Feedback decision-making and vehicle body state simulation calculation. The Simulink electric drive system model feeds sensor feedback into the electronic control algorithm for decision-making. Simultaneously, the Carsim vehicle dynamics model calculates the vehicle body state based on sensor feedback, plots curves, and renders animations.

[0072] Corresponding to the aforementioned embodiment of a sensor safety detection device for an electric vehicle electric drive system, the present application also provides an embodiment of a sensor safety detection method for an electric vehicle electric drive system, such as Figure 5 As shown, it includes the following steps:

[0073] Step 1: Simulation preparation and startup. Open the Carsim simulation software, set the parameters, and then click Run Now on the Run Control interface to start the simulation program. After waiting for about 0.5 seconds, the real motor runs to a state consistent with the simulation model.

[0074] Step 2: Perform common mode interference sweep test. Figure 6 As shown in the figure, set the frequency sweep test parameters on the voltage signal generator. Specifically, select the common-mode interference signal type as a sine wave, the common-mode interference signal amplitude as 3Vpp, the frequency sweep start frequency as 1Hz, the frequency sweep end frequency as 400kHz, the number of frequency sweep points as 100, and the frequency sweep duration as 2 minutes; connect the voltage signal generator to the high-power signal amplifier, set the amplification factor to 100 times and the DC bias to 0; connect the high-power signal amplifier to the sensor to be tested through a cable; turn on the voltage signal generator and the high-power signal amplifier, and start the frequency sweep test;

[0075] Step 3: Observe the hardware-in-the-loop simulation test process and results. Wait for the simulation to end, observe the motor operating status, generate motor and vehicle operating status data curves, such as motor speed, motor torque, vehicle longitudinal speed, vehicle longitudinal acceleration, vehicle slip speed, vehicle direction angle, vehicle position, vehicle attitude angle, etc., and generate vehicle operation animation; Figure 7 Shown is a vehicle longitudinal velocity curve diagram generated by this embodiment;

[0076] Step 4: Compare the running state of the electric vehicle when the sensor is interfered with with the normal running state of the electric vehicle, such as vehicle longitudinal speed, vehicle longitudinal acceleration, vehicle slip speed, vehicle attitude angle, vehicle driving trajectory, etc.; Figure 8Shown is a comparison diagram of vehicle driving trajectories generated in this embodiment;

[0077] Step 5: Generate a safety test report for the electric drive system sensor. The safety test report includes the type of fragile common-mode signal (sine wave), fragile common-mode interference frequency range (200kHz to 400kHz), maximum common-mode interference resistance (35Vpp), common-mode interference resistance duration (0 seconds), sensor error output value record (the output value of the on-board wheel speed sensor increases with the increase of the common-mode interference frequency), safety consequence rating (level 1), test accuracy (4kHz), etc. Among them, the classification basis of safety consequence rating is as follows: Figure 9 As shown, vehicle driving behaviors such as vehicle deviation, drift, roll and overturn are classified as level one safety consequences (the most serious), vehicle driving behaviors such as sudden acceleration and inability to stop are classified as level two safety consequences, and vehicle driving behaviors such as sudden deceleration and deviation from the driving direction are classified as level three safety consequences.

[0078] The above examples are merely specific embodiments of the present invention. Obviously, the present invention is not limited to the above examples, and many variations are possible. All variations that can be directly derived or imagined by a person skilled in the art from the disclosure of the present invention should be considered to be within the scope of protection of the present invention.

Claims

1. A sensor safety detection device for an electric vehicle electric drive system, characterized in that: include: A vehicle dynamics model module, which is used to construct a vehicle dynamics model based on an electric drive system having one or more onboard sensors; The electric drive system model simulation module is used to simulate the electric drive system model in the vehicle dynamics model. The multi-motor coordination algorithm and the single-motor drive algorithm generate motor operating state quantities, which are fed into the motor virtual domain-real domain conversion device. The module also receives sensor feedback from the electric vehicle's real-time sensor reading device and feeds it into the multi-motor coordination algorithm and the single-motor drive algorithm. The motor virtual domain-real domain conversion device is used to map the motor operating state from the virtual domain to the real domain to drive the vehicle motor, transmission, and wheels; The sensor common-mode interference test device is used to perform common-mode interference sweep frequency injection on the sensor to be tested, read the sensor output data and feed it back to the electric drive system model simulation module, and generate an electric drive system sensor safety test report based on the motor operating state quantity, vehicle operating state quantity and vehicle operation animation before and after the common-mode interference injection.

2. The electric vehicle electric drive system sensor safety detection device according to claim 1, characterized in that: It also includes an animation rendering module, which is used to display the output value of the sensor to be measured, the motor operation state quantity curve, the vehicle operation state quantity curve generated by the vehicle dynamics model, and the simulated vehicle operation animation.

3. The electric vehicle electric drive system sensor safety detection device according to claim 1, characterized in that: The vehicle dynamics model includes a driver model, a road surface model, a driving scene, an electric drive system model, a body model, a driving force and tire model, and a steering system model. The driver model, road surface model, and driving scene serve as inputs to the electric drive system model, and the output of the electric drive system model is fed into the body model, the driving force and tire model, and the steering system model to reflect the vehicle's driving movements.

4. The electric vehicle electric drive system sensor safety detection device according to claim 1, characterized in that: The motor virtual domain-real domain conversion device includes a real-time control unit, a power electronic device, a brake, a load controller and an adjustable load unit; The real-time control unit generates a PWM signal based on the motor's operating state and transmits it to the power electronic device. The power electronic device outputs a three-phase drive signal to the vehicle motor through a three-phase power line, causing the vehicle motor to rotate; the vehicle motor drives the transmission, wheels, and adjustable load unit to rotate; the load controller controls the adjustable load unit to generate a variable load torque, thereby realizing dynamic loading of the vehicle motor.

5. The electric vehicle electric drive system sensor safety detection device according to claim 4, characterized in that: The real-time control unit obtains the position, speed and torque information of the vehicle motor through the trusted sensor, sets the load torque parameters and transmits them to the load controller.

6. The electric vehicle electric drive system sensor safety detection device according to claim 1, characterized in that: The sensor common-mode interference testing device includes a common-mode interference sweep frequency injection device, an optocoupler isolation device, and a sensor real-time reading device; the common-mode interference sweep frequency injection device is used to inject a common-mode interference signal into the sensor to be tested, and the sensor to be tested is connected to the sensor real-time reading device via the optocoupler isolation device. The sensor real-time reading device reads and analyzes the output data of the sensor and sends it to the electric drive system model simulation module.

7. The electric vehicle electric drive system sensor safety detection device according to claim 3, characterized in that: The common-mode interference sweep frequency injection device comprises a signal generator and a signal amplifier. The signal generated by the signal generator is amplified by the signal amplifier to generate a common-mode interference signal.

8. The electric vehicle electric drive system sensor safety detection device according to claim 3, characterized in that: The sensors to be tested are one or more on-board sensors of the electric drive system.

9. A detection method for a sensor safety detection device for an electric vehicle electric drive system according to claim 2, characterized in that: include: Step 1: Start the electric drive system model simulation module and wait for the vehicle motor to run to a state consistent with the electric drive system model simulation in the vehicle dynamics model module; Step 2: Set the frequency sweep test parameters and inject a common-mode interference signal into the sensor under test; Step 3: Generate motor and vehicle operating status data curves and vehicle operation animation; Step 4: Compare the motor and vehicle operating status data curves and vehicle operating animation when the sensor under test is interfered with with the normal operating status of the electric vehicle; Step 5: Generate an electric drive system sensor safety test report based on the comparison results.

10. The detection method of the electric vehicle electric drive system sensor safety detection device according to claim 9, characterized in that: The frequency sweep test parameters include the type of common mode interference signal, the amplitude of the common mode interference signal, the frequency sweep start frequency, the frequency sweep end frequency, the number of frequency sweep points, and the frequency sweep duration.

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