Electronic shift-by-wire system automated testing method and device

Abstract

The application discloses an electronic wire control gear system automatic testing method and device, comprising: setting test cases of the electronic wire control gear system and control programs of a mechanical arm in advance, the control programs being at least one, the test cases comprising: at least one test working condition, establishing a first mapping relationship between the test working condition and the control program; establishing a second mapping relationship between the test working condition and a test sequence; for the selected test working condition, determining a target control program corresponding to the selected test working condition based on the first mapping relationship, and determining a target test sequence corresponding to the selected test working condition based on the second mapping relationship; and testing the selected test working condition based on the test sequence and the target control program. In the above test process, the test sequence and the control program are set in advance for each test working condition, and after the test working condition is selected, the test is directly carried out based on the corresponding test sequence and the control program, without manual intervention, so that the test efficiency is improved and the test period is shortened.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology, and in particular to an automated testing method and apparatus for an electronic gear shifting system. Background Technology

[0002] Electronic shift-by-wire systems are a crucial component of automotive driving systems. With technological advancements, electronic shift-by-wire mechanisms have gradually replaced traditional cable-operated mechanical shifting mechanisms. Current electronic shifting methods primarily include lever-type, single and multi-stable rotary knobs, and column shifters, offering greater convenience and versatility for driving, while also enhancing the vehicle's luxurious and technological feel.

[0003] However, electronic gear shifting systems have many electronic components, complex control logic, numerous factors affecting functionality, and are difficult to troubleshoot. Therefore, after the design and development of the electronic gear shifting system is completed, it is also necessary to do corresponding software and hardware testing, debugging, and verification work. This can effectively reduce the probability of problems occurring in actual vehicles later, so as to ensure the reliability and stability of the system to meet development requirements. However, the existing testing process for electronic gear shifting systems mainly relies on manual testing of each working condition, which results in low testing efficiency and long testing cycles. Summary of the Invention

[0004] In view of this, the present invention provides an automated testing method and apparatus for electronic gear shifting systems, to solve the problems of low testing efficiency and long testing cycles caused by the fact that the testing process of existing electronic gear shifting systems mainly relies on manual completion of testing for each working condition. The specific solution is as follows:

[0005] An automated testing method for an electronic gear shifting system includes pre-constructing a test platform, wherein the test platform comprises an upper computer test platform, a lower computer test platform, and a robotic arm, and the method is applied to the test platform, the method comprising:

[0006] Test cases for the electronic gear shifting system and control programs for the robotic arm are pre-set, wherein the test cases include at least one test condition, the control program is at least one, and a first mapping relationship between the test condition and the control program is established.

[0007] A test sequence is pre-constructed for each test condition, and a second mapping relationship is established between the test condition and the test sequence;

[0008] For a selected test condition, a target control program corresponding to the selected test condition is determined based on the first mapping relationship, and a target test sequence corresponding to the selected test condition is determined based on the second mapping relationship;

[0009] The selected test conditions are tested based on the target test sequence and the target control program.

[0010] Optionally, the above methods may include pre-setting up a test platform, including:

[0011] Build the host computer test platform;

[0012] Build the aforementioned lower-level machine test platform;

[0013] Establish the connection relationship between the robotic arm and the host computer test platform.

[0014] Optionally, the above method includes setting up the host computer test platform as follows:

[0015] The residual bus model SoftECU, power supply module, and CAN signal simulation module were developed using the MATLAB / Simulink environment. The residual bus model SoftECU module includes the interaction logic between the transmission control unit and the shift control unit.

[0016] Based on the interaction logic, the transmission control unit performs the corresponding gear calculation after receiving the shift request from the shift control unit, and feeds back the correct gear signal after processing to the shift control unit.

[0017] The residual bus model SoftECU, the power supply module, and the CAN signal simulation module are compiled using the Simulink environment to obtain an executable file, which is then imported into the host computer project corresponding to the host computer test platform.

[0018] Optionally, the construction of the lower-level machine test platform includes the following steps:

[0019] Obtain the interaction logic and bus signal attribute characteristics associated with the electronic drive-by-wire system;

[0020] Based on the interaction logic and the characteristics of the bus signal attributes, the electronic drive-by-wire shifting system is connected to each corresponding controller;

[0021] The Configuration Signal Mapping command describes the connection matching between various interfaces and hardware board channels in the host computer test platform.

[0022] The above methods may also include:

[0023] The host computer test platform was debugged.

[0024] The lower-level set test platform was debugged.

[0025] Environmental debugging is performed on the connection relationship between the robotic arm, the host computer test platform, and the slave computer test platform.

[0026] Optionally, the above method involves testing the selected test conditions based on the target test sequence and the target control program, including:

[0027] The execution order and expected signals are determined based on the target test sequence;

[0028] The selected test conditions are executed according to the execution order, and the robotic arm is controlled to perform the test based on the target control program.

[0029] Acquire a test signal, compare the test signal with the desired signal, and output the comparison result.

[0030] An automated testing device for an electronic gear shifting system includes a pre-built testing platform comprising a host computer testing platform, a slave computer testing platform, and a robotic arm. The method is applied to the testing platform. The device includes:

[0031] The setup and creation module is used to pre-set test cases for the electronic gear shifting system and the control program for the robotic arm. The test cases include at least one test condition, and the control program is at least one. A first mapping relationship between the test condition and the control program is established.

[0032] A build and establish module is used to pre-build test sequences for each test condition and establish a second mapping relationship between the test conditions and the test sequences;

[0033] The determination module is used to determine, based on the first mapping relationship, a target control program corresponding to the selected test condition, and based on the second mapping relationship, a target test sequence corresponding to the selected test condition;

[0034] The testing module is used to test the selected test conditions based on the target test sequence and the target control program.

[0035] Optionally, the above-described apparatus may include a pre-built test platform, and the apparatus may further include:

[0036] The first construction module is used to build the host computer test platform;

[0037] The second construction module is used to build the lower-level machine test platform;

[0038] The construction module is used to establish the connection relationship between the robotic arm and the host computer test platform.

[0039] Optionally, the first assembly module of the aforementioned device includes:

[0040] The development unit is used to develop a residual bus model SoftECU, a power supply module, and a CAN signal simulation module through the MATLAB / Simulink environment. The residual bus model SoftECU module includes the interaction logic between the transmission control unit and the shift control unit.

[0041] The calculation and feedback unit is used to instruct the transmission control unit to perform the corresponding gear calculation after receiving the shift request from the shift control unit based on the interaction logic, and to feed back the correct gear signal after processing to the shift control unit.

[0042] The compilation and import unit is used to compile the residual bus model SoftECU, the power module and the CAN signal simulation module based on the Simulink environment to obtain an executable file, and import the executable file into the host computer project corresponding to the host computer test platform.

[0043] Optionally, the second assembly module of the aforementioned device includes:

[0044] The acquisition unit is used to acquire the interaction logic and bus signal attribute characteristics associated with the electronic drive-by-wire shifting system;

[0045] A connection unit is used to connect the electronic drive-by-wire shifting system to each corresponding controller based on the interaction logic and the bus signal attribute characteristics;

[0046] The matching unit is used for connection matching between various interfaces and hardware board channels in the host computer test platform described in the Configuration Signal Mapping command.

[0047] Compared with the prior art, the present invention has the following advantages:

[0048] This invention discloses an automated testing method and apparatus for an electronic gear shifting system, comprising: pre-setting test cases and a control program for a robotic arm for the electronic gear shifting system, wherein there is at least one control program, and the test cases include: at least one test condition; establishing a first mapping relationship between the test condition and the control program; establishing a second mapping relationship between the test condition and a test sequence; for a selected test condition, determining a target control program corresponding to the selected test condition based on the first mapping relationship, and determining a target test sequence corresponding to the selected test condition based on the second mapping relationship; and testing the selected test condition based on the test sequence and the target control program. In this testing process, the test sequence and control program are pre-set for each test condition, and after selecting the test condition, testing is directly performed based on the corresponding test sequence and control program without manual intervention, thus improving testing efficiency and shortening the testing cycle. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 This is a flowchart of an automated testing method for an electronic gear shifting system disclosed in an embodiment of the present invention;

[0051] Figure 2 This is a schematic diagram of the motion control and signal interaction logic of a robotic arm disclosed in an embodiment of the present invention;

[0052] Figure 3 This is another flowchart of an automated testing method for an electronic gear shifting system disclosed in an embodiment of the present invention;

[0053] Figure 4 This is a structural block diagram of an automated testing device for an electronic gear shifting system disclosed in an embodiment of the present invention. Detailed Implementation

[0054] 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.

[0055] This invention discloses an automated testing method and device for an electronic drive-by-wire shifting system, applied to the testing of a drive-by-wire shifting system. Current electronic drive-by-wire systems mainly include lever-type, single and multi-stable rotary knob-type, and column shifter-type operation methods, bringing more convenience and versatility to vehicle driving, while also enhancing the vehicle's luxury and technological feel. The working principle of the electronic drive-by-wire shifting system is as follows: the driver can complete the vehicle's gear shifting operation through an electronic shift lever. Sensors convert the driver's operation intention into electrical signals, which are then used by the shift actuator to drive the transmission's shift shaft to switch between different gears (Park P, Reverse R, Neutral N, Drive D, Manual M, etc.). The electronic drive-by-wire shifting system is simple, lightweight, convenient, and efficient, eliminating the need for complex mechanical systems. Its core components include a shift operation module, a shift control unit, and a shift actuator, while the internal mechanical and electrical structure of the transmission remains unchanged.

[0056] Compared with traditional mechanical shifting, electronic shift-by-wire systems have many advantages, including: (1) electronic control eliminates the need for complex mechanical structures, making the layout more flexible and saving vehicle space; (2) fast shifting response enhances the durability of the transmission and increases the convenience of driving; (3) it can provide additional driving safety protection mechanisms, such as automatically returning to P gear when the driver gets out of the car and preventing shifting when the gear is engaged, thus improving driving safety. However, there are also some disadvantages, such as: (1) many electronic components, complex control logic, numerous factors affecting function, and difficulty in troubleshooting; (2) after shifting, all gears are in the same position, requiring high judgment from the driver and making it easy to shift to the wrong gear; (3) after a malfunction, it is impossible to shift to neutral for towing or other rescue work.

[0057] Therefore, after the design and development of the electronic gear shifter system is completed, it is also necessary to conduct corresponding software and hardware testing, debugging, and verification. This can effectively reduce the probability of problems occurring in the actual vehicle later, ensuring the system's reliability and stability meet development requirements. A properly functioning electronic gear shifter system is essential for ensuring the vehicle can shift gears normally. The shift logic is mainly controlled by the shift control unit controller. In the model-based development process, the shift control unit controller must undergo detailed testing and verification. Furthermore, given the numerous types and forms of gear levers and the complexity of their functions, comprehensive, multi-dimensional, and extensive testing coverage and execution are required to minimize bugs and improve the quality of software and hardware development.

[0058] Therefore, this invention provides an automated testing method for an electronic gear shifting system. This method requires the pre-construction of a testing platform, which includes a host computer testing platform, a slave computer testing platform, and a robotic arm. The pre-construction of the testing platform includes:

[0059] A host computer test platform was built, in which the electronic drive-by-wire shifting system, within the electronic and electrical architecture, primarily interacts with controllers such as the intelligent body domain control unit, engine control system, electronic parking brake, and transmission control unit via bus signals for vehicle power mode, engine status, vehicle speed, brake pedal opening, and transmission gear position. Within this host computer test platform, a residual bus model (SoftECU), a power supply module, and a CAN signal simulation module were developed using the MATLAB / Simulink environment. The power supply module includes a PSM module for routine control of high and low voltage programmable power supplies and an EAControl module for controlling the lower-level bench power switching board. The residual bus model (SoftECU) incorporates the interaction logic between the transmission control unit and the shift control unit. Upon receiving a shift request from the shift control unit, the transmission control unit calculates the corresponding gear and sends the processed correct gear signal back to the shift control unit controller. The CAN signal simulation module uses Simulink to establish a simulation signal list and interface for CAN bus communication to achieve normal bus communication. Finally, the established IO and bus models are compiled and linked using the Simulink environment to generate an executable file with an NI interface, which is then imported into the host computer project.

[0060] Furthermore, for EAControl used for cabinet system power control, the power-on and power-off states of the cabinet are controlled by giving the value of EA_SW. Its inputs are voltage and current values, and its outputs are digital output boards (digital signals) and analog output boards (analog signals). Blocks are constants, limiting, gain, switching, and "NOT" logic.

[0061] This document describes how to control the programmable power supply (PSM) used for setting up various channels and trigger modules, configure the output channels and switching of each circuit board, and set up the inputs (voltage and current values) and outputs (analog output boards, analog signals). Blocks include constants, terminals, interface references, and subsystems.

[0062] The CAN signal simulation module is used for node signal simulation, including signals sent and received by the electronic control unit (ECU) and open-loop logic. Its inputs are constants or SoftECU module associated signals, and its outputs are simulation output bus signals. Blocks include constants, associated references, gains, and switches.

[0063] 3. CAN: Bus signal interaction model (signals sent and received by the ECU and open / closed-loop logic)

[0064] For SoftECU: Virtual Vehicle System, the residual bus simulation model (including TCU, Driver, intelligent driving functions, etc.) is used as the logic simulation model for interacting with the shift control unit SCU. Its input is the SCU gear request node bus signal, and the output is the TCU feedback corresponding gear signal. Blocks are constants, switches, "equal to", and "OR" relational logic.

[0065] A lower-level test platform is constructed, comprising a power supply, a conditioning board, a fault injection system, and a real-time system. The real-time system includes a power management module, a programmable power supply module, a conditioning board & fault injection module, and a real-time machine. In the NI Veristand test management platform, the executable file (DLL) generated by the upper-level test platform is used to connect and match the model interface with the hardware board channels via the "Configuration Signal Mapping" command. In the Configuration interface, all bus signals are matched one-to-one with the signal attributes set in the signal matrix file added to the hardware board channels. This allows the list of node signals that all controllers need to receive to be variably adjusted in the upper-level interface according to self-developed test cases and different scenario requirements, enabling functional testing and verification under different operating conditions.

[0066] According to the ICD file's SCU controller pin definitions, connect the real-time system's I / O ports such as KL30, KL15, wakeup B+, CAN_H, CAN_L, and GND to the controller. Locate the pin definitions for the signals the controller needs to receive, such as driver's door, seat belt, power mode, and brake signals, and connect them to the integrated controller's intelligent body domain control unit and the real-time machine to complete the hard-wired conversion.

[0067] The connection between the robotic arm and the host computer testing platform is established. The robotic arm is a 6-DOF intelligent robotic arm, comprising a servo mechanism and a robotic gripper. The servo mechanism is the robotic arm that rotates and coordinates along different axes; the robotic gripper can simulate a human hand grasping various types of levers to suit testing in different operations and scenarios. The robotic arm is connected to the lower-level computer testing platform.

[0068] Furthermore, after the test platform is constructed, the test platform is debugged. The main modules of the environment debugging are divided into several parts: the model and the real-time machine, the automated test software and the real-time machine, the real-time machine and the robotic arm, and the overall test environment.

[0069] 1) Model and Real-Time Machine Integration and Debugging: After matching the model interface with the board channel, check if the model's signal output can be directly controlled via the host computer interface. Use bus tools to read the signals to determine this. If a controllable signal is missing, the model development team needs to return for secondary modifications. If signal values ​​do not change with host computer control, check the signal matching module of the established project and re-establish the signal matching mapping.

[0070] 2) Integration and debugging of automated testing software with real-time machine: Upload the host computer's IP address to the automated testing software's call window to check whether the sequence program matches the test project and whether it can be automatically invoked. Then, analyze the execution results of individual automated test cases to determine if there are missing signal inputs or logical problems in the sequence, and subsequently modify the model or sequence.

[0071] 3) Real-time machine and robotic arm integration and debugging: Communication between the two is via Ethercat. In both manual and automatic modes of the robotic arm, the host computer interface checks whether the robotic arm's lever type, motion execution, and execution speed can be adjusted via command switches. If an error occurs, the robotic arm interface and program running status must be checked to pinpoint the cause of the problem and make necessary adjustments.

[0072] 4) Overall environment debugging: After the module checks and debugging are completed, the automated test program can be run for testing. Use the bus test tool to connect to the test bench to read the message status from the bus and read the fault codes. If no fault codes are reported, it means that the simulation signal is not missing and the controller communication status is normal.

[0073] The testing method described in this invention is executed based on the aforementioned testing platform. The execution flow of the method is as follows: Figure 1 As shown, the steps include:

[0074] S101. Pre-set test cases for the electronic drive-by-wire gear shifting system and control programs for the robotic arm, wherein the test cases include at least one test condition, the control program is at least one, and a first mapping relationship is established between the test condition and the control program;

[0075] In this embodiment of the invention, the network topology diagram and electrical schematic diagram of the controller are collected, and the physical architecture and parameter configuration of the controller (the object under test) are obtained through analysis. Then, by reading the controller matrix file and functional specifications, the interaction logic and bus signal attribute characteristics of the ECU are confirmed, facilitating subsequent development of simulation models. The interaction logic includes the implementation process of communication and interaction with other controllers via the bus (specific controller, specific signal ID, signal transmission and reception order, etc.); the attribute characteristics include: bus type, signal transmission and reception frequency period, check count and algorithm type, data length, etc. Furthermore, based on the confirmed controller information and functional specifications, automated full-function test cases are developed using an existing test platform, wherein each test case includes at least one test condition.

[0076] Furthermore, the development of communication and control programs for this robotic arm system begins with the design of control programs and interfaces. The goal is to first define the spatial positions of each axis and point of the 6-DOF robotic arm servo mechanism, enabling self-learning of the initial positions. Then, custom programs for the actions are developed sequentially, including algorithms for position selection, actual axis position, axis arrival judgment, axis data transmission, and servo start. This allows the servo mechanism to automatically operate according to the lever's requirements, forming the underlying logical sequence of the robotic arm's actions and determining the subsequent operation definitions for the control panel. Next, the controller is used to write the design development station description file, communication, and initialization programs. This step designs the execution logic and sequence of the robotic gripper's actions. Then, the signal conversion module is configured and modified to convert signals for interaction with the real-time machine. Finally, software configuration, communication, and modifications are performed on the host computer, issuing commands to the real-time machine program. This allows the robotic arm to communicate and execute actions normally within the real-time machine development environment. Furthermore, the robotic arm can be directly monitored and its control program modified using a handheld robotic arm interface for different project applications.

[0077] An example of the control program is as follows:

[0078]

[0079]

[0080]

[0081] The robotic arm motion control and signal interaction logic is as follows: Figure 2As shown, the Portal V16 control program controls a 1200 PLC. The 1200 PLC sends and receives signals to the robotic arm and SMC electric cylinder, respectively. The 1200 PLC controls the Profine to Ethercat module, which sends and receives signals to the host computer test platform. The host computer test platform includes an NI host computer (NI Veristand) and MATLAB Simulink for writing logic control programs. Veristand establishes the environment and communication connections.

[0082] Finally, at least one control program is established to create a first mapping relationship between the test conditions and the control program.

[0083] S102. Pre-construct a test sequence for each test condition, and establish a second mapping relationship between the test condition and the test sequence;

[0084] In this embodiment of the invention, modular test sequences are pre-built for each test condition. Test scripts are independently developed, and a self-developed full-function test case library is imported to perform functional tests such as fault injection, thereby achieving automatically executed programmable test sequences. The fault sequence steps include: environment initialization settings, enable settings, signal feedback reading, and simulated signal transmission. Communication is established by reading test cases and matching mapping file addresses with the host computer. Then, the host computer's test environment settings are independently invoked. Based on the set sequence, signals can be automatically assigned values ​​and judged. The necessary information is read from the host computer and the bus and compared with the expected values ​​to achieve automated testing.

[0085] Furthermore, for signals with established mapping relationships (bus signals and hardwired signals), the settings can be modified by integrating the calling module and Python script. The order of calling and execution operations can be set according to the test cases, and finally integrated to form a complete test sequence process.

[0086] S103. For the selected test condition, determine the target control program corresponding to the selected test condition based on the first mapping relationship, and determine the target test sequence corresponding to the selected test condition based on the second mapping relationship.

[0087] In this embodiment of the invention, for the selected test conditions of the electronic drive-by-wire shifting system, a target control program corresponding to the selected test conditions is determined based on the first mapping relationship, and a target test sequence corresponding to the selected test conditions is determined based on the second mapping relationship.

[0088] S104. Test the selected test conditions based on the target test sequence and the target control program.

[0089] In this embodiment of the invention, the execution order and expected signal are determined based on the target test sequence. The selected test conditions are executed according to the execution order, and the robotic arm is controlled to perform the test based on the target control program. The specific test process is as follows: Test scenarios are defined and implemented in the developed host computer test platform. Basic vehicle operating condition information, such as vehicle status, engine status, vehicle speed, and gearbox gear position, is set in the host computer to simulate a real vehicle scenario. Simulation inputs under different scenarios can be input to the controller via hard-wired switches and CAN bus signals. The robotic arm operates the gear lever according to the pre-set action program. The gear shift control unit then inputs the gear position request to the model in the host computer, thus forming a closed-loop test. Test signals are obtained, and changes in the signals of each node on the CAN bus and the execution of controller actions are captured to confirm the controller's working state and determine whether the test signals are consistent with the expected signals. If they are consistent, the function is considered normal; otherwise, the function is considered abnormal. This process is repeated to verify the complete operation of the gear shift control unit through in-loop testing according to the full functional specification of the test cases.

[0090] This invention discloses an automated testing method and apparatus for an electronic gear shifting system, comprising: pre-setting test cases and a control program for a robotic arm for the electronic gear shifting system, wherein there is at least one control program, and the test cases include: at least one test condition; establishing a first mapping relationship between the test condition and the control program; establishing a second mapping relationship between the test condition and a test sequence; for a selected test condition, determining a target control program corresponding to the selected test condition based on the first mapping relationship, and determining a target test sequence corresponding to the selected test condition based on the second mapping relationship; and testing the selected test condition based on the test sequence and the target control program. In this testing process, the test sequence and control program are pre-set for each test condition, and after selecting the test condition, testing is directly performed based on the corresponding test sequence and control program without manual intervention, thus improving testing efficiency and shortening the testing cycle.

[0091] The overall flowchart based on the above process is as follows: Figure 3As shown, based on the controller network topology diagram and electrical schematic diagram, the architecture configuration of the controlled object and the interaction information of the vehicle nodes are determined. Based on the controller functional specifications and CAN / LIN matrix file, the signal interaction logic and attribute characteristics of the controlled object are determined. Based on the signal interaction logic and attribute characteristics of the controlled object, the architecture configuration of the controlled object, and the interaction information of the vehicle nodes, the input information and model parameter attributes of the ETRS HIL test environment are determined for verification. The HIL test environment takes input information and model parameter attributes, develops full-function test cases, and builds a simulation environment for the development of the IO model and residual bus interface model for compilation. If compilation fails, it returns to building the simulation environment for the development of the IO model and residual bus interface model. If compilation succeeds, it develops the modified controller hardwired environment, builds the upper computer engineering environment, establishes the Ethercat communication environment between the robotic arm and the implementation system through feedback upper computer data algorithms, develops automated test sequences and scripts, and develops algorithms for position selection, axis actual position, axis arrival judgment, axis data transmission, and servo AbsMove start, etc., and performs closed-loop integration. If integration fails, it returns to building the simulation environment for the development of the IO model and residual bus interface model. If successful, automated testing is executed, results and test reports are generated, and the test case library is managed and maintained, and test cases are updated.

[0092] To illustrate the above test process, the initial state is as follows: KL30 is powered on with a voltage of 12V.

[0093] Set KL15 to power on, voltage = 12V;

[0094] Connect the vehicle's CAN bus using CANalyzer / CANoe / Bus master;

[0095] Set the power mode to RUN(VehiclePwrSts(0x1BD)::SysPwrMd=2);

[0096] The ECU wakes up normally.

[0097] Test steps:

[0098] The following conditions must be met:

[0099] Terminal controller TCU gear position P (TCM_94h(0x94h)::TrEstdGear=15)

[0100] Vehicle speed 0km / h (VehSpd(0x189)::VehSpd=0)

[0101] Vehicle speed and direction are stationary (front wheels are effective, left front is stationary, right front is stationary).

[0102] (FrontWheelSpeed::WhlDircnFL=1, FrontWheelSpeed::WhlDircnFR=1);

[0103] Charging gun not connected (BMS_20ms_PDU05(0X142)::BMSOnbdChrgPlugOn=0)

[0104] The brake pedal is depressed (ECM_98h(0x98h)::PTBrkPdlDscrtInptSts=1), where ECM is the engine control system.

[0105] Brake signal is valid (ECM_98h(0x98h)::PTBrkPdlDscrtInptStsV=1)

[0106] Vehicle speed signal is valid (VehSpd(0x189)::VehSpdV=1)

[0107] TCU gear position signal valid (TCM_94h(0x94h)::TrEstdGearV=1), where TCM is the transmission control unit.

[0108] ECM_134h (0x134h) message communication is normal (MessageCounter & Checksum are correct).

[0109] ECM_98h (0x98h) message communication is normal (MessageCounter & Checksum are correct).

[0110] ShftLvrInfo(0x9E) message communication is normal (MessageCounter & Checksum are correct).

[0111] VehSpd(0x189) message communication is normal (MessageCounter & Checksum are correct).

[0112] TCM_94h (0x94h) message communication is normal (MessageCounter & Checksum are correct);

[0113] The driver requests gear R;

[0114] Gear shifting operation A2;

[0115] Check the status of the ShftLvrInfo(0x9E)::SCU_ShiftRequest message, where SCU is the shift control unit;

[0116] Detect the status of ShftLvrInfo(0x9E)::SCU_RequestToIPK message.

[0117] Expected results:

[0118] ① ECU wake-up, ShftLvrInfo(0x9E) message communication is normal;

[0119] ② All defined CAN signals were transmitted normally, with no node loss; and the system had no faults and no DTC reports were issued.

[0120] ③ Gear lever operation ShftLvrInfo(0x9E)::SCU_ShiftLvrPos=0; A2

[0121] ④ Actual gear request ShftLvrInfo(0x9E)::SCU_ShiftRequest=7; R

[0122] ⑤ The instrument prompts ShftLvrInfo(0x9E)::SCU_RequestToIPK=0; No Request

[0123] In this embodiment of the invention, the hardware-in-the-loop automated testing and verification method is based on the NIPXI real-time simulation platform. It utilizes a self-developed residual bus model and I / O interface model via Simulink, a self-developed Veristand host computer experimental environment, and a self-developed TAE automated test sequence and script. It innovatively develops robotic arm motion programs and algorithms adapted to four types of gear shifting systems, using robotic arm movements to replace manual shifting of gear levers. These four systems include lever-type, single and multi-stable rotary knob-type, and column shifter-type. Furthermore, it achieves synchronized movements of multiple systems, including real-time and non-real-time systems, to realize closed-loop automated testing of the shift control unit. This method rapidly enhances the fully automated testing and verification capabilities of the SCU, improves testing and verification efficiency, saves project development time, and reduces manpower and material costs. It reduces testing of real-vehicle fault injection and hazardous conditions, replacing real-vehicle testing with bench testing, thus improving test safety. The use of automated testing tools increases the number of test executions, significantly increasing the sufficiency of test verification. Batch execution of test sequences allows for pre-set and repetitive testing without human intervention, maximizing test depth and coverage.

[0124] Based on the above-described automated testing method for an electronic gear shifting system, this embodiment of the invention also provides an automated testing device for an electronic gear shifting system. The device includes a pre-built testing platform comprising an upper-level testing platform, a lower-level testing platform, and a robotic arm. The method is applied to the testing platform. The structural block diagram of the device is shown below. Figure 4 As shown, it includes:

[0125] Set up and create module 201, build and create module 202, determine module 203 and test module 204.

[0126] in,

[0127] The setting and establishing module 201 is used to pre-set test cases for the electronic drive-by-wire gear shifting system and control programs for the robotic arm, wherein the test cases include at least one test condition, the control program is at least one, and a first mapping relationship is established between the test condition and the control program;

[0128] The construction and establishment module 202 is used to pre-construct a test sequence for each test condition and establish a second mapping relationship between the test condition and the test sequence;

[0129] The determining module 203 is used to determine, based on the first mapping relationship, a target control program corresponding to the selected test condition, and based on the second mapping relationship, a target test sequence corresponding to the selected test condition.

[0130] The test module 204 is used to test the selected test conditions based on the target test sequence and the target control program.

[0131] In this embodiment of the invention, a test platform is pre-built in the device, and the device further includes:

[0132] First building module 205, second building module 205, and construction module 206.

[0133] in,

[0134] The first construction module 205 is used to build the host computer test platform;

[0135] The second construction module 206 is used to build the lower-level machine test platform;

[0136] The construction module 207 is used to construct the connection relationship between the robotic arm and the host computer test platform.

[0137] In this embodiment of the invention, the first construction module 205 includes:

[0138] Development unit 208, calculation and feedback unit 209, and compilation and import unit 210.

[0139] in,

[0140] The development unit 208 is used to develop a residual bus model SoftECU, a power supply module, and a CAN signal simulation module through the MATLAB / Simulink environment. The residual bus model SoftECU module includes the interaction logic between the transmission control unit and the shift control unit.

[0141] The calculation and feedback unit 209 is used to instruct the transmission control unit to perform the corresponding gear calculation after receiving the shift request from the shift control unit based on the interaction logic, and to feed back the correct gear signal after processing to the shift control unit.

[0142] The compilation and import unit 210 is used to compile the residual bus model SoftECU, the power module and the CAN signal simulation module based on the Simulink environment to obtain an executable file, and import the executable file into the host computer project corresponding to the host computer test platform.

[0143] In this embodiment of the invention, the second construction module 206 includes:

[0144] Acquisition unit 211, connection unit 212 and matching unit 213.

[0145] in,

[0146] The acquisition unit 211 is used to acquire the interaction logic and bus signal attribute characteristics associated with the electronic drive-by-wire shifting system;

[0147] The connection unit 212 is used to connect the electronic drive-by-wire shifting system to each corresponding controller based on the interaction logic and the bus signal attribute characteristics.

[0148] The matching unit 213 is used for connection matching between various interfaces and hardware board channels in the host computer test platform in the Configuration Signal Mapping command.

[0149] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0150] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0151] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0152] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0153] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0154] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0155] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0156] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0157] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0158] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. An automated testing method for an electronic gear shifting system, characterized in that, A test platform is pre-built, comprising a host computer test platform, a slave computer test platform, and a robotic arm. The method is applied to the test platform and includes: Test cases for the electronic gear shifting system and control programs for the robotic arm are pre-set, wherein the test cases include at least one test condition, the control program is at least one, and a first mapping relationship between the test condition and the control program is established. A test sequence is pre-constructed for each test condition, and a second mapping relationship is established between the test condition and the test sequence; For a selected test condition, a target control program corresponding to the selected test condition is determined based on the first mapping relationship, and a target test sequence corresponding to the selected test condition is determined based on the second mapping relationship; The selected test conditions are tested based on the target test sequence and the target control program. The process of testing the selected test conditions based on the target test sequence and the target control program includes: The execution order and expected signals are determined based on the target test sequence; The selected test conditions are executed according to the execution order, and the robotic arm is controlled to perform the test based on the target control program. Acquire a test signal, compare the test signal with the desired signal, and output the comparison result.

2. The method according to claim 1, characterized in that, Pre-build a test platform, including: Build the host computer test platform; Build the aforementioned lower-level machine test platform; Establish the connection relationship between the robotic arm and the host computer test platform.

3. The method according to claim 2, characterized in that, Setting up the host computer testing platform includes: The residual bus model SoftECU, power supply module, and CAN signal simulation module were developed using the MATLAB / Simulink environment. The residual bus model SoftECU module includes the interaction logic between the transmission control unit and the shift control unit. Based on the interaction logic, the transmission control unit performs the corresponding gear calculation after receiving the shift request from the shift control unit, and feeds back the correct gear signal after processing to the shift control unit. The residual bus model SoftECU, the power supply module, and the CAN signal simulation module are compiled using the Simulink environment to obtain an executable file. The executable file is then imported into the host computer project corresponding to the host computer test platform.

4. The method according to claim 2, characterized in that, Building the lower-level machine test platform includes: Obtain the interaction logic and bus signal attribute characteristics associated with the electronic drive-by-wire system; Based on the interaction logic and the characteristics of the bus signal attributes, the electronic drive-by-wire shifting system is connected to each corresponding controller; The Configuration Signal Mapping command describes the connection matching between various interfaces and hardware board channels in the host computer test platform.

5. The method according to claim 2, characterized in that, Also includes: The host computer test platform was debugged. The lower-level set test platform was debugged. Environmental debugging is performed on the connection relationship between the robotic arm, the host computer test platform, and the slave computer test platform.

6. An automated testing device for an electronic gear shifting system, characterized in that, A test platform is pre-built, comprising a host computer test platform, a slave computer test platform, and a robotic arm. The device is applied to the test platform and includes: The setup and creation module is used to pre-set test cases for the electronic drive-by-wire gear shifting system and the control program for the robotic arm. The test cases include at least one test condition, and the control program is at least one. A first mapping relationship between the test condition and the control program is established. A build and establish module is used to pre-build test sequences for each test condition and establish a second mapping relationship between the test conditions and the test sequences; The determination module is used to determine, based on the first mapping relationship, a target control program corresponding to the selected test condition, and based on the second mapping relationship, a target test sequence corresponding to the selected test condition; The testing module is used to test the selected test conditions based on the target test sequence and the target control program; The testing module performs tests on the selected test conditions based on the target test sequence and the target control program. Specifically, it is used to: determine the execution order and expected signal based on the target test sequence; execute the selected test conditions according to the execution order and control the robotic arm to perform tests based on the target control program; acquire test signals, compare the test signals with the expected signals, and output the comparison results.

7. The apparatus according to claim 6, characterized in that, The device includes a pre-built test platform and further comprises: The first construction module is used to build the host computer test platform; The second construction module is used to build the lower-level machine test platform; The construction module is used to establish the connection relationship between the robotic arm and the host computer test platform.

8. The apparatus according to claim 7, characterized in that, The first construction module includes: The development unit is used to develop a residual bus model SoftECU, a power supply module, and a CAN signal simulation module through the MATLAB / Simulink environment. The residual bus model SoftECU module includes the interaction logic between the transmission control unit and the shift control unit. The calculation and feedback unit is used to instruct the transmission control unit to perform the corresponding gear calculation after receiving the shift request from the shift control unit based on the interaction logic, and to feed back the correct gear signal after processing to the shift control unit. The compilation and import unit is used to compile the residual bus model SoftECU, the power module, and the CAN signal simulation module based on the Simulink environment to obtain an executable file, and import the executable file into the host computer project corresponding to the host computer test platform.

9. The apparatus according to claim 7, characterized in that, The second construction module includes: The acquisition unit is used to acquire the interaction logic and bus signal attribute characteristics associated with the electronic drive-by-wire shifting system; A connection unit is used to connect the electronic drive-by-wire shifting system to each corresponding controller based on the interaction logic and the bus signal attribute characteristics; The matching unit is used for connection matching between various interfaces and hardware board channels in the host computer test platform described in the Configuration Signal Mapping command.

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