Vehicle testing method, can card and test vehicle

Abstract

The application provides a vehicle testing method, a CAN card and a test vehicle, which can be used in the technical field of vehicle testing, and the vehicle comprises the CAN card and a VCU, the CAN card stores a control instruction set, and the control instruction set comprises at least one control instruction; the method comprises the following steps: the CAN card sends the control instruction in the control instruction set to the VCU according to a preset sending program, the control instruction is used for triggering the VCU to perform a corresponding control operation and collecting operation data of the vehicle; and the CAN card receives the operation data sent by the VCU, and adjusts the control instruction in the control instruction set according to the received operation data. In the application, the control instruction is stored in the CAN card in advance, so that the vehicle to be tested can perform performance testing without connecting other test equipment, and meanwhile, the control instruction in the control instruction set can be adjusted, so that the testing efficiency can be effectively improved.

Description

Technical Field

[0001] This application relates to the field of vehicle testing technology, and in particular to a vehicle testing method, a Controller Area Network (CAN) card, and a test vehicle. Background Technology

[0002] With the rapid development of autonomous driving technology, driverless cars have been widely used in various scenarios.

[0003] In the development of autonomous vehicles, vehicle performance testing is an extremely important step. Vehicle performance testing typically involves installing specialized testing equipment in the vehicle under test. This equipment sends control commands such as acceleration, deceleration, steering, and braking to the vehicle based on testing requirements, while simultaneously collecting operational data. The performance of the vehicle is then evaluated based on this collected data.

[0004] However, since the aforementioned testing equipment typically requires an independent power supply and the installation process is complex, traditional vehicle performance testing solutions are easily limited by the testing site and have low testing efficiency. Summary of the Invention

[0005] This application provides a vehicle testing method, a CAN card, and a test vehicle, which can solve the technical problems of existing vehicle performance testing schemes being easily limited by the test site and having low testing efficiency.

[0006] Firstly, this application provides a vehicle testing method, wherein the vehicle includes a CAN card and a vehicle control unit (VCU), the CAN card and the VCU are connected via a CAN bus, the CAN card stores a set of control commands, and the set of control commands includes at least one control command; the method includes:

[0007] The CAN card sends the control commands from the control command set to the VCU according to a pre-set sending program; the control commands are used to trigger the VCU to perform corresponding control operations and collect the vehicle's operating data.

[0008] The CAN card receives the operating data sent by the VCU;

[0009] The CAN card adjusts the control commands in the control command set based on the received operating data.

[0010] In some embodiments, the method further includes:

[0011] When the CAN card detects a test start command, the CAN card acquires the transmission program; the transmission program includes at least one of the following: the time information of the CAN card transmitting each of the control commands in the control command set, the cycle period of transmitting each of the control commands in the control command set, and the number of cycles of transmitting each of the control commands in the control command set.

[0012] In some embodiments, the CAN card is provided with a power switch; the method further includes:

[0013] When the CAN card detects that the power switch is turned on, it determines that the test start command has been detected.

[0014] In some implementations, the CAN card adjusts the control commands in the control command set based on the received operational data, including:

[0015] The CAN card acquires the expected operating data corresponding to each of the pre-stored control commands, and compares the expected operating data corresponding to each of the control commands with the operating data corresponding to each of the control commands received by the CAN card;

[0016] The CAN card adjusts the control commands in the control command set based on the comparison results.

[0017] In some implementations, the CAN card adjusts the control commands in the control command set based on the comparison results, including:

[0018] The CAN card determines whether a target control command exists in the control command set based on the comparison result. The error between the expected operating data corresponding to the target control command and the operating data corresponding to the target control command received by the CAN card is greater than the preset error threshold of the target control command.

[0019] When the target control command exists in the control command set, the CAN card removes the target control command from the control command set.

[0020] In some implementations, the CAN card adjusts the control commands in the control command set based on the comparison results, including:

[0021] Based on the comparison result, the CAN card determines whether a target control command exists in the control command set. The error between the expected operating data corresponding to the target control command and the operating data corresponding to the target control command received by the CAN card in N consecutive cycle periods is greater than the preset error threshold of the target control command. Wherein, N is a positive integer and N≥2.

[0022] When the target control command exists in the control command set, the CAN card removes the target control command from the control command set.

[0023] In some embodiments, the method further includes:

[0024] The CAN card records the target control command removed from the control command set, as well as the running data corresponding to the target control command received by the CAN card.

[0025] In some embodiments, the method further includes:

[0026] The CAN card receives CAN control messages sent by external devices;

[0027] The CAN card parses the CAN control message to obtain multiple control commands corresponding to the CAN control message;

[0028] The CAN card stores the received multiple control commands in a preset storage location within the CAN card.

[0029] Secondly, this application provides a CAN card installed in a vehicle, the vehicle including a VCU, the CAN card being connected to the VCU via a CAN bus, the CAN card comprising:

[0030] A storage module is used to store a set of control instructions, wherein the set of control instructions includes at least one control instruction;

[0031] The sending module is used to send the control commands from the control command set to the VCU; the control commands are used to trigger the VCU to perform corresponding control operations and collect the vehicle's operating data;

[0032] A receiving module is used to receive the vehicle's operating data sent by the VCU;

[0033] The processing module is used to adjust the control instructions in the control instruction set according to the received operating data.

[0034] Thirdly, this application provides a test vehicle that includes the CAN card as provided in the first aspect.

[0035] The vehicle testing method, CAN card, and test vehicle provided in this application enable the vehicle under test to complete the test without installing dedicated testing equipment and without being affected by the test site by pre-storing control commands in the CAN card. At the same time, the CAN card adjusts the control commands in the control command set according to the received operating data, enabling the vehicle under test to complete the test task more efficiently and improving testing efficiency. Attached Figure Description

[0036] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0037] Figure 1 This is a schematic diagram of a test architecture for a vehicle under test provided in an embodiment of this application;

[0038] Figure 2 This is a flowchart illustrating the steps of a vehicle testing method provided in an embodiment of this application.

[0039] Figure 3 This is a schematic diagram of the program module of a CAN card provided in an embodiment of this application.

[0040] The accompanying drawings have illustrated specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to specific embodiments. Detailed Implementation

[0041] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0042] It should be noted that the vehicle testing method, CAN card and test vehicle provided in the embodiments of this application can be used in the field of vehicle testing technology, or in any field other than the field of vehicle testing technology. This application does not limit the application field of the provided vehicle testing method, CAN card and test vehicle.

[0043] In the development of autonomous vehicles, performance testing is a crucial step, such as durability testing of the vehicle chassis. Two common testing methods are used: Method 1: Dedicated testing equipment is installed in the vehicle under test. This equipment sends control commands such as acceleration, deceleration, steering, and braking to the vehicle based on testing requirements, while simultaneously collecting operational data. The vehicle's performance is then evaluated based on this data. Method 2: A test bench is built, and control commands are sent to the vehicle under test using the test bench.

[0044] However, in Method 1, a mounting system needs to be designed on the vehicle under test to install the test equipment, which is complex. Furthermore, the vehicle under test cannot directly power the test equipment, and relying solely on the test equipment's own battery in the absence of a power supply makes long-term durability testing difficult. Additionally, the test equipment is easily affected by external environmental factors such as high temperatures or rain, causing it to malfunction and interrupting the test. In Method 2, the cost of building the test bench is high, and testing can only be conducted in environments with an independent power supply, making it unsuitable for various outdoor load testing scenarios.

[0045] To address the aforementioned technical issues, this application provides a vehicle testing method, a CAN card, and a test vehicle. By pre-storing control commands in the CAN card, the vehicle under test can complete the test without installing dedicated testing equipment or setting up a test bench, and is unaffected by the test site. Simultaneously, the CAN card adjusts the control commands in the control command set based on the received operating data, enabling the vehicle under test to complete the test task more efficiently and improving testing efficiency.

[0046] Reference Figure 1 , Figure 1 This is a schematic diagram of a test architecture for a vehicle under test provided in an embodiment of this application.

[0047] In some embodiments, the vehicle includes a CAN card 101, a vehicle control unit (VCU) 102, and multiple electronic control units (ECUs), such as drive units, steering units, braking units, parking units, lighting control units, and power control units. The CAN card 101 and VCU 102 are connected via a CAN bus, and the VCU 102 is electrically connected to each of the aforementioned electronic control units.

[0048] In some implementations, the CAN card 101 stores a set of control instructions, which includes at least one control instruction. Different control instructions are used to control different electronic controller units to perform different operations.

[0049] Reference Figure 2 , Figure 2 This is a flowchart illustrating the steps of a vehicle testing method provided in an embodiment of this application. In some embodiments of this application, the vehicle testing method includes:

[0050] S201, the CAN card sends control commands from the control command set to the VCU according to the preset sending program; these control commands are used to trigger the VCU to perform corresponding control operations and collect vehicle operating data.

[0051] In this embodiment of the application, the CAN card is offline during vehicle testing, meaning that the CAN card does not have a communication connection with other external devices.

[0052] In some implementations, the CAN card pre-stores a set of control commands, which includes at least one control command for controlling and adjusting various functions of the vehicle. For example, the control commands may include commands to start the engine, open the door, and adjust the temperature. These control commands are packaged into a single set, and the CAN card can send the control commands from this set to the VCU in a preset order and at preset time intervals.

[0053] In some implementations, a sending program corresponding to the control commands can be preset. Optionally, the sending program includes at least one of the following information: time information of each control command in the CAN card sending control command set, cycle period of each control command in the cyclic sending control command set, and number of cycles of each control command in the cyclic sending control command set.

[0054] When the CAN card detects the test start command, it obtains the sending program and sends the control commands from the control command set to the VCU according to the sending program.

[0055] In some implementations, when the VCU receives control commands from the CAN card, it executes the corresponding operations according to the requirements of the received control commands. For example, if the control command received by the VCU requests that the engine be started, the VCU will send a start signal to the engine control system to start the engine. If the control command received by the VCU requests that the vehicle be steered, the VCU will send a steering adjustment signal to the steering control system to adjust the vehicle's steering. In this way, the CAN card can control and adjust various functions of the vehicle.

[0056] Simultaneously, the VCU also collects vehicle operating data, such as engine speed, vehicle speed, and acceleration, and sends this data to other systems or devices for monitoring and control. For example, the VCU can collect vehicle operating data and send this data to the CAN card.

[0057] Optionally, the aforementioned vehicles may be unmanned vehicles or driverless vehicles, and no restrictions are imposed on this embodiment.

[0058] In some implementations, the CAN card is powered by the vehicle's own power supply.

[0059] S202, the CAN card receives the operating data sent by the VCU.

[0060] In some implementations, the CAN card can communicate with the VCU via the CAN bus to receive operational data sent by the VCU. Optionally, this operational data can be transmitted in the form of messages via the CAN bus, where each message contains specific information, such as engine speed, vehicle speed, and acceleration. After receiving these messages, the CAN card can parse and process them to obtain information about the vehicle's operating status and behavior.

[0061] S203 and CAN card adjust the control commands in the control command set according to the received operating data.

[0062] In some implementations, the CAN card can analyze and judge the vehicle's operating data after receiving it, and adjust the control commands in the control command set as needed. For example, after sending a steering control command to the VCU, if the received operating data indicates that the vehicle has not performed the operation, it can be assumed that the vehicle's current steering unit is malfunctioning. In this case, the steering control command can be removed from the control command set, and the CAN card will no longer send the steering control command to the vehicle during subsequent testing.

[0063] It is understood that the vehicle described in the embodiments of this application may be an unmanned vehicle or simply an unmanned vehicle chassis, and no limitation is made in the embodiments of this application.

[0064] The vehicle testing method provided in this application allows the vehicle under test to complete the test without installing dedicated testing equipment by pre-storing control commands in a CAN card, and is unaffected by the test site. At the same time, the CAN card adjusts the control commands in the control command set according to the received operating data, enabling the vehicle under test to complete the test task more efficiently and improving testing efficiency.

[0065] Based on the content described in the above embodiments, in some embodiments of this application, various control commands and corresponding sending programs can be pre-set in an external device according to test requirements, and then the various control commands and corresponding sending programs can be encapsulated into CAN control messages and imported into the CAN card.

[0066] In some implementations, when the CAN card receives a CAN control message sent by an external device, it parses the received CAN control message to obtain multiple control commands and corresponding sending programs corresponding to the CAN control message, and stores the obtained multiple control commands in a preset storage location in the CAN card.

[0067] Taking the steering control command as an example, its message format can be: 0x165 80 4E20 00 32 01CA; where 80 represents the control mode and activation bit, 4E20 represents the control angle size (the angle size can be changed during testing), 00 represents the curvature of the moving target, 32 represents the steering angular velocity, 01 represents the cycle count, and CA represents the checksum.

[0068] In some implementations, the CAN card is equipped with a start switch. When the CAN card detects that the start switch is turned on, it can send corresponding control commands to the VCU according to the above-described sending procedure.

[0069] In some implementations, the CAN card may pre-store multiple sets of control commands, and the CAN card may be equipped with multiple start switches. When different start switches are turned on, the CAN card sends control commands from different sets of control commands to the VCU.

[0070] The vehicle testing method provided in this application can achieve the following beneficial effects: it eliminates the need to install dedicated testing equipment on the vehicle under test, and enables long-term cyclic durability testing even in testing environments without independent power supplies; it is unaffected by harsh outdoor testing environments; and it can issue control commands via a one-button start switch on a CAN card, eliminating the need for a computer or non-standard testing equipment to start the test, making it convenient and quick to operate, and enabling rapid deployment and rapid start-up of the test.

[0071] Based on the content described in the above embodiments, in some embodiments of this application, after the CAN card receives the operating data sent by the VCU, it can obtain the expected operating data corresponding to each pre-stored control instruction, and then compare the expected operating data corresponding to each control instruction with the operating data corresponding to each received control instruction. Based on the comparison result, the control instructions in the above control instruction set are adjusted.

[0072] In some implementations, the CAN card can determine whether a target control instruction exists in the control instruction set based on the comparison results above. The error between the expected operating data corresponding to the target control instruction and the operating data corresponding to the target control instruction received by the CAN card is greater than a preset error threshold of the target control instruction. When the target control instruction exists in the control instruction set, the CAN card can remove the target control instruction from the control instruction set.

[0073] It is understandable that when the error between the expected operating data corresponding to the target control command and the operating data corresponding to the target control command received by the CAN card is greater than the preset error threshold of the target control command, it indicates that there is an anomaly in the vehicle when executing the operation corresponding to the target control command. Therefore, the target control command can be removed from the above control command set to prevent the CAN card from still sending the target control command to the VCU in subsequent testing.

[0074] In other implementations, the CAN card can determine whether a target control instruction exists in the control instruction set based on the comparison results. The error between the expected operating data corresponding to the target control instruction and the operating data corresponding to the target control instruction received by the CAN card in N consecutive cycles is greater than a preset error threshold for the target control instruction. Here, N is a positive integer and N≥2. When the target control instruction exists in the control instruction set, the CAN card can remove the target control instruction from the control instruction set.

[0075] Understandably, when the error between the expected operating data corresponding to the target control command and the operating data corresponding to the target control command received by the CAN card in N consecutive cycles is greater than the preset error threshold of the target control command, it indicates that the vehicle has an anomaly when executing the operation corresponding to the target control command in N consecutive cycles. Therefore, the target control command can be removed from the above control command set to prevent the CAN card from still sending the target control command to the VCU in subsequent testing.

[0076] In some embodiments, the CAN card can record target control commands removed from the aforementioned control command set, as well as the corresponding operational data received by the CAN card for the aforementioned target control commands, thereby helping testers quickly locate abnormal conditions in the vehicle.

[0077] The vehicle testing method provided in this application allows the CAN card to adjust the control commands in the control command set based on the received operating data, enabling the vehicle under test to complete the testing task more efficiently and improving testing efficiency.

[0078] Based on the description in the above embodiments, this application also provides a CAN card, which is installed in a vehicle including a VCU. The CAN card and the VCU are connected via a CAN bus. (See reference...) Figure 3 , Figure 3 This is a schematic diagram of a program module for a CAN card provided in an embodiment of this application. In some embodiments, the CAN card includes:

[0079] Storage module 301 is used to store a set of control instructions, wherein the set of control instructions includes at least one control instruction;

[0080] The sending module 302 is used to send the control instructions from the control instruction set to the VCU; the control instructions are used to trigger the VCU to perform corresponding control operations and collect the vehicle's operating data;

[0081] The receiving module 303 is used to receive the vehicle's operating data sent by the VCU;

[0082] The processing module 304 is used to adjust the control instructions in the control instruction set according to the received operating data.

[0083] The CAN card provided in this embodiment of the application enables the vehicle under test to complete the test without installing dedicated testing equipment and is unaffected by the test site by pre-storing control commands. At the same time, the CAN card adjusts the control commands in the control command set according to the received operating data, enabling the vehicle under test to complete the test task more efficiently and improving the test efficiency.

[0084] In some embodiments, the sending module 302 is further configured to:

[0085] When a test start command is detected, the sending program is obtained; the sending program includes at least one of the following information: the time information of the CAN card sending each of the control commands in the control command set, the cycle period of sending each of the control commands in the control command set, and the number of cycles of sending each of the control commands in the control command set.

[0086] In some embodiments, the CAN card is provided with a start switch; in some embodiments, the transmitting module 302 is used for:

[0087] When the start switch is detected to be on, it is determined that the test start command has been detected.

[0088] In some embodiments, the processing module 304 is used to:

[0089] Obtain the expected operating data corresponding to each of the pre-stored control commands, and compare the expected operating data corresponding to each of the control commands with the operating data corresponding to each of the control commands received by the CAN card;

[0090] Based on the comparison results, adjust the control commands in the control command set.

[0091] In some embodiments, the processing module 304 is used to:

[0092] Based on the comparison results, it is determined whether there is a target control instruction in the control instruction set, and the error between the expected operating data corresponding to the target control instruction and the operating data corresponding to the target control instruction received by the CAN card is greater than the preset error threshold of the target control instruction;

[0093] When the target control instruction exists in the set of control instructions, the target control instruction is removed from the set of control instructions.

[0094] In some embodiments, the processing module 304 is used to:

[0095] Based on the comparison results, it is determined whether a target control instruction exists in the control instruction set. The error between the expected operating data corresponding to the target control instruction and the operating data corresponding to the target control instruction received by the CAN card in N consecutive cycle periods is greater than the preset error threshold of the target control instruction; where N is a positive integer and N≥2.

[0096] When the target control instruction exists in the set of control instructions, the target control instruction is removed from the set of control instructions.

[0097] In some embodiments, the storage module 301 is used for:

[0098] Record the target control command removed from the control command set, and the corresponding operation data received by the CAN card for the target control command.

[0099] In some embodiments, the storage module 301 is further configured to:

[0100] Receive CAN control messages sent by external devices;

[0101] The CAN control message is parsed to obtain multiple control commands corresponding to the CAN control message;

[0102] The obtained control commands are stored in a preset storage location in the CAN card.

[0103] It should be noted that the specific execution of the storage module 301, the sending module 302, the receiving module 303, and the processing module 304 in this embodiment can be found in the CAN card described in the above embodiments, and will not be repeated here.

[0104] Furthermore, based on the content described in the above embodiments, this application also provides a test vehicle, which includes the CAN card described in the above embodiments, and will not be repeated here.

[0105] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or modules, and may be electrical, mechanical, or other forms.

[0106] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0107] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The unit composed of the above modules can be implemented in hardware or in the form of hardware plus software functional units.

[0108] The integrated modules implemented as software functional modules described above can be stored in a computer-readable storage medium. These software functional modules, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of this application.

[0109] It should be understood that the aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0110] The memory may include high-speed memory, and may also include non-volatile memory, such as at least one disk storage device, and may also be a USB flash drive, portable hard drive, read-only memory, disk or optical disc, etc.

[0111] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0112] The aforementioned storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory, electrically erasable programmable read-only memory, erasable programmable read-only memory, programmable read-only memory, read-only memory, magnetic storage, flash memory, magnetic disk, or optical disk. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0113] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A vehicle testing method, characterized in that, The vehicle includes a controller area network (CAN) card and a vehicle control unit (VCU). The CAN card and the VCU are connected via a CAN bus. The CAN card stores a set of control commands, and the set of control commands includes at least one control command. During vehicle testing, the CAN card is offline and has no communication connection with other external devices; the method includes: The CAN card sends the control commands from the control command set to the VCU according to a pre-set sending program; the control commands are used to trigger the VCU to perform corresponding control operations and collect the vehicle's operating data. The CAN card receives the operating data sent by the VCU; The CAN card acquires the expected operating data corresponding to each of the pre-stored control commands, and compares the expected operating data corresponding to each of the control commands with the operating data corresponding to each of the control commands received by the CAN card; The CAN card determines whether a target control command exists in the control command set based on the comparison results. The error between the expected operating data corresponding to the target control command and the operating data corresponding to the target control command received by the CAN card is greater than the preset error threshold of the target control command. When the target control command exists in the control command set, the CAN card removes the target control command from the control command set.

2. The vehicle testing method according to claim 1, characterized in that, The method further includes: When the CAN card detects a test start command, the CAN card acquires the transmission program; the transmission program includes at least one of the following: the time information of the CAN card transmitting each of the control commands in the control command set, the cycle period of transmitting each of the control commands in the control command set, and the number of cycles of transmitting each of the control commands in the control command set.

3. The vehicle testing method according to claim 2, characterized in that, The CAN card is equipped with a start switch; the method further includes: When the CAN card detects that the power switch is turned on, it determines that the test start command has been detected.

4. The vehicle testing method according to claim 1, characterized in that, Based on the comparison results, the CAN card adjusts the control commands in the control command set, including: Based on the comparison result, the CAN card determines whether a target control command exists in the control command set. The error between the expected operating data corresponding to the target control command and the operating data corresponding to the target control command received by the CAN card in N consecutive cycles is greater than the preset error threshold of the target control command. Wherein, N is a positive integer and N≥2. When the target control command exists in the control command set, the CAN card removes the target control command from the control command set.

5. The vehicle testing method according to claim 1 or 4, characterized in that, The method further includes: The CAN card records the target control command removed from the control command set, as well as the running data corresponding to the target control command received by the CAN card.

6. The vehicle testing method according to claim 1, characterized in that, The method further includes: The CAN card receives CAN control messages sent by external devices; The CAN card parses the CAN control message to obtain multiple control commands corresponding to the CAN control message; The CAN card stores the received multiple control commands in a preset storage location within the CAN card.

7. A CAN card, characterized in that, The CAN card is installed in the vehicle, which includes a VCU. The CAN card is connected to the VCU via a CAN bus. During vehicle testing, the CAN card is offline and does not communicate with other external devices. The CAN card includes: A storage module is used to store a set of control instructions, wherein the set of control instructions includes at least one control instruction; The sending module is used to send the control commands from the control command set to the VCU; the control commands are used to trigger the VCU to perform corresponding control operations and collect the vehicle's operating data; A receiving module is used to receive the vehicle's operating data sent by the VCU; The processing module is used to: CAN card acquires the expected operating data corresponding to each pre-stored control command; compare the expected operating data corresponding to each control command with the operating data corresponding to each control command received by the CAN card; based on the comparison result, the CAN card determines whether a target control command exists in the control command set; if the error between the expected operating data corresponding to the target control command and the operating data corresponding to the target control command received by the CAN card is greater than a preset error threshold for the target control command; and if the target control command exists in the control command set, the CAN card removes the target control command from the control command set.

8. A test vehicle, characterized in that, The test vehicle includes the CAN card as described in claim 7.

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