Vehicle fault testing system, method, device and storage medium

Abstract

The present invention discloses a vehicle fault testing system, method, device and storage medium, wherein the fault testing system includes an EPS system, the EPS system includes a steering gear, an electronic control unit, and a first angle sensor and a second angle sensor arranged at the input shaft of the steering gear, the electronic control unit is used to output a driving signal to drive and control the steering gear according to a received torque control signal, a measurement signal output by the first angle sensor, and a measurement signal output by the second angle sensor; a HED control module is used to send a torque control signal to the electronic control unit; and a sensor fault simulation signal injection module is used to inject an angle sensor fault signal into the electronic control unit. Therefore, the present invention can effectively improve the fault testing efficiency of the angle sensor of the EPS system.

Description

Technical Field

[0001] The present invention relates to, but is not limited to, the field of automobile safety testing technology, and in particular to a vehicle fault testing system, method, device and storage medium. Background Art

[0002] As the level of automobile intelligence continues to improve, more and more cars are equipped with assisted driving functions, and the safety requirements for driving assistance functions are constantly increasing. Therefore, it is necessary to perform functional tests on driving assistance functions during the development stage of driving assistance functions to improve the safety of assisted driving functions. At present, for the fault test of the steering angle sensor in the assisted driving function using torque request, the assisted driving function is mainly tested by connecting the faulty parts, and the test efficiency is low. Therefore, how to improve the efficiency of steering angle sensor fault testing has become an urgent problem to be solved. Summary of the invention

[0003] The embodiments of the present invention provide a vehicle fault testing system, method, device and storage medium, which can effectively improve the fault testing efficiency of the steering angle sensor of the EPS system.

[0004] In a first aspect, an embodiment of the present invention provides a vehicle fault testing system, comprising:

[0005] An EPS system, the EPS system comprising a steering gear, an electronic control unit, and a first rotation angle sensor and a second rotation angle sensor disposed at an input shaft of the steering gear, the electronic control unit being configured to output a drive signal to drive and control the steering gear according to a received torque control signal, a measurement signal output by the first rotation angle sensor, and a measurement signal output by the second rotation angle sensor;

[0006] A HED control module, configured to send the torque control signal to the electronic control unit;

[0007] The sensor fault simulation signal injection module is used to inject a rotation angle sensor fault signal into the electronic control unit.

[0008] The fault testing system according to the first embodiment of the present invention has at least the following beneficial effects: a variety of different torque control signals can be sent to the electronic control unit through the HED control module, so that the EPS system enters different working states. Different angle sensor fault signals are injected into the electronic control unit through the sensor fault simulation signal injection module to improve the injection efficiency of the angle sensor fault signal. And the EPS system in different working states can be tested for angle sensor faults through the HED control module and the sensor fault simulation signal injection module, thereby improving the efficiency of the EPS system's angle sensor fault test.

[0009] According to some embodiments of the first aspect of the present invention, the electronic control unit includes a first input port connected to the first rotation angle sensor and a second input port connected to the second rotation angle sensor, the sensor fault simulation signal injection module includes a single-channel sensor fault injection unit and a multi-channel sensor fault injection unit, the unit sensor fault injection unit is connected to the first input port or the second input port, and the multi-channel sensor fault injection unit is connected to the first input port and the second input port, respectively.

[0010] According to some embodiments of the first aspect of the present invention, a fault recovery module is further included, and the electronic control unit further includes a fault recovery port, and the fault recovery module is connected to the fault recovery port.

[0011] According to some embodiments of the first aspect of the present invention, the HED control module includes a signal output unit and a signal receiving unit, the signal output unit is used to send the torque control signal to the electronic control unit, and the signal receiving unit is used to receive fault status information sent by the electronic control unit.

[0012] In a second aspect, an embodiment of the present invention provides a fault testing method, including:

[0013] Obtain torque control signal and rotation angle sensor fault signal;

[0014] Fault status information is generated according to the torque control signal and the rotation angle sensor fault signal.

[0015] The fault testing method according to the second aspect of the present invention has at least the following beneficial effects: the electronic control unit controls the EPS system to enter different working states by acquiring different torque control signals. According to different angle sensor fault signals, the electronic control unit can enter different angle sensor fault states to perform an angle sensor fault test on the EPS system. The electronic control unit will generate different fault state information for different working states and different angle sensor fault signals, so it can be judged whether the electronic control unit can normally identify the corresponding angle sensor fault signal based on the fault state information generated by the electronic control unit.

[0016] According to some embodiments of the second aspect of the present invention, the fault testing method further includes:

[0017] The rotation angle sensor fault signal is cleared according to the fault status information.

[0018] According to some embodiments of the second aspect of the present invention, the rotation angle sensor fault signal includes a first single-channel fault signal, a second single-channel fault signal, and a third single-channel fault signal, and the fault testing method further includes:

[0019] acquiring the torque control signal;

[0020] Executing a single-path fault test process, the single-path fault test process comprising selecting a single-path fault signal that has not been acquired from the first single-path fault signal, the second single-path fault signal, and the third single-path fault signal; acquiring the single-path fault signal, generating the fault state signal according to the torque control signal and the single-path fault signal; and clearing the single-path fault signal according to the fault state signal;

[0021] Among them, the first single-channel fault signal is the first angle sensor parameter fault signal or the second angle sensor parameter fault signal, the second single-channel fault signal is the first angle sensor voltage fault signal or the second angle sensor parameter voltage fault signal, and the third fault signal is the first angle sensor flag fault signal or the second angle sensor flag fault signal.

[0022] According to some embodiments of the second aspect of the present invention, the rotation angle sensor fault signal further includes a first multi-channel fault signal, a second multi-channel fault signal and a third multi-channel fault signal, and the fault testing method further includes:

[0023] acquiring the torque control signal;

[0024] Executing a multi-path fault test process, the multi-path fault test process comprising selecting a multi-path fault signal that has not been acquired from the first multi-path fault signal, the second multi-path fault signal, and the third multi-path fault signal; acquiring the multi-path fault signal, generating the fault state signal according to the torque control signal and the multi-path fault signal; and clearing the multi-path fault signal according to the fault state signal;

[0025] Among them, the first multi-channel fault signal is the first multi-channel rotation angle sensor parameter fault signal and the second rotation angle sensor parameter fault signal, the second multi-channel fault signal is the first rotation angle sensor voltage fault signal and the second rotation angle sensor parameter voltage fault signal, and the third multi-channel fault signal is the first rotation angle sensor flag fault signal and the second rotation angle sensor flag fault signal.

[0026] In a third aspect, an embodiment of the present invention provides an operation control device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the fault testing method as described in the embodiment of the second aspect is implemented.

[0027] The operation control device provided according to the embodiment of the present invention has at least the following beneficial effects: the electronic control unit controls the EPS system to enter different working states by acquiring different torque control signals. According to different angle sensor fault signals, the electronic control unit can enter different angle sensor fault states to perform an angle sensor fault test on the EPS system. The electronic control unit will generate different fault state information for different working states and different angle sensor fault signals, so it can be judged whether the electronic control unit can normally identify the corresponding angle sensor fault signal according to the fault state information generated by the electronic control unit.

[0028] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the fault testing method as described in the embodiment of the second aspect above.

[0029] The computer-readable storage medium provided according to the embodiment of the present invention has at least the following beneficial effects: the electronic control unit controls the EPS system to enter different working states by acquiring different torque control signals. According to different angle sensor fault signals, the electronic control unit can enter different angle sensor fault states to perform an angle sensor fault test on the EPS system. The electronic control unit will generate different fault state information for different working states and different angle sensor fault signals, so it can be judged whether the electronic control unit can normally identify the corresponding angle sensor fault signal according to the fault state information generated by the electronic control unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings are used to provide a further understanding of the technical solution of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the technical solution of the present invention and do not constitute a limitation on the technical solution of the present invention.

[0031] The present invention is further described below in conjunction with the accompanying drawings and embodiments;

[0032] Figure 1 is a structural schematic diagram of a fault testing system provided by an embodiment of the present invention;

[0033] Figure 2 is a structural schematic diagram of a fault testing system provided by another embodiment of the present invention;

[0034] Figure 3 is a structural schematic diagram of a fault testing system provided by another embodiment of the present invention;

[0035] Figure 4 is a structural schematic diagram of a fault testing system provided by another embodiment of the present invention;

[0036] Figure 5 is a structural schematic diagram of a fault testing system provided by another embodiment of the present invention;

[0037] Figure 6 is a method flow chart of a fault testing method provided by an embodiment of the present invention;

[0038] Figure 7 is a method flow chart of a fault testing method provided by another embodiment of the present invention;

[0039] Figure 8 It is a structural schematic diagram of an operation control device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0041] It is understood that although the functional modules are divided in the device schematic diagram and the logical order is shown in the flow chart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flow chart. The terms "first", "second", etc. in the specification, claims or the above drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0042] At present, with the continuous improvement of the level of automobile intelligence, more and more cars are equipped with assisted driving functions, and the safety requirements for driving assistance functions are constantly increasing. Therefore, it is necessary to perform functional tests on driving assistance functions during the development stage of driving assistance functions to improve the safety of assisted driving functions. At present, for the fault test of the steering angle sensor in the assisted driving function using torque request, the assisted driving function is mainly tested by connecting the faulty parts, which has low test efficiency.

[0043] Based on this, the present invention provides a vehicle fault testing system, method, device and storage medium. A variety of different torque control signals can be sent to the electronic control unit through the HED control module, so that the EPS system enters different working states. Different angle sensor fault signals are injected into the electronic control unit through the sensor fault simulation signal injection module to improve the injection efficiency of the angle sensor fault signal. The HED control module and the sensor fault simulation signal injection module can be used to perform angle sensor fault tests on EPS systems in different working states, thereby improving the angle sensor fault test efficiency of the EPS system.

[0044] The embodiments of the present invention are further described below in conjunction with the accompanying drawings.

[0045] like Figure 1 As shown, Figure 1 It is a structural diagram of a fault testing system provided by an embodiment of the present invention.

[0046] It can be understood that the fault test system includes an EPS system 100, a HED control module 200, and a sensor fault simulation signal injection module 300. The EPS system 100 includes a steering gear 140, an electronic control unit 110, and a first angle sensor 120 and a second angle sensor 130 arranged at the input shaft of the steering gear 140. The electronic control unit 110 is used to drive and control the steering gear 140 according to the torque control signal sent by the HED control module 200, the first measurement signal output by the first angle sensor 120, and the second measurement signal output by the second angle sensor 130. When the first angle sensor 120 fails, the first measurement signal output by the first angle sensor 120 to the electronic control unit 110 will contain the fault information of the first angle sensor 120; similarly, when the second angle sensor 130 fails, the second measurement signal output by the second angle sensor 130 to the electronic control unit 110 will contain the fault information of the second angle sensor 130. The sensor fault simulation signal injection module 300 is used to inject the angle sensor fault signal into the electronic control unit 110 to simulate the angle sensor fault of the EPS system 100, that is, the sensor fault simulation signal injection module 300 is used to simulate the first measurement signal output by the first angle sensor 120 and the second measurement signal output by the second angle sensor 130 in the fault state. In addition, by changing the sensor fault simulation signal injection module 300 to inject the angle sensor fault signal into the electronic control unit 110, the fault simulation of the electronic control signal can be realized.

[0047] It should be noted that the HED control module 200 can make the EPS system 100 enter different working states by sending different torque control signals to the electronic control unit 110, so that the fault testing system can perform fault testing on the EPS system 100 in various working states, effectively improving the fault testing efficiency of the EPS system 100.

[0048] Specifically, the torque control signal may include a torque direction and a torque control value, wherein the torque control value is the torque value required when the vehicle rotates, and the torque direction is the rotation direction of the vehicle. The HED control module 100 can control the EPS system 100 to enter different working states by sending different torque control values ​​and different torque directions to the electronic control unit 110. For example, the HED control module 100 sends a right torque direction to the electronic control unit 110, and the EPS system 100 can enter the right-turn working state. At this time, the sensor fault simulation signal injection module 300 injects the angle sensor fault signal into the electronic control unit 110, so as to simulate the fault condition of the EPS system 100 in the right-turn working state.

[0049] Reference Figure 2 , Figure 2 It is a structural diagram of a fault testing system provided by another embodiment of the present invention.

[0050] It can be understood that the electronic control unit 110 includes a first input port connected to the first rotation angle sensor 120 and a second input port connected to the second rotation angle sensor 130, the electronic control unit 110 receives the first measurement signal sent by the first rotation angle sensor 120 through the first input port, and the electronic control unit 110 receives the second measurement signal sent by the second rotation angle sensor 130 through the second input port, and the sensor fault simulation signal injection module 300 includes a single-channel sensor fault injection unit 310 and a multi-channel sensor fault injection unit 320, wherein the single-channel sensor fault injection unit 310 is connected to the first input port or the second input port, and the multi-channel sensor fault injection unit 320 is connected to the first input port and the second input port, respectively. When it is necessary to simulate a fault in the first rotation angle sensor 120, the single-channel sensor fault injection unit 310 injects the fault signal of the first rotation angle sensor 120 into the electronic control unit 110 through the first input port; when it is necessary to simulate a fault in the second rotation angle sensor 130, the single-channel sensor fault injection unit 310 injects the fault signal of the second rotation angle sensor 130 into the electronic control unit 110 through the second input port; when it is necessary to simulate the first rotation angle sensor 120 and the second rotation angle sensor 130, the multi-channel sensor injects the fault signal of the first rotation angle sensor 120 into the first input port and injects the fault signal of the second rotation angle sensor 130 into the second input port respectively. Among them, the fault signal of the first rotation angle sensor 120 is a first measurement signal with fault information, and the fault signal of the second rotation angle sensor 130 is a second measurement signal with fault information. Through the single-channel sensor fault injection unit 310 and the multi-channel sensor fault injection unit 320, the fault condition of the first rotation angle sensor 120 and / or the fault condition of the second rotation angle sensor 130 can be simulated, effectively improving the fault test efficiency of the rotation angle sensor of the EPS system 100.

[0051] Reference Figure 3 , Figure 3 It is a structural diagram of a fault testing system provided by another embodiment of the present invention.

[0052] It can be understood that the fault testing system also includes a fault recovery module 400, which is used to perform fault recovery on the electronic control unit 110. After the sensor fault simulation signal injection module 300 injects the angle sensor fault signal into the electronic control unit 110, the fault recovery module 400 can be used to perform fault recovery on the electronic control unit 110 to avoid the currently injected angle sensor fault signal affecting subsequent fault tests and improve the accuracy of the fault test.

[0053] Specifically, there are multiple fault conditions of the angle sensor, so it is necessary to inject multiple different angle sensor fault signals into the electronic control unit 110, that is, it is necessary to perform multiple tests on the electronic control unit 110. Performing fault recovery on the electronic control unit 110 through the fault recovery module 400 can avoid the multiple tests from affecting each other. For example, when the electronic control unit 110 completes an injection of an angle sensor fault signal, the angle sensor fault signal is cleared through the fault recovery module 400 to avoid the last angle sensor fault signal affecting the next injection of the angle sensor fault signal.

[0054] It should be noted that the fault recovery module 400 includes a data recording unit and a data recovery unit. The data recording unit is used to record the initial data before the electronic control unit 110 is not injected with the rotation angle sensor fault signal, and the data recovery unit is used to recover the data of the electronic control unit 110 to the initial data before the rotation angle sensor fault signal is not injected. By recording the initial data before the electronic control unit 110 is not injected with the rotation angle sensor fault signal by the data recording unit, during the process of fault recovery, the data recovery unit can recover the electronic control unit 110 to the state before the electronic control unit 110 is not injected with the rotation angle sensor fault signal, thereby improving the accuracy of fault recovery.

[0055] Reference Figure 4 , Figure 4 It is a structural diagram of a fault testing system provided by another embodiment of the present invention.

[0056] It can be understood that the HED control module 200 includes a signal output unit 210 and a signal receiving unit 220, the signal output unit 210 is used to send a torque control signal to the electronic control unit 110, and the signal receiving unit 220 is used to receive the fault status information sent by the electronic control unit 110. By sending different torque control signals to the electronic control unit 110 by the signal output unit 210, the EPS system 100 can enter different working states, so that the fault test system can perform fault tests on the EPS system 100 in various working states. In normal operation, after the signal output unit 210 sends the torque control signal to the electronic control unit 110, the electronic control unit 110 will send the fault status information to the HED control module 200 according to the torque control signal, the first measurement signal output by the first rotation angle sensor 120, and the second measurement signal output by the second rotation angle sensor 130. Therefore, when the sensor fault simulation signal injection module 300 injects the rotation angle sensor fault signal into the electronic control unit 110, the electronic control unit 110 will send the fault status information to the HED control module 200 according to the torque control signal and the rotation angle sensor fault signal.

[0057] It should be noted that the electronic control unit 110 generates different fault status information for different working states and different angle sensor fault signals, so it can be determined whether the electronic control unit 110 can normally identify the corresponding angle sensor fault signal according to the fault status information generated by the electronic control unit 110. For example, when the first angle sensor 120 or the second angle sensor 130 fails, the electronic control unit 110 will not stop controlling the steering gear 140 but will send fault information to the HED control module 200. When there is no fault information in the fault status information, it means that the electronic control unit 110 cannot normally identify that the first angle sensor 120 or the second angle sensor 130 has a fault.

[0058] Reference Figure 5 , Figure 5 It is a structural diagram of a fault testing system provided by another embodiment of the present invention.

[0059] It can be understood that the HED control module 200 first sends a torque control signal to the electronic control unit 110 through the signal output port 210 to enable the EPS system 100 to enter a corresponding working state, and then injects a rotation angle sensor fault signal into the electronic control unit 100 through the single-channel sensor fault injection unit 310 or the multi-channel sensor fault injection unit 320. Then, the electronic control unit 110 generates fault status information based on the torque control signal and the rotation angle sensor fault signal and sends the fault status information to the signal receiving port 220. Finally, the fault recovery module 400 clears the rotation angle sensor fault signal in the electronic control unit 110 according to the fault status signal.

[0060] refer to Figure 6 , Figure 6 is a method flow chart of a fault testing method provided by an embodiment of the present invention. The flow chart of the fault testing method includes but is not limited to the following steps:

[0061] Step S100, obtaining a torque control signal and a rotation angle sensor fault signal;

[0062] Step S200: generating fault status information according to the torque control signal and the rotation angle sensor fault signal.

[0063] It is understandable that the electronic control unit 110 obtains the torque control signal sent by the signal output unit 210 and the angle sensor fault signal injected by the sensor fault simulation signal injection module 300. When the electronic control unit 110 receives the torque control signal, it controls the EPS system 100 to enter a working state corresponding to the torque control signal. Therefore, the signal output unit 210 can use different torque control signals to make the EPS system 100 enter different working states, and can perform fault tests on the EPS system 100 in different working states. By injecting different angle sensor fault signals, different angle sensor fault conditions can be simulated, wherein the fault conditions of the angle sensor include the first angle sensor 120 parameter fault signal and / or the second angle sensor 130 parameter fault signal, the first angle sensor 120 voltage fault signal and / or the second angle sensor 130 parameter voltage fault signal, and the first angle sensor 120 flag position fault signal and / or the second angle sensor 130 flag position fault signal. After obtaining the torque control signal and the angle sensor fault signal, the electronic control unit 110 will generate fault status information based on the torque control signal and the angle sensor fault signal. Different fault status information will be generated for different working conditions and different angle sensor fault signals. Therefore, the tester can determine whether the electronic control unit 110 can correctly identify the angle sensor fault based on the fault status information.

[0064] Specifically, the fault status information includes a torque control signal and fault information of the angle sensor. When the first angle sensor 120 or the second angle sensor 130 fails, one of the first angle sensor 120 or the second angle sensor 130 can work normally, and the EPS system 100 can still work normally. The EPS system 100 maintains the current working state, but needs to send the fault information of the angle sensor to the HED control module 200. Therefore, when the first angle sensor 120 or the second angle sensor 130 fails, the torque control signal in the fault status information is the same as the torque control signal sent by the HED control module 200, and the fault information of the angle sensor is that the first angle sensor 120 or the second angle sensor 130 has a fault. If the torque control signal in the fault status information is different from the torque control signal sent by the HED control module 200 or the fault information of the angle sensor is that the first angle sensor 120 or the second angle sensor 130 has not failed, it means that the EPS system 100 cannot correctly identify the fault information of the angle sensor. For example, the torque control signal sent by the HED control module 200 is the torque control value 10 and the torque direction is to the left, and the angle sensor fault signal injected by the sensor fault simulation signal injection module 300 is the first angle sensor 120 voltage fault signal. Then the fault status information that the EPS system 100 should return is the torque control value 10, the torque to the left, and the first angle sensor 120 voltage fault.

[0065] When the first angle sensor 120 and the second angle sensor 130 fail, that is, both the first angle sensor 120 and the second angle sensor 130 cannot work normally, the EPS system 100 should stop working and send the fault information of the angle sensor to the HED control module 200. Therefore, when the first angle sensor 120 and the second angle sensor 130 fail, the torque control signal in the fault status information is the torque control signal when the EPS system 100 stops working, and the fault information of the angle sensor is that the first angle sensor 120 and the second angle sensor 130 have failed. If the torque control signal in the fault status information is not the torque control signal when the EPS system 100 stops working or the fault information of the angle sensor is that the first angle sensor 120 and / or the second angle sensor 130 have not failed, it means that the EPS system 100 cannot correctly identify the fault information of the angle sensor. For example, when the EPS system 100 stops working, the torque control signal is a torque control value of 0 and an unchanged torque direction, and the angle sensor fault signal injected by the sensor fault simulation signal injection module 300 is a first angle sensor 120 voltage fault signal and a second angle sensor 130 voltage fault signal. Then the fault status information that the EPS system 100 should return is a torque control value of 0, an unchanged torque direction, and a first angle sensor voltage fault signal and a second angle sensor 130 voltage fault signal.

[0066] It should be noted that the measurement signal sent by the angle sensor to the electronic control unit 110 includes the torque parameter, torque direction, torque parameter flag, torque direction flag, and the operating voltage of the angle sensor obtained by the angle sensor. The torque parameter flag indicates whether the torque parameter is the same as the actual parameter, and the torque direction flag indicates whether the torque direction is the same as the actual direction.

[0067] refer to Figure 7 , Figure 7 It is a method flow chart of a fault testing method provided by another embodiment of the present invention.

[0068] Step S300, clearing the rotation angle sensor fault signal according to the fault status information.

[0069] It can be understood that after the electronic control unit 110 generates fault status information, it means that the fault detection of the electronic control unit 110 has been completed. The fault recovery module 400 can clear the angle sensor fault signal of the electronic control unit 110 according to the fault status information of the electronic control unit 110, that is, restore the parameters of the electronic control unit 110 to the parameters without the injection of the angle sensor fault signal, so as to avoid the currently injected angle sensor fault signal affecting the subsequent fault test and improve the accuracy of the fault test.

[0070] Specifically, in the fault status information generated by the electronic control unit 110, the rotation angle sensor fault signal injected by the sensor fault simulation signal injection module 300 can be correctly returned, indicating that the electronic control unit 110 can correctly identify the error, and the next fault test can be performed without performing fault recovery on the electronic control unit 110. However, the electronic control unit 110 cannot correctly return the rotation angle sensor fault signal injected by the sensor fault simulation signal injection module 300, indicating that the electronic control unit 110 cannot correctly identify the error, and at this time, the electronic control unit 110 needs to perform fault recovery to prevent the current rotation angle sensor fault signal from affecting the next fault test of the electronic control unit 110.

[0071] It should be noted that the angle sensor fault signal includes a first single-channel fault signal, a second single-channel fault signal and a third single-channel fault signal. When the fault test module needs to perform a single-channel fault test on the EPS system 100, that is, simulate a fault in the first angle sensor 120 or the second angle sensor 130, the HED control module 200 first sends a torque control signal to the electronic control unit 110 to enable the EPS system 100 to enter a corresponding working state. Then the sensor fault simulation signal injection module 300 selects a single-channel fault signal that has not been obtained by the electronic control unit 110 from the first single-channel fault signal, the second single-channel fault signal and the third single-channel fault signal to inject a fault into the electronic control unit 110. Then the electronic control unit 110 generates a fault status signal according to the single-channel fault signal and the torque control signal injected by the sensor fault simulation signal injection module 300. Finally, the fault recovery module 400 clears the single-channel fault signal according to the fault status signal, that is, before each fault injection, the fault recovery module 400 will clear the single-channel fault signal of the electronic control unit 110. When the sensor fault simulation signal injection module 300 completes the injection of the first single-channel fault signal, the second single-channel fault signal and the third single-channel fault signal, it indicates that the EPS system 100 completes the fault test.

[0072] Among them, the first single-channel fault signal is the parameter fault signal of the first angle sensor 120 or the parameter fault signal of the second angle sensor 130, the second single-channel fault signal is the voltage fault signal of the first angle sensor 120 or the voltage fault signal of the second angle sensor 130, and the third fault signal is the flag fault signal of the first angle sensor 120 or the flag fault signal of the second angle sensor 130.

[0073] It should be noted that when the fault test module needs to perform a multi-channel fault test on the EPS system 100, that is, to simulate the simultaneous failure of the first angle sensor 120 and the second angle sensor 130, the HED control module 200 first sends a torque control signal to the electronic control multiplexer to enable the EPS system 100 to enter the corresponding working state, and then the sensor fault simulation signal injection module 300 selects a multi-channel fault signal that has not been obtained by the electronic control unit 110 from the first multi-channel fault signal, the second multi-channel fault signal and the third multi-channel fault signal to inject the fault into the electronic control unit 110, and then the electronic control unit 110 generates a fault state signal according to the multi-channel fault signal and the torque control signal injected by the sensor fault simulation signal injection module 300, and finally the fault recovery module 400 clears the multi-channel fault signal according to the fault state signal, that is, before each fault injection, the fault recovery module 400 will clear the multi-channel fault signal of the electronic control unit 110. When the sensor fault simulation signal injection module 300 completes the injection of the first multi-channel fault signal, the second multi-channel fault signal and the third multi-channel fault signal, it means that the EPS system 100 completes the fault test.

[0074] Among them, the first multi-channel fault signal is the first multi-channel angle sensor parameter fault signal and the second angle sensor 130 parameter fault signal, the second multi-channel fault signal is the first angle sensor 120 voltage fault signal and the second angle sensor 130 voltage fault signal, and the third multi-channel fault signal is the first angle sensor 120 flag fault signal and the second angle sensor 130 flag fault signal.

[0075] Thirdly, refer to Figure 8 The embodiment of the present invention provides an operation control device 800, including a memory 810, a processor 820, and a computer program stored in the memory 810 and executable on the processor 820. The processor 820 executes the program to implement the fault testing method of the second aspect of the embodiment, for example, Figure 6 The method steps S100 to 200 and Figure 7 Method step S300 in .

[0076] The memory 810 is a non-transitory computer-readable storage medium that can be used to store non-transitory software programs and non-transitory computer executable programs, such as the fault testing method in the above embodiment of the present invention. The processor 820 implements the fault testing method in the above embodiment of the present invention by running the non-transitory software programs and instructions stored in the memory 810.

[0077] The memory 810 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required by at least one function; the data storage area may store data required to execute the fault test method in the above embodiment, etc. In addition, the memory 810 may include a high-speed random access memory 810, and may also include a non-transitory memory 810, such as at least one disk storage device, a flash memory device, or other non-transitory solid-state storage device. It should be noted that the memory 810 may optionally include a memory 810 remotely arranged relative to the processor 820, and these remote memories 810 may be connected to the terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0078] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the fault testing method of the embodiment of the second aspect above, for example, to execute Figure 6 The method steps S100 to 200 and Figure 7 Method step S300 in .

[0079] It will be appreciated by those skilled in the art that all or some of the steps and systems in the disclosed methods above may be implemented as software, firmware, hardware and appropriate combinations thereof. Some physical components or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium or a non-transitory medium and a communication medium or a temporary medium. As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information such as computer-readable instructions, data structures, program modules or other data. Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disk DVD or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that may be used to store desired information and may be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0080] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the knowledge scope of ordinary technicians in the technical field without departing from the purpose of the present invention.

Claims

1. A vehicle fault testing system, characterized in that: include: An EPS system, the EPS system comprising a steering gear, an electronic control unit, and a first rotation angle sensor and a second rotation angle sensor disposed at an input shaft of the steering gear, the electronic control unit being configured to output a drive signal to drive and control the steering gear according to a received torque control signal, a measurement signal output by the first rotation angle sensor, and a measurement signal output by the second rotation angle sensor; A HED control module, configured to send the torque control signal to the electronic control unit; A sensor fault simulation signal injection module, used for injecting a rotation angle sensor fault signal into the electronic control unit; The rotation angle sensor fault signal includes a measurement signal output by the first rotation angle sensor and a measurement signal output by the second rotation angle sensor in a fault state.

2. The fault testing system according to claim 1, characterized in that: The electronic control unit includes a first input port connected to the first rotation angle sensor and a second input port connected to the second rotation angle sensor. The sensor fault simulation signal injection module includes a single-channel sensor fault injection unit and a multi-channel sensor fault injection unit. The single-channel sensor fault injection unit is connected to the first input port or the second input port, and the multi-channel sensor fault injection unit is connected to the first input port and the second input port respectively.

3. The fault testing system according to claim 1, characterized in that: It also includes a fault recovery module, and the electronic control unit also includes a fault recovery port, and the fault recovery module is connected to the fault recovery port.

4. The fault testing system according to claim 1, characterized in that: The HED control module includes a signal output unit and a signal receiving unit. The signal output unit is used to send the torque control signal to the electronic control unit, and the signal receiving unit is used to receive fault status information sent by the electronic control unit.

5. A fault testing method, applied to the electronic control unit according to any one of claims 1 to 4, the fault testing method comprising: Obtain torque control signal and rotation angle sensor fault signal; Fault status information is generated according to the torque control signal and the rotation angle sensor fault signal.

6. The fault testing method according to claim 5, further comprising: The rotation angle sensor fault signal is cleared according to the fault status information.

7. The fault testing method according to claim 6, wherein the rotation angle sensor fault signal comprises a first single-channel fault signal, a second single-channel fault signal and a third single-channel fault signal, and the fault testing method further comprises: acquiring the torque control signal; Executing a single-path fault test process, the single-path fault test process comprising selecting a single-path fault signal that has not been acquired from the first single-path fault signal, the second single-path fault signal, and the third single-path fault signal; Acquire the single-channel fault signal that has not been acquired, generate a fault status signal according to the torque control signal and the single-channel fault signal that has not been acquired; and clear the single-channel fault signal that has not been acquired according to the fault status signal; Among them, the first single-channel fault signal is the first angle sensor parameter fault signal or the second angle sensor parameter fault signal, the second single-channel fault signal is the first angle sensor voltage fault signal or the second angle sensor voltage fault signal, and the third single-channel fault signal is the first angle sensor flag fault signal or the second angle sensor flag fault signal.

8. The fault testing method according to claim 6, wherein the rotation angle sensor fault signal further comprises a first multi-path fault signal, a second multi-path fault signal and a third multi-path fault signal, and the fault testing method further comprises: acquiring the torque control signal; Executing a multi-path fault test process, the multi-path fault test process comprising selecting a multi-path fault signal that has not been acquired from the first multi-path fault signal, the second multi-path fault signal, and the third multi-path fault signal; Acquire the multi-channel fault signal that has not been acquired, and generate a fault status signal according to the torque control signal and the multi-channel fault signal that has not been acquired; clearing the unobtained multiple fault signals according to the fault status signal; Among them, the first multi-channel fault signal is a first multi-channel rotation angle sensor parameter fault signal and a second rotation angle sensor parameter fault signal, the second multi-channel fault signal is the first rotation angle sensor voltage fault signal and the second rotation angle sensor voltage fault signal, and the third multi-channel fault signal is the first rotation angle sensor flag fault signal and the second rotation angle sensor flag fault signal.

9. An operation control device, characterized in that: It comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the fault testing method according to any one of claims 5 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the fault testing method according to any one of claims 5 to 8.

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