Testing method, system and equipment for controller used by air suspension and storage medium

Abstract

The invention provides a test method, system and device for a controller used by an air suspension and a storage medium. The method comprises the steps that a test operation instruction is acquired; transmitting the test operation instruction to a whole vehicle simulation model and a port model of the cabinet; monitoring a whole vehicle simulation signal through parameter changes of the whole vehicle simulation model and the port model; reflecting the whole vehicle simulation signal to a driving simulator; performing component and board card processing on the whole vehicle analog signal in the cabinet, and transmitting the processed whole vehicle analog signal to the controller to generate a control signal; and transmitting the control signal to an assembly and a board card in the cabinet, and performing real-time control on the whole vehicle simulation model and the port model to complete the test. The invention provides a hardware-in-the-loop test verification method and system for a controller used by an air suspension, which can replace the function of a part of a whole vehicle and effectively shorten the development period and the test period of a semi-active double-cavity air suspension controller.

Description

Technical Field

[0001] The present application belongs to the technical field of hardware testing and relates to a testing method, and in particular to a testing method, system, device and storage medium for a controller used in an air suspension. Background Art

[0002] At present, automobile air suspension is an advanced suspension system, which plays an important role in the automotive industry. Its role is not only to make the vehicle look cooler, but more importantly, it can improve the performance and comfort of the vehicle. Take semi-active air suspension as an example. In recent years, with the explosion of semi-active air suspension in the Chinese market, domestic suppliers have continued to exert their strength in the field of semi-active air suspension. Domestic models equipped with semi-active air suspension have been continuously launched and have obtained good market feedback. The configuration of semi-active air suspension has gradually sunk from high-end models to mid-range models. At present, most of the semi-active air suspensions equipped with mass-produced models on the market are semi-active single-chamber air suspensions, and the corresponding semi-active air suspension controllers only realize the control of semi-active single-chamber air suspensions. Compared with semi-active single-chamber air suspensions, semi-active dual-chamber air suspensions have more superior comfort, and the corresponding semi-active dual-chamber air suspension controllers are also under continuous development. The control software carried in the semi-active dual-chamber air suspension controller is also more complex, with a longer development cycle and a longer test cycle. In the process of research and development, gradually shortening the development cycle and test cycle of air suspension controllers is a major problem. Summary of the invention

[0003] The present application provides a test method, system, device and storage medium for a controller used in an air suspension, which are used to solve the problem of how to effectively shorten the development cycle and test cycle of the air suspension controller.

[0004] In the first aspect, the present application provides a test method for a controller used for an air suspension, the method comprising: obtaining a test operation instruction; transmitting the test operation instruction to a whole vehicle simulation model and a port model of a cabinet; monitoring a whole vehicle simulation signal through parameter changes of the whole vehicle simulation model and the port model; reflecting the whole vehicle simulation signal to a driving simulator, and displaying a vehicle simulated driving scenario in real time through the driving simulator; processing the whole vehicle simulation signal by components and boards in the cabinet, and transmitting the processed whole vehicle simulation signal to the controller; generating a control signal according to the processed whole vehicle simulation signal; transmitting the control signal to components and boards in the cabinet, and performing real-time control of the whole vehicle simulation model and the port model, so as to perform a test according to changes in the whole vehicle simulation signal and changes in the control signal during the real-time control process.

[0005] In an implementation of the first aspect, the step of obtaining a test operation instruction includes: obtaining a test case corresponding to the controller; and determining the test operation instruction according to the test case.

[0006] In an implementation of the first aspect, the method further includes: in response to the presence of a real load in the test, allowing the control current of the shock absorber solenoid valve output by the controller to enter the cabinet and then be transmitted to the real load.

[0007] In an implementation of the first aspect, the method further includes: in response to the inclusion of a sensor in the test, generating a sensor simulation signal using a sensor simulation device, and transmitting the sensor simulation signal to the cabinet to improve the whole vehicle simulation signal.

[0008] In a second aspect, the present application provides a test system for a controller used for an air suspension, and the method described is applied, wherein the system includes: a controller used for the air suspension, a cabinet and a driving simulator; obtaining test operation instructions, and transmitting the test operation instructions to a whole vehicle simulation model and a port model of the cabinet; monitoring the whole vehicle simulation signal through parameter changes of the whole vehicle simulation model and the port model; reflecting the whole vehicle simulation signal to a driving simulator, and displaying the vehicle simulated driving scene in real time through the driving simulator; processing the whole vehicle simulation signal by components and boards in the cabinet, and transmitting the processed whole vehicle simulation signal to the controller; generating a control signal according to the processed whole vehicle simulation signal; transmitting the control signal to components and boards in the cabinet, and controlling the whole vehicle simulation model and the port model in real time, so as to perform tests according to changes in the whole vehicle simulation signal and changes in the control signal during the real-time control process.

[0009] In an implementation of the second aspect, the method further includes: a host computer, connected to the cabinet and the driving simulator respectively; the host computer is configured to obtain a test case corresponding to the controller; and the test operation instruction is determined according to the test case.

[0010] In an implementation of the second aspect, the cabinet includes a real-time processing unit, auxiliary components, a battery simulation component, an IO board and a bus communication board; wherein the real-time processing unit includes the whole vehicle simulation model and the port model, and the auxiliary components include a fault simulation board and a load board; the driving simulator includes a driver operating system, a signal acquisition system, and a visual display system; the driving simulator uses a steering wheel and a steering system with torque feedback to respond to torque instructions from the cabinet in real time, and feedback current steering wheel angle information, introducing the driver into the entire closed loop; the software of the host computer includes MATLAB / Simulink, control desktop, configuration desktop, automation desktop, action display desktop, model desktop wherein, MATLAB / Simulink is configured to build and run the whole vehicle simulation model and the port model, the configuration desktop is configured to associate the functions of the whole vehicle simulation model from MATLAB / Simulink with the port model, and generate real-time code by compiling, the control desktop is configured to comprehensively manage the entire experimental process, and has powerful test interface layout, experimental control editing, data measurement and data post-processing functions, the automation desktop is an automated testing software that provides a graphical interface for establishing test cases, the action display desktop is configured to display animations of any vehicle dynamic changes and driving operations, and the model desktop is configured for simulation, intuitive model parameterization and parameter set management.

[0011] In an implementation of the second aspect, the system further includes: a real load connected to the cabinet; in response to the presence of the real load in the test, the control current of the shock absorber solenoid valve output by the controller enters the cabinet and is then transmitted to the real load.

[0012] In an implementation of the second aspect, the system further includes: a sensor simulation device connected to the cabinet; in response to the inclusion of a sensor in the test, a sensor simulation signal is generated using the sensor simulation device, and the sensor simulation signal is transmitted to the cabinet to improve the whole vehicle simulation signal.

[0013] In an implementation of the second aspect, the test based on the changes in the vehicle simulation signal and the control signal during the real-time control process includes a software qualification test, including: according to the software requirements to be verified in the test case, the CAN signal, sensor parameters and vehicle speed parameters involved in the software requirements are modified using the control desktop of the host computer, so that the processed vehicle simulation signal received by the controller is also changed accordingly, which is reflected in the interface or variable value corresponding to the controller; observe whether the interface or variable value corresponding to the controller changes accordingly; the controller calculates and makes decisions based on the interface or variable value through the control algorithm, and outputs the control signal of the component and the board and the CAN signal to the cabinet; the cabinet receives the control signal and CAN signal of the component and the board, calculates, and controls the vehicle simulation model and the port model, wherein the actuator corresponding to the component and the board acts, the CAN signal value changes, and the action behavior of the vehicle simulation model and the port model is monitored on the control desktop; the cabinet transmits the monitoring situation to the controller in real time, thereby forming a closed loop.

[0014] In a third aspect, the present application provides an electronic device, comprising: a processor and a memory; the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the electronic device performs the described method.

[0015] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which implements the described method when the computer program is executed.

[0016] As described above, the test method, system, device and storage medium for the controller used in the air suspension described in the present application have the following beneficial effects:

[0017] The present application provides a method and system for testing and verifying the hardware-in-the-loop of the controller used in the air suspension, especially for the semi-active dual-chamber air suspension controller, which can replace part of the function of the whole vehicle and effectively shorten the development cycle and test cycle of the semi-active dual-chamber air suspension controller. The driving simulator in the test system of the present application not only provides test parameters, but also as an overall simulation system including the driver operating system, signal acquisition system and visual display system, it can respond to the instructions from the cabinet in real time and feedback the current information, bringing the driver into the entire closed loop, and can test the driver's subjective feelings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The application architecture diagram of the test method of the controller used in the air suspension described in the embodiment of the present application is shown.

[0019] Figure 2 Shown is a principle flow chart of a test method for a controller used in an air suspension according to an embodiment of the present application.

[0020] Figure 3 Shown is a structural schematic diagram of a test system for a controller used in an air suspension according to an embodiment of the present application.

[0021] Figure 4 Shown is a schematic diagram of a cabinet interface of a test system for a controller used in an air suspension according to an embodiment of the present application.

[0022] Figure 5 A desktop schematic diagram showing the configuration of a test system for a controller used in an air suspension according to an embodiment of the present application is shown.

[0023] Figure 6 A schematic diagram of a control desktop of a test system for a controller used in an air suspension according to an embodiment of the present application is shown.

[0024] Figure 7 A schematic diagram of an automated desktop of a test system for a controller used in an air suspension according to an embodiment of the present application is shown.

[0025] Figure 8 Shown is a desktop schematic diagram of an action display of a test system for a controller used in an air suspension according to an embodiment of the present application.

[0026] Fig. 9 A schematic diagram of a model desktop of a test system for a controller used in an air suspension according to an embodiment of the present application is shown.

[0027] Fig.10 Shown is an air suspension graphical interface diagram of a test system for a controller used in an air suspension according to an embodiment of the present application.

[0028] Fig.11 Shown is a schematic diagram of the structural connection of an electronic device described in an embodiment of the present application.

[0029] Component number description

[0030] 1 Controller ECU

[0031] 2 Cabinets

[0032] 3 Driving Simulator

[0033] 4 Host computer

[0034] 5 Real Load

[0035] 6 Sensor simulation equipment

[0036] 10 Electronic devices

[0037] 101 Processor

[0038] 102 Memory

[0039] Steps S21 to S27 DETAILED DESCRIPTION

[0040] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0041] It should be noted that the illustrations provided in the following embodiments are only used to illustrate the basic concept of the present application in a schematic manner, and therefore the illustrations only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0042] The following embodiments of the present application provide a test method, system, device and storage medium for a controller used in an air suspension, including but not limited to: Figure 1 In the test system consisting of an ECU, a cabinet and a driving simulator, the following will take this hardware application architecture as an example for description.

[0043] See also Figure 1 , which is an application architecture diagram of the test method of the controller used in the air suspension described in the embodiment of the present application. Figure 1As shown, this embodiment provides an application architecture of a test method for a controller used in an air suspension, specifically including: an air suspension controller ECU1 (electronic Control Unit), a cabinet 2 and a driving simulator 3, wherein the cabinet is respectively connected to the ECU1 and the host computer in communication, and the host computer is also connected to the driving simulator 3 in communication. In practical applications, this application constitutes a semi-active dual-chamber air suspension controller hardware-in-the-loop test verification system through the air suspension controller ECU1 (electronic Control Unit), the cabinet 2 and the driving simulator 3. Among them, in the loop refers to a loop, which can be a closed loop or an open loop. Hardware-in-the-loop (HIL) testing is a method for performing functional, system integration and communication testing on an electronic control unit (ECU) by building a simulation environment. This simulation environment makes the controller ECU under test "feel" that it is working in a real vehicle environment, and the ECU and the driving simulator constitute a complete control closed loop, which is called hardware-in-the-loop simulation.

[0044] The technical solutions in the embodiments of the present application will be described in detail below in conjunction with the drawings in the embodiments of the present application.

[0045] See also Figure 2 , which is a principle flow chart of the test method of the controller used in the air suspension described in the embodiment of the present application. Figure 2 As shown, this embodiment provides a test method for a controller used in an air suspension, which is mainly applicable to the development stage of a semi-active dual-chamber air suspension controller (integrated dual-chamber air spring and CDC shock absorber control), and can also be applied to the functional verification and subsequent testing work of the development stage of a semi-active single-chamber air suspension controller (integrated single-chamber air spring and CDC shock absorber control), a CDC controller (including only CDC shock absorber control), a dual-chamber air spring controller (including only dual-chamber air spring control), and a single-chamber air spring controller (including only single-chamber air spring control), wherein CDC (Continuous Damping Control refers to an automatic adjustment and uninterrupted shock absorption control system. The test method for the controller used in the air suspension specifically includes the following steps:

[0046] S21, obtaining a test operation instruction.

[0047] In one embodiment, S21 specifically includes the following steps:

[0048] Acquire a test case corresponding to the controller; and determine the test operation instruction according to the test case.

[0049] Specifically, turn on the power of the host computer and the cabinet; 2. Establish the experimental interface on the control desk of the host computer: battery power control, air spring related actuator control, CDC shock absorber solenoid valve control current / frequency / duty cycle control, air suspension system animation interface, CAN bus communication, vehicle brake, throttle, steering wheel angle and other controls, and design the experimental interface according to the test requirements; 3. According to the test case, perform ECU power switch control, valve switch control, sensor parameter modification, CAN signal value modification, etc. on the control desk of the host computer to meet the test steps. The design operation of the experimental interface on the control desk of the host computer and the various operations such as control modification according to the test case are test operation instructions.

[0050] S22, transmitting the test operation instruction to the whole vehicle simulation model and port model of the cabinet.

[0051] Specifically, the cabinet model can be a dSPACE SCALEXIO cabinet, and the vehicle simulation model and port model refer to the vehicle simulation model (ASM) and port model (IO Model, input and output model) under MATLAB / Simulink. Among them, ASM (Automotive Simulation Models) refers to the real-time model of vehicle development, that is, the vehicle simulation model of this application. Matlab / Simulink: Simulink is a visual simulation tool in MATLAB launched by Mathworks, an American company. Simulink is a module diagram environment for multi-domain simulation and model-based design. It supports system design, simulation, automatic code generation, and continuous testing and verification of embedded systems. Simulink provides a graphical editor, a customizable module library, and a solver, which can perform dynamic system modeling and simulation.

[0052] S23, monitoring the whole vehicle simulation signal through parameter changes of the whole vehicle simulation model and the port model.

[0053] Specifically, the parameter change may be a change in a CAN signal, a sensor parameter, a vehicle speed, a torque, or other parameter. The vehicle simulation signal refers to a vehicle state presentation corresponding to a change in a CAN signal, a sensor parameter, a vehicle speed, a torque, or other parameter. For example, if the parameter change is a torque change, the vehicle simulation signal may be a signal such as a lane change, a separation, or a turn.

[0054] S24, reflecting the whole vehicle simulation signal to the driving simulator, and displaying the vehicle simulated driving scene in real time through the driving simulator.

[0055] S25, processing the whole vehicle simulation signal by components and boards in the cabinet, and transmitting the processed whole vehicle simulation signal to the controller.

[0056] Specifically, the components include automotive battery simulation components, which provide stable voltage and current for the ECU and related components under test; the boards include I / O boards, which provide I / O channels connected to the pins of the ECU; the boards also include bus communication boards, which simulate bus and network communications and are used to test the communication between two or more ECUs nodes. Component and board processing refers to the processing of signals or data related to the above functions.

[0057] S26, generating a control signal according to the processed vehicle simulation signal.

[0058] S27, transmitting the control signal to the components and boards in the cabinet, and controlling the whole vehicle simulation model and the port model in real time, so as to perform tests according to the changes of the whole vehicle simulation signal and the control signal during the real-time control process.

[0059] In one embodiment, the method further comprises:

[0060] In response to the presence of a real load in the test, the control current of the shock absorber solenoid valve output by the controller is allowed to enter the cabinet and then be transmitted to the real load.

[0061] In one embodiment, the method further comprises:

[0062] In response to the inclusion of sensors in the test, a sensor simulation device is used to generate a sensor simulation signal, and the sensor simulation signal is transmitted to the cabinet to improve the whole vehicle simulation signal.

[0063] The protection scope of the test method of the controller used for the air suspension described in the embodiment of the present application is not limited to the execution order of the steps listed in this embodiment. All solutions implemented by adding, reducing or replacing steps in the prior art based on the principles of the present application are included in the protection scope of the present application.

[0064] An embodiment of the present application also provides a test system for a controller used in an air suspension, and the test system for the controller used in an air suspension can implement the test method for the controller used in an air suspension described in the present application. However, the implementation device of the test method for the controller used in an air suspension described in the present application includes but is not limited to the structure of the test system for the controller used in an air suspension listed in the present embodiment. All structural deformations and replacements of the prior art made according to the principles of the present application are included in the protection scope of the present application.

[0065] Please continue reading Figure 1 ,like Figure 1As shown, this embodiment provides a test system for a controller used in an air suspension, and the method described is applied. The system includes: an air suspension controller ECU 1, a cabinet 2, and a driving simulator 3. The controller used in the air suspension of this application can be a semi-active dual-chamber air suspension controller, and can also be directly applicable to a CDC controller (including only CDC shock absorber control) and a dual-chamber air spring controller (including only dual-chamber air spring control). Local changes to it can make it compatible with more controllers: set the air spring stiffness valve in the model to normally open, which can be applicable to a semi-active single-chamber air suspension controller (integrated single-chamber air spring and CDC shock absorber control) and a single-chamber air spring controller (including only single-chamber air spring control).

[0066] The working process of the test system of the controller used in the air suspension is as follows:

[0067] (1) Obtaining a test operation instruction and transmitting the test operation instruction to the vehicle simulation model and port model of the cabinet.

[0068] (2) Monitoring the whole vehicle simulation signal by changing the parameters of the whole vehicle simulation model and the port model.

[0069] (3) The whole vehicle simulation signal is reflected to the driving simulator, and the driving simulator displays the vehicle simulated driving scene in real time.

[0070] (4) The whole vehicle simulation signal is processed by the components and boards in the cabinet, and the processed whole vehicle simulation signal is transmitted to the controller.

[0071] (5) Generate a control signal based on the processed vehicle simulation signal.

[0072] (6) The control signal is transmitted to the components and boards in the cabinet to perform real-time control on the vehicle simulation model and the port model, so as to perform tests according to changes in the vehicle simulation signal and the control signal during the real-time control process.

[0073] In one embodiment, the method further includes: a host computer connected to the cabinet and the driving simulator respectively.

[0074] The host computer is configured to obtain a test case corresponding to the controller; and determine the test operation instruction according to the test case.

[0075] See also Figure 3 , which is a schematic diagram of the structure of the test system of the controller used in the air suspension described in the embodiment of the present application. Figure 3As shown, the cabinet 2 includes a real-time processing unit, an auxiliary component, a battery simulation component, an IO board and a bus communication board; wherein the real-time processing unit includes the vehicle simulation model ASM and the port model (IOModel), and the auxiliary component includes a fault simulation board and a load board. The cabinet 2 is connected to the real load 5, ECU 1, PGI1_PSI5 respectively, and the driving simulator 3 is connected to the host computer 4.

[0076] The various connection methods in the system are explained as follows: Ethernet refers to Ethernet; DP refers to DisplayPort, which is a digital video interface standard developed by a PC and chip manufacturer alliance and standardized by the Video Electronics Standards Association (VESA). This interface is free of certification and licensing fees, and is mainly used to connect video sources and devices such as displays, and also supports carrying audio, USB and other forms of data; HDMI refers to High Definition Multimedia Interface, a fully digital video and sound transmission interface that can send uncompressed audio and video signals; DB9 refers to a D-type data interface connector, an interface standard for connecting electronic devices (such as computers and peripherals).

[0077] like Figure 3 As shown, the structure of the cabinet 2 includes:

[0078] 1. Real-time processor unit. Used to calculate large and complex simulation models, to control the real-time model of related I / O channels, and to communicate with I / O boards and other processors through IOCNET; 2. Automobile battery simulation component. Can be used for manual or automated testing to provide stable voltage and current for ECU and related components under test; 3. I / O board. Provides I / O channels connected to the pins of ECU; 4. Auxiliary components. Such as load boards and fault simulation boards for specific application scenarios. 5. Bus communication board. Simulates bus and network communication, used to test the communication between two or more ECUs nodes. At the same time, simulates missing nodes in the network. Please refer to Figure 4 , showing a schematic diagram of a cabinet interface of a test system for a controller used in an air suspension according to an embodiment of the present application.

[0079] like Figure 3 As shown, the driving simulator includes a driver operating system, a signal acquisition system, and a visual display system; the driving simulator uses a steering wheel and a steering system with torque feedback to respond to torque instructions from the cabinet in real time, and feed back current steering wheel angle information, thereby introducing the driver into the entire closed loop.

[0080] like Figure 3As shown, the software of the host computer includes MATLAB / Simulink, control desk, configuration desk, automation desk, motion desk, and model desk; wherein, MATLAB / Simulink is configured to build and run the whole vehicle simulation model and the port model, the configuration desk is configured to associate the functions of the whole vehicle simulation model from MATLAB / Simulink with the port model, and generate real-time code by compiling, the control desk is configured to comprehensively manage the entire experimental process, and has powerful test interface layout, experimental control editing, data measurement and data post-processing functions, the automation desk is automated testing software, and provides a graphical interface to establish test cases, the motion display desk is configured to display animations of any vehicle dynamic changes and driving operations, and the model desk is configured for simulation, intuitive model parameterization and parameter set management.

[0081] In one embodiment, the system further includes: a real load connected to the cabinet.

[0082] In response to the presence of a real load in the test, the control current of the shock absorber solenoid valve output by the controller enters the cabinet and is then transmitted to the real load.

[0083] In one embodiment, the system further includes: a sensor simulation device connected to the cabinet.

[0084] In response to the inclusion of sensors in the test, a sensor simulation device is used to generate a sensor simulation signal, and the sensor simulation signal is transmitted to the cabinet to improve the whole vehicle simulation signal.

[0085] Combination Figure 3 As shown, the logical and structural connection relationship of the above components is:

[0086] 1. Cabinet 2 runs the whole vehicle simulation model, such as the model of the semi-active dual-chamber air suspension, and communicates with the components and boards in real time. The components and boards include battery simulation components, IO boards, bus communication boards, load boards, and fault simulation boards. After configuration, they simulate the power supply, sensors (simulation and PSI5 sensors are supported at the same time), CAN communication and other peripheral environments required by the ECU. In actual applications, the ASM whole vehicle model including the CDC shock absorber and dual-chamber air spring model required for verification and the IO Model is built in Matlab / Simulink of the host computer, and is handed over to the cabinet for operation. The IO Model includes battery simulation, sensors, the switch status of air spring-related actuators (4 air spring airbag valves, 4 air spring stiffness valves, 1 exhaust valve, 1 air tank valve, 1 air pump relay), the control current / frequency / duty cycle of the CDC shock absorber solenoid valve, and the configuration of the CAN bus. The IO Model is built to facilitate the changes of sensor characteristic curves and dbc files involved in the test verification process. Model communication is established between ASM and IO Model.

[0087] 2. The real load 5 is optional. The typical application scenario is 4 CDC shock absorber solenoid valves, which are connected to the cabinet 2 through the load harness. In actual applications, the real load is connected as needed. The real load connected in this embodiment is 4 CDC shock absorber solenoid valves. The CDC shock absorber solenoid valve control current output by the ECU enters the cabinet through the controller harness, and then flows out from the load harness to the real load.

[0088] 3. Sensor simulation device PGI1_PSI5 is optional. When the system under test contains PSI5 sensor, the device 6 (sensor simulation device) is needed to simulate the PSI5 sensor. It is connected to the cabinet via Ethernet. PGI_PSI5 refers to Programmable Generic Interface, a distributed I / O engineering platform, especially suitable for high-speed communication interface. The PSI5 interface is used here.

[0089] 4. The driving simulator includes a driver operating system, a signal acquisition system, and a visual display system. The simulator uses a steering wheel and a steering system with torque feedback to respond to torque commands from the cabinet in real time, and feedback the current steering wheel angle information, introducing the driver into the entire closed loop, and can test the driver's subjective feelings. Without a driving simulator, the cabinet simulates the situation of an entire static vehicle; adding a driving simulator adds dynamic conditions to the vehicle, and the dynamic conditions are also added to the closed loop. This dynamic condition is dominated by the driver, so the driver joins this closed loop. The driver can feel the vehicle condition after the tester adjusts the parameters through the driving simulator, and feel the vehicle's brake nod on the display screen, and the up and down vibration frequency and amplitude of the suspension over speed bumps, potholes, etc. The driving simulator can test the subjective feelings: the driver's view of the vehicle under different road conditions on the display screen. In actual applications, the driving simulator includes: a visual display system, a driver operating system, and a signal acquisition system. In actual applications, the visual display system includes three display screens, which are connected to the host computer through DP or HDMI to display the vehicle's simulated driving scene in real time. The driver's operating system includes seats, pedals, and a steering wheel. The seats are placed separately without any wiring harnesses connected to other components. The pedals and steering wheel are connected via DB9 (D-type data interface connector). The signal acquisition system is connected to the pedals and steering wheel via the signal acquisition harness to collect information on steering wheel angle, throttle, brake, and shifting, and interacts with the host computer via a USB cable.

[0090] 5. The ECU runs the suspension control algorithm and exchanges signals with the external environment simulated by the cabinet, which can be the single / dual chamber air spring control algorithm and the CDC shock absorber control algorithm. In actual applications, the ECU is connected to the connector pins on the cabinet through the controller harness to exchange information with the cabinet.

[0091] 6. The host computer software includes MATLAB / Simulink, Control Desk, Configuration Desk, Automation Desk, Motion Desk, and Model Desk. MATLAB / Simulink builds / runs simulation models. In actual applications, the host computer is connected to the cabinet via Ethernet. The model built in the first step runs on the real-time processor unit of the cabinet during the test verification process. The real-time processing unit also communicates in real time with the battery simulation component, IO board, bus communication board, load board, and fault simulation board.

[0092] See also Figure 5 , which is a desktop schematic diagram of the configuration of the test system of the controller used in the air suspension described in the embodiment of the present application. Figure 5As shown, the Configuration Desk can associate the simulation model from MATLAB / Simulink with the IO function and generate real-time code through compilation.

[0093] See also Figure 6 , which is a schematic diagram of a control desktop of a test system for a controller used in an air suspension according to an embodiment of the present application. Figure 6 As shown in the figure, the Control Desk can comprehensively manage the entire experimental process, and has powerful test interface layout, experimental control editing, data measurement and data post-processing functions, such as instrument visualization of the output voltage Voltage output and current limit Current Limit.

[0094] See also Figure 7 , which is a schematic diagram of an automated desktop of a test system for a controller used in an air suspension according to an embodiment of the present application. Figure 7 As shown, Automation Desk is an automated testing software that provides a graphical interface for establishing test cases, including data initialization and evaluation test step display (including enabling conditions, triggering conditions, and interrupt conditions, etc.).

[0095] See also Figure 8 , which is a desktop schematic diagram showing the action display of the test system of the controller used in the air suspension according to the embodiment of the present application. Figure 8 As shown, the Motion Desk can display animations of any vehicle dynamic changes and driving operations, such as lane changing, separation and turning.

[0096] See also Fig. 9 , which is a schematic diagram of a model desktop of a test system for a controller used in an air suspension according to an embodiment of the present application. Fig. 9 As shown, the Model Desk is used for simulation, intuitive model parameterization and parameter set management.

[0097] In one embodiment, the test performed according to the changes of the vehicle simulation signal and the control signal during the real-time control process includes a software qualification test, including:

[0098] (1) According to the software requirements to be verified in the test case, the control desktop of the host computer is used to modify the CAN signal, sensor parameters and vehicle speed parameters involved in the software requirements, so that the processed vehicle simulation signal received by the controller is also changed accordingly, which is reflected in the corresponding interface or variable value of the controller.

[0099] (2) Observe whether the interface or variable value corresponding to the controller changes accordingly.

[0100] (3) The controller performs calculations and decisions based on the interface or variable value through a control algorithm, and outputs control signals of the components and boards as well as CAN signals to the cabinet.

[0101] (4) The cabinet receives the control signals of the components and boards and the CAN signals, performs calculations, and controls the whole vehicle simulation model and the port model, wherein the actuators corresponding to the components and boards are actuated, and the CAN signal values ​​are changed. At the same time, the action behaviors of the whole vehicle simulation model and the port model are monitored on the control desktop.

[0102] (5) The cabinet transmits the monitoring status to the controller in real time, thus forming a closed loop.

[0103] Combination Figure 3 ,The specific steps of the test verification method include:

[0104] First, set up the environment: connect the equipment and related wiring harnesses according to Figure 3 Make the connections as shown.

[0105] Then, the discussion of the test verification method is carried out with an ECU integrating a dual-chamber air spring and a CDC shock absorber control algorithm and with four CDC shock absorber solenoid valves as real loads, including the following steps 1 to 5.

[0106] 1. Turn on the power of the host computer and the cabinet.

[0107] 2. Establish the experimental interface on the Control Desk of the host computer: battery power control, air spring related actuator control, CDC shock absorber solenoid valve control current / frequency / duty cycle control, air suspension system animation interface, CAN bus communication, vehicle brake, throttle, steering wheel angle and other controls, and design the experimental interface according to the test requirements.

[0108] 3. On the Control Desk of the host computer, control the ECU power switch, valve switch, sensor parameter modification, CAN signal value modification, etc. according to the test case to meet the test steps.

[0109] 4. The operations performed on the Control Desk are transmitted to the cabinet via Ethernet, and the real-time processing unit performs calculations and reflects them in the ASM and IO Model. At the same time, the changes generated by the ASM and IO Model can be monitored on the simulated vehicle of the Motion Desk and displayed on the display screen of the driving simulator. They are then processed by the components and boards therein, and then transmitted to the ECU through the cabinet connector and controller harness, thus forming a closed loop.

[0110] 5. The ECU processes the received signals, outputs control signals through the controller harness, and transmits them to components, boards, etc. through the cabinet connector to control the ASM and IO Model in real time. At the same time, the changes in the ASM and IO Model can be monitored on the simulated vehicle of the Motion Desk and displayed on the display screen of the driving simulator. Finally, they are monitored through the interface on the Control Desk. Testers record and judge the test results based on the interface information on the Control Desk and the simulated vehicle of the Motion Desk.

[0111] On the one hand, the application of this application in software qualification testing is as follows:

[0112] (1) In the software qualification test, the Control Desk is used to modify the CAN signals, sensor parameters, vehicle speed and other parameters involved according to the software requirements to be verified by the test case.

[0113] (2) The values ​​received by the ECU are also changed accordingly, and calibration tools such as CANape are used to observe whether the corresponding interface / variable values ​​have changed accordingly.

[0114] (3) The ECU performs calculations and decisions based on the received values ​​through the control algorithm, and then outputs control signals to the actuators and CAN signals to the cabinet.

[0115] (4) The cabinet receives the signal sent by the ECU, and the real-time processing unit performs calculations to control the ASM and IO Model. The corresponding actuators take action and the CAN signal value changes. The above behaviors can also be monitored on the Control Desk.

[0116] (5) The actions of the ASM and IO Model in the previous step are transmitted to the ECU in real time by the cabinet, thus forming a closed loop.

[0117] The following is a software qualification test case for illustration:

[0118] 1. Software requirements to be verified: Responsive driving mode.

[0119] ① The software should check the following transmission signal conditions (query the corresponding receiving signal name of the application layer according to the application layer and bottom layer interface table):

[0120] a. Power mode signal (VIU_PowerMode = 0x1: ON);

[0121] b. Lithium battery SOC (LBMS_SOC)>50%;

[0122] c. Air spring system status (ECAS_SystemState!=0x3: fatal failure)

[0123] d. Initialization of the empty spring height suppression signal (VDC_ECASFuncLimit = 0x0: Initial)

[0124] If a&b&c&d==1, the function enabling condition signal DrvModLvlAdjAvail=1; otherwise DrvModLvlAdjAvail=0;

[0125] ② Under the condition of DrvModLvlAdjAvail=1, the software shall output the vehicle front axle target height signal TarHeitFrnt, the rear axle target height signal TarHeitRear, the vehicle target height level signal VehTarPosnSt and the vehicle driving mode corresponding height level signal DrvModHeitLvlFb according to the following logic:

[0126] a. When the software receives the air spring height adjustment signal VehLvlCtrModReq==4 (high), TarHeitFrnt=30, TarHeitRear=30, VehTarPosnSt=2, DrvModHeitLvlFb=2, and activates the height adjustment module;

[0127] b. When the software receives the air spring height adjustment signal VehLvlCtrModReq==5 (standard position), TarHeitFrnt=0, TarHeitRear=0, VehTarPosnSt=3, DrvModHeitLvlFb=3, and activates the height adjustment module;

[0128] c. When the software receives the air spring height adjustment signal VehLvlCtrModReq==6 (low), TarHeitFrnt=-10, TarHeitRear=-10, VehTarPosnSt=4, DrvModHeitLvlFb=4, and activates the height adjustment module;

[0129] d. When the software receives the air spring height adjustment signal VehLvlCtrModReq==7 (lowest bit), TarHeitFrnt=-20, TarHeitRear=-20, VehTarPosnSt=5, DrvModHeitLvlFb=5, and activates the height adjustment module;

[0130] If VehLvlCtrModReq==0, TarHeitFrnt, TarHeitRear, VehTarPosnSt and DrvModHeitLvlFb are maintained as the signal values ​​of the last decision of this module and remain unchanged.

[0131] ③The software checks the following transmitted signal conditions:

[0132] a. Four-door and two-lid status (VIU_DrvrDoorSt=0x2:Opened|VIU_PassDoorSt=0x2:Opened|VIU_RLDoorSt=0x2:Opened

[0133] |VIU_RRDoorSt=0x2:Opened|VIU_TailgateSt=0x2:opened|VIU_HoodSt=0x2:Opened);

[0134] b. DC charging gun status (BMS_DCChrgConnectSt!=0x0:Disconnect);

[0135] c.OBC charging gun CC status (OBC_ChrgGunCCSts!=0x1:Nt connected);

[0136] d. Steering wheel pinion angular speed (EPS_SteerWheelAngleSpeed)>120degree / s&Vehicle speed signal (IPB_VehicleSpeed)>50km / h;

[0137] e. Brake pedal travel signal (IPB_PushRodActTrvl)>30mm& vehicle speed signal (IPB_VehicleSpeed)>20km / h;

[0138] f. Lateral acceleration signal (ABM_IMU_LateralAcceleration)>4m / s2;

[0139] g. Longitudinal acceleration signal (ABM_IMU_LongAcceleration)>4m / s2;

[0140] h. Yaw rate (ABM_IMU_YawRate)>90degree / s;

[0141] i. The actual wheel end torque (VDC_VehWhlActTq) of the vehicle fluctuates > 10Nm;

[0142] j.ABS activation signal (IPB_ABSActive=0x1:Active);

[0143] k.ESC activation signal (IPB_ESCActive=0x1:Active);

[0144] 1. VDC activation signal (IPB_VDCActive=0x1:Active);

[0145] m.TCS activation signal (IPB_TCSActive=0x1:Active);

[0146] n. Automatic brake activation (IPB_AEBActive = 0x1: Active);

[0147] o. When the vehicle speed is <10km / h (can be calibrated), the slope is required to be >0.2;

[0148] p. The height difference between the left front axle and the right front axle> 30mm

[0149] q. The height difference between the left rear axle and the right rear axle is >30mm

[0150] r.BodyVertCC>6m / s2;

[0151] s. Air spring maintenance mode (VDC_ECASMaintenanceMode = 0x2: Enable);

[0152] t. Automatic maintenance mode signal activation (LiftModFb = 1||2);

[0153] u. Crash type signal (ABM_CrashTyp! = 0)

[0154] If a|b|c|d|e|f|g|h|i|j|k|l|m|n|o|p|q|r|s|t|u==1, the height adjustment interrupt enable signal LvlAdjInterpCon>0; otherwise LvlAdjInterpCon=0.

[0155] ④The software checks the following transmitted signal conditions:

[0156] a. When lifting, the air tank pressure is <12bar;

[0157] b.Air pump temperature>120℃.

[0158] ⑤When the altitude adjustment is activated, if a&b==0 in step ④ and LvlAdjInterpCon==0, the software determines the relationship between the following actual altitude signal and the target altitude signal for the final decision:

[0159] a.|CtrlHeitFL-TarHeitFrnt|<=5

[0160] b.|CtrlHeitFR-TarHeitFrnt|<=5

[0161] c.|CtrlHeitRL-TarHeitRear|<=5

[0162] d.|CtrlHeitRR-TarHeitRear|<=5

[0163] If a&b&c&d==1 is satisfied, the drive signals output to the bottom layer to control the five-valve, air pump relay and exhaust valve are all 0; otherwise, according to the requirements of the height adjustment module, the hierarchical action control mode of manual adjustment is entered to control the drive signals of the five-valve, air pump relay and exhaust valve to the bottom layer until a&b&c&d==1 is satisfied. If LvlAdjInterpCon>0 is satisfied during the height adjustment period, the drive signals output to the bottom layer to control the five-valve, air pump relay and exhaust valve are all 0. If LvlAdjInterpCon==0, the drive output is restored;

[0164] 2. Test case design method: design method based on requirements;

[0165] 3. Test purpose: Test enabling conditions, all met, a&b&c&d=1;

[0166] 4. Test prerequisites: vehicle CAN communication is normal, ECAS drive signal is normal, and XCP is normal;

[0167] 5. Test environment: HIL test bench;

[0168] 6. Test tool software: dSPACE Control Desk;

[0169] 7. Test tool hardware: CANape;

[0170] 8. Test steps:

[0171] 1) Configure dSPACE's Control Desk software to send CAN signals to the ECU: a. Power mode signal (VIU_PowerMode = 0x1: ON); b. Lithium battery SOC (LBMS_SOC) = 51%; c. Air spring system status (ECAS_SystemState = 0x0: Nrmal | 0x1: MiNr failure); d. Air spring height suppression signal initialization (VDC_ECASFuncLimit = 0x0: Initial); Make the signal satisfy a&b&c&d = 1.

[0172] 2) Use CANAPE to check whether the ECU correctly receives the corresponding signals in a, b, c, and d (prerequisite).

[0173] 3) Use CANAPE to check whether the module enable condition signal DrvModLvlAdjAvail is equal to 1.

[0174] 9. Expected result: DrvModLvlAdjAvail=1.

[0175] On the other hand, the application of this application in system qualification testing:

[0176] (1) In the system qualification test, the CAN signal, sensor parameters, vehicle speed and other parameters involved are modified using the Control Desk according to the system requirements to be verified;

[0177] (2) The value received by the ECU is also changed accordingly;

[0178] (3) The ECU calculates and makes decisions based on the received values ​​through the control algorithm, and then outputs the control signal to the actuator and the CAN signal to the cabinet;

[0179] (4) The cabinet receives the signal sent by the ECU, and the real-time processing unit performs calculations to control the ASM and IO Model. The corresponding actuators act and the CAN signal values ​​change. The above behaviors can be monitored on the Control Desk and MotionDesk.

[0180] (5) The actions of the ASM and IO Model in the previous step are transmitted to the ECU in real time by the cabinet, thus forming a closed loop.

[0181] The following is a system qualification test case for illustration:

[0182] 1. System requirements to be verified: Responsive driving mode;

[0183] 2. Test case design method: design method based on requirements;

[0184] 3. Test purpose: Verify system requirements and the suspension system responds normally to the high-position request of driving mode;

[0185] 4. Test prerequisites: power mode is ON, air suspension system operates normally, and battery power is above 50%;

[0186] 5. Test environment: HIL test bench;

[0187] 6. Test tool software: dSPACE Control Desk / dSPACE Motion Desk;

[0188] 7. Test tool hardware: CANape;

[0189] 8. Test steps:

[0190] 1) The vehicle is placed on a level surface and the suspension is reset to the standard height;

[0191] 2) Set the driving mode corresponding height: VDC_ECASHeightAdjust = 0x4: High1;

[0192] 3) Wait for the suspension height to stabilize;

[0193] 9. Expected results:

[0194] 1) The suspension height is in the standard position;

[0195] 2) Observe that the suspension target height is high:

[0196] Target left front height (ECAS_TgtLvlFL) = 30;

[0197] Target right front height (ECAS_TgtLvlFR) = 30;

[0198] Target left rear height (ECAS_TgtLvlRL) = 30;

[0199] Target right rear height (ECAS_TgtLvlRR) = 30;

[0200] Air spring system state (ECAS_SystemState) = 0x0: Normal;

[0201] Vehicle up and down state (ECAS_VehicleUpDownState) = 0x1: up;

[0202] 3) After stabilization, observe that the actual height of the suspension is at a high position (the error is within ±5mm):

[0203] Actual left front height (ECAS_ActvLvlFL) = 30;

[0204] Actual right front height (ECAS_ActvLvlFR) = 30;

[0205] Actual left rear height (ECAS_ActvLvlRL) = 30;

[0206] Actual right rear height (ECAS_ActvLvlRR) = 30;

[0207] A simulated vehicle suspension rise was observed.

[0208] Therefore, the present application can provide control software developers with a convenient and immediate verification method during the development phase of a semi-active dual-chamber air suspension controller, shortening the software iteration cycle. At the same time, it can replace the entire vehicle in subsequent software qualification tests and system qualification tests, carrying most of the testing tasks and shortening the testing cycle.

[0209] In another embodiment, the cabinet is connected to the host computer, ECU, and real load respectively. The cabinet runs the whole vehicle simulation model (ASM) and the IO model (IO Model), which includes a model of a semi-active dual-chamber air suspension, a battery simulation component provides power to the ECU, an IO board simulates the sensor, and a bus communication board simulates the CAN communication of a real vehicle. A visual semi-active dual-chamber air suspension graphical interface is established in the Control Desk, and the corresponding graphics are associated with the model. A road model is established in the Model Desk. Animations of any vehicle dynamic changes and driving operations are displayed in the Motion Desk. The driving simulator can provide steering wheel, brake, throttle and other signal inputs according to the driver's operation when vehicle dynamic verification is required.

[0210] See also Fig.10 , showing an air suspension graphical interface diagram of a test system for a controller used in an air suspension according to an embodiment of the present application. Fig.10 As shown, in another embodiment, a visual semi-active dual-chamber air suspension graphical interface is established in the Control Desk, and the air spring stiffness valve in the dual-chamber air spring can be opened or closed according to the function of the in-loop ECU, and can be used as a single-chamber air spring when normally open.

[0211] In the several embodiments provided in the present application, it should be understood that the disclosed system or method can be implemented in other ways. For example, the system embodiments described above are only schematic. For example, the division of modules / units is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or units can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules or units, which can be electrical, mechanical or other forms.

[0212] The modules / units described as separate components may or may not be physically separated, and the components displayed as modules / units may or may not be physical modules, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules / units may be selected according to actual needs to achieve the purpose of the embodiments of the present application. For example, the functional modules / units in the various embodiments of the present application may be integrated into one processing module, or each module / unit may exist physically separately, or two or more modules / units may be integrated into one module / unit.

[0213] Those of ordinary skill in the art should further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0214] See also Fig.11 , which is a schematic diagram showing the structural connection of the electronic device described in the embodiment of the present application. Fig.11 As shown, this embodiment provides an electronic device 10, which includes: a processor 101 and a memory 102; the memory 102 is used to store computer programs, and the processor 101 is used to execute the computer programs stored in the memory, so that the electronic device 10 executes the test method of the controller used for the air suspension.

[0215] The above-mentioned processor 101 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0216] The memory 102 may include a random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory.

[0217] The embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed, the test method of the controller used for the air suspension is implemented.

[0218] A person of ordinary skill in the art can understand that all or part of the steps in the method for implementing the above-mentioned embodiment can be completed by instructing a processor through a program, and the program can be stored in a computer-readable storage medium, and the storage medium is a non-transitory medium, such as a random access memory, a read-only memory, a flash memory, a hard disk, a solid-state hard disk, a magnetic tape, a floppy disk, an optical disc, and any combination thereof. The above-mentioned storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that includes one or more available media. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a tape), an optical medium (for example, a digital video disc (DVD)), or a semiconductor medium (for example, a solid-state disk (SSD)), etc.

[0219] The descriptions of the processes or structures corresponding to the above-mentioned figures have different emphases. For parts that are not described in detail in a certain process or structure, please refer to the relevant descriptions of other processes or structures.

[0220] The above embodiments are merely illustrative of the principles and effects of the present application and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. A method for testing a controller used in an air suspension, characterized in that: The method comprises: Get test operation instructions; Transmitting the test operation instruction to the whole vehicle simulation model and port model of the cabinet; Monitoring the whole vehicle simulation signal through parameter changes of the whole vehicle simulation model and the port model; The whole vehicle simulation signal is reflected to the driving simulator, and the driving simulator displays the vehicle simulated driving scene in real time; Processing the whole vehicle simulation signal by components and boards in the cabinet, and transmitting the processed whole vehicle simulation signal to the controller; generating a control signal according to the processed vehicle simulation signal; The control signal is transmitted to the components and boards in the cabinet, and the whole vehicle simulation model and the port model are controlled in real time, so as to perform tests according to the changes of the whole vehicle simulation signal and the control signal during the real-time control process.

2. The method according to claim 1, characterized in that: The steps of obtaining the test operation instruction include: Get the test case corresponding to the controller; The test operation instruction is determined according to the test case.

3. The method according to claim 1, characterized in that The method further comprises: In response to the presence of a real load in the test, the control current of the shock absorber solenoid valve output by the controller is allowed to enter the cabinet and then be transmitted to the real load.

4. The method according to claim 1, characterized in that The method further comprises: In response to the inclusion of sensors in the test, a sensor simulation device is used to generate a sensor simulation signal, and the sensor simulation signal is transmitted to the cabinet to improve the whole vehicle simulation signal.

5. A test system for a controller used in an air suspension, characterized in that: The method according to any one of claims 1 to 4 is applied, wherein the system comprises: a controller, a cabinet and a driving simulator used for the air suspension; Acquire a test operation instruction, and transmit the test operation instruction to the whole vehicle simulation model and the port model of the cabinet; Monitoring the whole vehicle simulation signal through parameter changes of the whole vehicle simulation model and the port model; The whole vehicle simulation signal is reflected to the driving simulator, and the driving simulator displays the vehicle simulated driving scene in real time; Processing the whole vehicle simulation signal by components and boards in the cabinet, and transmitting the processed whole vehicle simulation signal to the controller; generating a control signal according to the processed vehicle simulation signal; The control signal is transmitted to the components and boards in the cabinet, and the whole vehicle simulation model and the port model are controlled in real time, so as to perform tests according to the changes of the whole vehicle simulation signal and the control signal during the real-time control process.

6. The system according to claim 5, characterized in that The method further comprises: a host computer, connected to the cabinet and the driving simulator respectively; The host computer is configured to obtain a test case corresponding to the controller; and determine the test operation instruction according to the test case.

7. The system according to claim 6, characterized in that: The cabinet includes a real-time processing unit, an auxiliary component, a battery simulation component, an IO board and a bus communication board; wherein the real-time processing unit includes the vehicle simulation model and the port model, and the auxiliary component includes a fault simulation board and a load board; The driving simulator includes a driver operating system, a signal acquisition system, and a visual display system; the driving simulator uses a steering wheel and a steering system with torque feedback to respond to torque instructions from the cabinet in real time and feed back current steering wheel angle information, thereby introducing the driver into the entire closed loop; The software of the host computer includes MATLAB / Simulink, a control desktop, a configuration desktop, an automation desktop, an action display desktop, and a model desktop; wherein MATLAB / Simulink is configured to build and run the whole vehicle simulation model and the port model, the configuration desktop is configured to associate the functions of the whole vehicle simulation model from MATLAB / Simulink with the port model, and generate real-time code by compiling, the control desktop is configured to comprehensively manage the entire experimental process, and has powerful test interface layout, experimental control editing, data measurement and data post-processing functions, the automation desktop is automated testing software, and provides a graphical interface for establishing test cases, the action display desktop is configured to display animations of any vehicle dynamic changes and driving operations, and the model desktop is configured for simulation, intuitive model parameterization and parameter set management.

8. The system according to claim 5, characterized in that The system further comprises: a real load connected to the cabinet; In response to the presence of a real load in the test, the control current of the shock absorber solenoid valve output by the controller enters the cabinet and is then transmitted to the real load.

9. The system according to claim 5, characterized in that The system further comprises: a sensor simulation device connected to the cabinet; In response to the inclusion of sensors in the test, a sensor simulation device is used to generate a sensor simulation signal, and the sensor simulation signal is transmitted to the cabinet to improve the whole vehicle simulation signal.

10. The system according to claim 5, characterized in that During the real-time control process, the test is performed according to the changes of the vehicle simulation signal and the control signal, including software qualification test, including: According to the software requirements to be verified in the test case, the CAN signal, sensor parameters and vehicle speed parameters involved in the software requirements are modified using the control desktop of the host computer, so that the processed vehicle simulation signal received by the controller is also changed accordingly, which is reflected in the interface or variable value corresponding to the controller; Observe whether the interface or variable value corresponding to the controller changes accordingly; The controller performs calculations and decisions based on the interface or variable value through a control algorithm, and outputs control signals of the components and boards and CAN signals to the cabinet; The cabinet receives the control signals of the components and boards and the CAN signals, performs calculations, and controls the vehicle simulation model and the port model, wherein the actuators corresponding to the components and boards act, the CAN signal values ​​change, and the action behaviors of the vehicle simulation model and the port model are monitored on the control desktop; The cabinet transmits the monitoring situation to the controller in real time, thus forming a closed loop.

11. An electronic device, characterized in that: The electronic device comprises: a processor and a memory; The memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the electronic device executes the method according to any one of claims 1 to 4.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the method according to any one of claims 1 to 4 is implemented.

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