Vehicle ADAS system test method, electronic equipment and medium

Abstract

According to the vehicle ADAS system test method, the electronic device and the medium, ADAS system test is carried out through the vehicle double-flash switch, the driving pedal, the brake pedal and other existing vehicle devices and operation combinations, external devices are not needed, dependence on professional devices and technicians is reduced, and the test efficiency is improved. According to the method, the traditional complicated debugging process depending on technicians and external equipment is simplified, the debugging time and cost of the ADAS system are reduced, the detection efficiency of the vehicle ADAS system is improved, and the production delay caused by waiting for technical support and external equipment debugging is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle testing, and in particular relates to a vehicle ADAS system testing method, electronic equipment and medium. Background Art

[0002] With the rapid development of electric vehicle technology, the integration complexity of advanced driver assistance systems (ADAS) has increased. In the absence of standardized test scenarios, it is a challenge to ensure that the instrumentation, steer-by-wire and brake-by-wire systems provided by different suppliers follow the OEM's braking protocol to accurately respond to ADAS commands.

[0003] At present, ADAS system debugging requires the help of external diagnostic equipment; there is a lack of ADAS standard test scenarios during the vehicle offline inspection stage. For example, it is difficult to simulate dummy / vehicle collision scenarios in the factory to trigger AEBS (emergency braking system) warnings, resulting in the verification of instruments, steering, and braking systems relying on external resources, seriously affecting the debugging efficiency and quality; even if standardized testing resources are available, comprehensive simulation of ADAS scenarios is complex and time-consuming. For example, AEBS testing requires a variety of working conditions and parameter adjustments, which increases the complexity of vehicle offline debugging; current ADAS system debugging relies on on-site intervention by technical personnel to diagnose problems by collecting and analyzing data. This process is time-consuming and inefficient.

[0004] Patent CN114413952B discloses a test method for reconstructing a car instrument scene, which uses CAN to simulate the ADAS system to send ADAS signals to the instrument to be tested, and detects whether the instrument correctly displays the ADAS signal, so as to achieve the effect of real vehicle testing. This method requires the use of an external CAN tool box and requires specialized technicians to configure complex configuration files such as DBF. At the same time, it also requires artificially sending signals to the CAN bus, which requires professional technicians and professional equipment. Summary of the invention

[0005] The purpose of the present invention is to address the deficiencies in the prior art and provide a vehicle ADAS system testing method, electronic equipment and medium, which do not require reliance on professionals and external equipment and have high ADAS system detection efficiency.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is:

[0007] A vehicle ADAS system testing method includes the following processes:

[0008] When the ACC gear signal is valid, the key ON gear signal is valid, the vehicle is in neutral gear, the vehicle is stationary, the hazard lights are invalid, and the parking brake is on, the ADAS system starts and the timing begins;

[0009] After the ADAS system timing is greater than the first time threshold, if the driving pedal opening is greater than the first opening threshold and the brake pedal opening is greater than the second opening threshold, the ADAS system restarts the timing and performs the i-th diagnostic mode, where i=1, 2, …, n, and n is the number of diagnostic modes;

[0010] When the double flash switch is valid, the current diagnostic mode is stopped and the ADAS system restarts the timing. If the ADAS system timing is greater than the second time threshold and the double flash switch is invalid, another diagnostic mode is performed;

[0011] When the key ON signal is invalid or the vehicle speed is greater than the speed threshold, the ADAS system stops.

[0012] The present invention conducts ADAS system testing through a combination of existing vehicle equipment and operations, does not require external equipment, reduces dependence on professional equipment and technicians, simplifies the traditional complicated debugging process that relies on technicians and external equipment, reduces ADAS system debugging time and cost, and improves vehicle ADAS system detection efficiency.

[0013] Furthermore, the diagnostic mode includes instrument system response diagnosis, wire steering system response diagnosis, and wire brake system response diagnosis; the instrument system response diagnosis includes dual warning function sound and light warning diagnosis, AEBS function sound and light warning diagnosis, LKA function sound and light warning diagnosis, and ACC function sound and light warning diagnosis. The ADAS system sends the expected command to diagnose the instrument system, wire steering system, and wire brake system.

[0014] Furthermore, the dual warning function sound and light warning diagnosis includes warning system working status display, lane line display, lane departure warning, and forward collision warning.

[0015] Furthermore, the AEBS function sound and light warning diagnosis includes the display of the AEBS system working status, the ADAS system warning target type and warning level.

[0016] Furthermore, the LKA function sound and light warning diagnosis includes displaying the working status of the LKA system and warning when both hands are off the steering wheel for too long.

[0017] Furthermore, the ACC function sound and light warning diagnosis includes ACC system working status display, ACC cruise speed display, and ACC time interval level display.

[0018] Furthermore, the steer-by-wire system response diagnosis verifies the response speed and accuracy of the steering angle when the LKA is activated.

[0019] Further, the brake-by-wire system responds to the diagnosis to verify the brake response speed and accuracy when the ACC system requests brake deceleration or when the AEBS emergency brake is activated and requests emergency braking.

[0020] Further, the process of the diagnostic mode includes:

[0021] The ADAS system sends a preset expected instruction to the instrument system or the steer-by-wire system or the brake-by-wire system. If the actual response result of the instrument system or the steer-by-wire system or the brake-by-wire system does not match the preset expected instruction, it is determined that there is an abnormality in the instrument system or the steer-by-wire system or the brake-by-wire system.

[0022] When the ADAS system timing is greater than the third time threshold, the desired instruction is switched and the ADAS system restarts the timing.

[0023] Based on the same inventive concept, the present invention also provides an electronic device, including:

[0024] one or more processors;

[0025] A memory having one or more programs stored thereon, which, when executed by the one or more processors, enables the one or more processors to implement the steps of the vehicle ADAS system testing method.

[0026] Based on the same inventive concept, the present invention further provides a computer-readable storage medium storing a computer program, which implements the steps of the vehicle ADAS system testing method when executed by a processor.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The present invention uses the vehicle's existing equipment and operation combinations such as the vehicle's double flash switch, drive pedal, brake pedal, etc. to perform ADAS system testing. No external equipment is required, which reduces dependence on professional equipment and technicians, simplifies the traditional complicated debugging process that relies on technicians and external equipment, reduces ADAS system debugging time and cost, improves vehicle ADAS system detection efficiency, and reduces production delays caused by waiting for technical support and equipment debugging. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of the network topology of the ADAS system-related subsystems of the present invention;

[0030] Figure 2 is a schematic diagram of an ADAS testing method of the present invention;

[0031] Figure 3 A schematic diagram of the sound and light warning diagnosis of the dual warning function instrument of the present invention;

[0032] Figure 4 It is a schematic diagram of the sound and light warning response of the dual warning function instrument of the present invention;

[0033] Figure 5 A schematic diagram of the sound and light warning diagnosis of the AEBS functional instrument of the present invention;

[0034] Figure 6 A schematic diagram of the sound and light warning response of the AEBS functional instrument of the present invention;

[0035] Figure 7 A schematic diagram of the sound and light early warning diagnosis of the LKA function instrument of the present invention;

[0036] Figure 8 This is a schematic diagram of the sound and light warning response of the LKA function instrument of the present invention;

[0037] Fig. 9 A schematic diagram of the sound and light warning diagnosis of the ACC function instrument of the present invention;

[0038] Fig.10 This is a schematic diagram of the sound and light warning response of the ACC function instrument of the present invention;

[0039] Fig.11 A schematic diagram of response diagnosis of a steer-by-wire system of the present invention;

[0040] Fig.12 A schematic diagram of the response diagnosis of the brake-by-wire system of the present invention;

[0041] Fig.13 A schematic diagram of a test and verification effect of the present invention;

[0042] Fig.14 Another schematic diagram of the test and verification effect of the present invention. DETAILED DESCRIPTION

[0043] The present invention will be described in detail below in conjunction with the embodiments. It should be noted that the embodiments and features of the embodiments of the present invention can be combined with each other without conflict. For the convenience of description, if the words "upper", "lower", "left" and "right" appear in the following, they only indicate that the upper, lower, left and right directions are consistent with the drawings themselves, and do not limit the structure.

[0044] Example

[0045] In view of the low efficiency of traditional offline debugging of ADAS systems in electric vehicles, this embodiment proposes an efficient debugging control method without a diagnostic instrument, so as to quickly verify the response accuracy of systems such as instruments, wire-controlled steering, and wire-controlled braking, so as to achieve the purpose of improving the vehicle offline detection efficiency and fault location accuracy.

[0046] 1. Analysis of limitations of existing debugging methods for ADAS systems

[0047] 1.1 Subsystem architecture and functional interaction

[0048] In order to realize the ADAS system functions, the vehicle controller VCU, as the central processor of the vehicle electronic system, needs to coordinate the efficient interaction between various subsystems. The network architecture is as follows: Figure 1 As shown. In this architecture, the instrument system needs to accurately display sound and light warning information such as dual warning and AEBS according to the communication specifications of the OEM. As the core of ADAS command execution, the steer-by-wire and brake-by-wire systems must quickly execute steering and braking commands according to the communication protocol established by the OEM, such as ensuring immediate and effective braking when AEBS braking is activated. Although the vehicle domain control system and ADAS system have been rigorously tested and have formed mature standardized products, when connecting components from multiple suppliers (including instruments, steer-by-wire and brake-by-wire systems), due to differences in suppliers' understanding and implementation of the communication protocols established by the OEM or due to uncalibrated or abnormal calibration of steer-by-wire and brake-by-wire system components, communication delays, command mis-responses or substandard subsystem performance may occur, which will affect the overall performance of the ADAS system. Therefore, it is crucial to detect whether each subsystem responds accurately according to the communication protocol established by the OEM when the vehicle is offline.

[0049] 1.2 Limitations of existing debugging methods

[0050] (1) Lack of standardized test scenarios: There is a lack of standard ADAS test scenarios during the vehicle off-line inspection phase. For example, it is difficult to simulate dummy / vehicle collision scenarios in the factory to trigger AEBS warnings. As a result, the verification of the instrument, steering, and braking systems is highly dependent on external resources, which seriously affects the debugging efficiency and quality.

[0051] (2) Complexity of test steps: Even if standardized test resources are available, comprehensive simulation of ADAS scenarios is complex and time-consuming. For example, AEBS testing requires a variety of operating conditions and parameter adjustments, which increases the complexity of vehicle offline debugging.

[0052] (3) Dependence on technicians and equipment: In the current ADAS debugging process, after fault identification, the technical team needs to be called to cooperate with the diagnostic equipment to collect and analyze data. This process not only relies on high-end technical support, but also significantly slows down the diagnosis speed due to the cumbersome operation and complex connection of the equipment, affecting the real-time feedback and debugging efficiency of the production line.

[0053] 2. ADAS automatic diagnosis solution

[0054] The core of the ADAS automatic diagnosis solution is to ensure vehicle safety, make the ADAS system enter the diagnosis mode through hidden combination operations, trigger the preset self-diagnosis process (the self-diagnosis process is built into the vehicle controller), and quickly determine whether the system response is normal by observing the execution results of the instrument, wire control brake and wire control steering system, and quickly locate the abnormal subsystem when abnormal. Therefore, it is crucial to design how to enter the diagnosis mode.

[0055] 2.1 ADAS system diagnostic mode design

[0056] According to the functional requirements, three diagnostic modes are designed for the ADAS system. The first diagnostic mode is used to trigger the instrument display system response diagnosis, the second diagnostic mode is used to trigger the wire steering system response diagnosis, and the third diagnostic mode is used to trigger the wire brake system response diagnosis. Each mode has a corresponding system code, 2455, 2456, and 2457, to prompt the debugger of the current diagnostic status. The setting of the diagnostic mode must follow the following principles. (a) Safety first, it is forbidden to enter the diagnostic mode while driving. (b) The combined operation of entering the diagnostic mode should be concealed to avoid accidental triggering by the user. (c) The instrument must clearly indicate whether it is currently in diagnostic mode. (d) Entering the diagnostic mode only requires the use of the vehicle's standard hardware, without the need for additional components (such as diagnostic switches). (e) The diagnostic mode must not affect the gear shifting operation. The vehicle must automatically exit the diagnostic mode when it is powered off or has a speed. Based on these principles, the ADAS system diagnostic mode is designed, and the design model diagram is shown in the figure below. Figure 2 shown.

[0057] When the ACC gear signal is valid, the key ON gear signal is valid, the vehicle is in neutral gear, the vehicle is stationary, the hazard lights are invalid, and the parking brake is on, the ADAS system starts and the timing begins;

[0058] After the ADAS system has timed for more than 2 seconds, it determines the driving pedal opening and the brake pedal opening;

[0059] If the driving pedal opening is greater than 1% and the brake pedal opening is greater than 35%, the ADAS system resets the timing, the first diagnostic mode, the second diagnostic mode, or the third diagnostic mode is enabled, and the first diagnostic mode, the second diagnostic mode, or the third diagnostic mode is performed;

[0060] When the double flash switch is effective, the ADAS system will restart the timing. If the ADAS system timing is greater than 200ms and the double flash switch is ineffective, the diagnostic mode will be switched.

[0061] When the key ON signal is invalid or the vehicle speed is greater than 1km / h, the ADAS system stops.

[0062] The first diagnostic mode is the instrument system response diagnosis, which includes dual warning function sound and light warning diagnosis, AEBS (emergency braking system) function sound and light warning diagnosis, LKA (lane keeping assist system) function sound and light warning diagnosis, and ACC (adaptive cruise control system) function sound and light warning diagnosis; the second diagnostic mode is the wire-controlled steering system response diagnosis; the third diagnostic mode is the wire-controlled braking system response diagnosis.

[0063] The driving pedal is greater than 1% for safety reasons. You only need to lightly press the driving pedal. At the same time, since the vehicle's air brake pedal stroke is more than 35%, in order to ensure safety, you also need to press the brake pedal stroke to the corresponding stroke of the air brake stage while pressing the driving pedal.

[0064] 2s is for confirmation and filtering of critical signals, and 200ms is for confirmation and filtering of non-critical signals, which is derived from actual debugging experience.

[0065] Each of the three diagnostic modes has its own corresponding system code. The current mode status can be determined by the system code displayed on the instrument. The diagnostic mode can be switched by operating the double flash switch.

[0066] 2.2 Instrument display system response diagnosis

[0067] 2.2.1 Dual warning function sound and light warning diagnosis

[0068] Dual warning function sound and light warning diagnosis covers dual warning system working status (normal / abnormal) display indication, lane line display, lane departure warning (LDW), forward collision warning (FCW). When the system enters the first diagnostic mode, the ADAS system Figure 3 The design in the figure sends the expected result to the instrument, which then Figure 4 The design requirements are met. If the actual response result does not meet the expectation under the premise that the instrument system and the vehicle domain controller can communicate smoothly, it can be determined that the problem exists in the response mechanism of the instrument subsystem. When the ADAS system timing is greater than 3s, change the expected instruction.

[0069] 2.2.2AEBS function sound and light warning diagnosis

[0070] AEBS function sound and light warning diagnosis covers the display indication of AEBS system working status (normal / abnormal), ADAS system warning target type and warning level. When the system enters the first diagnostic mode, the ADAS system Figure 5 The design in the above example sends the preset expected result to the instrument, which then Figure 6 The design requirements are met. If the actual response result does not meet the expectation under the premise that the instrument system and the vehicle domain controller can communicate smoothly, it can be determined that the problem exists in the response mechanism of the instrument subsystem. When the ADAS system timing is greater than 3s, change the expected instruction.

[0071] 2.2.3LKA function sound and light warning diagnosis

[0072] The LKA function sound and light warning diagnosis includes the LKA system working status (fault / sleep / activation) display indication, and the warning of hands leaving the steering wheel for too long. When the system enters the first diagnostic mode, the ADAS system Figure 7The design in the above example sends the preset expected result to the instrument, which then Figure 8 The design requirements are met. If the actual response result does not meet the expectation under the premise that the instrument system and the vehicle domain controller can communicate smoothly, it can be determined that the problem exists in the response mechanism of the instrument subsystem. When the ADAS system timing is greater than 3s, change the expected instruction.

[0073] 2.2.4ACC function sound and light warning diagnosis

[0074] ACC function sound and light warning diagnosis covers ACC system working status (fault / sleep / activation) display indication, ACC cruise speed display, ACC time interval level display. When the system enters the first diagnostic mode, the ADAS system Fig. 9 The design in the above example sends the preset expected result to the instrument, which then Fig.10 The design requirements are met. If the actual response result does not meet the expectation under the premise that the instrument system and the vehicle domain controller can communicate smoothly, it can be determined that the problem exists in the response mechanism of the instrument subsystem. When the ADAS system timing is greater than 3s, change the expected instruction.

[0075] 2.3 Steering-by-wire system response diagnosis

[0076] The response diagnosis of the steer-by-wire system mainly verifies the response speed and accuracy of the steering angle when the LKA is activated. When the ADAS system enters the second diagnostic mode, the system will preset the motor torque to zero at the beginning of the diagnosis to ensure debugging safety. Fig.11 The design in sends the preset expected result to the steer-by-wire system. If the steering angle or response time is abnormal, and the instrument system and the vehicle domain controller communicate well, if the instrument does not display the communication fault code corresponding to the vehicle domain controller and the steer-by-wire system and the hardware fault code fed back by the steer-by-wire system, it can be judged that there is a problem with the control logic or communication interface of the steer-by-wire system. When the ADAS system timing is greater than 3s, change the expected instruction.

[0077] 2.4 Brake-by-wire system response diagnosis

[0078] The brake-by-wire system response diagnosis mainly verifies the braking response speed and accuracy when the ACC system requests braking deceleration or when the AEBS emergency brake is activated. When the system enters the third diagnostic mode, the ADAS system will Fig.12The design in sends the preset expected result to the brake-by-wire system. Under the premise that the instrument system and the vehicle domain controller can communicate smoothly, if the instrument does not display the communication fault code corresponding to the vehicle domain controller and the brake-by-wire system, does not display the hardware fault code fed back by the brake-by-wire system, and does not hear the sound of the brake valve action, and the motor has torque output after the vehicle is shifted into gear and the accelerator is pressed, it can be judged that there is a problem with the control logic or communication interface of the brake-by-wire system. When the ADAS system timing is greater than 3s, change the expected instruction.

[0079] The test and verification results of this embodiment are as follows Fig.13 , Fig.14 shown.

[0080] The main advantages of this method are as follows:

[0081] (1) Self-diagnosis method without diagnostic instrument: An efficient debugging control method for ADAS system diagnosis is proposed, which does not require external diagnostic equipment. By executing a specific operation sequence, the built-in self-diagnosis program of the ADAS system is directly activated, significantly reducing the dependence on professional equipment and technicians.

[0082] (2) Improving off-line inspection efficiency and accuracy: This method can quickly verify whether the instrument display, steer-by-wire, and brake-by-wire system responses comply with the OEM’s communication protocol, accelerate problem location, and improve pre-shipment inspection efficiency and fault identification accuracy.

[0083] (3) Enhanced system integration verification: In the absence of a standardized test environment, this method effectively evaluates the interaction compatibility and communication consistency between components from multiple suppliers by simulating the self-verification process of key ADAS functions, thereby ensuring the stability and reliability of the entire ADAS system.

[0084] (4) Reduce debugging costs and cycles: Simplify the traditional complex debugging process that relies on manual labor and technical equipment, and reduce debugging time and costs.

[0085] (5) Optimize production efficiency: On-site instant self-diagnosis capabilities improve the feedback speed of the production line and reduce production delays caused by waiting for technical support and equipment debugging.

[0086] (6) Improving product quality and safety: By strengthening the systematicness and accuracy of off-line testing, safety hazards caused by poor communication or inaccurate subsystem response are effectively avoided, ensuring the reliable operation of ADAS functions.

[0087] Another embodiment of the present invention provides an electronic device, including:

[0088] one or more processors;

[0089] A memory having one or more programs stored thereon, which, when executed by one or more processors, enables the one or more processors to implement the steps of the vehicle ADAS system testing method.

[0090] In some implementations, the memory may be a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory.

[0091] In some other implementations, the processor may be a central processing unit (CPU), a digital signal processor (DSP), or other general-purpose processors of various types, which are not limited herein.

[0092] Another embodiment of the present invention provides a computer-readable storage medium storing a computer program, which implements the steps of a vehicle ADAS system testing method when the computer program is executed by a processor.

[0093] The contents explained in the above embodiments should be understood as these embodiments are only used to more clearly illustrate the present invention, and are not used to limit the scope of the present invention. After reading the present invention, various equivalent forms of modifications to the present invention by those skilled in the art all fall within the scope defined by the claims attached to this application.

Claims

1. A vehicle ADAS system testing method, characterized in that: The process includes: When the ACC gear signal is valid, the key ON gear signal is valid, the vehicle is in neutral gear, the vehicle is stationary, the hazard lights are invalid, and the parking brake is on, the ADAS system starts and the timing begins; After the ADAS system timing is greater than the first time threshold, if the driving pedal opening is greater than the first opening threshold and the brake pedal opening is greater than the second opening threshold, the ADAS system restarts the timing and performs the i-th diagnostic mode, where i=1, 2, …, n, and n is the number of diagnostic modes; When the double flash switch is valid, the current diagnostic mode is stopped and the ADAS system restarts the timing. If the ADAS system timing is greater than the second time threshold and the double flash switch is invalid, another diagnostic mode is performed; When the key ON signal is invalid or the vehicle speed is greater than the speed threshold, the ADAS system stops.

2. The vehicle ADAS system testing method according to claim 1, characterized in that: The diagnostic modes include instrument system response diagnosis, wire-controlled steering system response diagnosis, and wire-controlled brake system response diagnosis. The instrument system response diagnosis includes dual warning function sound and light warning diagnosis, AEBS function sound and light warning diagnosis, LKA function sound and light warning diagnosis, and ACC function sound and light warning diagnosis.

3. The vehicle ADAS system testing method according to claim 2, characterized in that: The dual warning function sound and light warning diagnosis includes warning system working status display, lane line display, lane departure warning, and forward collision warning.

4. The vehicle ADAS system testing method according to claim 2, characterized in that: The AEBS function sound and light warning diagnosis includes the AEBS system working status display, ADAS system warning target type and warning level.

5. The vehicle ADAS system testing method according to claim 2, characterized in that: The LKA function sound and light warning diagnosis includes the LKA system working status display and the warning of hands being off the steering wheel for too long.

6. The vehicle ADAS system testing method according to claim 2, characterized in that: The ACC function sound and light warning diagnosis includes ACC system working status display, ACC cruise speed display, and ACC time interval level display.

7. The vehicle ADAS system testing method according to claim 2, characterized in that: The steer-by-wire system response diagnosis verifies the response speed and accuracy of the steering angle when the LKA is activated; the brake-by-wire system response diagnosis verifies the braking response speed and accuracy when the ACC system requests braking deceleration or the AEBS emergency brake is activated.

8. The vehicle ADAS system testing method according to any one of claims 1 to 7, characterized in that: The diagnostic mode process includes: The ADAS system sends a preset expected instruction to the instrument system or the steer-by-wire system or the brake-by-wire system. If the actual response result of the instrument system or the steer-by-wire system or the brake-by-wire system does not match the preset expected instruction, it is determined that there is an abnormality in the instrument system or the steer-by-wire system or the brake-by-wire system. When the ADAS system timing is greater than the third time threshold, the desired instruction is switched and the ADAS system restarts the timing.

9. An electronic device, characterized in that: include: one or more processors; A memory having one or more programs stored thereon, which, when the one or more programs are executed by the one or more processors, enables the one or more processors to implement the steps of the method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer program is stored therein, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

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