Method and system for testing height adjusting function of angle module

Abstract

The invention discloses an angle module height adjustment function test method and system, and the method comprises the steps: adjusting the real vehicle bearing weight of an angle module according to a preset test requirement, transmitting a height adjustment instruction to a controller according to a preset test mode, receiving the height adjustment instruction through the controller, and continuously transmitting a height adjustment control instruction to the angle module, the method comprises the steps of detecting and collecting actual adjustment data of an angle module in the height adjustment process of the angle module, and comparing and analyzing the actual adjustment data and preset adjustment data to judge whether the height adjustment function of the angle module is qualified or not. The angle module height adjusting function is effectively verified in the early stage of product development, the software and hardware integration level of the tested component is effectively verified, test data support is provided for algorithm optimization and hardware improvement, the product development period is shortened, and the product development quality is improved.

Description

Technical Field

[0001] The invention relates to the technical field of automobiles, and in particular to a method and system for testing the height adjustment function of a corner module. Background Art

[0002] As the automobile chassis technology develops towards integration and intelligence, the corner module with integrated drive, rotation, control and suspension has become the focus of research for all OEMs. How to verify the complex functions of new structures and new systems is a difficult problem faced by all manufacturers. Among them, most of the existing corner modules have a height lifting function to achieve the lifting of the chassis, but there is currently no test for the height lifting function of the corner module. It is impossible to effectively verify the height adjustment function of the corner module in the early stage of product development, and it is difficult to effectively verify the software and hardware integration level of the tested components, and provide test data support for algorithm optimization and hardware improvement, which leads to an extension of the product development cycle and an inability to guarantee product development quality. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a method for testing the height adjustment function of a corner module, which effectively verifies the height adjustment function of the corner module in the early stage of product development.

[0004] A method for testing the height adjustment function of a corner module according to a first aspect of an embodiment of the present invention is applied to a system under test having a controller, at least one corner module, and a real vehicle height sensor configured for each corner module. The method for testing the height adjustment function of the corner module comprises: Adjusting the actual vehicle load-bearing weight of the corner module according to preset test requirements; sending a height adjustment instruction to the controller according to a preset test mode; The controller receives the height adjustment instruction and continuously sends the height adjustment control instruction to the corner module to control the corner module to adjust the height; When the actual vehicle height sensor detects that the actual lifting height of the corner module reaches the preset lifting height, stop sending the control command; Detecting and collecting actual adjustment data of the corner module, wherein the actual adjustment data includes a time parameter and a height parameter; The actual adjustment data is compared and analyzed with the preset adjustment data to determine whether the height adjustment function of the corner module is qualified.

[0005] The method for testing the height adjustment function of the corner module according to the embodiment of the present invention has at least the following beneficial effects: The present invention adjusts the actual vehicle load-bearing weight of the corner module according to the preset test requirements to simulate the actual load-bearing condition of the corner module in the vehicle, and then sends a height adjustment instruction to the controller according to the preset test mode, and the controller receives the height adjustment instruction and continuously sends the height adjustment control instruction to the corner module to control the height adjustment of the corner module. When the actual vehicle height sensor detects that the actual lifting height of the corner module reaches the preset lifting height, the control command is stopped to simulate the action flow of the height adjustment of the corner module. In the process of the height adjustment of the corner module, the actual adjustment data of the corner module is detected and collected, wherein the actual adjustment data includes time parameters and height parameters, and the actual adjustment data is compared and analyzed with the preset adjustment data to determine whether the height adjustment function of the corner module is qualified. The present invention effectively verifies the height adjustment function of the corner module in the early stage of product development, effectively verifies the software and hardware integration level of the tested components, provides test data support for algorithm optimization and hardware improvement, shortens the product development cycle, and improves product development quality.

[0006] According to some embodiments of the present invention, the detecting and collecting actual adjustment data of the corner module includes: detecting an actual reaction time of the corner module; detecting an actual adjusted height of the corner module; detecting an actual adjustment time of the corner module; The comparing and analyzing the actual adjustment data with the preset adjustment data to determine whether the height adjustment function of the corner module is qualified includes: Comparing the actual reaction time with the preset reaction time to determine whether the reaction time of the corner module is qualified; Comparing the actual adjustment height with the preset adjustment height to determine whether the adjustment height of the corner module is qualified; The actual adjustment time is compared with the preset adjustment time to determine whether the adjustment time of the corner module is qualified.

[0007] According to some embodiments of the present invention, detecting the actual reaction time of the corner module includes: Collecting the first time point when the height adjustment instruction starts to be sent; collecting a second time point when the control command stops being sent; The second time point is subtracted from the first time point to obtain the actual reaction time.

[0008] According to some embodiments of the present invention, comparing the actual reaction time with the preset reaction time to determine whether the reaction time of the corner module is qualified includes: Subtracting the actual reaction time from the preset reaction time to obtain a first difference value; When the first difference is within a first preset range, the reaction time of the corner module is qualified.

[0009] According to some embodiments of the present invention, detecting the actual adjusted height of the corner module includes: Collecting displacement data of the corner module during a period between when the height adjustment instruction starts to be sent and when the controller stops sending the control command; Calculating the actual adjusted height of the corner module after height adjustment through the displacement data; The comparing the actual adjustment height with the preset adjustment height to determine whether the adjustment height of the corner module is qualified also includes: Subtracting the actual adjusted height from the preset adjusted height to obtain a second difference value; When the second difference is within a second preset range, the adjusted height of the corner module is qualified.

[0010] According to some embodiments of the present invention, calculating the actual adjusted height of the corner module after the height adjustment through the displacement data includes: Determining the initial height and the final height of the corner module from the displacement data; The initial height and the final height are subtracted to obtain the actual adjusted height.

[0011] According to some embodiments of the present invention, detecting the actual adjustment time of the corner module further includes: Collecting time data of the angle module during the time period between when the height adjustment instruction starts to be sent and when the controller stops sending the control command; Calculate the actual adjustment time required to generate the actual adjustment height through the time data; The comparing the actual adjustment time with the preset adjustment time to determine whether the adjustment time of the corner module is qualified includes: Subtracting the actual adjustment time from the preset adjustment time to obtain a third difference value; When the third difference is within a third preset range, the adjustment time of the angle module is qualified.

[0012] According to some embodiments of the present invention, calculating the actual adjustment time required to generate the actual adjustment height through the time data includes: Determine from the time data an initial time point when the corner module starts to perform height adjustment and an end time point when the corner module stops performing height adjustment; The initial time point and the end time point are subtracted to obtain the actual adjustment time.

[0013] According to some embodiments of the present invention, the system under test further comprises an actual vehicle air supply actuator, each of the corner modules is provided with an active shock absorber, the controller is connected to the active shock absorber and the actual vehicle air supply actuator, and the actual vehicle air supply actuator is connected to each of the corner modules; The step of receiving the height adjustment instruction by the controller and continuously sending the height adjustment control instruction to the corner module to control the corner module to adjust the height includes: The controller receives the height adjustment instruction and continuously sends the height adjustment control instruction to the active shock absorber and the actual vehicle air supply actuator in each corner module.

[0014] A corner module height adjustment function test system according to a second aspect of an embodiment of the present invention includes: A control acquisition module is used to send a height adjustment instruction to the controller according to a preset test mode; receive the height adjustment instruction through the controller and continuously send a height adjustment control instruction to the corner module to control the corner module to adjust the height; stop sending the control command when the actual vehicle height sensor detects that the actual lifting height of the corner module reaches the preset lifting height; compare and analyze the actual adjustment data with the preset adjustment data to determine whether the height adjustment function of the corner module is qualified, and detect and collect the time parameters in the actual adjustment data of the corner module; A simulated real vehicle weight counterweight module is used to adjust the real vehicle bearing weight of the corner module according to preset test requirements; The external height sensor module is used to detect and collect the height parameters in the actual adjustment data of the corner module.

[0015] Other features and advantages of the present invention will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 It is a schematic diagram of a system for testing the height adjustment function of a corner module of the present invention; Figure 2 It is a flow chart of the steps of the method for testing the height adjustment function of the corner module of the present invention; Figure 3 A flowchart of the steps of detecting and collecting actual adjustment data of the angle module of the present invention; Figure 4A flowchart of the steps of comparing and analyzing the actual adjustment data with the preset adjustment data to determine whether the height adjustment function of the corner module is qualified according to the present invention; Figure 5 is a flowchart of the steps of detecting the actual reaction time of the angle module of the present invention; Figure 6 A flowchart of the steps of comparing the actual reaction time with the preset reaction time to determine whether the reaction time of the corner module is qualified according to the present invention; Figure 7 A flowchart of the steps of detecting the actual adjustment height of the corner module according to the present invention; Figure 8 A flowchart of the steps of comparing the actual adjustment height with the preset adjustment height to determine whether the adjustment height of the corner module is qualified according to the present invention; Fig. 9 A flowchart of the steps of calculating the actual adjusted height of the corner module after the height adjustment through displacement data of the present invention; Fig.10 A flowchart of the steps of actually adjusting the time of the detection angle module of the present invention; Fig.11 A flowchart of the steps of comparing the actual adjustment time with the preset adjustment time to determine whether the adjustment time of the angle module is qualified according to the present invention; Fig.12 This is a flow chart of the steps of calculating the actual adjustment time required to generate the actual adjustment height through time data of the present invention. DETAILED DESCRIPTION

[0017] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0018] In the description of the present invention, it should be understood that descriptions involving orientation, such as orientation or positional relationship indicated as up, down, etc., are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0019] In the description of the present invention, "a plurality" means more than two. If there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0020] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0021] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described below are only some embodiments of the present invention, not all embodiments.

[0022] Automobile chassis technology is developing in the direction of integration and intelligence. The corner module integrating drive, rotation, control and suspension has become the research focus of all OEMs. How to verify the complex functions of new structures and new systems is a difficult problem faced by all manufacturers. The update and iteration speed of chassis technology is fast. The development of new test equipment does not meet the test requirements in terms of cycle and requires a lot of cost investment. How to use the existing test equipment resources and formulate a test plan that can be implemented quickly according to the characteristics of the tested components is the best solution to this problem.

[0023] The present invention proposes a method for testing the height adjustment function of a corner module, which can effectively verify the height adjustment function of the corner module in the early stage of product development, effectively verify the software and hardware integration level of the tested components, provide test data support for algorithm optimization and hardware improvement, shorten the product development cycle, and improve product development quality.

[0024] Among them, Figure 1 As shown, the corner module height adjustment function test method of this embodiment is aimed at a system under test having a controller, at least one corner module and a real vehicle height sensor configured for each corner module. The controller is connected to the corner module, and the controller is used to control the lifting and lowering of the corner module, while the real vehicle height sensor is used to detect the lifting and lowering height of each corner module.

[0025] Among them, for the power source for raising and lowering the height of the corner module, the tested system of this embodiment also includes a real vehicle air supply actuator, each corner module is equipped with an active shock absorber, and each component in the tested system is connected according to the real vehicle state. The controller is connected to the active shock absorber and the real vehicle air supply actuator, and the real vehicle air supply actuator is connected to each corner module. When the corner module needs to be raised or lowered in height, the real vehicle air supply actuator is controlled to inflate or deflate the air spring in the corner module, and the active shock absorber in each corner module is controlled to generate restoring force and compression force.

[0026] like Figure 2 As shown, the method for testing the height adjustment function of the corner module according to the embodiment of the present invention comprises the following steps: Step S100: adjusting the actual vehicle load-bearing weight of the corner module according to preset test requirements; Step S200: sending a height adjustment instruction to the controller according to a preset test mode; Step S300: receiving a height adjustment instruction through a controller and continuously sending a height adjustment control instruction to the corner module to control the corner module to adjust the height; Step S400: When the actual lifting height of the angle module detected by the actual vehicle height sensor reaches the preset lifting height, stop sending the control command; Step S500: Detecting actual adjustment data of the acquisition angle module, wherein the actual adjustment data includes a time parameter and a height parameter; Step S600: Compare and analyze the actual adjustment data with the preset adjustment data to determine whether the height adjustment function of the corner module is qualified.

[0027] The present invention adjusts the actual vehicle load-bearing weight of the corner module according to the preset test requirements to simulate the actual load-bearing condition of the corner module in the vehicle, and then sends a height adjustment instruction to the controller according to the preset test mode, and the controller receives the height adjustment instruction and continuously sends the height adjustment control instruction to the corner module to control the height adjustment of the corner module. When the actual vehicle height sensor detects that the actual lifting height of the corner module reaches the preset lifting height, the control command is stopped to simulate the action flow of the height adjustment of the corner module. In the process of the height adjustment of the corner module, the actual adjustment data of the corner module is detected and collected, wherein the actual adjustment data includes time parameters and height parameters, and the actual adjustment data is compared and analyzed with the preset adjustment data to determine whether the height adjustment function of the corner module is qualified. The present invention effectively verifies the height adjustment function of the corner module in the early stage of product development, effectively verifies the software and hardware integration level of the tested components, provides test data support for algorithm optimization and hardware improvement, shortens the product development cycle, and improves product development quality.

[0028] In step S100, the actual vehicle load-bearing weight of the corner module is adjusted according to the load-bearing state of the whole vehicle in the test requirements to simulate the actual load-bearing condition of the corner module in the vehicle to improve the accuracy of the test, and the actual vehicle load-bearing weight can be adjusted according to different vehicle conditions.

[0029] In step S200, a height adjustment instruction is sent to the controller according to a preset test mode, where the preset test mode is a driving mode, a vehicle speed, a loading mode, etc.

[0030] In step S300, the embodiment of the present invention receives height adjustment instructions through the controller, and continuously sends height adjustment control instructions to the active shock absorbers in each corner module and the air supply actuator of the actual vehicle according to the control algorithm of the actual vehicle. The air supply actuator of the actual vehicle and the active shock absorbers in each corner module adjust the height of the corner module according to the received control commands.

[0031] In step S400, the controller determines whether the preset lifting height is reached based on the height information fed back by the actual vehicle height sensor. When the preset lifting height is reached, the controller stops sending control commands. It can be understood that when the corner module is adjusting the height, the controller continuously sends control instructions to the active shock absorbers and the actual vehicle air supply actuators in each corner module. When the corner module reaches the preset lifting height, the sending of control commands is stopped. The active shock absorbers and the actual vehicle air supply actuators in each corner module continuously receive control instructions to control the corner module to perform the lifting action.

[0032] like Figure 3 As shown, step S500 includes the following steps: Step S510: Detecting the actual response time of the angle module; Step S520: Detecting the actual adjustment height of the corner module; Step S530: detecting the actual adjustment time of the angle module; like Figure 4 As shown, step S600 includes the following steps: Step S610: Compare the actual reaction time with the preset reaction time to determine whether the reaction time of the corner module is qualified; Step S620: Compare the actual adjustment height with the preset adjustment height to determine whether the adjustment height of the corner module is qualified; Step S630: Compare the actual adjustment time with the preset adjustment time to determine whether the adjustment time of the corner module is qualified.

[0033] When the reaction time, adjustment height and adjustment time of the corner module are all qualified, the height adjustment function of the corner module is judged to be qualified. When any one of the reaction time, adjustment height and adjustment time of the corner module is unqualified, the height adjustment function of the corner module is judged to be unqualified.

[0034] like Figure 5 As shown, during the actual reaction time process of the detection angle module, the following steps are also included: Step S511: collecting the first time point when the height adjustment instruction starts to be sent; Step S512: collecting the second time point when the control command stops sending; Step S513: Subtract the second time point from the first time point to obtain the actual response time.

[0035] like Figure 6 As shown, in step S610, the following steps are also included: Step S611: subtracting the actual response time from the preset response time to obtain a first difference value; Step S612: When the first difference is within the first preset range, it is determined that the reaction time of the angle module is qualified.

[0036] The first preset range is determined according to different vehicle conditions and vehicle models.

[0037] like Figure 7 As shown, in the process of detecting the actual adjustment height of the corner module, the following steps are also included: Step S521: collecting displacement data of the angle module during the period between when the height adjustment instruction starts to be sent and when the controller stops sending the control command; Step S522: Calculate the actual height of the angle module after the height adjustment through the displacement data; like Figure 8 As shown, in step S620, the following steps are also included: Step S621: Subtracting the actual adjustment height from the preset adjustment height to obtain a second difference value; Step S622: When the second difference is within the second preset range, it is determined that the adjustment height of the angle module is qualified.

[0038] The second preset range is determined according to different vehicle conditions and vehicle models.

[0039] like Fig. 9 As shown, step S522 includes the following steps: Step S5221: deriving the initial height and final height of the corner module from the displacement data; Step S5222: Subtract the initial height from the final height to obtain the actual adjusted height.

[0040] like Fig.10 As shown, the actual adjustment time process of the detection angle module also includes the following steps: Step S531: collecting time data of the angle module during the time period between when the height adjustment command starts to be sent and when the controller stops sending the control command; Step S532: Calculating the actual adjustment time required to produce the actual adjustment height through the time data; like Fig.11 As shown, step S630 includes the following steps: Step S631: Subtract the actual adjustment time from the preset adjustment time to obtain a third difference value; Step S632: When the third difference is within the third preset range, the adjustment time of the angle module is qualified.

[0041] The third preset range is determined according to different vehicle conditions and models. like Fig.12As shown, step S532 includes the following steps: Step S5321: deriving, from the time data, an initial time point when the angle module starts to perform height adjustment and an end time point when the angle module stops performing height adjustment; Step S5322: Subtract the initial time point from the end time point to obtain the actual adjustment time.

[0042] The present invention also provides a corner module height adjustment function test system, comprising: a control acquisition module, a simulated vehicle counterweight module and an external height sensor module, wherein the control acquisition module is used to perform the detection and acquisition of time parameters in the above steps S200, S300, S400, S600 and S500, such as Figure 1 As shown, the control acquisition module is connected to the controller signal via CAN, the control acquisition module is also connected to the external height sensor module signal, and the controller is connected to each corner module signal via CAN.

[0043] The external height sensor module is used to detect the height parameters in the actual adjustment data of the corner module. The external height sensor module includes multiple external height sensors. Each corner module is equipped with an external height sensor. The external height sensor is used to collect displacement data when the corner module height is adjusted.

[0044] The simulated real vehicle counterweight module is used to adjust the real vehicle bearing weight of the corner module according to the preset test requirements. The simulated real vehicle counterweight module implemented in this embodiment includes multiple simulated real vehicle counterweight blocks. When in use, the weight of each simulated real vehicle counterweight block is configured according to the bearing state of the whole vehicle in the test requirements and installed on each corner module, while ensuring that the simulated real vehicle counterweight blocks can be freely raised and lowered in the vertical direction.

[0045] It can be understood that the control acquisition module, the simulated real vehicle counterweight and the external height sensor are the test execution parts. The control acquisition module is used for the motion control of the system under test, sensor data acquisition and data processing. It has the CAN signal simulation function, simulates the vehicle control signal, sends it to the controller through the CAN communication signal, and retrieves the controller feedback information through CAN communication.

[0046] like Figure 1 As shown, the system under test of this embodiment is provided with four corner modules, which are divided into a left front corner module, a right front corner module, a left rear corner module and a right rear corner module.

[0047] Combined with Figure 1 The corner module height adjustment function test system shown in the figure is used to describe the corner module height adjustment function test method of the embodiment of the present invention, which includes the following steps: Configure the weight of each simulated vehicle counterweight according to the vehicle load state required for the test; Using the control acquisition module to control the controller to adjust the height of the corner module to the initial height required for the test; The control acquisition module sends the measured simulated driving mode or vehicle speed information to the controller; Based on the received commands, the controller sends control commands to the actual vehicle air supply actuator and the active shock absorbers in each corner module synchronously according to the actual vehicle control algorithm; After receiving the command, the air supply actuator of the actual vehicle inflates or deflates the air springs in each corner module. After receiving the command, the active shock absorbers in each corner module are controlled to generate restoring force or compression force. Through the adjustment of the air spring and active shock absorber, the adjustment stops after reaching the height in the measured driving mode according to the feedback from the actual vehicle height sensor; While the corner modules are adjusting their height, the control acquisition module synchronously acquires the time from the issuance of the height adjustment command to the termination of the height adjustment of each corner module and the displacement data and time data of each external height sensor; The test control and data acquisition system is used to calculate the time difference from the issuance of the height adjustment command to the termination of the height adjustment of each corner module, that is, the time period from the start of sending the height adjustment instruction to the controller stopping sending the control command. The corresponding time differences of each corner module are TLF, TRF, TLR, and TRR, respectively, which are the actual reaction times.

[0048] The control acquisition module is used to calculate the displacement data and time data collected by the external height sensor to calculate the displacement difference HLF, HRF, HLR, HRR before and after the height adjustment of each corner module, that is, the actual adjustment height, and the minimum time tLF, tRF, tLR, tRR to produce the displacement difference, that is, the actual adjustment time.

[0049] Utilize the control acquisition module to calculate the first difference between TLF, TRF, TLR, TRR and the preset reaction time, and when the first difference is within the first preset range, it is determined that the reaction time of the angle module is qualified; The control acquisition module is used to calculate the second difference between HLF, HRF, HLR, HRR and the preset adjustment height. When the second difference is within the second preset range, it is determined that the adjustment height of the angle module is qualified. The control acquisition module is used to calculate the third difference between the minimum time tLF, tRF, tLR, tRR and the preset adjustment time. When the third difference is within a third preset range, the adjustment time of the angle module is qualified.

[0050] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0051] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. A method for testing the height adjustment function of a corner module, applied to a system under test having a controller, at least one corner module and a real vehicle height sensor configured for each corner module, characterized in that: The method for testing the height adjustment function of the corner module comprises: Adjusting the actual vehicle load-bearing weight of the corner module according to preset test requirements; sending a height adjustment instruction to the controller according to a preset test mode; The controller receives the height adjustment instruction and continuously sends the height adjustment control instruction to the corner module to control the corner module to adjust the height; When the actual vehicle height sensor detects that the actual lifting height of the corner module reaches the preset lifting height, stop sending the control command; Detecting and collecting actual adjustment data of the corner module, wherein the actual adjustment data includes a time parameter and a height parameter; The actual adjustment data is compared and analyzed with the preset adjustment data to determine whether the height adjustment function of the corner module is qualified.

2. The method for testing the height adjustment function of the corner module according to claim 1, characterized in that: The detecting and collecting actual adjustment data of the corner module includes: detecting an actual reaction time of the corner module; detecting an actual adjusted height of the corner module; detecting an actual adjustment time of the corner module; The comparing and analyzing the actual adjustment data with the preset adjustment data to determine whether the height adjustment function of the corner module is qualified includes: Comparing the actual reaction time with the preset reaction time to determine whether the reaction time of the corner module is qualified; Comparing the actual adjustment height with the preset adjustment height to determine whether the adjustment height of the corner module is qualified; The actual adjustment time is compared with the preset adjustment time to determine whether the adjustment time of the corner module is qualified.

3. The method for testing the height adjustment function of the corner module according to claim 2, characterized in that: The detecting the actual reaction time of the corner module comprises: Collecting the first time point when the height adjustment instruction starts to be sent; collecting a second time point when the control command stops being sent; The second time point is subtracted from the first time point to obtain the actual reaction time.

4. The method for testing the height adjustment function of the corner module according to claim 3, characterized in that: The comparing the actual reaction time with the preset reaction time to determine whether the reaction time of the corner module is qualified includes: Subtracting the actual reaction time from the preset reaction time to obtain a first difference value; When the first difference is within a first preset range, the reaction time of the corner module is qualified.

5. The method for testing the height adjustment function of the corner module according to claim 2, characterized in that: The detecting the actual adjustment height of the corner module comprises: Collecting displacement data of the corner module during a period between when the height adjustment instruction starts to be sent and when the controller stops sending the control command; Calculating the actual adjusted height of the corner module after height adjustment through the displacement data; The comparing the actual adjustment height with the preset adjustment height to determine whether the adjustment height of the corner module is qualified also includes: Subtracting the actual adjusted height from the preset adjusted height to obtain a second difference value; When the second difference is within a second preset range, the adjusted height of the corner module is qualified.

6. The method for testing the height adjustment function of the corner module according to claim 5, characterized in that: The actual adjusted height of the corner module after the height adjustment is calculated by the displacement data includes: Determining the initial height and the final height of the corner module from the displacement data; The initial height and the final height are subtracted to obtain the actual adjusted height.

7. The method for testing the height adjustment function of the corner module according to claim 5, characterized in that: The detecting the actual adjustment time of the corner module also includes: Collecting time data of the angle module during the time period between when the height adjustment instruction starts to be sent and when the controller stops sending the control command; Calculate the actual adjustment time required to generate the actual adjustment height through the time data; The comparing the actual adjustment time with the preset adjustment time to determine whether the adjustment time of the corner module is qualified includes: Subtracting the actual adjustment time from the preset adjustment time to obtain a third difference value; When the third difference is within a third preset range, the adjustment time of the angle module is qualified.

8. The method for testing the height adjustment function of the corner module according to claim 7, characterized in that: The actual adjustment time required to generate the actual adjustment height is calculated by the time data, comprising: Determine from the time data an initial time point when the corner module starts to perform height adjustment and an end time point when the corner module stops performing height adjustment; The initial time point and the end time point are subtracted to obtain the actual adjustment time.

9. The method for testing the height adjustment function of the corner module according to claim 1, characterized in that: The system under test also includes a real vehicle air supply actuator, each of the corner modules is equipped with an active shock absorber, the controller is connected to the active shock absorber and the real vehicle air supply actuator, and the real vehicle air supply actuator is connected to each of the corner modules; The step of receiving the height adjustment instruction by the controller and continuously sending the height adjustment control instruction to the corner module to control the corner module to adjust the height includes: The controller receives the height adjustment instruction and continuously sends the height adjustment control instruction to the active shock absorber and the actual vehicle air supply actuator in each corner module.

10. A corner module height adjustment function test system, characterized in that: include: A control acquisition module is used to send a height adjustment instruction to the controller according to a preset test mode; receive the height adjustment instruction through the controller and continuously send a height adjustment control instruction to the corner module to control the corner module to adjust the height; stop sending the control command when the actual vehicle height sensor detects that the actual lifting height of the corner module reaches the preset lifting height; compare and analyze the actual adjustment data with the preset adjustment data to determine whether the height adjustment function of the corner module is qualified, and detect and collect the time parameters in the actual adjustment data of the corner module; A simulated real vehicle weight counterweight module is used to adjust the real vehicle bearing weight of the corner module according to preset test requirements; The external height sensor module is used to detect and collect the height parameters in the actual adjustment data of the corner module.

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