Rear wheel steering gear testing system and method and electronic equipment

Abstract

The invention provides a rear wheel steering gear test system and method and electronic equipment, and relates to the technical field of vehicle testing, the system at least comprises a load force supply unit, a CAN card, an upper computer, a test bench and a sensing unit; the CAN card is in communication connection with the rear wheel steering gear assembly on the test bench and the upper computer through CAN lines; the upper computer is respectively in communication connection with the load force supply unit and the sensing unit; the sensing unit is used for acquiring a sensor signal in the process of testing the rear wheel steering gear assembly; the upper computer is used for sending a load applying instruction to the load force supply unit so that the load force supply unit can apply load force to the rear wheel steering gear assembly, sending a control command to the rear wheel steering gear assembly through the CAN card so that a rear wheel steering gear can be controlled, and sending the control command to the rear wheel steering gear assembly through the CAN card. And generating a test result according to a sensor signal obtained in the process of testing the rear wheel steering gear assembly and a message sent by the rear wheel steering gear assembly.

Description

Technical Field

[0001] The present application relates to the field of vehicle testing technology, and in particular to a rear wheel steering gear testing system, method and electronic equipment. Background Art

[0002] At present, RWS (rear-wheel steering) or SBW (steer-by-wire) steering products are popular. Their structure and functions have brought great convenience and rich experience to customers. The current national standard test methods for EPS (electric power steering) are relatively mature, but there are no clear equipment and methods for the detection of RWS or SBW.

[0003] In the RWS steering system, because it is a wire-controlled steering gear, compared with EPS, it has no mechanical connections such as input shafts, and can only be controlled by sending vehicle messages in real time through sensors.

[0004] At present, the test for RWS generally refers to the EPS test and adopts the traditional three-axis comprehensive test bench, which has limitations and is not convenient to carry out under certain specific working conditions. Because RWS is a wire-controlled steering product, it can only be controlled by sending CAN messages. Traditional equipment can only unilaterally control the control frame + other equipment to control RWS for testing, and cannot achieve driving + equipment control in the same domain, which affects the response performance of RWS. Generally, the test data of RWS needs to monitor its CAN bus messages to save and observe, but the data of traditional equipment cannot be saved in the same domain as it, ignoring the reliability of RWS test data comparison and problem troubleshooting. Summary of the invention

[0005] In view of this, embodiments of the present application provide a rear wheel steering gear testing system, method and electronic device to overcome the above problems or at least partially solve the above problems.

[0006] In a first aspect, an embodiment of the present application provides a rear wheel steering gear test system, the system comprising at least: a load force supply unit, a CAN card, a host computer, a test bench, and a sensor unit; The CAN card is respectively connected to the rear wheel steering gear assembly on the test bench and the host computer through a CAN line; The host computer is respectively connected to the load force supply unit and the sensor unit for communication; The sensing unit is used to obtain a sensor signal during the process of testing the rear wheel steering gear assembly; The host computer is used to send a load application instruction to the load force supply unit so that the load force supply unit applies a load force to the rear wheel steering gear assembly, and to send a control command to the rear wheel steering gear assembly through the CAN card to control the rear wheel steering gear, and to generate a test result based on the sensor signal obtained during the test of the rear wheel steering gear assembly and the message sent by the rear wheel steering gear assembly.

[0007] Optionally, the sensing unit includes at least a plurality of load force sensors; The plurality of load force sensors are respectively connected to the load force supply unit and the tie rod coupling of the rear wheel steering gear assembly; The multiple load force sensors are used to detect the load push-pull force signals generated by the rack on the rear wheel steering gear assembly during the test.

[0008] Optionally, the sensing unit further includes a displacement sensor; The displacement sensor is connected to the tie rod of the rear wheel steering gear assembly; The displacement sensor is used to detect the displacement signal generated by the rack on the rear wheel steering gear assembly during the test.

[0009] Optionally, the rear wheel steering gear test system further comprises a power line ignition device, wherein: The power line ignition device is connected to the drive motor of the rear wheel steering gear assembly; The CAN card is connected to the host computer and the power line ignition device respectively, so that the host computer can power on the rear wheel steering gear assembly through the power line ignition device.

[0010] Optionally, the load force supply unit is a plurality of hydraulic cylinders, and the plurality of hydraulic cylinders are respectively connected to two sides of the rear wheel steering gear assembly to apply load force to the rear wheel steering gear assembly.

[0011] A second aspect of the embodiment of the present application provides a rear wheel steering gear test method, which is applied to a host computer in the rear wheel steering gear test system described in the first aspect, wherein the system at least includes: a load force supply unit, a CAN card, a host computer, a test bench, and a sensor unit, and the method includes: sending a load applying instruction to the load force supply unit so that the load force supply unit applies a load force to the rear wheel steering gear assembly; Sending a control command to the rear wheel steering gear assembly through the CAN card to control the rear wheel steering gear; collecting sensor signals obtained by the sensor unit during the process of testing the rear wheel steering gear assembly, and receiving messages sent by the rear wheel steering gear assembly through the CAN card; A test result is generated according to the sensor signal during the test of the rear wheel steering gear assembly and the message sent by the rear wheel steering gear assembly.

[0012] Optionally, before sending the load application instruction to the load force supply unit, the method further includes: According to the DBC file of the rear-wheel electric steering gear assembly, communication configuration is performed to achieve CAN communication between the host computer and the rear-wheel electric steering gear assembly; Determine the sending message and receiving message that need to be transmitted through the CAN card, wherein the sending message includes the control command that the host computer needs to send to the rear wheel steering gear assembly through the CAN card, and the receiving message includes the message that the rear wheel steering gear assembly needs to send to the host computer through the CAN card; The sensor signal is imported into the DBC file so that the displayed value of the sensor signal becomes the message configuration.

[0013] Optionally, the determining of the sending message and receiving message that need to be transmitted through the CAN card includes: Building a database based on multiple verification algorithms, and integrating the built database into the host computer and the rear wheel steering gear assembly respectively; Among them, different verification algorithms in the database are used to enable the host computer and the rear wheel steering gear assembly to verify the received message and the sent message respectively.

[0014] Optionally, before generating the test results, it also includes: Acquire an XCP signal inside the drive motor collected by an XCP calibration module on the drive motor of the rear wheel steering gear assembly; Generating a test result according to the sensor signal during the test of the rear wheel steering gear assembly and the message sent by the rear wheel steering gear assembly, including: The test result is generated according to the sensor signal during the test of the rear wheel steering gear assembly, the message sent by the rear wheel steering gear assembly and the XCP signal.

[0015] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the method described in the second aspect.

[0016] Beneficial effects of this application: The embodiment of the present application provides a rear wheel steering gear test system, method, and electronic equipment, the system comprising at least: a load force supply unit, a CAN card, a host computer, a test bench, and a sensor unit; The CAN card is respectively connected to the rear wheel steering gear assembly on the test bench and the host computer through a CAN line; The host computer is respectively connected to the load force supply unit and the sensor unit for communication; The sensing unit is used to obtain a sensor signal during the process of testing the rear wheel steering gear assembly; The host computer is used to send a load application instruction to the load force supply unit so that the load force supply unit applies a load force to the rear wheel steering gear assembly, and to send a control command to the rear wheel steering gear assembly through the CAN card to control the rear wheel steering gear, and to generate a test result based on the sensor signal obtained during the test of the rear wheel steering gear assembly and the message sent by the rear wheel steering gear assembly.

[0017] Through the technical solution of the present application, the load force applied to the rear wheel steering gear assembly can be accurately controlled, and the control command can be sent to the rear wheel steering gear assembly, so that the rear wheel steering gear test system can simulate the working state of the rear wheel steering gear under various driving conditions, and the load application instruction and the control instruction of the load force are both issued by the upper computer, and then can be issued simultaneously through the synchronous communication realized by the CAN card, so as to ensure that the load force applied by the load force supply unit to the rear wheel sensor assembly and the rear wheel steering gear assembly executes the corresponding action according to the control command. These two processes are completed in the same domain, ensuring the accuracy and reliability of the obtained test process. At the same time, since the application of the load force and the control of the rear wheel steering gear assembly are carried out simultaneously during the test process, the sensor signal and the message reported by the rear wheel steering gear assembly can be collected in the same domain, so as to improve the time synchronization and analysis accuracy of the sensor signal and the message reported by the rear wheel steering gear assembly, so as to achieve a comprehensive evaluation of the performance of the rear wheel steering gear and improve the efficiency and accuracy of the test. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application.

[0019] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the description of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0020] Figure 1 It is a structural schematic diagram of a rear wheel steering gear test system provided by an embodiment of the present application; Figure 2 It is a flow chart of a rear wheel steering gear testing method provided in one embodiment of the present application; Figure 3 It is a schematic diagram of configuring a host computer provided by an embodiment of the present application; Figure 4 It is a schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0021] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0022] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0023] The purpose of this application is to accurately test the performance, durability and strength of the rear-wheel steering gear, and adding a CAN card can realize the synchronous driving of the rear-wheel steering gear assembly by the CAN bus, ensuring the synchronization of the load force supply unit and the rear-wheel steering gear assembly product. At the same time, the sensor signals and reported messages of the rear-wheel steering gear assembly can also be synchronously recorded and observed.

[0024] Figure 1 is a structural schematic diagram of a rear wheel steering gear test system provided by an embodiment of the present application, such as Figure 1 As shown, an embodiment of the present application provides a rear wheel steering gear test system, the system at least includes: a load force supply unit, a CAN card, a host computer, a test bench, and a sensor unit; The CAN card is respectively connected to the rear wheel steering gear assembly on the test bench and the host computer through a CAN line; The host computer is respectively connected to the load force supply unit and the sensor unit for communication; The sensing unit is used to obtain a sensor signal during the process of testing the rear wheel steering gear assembly; The host computer is used to send a load application instruction to the load force supply unit so that the load force supply unit applies a load force to the rear wheel steering gear assembly, and to send a control command to the rear wheel steering gear assembly through the CAN card to control the rear wheel steering gear, and to generate a test result based on the sensor signal obtained during the test of the rear wheel steering gear assembly and the message sent by the rear wheel steering gear assembly.

[0025] Specifically, in one embodiment, the rear wheel steering gear test system provided in this embodiment is intended to accurately test the performance, endurance and strength of the rear wheel steering gear in the rear wheel steering gear assembly. The rear wheel steering gear assembly includes a rear wheel steering gear, a drive motor, a controller, a tie rod and a connection structure, etc. The system consists of the following core parts: 1. Host computer: The host computer is the control center of the rear wheel steering gear test system. The host computer communicates with the load force supply unit and the sensor unit. The host computer is responsible for sending load application instructions, controlling the test process of the rear wheel steering gear assembly, and generating test results based on the test data obtained.

[0026] 2. Load force supply unit: The load force supply unit is responsible for simulating the load force on the rear wheel steering gear in the rear wheel steering assembly during actual driving. The load force supply unit can be implemented by a hydraulic cylinder or an electric actuator, and can accurately control the size and direction of the load force applied to the rear wheel steering gear assembly according to the load application instruction of the host computer.

[0027] 3. Test bench: The test bench is used to fix and support the rear wheel steering gear assembly of the vehicle, simulate the actual driving environment of the vehicle, and provide a stable test platform.

[0028] 4. CAN card: As a key communication component of the rear-wheel steering gear test system, the CAN card communicates with the rear-wheel steering gear assembly on the test bench and the host computer through the CAN line. It is responsible for transmitting the control commands of the host computer to the rear-wheel steering gear assembly, and transmitting the test data of the rear-wheel steering gear assembly, such as status information and sensor signals, back to the host computer.

[0029] 5. Sensing unit: The sensing unit includes a variety of sensors, such as displacement sensors and load force sensors. The sensing unit can be used to monitor the steering angle, speed and load force of the rear wheel steering gear assembly during the test in real time.

[0030] During the test, the host computer first sends a load application instruction to the load force supply unit according to the preset test parameters, so that it applies a specific load force to the rear wheel steering gear assembly. At the same time, the host computer sends a control command to the rear wheel steering gear assembly through the CAN card to control it to perform specific steering actions, etc.

[0031] The sensor unit collects the displacement, steering angle, speed, load push and pull force and other sensor signals of the rear wheel steering gear assembly in real time during the entire test process, and transmits these sensor signals to the host computer. After receiving these data, the host computer can combine the message information sent by the rear wheel steering gear assembly through the CAN card to obtain test data, analyze and process the obtained test data, and obtain the test results of the rear wheel steering gear assembly.

[0032] Through the above embodiment, the load force applied to the rear wheel steering gear assembly can be accurately controlled, and the control command can be sent to the rear wheel steering gear assembly, so that the rear wheel steering gear test system can simulate the working state of the rear wheel steering gear under various driving conditions. In addition, the load application instruction and the control instruction of the load force are both issued by the upper computer, and then can be issued simultaneously through the synchronous communication realized by the CAN card, so as to ensure that the load force applied by the load force supply unit to the rear wheel sensor assembly and the rear wheel steering gear assembly performs the corresponding action according to the control command. These two processes are completed in the same domain, ensuring the accuracy and reliability of the obtained test process. At the same time, since the application of the load force and the control of the rear wheel steering gear assembly are carried out simultaneously during the test process, the sensor signal and the message reported by the rear wheel steering gear assembly can be collected in the same domain, so as to improve the time synchronization and analysis accuracy of the sensor signal and the message reported by the rear wheel steering gear assembly, so as to achieve a comprehensive evaluation of the performance of the RWS and improve the efficiency and accuracy of the test.

[0033] Optionally, the sensing unit includes at least a plurality of load force sensors; The plurality of load force sensors are respectively connected to the load force supply unit and the tie rod coupling of the rear wheel steering gear assembly; The multiple load force sensors are used to detect the load push-pull force signals generated by the rack on the rear wheel steering gear assembly during the test.

[0034] Specifically, Figure 1 As shown, in one embodiment, the sensing unit includes at least a plurality of load force sensors. When the rear wheel steering gear assembly is tested, the embodiment uses a plurality of load force sensors to monitor the load push-pull force signals at different positions of the rear wheel steering gear assembly. These load force sensors are respectively connected to the tie rod coupling of the rear wheel steering gear assembly, so that the load push-pull force signals generated by the rack on the rear wheel steering gear assembly after receiving the load force applied by the load supply unit can be detected during the test. The load force sensor can convert the physical load force into a load push-pull force signal in the form of an electrical signal and report it to the host computer. The host computer reads the load push-pull force signal through an interface (such as ADC) connected to the load force sensor and converts it into a digital signal for further processing and analysis.

[0035] Through the above embodiment, multiple load force sensors are used to monitor the load state of the rear wheel steering gear assembly from different angles, provide more comprehensive test data, and thus improve the accuracy of the test results. At the same time, the host computer can monitor the load state of the rear wheel steering gear assembly in real time, and adjust the test conditions as needed to achieve precise control of the test process, thereby ensuring the accuracy and reliability of the test results.

[0036] Optionally, the sensing unit further includes a displacement sensor; The displacement sensor is connected to the tie rod of the rear wheel steering gear assembly; The displacement sensor is used to detect the displacement signal generated by the rack on the rear wheel steering gear assembly during the test.

[0037] Specifically, Figure 1 As shown, in one embodiment, the sensing unit further includes a displacement sensor, which is used in the rear wheel steering gear test system to directly measure the actual displacement of the rack on the rear wheel steering gear assembly. This is crucial for evaluating the performance of the rear wheel steering gear.

[0038] The displacement sensor is connected to the rack of the rear wheel steering gear assembly to monitor the displacement changes of the rack in real time during the test. These sensor signals (displacement signals) are transmitted to the host computer through cables, and the host computer analyzes these sensor signals according to the definitions in the DBC file.

[0039] Specifically, after receiving the displacement signal, the host computer will convert the displacement signal into an actual displacement value according to the definition in the DBC file, so as to monitor the performance of the rear wheel steering gear in real time and generate detailed test results after the test.

[0040] Through the above-mentioned embodiments, the use of a displacement sensor can directly measure the displacement of the rack on the rear-wheel steering gear assembly, providing more accurate test data and helping to improve the accuracy of the test results. The data of the displacement sensor can be fed back to the host computer in real time, allowing engineers to monitor the working status of the rear-wheel steering gear in real time and adjust the test parameters in time. By analyzing the data of the displacement sensor, engineers can diagnose potential problems of the rear-wheel steering gear and make necessary optimizations to improve the performance and reliability of the rear-wheel steering gear. At the same time, the displacement signal of the displacement sensor is combined with the load push-pull force signal of the load force sensor for analysis, providing a comprehensive view of the performance of the rear-wheel steering gear, making the test data more complete. Ensure the performance and safety of the rear-wheel steering gear in actual applications.

[0041] Optionally, the rear wheel steering gear test system further comprises a power line ignition device, wherein: The power line ignition device is connected to the drive motor of the rear wheel steering gear assembly; The CAN card is connected to the host computer and the power line ignition device respectively, so that the host computer can power on the rear wheel steering gear assembly through the power line ignition device.

[0042] Specifically, in one embodiment, the rear wheel steering gear test system further includes a power line ignition device, wherein in the rear wheel steering gear test system, the power line ignition device is a key component, which is responsible for providing necessary power to the drive motor of the rear wheel steering gear assembly to realize power-on and start-up of the rear wheel steering gear assembly. The power line ignition device is directly connected to the drive motor of the rear wheel steering gear assembly to ensure that the drive motor can work normally during the test.

[0043] The CAN card is not only connected to the host computer, but also to the power line ignition device. This design enables the host computer to send control commands to the power line ignition device through the CAN card, thereby controlling the power-on process of the rear wheel steering gear.

[0044] Specifically, the host computer sends a power-on command to the power line ignition device through the CAN card. After receiving the power-on command, the power line ignition device immediately supplies power to the drive motor of the rear wheel steering gear assembly, so that the rear wheel steering gear assembly can start working. At the same time, the host computer can also receive messages such as status information and feedback signals from the rear wheel steering gear through the CAN card to monitor the working status of the rear wheel steering gear.

[0045] Through the above-mentioned embodiments, the host computer controls the power line ignition device, which can accurately manage the power-on and power-off process of the rear-wheel steering gear assembly, which is crucial to the accuracy and repeatability of the test. The design of the power line ignition device integrates the power management of the rear-wheel steering gear with the control system of the host computer, simplifies the complexity of the test system, and improves the reliability and efficiency of the system. The host computer can control the power status of the rear-wheel steering gear in real time, respond to changes in test requirements, and improve the flexibility and real-time performance of the test. It not only ensures the power management of the rear-wheel steering gear assembly and the issuance of host computer control instructions, but also improves the accuracy, real-time performance and safety of the test.

[0046] Optionally, the load force supply unit is a plurality of hydraulic cylinders, and the plurality of hydraulic cylinders are respectively connected to two sides of the rear wheel steering gear assembly to apply load force to the rear wheel steering gear assembly.

[0047] Specifically, in one embodiment, the rear wheel steering gear test system uses multiple hydraulic cylinders as load force supply units. These hydraulic cylinders are respectively connected to the two sides of the rear wheel steering gear assembly to simulate the load forces in different directions that the rear wheels are subjected to during actual driving. In this way, the performance of the rear wheel steering gear assembly under various driving conditions can be more comprehensively tested.

[0048] Each hydraulic cylinder is connected to the tie rod of the rear wheel steering gear through a coupling to ensure that the load conditions in actual driving can be accurately simulated during the test. The hydraulic cylinder can adjust the oil pressure according to the instructions of the host computer to change the load force applied to the rear wheel steering gear, thereby simulating different driving conditions.

[0049] During the test, the host computer sends the corresponding load application instruction to the hydraulic cylinder according to the preset test parameters, such as the size and direction of the load force. After receiving the load application instruction, the hydraulic cylinder applies the corresponding load force to the rear wheel steering gear assembly by changing the oil pressure. At the same time, the displacement sensor and load force sensor are used to monitor the rack displacement signal and load push and pull force signal of the rear wheel steering gear assembly in real time, and these sensor signals are transmitted to the host computer for analysis.

[0050] Through the above embodiments, using the configuration of multiple hydraulic cylinders, load forces can be applied from different angles and directions, providing more accurate test data, thereby improving the accuracy of the test results. Multiple hydraulic cylinders can simulate more complex driving conditions, such as turning, acceleration, braking, etc., to enhance the authenticity of the test. The load force of the hydraulic cylinder can also be flexibly adjusted according to different test requirements to adapt to different test scenarios.

[0051] Based on the same inventive concept, another embodiment of the present application provides a rear wheel steering gear test method, which is applied to a host computer in the rear wheel steering gear test system described in the first aspect, wherein the system at least includes: a load force supply unit, a CAN card, a host computer, a test bench, and a sensor unit. Figure 2 is a flow chart of a rear wheel steering gear testing method provided by an embodiment of the present application, such as Figure 2 As shown, the method includes: Step S101, sending a load application instruction to the load force supply unit, so that the load force supply unit applies a load force to the rear wheel steering gear assembly; Step S102, sending a control command to the rear wheel steering gear assembly through the CAN card to control the rear wheel steering gear; Step S103, collecting sensor signals acquired by the sensor unit during the process of testing the rear wheel steering gear assembly, and receiving messages sent by the rear wheel steering gear assembly through the CAN card; Step S104, generating a test result according to the sensor signal during the test of the rear wheel steering gear assembly and the message sent by the rear wheel steering gear assembly.

[0052] This method is executed by the host computer in the rear-wheel steering gear test system shown in the above embodiment. Before executing the rear-wheel steering gear test method, test preparation is required to ensure that all components of the rear-wheel steering gear test system, including the load force supply unit, CAN card, host computer, test bench and sensor unit, have been correctly installed and configured.

[0053] The rear wheel steering gear testing method shown in this embodiment is described in detail below.

[0054] First, in step S101, the host computer sends a load application instruction to the load force supply unit according to the preset test parameters, and the load application instruction includes the magnitude and direction of the load force applied to the rear wheel steering gear assembly. The load application instruction causes the load force supply unit (such as a hydraulic cylinder) to start working to simulate the load force on the rear wheel steering gear during actual driving of the vehicle.

[0055] At the same time, in step S102, the host computer sends corresponding control commands to the rear wheel steering gear assembly through the CAN card. These control commands may include parameters such as steering angle and speed to control the rear wheel steering gear assembly to perform steering actions corresponding to the control commands.

[0056] Further, in step S103, by applying the load force and executing the steering action corresponding to the extended command, the sensing unit (e.g., the displacement sensor and the load force sensor) can monitor the sensor signals on the rear-wheel steering gear assembly in real time during the test, such as the rack displacement signal and the load push-pull force signal. At the same time, the host computer can also receive CAN messages sent by the rear-wheel steering gear assembly through the CAN card. These messages contain status information of the rear-wheel steering gear assembly during the test, such as the actual steering angle, motor torque, etc.

[0057] Finally, the host computer processes and analyzes the collected sensor signals and received messages, and finally generates test results. The test results may include performance parameters, durability and strength evaluation of the rear wheel steering gear assembly.

[0058] Through the above embodiments, the host computer can accurately control the load force supply unit and the rear wheel steering gear assembly at the same time, and can simulate the working conditions of the vehicle under various driving conditions, ensuring the accuracy and reliability of the test process of the rear wheel steering gear. And the sensor signals and received messages are collected in the same domain, so that any changes in the test process can be captured and responded to in time, improving the real-time and dynamic response capabilities of the test. The comprehensive sensor signals and messages can comprehensively evaluate the performance of the rear wheel steering gear, including response speed, steering accuracy, durability and strength, and provide comprehensive data support for the design and optimization of the rear wheel steering gear. During the test process, any signal or message that deviates from the expected may indicate a potential fault or problem, and the host computer can quickly identify and perform fault diagnosis. All collected data and generated test results are recorded and saved, which is convenient for subsequent in-depth analysis and report generation, providing a basis for performance improvement and quality control of the rear wheel steering gear, and improving the efficiency and accuracy of the test.

[0059] Figure 3 is a schematic diagram of configuring a host computer provided by an embodiment of the present application, such as Figure 3 shown.

[0060] Optionally, before sending the load application instruction to the load force supply unit, the method further includes: According to the DBC file of the rear-wheel electric steering gear assembly, communication configuration is performed to achieve CAN communication between the host computer and the rear-wheel electric steering gear assembly; Determine the sending message and receiving message that need to be transmitted through the CAN card, wherein the sending message includes the control command that the host computer needs to send to the rear wheel steering gear assembly through the CAN card, and the receiving message includes the message that the rear wheel steering gear assembly needs to send to the host computer through the CAN card; The sensor signal is imported into the DBC file so that the displayed value of the sensor signal becomes the message configuration.

[0061] Specifically, in one embodiment, before sending the load application instruction to the load force supply unit, it is also necessary to perform communication configuration and CAN message transmission preparation on the host computer in the rear wheel steering gear test system.

[0062] First, before sending a load application instruction to the load force supply unit, the host computer needs to configure its communication according to the DBC file of the rear wheel electric steering gear assembly to ensure that the host computer can correctly communicate data with the rear wheel steering gear assembly through the CAN card.

[0063] Among them, the DBC file contains the communication parameters of the rear wheel steering gear assembly, such as message ID, signal definition, data format, baud rate, sampling point, communication form, etc. The host computer configures the communication settings of the host computer according to these communication parameters, including baud rate, message filtering, etc.

[0064] Furthermore, after configuring the communication of the host computer, the host computer determines which messages are needed as sending messages and which messages are needed as receiving messages, wherein the control commands sent to the rear wheel steering gear assembly through the CAN card are sending messages, and these control commands may include operation instructions such as steering angle and speed. The receiving messages are the messages that need to be sent to the host computer through the CAN card, including the status information of the rear wheel steering gear assembly, the motor torque, etc.

[0065] In the actual test process, the host computer sends control commands to the rear wheel steering assembly through the CAN card. These sent messages are used to control the rear wheel steering assembly to perform specific actions, such as steering or adjusting the power assist. The host computer receives the status information and sensor data sent by the rear wheel steering assembly through the CAN card. These received messages are used to monitor the working status and performance of the rear wheel steering assembly.

[0066] Furthermore, the sensor signal needs to be imported into the DBC file so that the display value of the sensor signal becomes a message configuration, that is, the sensor signal is converted into a real-time display value through an algorithm.

[0067] In this process, first configure the DBC file according to the required sensor range and whether there are positive and negative numbers. When configuring DBC, you need to set Length, Value Type, Factor, and Offset so that the maximum and minimum value range of the calculated message includes the sensor range. The specific calculation formula is as follows: MAX=(A*Bit)+B MIN=0+B Where A=Factor (accuracy of the sensor), Bit=the set Length converted from binary to decimal, B=Offset For example: sensor range is ±10mm, A=0.001, Lengteh=16 (converted from binary to decimal is 65535), B=-15 (as long as the absolute value of the value is greater than the sensor range, MIN is equal to -15), so MAX=0.001*65535-15=50.535, MIN=0-15=-15, as long as the MAX / MIN range includes the sensor range. Among them, Value Type is unsigned, because the sensor range is basically divided into positive and negative.

[0068] In addition, after the DBC file for receiving sensor signals is configured, the device sensor needs to be configured to send CAN message signals in real time, that is, to convert the real-time display value into an algorithm. The same principle as above, the real-time display value of the sensor signal is reversed to obtain the DBC message format, and then connected to the device communication, and finally the CAN card is used to send / receive sensor signals to the drive motor in real time, realizing the collection and observation in the same domain.

[0069] Through the above content, in the DBC file of the rear wheel steering gear assembly, the corresponding signal attributes are defined for each load force sensor, including signal name, data type, range, unit, etc. In this way, the host computer can parse the corresponding sensor signal according to the definition in the DBC file, such as the load push and pull force signal, and convert the original digital signal into a meaningful physical value, such as the force expressed in Newton (N). The collected sensor signal is processed and analyzed by the host computer in real time, and used together with other test data to evaluate the performance of the rear wheel steering gear assembly.

[0070] Through the above-mentioned embodiment, communication configuration is performed according to the DBC file, ensuring accurate communication between the host computer and the rear wheel steering gear assembly, providing a reliable data transmission basis for subsequent tests. At the same time, the content of the sent and received messages is clarified, making the data exchange between the host computer and the rear wheel steering gear assembly more efficient, reducing unnecessary data transmission, and improving test efficiency. Through this method of pre-configuring communication parameters and determining message content, the rear wheel steering gear test system has better flexibility and scalability, and can adapt to different test requirements and conditions.

[0071] Optionally, the determining of the sending message and receiving message that need to be transmitted through the CAN card includes: Building a database based on multiple verification algorithms, and integrating the built database into the host computer and the rear wheel steering gear assembly respectively; Among them, different verification algorithms in the database are used to enable the host computer and the rear wheel steering gear assembly to verify the received message and the sent message respectively.

[0072] Specifically, in one embodiment, during the test of the rear wheel steering gear, a check value, such as the check value of RC (RollingCounter) and CheckSum, may be added to the message to be transmitted through the CAN card to ensure the accuracy and integrity of the received message.

[0073] For RC verification, you can directly set the counter algorithm on the software of the device sending the message (host computer and rear wheel steering assembly), set the self-increment range, maximum and minimum values ​​(usually the range is 0-F).

[0074] For CheckSum verification, most of its current implementation methods require programming to perform message frame verification, but there are various verification methods, such as CRC8, CRC16, CRC32, etc. Different algorithm function interfaces are different. Sometimes it is necessary to use other information of the message frame to add a custom function for verification, which makes device matching communication more troublesome.

[0075] Therefore, in order to achieve CheckSum 0 code matching with various verification forms, the general verification method is generally edited in the database. Simply put, the program is numbered in advance and integrated into the device software, and then the matching is set according to different verification methods (currently there are many commonly used verification algorithms, the engineering workload is relatively large, but the subsequent applicability and matching are very strong).

[0076] Specifically, a database can be constructed through a variety of verification algorithms (such as CRC8, CRC16, etc.), and this database contains different verification algorithms and their related parameters so as to perform verification when sending and receiving CAN messages.

[0077] Furthermore, the constructed database is integrated into the host computer and the rear wheel steering gear assembly respectively, and different verification algorithms in the database are used to enable the host computer to verify the received message and the rear wheel steering gear assembly to verify the sent message. For the sent message, before the host computer sends the CAN message (such as the control command mentioned above), the CRC check value can be calculated according to the content of the CAN message and attached to the CAN message. This process ensures that the sent message can be correctly verified during the transmission process.

[0078] For receiving messages, when the rear wheel steering gear assembly receives a CAN message, it will also use the same CRC algorithm to calculate the CRC check value of the CAN message (such as the control command mentioned above) sent by the host computer, and compare it with the CRC check value attached to the CAN message (such as the control command mentioned above). If the two are consistent, it means that the message is transmitted correctly. If they are inconsistent, it means that an error may have occurred during the transmission of the message.

[0079] Similarly, for the message reported by the rear-wheel steering gear assembly, the rear-wheel steering gear assembly will also set the CRC check value according to the check algorithm matched in the database before sending the message to the host computer, and send it to the host computer. The host computer then calculates the CRC check value based on the received message reported by the rear-wheel steering gear assembly, and compares it with the CRC check value reported by the rear-wheel steering gear. If the two are consistent, it means that the message transmission is correct. If they are inconsistent, it means that an error may have occurred in the message transmission process.

[0080] After the CRC check and DBC input and output message configuration are completed, they are integrated with the host computer control. The CAN card can be used to control the rear wheel steering assembly and apply load force in the same domain, and data collection, observation and storage can also be performed in the same domain.

[0081] Through the above embodiments, the integration of CRC check and database ensures the reliability of CAN communication and the accuracy of data, provides a solid foundation for the test of the rear-wheel steering gear, and improves the security of message transmission. In this way, in conjunction with RC check, after determining the sending message and the receiving message, the RC and CheckSum settings can be performed on the desired message ID, and the settings of the DBC message can be changed: the auto-increment range, the maximum and minimum values, the starting byte, and the byte range. However, for CheckSum check, it is necessary to change the database in the matching device in advance according to the high and low bits of the Data ID. At the same time, if the CheckSum check method is different from the general one in algorithm, a custom function can be added to identify it.

[0082] It should be noted that, generally, during the test of the rear-wheel steering gear, only the displacement, vehicle speed and other messages need to be verified, which is relatively simple. If the verification can be turned off in the UDS diagnosis of the rear-wheel steering gear, this operation is not necessary.

[0083] Optionally, before generating the test results, it also includes: Acquire an XCP signal inside the drive motor collected by an XCP calibration module on the drive motor of the rear wheel steering gear assembly; Generating a test result according to the sensor signal during the test of the rear wheel steering gear assembly and the message sent by the rear wheel steering gear assembly, including: The test result is generated according to the sensor signal during the test of the rear wheel steering gear assembly, the message sent by the rear wheel steering gear assembly and the XCP signal.

[0084] In one embodiment, considering that the drive motor of the rear-wheel steering gear assembly involves an XCP calibration module, XCP (Universal Measurement and Calibration Protocol) is a protocol used for ECU calibration and measurement, which allows direct access to variables inside the ECU, such as the motor's internal torque, temperature, current, etc. However, simply receiving the CAN message reported by the rear-wheel steering gear assembly cannot fully realize the observation of the motor variables. Therefore, an embodiment of the present application proposes that before generating the test results, in addition to collecting the sensor signal on the rear-wheel steering gear assembly and receiving the CAN message sent by the rear-wheel steering gear assembly, it is also necessary to obtain the XCP signal inside the drive motor and perform data integration. The data to be integrated include: Sensor signal: includes sensor signals on the rear wheel steering gear assembly detected by the sensor unit, such as displacement signals and load push and pull force signals.

[0085] CAN messages: including messages sent by the rear-wheel steering gear assembly, such as status information and feedback signals, which provide the working status and performance parameters of the rear-wheel steering gear assembly.

[0086] XCP signal: A signal from inside the drive motor that provides detailed working status of the motor.

[0087] It should be noted that the collection period of the sensor signal and the CAN message sent by the rear-wheel steering gear assembly needs to be consistent with the collection period of the XCP calibration module. In addition, when configuring the DBC file, it is necessary to pay attention to the byte order so as not to interfere with the normal sending of messages by the rear-wheel steering gear assembly.

[0088] Furthermore, after data integration, the host computer software combines the sensor signals, CAN messages and XCP signals for comprehensive analysis. This analysis process may include data comparison, trend analysis, performance evaluation, etc. Based on the analysis results, the host computer software generates a detailed test report. This report may include the performance parameters of the rear wheel steering gear assembly, durability and strength test results, and comparative analysis with other test data.

[0089] Through the above embodiment, the sensor signal, the CAN message and the XCP signal sent by the rear-wheel steering gear assembly are integrated to ensure that a comprehensive performance evaluation of the rear-wheel steering gear assembly can be performed through the sensor signal, the CAN message and the XCP signal in the same time domain, thereby improving the accuracy of the test results.

[0090] Based on the same inventive concept, another embodiment of the present application further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the rear wheel steering gear testing method as described in any of the above embodiments.

[0091] Among them, electronic equipment refers to Figure 4 , Figure 4 is a schematic diagram of an electronic device provided by an embodiment of the present application. Figure 4 As shown, the electronic device 400 includes: a memory 410 and a processor 420. The memory 410 and the processor 420 are connected via a bus communication. A computer program is stored in the memory 410. The computer program can be run on the processor 420 to implement the steps in the space recovery method disclosed in the above embodiment of the present application.

[0092] Based on the same inventive concept, another embodiment of the present application further provides a computer program product, including a computer program, which is executed by a processor to perform the rear wheel steering gear testing method as described in any of the above embodiments.

[0093] Based on the same inventive concept, another embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored, wherein when the program is executed by a processor, the rear wheel steering gear testing method as described in any of the above embodiments is implemented.

[0094] As for the device, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0095] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0096] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, devices, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0097] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0098] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1A function specified in one or more boxes.

[0099] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0100] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present application.

[0101] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0102] The above is a detailed introduction to a rear-wheel steering gear test system, method and electronic equipment provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A rear wheel steering gear test system, characterized in that: The system at least includes: a load force supply unit, a CAN card, a host computer, a test bench, and a sensor unit; The CAN card is respectively connected to the rear wheel steering gear assembly on the test bench and the host computer through a CAN line; The host computer is respectively connected to the load force supply unit and the sensor unit for communication; The sensing unit is used to obtain a sensor signal during the process of testing the rear wheel steering gear assembly; The host computer is used to send a load application instruction to the load force supply unit so that the load force supply unit applies a load force to the rear wheel steering gear assembly, and to send a control command to the rear wheel steering gear assembly through the CAN card to control the rear wheel steering gear, and to generate a test result based on the sensor signal obtained during the test of the rear wheel steering gear assembly and the message sent by the rear wheel steering gear assembly.

2. The rear wheel steering gear test system according to claim 1, characterized in that: The sensing unit at least includes a plurality of load force sensors; The plurality of load force sensors are respectively connected to the load force supply unit and the tie rod coupling of the rear wheel steering gear assembly; The multiple load force sensors are used to detect the load push-pull force signals generated by the rack on the rear wheel steering gear assembly during the test.

3. The rear wheel steering gear test system according to claim 1 or 2, characterized in that: The sensing unit also includes a displacement sensor; The displacement sensor is connected to the tie rod of the rear wheel steering gear assembly; The displacement sensor is used to detect the displacement signal generated by the rack on the rear wheel steering gear assembly during the test.

4. The rear wheel steering gear test system according to claim 1, characterized in that: The rear wheel steering gear test system also includes a power line ignition device, wherein: The power line ignition device is connected to the drive motor of the rear wheel steering gear assembly; The CAN card is connected to the host computer and the power line ignition device respectively, so that the host computer can power on the rear wheel steering gear assembly through the power line ignition device.

5. The rear wheel steering gear test system according to claim 1, characterized in that: The load force supply unit is a plurality of hydraulic cylinders, and the plurality of hydraulic cylinders are respectively connected to two sides of the rear wheel steering gear assembly to apply the load force to the rear wheel steering gear assembly.

6. A rear wheel steering gear testing method, characterized in that: The host computer used in the rear wheel steering gear test system according to any one of claims 1 to 5, the system at least comprising: a load force supply unit, a CAN card, a host computer, a test bench, and a sensor unit, the method comprising: sending a load applying instruction to the load force supply unit so that the load force supply unit applies a load force to the rear wheel steering gear assembly; Sending a control command to the rear wheel steering gear assembly through the CAN card to control the rear wheel steering gear; collecting sensor signals obtained by the sensor unit during the process of testing the rear wheel steering gear assembly, and receiving messages sent by the rear wheel steering gear assembly through the CAN card; A test result is generated according to the sensor signal during the test of the rear wheel steering gear assembly and the message sent by the rear wheel steering gear assembly.

7. The rear wheel steering gear testing method according to claim 6, characterized in that: Before sending the load application instruction to the load force supply unit, the method further includes: According to the DBC file of the rear-wheel electric steering gear assembly, communication configuration is performed to realize CAN communication between the host computer and the rear-wheel electric steering gear assembly; Determine the sending message and receiving message that need to be transmitted through the CAN card, wherein the sending message includes the control command that the host computer needs to send to the rear wheel steering gear assembly through the CAN card, and the receiving message includes the message that the rear wheel steering gear assembly needs to send to the host computer through the CAN card; The sensor signal is imported into the DBC file so that the displayed value of the sensor signal becomes the message configuration.

8. The rear wheel steering gear testing method according to claim 7, characterized in that: The determining of the sending message and receiving message that need to be transmitted through the CAN card includes: Building a database based on multiple verification algorithms, and integrating the built database into the host computer and the rear wheel steering gear assembly respectively; Among them, different verification algorithms in the database are used to enable the host computer and the rear wheel steering gear assembly to verify the received message and the sent message respectively.

9. The rear wheel steering gear testing method according to claim 6, characterized in that: Before generating test results, it also includes: Acquire an XCP signal inside the drive motor collected by an XCP calibration module on the drive motor of the rear wheel steering gear assembly; Generating a test result according to the sensor signal during the test of the rear wheel steering gear assembly and the message sent by the rear wheel steering gear assembly, including: The test result is generated according to the sensor signal during the test of the rear wheel steering gear assembly, the message sent by the rear wheel steering gear assembly and the XCP signal.

10. An electronic device, characterized in that: It comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the steps in the rear wheel steering gear testing method as described in any one of claims 6 to 9 are implemented.

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