In-loop test system and method for double vehicle control units

Abstract

The invention discloses an in-loop test system and method for double vehicle control units, and belongs to the technical field of automobile hardware testing. The method comprises the following steps: after a hardware simulation test cabinet is powered on, sending a flash signal to a test operation platform; after the test operation platform receives the flashing signal, software flashing of a double-vehicle control unit is realized, an automatic test sequence is established according to a double-vehicle control function strategy, and a test signal is sent to the hardware simulation test cabinet based on the automatic test sequence; after the hardware simulation test cabinet receives the test signal, a simulation vehicle model is controlled to carry out in-loop test based on the test signal; and automatically simulating the in-loop test of the double vehicle control unit through the simulation vehicle model. By establishing an automatic test sequence, the automatic driving function control simulation in-loop test of the double vehicle control units in different test environments is realized, and the efficiency of the in-loop test of the double vehicle control units is improved.

Description

Technical Field

[0001] The present application relates to the technical field of automobile hardware testing, and in particular to a dual vehicle controller in-loop testing system and method. Background Art

[0002] At present, in the development of key technologies for unmanned drive-by-wire chassis of new energy commercial vehicles, dual vehicle controllers are used for safe redundant control of the vehicle drive control system. The main vehicle controller is used for normal vehicle drive control, and the redundant vehicle controller takes over control after the main vehicle controller fails to ensure normal and stable operation of the vehicle.

[0003] In the process of developing and verifying dual vehicle controllers, in order to realize the test conditions, it is necessary to trial-produce a real vehicle with dual vehicle controllers and automatic driving controllers that can realize unmanned driving functions. At the same time, during the test process, component manufacturers and test and development personnel are required to participate in the debugging together, and carry out a large number of real vehicle condition verifications. In addition, the automatic driving function involves safety, and it is difficult to realize all complex and dangerous conditions testing. In order to eliminate accidental factors and reduce errors, a lot of time and manpower costs are required to draw test conclusions. Summary of the invention

[0004] The main purpose of the present application is to provide a dual vehicle controller in-loop testing system and method, aiming to solve the problem of consuming a lot of time and manpower costs during the dual vehicle controller in-loop testing process.

[0005] To achieve the above-mentioned purpose, the present application provides a dual vehicle controller in-loop test system, the dual vehicle controller in-loop test system comprising a hardware simulation test cabinet, a test operation platform, a simulated vehicle model and a dual vehicle controller, the hardware simulation test cabinet and the dual vehicle controller are connected by a wire harness, the hardware simulation test cabinet and the test operation platform are connected by a network, the hardware simulation test cabinet and the simulated vehicle model are connected by a network, and the test operation platform and the dual vehicle controller are connected by an interface;

[0006] The hardware simulation test cabinet is used to send a flashing signal to the test operation platform by powering on;

[0007] The test operation platform is used to receive the flashing signal, flash the software of the dual vehicle controller according to the flashing signal, build an automated test sequence according to the dual vehicle control function strategy, and send a test signal to the hardware simulation test cabinet based on the automated test sequence;

[0008] The hardware simulation test cabinet is further used to receive the test signal and control the simulated vehicle model to perform in-the-loop testing based on the test signal;

[0009] The simulated vehicle model is used to automatically simulate the in-loop test of the dual vehicle controllers.

[0010] Optionally, the simulated vehicle model further includes an interface model;

[0011] The interface model is used to send input signals to the dual vehicle controllers;

[0012] The dual vehicle controller is used to perform a power-on process for the vehicle and a logical judgment on the dual vehicle control function strategy according to the input signal.

[0013] Optionally, the simulated vehicle model further includes a virtual controller model, and the virtual controller model includes an instrument;

[0014] The virtual controller model is used to send the acquisition signal to the dual vehicle controllers;

[0015] The dual vehicle controller is further used to simulate the corresponding control function according to the collected signal based on the dual vehicle control function strategy, and calculate the control state of the dual vehicle controller, so as to send the control state of the dual vehicle controller to the instrument;

[0016] The instrument is used to display the control status of the dual vehicle controllers.

[0017] Optionally, the virtual controller model includes an autonomous driving controller, a motor controller, a battery management system, and an all-in-one controller;

[0018] The dual vehicle controller is further used to send synchronous safety redundant control instructions to the automatic driving controller, the motor controller, the battery management system and the all-in-one controller;

[0019] The automatic driving controller is used to perform self-arbitration management according to the dual vehicle control function strategy, and execute synchronous safety redundant control after receiving the synchronous safety redundant control instruction;

[0020] The motor controller is used to perform self-arbitration management according to the dual vehicle control function strategy, and execute synchronous safety redundant control after receiving the synchronous safety redundant control instruction;

[0021] The battery management system is used to perform self-arbitration management according to the dual vehicle control function strategy, and execute synchronous safety redundant control after receiving the synchronous safety redundant control instruction;

[0022] The all-in-one controller is used to perform self-arbitration management according to the dual vehicle control function strategy, and execute synchronous safety redundant control after receiving the synchronous safety redundant control instruction.

[0023] In addition, to achieve the above-mentioned purpose, the present application also provides a dual vehicle controller in-loop test method, which is applied to the dual vehicle controller in-loop test system, and the test operation platform is run to display a test interface. The dual vehicle controller mainly includes a main vehicle controller and a redundant vehicle controller. The method includes:

[0024] When the hardware simulation test cabinet is powered on, a flash writing signal is sent to the test operation platform;

[0025] After the test operation platform receives the flashing signal, the software of the dual vehicle controllers is flashed, and an automated test sequence is built according to the dual vehicle control function strategy, and a test signal is sent to the hardware simulation test cabinet based on the automated test sequence, wherein the dual vehicle control function strategy includes at least a main vehicle controller software strategy and a redundant vehicle controller software strategy;

[0026] After the hardware simulation test cabinet receives the test signal, controlling the simulated vehicle model to perform an in-the-loop test based on the test signal;

[0027] The simulated vehicle model is used to automatically simulate the interaction test between the main vehicle controller, the redundant vehicle controller and the virtual controller model.

[0028] Optionally, the step of automatically simulating the interaction test between the primary vehicle controller, the redundant vehicle controller and the virtual controller model through the simulated vehicle model includes:

[0029] Performing interactive testing on the main vehicle controller and the virtual controller model;

[0030] If the control state of the main vehicle controller meets the first functional expectation, performing an interactive test on the main vehicle controller and the redundant vehicle controller;

[0031] If the interaction state between the primary vehicle controller and the redundant vehicle controller meets the second functional expectation, a fault of the primary vehicle controller is created, and an interaction test is performed on the redundant vehicle controller and the virtual controller model;

[0032] If the takeover control state of the redundant vehicle controller meets the third functional expectation, the completion of the interaction test is confirmed.

[0033] Optionally, after the step of interactively testing the main vehicle controller and the virtual controller model, the method further includes:

[0034] If the control state of the main vehicle controller does not meet the first functional expectation, optimizing the software strategy of the main vehicle controller;

[0035] After the step of interactively testing the main vehicle controller and the redundant vehicle controller, the method further includes:

[0036] If the interaction state between the primary vehicle controller and the redundant vehicle controller does not meet the second functional expectation, optimizing the software strategies of the primary vehicle controller and the redundant vehicle controller;

[0037] After the step of interactively testing the redundant vehicle controller and the virtual controller model, the method further includes:

[0038] If the takeover control state of the redundant vehicle controller does not meet the third functional expectation, the redundant vehicle controller software strategy is optimized.

[0039] Optionally, the step of building an automated test sequence according to the dual vehicle control function strategy includes:

[0040] Determine the test objects as the main vehicle controller, the redundant vehicle controller and the virtual controller model according to the dual vehicle control function strategy;

[0041] Setting a test execution action according to the dual vehicle control function strategy;

[0042] Setting function expectations according to the dual vehicle control function strategy, the function expectations including the first function expectation, the second function expectation and the third function expectation;

[0043] The automated test sequence is constructed based on the test object, the test execution action and the functional expectation.

[0044] Optionally, the step of interactively testing the redundant vehicle controller and the virtual controller model includes:

[0045] Controlling the redundant vehicle controller to send a takeover control signal to the main vehicle controller;

[0046] After sensing that the takeover control signal is sent, the control function of the main vehicle controller is stopped, and the redundant vehicle controller obtains the control function;

[0047] Controlling the redundant vehicle controller to send a message corresponding to the control function to the virtual controller model;

[0048] An interactive test is performed on the redundant vehicle controller and the virtual controller model.

[0049] Optionally, after the step of automatically simulating the interaction test between the primary vehicle controller, the redundant vehicle controller and the virtual controller model through the simulated vehicle model, the method further includes:

[0050] Generate automated test reports based on the test results after interactive testing;

[0051] Return test data and test conclusions according to the automated test report;

[0052] Optimizing the software strategies of the main vehicle controller and the redundant vehicle controller according to the test data and the test conclusion;

[0053] After the step of flashing the software of the dual vehicle controllers, the method further includes:

[0054] If there is a test requirement, obtain click information based on the test interface;

[0055] A simulation test function is performed based on the click information.

[0056] This application sends a flash signal to the test operation platform when the hardware simulation test cabinet is powered on; after the test operation platform receives the flash signal, the software of the dual vehicle controllers is flashed, and an automated test sequence is built according to the dual vehicle control function strategy, and a test signal is sent to the hardware simulation test cabinet based on the automated test sequence; after the hardware simulation test cabinet receives the test signal, the simulated vehicle model is controlled to perform in-loop testing based on the test signal; the in-loop testing of the dual vehicle controllers is automatically simulated through the simulated vehicle model. By building an automated test sequence, the automatic driving function control simulation in-loop testing of the dual vehicle controllers under different test environments can be realized, thereby improving the efficiency of the in-loop testing of the dual vehicle controllers. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0058] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0059] Figure 1 This is a structural block diagram of the first embodiment of the dual vehicle controller in-loop test system of the present application;

[0060] Figure 2This is a flow chart of the first embodiment of the dual vehicle controller in-loop testing method of the present application;

[0061] Figure 3 This is a brief flow chart of an implementation method of the first embodiment of the dual vehicle controller in-loop testing method of the present application;

[0062] Figure 4 This is a flow chart of the second embodiment of the dual vehicle controller in-loop testing method of the present application;

[0063] Figure 5 A schematic diagram of a brief process of interactive testing of a main vehicle controller and a virtual controller model in a dual vehicle controller in-the-loop testing method of the present application;

[0064] Figure 6 A schematic diagram of a brief process of interactive testing of a primary vehicle controller and a redundant vehicle controller in a dual vehicle controller-in-the-loop test method of the present application;

[0065] Figure 7 A schematic diagram of a brief process of interactively testing a redundant vehicle controller and a virtual controller model in a dual vehicle controller-in-the-loop test method of the present application;

[0066] Description of Figure Numbers:

[0067] Hardware simulation test cabinet 10, test operation platform 20, dual vehicle controller 30, simulated vehicle model 40, main vehicle controller 301, redundant vehicle controller 302, input / output interface model 401, vehicle body model 402, power control model 403, virtual controller model 404, driver model 405, other interaction models 406, digital signal output A1, analog signal output A2, other interfaces A3, automatic driving controller B1, motor controller B2, battery management system B3, all-in-one controller B4, instrument B5.

[0068] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0069] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0070] Reference Figure 1 , Figure 1 This is a structural block diagram of the first embodiment of the dual vehicle controller in-loop test system of the present application.

[0071] The dual vehicle controller in-loop test system includes: a hardware simulation test cabinet 10, a test operation platform 20, a simulated vehicle model 40 and a dual vehicle controller (Vehicle Control Unit, VCU) 30, wherein the hardware simulation test cabinet 10 and the test operation platform 20 are connected to a network, the hardware simulation test cabinet 10 and the simulated vehicle model 40 are connected to a network, the hardware simulation test cabinet 10 and the dual vehicle controller 30 are connected to a wiring harness, and the test operation platform 20 and the dual vehicle controller 30 are connected to an interface.

[0072] In addition, the dual vehicle controller 30 includes a main vehicle controller (Vehicle Control Unit1, VCU1) 301 and a redundant vehicle controller (Vehicle Control Unit2, VCU2) 302, the simulation vehicle model 40 includes an input / output (Input / Output, I / O) interface model 401, a vehicle body model 402, a power control model 403, a virtual controller model 404, a driver model 405 and other interaction models 406, the I / O interface model 401 includes a digital signal output A1, an analog signal output A2 and other interfaces A3, the virtual controller model 404 includes an automatic driving controller (Automated Driving Control Unit, ADU) B1, a motor controller (Motor Control Unit, MCU) B2, a battery management system (Battery Management System, BMS) B3, an all-in-one controller B4 and an instrument (Integrated Circuit, IC) B5.

[0073] In this embodiment, the hardware simulation test cabinet 10 is used to send a flashing signal to the test operation platform 20 by being powered on.

[0074] It should be noted that the hardware simulation test cabinet usually refers to the physical hardware part of the hardware-in-the-Loop (HIL) test system, which is used to simulate and test embedded control systems. In this application, the hardware simulation test cabinet mainly includes: real-time hardware system, peripheral hardware, signal conditioning components, programmable power supply, power management module, etc., which are used to simulate the operation of the vehicle model, receive various control signals from the vehicle controller through the hardware interface, and output various sensor signals to the vehicle controller through the I / O after model operation, thereby forming a closed-loop system with the vehicle controller.

[0075] In addition, when the hardware simulation test cabinet is powered on, it usually goes through a series of startup and initialization processes to ensure that the test dual vehicle controller in-loop test system can operate normally, usually including: ensuring that the power supply of the hardware simulation test cabinet is correctly connected and the power switch is in the on state; the indicator light on the front panel of the hardware simulation test cabinet will light up, indicating that the power is on and the system status; the computer and controller in the hardware simulation test cabinet will execute the self-test program to check whether the hardware status is normal; the fan in the hardware simulation test cabinet starts to run to ensure that the equipment is well cooled during operation; the computer system in the hardware simulation test cabinet starts, and a startup screen or progress bar may be displayed; the operating system and necessary test software it contains are loaded into the memory; the equipment in the hardware simulation test cabinet establishes a communication connection with the external device; according to the test requirements, the hardware equipment in the hardware simulation test cabinet is configured, including setting parameters and calibration; the user interface of the host computer becomes available, and the user can at least control the test process through it, and when it is determined that the test dual vehicle controller in-loop test system can operate normally, a flash signal will be sent to the test operation platform, that is, "notifying" the test operation platform that the software can be flashed.

[0076] The test operation platform 20 is used to receive the flash signal, flash the software of the dual vehicle controller 30 according to the flash signal, build an automated test sequence according to the dual vehicle control function strategy, and send a test signal to the hardware simulation test cabinet 10 based on the automated test sequence.

[0077] It should be noted that the construction of the test operation platform includes operations such as hardware system development, test model development, and test engineering development. Based on the constructed test operation platform, after connecting to the dual vehicle controllers, the user can operate the hardware simulation test cabinet to power on, and flash the software of the dual vehicle controllers through the host computer of the test operation platform, and then build an automated test sequence according to the dual vehicle control function strategy. The test operation platform refers to a platform that integrates a variety of test tools and functions. It can support the full cycle management of test activities, including but not limited to test case management, defect tracking, automated test execution, etc. Using the test operation platform, test cases can be automatically executed and test reports can be generated to improve test efficiency and accuracy.

[0078] pass Figure 1 As can be seen from the structural block diagram, the dual vehicle controller 30 includes a main vehicle controller 301 and a redundant vehicle controller 302.

[0079] In addition, the test operation platform 20 and the dual vehicle controller 30 are connected by an on-board diagnostic system (OBD) interface, through which various real-time data of the vehicle can be obtained, including but not limited to engine status, working status of the exhaust gas treatment system, fault codes and other information. The OBD interface enables maintenance personnel to quickly and accurately locate vehicle faults and perform corresponding repairs. In addition, the OBD interface also allows vehicle owners or technicians to read vehicle fault codes and other important information through dedicated diagnostic tools to facilitate vehicle maintenance and fault diagnosis.

[0080] In addition, the host computer in the test operation platform is connected to the hardware simulation test cabinet via Ethernet to realize operations such as software flashing of the dual vehicle controllers VCU1 and VCU2, calling of the simulation vehicle model, and operation control of the hardware simulation test cabinet.

[0081] In addition, the dual vehicle control function strategy mainly involves the use of VCU1 and VCU2 in electric vehicles to improve the safety and reliability of the vehicle. The dual vehicle control function strategy achieves redundant control by using VCU1 and VCU2 to ensure that when one of the VCUs fails, the other VCU can take over control to ensure the normal operation of the vehicle and the safety of passengers.

[0082] The hardware simulation test cabinet 10 is further used to receive the test signal and control the simulated vehicle model 40 to perform in-the-loop testing based on the test signal.

[0083] It should be noted that the main vehicle controller VCU1 and the redundant vehicle controller VCU2 are the vehicle controllers of the vehicle model to be tested, which are connected to the hardware simulation test cabinet with a wiring harness to achieve power management and signal interface processing. By flashing the software, the vehicle system control can be achieved.

[0084] In addition, the simulated vehicle model is a system-level model that simulates the behavior of a real vehicle in a virtual environment. It plays an important role in the automotive product development life cycle. Users can perform tests in different virtual scenarios based on the simulated vehicle model and verify the functions of embedded software. This kind of pre-development helps to speed up variant evaluation, safely study edge cases, and improve product quality.

[0085] In addition, the hardware simulation test cabinet and the simulated vehicle model are connected through a network. When the hardware simulation test cabinet receives the test signal sent by the test operation platform, it can control the simulated vehicle model to perform in-loop testing.

[0086] The simulation vehicle model 40 is used to automatically simulate the in-loop test of the dual vehicle controller 30 .

[0087] It should be noted that the simulation vehicle model is a system-level model that simulates the behavior of a real vehicle in a virtual environment. It plays an important role in the automotive product development life cycle. Users can perform tests in different virtual scenarios based on the simulation vehicle model and verify the functions of embedded software. This kind of pre-development helps to speed up variant evaluation, safely study edge cases, and improve product quality.

[0088] In addition, the dual vehicle controllers VCU1 and VCU2 are directly connected through the CAN bus. The hardware-in-the-loop test content of the dual vehicle controllers mainly includes the interaction test between the dual vehicle controllers and the virtual controller model, and the dual vehicle controllers.

[0089] pass Figure 1 It can be seen from the structural block diagram that the simulation vehicle model 40 also includes an interface model 401; the interface model 401 is used to send an input signal to the dual vehicle controller 30; the dual vehicle controller 30 is used to perform a power-on process for the vehicle and a logical judgment of the dual vehicle control function strategy according to the input signal; the interface model 401 sends a digital signal key switch and a charging wake-up signal to the dual vehicle controller 30 through the digital signal output A1.

[0090] Specifically, the dual vehicle controllers VCU1 and VCU2 judge the vehicle driving high voltage power-on, charging high voltage power-on and dual vehicle control function strategies according to the hard-wired input signals such as the digital signal key switch and charging wake-up of the test system I / O interface model. More specifically, the low voltage system (12V system) is first awakened to provide power to the control unit of the high voltage system, and the components of the high voltage system are controlled to perform self-inspection, including insulation detection, communication detection, etc. When the self-inspection meets the conditions, the high voltage interlock is released to allow the high voltage system to be powered on, the high voltage relay is closed, the high voltage battery and load are connected, the components of the high voltage system are initialized, and the high voltage system enters a normal working state to provide energy for the motor drive. As the "brain" of the vehicle, VCU is responsible for coordinating the power-on and power-off process of the entire high voltage system and issuing corresponding control instructions according to the vehicle status; and the logical judgment of the dual vehicle control function strategy includes VCU managing, optimizing and adjusting the vehicle according to the vehicle's control operation and actual working conditions to optimize energy supply, extend vehicle service life, and improve vehicle operation economy.

[0091] pass Figure 1It can be seen from the structural block diagram that the simulation vehicle model 40 also includes a virtual controller model 404, and the virtual controller model 404 includes an instrument B5; the virtual controller model 404 is used to send the collected signal to the dual vehicle controller 30; the dual vehicle controller 30 is also used to simulate the corresponding control function according to the collected signal based on the dual vehicle control function strategy, and calculate the control state of the dual vehicle controller, thereby sending the control state of the dual vehicle controller to the instrument B5.

[0092] It should be noted that IC is the core component of automotive instruments. It is responsible for processing signals from various vehicle sensors and displaying key information such as vehicle speed, rotation speed, fuel consumption, engine status, etc. on the dashboard.

[0093] Specifically, the virtual controller model 404 is a system-level model that simulates the behavior of a real controller in a virtual environment. The virtual controller model 404 also includes an autonomous driving controller B1, namely ADU. The dual vehicle controllers VCU1 and VCU2 send controller area network (CAN) signals such as intelligent driving mode status, wire-controlled speed request, wire-controlled torque request, wire-controlled braking request, and wire-controlled gear request according to the ADU in the virtual controller model to perform vehicle shifting, driving or braking control. The dual vehicle controllers VCU1 and VCU2 calculate the relevant status of the vehicle's intelligent driving control based on the dual vehicle control function strategy and the signal acquisition status, and return the intelligent driving trigger status and intelligent driving control status to the ADU through the CAN signal, and send relevant information such as the intelligent driving mode status and vehicle fault status to the IC for status display.

[0094] pass Figure 1It can also be seen from the structural block diagram that the virtual controller model 404 includes an automatic driving controller B1, a motor controller B2, a battery management system B3 and an all-in-one controller B4; the dual vehicle controller 30 is also used to send synchronous safety redundant control instructions to the automatic driving controller, the motor controller, the battery management system and the all-in-one controller; the automatic driving controller B1 is used to perform self-arbitration management according to the dual vehicle control function strategy, and execute synchronous safety redundant control after receiving the synchronous safety redundant control instruction; the motor controller B2 is used to perform self-arbitration management according to the dual vehicle control function strategy, and execute synchronous safety redundant control after receiving the synchronous safety redundant control instruction; the battery management system B3 is used to perform self-arbitration management according to the dual vehicle control function strategy, and execute synchronous safety redundant control after receiving the synchronous safety redundant control instruction; the all-in-one controller B4 is used to perform self-arbitration management according to the dual vehicle control function strategy, and execute synchronous safety redundant control after receiving the synchronous safety redundant control instruction.

[0095] It should be noted that ADU is the core component for realizing the autonomous driving function. ADU integrates a variety of sensors and controllers, is responsible for processing data from various sensors, and makes driving decisions to control the driving of the vehicle. It usually includes hardware platforms and software algorithms, which can realize functions such as environmental perception, decision planning and vehicle control; MCU is one of the core components in new energy vehicles, which is responsible for controlling the operation of the motor, including the start, acceleration, deceleration, braking, etc. of the motor; BMS is responsible for monitoring and managing the status of the battery pack, including parameters such as voltage, current, temperature, etc., to ensure the safe and effective operation of the battery. BMS can estimate the battery status, such as the state of charge and the state of health, and perform functions such as battery balancing and overcharge / over-discharge protection; an all-in-one controller refers to a system that integrates multiple functions into one controller. In new energy vehicles, an all-in-one controller may include an on-board charger, a DC / DC converter, a vehicle controller, etc. This integrated design helps to reduce costs, save space, reduce weight, and improve the performance and efficiency of the vehicle. The integration level of the all-in-one controller can range from "three-in-one" to "twelve-in-one", depending on the design and requirements of the system.

[0096] In addition, self-arbitration management may be required to self-manage and adjust according to the preset control strategy to ensure the expected performance in the simulation test. In short, self-arbitration management is a complex process involving simulation verification of control strategies, hardware-in-the-loop testing, integration of control strategy models, fault injection and testing, and development of test cases. The controller needs to self-manage and adjust according to these control strategies to ensure the accuracy, effectiveness, and comprehensiveness of the test.

[0097] In addition, synchronous safety redundant control is a design strategy for enhancing system reliability, especially in automotive electronic systems involving autonomous vehicles and other systems that require high reliability. This strategy ensures that the system can continue to operate even if one or more components fail by using multiple redundant components or paths. Specifically: Redundancy usually means using multiple sensors, actuators, or other key components to perform the same function. For example, in a braking system, there may be two independent control lines, each of which can perform braking operations alone; the operations of all virtual controller models need to be synchronized, which means that they should receive the same synchronous safety redundant control instructions at the same time and produce consistent results. The purpose of this is to detect a failure in a component so that the system can seamlessly switch to another component that is working normally without affecting overall performance; when the system detects a failure in a main component, the synchronous safety redundant control system automatically switches to the backup component. This process should be fast and transparent to avoid negative impacts on driving experience or safety; during the development phase, the effectiveness of synchronous safety redundant control can be verified through simulation testing, which includes simulating various failure scenarios, observing the response of the system, and evaluating whether it can work correctly under all preset conditions.

[0098] In this embodiment, the hardware simulation test cabinet 10 is powered on, and a flashing signal is sent to the test operation platform 20; when the test operation platform 20 receives the flashing signal, the software of the dual vehicle controller 30 is flashed according to the flashing signal, and an automated test sequence is built according to the dual vehicle control function strategy, and a test signal is sent to the hardware simulation test cabinet 10 based on the automated test sequence; after the hardware simulation test cabinet 10 receives the test signal, the simulated vehicle model 40 is controlled to perform an in-loop test based on the test signal; the simulated vehicle model 40 is used to automatically simulate the in-loop test of the dual vehicle controller 30. By building an automated test sequence, the automatic driving function control simulation in-loop test of the dual vehicle controllers under different test environments is realized, thereby improving the efficiency of the in-loop test of the dual vehicle controllers.

[0099] The present application embodiment provides a dual vehicle controller in-loop testing method, referring to Figure 2 , Figure 2 This is a flow chart of a first embodiment of a dual vehicle controller in-loop testing method of the present application.

[0100] In this embodiment, the dual vehicle controller in-loop testing method includes:

[0101] Step S10: After the hardware simulation test cabinet is powered on, a flashing signal is sent to the test operation platform.

[0102] It should be understood that when the hardware simulation test cabinet is powered on, it usually goes through a series of startup and initialization processes to ensure that the dual vehicle controller in-loop test system can operate normally, usually including: ensuring that the power supply of the hardware simulation test cabinet is correctly connected and the power switch is in the on state; the indicator light on the front panel of the hardware simulation test cabinet will light up, indicating that the power is on and the system status; the computer and controller in the hardware simulation test cabinet will execute a self-test program to check whether the hardware status is normal; the fan in the hardware simulation test cabinet will start to run to ensure that the equipment has good heat dissipation during operation; hardware simulation test The computer system in the cabinet starts up and may display a startup screen or progress bar; the operating system and necessary test software it contains are loaded into the memory; the equipment in the hardware simulation test cabinet establishes a communication connection with the external equipment; according to the test requirements, the hardware equipment in the hardware simulation test cabinet is configured, including setting parameters and calibration; the user interface of the host computer becomes available, and the user can at least control the test process through it. When it is determined that the test dual vehicle controller in-loop test system can operate normally, a flash signal will be sent to the test operation platform, which "notifies" the test operation platform that the software can be flashed.

[0103] Step S20: After the test operation platform receives the flashing signal, the software of the dual vehicle controllers is flashed, and an automated test sequence is built according to the dual vehicle control function strategy, and a test signal is sent to the hardware simulation test cabinet based on the automated test sequence.

[0104] It should be noted that the dual vehicle control function strategy at least includes the main vehicle controller software strategy and the redundant vehicle controller software strategy.

[0105] In addition, after flashing the software of the dual vehicle controllers through the test operation platform, the user can obtain various parameters of the dual vehicle controllers on the test operation platform. The parameters include at least operating voltage range, power consumption, storage and working environment temperature, working humidity, instruction execution speed, and I / O function indicators.

[0106] In addition, if there is a test requirement, the click information based on the test interface is obtained; and the simulation test function is performed based on the click information. Specifically, if the user has a manual test requirement, the function button can be clicked on the test interface corresponding to the test operation platform, and the dual vehicle controller in-loop test system will perform the corresponding simulation test function according to the user's click information. For example: during the entire test process, the user can click on the simulated real vehicle intelligent driving trigger switch, emergency stop switch state change and other buttons in the test interface of the test operation platform; it can also simulate the ADU sending messages and other signal interaction operations, so that the dual vehicle controllers VCU1 and VCU2 can perform related function control logic calculations. The dual vehicle controllers complete the relevant unmanned driving function control according to signal interaction and signal conversion, such as intelligent driving trigger function, fault handling, VCU1 drive control function, VCU2 takeover control and other intelligent driving related functions.

[0107] In addition, the steps of building an automated test sequence according to the dual vehicle control function strategy generally include determining the test objects as the main vehicle controller, the redundant vehicle controller and the virtual controller model according to the dual vehicle control function strategy; setting the test execution action according to the dual vehicle control function strategy; setting the functional expectation according to the dual vehicle control function strategy, the functional expectation including the first functional expectation, the second functional expectation and the third functional expectation; and building the automated test sequence based on the test object, the test execution action and the functional expectation.

[0108] It should be noted that an automated test sequence refers to a series of test cases and test steps organized in a certain order and logic during the automated test process. These test cases and steps together constitute a complete test process, which is used to verify the functions, performance, stability and other aspects of the software. Test objects, test execution actions and functional expectations are the key components of an automated test sequence.

[0109] In addition, the test object is the target of the automatic test according to the automated test sequence, namely the main vehicle controller, redundant vehicle controller and virtual controller model; the test execution actions are the various operations that need to be performed by the dual vehicle controllers and the virtual controller model during the test, including at least: intelligent driving trigger function, fault handling, VCU1 drive control and VCU2 takeover control; the functional expectations are the expected goals corresponding to the various operations performed by the dual vehicle controllers and the virtual controller model during the test.

[0110] In addition, the process of sending test signals based on the automated test sequence involves the execution of the automated test framework. These signals can be simulated user inputs, system commands, or any other signals that can be responded to by the hardware simulation test cabinet.

[0111] Step S30: After the hardware simulation test cabinet receives the test signal, the simulation vehicle model is controlled to perform an in-the-loop test based on the test signal.

[0112] It should be understood that in-loop testing refers to placing the entire vehicle or its key systems (such as power systems, chassis systems, etc.) in a virtual environment simulated by a computer to test and verify the vehicle's functions, performance and safety. Specifically, the simulated vehicle model includes an I / O interface model, a virtual controller model, a vehicle body model, a power control model, a driver model and other interactive models. The simulated vehicle model simulates various complex road scenarios in a simulated environment to verify the robustness and reliability of the intelligent driving algorithm, as well as simulates the working state of the battery, optimizes the algorithm, and improves the energy utilization and safety of the battery. The advantages of this in-loop testing include at least providing a safe environment to perform dangerous and high-risk operations that require a target vehicle without worrying about collisions; using repeatable scenarios to optimize edge cases; reducing costs by virtualizing the real target vehicle driver; and using on-board automated test case loading and real-time data post-processing to significantly reduce vehicle testing time.

[0113] It is understandable that after the hardware simulation test cabinet receives the test signal of the automated test sequence, it can control the simulated vehicle model to perform in-the-loop testing.

[0114] Step S40: Automatically simulate the interaction test between the main vehicle controller, the redundant vehicle controller and the virtual controller model through the simulated vehicle model.

[0115] It should be noted that the in-loop test method is mainly divided into interactive logic tests between the main vehicle controller and the external controller, the redundant vehicle controller and the external controller, and the dual vehicle controllers according to the controller function logic. For example: control the redundant vehicle controller to send a takeover control signal to the main vehicle controller; after sensing the takeover control signal, stop the control function of the main vehicle controller and enable the redundant vehicle controller to obtain the control function; control the redundant vehicle controller to send the message corresponding to the control function to the virtual controller model; perform interactive tests on the redundant vehicle controller and the virtual controller model, that is, VCU1 receives the takeover control status signal of VCU2, and when VCU2 takes over the control, VCU1 stops the control, and when VCU2 takes over the control of VCU1, it sends the corresponding control message and signal to the virtual controller model.

[0116] In a feasible implementation, reference may be made to Figure 3 , after step S40, steps A11 to A13 may also be included:

[0117] Step A11: Generate an automated test report based on the test results after the interactive test.

[0118] It should be noted that the test results after the interactive test mainly include the comparison between the various parameters of the dual vehicle controllers and the expected functions; while the automated test report is the various comparisons displayed to the user on the test interface.

[0119] Step A12: Return test data and test conclusions according to the automated test report.

[0120] It should be noted that the test data are the various parameters of the dual vehicle controllers, and the test conclusions are the conclusions returned on the test interface based on the comparison between the various parameters of the dual vehicle controllers and the functional expectations. For example, it may be "all parameters of the dual vehicle controllers have met the functional expectations and performed normally."

[0121] Step A13: Optimizing the software strategies of the main vehicle controller and the redundant vehicle controller according to the test data and the test conclusion.

[0122] It should be noted that if only a certain parameter of the main vehicle controller fails to meet the functional expectations, only the parameter optimization operation is performed on the main vehicle controller software strategy; if only a certain parameter of the redundant vehicle controller fails to meet the functional expectations, only the parameter optimization operation is performed on the redundant vehicle controller software strategy; if both the main vehicle controller and the redundant vehicle controller have parameters that fail to meet the functional expectations, the parameter optimization operations are performed on both the main vehicle controller software strategy and the redundant vehicle controller software strategy.

[0123] This embodiment sends a flash signal to the test operation platform after the hardware simulation test cabinet is powered on; after the test operation platform receives the flash signal, the software of the dual vehicle controllers is flashed, and an automated test sequence is built according to the dual vehicle control function strategy, and a test signal is sent to the hardware simulation test cabinet based on the automated test sequence; after the hardware simulation test cabinet receives the test signal, the simulated vehicle model is controlled to perform in-loop testing based on the test signal; the in-loop testing of the dual vehicle controllers is automatically simulated through the simulated vehicle model. By building an automated test sequence, the in-loop testing of the autonomous driving function control simulation of the dual vehicle controllers under different test environments is realized, thereby improving the efficiency of the in-loop testing of the dual vehicle controllers.

[0124] Based on the first embodiment of the method of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 4 , Figure 4This is a flow chart of the second embodiment of the dual vehicle controller in-loop test method of the present application, step S40 includes steps S401 to S404:

[0125] Step S401: performing an interactive test on the main vehicle controller and the virtual controller model.

[0126] It should be noted that the interactive test of the main vehicle controller and the virtual controller model must first ensure that the communication protocol between VCU1 and the virtual controller model is correct. This usually involves testing the CAN bus protocol to check whether the format and data length of the data frame meet the predetermined communication standards; since many systems on the car need to exchange data in real time, the interactive test also needs to verify whether VCU1 can respond to the request issued by the virtual controller model within the specified time to ensure the real-time performance of the system.

[0127] Step S402: If the control state of the main vehicle controller meets the first functional expectation, an interactive test is performed on the main vehicle controller and the redundant vehicle controller.

[0128] It should be noted that judging whether the control state meets the first functional expectation mainly includes: testing whether the functional interaction between VCU1 and the virtual controller model meets the functional expectation, for example, whether the functions such as engine control, brake system, and air conditioning control can correctly control the virtual controller model through VCU1. The first functional expectation is the expected target of each parameter of the main vehicle controller. If the control state of the main vehicle controller meets the first functional expectation, the next interactive test step can be performed, that is, the main vehicle controller and the redundant vehicle controller are interactively tested; in addition, if the control state of the main vehicle controller does not meet the first functional expectation, the software strategy of the main vehicle controller is optimized.

[0129] For example, in order to help understand the brief process of interactive testing of the main vehicle controller and the virtual controller model in the second embodiment of the present invention in combination with the present invention, please refer to Figure 5 , Figure 5 A brief flow diagram for interactive testing of the main vehicle controller and the virtual controller model is provided.

[0130] In addition, the interaction test between the main vehicle controller and the redundant vehicle controller must first ensure that the communication protocol between VCU1 and VCU2 is correct. This usually involves testing the CAN bus protocol to check whether the format and data length of the data frame meet the predetermined communication standards; it is also necessary to verify whether VCU1 can respond to the request sent by VCU2 within the specified time to ensure the real-time performance of the system.

[0131] Step S403: If the interaction state between the main vehicle controller and the redundant vehicle controller meets the second functional expectation, a fault of the main vehicle controller is manufactured, and an interaction test is performed on the redundant vehicle controller and the virtual controller model.

[0132] It should be noted that judging whether the interaction status between the main vehicle controller and the redundant vehicle controller meets the second functional expectation mainly includes: testing whether the functional interaction between VCU1 and VCU2 meets the design requirements, such as whether functions such as energy management, torque distribution, and manual driving simulation can correctly control VCU2 through VCU1.

[0133] In addition, if the interaction state between the main vehicle controller and the redundant vehicle controller meets the second functional expectation, the main vehicle controller is manufactured to fail so that the redundant vehicle controller takes over control, thereby performing an interaction test between the redundant vehicle controller and the virtual controller model; in addition, if the interaction state between the main vehicle controller and the redundant vehicle controller does not meet the second functional expectation, the software strategies of the main vehicle controller and the redundant vehicle controller are optimized.

[0134] For example, in order to help understand the brief process of interactive testing of the main vehicle controller and the redundant vehicle controller in the second embodiment of the present invention in combination with the present embodiment, please refer to Figure 6 , Figure 6 A simplified flow chart of interactive testing of a primary vehicle controller and a redundant vehicle controller is provided.

[0135] In addition, the interactive test of the redundant vehicle controller and the virtual controller model must first ensure that the communication protocol between VCU2 and the virtual controller model is correct. This usually involves testing the CAN bus protocol to check whether the format and data length of the data frame meet the predetermined communication standards; since many systems on the car need to exchange data in real time, the interactive test also needs to verify whether VCU2 can respond to the request issued by the virtual controller model within the specified time to ensure the real-time performance of the system.

[0136] Step S404: If the takeover control state of the redundant vehicle controller meets the third functional expectation, it is confirmed that the interactive test is completed.

[0137] It should be noted that judging whether the control state of the takeover meets the third functional expectation: testing whether the functional interaction between VCU2 and the external controller meets the functional expectation, for example, whether the functions such as energy management and torque distribution can correctly control the external device through VCU2. The third functional expectation is the expected target of each parameter of the redundant vehicle controller. If the control state of the redundant vehicle controller meets the third functional expectation, it is confirmed that all interactive tests are completed; in addition, if the control state of the redundant vehicle controller does not meet the third functional expectation, the software strategy of the redundant vehicle controller is optimized.

[0138] For example, in order to help understand the brief process of interactive testing of redundant vehicle controllers and virtual controller models in this embodiment in combination with the second embodiment of the method of the present application, please refer to Figure 7 , Figure 7 A brief flow chart for interactive testing of redundant vehicle controllers and virtual controller models is provided.

[0139] In this embodiment, the main vehicle controller and the virtual controller model are interactively tested; if the control state of the main vehicle controller meets the first functional expectation, the main vehicle controller and the redundant vehicle controller are interactively tested; if the interactive state between the main vehicle controller and the redundant vehicle controller meets the second functional expectation, the main vehicle controller fault is created, and the redundant vehicle controller and the virtual controller model are interactively tested; if the takeover control state of the redundant vehicle controller meets the third functional expectation, the completion of the interactive test is confirmed. Whether the status results of each interactive test meet the corresponding functional expectations is judged, which solves the technical problem that it is difficult for the real vehicle to complete the acquisition of test results and make corresponding adjustments.

[0140] It should be understood that the above is only an example and does not constitute any limitation on the technical solution of the present application. In specific applications, technicians in this field can make settings as needed, and the present application does not impose any limitation on this.

[0141] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present application. In practical applications, technicians in this field can select part or all of it according to actual needs to achieve the purpose of the present embodiment, and no limitation is made here.

[0142] In addition, it should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system 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 system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0143] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0144] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A dual vehicle controller in-loop test system, characterized in that: The dual vehicle controller in-loop test system comprises a hardware simulation test cabinet, a test operation platform, a simulated vehicle model and a dual vehicle controller, wherein the hardware simulation test cabinet is connected to the dual vehicle controller by a wiring harness, the hardware simulation test cabinet is connected to the test operation platform by a network, the hardware simulation test cabinet is connected to the simulated vehicle model by a network, and the test operation platform is connected to the dual vehicle controller by an interface; The hardware simulation test cabinet is used to send a flashing signal to the test operation platform by powering on; The test operation platform is used to receive the flashing signal, flash the software of the dual vehicle controller according to the flashing signal, build an automated test sequence according to the dual vehicle control function strategy, and send a test signal to the hardware simulation test cabinet based on the automated test sequence; The hardware simulation test cabinet is further used to receive the test signal and control the simulated vehicle model to perform in-the-loop testing based on the test signal; The simulated vehicle model is used to automatically simulate the in-loop test of the dual vehicle controllers.

2. The system according to claim 1, characterized in that The simulation vehicle model also includes an interface model; The interface model is used to send input signals to the dual vehicle controllers; The dual vehicle controller is used to perform a power-on process for the vehicle and a logical judgment on the dual vehicle control function strategy according to the input signal.

3. The system according to claim 1, characterized in that The simulated vehicle model also includes a virtual controller model, and the virtual controller model includes an instrument; The virtual controller model is used to send the acquisition signal to the dual vehicle controllers; The dual vehicle controller is further used to simulate the corresponding control function according to the collected signal based on the dual vehicle control function strategy, and calculate the control state of the dual vehicle controller, so as to send the control state of the dual vehicle controller to the instrument; The instrument is used to display the control status of the dual vehicle controllers.

4. The system according to claim 3, characterized in that The virtual controller model includes an autonomous driving controller, a motor controller, a battery management system, and an all-in-one controller; The dual vehicle controller is further used to send synchronous safety redundant control instructions to the automatic driving controller, the motor controller, the battery management system and the all-in-one controller; The automatic driving controller is used to perform self-arbitration management according to the dual vehicle control function strategy, and execute synchronous safety redundant control after receiving the synchronous safety redundant control instruction; The motor controller is used to perform self-arbitration management according to the dual vehicle control function strategy, and execute synchronous safety redundant control after receiving the synchronous safety redundant control instruction; The battery management system is used to perform self-arbitration management according to the dual vehicle control function strategy, and execute synchronous safety redundant control after receiving the synchronous safety redundant control instruction; The all-in-one controller is used to perform self-arbitration management according to the dual vehicle control function strategy, and execute synchronous safety redundant control after receiving the synchronous safety redundant control instruction.

5. A dual vehicle controller in-loop testing method, characterized in that: The method is applied to the dual vehicle controller in-loop test system according to any one of claims 1 to 4, and the test operation platform is run to display a test interface. The dual vehicle controllers mainly include a main vehicle controller and a redundant vehicle controller. The method includes: When the hardware simulation test cabinet is powered on, a flash writing signal is sent to the test operation platform; After the test operation platform receives the flashing signal, the software of the dual vehicle controllers is flashed, and an automated test sequence is built according to the dual vehicle control function strategy, and a test signal is sent to the hardware simulation test cabinet based on the automated test sequence, wherein the dual vehicle control function strategy includes at least a main vehicle controller software strategy and a redundant vehicle controller software strategy; After the hardware simulation test cabinet receives the test signal, controlling the simulated vehicle model to perform an in-the-loop test based on the test signal; The simulated vehicle model is used to automatically simulate the interaction test between the main vehicle controller, the redundant vehicle controller and the virtual controller model.

6. The method according to claim 5, characterized in that The step of automatically simulating the interaction test between the main vehicle controller, the redundant vehicle controller and the virtual controller model through the simulated vehicle model comprises: Performing interactive testing on the main vehicle controller and the virtual controller model; If the control state of the main vehicle controller meets the first functional expectation, performing an interactive test on the main vehicle controller and the redundant vehicle controller; If the interaction state between the primary vehicle controller and the redundant vehicle controller meets the second functional expectation, a fault of the primary vehicle controller is created, and an interaction test is performed on the redundant vehicle controller and the virtual controller model; If the takeover control state of the redundant vehicle controller meets the third functional expectation, the completion of the interaction test is confirmed.

7. The method according to claim 6, characterized in that After the step of interactively testing the main vehicle controller and the virtual controller model, the method further includes: If the control state of the main vehicle controller does not meet the first functional expectation, optimizing the software strategy of the main vehicle controller; After the step of interactively testing the main vehicle controller and the redundant vehicle controller, the method further includes: If the interaction state between the primary vehicle controller and the redundant vehicle controller does not meet the second functional expectation, optimizing the software strategies of the primary vehicle controller and the redundant vehicle controller; After the step of interactively testing the redundant vehicle controller and the virtual controller model, the method further includes: If the takeover control state of the redundant vehicle controller does not meet the third functional expectation, the redundant vehicle controller software strategy is optimized.

8. The method according to claim 6, characterized in that The steps of building an automated test sequence according to the dual vehicle control function strategy include: Determine the test objects as the main vehicle controller, the redundant vehicle controller and the virtual controller model according to the dual vehicle control function strategy; Setting a test execution action according to the dual vehicle control function strategy; Setting function expectations according to the dual vehicle control function strategy, the function expectations including the first function expectation, the second function expectation and the third function expectation; The automated test sequence is constructed based on the test object, the test execution action and the functional expectation.

9. The method according to claim 6, characterized in that The step of interactively testing the redundant vehicle controller and the virtual controller model comprises: Controlling the redundant vehicle controller to send a takeover control signal to the main vehicle controller; After sensing that the takeover control signal is sent, the control function of the main vehicle controller is stopped, and the redundant vehicle controller obtains the control function; Controlling the redundant vehicle controller to send a message corresponding to the control function to the virtual controller model; An interactive test is performed on the redundant vehicle controller and the virtual controller model.

10. The method according to claim 5, characterized in that After the step of automatically simulating the interactive test between the main vehicle controller, the redundant vehicle controller and the virtual controller model through the simulated vehicle model, the method further includes: Generate automated test reports based on the test results after interactive testing; Return test data and test conclusions according to the automated test report; Optimizing the software strategies of the main vehicle controller and the redundant vehicle controller according to the test data and the test conclusion; After the step of flashing the software of the dual vehicle controllers, the method further includes: If there is a test requirement, obtain click information based on the test interface; A simulation test function is performed based on the click information.

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