Test system and method

Abstract

The embodiment of the invention provides a test system and method, and relates to the technical field of intelligent driving. The system at least comprises CAN communication equipment, a rack, a first power supply, a power supply control element and an upper computer, the CAN communication device is in CAN communication connection with the power supply control element and the rack. The rack is used for bearing tested equipment and is in communication connection with the tested equipment; the first power supply is electrically connected with the power supply control element and the rack respectively; the power supply control element is electrically connected with the rack and the first power supply and is used for controlling the first power supply to provide an IG signal for tested equipment on the rack so as to control the power-on and power-off of the tested equipment; and the upper computer is in communication connection with the CAN communication equipment and is used for simulating the intelligent driving assistance system and respectively issuing instructions to the power supply control element and the tested equipment on the rack through the CAN communication equipment so as to complete automatic testing of the interaction function between the tested equipment and the intelligent driving assistance system, and the testing coverage degree and the testing efficiency are improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of intelligent driving technology, and in particular to a testing system and method. Background Art

[0002] The current automotive industry is developing rapidly in terms of intelligence and electrification. Most mid- to high-end models are equipped with intelligent driving assistance systems. The actuators of intelligent driving need to adapt to and meet the needs of intelligent driving assistance systems. Therefore, it is extremely important to test the interaction between the actuators of intelligent driving and the intelligent driving assistance systems. However, in traditional testing, manual testing is required.

[0003] For example, as one of the actuators of intelligent driving, the electric power steering system is also developing rapidly. The EPS (Electric Power Steering) steering advanced function needs to be matched with the intelligent driving assistance function in order to respond to and execute the intelligent driving assistance function. The test of EPS steering advanced function includes the handshake state machine jump test between the steering system and the intelligent driving assistance function, angle control test, fault DTC test, etc. In the traditional test of EPS steering advanced function, manual operation is required, the test coverage is low, the test efficiency is low, and the traditional manual test method is highly dependent on the personal ability of the tester, and the level of personal ability directly determines the quality of the test. Summary of the invention

[0004] In order to at least partially solve one or more of the above-mentioned problems and other potential problems, an embodiment of the present invention provides a testing system and method to improve test coverage and test efficiency and realize automated testing of the interaction functions between the device under test and the above-mentioned intelligent driving assistance system.

[0005] A first aspect of an embodiment of the present invention provides a test system, the test system comprising at least: a CAN communication device, a test bench, a first power supply, a power supply control element and a host computer;

[0006] The CAN communication device is connected to the power supply control element and the rack for CAN communication respectively;

[0007] The stand is used to carry the device under test and is in communication connection with the device under test;

[0008] The first power supply is electrically connected to the power supply control element and the stand respectively;

[0009] The power supply control element is electrically connected to the rack and the first power supply, respectively, and is used to control the first power supply to provide an IG signal to the device under test on the rack, so as to control power on and off of the device under test;

[0010] The host computer is communicatively connected to the CAN communication device and is used to simulate an intelligent driving assistance system. Instructions are respectively issued to the power supply control element and the device under test on the test bench through the CAN communication device to complete the test of the interactive function between the device under test and the intelligent driving assistance system.

[0011] A second aspect of an embodiment of the present invention provides a testing method, which is applied to a host computer in the testing system described in the first aspect of an embodiment of the present invention. The testing method includes:

[0012] Power on and initialize the device under test;

[0013] Determine a target test case to be executed currently and a target test category to which it belongs, and execute the target test case based on the device under test according to the test corresponding to the target test category;

[0014] Obtaining a target test result corresponding to the target test case;

[0015] The device under test is powered off.

[0016] The test system provided by the present invention at least includes a CAN communication device, a test bench, a first power supply, a power supply control element and a host computer; wherein the CAN communication device is respectively connected to the power supply control element and the test bench for CAN communication; the test bench is used to carry the device under test and is communicatively connected to the device under test; the first power supply is respectively electrically connected to the power supply control element and the test bench; the power supply control element is respectively electrically connected to the test bench and the first power supply; and the host computer is communicatively connected to the CAN communication device. This test system controls the first power supply to provide an IG signal to the device under test on the test bench through the power supply control element, so as to automatically control the power on and off of the device under test; the intelligent driving assistance system is simulated through the host computer, so as to send instructions to the power supply control element and the device under test on the test bench respectively through the CAN communication device, and execute different test cases according to different test requirements to complete the automated test of the interactive functions between the device under test and the intelligent driving assistance system. In this way, not only the various behavioral logics of the intelligent driving assistance system are simulated by the host computer without the need for the intelligent driving assistance system, but also the test coverage is improved; decoupling from the tester is achieved, the consistency of tests by different executors is improved, and the test scripts can be reused; it is also beneficial to improve the test efficiency, reduce the repetitive work of testing, and ensure that the test environment and the test execution process are exactly the same, which is conducive to the reproduction of the phenomenon. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0018] Figure 1 is a structural block diagram of a test system shown in one embodiment of the present invention;

[0019] Figure 2 is a schematic diagram of a test system provided by an embodiment of the present invention;

[0020] Figure 3 is a flow chart of a testing method provided by an embodiment of the present invention;

[0021] Figure 4 It is a flowchart of an automated testing method for advanced EPS steering functions provided by an embodiment of the present invention;

[0022] Figure 5 It is a schematic diagram of a power-on initialization packaging module provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] As mentioned above, the current tests for the interaction between the actuators of intelligent driving and the intelligent driving assistance system are all manual tests, based on which there are at least the following defects:

[0025] 1. Manual testing cannot accurately generate test data, and the test accuracy is low.

[0026] 2. When executing multiple test cases, it is necessary to frequently perform power-on and power-off operations, connect the XCP calibration function, and read fault diagnosis information. Repetitive work cannot be avoided and the degree of automation is not high.

[0027] 3. When a fault occurs and the problem is reproduced, the test environment cannot accurately simulate the fault conditions.

[0028] 4. Traditional manual testing methods are highly dependent on the personal ability of the tester, and the level of personal ability directly determines the quality of the test.

[0029] Therefore, in order to at least partially solve one or more of the above-mentioned problems and other potential problems, an embodiment of the present invention proposes a test system, which at least includes: a CAN communication device, a test bench, a first power supply, a power supply control element and a host computer; the first power supply is controlled by the power supply control element to provide an IG signal to the device under test on the test bench, and the power on and off of the device under test are automatically controlled; the intelligent driving assistance system is simulated by the host computer, and instructions are respectively issued to the power supply control element and the device under test on the test bench through the CAN communication device, and different test cases are executed according to different test requirements to complete the automated test of the interaction function between the device under test and the intelligent driving assistance system, thereby not only improving the test coverage by simulating various behavioral logics of the intelligent driving assistance system through the host computer without the need for an intelligent driving assistance system; and achieving decoupling from the tester, improving the consistency of tests by different executors, and making the test scripts reusable; it is also beneficial to improve test efficiency, reduce repetitive test work, and ensure that the test environment and the test execution process are exactly the same, which is conducive to reproducing the phenomenon.

[0030] Hereinafter, specific examples of the present solution will be described in more detail with reference to the accompanying drawings.

[0031] refer to Figure 1 , Figure 1 FIG. 1 is a structural block diagram of a test system according to an embodiment of the present invention. Figure 1 As shown, a first aspect of this embodiment provides a test system, which at least includes a CAN communication device, a test bench, a first power supply, a power supply control element and a host computer.

[0032] Wherein, the CAN communication device is connected to the power supply control element and the rack via CAN communication.

[0033] In this embodiment, the CAN communication device is a device that provides CAN communication, and the CAN communication device is connected to the power supply control element and the rack via CAN communication, and the CAN communication device is connected to the host computer via CAN communication, and is used to forward instructions issued by the host computer to the power supply control element and the rack based on the CAN communication connection. The CAN in this embodiment is a Controller Area Network.

[0034] The stand is used to carry the device under test and is in communication connection with the device under test.

[0035] In this embodiment, the rack is used to carry the device under test, and the rack is connected to the device under test carried by the rack. The CAN communication device is connected to the rack by CAN communication, and the rack is connected to the device under test by communication. In fact, the CAN communication device can be connected to the device under test on the rack by communication through the CAN communication connection.

[0036] The device under test in this embodiment can be any intelligent driving actuator, for example, the device under test can be an EPS steering gear, a steer-by-wire system (SBW), a four-wheel steering (4WS), an automatic domain controller, a wire-controlled brake, etc., and this embodiment does not limit this.

[0037] The first power supply is electrically connected to the power supply control element and the stand respectively.

[0038] In this embodiment, the first power supply is electrically connected to the power supply control element and the test stand respectively, and the first power supply is used to provide an IG (ignition) signal, i.e., an ignition signal, to the power supply control unit, and the ignition signal is used to control the power-on of the device under test.

[0039] The power supply control element is electrically connected to the rack and the first power supply, respectively, and is used to control the first power supply to provide an IG signal to the device under test on the rack, so as to control power on and off of the device under test.

[0040] In this embodiment, the power supply control element is electrically connected to the stand and the first power supply, respectively, and the stand is in communication connection with the device under test, so the power supply control element is in communication connection with the device under test. The first power supply can provide an IG signal to the power supply control element, and then provide the IG signal to the device under test on the stand via the power supply control element. In other words, the power supply control element of this embodiment is used to control the first power supply to provide an IG signal to the device under test on the stand to control the power on and off of the device under test.

[0041] The host computer is communicatively connected to the CAN communication device and is used to simulate an intelligent driving assistance system. Instructions are respectively issued to the power supply control element and the device under test on the test bench through the CAN communication device to complete the test of the interactive function between the device under test and the intelligent driving assistance system.

[0042] In this embodiment, the host computer is connected to the CAN communication device for communication. The host computer can simulate the intelligent driving assistance system to send relevant instructions to the CAN communication device, and forward the relevant instructions to the power supply control element or to the device under test on the test bench through the CAN communication device. The host computer and the device under test can execute different test cases according to different test requirements, so that the device under test can be powered on and off through the power supply control element and complete the test of the interactive function between the device and the intelligent driving assistance system simulated by the host computer.

[0043] That is to say, the host computer of this embodiment is used to simulate the intelligent driving assistance system, and sends instructions to the power supply control element and the device under test on the test bench through the CAN communication device to complete the test of the interactive function between the device under test and the intelligent driving assistance system.

[0044] In this embodiment, the first power supply is controlled by the power supply control element to provide an IG signal to the device under test on the test bench, and the power on and off of the device under test are automatically controlled; the intelligent driving assistance system is simulated by the host computer, and instructions are respectively issued to the power supply control element and the device under test on the test bench through the CAN communication device, and different test cases are executed according to different test requirements to complete the automated test of the interaction function between the device under test and the intelligent driving assistance system. In this way, not only the various behavioral logics of the intelligent driving assistance system are simulated by the host computer without the need for the intelligent driving assistance system, but also the test coverage is improved; decoupling from the tester is achieved, the consistency of tests by different executors is improved, and the test scripts can be reused; it is also beneficial to improve the test efficiency, reduce repetitive testing work, and ensure that the test environment and the test execution process are exactly the same, which is conducive to reproducing the phenomenon.

[0045] In combination with the above embodiments, in one implementation, the power supply control element may be a relay.

[0046] In combination with the above embodiments, in one implementation, the first aspect of the embodiments of the present invention further provides a test system. Specifically, in this embodiment, the CAN communication device is connected to the CAN interface of the test bench through the first CAN channel, and is connected to the CAN interface of the power supply control element through the second CAN channel.

[0047] In this embodiment, there is a CAN interface on the platform, and there is also a CAN interface on the power supply control element. The CAN communication device can be connected to the CAN interface of the platform through a first CAN channel, and connected to the CAN interface of the power supply control element through a second CAN channel. The first CAN channel and the second CAN channel are two different CAN channels, and the CAN channels can be implemented using CAN cables.

[0048] In this embodiment, the device under test is connected to the test bench in a communication manner, and the CAN communication device is connected to the test bench via the first CAN channel. Therefore, the CAN communication device can be connected to the device under test on the test bench in a communication manner via the first CAN channel.

[0049] In combination with the above embodiments, in one implementation, the first aspect of the embodiments of the present invention further provides a test system. Specifically, the test system further includes: a second power supply electrically connected to the power supply control element for supplying power to the power supply control element.

[0050] In this embodiment, the second power supply is electrically connected to the power supply control element and is used to supply power to the power supply control element. In an optional example, the second power supply may be a DC power supply (adjustable).

[0051] The first interface of the power supply control element is connected to the IG signal receiving interface of the device under test, and the second interface of the power supply control element is connected to the IG signal sending interface of the first power supply.

[0052] In this embodiment, the power supply control element includes: a first interface and a second interface, wherein the first interface is connected to the IG signal receiving interface of the device under test, and the second interface is connected to the IG signal sending interface of the first power supply. In an optional example, the first interface can be an ON interface, and the second interface can be a COM interface.

[0053] And, the IG signal receiving interface of the device under test is used to receive the IG signal sent by the power supply control element, and the IG signal sending interface of the first power supply is used to send the IG signal to the power supply control element.

[0054] The first power supply is used to supply power to the platform, and to send an IG signal to the power supply control element through the IG signal sending interface, and the IG signal is controlled by the power supply control element.

[0055] In this embodiment, the first power supply is electrically connected to the test stand, and the test stand is electrically connected to the device under test on the test stand, so the first power supply is also electrically connected to the device under test on the test stand, and the first power supply can power the test stand and the device under test on the test stand. The first power supply can send an IG signal to the power supply control element through the IG signal sending interface to control the IG signal through the power supply control element, that is, forward or not forward the IG signal to the device under test through the power supply control element. In an optional example, the first power supply can be a battery.

[0056] The power supply control element is specifically used to control the IG signal sent by the first power supply through the first interface and the second interface to control the power on and off of the device under test.

[0057] In this embodiment, the power supply control element can control the IG signal sent by the first power supply through the first interface and the second interface to control whether to forward the IG signal to the device under test, thereby controlling the power on and off of the device under test.

[0058] In one embodiment, if Figure 2 As shown, Figure 2 Schematic diagram of a test system provided by an embodiment of the present invention. Figure 2 The second power supply is Figure 2 The DC power supply (adjustable) in the power supply control element is Figure 2The relay in the first power supply is Figure 2 The power supply (battery) in the host computer is Figure 2 The host computer (same star) in the CAN communication device is Figure 2 The CAN box in the (same star), the device under test is Figure 2 The object under test (on the test bench).

[0059] Among them, a DC power supply (adjustable) supplies power to the relay, the host computer (Tongxing) is connected to the CAN box (Tongxing) for communication, the CAN box (Tongxing) is connected to the CAN interface of the object under test through channel 1 (i.e., the first CAN channel), the CAN box (Tongxing) is connected to the CAN interface of the relay through channel 2 (i.e., the second CAN channel), the power supply (battery) supplies power to the object under test, and is connected to the COM interface of the relay through the IG interface (i.e., the IG signal sending interface) to send an IG signal to the relay; the IG interface of the object under test (i.e., the IG signal receiving interface) is connected to the ON interface of the relay to enable the relay to send an IG signal to the device under test, thereby enabling the relay to control the IG signal to control the power on and off of the device under test.

[0060] In addition, in an optional example, the host computer can deploy the software TSMaster, and use the CAN communication host computer software TSMaster as a test platform to build and manage automated test processes and test cases, use the Tongxing device TC1014 as the CAN communication device, and use the relay as the power supply control element to control the power on and off of the IG. Among them, the power supply and IG of the device under test are connected to the relay to power on the device under test and the test bench; then, the CAN1 channel of the Tongxing device TC1014 is connected to the test bench of the device under test for XCP connection and simulation of other node message sending in the vehicle environment; the CAN2 channel is connected to the relay device to send control messages in the automated test process, which can control the power supply signal; finally, the PC executes the automated test process built based on the TSMaster host computer.

[0061] In combination with the above embodiments, in another implementation manner, the first aspect of the embodiment of the present invention further provides a test system. Specifically, in this embodiment, the host computer at least includes:

[0062] The power-on initialization module is used to perform power-on initialization on the device under test before the test case is executed; and to perform power-off operation on the device under test after the test case is executed.

[0063] Before executing each test case in the test of the interactive function between the device under test and the intelligent driving assistance system, the device under test needs to be powered on and initialized, and after each test case is executed, the device under test needs to be powered off. Therefore, this embodiment encapsulates the power-on and power-off processes to obtain a power-on initialization module, and deploys the power-on initialization module in the host computer. Each test case script can directly reference the module to complete the power-on and power-off of the device under test.

[0064] That is, the power-on initialization module of this embodiment is used to perform power-on initialization on the device under test before the test case is executed; and is used to perform power-off operation on the device under test after the test case is executed.

[0065] Furthermore, in an optional embodiment, if the power-on initialization and / or power-off requirements of the device under test are changed, only the power-on initialization module needs to be modified, which greatly improves the efficiency of writing test scripts.

[0066] In combination with the above embodiments, in another implementation manner, the first aspect of the embodiment of the present invention further provides a test system. In this embodiment, the host computer further includes:

[0067] The fault clearing module is used to execute a fault clearing command after the device under test is powered on and initialized, so as to clear the fault that occurs after the execution of the previous test case.

[0068] In this embodiment, the host computer also encapsulates a fault clearing module, through which the host computer can execute a fault clearing command after the device under test is powered on and initialized, to clear the fault that occurred after the previous test case was executed, thereby ensuring that it will not affect subsequent test case tests.

[0069] In combination with the above embodiments, in one implementation, the first aspect of the embodiments of the present invention also provides a test system. Specifically, in the test system, the host computer further includes:

[0070] The diagnostic service module is used to read the diagnostic fault code and the corresponding fault identification respectively when the device under test is in the target state to determine whether it is a simulated target fault.

[0071] In this embodiment, the host computer is also encapsulated with a diagnostic service module, and the host computer can call the diagnostic service module to read the diagnostic trouble code (DTC) and the corresponding fault identifier (such as Event ID) respectively when the device under test is in the target state to determine whether the reported fault is the target fault of the simulated injection. The target state includes at least one of the following: fault generation state, fault recovery state, and next ignition cycle state.

[0072] Specifically, the diagnostic fault code may be read, and a corresponding fault identifier may be determined based on the diagnostic fault code, and then based on whether the fault identifier is a target fault identifier, it may be determined whether the reported fault is a simulated target fault.

[0073] In combination with the above embodiments, in one implementation, the first aspect of the embodiments of the present invention also provides a tooth testing system. Specifically, in the testing system, the host computer further includes:

[0074] The XCP interface control module is used to control the XCP interface in the device under test to control the connection / disconnection of the XCP interface.

[0075] In this embodiment, an XCP interface control module is also encapsulated in the host computer, and the XCP interface control module is used to control the XCP interface in the device under test to control the connection / disconnection of the XCP interface in the device under test. When the XCP interface is connected, the host computer can read the status information of each module inside the device under test; when the XCP interface is disconnected, the host computer cannot read the status information of each module inside the device under test. When the XCP interface is connected, the host computer can observe and judge in real time: the fault status of the torque sensor, the torque interface output after the torque cross-check, and various fault flags, etc.

[0076] In combination with the above embodiments, in one implementation, the host computer may further include a signal mapping module, which is used to map the input CAN signals of the vehicle CAN and the intelligent driving assistance system interacting with the device under test into system variables, and to map the CAN signals output by the device under test into system variables. In this way, first, when the CAN signal is changed, there is no need to modify the test script content, and the signal mapping relationship can be directly modified; second, when the script is transplanted, it is only necessary to remap the system variables and the CAN signals, which facilitates script transplantation and enhances the reusability of the test script.

[0077] In combination with the above embodiments, in one implementation, the host computer may further include a signal initialization module, which is used to initialize the signal before each function test of the device under test, so that each use case test can perform related tests under the same premise state.

[0078] In combination with the above embodiments, in one implementation, the host computer may further include a communication fault module, which is used to encapsulate the communication fault script of each message to facilitate the calling of related test cases.

[0079] Based on the same inventive concept, the second aspect of the embodiment of the present invention provides a test method, which is applied to the host computer in the test system described in the first aspect of the embodiment of the present invention. Figure 3 , Figure 3 FIG. 1 is a flow chart of a testing method provided by an embodiment of the present invention. Figure 3 As shown, the test method includes the following steps:

[0080] Step S31: power on and initialize the device under test.

[0081] In this embodiment, when testing the interactive function between the device under test and the intelligent driving assistance system, before executing each test case, the device under test needs to be powered on and initialized to at least complete the power-on of the device under test. The device under test can be any intelligent driving actuator, for example, the device under test can be an EPS steering gear, a wire-controlled steering system, a four-wheel steering, an automatic domain controller, a wire-controlled brake, etc., which is not limited in this embodiment.

[0082] Step S32: determining the target test case to be executed currently and the target test category to which it belongs, and executing the target test case based on the device under test according to the test corresponding to the target test category.

[0083] In this embodiment, multiple test cases are designed in advance, and each test case is a test case for testing the interaction function between the device under test and the intelligent driving assistance system. After completing the power-on initialization of the device under test, the target test case to be executed and the target test category to which the target test case belongs can be determined from the multiple test cases, and the target test case can be executed based on the device under test according to the test process corresponding to the target test category.

[0084] Among them, the target test case is the test case currently to be executed, the target test category is the test category to which the target test case belongs, and each test category corresponds to a different test process. After the target test case is determined, the target test case can be executed based on the test process and the device under test corresponding to the target test category, thereby completing the execution of the target test case.

[0085] Step S33: Obtain the target test result corresponding to the target test case.

[0086] In this embodiment, after the target test case is executed, a target test result corresponding to the target test case can be obtained, and the target test result includes at least one or more of the following: a test result of passing or failing the test, a test analysis, and fault information.

[0087] Step S34: Power off the device under test.

[0088] In this embodiment, after the device under test completes the target test case, the device under test is powered off to ensure that the device under test is completely powered off.

[0089] In this embodiment, the intelligent driving assistance system is simulated by the host computer, and the host computer sends instructions to the power supply control element and the device under test on the test bench through the CAN communication device of the test system, and executes different test cases according to different test requirements. For each target test case, the power supply control element controls the power on and off of the device under test, completes the automated test of the interactive function between the device under test and the intelligent driving assistance system, and obtains the target test results. Therefore, in the case where the intelligent driving assistance system is not required, the host computer simulates various behavioral logics of the intelligent driving assistance system, thereby improving the test coverage; decoupling from the tester is achieved, the consistency of tests by different executors is improved, and the test scripts can be reused; it is also beneficial to improve the test efficiency, reduce repetitive test work, and ensure that the test environment and the test execution process are exactly the same, which is conducive to reproducing the phenomenon.

[0090] In combination with the above embodiments, in one implementation, the second aspect of the embodiments of the present invention further provides a test method. In this method, a test case is designed for the interactive function between the EPS steering device and the intelligent driving assistance system (i.e., the EPS steering advanced function). When multiple test cases are set in advance, the test cases are divided into multiple test categories for design. In this embodiment, the test categories of the test cases are divided into the following seven categories:

[0091] Test Category 1: Test signal transmission and reception consistency

[0092] Among them, for signal reception consistency: use the simulation host computer to simulate the intelligent driving assistance system and the signal sent by the vehicle to EPS, and detect whether the EPS system can correctly parse the data and pass it to the application layer. For signal transmission consistency: design a test case for the signal sent out by EPS to detect whether the transmitted signal meets the requirements of the CAN requirement specification.

[0093] Test Category 2: EPS steering advanced function use case design for each state

[0094] Among them, the EPS steering advanced function has four states, namely temporary inhibition, available, active and permanent failure. These four states need to test whether the EPS outgoing CAN message and internal signal are correct. In addition, in each state, it is also necessary to test whether the angle request of the advanced function can be responded.

[0095] 1. Temporary suppression state:

[0096] In the temporary inhibition state, the value of the status-related signal in the CAN message sent by EPS should be Temporaryinhibit. In addition, in this state, EPS cannot respond to the angle request of the intelligent driving assistance system, and it is necessary to test whether it can respond to the angle request.

[0097] 2. Available status:

[0098] When the EPS steering advanced function is in the available state, it means that as long as the intelligent driving assistance system sends an activation handshake request, the EPS steering advanced function will immediately jump to the activated state. In this state, it is necessary to test whether the status signal in the CAN message sent by EPS is Available, and check whether the signal of the internal module (such as the steering advanced function state machine signal) is correct.

[0099] 3. Activation status:

[0100] When the EPS steering advanced function is activated, it means that the intelligent driving assistance system has successfully shaken hands with the EPS. At this time, as long as the intelligent driving assistance system sends a steering angle request command, the EPS will execute it according to the command.

[0101] In this state, it is necessary to detect whether the status signal in the CAN message sent by EPS is Active, and to detect whether the signal of the internal module (such as the steering advanced function state machine signal) is correct.

[0102] 4. Permanent fault status failure:

[0103] When the EPS steering advanced function is in a permanent fault state, in the current ignition cycle, even if the permanent fault of the EPS is restored, it will not jump to other states, and will not respond to the control instructions of the intelligent driving assistance system. In this state, it is necessary to test whether the status signal in the CAN message sent by the EPS is Permanently failed, and check whether the signal of the internal module (such as the steering advanced function state machine) is correct.

[0104] Test Category 3: EPS steering advanced function state jump use case design

[0105] 1. Active jumps to Temporary inhibit:

[0106] When one of the following faults occurs, the Active state will jump to Temporary inhibit:

[0107] Communication failure: Intelligent driving assistance system message loss, error (including Checksum error, RollingCounter error, invalid value), vehicle speed message loss, error (including Checksum error, RollingCounter error, invalid value)

[0108] Other communication failures: such as Bus OFF

[0109] Recoverable Fault

[0110] Angular request limit exceeded

[0111] Angle request rate exceeded

[0112] Driver intervention

[0113] Test cases need to be designed for the above conditions in turn. For numerical values, test case design methods such as boundary values ​​and equivalence classes can be considered. Note: When testing communication failures, the program will generally jump after several consecutive frames of communication failures. At this time, it is necessary to consider whether to not jump when the frame number requirements are not met, and whether to jump after the frame number requirements are met. The design of boundary values ​​must be fully considered.

[0114] 2. Active jumps to Available:

[0115] When the request signal value changes to the unrequested value, the EPS steering advanced function needs to jump from Active to Available.

[0116] 3. Active jumps to Permanently failed:

[0117] When a permanent fault occurs inside the EPS, the EPS steering advanced function needs to jump from Active to Permanentlyfailed. Various permanent faults need to be designed here, such as motor failure, sensor failure, etc.

[0118] 4. Available jumps to Temporary inhibit

[0119] When one of the following situations occurs, the EPS steering advanced function needs to jump from the Available state to the Temporaryinhibit state:

[0120] Communication failure: Intelligent driving assistance system message loss, error (including Checksum error, RollingCounter error, invalid value), vehicle speed message loss, error (including Checksum error, RollingCounter error, invalid value)

[0121] Other communication failures: such as Bus OFF

[0122] Recoverable Fault

[0123] Note: When testing communication failures, the program will generally jump after several frames of continuous communication failures have occurred. At this time, you need to consider whether to not jump when the frame number requirements are not met, and whether to jump after the frame number requirements are met. The design of the boundary value must be fully considered.

[0124] 5. Available jumps to Permanently failed:

[0125] When a permanent fault occurs inside the EPS, the EPS steering advanced function needs to jump from Available to Permanentlyfailed. Various permanent faults need to be designed here, such as motor failure, sensor failure, etc.

[0126] 6. Temporary inhibit jumps to Available:

[0127] When all the following conditions are met, the EPS steering advanced function needs to jump from Temporary inhibit to Available

[0128] No communication failure: Intelligent driving assistance system message loss, error (including Checksum error, RollingCounter error, invalid value), vehicle speed message loss, error (including Checksum error, RollingCounter error, invalid value)

[0129] No other communication faults: such as Bus OFF

[0130] No recoverable fault

[0131] Vehicle Ready

[0132] When designing a use case, you need to consider whether it is possible to jump to Available normally when all conditions are met at the same time. Then you also need to consider whether it is impossible to jump from Temporary inhibit to Available when one of the conditions is not met.

[0133] 7. Temporary inhibit jumps to Permanently failed

[0134] When a permanent fault occurs inside the EPS, the EPS steering advanced function needs to jump from Temporary inhibit to Permanently failed. Permanent faults need to be designed here, such as sensor failure.

[0135] 8. Permanently failed jumps to Available

[0136] When the permanent fault is restored and the conditions for jumping to Available are set during this ignition cycle, EPS should not jump from Permanently failed to Available.

[0137] 9. Permanently failed jumps to Temporary inhibit

[0138] When the permanent fault is recovered and the recoverable fault is set during this ignition cycle, the EPS should not jump from Permanently failed to Temporary inhibit.

[0139] Test Category 4: Angle control use case design with EPS steering advanced function activated

[0140] Among them, the intelligent driving assistance system has multiple modes, which need to be divided into various modes, and then in this mode, set different vehicle speeds and send different angle control requests to see whether EPS can correctly respond to and execute the angle control request instructions of the intelligent driving assistance system. The following is divided into two modes: LKA (Lane Keeping Assist) and ESS (Emergency Steering Support) for control (Note: Depending on different needs, there may be multiple modes in the future, and it is also necessary to test in different modes. Here, only LKA and ESS are used as demonstrations).

[0141] 1. The request mode is LKA, and the angle control is set at different speeds

[0142] Set the vehicle speed to 10km / h, 60km / h, and 120km / h, and the angle ranges from -200° to 200°.

[0143] Note: You can also test several vehicle speeds here, and the angle can also be set to different angle ranges.

[0144] 2. Set the request mode to ESS and set the angle control at different speeds

[0145] Set the vehicle speed to 10km / h, 60km / h, and 120km / h, and the angle ranges from -200° to 200°.

[0146] Note: You can also test several vehicle speeds here, and the angle can also be set to different angle ranges.

[0147] Test Category 5: EPS steering advanced function corner request restriction use case design

[0148] After the EPS steering advanced function successfully shakes hands with the intelligent driving assistance system, there will be corresponding different turning angle limit values ​​under different modes and vehicle speeds, and corresponding use cases need to be designed for these.

[0149] 1. The request mode is LKA, and the angle limit values ​​are set at different speeds.

[0150] Set the vehicle speed to 10km / h, 20km / h, 30km / h, 40km / h, 50km / h, 60km / h, 70km / h, 80km / h, 90km / h, 100km / h, 110km / h, 120km / h, 130km / h, and 140km / h, and test whether the angle request limit at each speed meets the requirements.

[0151] 2. Set the request mode to ESS and set the angle request limit value at different speeds

[0152] Set the vehicle speed to 10km / h, 20km / h, 30km / h, 40km / h, 50km / h, 60km / h, 70km / h, 80km / h, 90km / h, 100km / h, 110km / h, 120km / h, 130km / h and 140km / h, and test whether the angle request limit at each speed meets the demand request mode as ESS, and set the angle control at different speeds.

[0153] Test Category 6: EPS steering advanced function corner request rate limit value use case design

[0154] After the EPS steering advanced function successfully shakes hands with the intelligent driving assistance system, there will be different corresponding turning angle request rate limit values ​​in different modes and vehicle speeds, and corresponding use cases need to be designed for these.

[0155] 1. Set the request mode to LKA and set the angle request rate limit at different speeds

[0156] Set the vehicle speed to 10km / h, 20km / h, 30km / h, 40km / h, 50km / h, 60km / h, 70km / h, 80km / h, 90km / h, 100km / h, 110km / h, 120km / h, 130km / h, and 140km / h, and test whether the angle request rate limit at each speed meets the requirements.

[0157] 2. Set the request mode to ESS and set the angle limit value at different speeds

[0158] Set the vehicle speed to 10km / h, 20km / h, 30km / h, 40km / h, 50km / h, 60km / h, 70km / h, 80km / h, 90km / h, 100km / h, 110km / h, 120km / h, 130km / h and 140km / h, and test whether the angle request limit at each speed meets the demand request mode as ESS, and set the angle control at different speeds.

[0159] Test Category 7: EPS steering advanced function related DTC use case design

[0160] When the EPS steering advanced function successfully shakes hands with the intelligent driving assistance system, if there is a related fault, the DTC and Event ID will be reported.

[0161] Usually, the corresponding DTC and Event ID are tested when the following faults occur:

[0162] The requested angle value exceeds the limit (in LKA mode)

[0163] The requested angle value exceeds the limit (in ESS mode)

[0164] The requested rate of change of the steering angle exceeds the limit (in LKA mode)

[0165] The requested rate of change of the corner exceeds the limit (in ESS mode)

[0166] Vehicle speed exceeds limit (in LKA mode)

[0167] Vehicle speed exceeds limit (in ESS mode)

[0168] Driver intervention (in LKA mode)

[0169] Driver intervention (in ESS mode)

[0170] Note: When designing the above use cases, it is necessary to consider both the left and right situations, and that DTC and related Event IDs should not be reported if the limit is not exceeded, but DTC and related Event IDs should be reported if the limit is exceeded. These use cases must fully consider the boundary values.

[0171] In addition, when designing each test case, each encapsulation module can be called, which increases the readability and modifiability of the test case and improves testing efficiency.

[0172] And, in combination with the above embodiments, in one implementation, the second aspect of the embodiments of the present invention further provides a testing method. In this method, a corresponding testing process / testing step is set for each test category:

[0173] For test category 1 (consistency of test signal transmission and reception):

[0174] For receiving signals: the host computer sends CAN signals to the device under test through the first CAN channel, and then reads the corresponding parsed signal of the RTE layer received by the application layer through XCP, and determines whether it is correct.

[0175] For sending signals: Check whether the CAN signals sent by EPS to the host computer are consistent with the CAN requirement specifications.

[0176] For test category 2 (EPS steering advanced function use case design in each state):

[0177] The host computer sends relevant signals to the device under test through the first CAN channel, so that the EPS steering advanced function is in various states, and then checks whether the state signal sent out by the EPS is correct in each state.

[0178] For test category three (EPS steering advanced function state jump use case design):

[0179] The host computer creates various faults through the first CAN channel, such as message loss, Checksum error, RollingCounter error, etc., to cause the state to jump, and checks whether the EPS jumps to the corresponding state.

[0180] For test category 4 (angle control use case design with EPS steering advanced function activated):

[0181] The host computer simulates the intelligent driving assistance system to send the corresponding handshake request through the first CAN channel. When the handshake request is successful, the EPS is set to different vehicle speeds, and then the intelligent driving assistance system is simulated to send different angle requests to detect whether the EPS can respond to the angle request correctly.

[0182] For test category five (EPS steering advanced function corner request restriction use case design):

[0183] The upper computer simulates the intelligent driving assistance system to send the corresponding handshake request through the first CAN channel. When the handshake request is successful, the upper computer simulates the intelligent driving assistance system to send an angle request, sets the EPS to different vehicle speeds, and then sends different angle requests until the angle request exceeds the corresponding limit value at the vehicle speed, to detect whether the action of EPS at this moment is consistent with the demand.

[0184] For test category six (EPS steering advanced function corner request rate limit value use case design):

[0185] The host computer simulates the intelligent driving assistance system to send the corresponding handshake request through the first CAN channel. When the handshake request is successful, the EPS is set to different vehicle speeds, and then the driving assistance system is simulated to send angle requests at different angles higher than the corresponding requested angle change rate limit at the vehicle speed to detect whether the action of EPS at this moment is consistent with the demand.

[0186] For test category seven (EPS steering advanced function related DTC use case design):

[0187] The upper computer sets the DTC and DID detection codes, and then manufactures the upper computer to make the EPS steering advanced function in various DTC reporting states, and then reads the DTC and DID to detect whether they are consistent with the requirements.

[0188] In combination with the above embodiments, in one implementation, the second aspect of the embodiments of the present invention further provides a testing method. In this method, the above step S31 may specifically include step S41 and step S42:

[0189] Step S41: sending a disabling signal and an XCP disconnection instruction to the device under test through the first CAN channel to initialize the signal of the device under test and disconnect the XCP interface in the device under test.

[0190] In this embodiment, the host computer is communicatively connected to the CAN communication device, the CAN communication device is connected to the CAN interface of the test bench through the first CAN channel, and the test bench is communicatively connected to the device under test. Therefore, the host computer can send a disabling signal and a disconnecting XCP connection instruction to the device under test through the first CAN channel of the CAN communication device, initialize all signals of the device under test, and disconnect the XCP interface in the device under test.

[0191] Among them, after receiving the disabled signal, the device under test will stop normal operation to avoid activation; after receiving the disconnect XCP connection instruction, the XCP interface in the device under test will be disconnected, so that the host computer cannot read the status information of each module inside the device under test; in this way, the prerequisite for powering off the device under test is completed.

[0192] Step S42: sending a power-off instruction and a power-on instruction to the power supply control element in sequence through the second CAN channel, respectively controlling the power supply control element not to forward the IG signal to the device under test and to forward the IG signal to the device under test, so as to realize power on and off of the device under test.

[0193] In this embodiment, the CAN communication device is connected to the CAN interface of the power supply control element through the second CAN channel. The upper computer can first send a power-off command to the power supply control element through the second CAN channel of the CAN communication device, control the power supply control element to realize the OFF of the IG signal, and not forward the IG signal issued by the first power supply to the device under test, thereby realizing the power-off of the device under test.

[0194] After the device under test is powered off and waits for a first time (such as 5s), the host computer sends a power-on command to the power supply control element through the second CAN channel of the CAN communication device, controls the power supply control element to realize the ON of the IG signal, and forwards the IG signal sent by the first power supply to the device under test to realize the power-on of the device under test.

[0195] In combination with the above embodiments, in one implementation, the second aspect of the embodiment of the present invention further provides a testing method. In this method, in addition to the above steps, before the above step S32, steps S51 to S54 may also be included:

[0196] Step S51: initializing and controlling the device under test through the first CAN channel to initialize the signal of the device under test and control the device under test to be in a new power-on cycle.

[0197] In this embodiment, after the power on and off of the device under test is realized, the upper computer can initialize and control the device under test through the first CAN channel of the CAN communication device: initialize all signals of the device under test and send a vehicle speed control signal to the device under test, and set the effective speed of the device under test to 0km / h, so as to control the device under test in a new power-on cycle, that is, control the device under test in a new ignition cycle.

[0198] Step S52: Sending an XCP connection request to the device under test through the first CAN channel, so that the XCP interface in the device under test is in a connected state.

[0199] In this embodiment, the host computer can send an XCP connection request to the device under test through the first CAN channel of the CAN communication device. After the device under test receives the XCP connection request, the XCP interface in the device under test can be placed in a connected state, so that the host computer can read the status information of each module inside the device under test, realize online measurement, and read each status in the device under test.

[0200] Step S53: sending a data clearing instruction to the device under test through the first CAN channel to clear the historical test data in the device under test.

[0201] In this embodiment, the host computer may send a data clearing instruction to the device under test through the first CAN channel to clear all historical test data in the device under test to prepare for the execution of the next test case.

[0202] Step S54: sending a fault clearing instruction to the device under test through the first CAN channel to clear the fault that occurs in the device under test after the execution of the previous test case.

[0203] In this embodiment, the host computer can send a fault diagnosis request to the device under test through the first CAN channel. Regardless of whether a fault is diagnosed, a fault clearing instruction will be sent to the device under test, such as sending "14FF FF FF" to clear the diagnostic information, and then sending "19 02 89" to read the fault diagnostic information. After determining that there is no fault diagnostic information, it is determined to clear the fault that occurred after the previous test case was executed in the device under test, thereby realizing fault clearing of the device under test.

[0204] In combination with any of the above embodiments, in an optional implementation, after clearing the fault that occurred after the previous test case was executed in the device under test, the target test case to be executed can be determined by the local variable. In this embodiment, each test case corresponds to a local variable one by one, and the local variable increases sequentially from 0. The initial value of the local variable is 0, and the variable is used to loop the automated test process. After clearing the fault of the device under test each time, the target test case to be executed can be determined based on the current local variable, and then the target test category can be determined based on the target test case, so that different test steps are executed according to the test corresponding to the target test category, the target test case is completed, and the target test case result is obtained.

[0205] After obtaining the target test case result, the host computer sends a control command of 0 km / h vehicle speed to the device under test through the first CAN channel, and then sends a disabled signal and a disconnect XCP connection command to initialize the signal of the device under test and disconnect the XCP interface in the device under test. Then, a power-off command is sent to the power supply control element through the second CAN channel to control the power supply control element to realize the OFF of the IG signal, and the IG signal sent by the first power supply is not forwarded to the device under test, so as to realize the power-off of the device under test. At this point, the execution of this target detection case is completed, the local variable is increased by 1, a new local variable is obtained, and this round of test process is completed; then, it is determined whether the new local variable exceeds the maximum value of the local variable. If it does not exceed the maximum value of the local variable, a new target test case is re-determined based on the new local variable, and the above steps are repeated to execute the new target test case until the new local variable exceeds the maximum value of the local variable, and the loop is jumped out. After all the loops are completed, it means that all test cases have been executed.

[0206] In one embodiment, if Figure 4 As shown, Figure 4 FIG. 1 is a flow chart of an EPS steering advanced function automated testing method provided by an embodiment of the present invention. In this embodiment, the device under test is an EPS steering gear. Figure 4 In this method, firstly, a local variable is set for loop testing, such as setting the initial value of the local variable to 0. The variable is used to loop through the steps in the automated test process, and then the corresponding test case is executed according to the local variable. The test category to which the test case belongs can be determined according to the test case, and then the corresponding test case is executed based on the test process corresponding to the test category. Before executing the corresponding test case, the power-on initialization of the EPS steering gear must be performed, and then the corresponding test case is executed. After the test case is executed, the EPS steering gear is powered off. Then the local variable is controlled to +1, and it is determined based on the new local variable whether to continue to loop through the next test case. If it is determined that the next test case needs to be looped through, the corresponding test case is re-executed based on the new local variable until it is determined based on the new local variable that it is not necessary to continue to loop through the next test case, and all test cases are executed.

[0207] In one embodiment, if Figure 5 As shown, Figure 5 FIG. 1 is a schematic diagram of a power-on initialization packaging module provided by an embodiment of the present invention. Figure 5 In the power-on initialization package module, Figure 4 The detailed diagram of "power-on initialization" in FIG. The power-on initialization encapsulation module is used to perform the following steps in sequence:

[0208] Disconnect XCP and power off: For example, the host computer sends an EPS disabled signal through the CAN1 channel to initialize all signals, and then sends a disconnect XCP connection instruction, and then sends a KL15 instruction (i.e., a power-off instruction) to the power supply control element through the CAN2 channel, and controls the IG signal to be OFF through the power supply control element.

[0209] Power on, initialize signal value: For example, the host computer sends KL15 command (power on command at this time) through CAN2 channel again, and controls the IG signal to be turned on through the power supply control element. Also, initialize the left and right signals of EPS through CAN1 channel, including setting the control speed signal to be valid and the speed to 0km / h, to ensure that the test case is executed in a new ignition cycle.

[0210] Connect XCP and start online measurement: For example, the host computer sends an XCP connection request through the CAN1 channel and starts online measurement.

[0211] Clear all measurement data: For example, the host computer sends a command to clear all historical measurement data through the CAN1 channel to prepare for the next use case execution.

[0212] Clear fault: For example, the host computer executes the following operations in sequence through the CAN1 channel: send a diagnostic request, send '14FF FFFF' to clear diagnostic information, and send '19 02 89' to read DTC information. Testing can be performed only when no current fault occurs.

[0213] Through the method provided in this embodiment, in order to improve the test coverage and test efficiency, an automated test scheme for advanced functions of the steering system is designed. This scheme combines the power-on and power-off logic of EPS and the UDS diagnostic service to build an automated test process. In this scheme, communication errors and CRC check failures can be simulated, and at the same time, the verification of advanced functions of EPS steering can be automatically completed according to different test requirements, meeting diversified test requirements and enriching test cases. In addition, the scheme is based on the environment construction of automated testing of power supply control components, which can realize the functions of automatic power on and off of EPS controller, sending diagnostic services, connecting XCP, etc., improve the automation level of software testing, monitor the status of EPS controller in many aspects, and provide more comprehensive and complete test data.

[0214] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0215] Each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other. In particular, for the system embodiment, 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.

[0216] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

[0217] The test system and method provided by the present invention are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, 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 invention.

Claims

1. A testing system, characterized in that: The test system at least includes: a CAN communication device, a test bench, a first power supply, a power supply control element and a host computer; The CAN communication device is connected to the power supply control element and the rack for CAN communication respectively; The stand is used to carry the device under test and is in communication connection with the device under test; The first power supply is electrically connected to the power supply control element and the stand respectively; The power supply control element is electrically connected to the rack and the first power supply, respectively, and is used to control the first power supply to provide an IG signal to the device under test on the rack, so as to control power on and off of the device under test; The host computer is communicatively connected to the CAN communication device and is used to simulate an intelligent driving assistance system. Instructions are respectively issued to the power supply control element and the device under test on the test bench through the CAN communication device to complete the test of the interactive function between the device under test and the intelligent driving assistance system.

2. The test system according to claim 1, characterized in that: The CAN communication device is connected to the CAN interface of the rack via a first CAN channel, and is connected to the CAN interface of the power supply control element via a second CAN channel.

3. The test system according to claim 1, characterized in that: The test system further comprises: a second power supply, electrically connected to the power supply control element, and used to supply power to the power supply control element; The first interface of the power supply control element is connected to the IG signal receiving interface of the device under test, and the second interface of the power supply control element is connected to the IG signal sending interface of the first power supply; The first power supply is used to supply power to the platform, and to send an IG signal to the power supply control element through the IG signal sending interface, and to control the IG signal through the power supply control element; The power supply control element is specifically used to control the IG signal sent by the first power supply through the first interface and the second interface to control the power on and off of the device under test.

4. The test system according to any one of claims 1 to 3, characterized in that: The host computer at least includes: The power-on initialization module is used to perform power-on initialization on the device under test before the test case is executed; and to perform power-off operation on the device under test after the test case is executed.

5. The test system according to claim 4, characterized in that: The host computer also includes: The fault clearing module is used to execute a fault clearing command after the device under test is powered on and initialized, so as to clear the fault that occurs after the execution of the previous test case.

6. The test system according to claim 4, characterized in that: The host computer also includes: A diagnostic service module, used to read the diagnostic fault code and the corresponding fault identification respectively when the device under test is in the target state, so as to determine whether it is a simulated target fault; The target state includes at least one of the following: a fault generation state, a fault recovery state, and a next ignition cycle state.

7. The test system according to claim 4, characterized in that: The host computer also includes: An XCP interface control module, used to control the XCP interface in the device under test to control the connection / disconnection of the XCP interface; When the XCP interface is connected, the host computer can read the status information of each module inside the device under test; When the XCP interface is disconnected, the host computer cannot read the status information of each module inside the device under test.

8. A testing method, characterized in that: Applied to a host computer in a test system according to any one of claims 1 to 7, the method comprising: Power on and initialize the device under test; Determine a target test case to be executed currently and a target test category to which it belongs, and execute the target test case based on the device under test according to the test corresponding to the target test category; Obtaining a target test result corresponding to the target test case; The device under test is powered off.

9. The testing method according to claim 8, characterized in that: The power-on initialization of the device under test includes: Sending a disabling signal and a disconnecting XCP connection instruction to the device under test through the first CAN channel to initialize the signal of the device under test and disconnect the XCP interface in the device under test; The power-off command and the power-on command are sent to the power supply control element in sequence through the second CAN channel, and the power supply control element is controlled to not forward the IG signal to the device under test and to forward the IG signal to the device under test, so as to realize power on and off of the device under test.

10. The testing method according to claim 9, characterized in that: Before determining the target test case to be executed and the target test category to which it belongs, the method further includes: Initializing and controlling the device under test through the first CAN channel to initialize the signal of the device under test and control the device under test to be in a new power-on cycle; Sending an XCP connection request to the device under test through the first CAN channel, so that the XCP interface in the device under test is in a connected state; Sending a data clearing instruction to the device under test through the first CAN channel to clear historical test data in the device under test; A fault clearing instruction is sent to the device under test through the first CAN channel to clear a fault that occurs in the device under test after a previous test case is executed.

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