Fault injection test system for electronic power brake EHB
By designing a fault injection test system for electronic power-assisted brake EHB, the problems of high testing costs and long cycles in the prior art are solved, and comprehensive fault simulation and testing of brake bench test equipment are achieved, improving testing efficiency and accuracy.
Patent Information
- Application Number
- CN202510101068.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-22
- Publication Date
- 2025-04-04
AI Technical Summary
The existing technology lacks effective fault injection and fault simulation testing methods, resulting in high testing costs, long cycles of electronic power brakes, and cannot be quickly implemented, and simulation tests cannot accurately simulate the actual use environment.
A fault injection test system for electronic power-assisted braking EHB is designed, including power supply fault modules, communication fault modules, sensor fault modules and hydraulic fault modules. These modules can simulate various fault conditions and conduct comprehensive testing.
Various fault simulations of brake bench test equipment are realized, which reduces testing costs and improves testing efficiency, and can conduct accurate fault testing in the R&D stage, reducing faults in actual applications.
Smart Images
Figure CN119757933A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of automobile testing, and more particularly to a fault injection testing system for an electronic power-assisted brake (EHB). Background Art
[0002] With the release and popularization of high-level autonomous driving high technology, more and more vehicles have L2, L2.5 and even L3 autonomous driving capabilities. Wire control brakes are an indispensable and important part of autonomous driving, equivalent to human feet. There are more than 40 manufacturers of wire control brake products (i.e. electronic power brakes), but there is only one group test standard: "T / CAAMTB 64-2022 Performance requirements and bench test methods for automotive decoupled electronic power brake systems". This standard describes the performance test method for electronic power brakes, but there is no fault injection or fault simulation test method. Now only real vehicle testing or simulation testing can be done. In addition, the cost of real vehicle testing is high, the cycle is very long, and there is no way to quickly implement it. Simulation testing also has no way to simulate the actual use environment. It can only be tested in the research and development stage, and there will be a big difference in actual application. Summary of the invention
[0003] The present invention provides a fault injection test system for an electronic power-assisted brake (EHB), which can perform various fault tests on a brake bench test device with low cost and high efficiency.
[0004] In order to achieve these purposes and other advantages of the present invention, a fault injection test system for an electronic power-assisted brake (EHB) is provided, comprising: An input module connected to a brake bench test device to simulate a human stepping on a brake pedal through an electric cylinder; a pressure output terminal module connected to the brake bench test equipment to simulate the wheel brake caliper through a steel cylinder; A power supply fault module, one end of which is connected to the power supply end module, and the other end of which is connected to the brake bench test device, wherein a voltage sensor and a current sensor are provided between the power supply fault module and the brake bench test device, and the power supply fault module is used to realize fault simulation of power supply failure; A communication fault module, one end of which is connected to the CAN communication network and the other end of which is connected to the brake bench test equipment, for realizing fault simulation of communication failure; A sensor fault module, one end of which is connected to the sensor module and the other end of which is connected to the brake bench test equipment, for realizing fault simulation of sensor failure; A hydraulic fault module is arranged in the pipeline between the brake caliper and the brake bench test equipment, and is used to realize fault simulation of pipeline failure.
[0005] Preferably, the fault injection test system for electronic power-assisted braking (EHB) further comprises an environmental chamber in which the brake bench test equipment is arranged, which is used to simulate the temperature and humidity under real operating conditions.
[0006] Preferably, in the fault injection test system for electronic power-assisted braking (EHB), the power supply fault module comprises: A current limiting module, which is used to control the input current of the brake bench test equipment to test the working state of the brake bench test equipment at different currents under the same voltage; A voltage limiting module, which is used to control the input voltage of the brake bench test equipment to test the working state of the brake bench test equipment at different voltages under the same current; A first on-off module, which is used to control the on-off of a single or multiple circuits of the power supply input terminal of the brake bench test equipment, so as to test the working state of the brake bench test equipment when the power supply is missing; A first short-circuit module, which is used to control the power supply pin of the brake bench test device to be short-circuited to the negative electrode or the positive electrode, so as to test the working state of the brake bench test device when the power supply is wrong; The current limiting module, the voltage limiting module, the first on-off module and the first short-circuit module are all connected in parallel with each other.
[0007] Preferably, in the fault injection test system for electronic power-assisted braking (EHB), the communication fault module comprises: A first fault injection module, which is used to simulate sending various fault instructions to test the working state of the CAN communication network of the brake bench test equipment in a congested and error frame state; A second on-off module, which is used to control the on-off of a single line or multiple lines in the CAN communication network of the brake bench test equipment, so as to test the working state of the brake bench test equipment when single-line communication or communication interruption occurs; A second short-circuit module, which is used to control the communication line pin in the CAN communication network of the brake bench test equipment to be short-circuited to the negative pole or the positive pole, so as to test the working state of the brake bench test equipment when the communication is wrong; The first fault injection module, the second on-off module and the second short-circuit module are connected in parallel with each other.
[0008] Preferably, in the fault injection test system for electronic power-assisted braking (EHB), the sensor fault module comprises: A second fault injection module, which is used to simulate sending various fault instructions to test the working state of the brake bench test equipment when the sensor module is in error data or no data; A third on-off module, which is used to control the on-off of a single or multiple sensor signal lines of the brake bench test equipment to test the working state of the brake bench test equipment when the sensor module fails; A third short-circuit module, which is used to control the sensor signal line pin of the brake bench test device to be short-circuited to the negative electrode or the positive electrode, so as to test the working state of the brake bench test device when the sensor module has erroneous sensor data; The second fault injection module, the third on-off module and the third short-circuit module are connected in parallel with each other.
[0009] Preferably, the fault injection test system for electronic power-assisted braking (EHB), the current limiting module, comprises: A current limiting chip, wherein the power supply module is connected to one of the input terminals of the current limiting chip; A current detection module, wherein the output end of the current limiting chip is connected to the input end of the current detection module, and the output end of the current detection module is connected to another input end of the current limiting chip; A rectifier circuit, wherein the output end of the current detection module is also connected to the input end of the rectifier circuit, and the output end of the rectifier circuit is connected to the voltage sensor; The voltage limiting module comprises: a switching power supply, the output end of the power supply module is connected to the input end of the switching power supply; a voltage stabilizing circuit, the input end of which is connected to the output end of the switching power supply, and the output end is connected to the voltage sensor; The first on-off module comprises a plurality of first relays connected in parallel, one end of each first relay is connected to the power supply module, and the other end is connected to the voltage sensor; The first short-circuit module includes two second relays, one of the second relays is arranged between the power supply pin and the positive pole of the brake bench test equipment, and another second relay is arranged between the power supply pin and the negative pole of the brake bench test equipment.
[0010] Preferably, in the fault injection test system for electronic power-assisted brake EHB, the first fault injection module is a first host computer; the CAN communication network includes a CAN-H communication line and a CAN-L communication line, one end of the CAN-H communication line and the CAN-L communication line are connected to the first host computer, and the other end is connected to the brake bench test equipment; The second on-off module comprises two third relays, one end of one of the third relays is connected to the CAN-H communication line, and the other end is connected to the brake bench test equipment, and one end of the other third relay is connected to the CAN-L communication line, and the other end is connected to the brake bench test equipment; The second short-circuit module includes four fourth relays, the first fourth relay is set between the power supply pin and the positive pole of the CAN-H communication line, the second fourth relay is set between the power supply pin and the negative pole of the CAN-H communication line, the third fourth relay is set between the power supply pin and the positive pole of the CAN-L communication line, and the fourth fourth relay is set between the power supply pin and the negative pole of the CAN-L communication line.
[0011] Preferably, in the fault injection test system for electronic power-assisted brake EHB, the second fault injection module is a second host computer, and the second host computer is connected to the sensor signal line between the sensor module and the brake bench test equipment; A third on-off module, comprising a plurality of fifth relays, one end of each fifth relay being connected to one of the sensors, and the other end being connected to the brake bench test equipment; The third short-circuit module includes two sixth relays, one of which is arranged between the sensor signal line pin of the brake bench test equipment and the positive pole, and another sixth relay is arranged between the sensor signal line pin of the brake bench test equipment and the negative pole.
[0012] Preferably, in the fault injection test system for electronic power-assisted braking (EHB), the hydraulic fault module includes a shut-off valve and a pressure relief valve, a shut-off valve is provided between the hydraulic sensor and the wheel, and a pressure relief valve is provided between the hydraulic sensor and the oil cup.
[0013] The present invention includes at least the following beneficial effects: the power supply fault module provided in the present invention can generate current limiting, voltage limiting, on-off and short-circuit faults, realizes the power supply failure fault simulation of the brake bench test equipment, and can complete all test items of power supply failure. The communication fault module provided can perform fault injection, generate on-off and short-circuit faults, realizes the communication failure fault simulation of the brake bench test equipment, and can complete all test items of communication failure. The sensor fault module provided can perform fault injection, generate on-off and short-circuit faults, realizes the sensor failure fault simulation of the brake bench test equipment, and can complete all test items of sensor failure. The hydraulic fault module provided realizes the fault simulation of pipeline failure, and can complete all test items of pipeline failure. In summary, the present invention can perform various fault simulations on the brake bench test equipment, solving the problem that the bench test cannot perform real vehicle fault testing.
[0014] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 It is a relationship schematic diagram of a fault injection test system for electronic power-assisted braking of the present invention; Figure 2 It is a schematic diagram of the relationship between power supply fault modules of the fault injection test system for electronic power-assisted braking of the present invention. DETAILED DESCRIPTION
[0016] The present invention is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.
[0017] It should be understood that the terms such as “having”, “including” and “comprising” used herein do not exclude the existence or addition of one or more other elements or combinations thereof.
[0018] It should be noted that the experimental methods described in the following embodiments are conventional methods unless otherwise specified, and the reagents and materials can be obtained from commercial sources unless otherwise specified; in the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "set" should be understood in a broad sense, for example, they can be fixedly connected, set, or detachably connected, set, or connected and set in one piece. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood in specific circumstances. The orientation or position relationship indicated by the terms "lateral", "longitudinal", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.
[0019] like Figure 1~Figure 2 As shown, an embodiment of the present invention provides a fault injection test system for an electronic power-assisted brake (EHB), comprising: an input terminal module, which is connected to a brake bench test device to simulate a human stepping on a brake pedal through an electric cylinder; a pressure output terminal module, which is connected to the brake bench test device to simulate a wheel brake caliper through a cylinder; a power supply fault module, one end of which is connected to the power supply terminal module and the other end of which is connected to the brake bench test device, wherein a voltage sensor and a current sensor are arranged between the power supply fault module and the brake bench test device, and the power supply fault module is used to realize a fault simulation of a power supply failure; a communication fault module, one end of which is connected to a CAN communication network and the other end of which is connected to the brake bench test device to realize a fault simulation of a communication failure; a sensor fault module, one end of which is connected to a sensor module and the other end of which is connected to the brake bench test device to realize a fault simulation of a sensor failure; a hydraulic fault module, which is arranged in a pipeline between the brake caliper and the brake bench test device to realize a fault simulation of a pipeline failure. It also includes an environmental box, in which the brake bench test equipment is arranged, which is used to simulate the temperature and humidity under real working conditions.
[0020] In the above embodiment, the input end module includes an electric cylinder, a displacement sensor, a pressure sensor, and a transmission mechanism, etc. The torque, moving position and speed of the pedal are collected through the pressure sensor and the displacement sensor. The pressure output end module includes a hydraulic sensor, a flow sensor, a wheel, etc. The flow sensor and the hydraulic sensor arranged on the pipeline collect the flow value and pressure value of the pipeline in real time. The input end module, the pressure output end module and the brake bench test equipment are all prior art, and the specific connection relationship is not repeated here. The existing electronic booster and bench test equipment can be used. The embodiment of the present invention focuses on the introduction and testing of faults on the brake bench test equipment. The power supply fault module provided in the present invention can generate current limiting, voltage limiting, on-off and short-circuit faults, realize the power supply failure fault simulation of the brake bench test equipment, and complete all test items of power supply failure. The communication fault module provided can perform fault injection, generate on-off and short-circuit faults, realize the communication failure fault simulation of the brake bench test equipment, and complete all test items of communication failure. The sensor fault module is set up to perform fault injection and generate on-off and short-circuit faults, thus realizing the sensor failure fault simulation of the brake bench test equipment and completing all the test items of sensor failure. The hydraulic fault module is set up to realize the fault simulation of pipeline failure and complete all the test items of pipeline failure. In summary, the present invention can perform various fault simulations on the brake bench test equipment, thus solving the problem that the bench test cannot perform real vehicle fault testing. Figure 1 In the present invention, the brake bench test equipment is DUT. EHB is the abbreviation of Electric-Hydraulic Brake.
[0021] In one specific embodiment, the fault injection test system for electronic power-assisted braking, the power supply fault module includes: A current limiting module, which is used to control the input current of the brake bench test equipment to test the working state of the brake bench test equipment at different currents under the same voltage; wherein the current limiting module includes: a current limiting chip, the power supply end module is connected to one of the input ends of the current limiting chip; a current detection module, the output end of the current limiting chip is connected to the input end of the current detection module, and the output end of the current detection module is connected to the other input end of the current limiting chip; a rectifier circuit, the output end of the current detection module is also connected to the input end of the rectifier circuit, and the output end of the rectifier circuit is connected to the voltage sensor; A voltage limiting module, which is used to control the input voltage of the brake bench test equipment to test the working state of the brake bench test equipment at different voltages under the same current; wherein the voltage limiting module comprises: a switching power supply, the output end of the power supply module is connected to the input end of the switching power supply; a voltage stabilizing circuit, the input end of which is connected to the output end of the switching power supply, and the output end is connected to the voltage sensor; A first on-off module, which is used to control the single-channel or multi-channel on-off of the power supply input end of the brake bench test equipment to test the working state of the brake bench test equipment when the power supply is missing; wherein the first on-off module includes a plurality of first relays connected in parallel, one end of each first relay is connected to the power supply end module, and the other end is connected to the voltage sensor; A first short-circuit module is used to control the power supply pin of the brake bench test equipment to short-circuit the negative pole or the positive pole, so as to test the working state of the brake bench test equipment when the power supply is incorrectly supplied; wherein, the first short-circuit module includes two second relays, one of the second relays is arranged between the power supply pin of the brake bench test equipment and the positive pole, and another second relay is arranged between the power supply pin of the brake bench test equipment and the negative pole.
[0022] The current limiting module, the voltage limiting module, the first on-off module and the first short-circuit module are all connected in parallel with each other.
[0023] In the above-mentioned embodiment, when it is specifically implemented, the current limiting module will cause the main power supply current to be substandard and the backup power supply current to be substandard. If the current substandard occurs during the startup phase, a fault will be reported and the system will not be able to work; if the current substandard occurs during the operation phase, a fault will be reported and the measures taken are: if the working mode is manual mode, the working mode will be downgraded to meet the 0.3g deceleration requirement, where g represents the acceleration of gravity. If the working mode is automatic mode, the automatic mode will be exited and switched to manual mode, and the working mode will be downgraded to meet the 0.3g deceleration requirement. The line disconnection caused by the first on-off module includes positive single-line disconnection, negative single-line disconnection, main power supply disconnection and backup power supply disconnection. When the main power supply disconnection and backup power supply disconnection occur, the system will not be able to work. If the positive single-line circuit break and the negative single-line circuit break occur in the startup phase, a fault will be reported and the system will not be able to work; if it occurs in the operation phase, a fault will be reported and the measures taken are: if the working mode is manual mode, the working mode will be downgraded to meet the 0.3g deceleration requirement; if the working mode is automatic mode, the automatic mode will be exited and switched to manual mode, and the working mode will be downgraded to meet the 0.3g deceleration requirement. The line short circuit caused by the first short-circuit module includes the main power supply short circuit and the backup power supply short circuit. When a line short circuit occurs, the system will not be able to work. The voltage limiting module will cause the circuit breaker ig to be disconnected. If it is disconnected at the initial power-on, a fault will be reported and the system will not be able to work; if it is disconnected during operation, a fault will be reported. If the working mode is manual mode, the system will work normally; if the working mode is automatic mode, the automatic mode will be exited and switched to manual mode to work normally.
[0024] In one specific embodiment, the fault injection test system for electronic power-assisted braking, the communication fault module includes: A first fault injection module, which is used to simulate sending various fault instructions to test the working state of the CAN communication network of the brake bench test equipment in a congested and error frame state, wherein the first fault injection module is a first host computer; the CAN communication network includes a CAN-H communication line and a CAN-L communication line, one end of the CAN-H communication line and the CAN-L communication line are connected to the first host computer, and the other end is connected to the brake bench test equipment; A second on-off module, which is used to control the on-off of a single or multiple channels in the CAN communication network of the brake bench test equipment, so as to test the working state of the brake bench test equipment when the single-line communication or communication is interrupted; wherein the second on-off module comprises two third relays, one end of one of the third relays is connected to the CAN-H communication line, and the other end is connected to the brake bench test equipment, and one end of the other third relay is connected to the CAN-L communication line, and the other end is connected to the brake bench test equipment; A second short-circuit module is used to control the communication line pin in the CAN communication network of the brake bench test equipment to be short-circuited to the negative pole or the positive pole, so as to test the working state of the brake bench test equipment during erroneous communication; wherein the second short-circuit module includes four fourth relays, the first fourth relay is set between the power supply pin and the positive pole of the CAN-H communication line, the second fourth relay is set between the power supply pin and the negative pole of the CAN-H communication line, the third fourth relay is set between the power supply pin and the positive pole of the CAN-L communication line, and the fourth fourth relay is set between the power supply pin and the negative pole of the CAN-L communication line.
[0025] The first fault injection module, the second on-off module and the second short-circuit module are connected in parallel with each other.
[0026] In the above implementation, when implemented, the first fault injection module will cause CAN error frames, including: load 50~100%, unaffected, normal operation; ID and error frame provided by the customer, unaffected, normal operation; communication timeout, if it occurs in the startup phase, then report a fault and cannot work, if it occurs in the running phase, then report a fault, if it is in manual mode, then work normally, if it is in automatic mode, then exit the automatic mode, switch to manual mode, and work normally; lack of required data, such as angle, posture, motor speed, torque, etc., if it occurs in the startup phase, then report a fault and cannot work, if it occurs in the running phase, then report a fault, if it is in manual mode, then work normally, if it is in automatic mode, then exit the automatic mode, switch to manual mode, and work normally. The line disconnection caused by the second on-off module includes: single-line communication (high disconnection, low disconnection), double-line disconnection, and the line short circuit caused by the second short circuit module includes: single-line fault (single-line short circuit to ground, single-line short circuit to positive pole), double-line fault (double-line short circuit, double-line short circuit to ground, double-line short circuit to positive pole). If line break and line short circuit occur during the startup phase, a fault will be reported and the machine will fail to work; if line break and line short circuit occur during the operation phase, if it is in manual mode, it will work normally, if it is in automatic mode, it will exit the automatic mode, switch to manual mode, and work normally.
[0027] In one specific embodiment, the fault injection test system for electronic power-assisted braking, the sensor fault module includes: A second fault injection module, which is used to simulate sending various fault instructions to test the working state of the brake bench test equipment when the sensor module is in error data or no data; wherein the second fault injection module is a second host computer, and the second host computer is connected to the sensor signal line between the sensor module and the brake bench test equipment; A third on-off module, which is used to control the on-off of a single or multiple sensor signal lines of the brake bench test equipment to test the working state of the brake bench test equipment when the sensor module fails; wherein the third on-off module includes a plurality of fifth relays, one end of each fifth relay is connected to one of the sensors, and the other end is connected to the brake bench test equipment; A third short-circuit module is used to control the sensor signal line pin of the brake bench test equipment to short-circuit to the negative pole or to the positive pole, so as to test the working state of the brake bench test equipment when there is erroneous sensor data in the sensor module; wherein, the third short-circuit module includes two sixth relays, one of the sixth relays is arranged between the sensor signal line pin of the brake bench test equipment and the positive pole, and another sixth relay is arranged between the sensor signal line pin of the brake bench test equipment and the negative pole.
[0028] The second fault injection module, the third on-off module and the third short-circuit module are connected in parallel with each other.
[0029] In the above implementation, the second fault injection module, the third on-off module and the third short-circuit module can all cause sensor failure. In specific implementation, the sensor module includes external sensors and internal sensors. The external sensors include: brake light switch, speed sensor (left front, right front, left rear and right rear), pressure sensor (channel 1 and channel 2), epb (left rear and right rear), liquid level sensor, etc.; the internal sensors include: pressure sensor, displacement sensor, pedal pressure sensor and current sensor, etc. When the brake light switch in the external sensor fails, the fault is reported and the system works normally; when the failure of the remaining sensors and internal sensors in the external sensor occurs in the startup phase, the fault is reported and the system cannot work; when the failure of the external sensor and the internal sensor occurs in the operation phase, the fault is reported, if in manual mode, the working mode is downgraded to meet the 0.3g deceleration requirement, if in automatic mode, the automatic mode is exited, the manual mode is switched, the working mode is downgraded to meet the 0.3g deceleration requirement.
[0030] In one specific embodiment, the fault injection test system for electronic power-assisted braking, the hydraulic fault module includes a shut-off valve 1 and a pressure relief valve 2, the shut-off valve 1 is arranged between the hydraulic sensor 3 and the wheel, the pressure relief valve 2 is arranged between the hydraulic sensor 3 and the oil cup, and the flow sensor 4 is arranged between the hydraulic sensor 3 and the brake bench test equipment.
[0031] In the above embodiment, during specific implementation, the pipeline failure caused by the hydraulic fault module includes pipeline leakage (single pipeline, double pipeline, triple pipeline and quad pipeline) and pipeline blockage (single pipeline, double pipeline, triple pipeline and quad pipeline). For the leaking pipeline, a fault is reported and the pipeline outlet is closed. For the normal pipeline, it works normally.
[0032] In summary, the fault injection test system for electronic power-assisted braking provided by the embodiment of the present invention can perform all test items for power supply failure, all test items for communication failure, all test items for sensor failure and all test items for pipeline failure, thereby solving the problem that bench testing cannot perform real vehicle fault testing.
[0033] The number of devices and processing scales described here are used to simplify the description of the present invention. Applications, modifications and variations of the present invention will be obvious to those skilled in the art.
[0034] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes, and they can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.
Claims
1. A fault injection test system for electronic power brake EHB, characterized in that: include: An input module connected to a brake bench test device to simulate a human stepping on a brake pedal through an electric cylinder; a pressure output terminal module connected to the brake bench test equipment to simulate the wheel brake caliper through a steel cylinder; A power supply fault module, one end of which is connected to the power supply end module, and the other end of which is connected to the brake bench test device, wherein a voltage sensor and a current sensor are provided between the power supply fault module and the brake bench test device, and the power supply fault module is used to realize fault simulation of power supply failure; A communication fault module, one end of which is connected to the CAN communication network and the other end of which is connected to the brake bench test equipment, for realizing fault simulation of communication failure; A sensor fault module, one end of which is connected to the sensor module and the other end of which is connected to the brake bench test equipment, for realizing fault simulation of sensor failure; A hydraulic fault module is arranged in the pipeline between the brake caliper and the brake bench test equipment, and is used to realize fault simulation of pipeline failure.
2. The fault injection test system for electronic power-assisted braking (EHB) according to claim 1, characterized in that: It also includes an environmental box, in which the brake bench test equipment is arranged, which is used to simulate the temperature and humidity under real working conditions.
3. The fault injection test system for electronic power-assisted braking (EHB) according to claim 1, characterized in that: The power supply failure module comprises: A current limiting module, which is used to control the input current of the brake bench test equipment to test the working state of the brake bench test equipment at different currents under the same voltage; A voltage limiting module, which is used to control the input voltage of the brake bench test equipment to test the working state of the brake bench test equipment at different voltages under the same current; A first on-off module, which is used to control the on-off of a single or multiple circuits of the power supply input terminal of the brake bench test equipment, so as to test the working state of the brake bench test equipment when the power supply is missing; A first short-circuit module, which is used to control the power supply pin of the brake bench test device to be short-circuited to the negative electrode or the positive electrode, so as to test the working state of the brake bench test device when the power supply is wrong; The current limiting module, the voltage limiting module, the first on-off module and the first short-circuit module are all connected in parallel with each other.
4. The fault injection test system for electronic power-assisted braking (EHB) according to claim 1, characterized in that: The communication failure module comprises: A first fault injection module, which is used to simulate sending various fault instructions to test the working state of the CAN communication network of the brake bench test equipment in a congested and error frame state; A second on-off module, which is used to control the on-off of a single line or multiple lines in the CAN communication network of the brake bench test equipment, so as to test the working state of the brake bench test equipment when single-line communication or communication interruption occurs; A second short-circuit module, which is used to control the communication line pin in the CAN communication network of the brake bench test equipment to be short-circuited to the negative pole or the positive pole, so as to test the working state of the brake bench test equipment when the communication is wrong; The first fault injection module, the second on-off module and the second short-circuit module are connected in parallel with each other.
5. The fault injection test system for electronic power-assisted braking (EHB) according to claim 1, characterized in that: The sensor fault module comprises: A second fault injection module, which is used to simulate sending various fault instructions to test the working state of the brake bench test equipment when the sensor module is in error data or no data; A third on-off module, which is used to control the on-off of a single or multiple sensor signal lines of the brake bench test equipment to test the working state of the brake bench test equipment when the sensor module fails; A third short-circuit module, which is used to control the sensor signal line pin of the brake bench test device to be short-circuited to the negative electrode or the positive electrode, so as to test the working state of the brake bench test device when the sensor module has erroneous sensor data; The second fault injection module, the third on-off module and the third short-circuit module are connected in parallel with each other.
6. The fault injection test system for electronic power-assisted braking (EHB) according to claim 3, characterized in that: The current limiting module comprises: A current limiting chip, wherein the power supply module is connected to one of the input terminals of the current limiting chip; A current detection module, wherein the output end of the current limiting chip is connected to the input end of the current detection module, and the output end of the current detection module is connected to another input end of the current limiting chip; A rectifier circuit, wherein the output end of the current detection module is also connected to the input end of the rectifier circuit, and the output end of the rectifier circuit is connected to the voltage sensor; The voltage limiting module comprises: a switching power supply, the output end of the power supply module is connected to the input end of the switching power supply; a voltage stabilizing circuit, the input end of which is connected to the output end of the switching power supply, and the output end is connected to the voltage sensor; The first on-off module comprises a plurality of first relays connected in parallel, one end of each first relay is connected to the power supply end module, and the other end is connected to the voltage sensor; The first short-circuit module includes two second relays, one of the second relays is arranged between the power supply pin and the positive pole of the brake bench test equipment, and another second relay is arranged between the power supply pin and the negative pole of the brake bench test equipment.
7. The fault injection test system for electronic power-assisted braking (EHB) according to claim 4, characterized in that: The first fault injection module is a first host computer; the CAN communication network includes a CAN-H communication line and a CAN-L communication line, one end of the CAN-H communication line and the CAN-L communication line are connected to the first host computer, and the other end is connected to the brake bench test equipment; The second on-off module comprises two third relays, one end of one of the third relays is connected to the CAN-H communication line, and the other end is connected to the brake bench test equipment, and one end of the other third relay is connected to the CAN-L communication line, and the other end is connected to the brake bench test equipment; The second short-circuit module includes four fourth relays, the first fourth relay is set between the power supply pin and the positive pole of the CAN-H communication line, the second fourth relay is set between the power supply pin and the negative pole of the CAN-H communication line, the third fourth relay is set between the power supply pin and the positive pole of the CAN-L communication line, and the fourth fourth relay is set between the power supply pin and the negative pole of the CAN-L communication line.
8. The fault injection test system for electronic power-assisted braking (EHB) according to claim 5, characterized in that: The second fault injection module is a second host computer, and the second host computer is connected to the sensor signal line between the sensor module and the brake bench test equipment; A third on-off module, comprising a plurality of fifth relays, one end of each fifth relay being connected to one of the sensors, and the other end being connected to the brake bench test equipment; The third short-circuit module includes two sixth relays, one of which is arranged between the sensor signal line pin of the brake bench test equipment and the positive pole, and another sixth relay is arranged between the sensor signal line pin of the brake bench test equipment and the negative pole.
9. The fault injection test system for electronic power-assisted braking (EHB) according to claim 1, characterized in that: The hydraulic fault module comprises a cut-off valve and a pressure relief valve. The cut-off valve is arranged between the hydraulic sensor and the wheel, and the pressure relief valve is arranged between the hydraulic sensor and the oil cup.