Method, system and device for testing electromagnetic compatibility of vehicle and medium

Abstract

The invention discloses a vehicle electromagnetic compatibility test method, system and device and a medium, and relates to the technical field of electromagnetic compatibility test.The method comprises the steps that when a test vehicle meets test conditions, standard parameter information of a steering wheel and wheels in the test vehicle is obtained; emitting electromagnetic waves to the test vehicle to generate electromagnetic interference on the test vehicle; according to the standard parameter information, controlling a steering simulation device to execute a steering action on a steering wheel of the test vehicle so as to drive wheels to execute the steering action; acquiring actual steering wheel corner information, torque information and actual wheel corner information when the test vehicle executes steering action under the electromagnetic interference; and carrying out electromagnetic compatibility test on the steer-by-wire function of the test vehicle according to the actual steering wheel angle information, the torque information and the actual wheel angle information to obtain a test result. According to the scheme, the electromagnetic immunity of the steer-by-wire function of the test vehicle can be comprehensively and accurately evaluated, and the detection accuracy of the steer-by-wire function is improved.

Description

Technical Field

[0001] The present invention generally relates to the technical field of electromagnetic compatibility testing, and in particular to a method, system, device and medium for testing electromagnetic compatibility of a vehicle. Background Art

[0002] With the continuous development of automobile technology, intelligent assisted driving has been increasingly applied to people's daily lives with its advantages of reducing traffic jams and improving driver safety. Among them, the wire-controlled steering function, as an advanced automobile steering technology, has gradually attracted widespread attention and application. Unlike the traditional mechanical steering system, the wire-controlled steering system abandons the direct mechanical connection between the steering wheel and the steering wheel, but transmits the driver's steering intention through electronic signals, and the steering wheel is driven by a motor to achieve the steering operation. During the vehicle's driving process, the linear steering system can realize the automatic steering function, significantly improving driving safety.

[0003] At present, the steer-by-wire system in vehicles generally includes complex modules, such as steering wheel module, steering execution module, electronic control unit and various sensors. However, these modules mainly rely on electronic signals for control, which may be affected by electromagnetic interference. For example, sensors may cause sensor data distortion and steering execution errors under electromagnetic interference, thus affecting safe driving. Therefore, how to conduct electromagnetic compatibility testing on vehicle steer-by-wire function is an urgent problem to be solved. Summary of the invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, it is desired to provide a vehicle electromagnetic compatibility testing method, system, device and medium, which can comprehensively and accurately evaluate the electromagnetic immunity of the steer-by-wire function of the test vehicle, thereby improving the detection efficiency and accuracy of the steer-by-wire function.

[0005] In a first aspect, the present invention provides a method for testing electromagnetic compatibility of a vehicle, the method comprising: When the test vehicle meets the test conditions, standard parameter information of the steering wheel and wheels in the test vehicle is obtained; the standard parameter information is used to characterize parameter information of the test vehicle when no electromagnetic interference is applied; Controlling the electromagnetic interference generating device to emit electromagnetic waves to the test vehicle to generate electromagnetic interference to the test vehicle; According to the standard parameter information, controlling the steering simulation device to perform a steering action on the steering wheel of the test vehicle to drive the wheels to perform a steering action; Acquiring actual steering wheel angle information, torque information, and actual wheel angle information of the test vehicle when performing the steering action under electromagnetic interference; According to the actual steering wheel angle information, torque information and actual wheel angle information, an electromagnetic compatibility test is performed on the steer-by-wire function of the test vehicle to obtain a test result.

[0006] In one embodiment, the standard parameter information includes: standard steering wheel angle information, standard torque information, standard wheel angle information, and standard delay information; obtaining the standard parameter information of the steering wheel and wheels in the test vehicle includes: Check whether the test vehicle is in normal condition; When in a normal state, controlling the steering simulation device to perform multiple steering actions on the steering wheel of the test vehicle in the normal state, so as to drive the wheel to perform the steering action; Acquiring the standard steering wheel angle information, the standard torque information, and the standard wheel angle information; Standard delay information is determined based on the steering wheel standard angle information and the wheel standard angle information; the standard delay information is used to characterize the time interval between the rotation time of the steering wheel to execute the steering wheel standard angle information and the rotation time of the wheel to execute the wheel standard angle information.

[0007] In one embodiment, the torque information includes resistance torque and return torque; and according to the actual steering wheel angle information, torque information and actual wheel angle information, an electromagnetic compatibility test is performed on the steer-by-wire function of the test vehicle to obtain test results, including: Based on the actual steering wheel angle information, the actual wheel angle information, the resistance torque and the self-aligning torque, determine whether the steering wheel and the wheel turn up and down synchronously, whether they turn up and down continuously, and whether an unexpected sudden change occurs; When the steering wheel and the wheels rotate up and down synchronously and continuously without unexpected sudden changes, it is determined that the test result is that the electromagnetic compatibility test of the wire control steering function of the test vehicle has passed; When any one of the following conditions is met: the steering wheel and the wheels do not turn up and down synchronously, the turning up and down is discontinuous, or an unexpected mutation occurs, it is determined that the test result is that the electromagnetic compatibility test of the steer-by-wire function of the test vehicle fails.

[0008] In one embodiment, based on the actual steering wheel angle information, the actual wheel angle information, the resistance torque and the self-aligning torque, judging whether the steering wheel and the wheel are synchronously turned up and down, whether the up and down turns are continuous, and whether an unexpected mutation occurs, includes: Based on the actual steering wheel angle information and the actual wheel angle information, actual delay information is determined; the actual delay information is used to represent the time interval between the rotation time of the steering wheel to execute the actual steering wheel angle information and the rotation time of the wheel to execute the actual wheel angle information; Calculating the variation between the actual delay information and the standard delay information, and judging whether the steering wheel and the wheels turn up and down synchronously according to the variation; Determining whether the steering wheel and the wheel rotate up and down continuously according to the resistance torque, the self-aligning torque, the actual steering wheel angle information and the actual wheel angle information; Based on the resistance torque and the return torque, it is determined whether an unexpected sudden change of the steering wheel occurs.

[0009] In one embodiment, judging whether the steering wheel and the wheel turn up and down synchronously according to the change amount includes: When the change amount is within a preset range, determining whether the steering wheel and the wheels are turned up and down synchronously; When the change amount is not within a preset range, it is determined that the up and down turning of the steering wheel and the wheels are not synchronized.

[0010] In one embodiment, emitting electromagnetic waves to the test vehicle to generate electromagnetic interference to the test vehicle includes: According to preset configuration parameters of the electromagnetic interference generating device, controlling parameter configuration of the electromagnetic interference generating device; When the parameter configuration is completed, controlling the signal generator in the electromagnetic interference generating device to generate an initial radio frequency signal; According to the electric field strength value calibrated at the test site where the test vehicle is located, controlling the power amplifier in the electromagnetic interference generating device to amplify the initial radio frequency signal; The radio frequency antenna in the electromagnetic interference generating device is controlled to transmit the amplified radio frequency signal to the test vehicle to generate electromagnetic interference to the test vehicle.

[0011] In a second aspect, an embodiment of the present application provides an electromagnetic compatibility test system for a vehicle, the system comprising: a steering simulation device, a main control device, and an electromagnetic interference generating device; the main control device establishes communication connections with the steering simulation device and the electromagnetic interference generating device respectively; The main control device is used to: when the test vehicle meets the test conditions, obtain standard parameter information of the steering wheel and wheels in the test vehicle; control the electromagnetic interference generating device to emit electromagnetic waves to the test vehicle to generate electromagnetic interference to the test vehicle; according to the standard parameter information, control the vehicle steering simulation device to perform a steering action on the steering wheel of the test vehicle to drive the wheels to perform a steering action; obtain the actual steering wheel angle information, torque information and actual wheel angle information of the test vehicle when performing the steering action under electromagnetic interference; perform an electromagnetic compatibility test on the wire control steering function of the test vehicle according to the actual steering wheel angle information, torque information and actual wheel angle information of the test vehicle to obtain a test result; the standard parameter information is used to characterize the parameter information of the test vehicle when no electromagnetic interference is applied; The electromagnetic interference generating device is used to: emit electromagnetic waves to the test vehicle to generate electromagnetic interference to the test vehicle; The steering simulation device is used to perform a steering action on the steering wheel of the test vehicle to drive the wheels to perform the steering action.

[0012] In a third aspect, an embodiment of the present application provides a main control device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method provided in the above embodiment.

[0013] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method provided in the above embodiment is implemented.

[0014] The electromagnetic compatibility testing method, system, device and medium of a vehicle provided in an embodiment of the present application include: obtaining standard parameter information of a steering wheel and wheels in a test vehicle, the standard parameter information being used to characterize parameter information of the test vehicle when no electromagnetic interference is applied; when the test vehicle meets the test conditions, controlling an electromagnetic interference generating device to emit electromagnetic waves to the test vehicle to generate electromagnetic interference to the test vehicle; according to the standard parameter information, controlling a steering simulation device to perform a steering action on the steering wheel of the test vehicle to drive the wheels to perform a steering action; obtaining actual steering wheel angle information, torque information and actual wheel angle information of the test vehicle when performing a steering action under electromagnetic interference; performing an electromagnetic compatibility test on the wire control steering function of the test vehicle according to the actual steering wheel angle information, torque information and actual wheel angle information to obtain a test result. Compared with the prior art, on the one hand, this technical solution can simulate the electromagnetic interference environment for the test vehicle, and control the steering simulation device to perform steering actions on the steering wheel of the test vehicle to drive the wheels to perform steering actions, thereby more realistically simulating the steering behavior of the steering wheel and wheels in the actual vehicle driving scenario, and improving the accuracy of the electromagnetic compatibility test; on the other hand, after applying electromagnetic interference, by obtaining the actual steering wheel angle information, torque information and actual wheel angle information of the test vehicle, the actual steering wheel angle information, torque information and actual wheel angle information of the test vehicle can be comprehensively considered. Factors such as the information, torque information and actual wheel angle of the test vehicle can thereby more comprehensively and accurately evaluate the electromagnetic interference immunity of the wire-controlled steering function of the test vehicle, thereby improving the detection efficiency and detection accuracy of the wire-controlled steering function, and further improving the safety of vehicle driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings: Figure 1 A schematic diagram of the structure of an electromagnetic compatibility test system for a vehicle provided in an embodiment of the present application; Figure 2 A schematic flow chart of an electromagnetic compatibility test method for a vehicle steer-by-wire function provided in an embodiment of the present application; Figure 3 A schematic diagram of the structure of an electromagnetic compatibility test system for a vehicle provided in an embodiment of the present application; Figure 4 A schematic diagram of the structure of a steering simulation device provided in an embodiment of the present application; Figure 5 A schematic flow chart of an electromagnetic compatibility testing method for a vehicle steer-by-wire function provided in another embodiment of the present application; Figure 6 A schematic diagram of the structure of a main control device provided in an embodiment of the present application; Description of Reference Numerals Steering simulation device-10; steering wheel steering simulator-11; wheel turntable-12; data acquisition module-13; photoelectric conversion module-14; main control device-20; electromagnetic interference generating device-30; test cavity-31; signal generator-32; power amplifier-33; radio frequency antenna-34; test computer-35; field strength probe-36; test vehicle-40. DETAILED DESCRIPTION

[0016] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0017] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0018] It is understandable that in the rapid development of vehicle technology, the wheel's wire-controlled steering system generally includes complex modules, such as steering wheel module, steering execution module, electronic control unit and various sensors, etc. However, these modules mainly rely on electronic signals for control, which may be subject to electromagnetic interference. For example, sensors may cause sensor data distortion and steering execution errors under electromagnetic interference, thus affecting safe driving. Therefore, how to conduct electromagnetic compatibility testing on vehicle wire-controlled steering functions is an urgent problem to be solved.

[0019] Based on the above-mentioned defects, the present application provides a vehicle electromagnetic compatibility testing method, system, device and medium. Compared with the prior art, on the one hand, the technical solution can simulate the electromagnetic interference environment for the test vehicle, and control the steering simulation device to perform steering actions on the steering wheel of the test vehicle to drive the wheels to perform steering actions, thereby more realistically simulating the steering behavior of the steering wheel and wheels in the actual vehicle driving scene, and improving the accuracy of the electromagnetic compatibility test; on the other hand, after applying electromagnetic interference, by obtaining the actual steering wheel angle information, torque information and actual wheel angle information of the test vehicle, the actual steering wheel angle information, torque information and actual wheel angle information of the test vehicle can be comprehensively considered. Factors such as the test vehicle's steering wheel, torque information and actual wheel angle information can thereby more comprehensively and accurately evaluate the electromagnetic interference immunity of the test vehicle's steering-by-wire function, thereby improving the detection efficiency and detection accuracy of the steering-by-wire function, and further improving the safety of vehicle driving.

[0020] See also Figure 1 As shown, Figure 1The structure diagram of the electromagnetic compatibility test system of the vehicle includes: a steering simulation device 10, a main control device 20, and an electromagnetic interference generating device 30; the main control device 20 establishes communication connection with the steering simulation device 10 and the electromagnetic interference generating device 30 respectively.

[0021] It should be noted that the above-mentioned electromagnetic compatibility test system is used to perform electromagnetic compatibility test on the wire control steering function of the test vehicle 40, wherein the test vehicle 40 refers to a vehicle that needs to perform electromagnetic compatibility test on the wire control steering function, and the test vehicle 40 may include: a driving system, a braking system, a hands-off detection system, a wire control steering system, etc. The wire control steering system may include a steering controller and a steering execution module inside the test vehicle.

[0022] The steering simulation device 10 is a device for simulating the steering of the steering wheel of the test vehicle 40. The steering simulation device 10 is used to perform a steering action on the steering wheel of the test vehicle to drive the wheels to perform a steering action.

[0023] The electromagnetic interference generating device 30 is a device for generating interference to the test vehicle 40 . The electromagnetic interference generating device 30 is used for: emitting electromagnetic waves to the test vehicle 40 to generate electromagnetic interference to the test vehicle 40 .

[0024] The main control device 20 has the functions of processing, receiving and sending data, and may include a server and a terminal that establishes a communication connection with the server. Optionally, the server may be a single server, or a server cluster or distributed system composed of several servers, or a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDN), and basic cloud computing services such as big data and artificial intelligence platforms. An operating system may be running on the terminal, and the operating system may include but is not limited to Android system, IOS system, Linux system, Unix, Windows system, etc. It may also include a user interface (UI) layer, which may provide data display to the outside through the UI layer. In addition, it may also send data to the electromagnetic interference generating device 30 and the steering simulation device 10 based on the application programming interface (API), and be used to receive data transmitted by the electromagnetic interference generating device 30 and the steering simulation device 10.

[0025] Servers and terminals may be equipped with microprocessors (MCU), memories (ROM, RAM), input / output interfaces (I / O), analog-to-digital converters (A / D), and large-scale integrated circuits such as shaping and driving.

[0026] In order to better understand and illustrate the electromagnetic compatibility test method for a vehicle provided in the embodiment of the present application, Figures 2 to 6 Detailed explanation.

[0027] Figure 2 A flow chart of the electromagnetic compatibility testing method for a vehicle provided in an embodiment of the present application is shown in FIG. Figure 2 As shown, the method is executed by a main control device, and the main control device can be implemented as part or all of the main control device by software, hardware, or a combination of software and hardware. The method includes: S101. When the test vehicle meets the test conditions, obtain standard parameter information of the steering wheel and wheels in the test vehicle; the standard parameter information is used to characterize parameter information of the test vehicle when no electromagnetic interference is applied.

[0028] The test vehicle may be one or more than one, and may be an electric vehicle, a fuel vehicle, or a hybrid vehicle, and may include an engine system, a drive system, a brake system, a steering system, a travel system, and the like.

[0029] Specifically, before the test, the main control device can detect the test vehicle to determine whether the test vehicle meets the test conditions, such as determining whether the information of each system inside the test vehicle is normal and whether the operating status is normal; when the information of each system is normal and the operating status is normal, it indicates that the test vehicle meets the test conditions; when the information of each system is abnormal or the operating status is abnormal, it indicates that the test vehicle does not meet the test conditions. The preset test conditions can be customized according to the actual attribute parameters of the vehicle and the test requirements.

[0030] In one embodiment, the standard parameter information includes: standard steering wheel angle information, standard torque information, standard wheel angle information, and standard delay information. The embodiment of the present application provides a specific implementation method for obtaining standard parameter information before generating electromagnetic interference to the test vehicle, and the method includes: Check whether the test vehicle is in a normal state; when in a normal state, control the steering simulation device to perform multiple steering actions on the steering wheel of the test vehicle in a normal state to drive the wheels to perform steering actions, and obtain the steering wheel standard angle information, torque standard information and wheel standard angle information; determine the standard delay information according to the steering wheel standard angle information and the wheel standard angle information; the standard delay information is used to characterize the time interval between the rotation time of the steering wheel to execute the steering wheel standard angle information and the rotation time of the wheel to execute the wheel standard angle information.

[0031] It can be understood that the above-mentioned steering wheel standard angle information refers to the rotation information corresponding to the steering wheel when turning when no electromagnetic interference is applied, and the torque standard information refers to the torque information corresponding to the steering wheel when turning when no electromagnetic interference is applied; the wheel standard angle information refers to the rotation information corresponding to the wheel when turning when no interference is applied.

[0032] In this embodiment, in the process of obtaining the standard parameter information of the steering wheel and wheels in the test vehicle, the main control device can check whether the system information of the test vehicle is in a normal state. The system information may include information of the engine system, drive system, brake system, hands-off detection system, and driving system. The user can customize the corresponding conditions when each system is in a normal state according to actual needs. The main control device can obtain the information of the engine system, drive system, brake system, hands-off detection system, and driving system of the test vehicle, and then for each system, determine whether the system information of each system meets the normal state conditions. When the normal state conditions are met, it is determined that the test vehicle is in a normal state; when the normal state conditions are not met, it is determined that the test vehicle is in an abnormal state.

[0033] Before conducting electromagnetic compatibility testing, the test site needs to be calibrated. The calibration methods can include: free field test calibration and electromagnetic reverberation chamber test calibration. Different calibration methods correspond to different test sites. During on-site calibration, there is no need for vehicles to appear at the test site. The test site can be arranged according to the test standard requirements, and the field strength probe can be placed in the test area. Unmodulated sine waves can be used for calibration to record the forward power required for the specified field strength generated at each test frequency. The forward power determines the electric field strength value when electromagnetic interference is applied to the test vehicle. When calibrating the test site using the external radiation source method, the electric field strength value needs to be calibrated under both vertical polarization and horizontal polarization conditions; when testing using the reverberation chamber method, only one calibration is required, and the field uniformity needs to be verified to ensure that the test site meets the test requirements.

[0034] After the test site calibration of the test vehicle is completed, the electromagnetic immunity test device can be prepared, and the test site and test conditions can be selected according to the test standards. By placing the test vehicle completely in the electromagnetic interference environment and monitoring the test process of the test vehicle through the main control device, the electromagnetic compatibility test of the wire control steering function of the test vehicle can be carried out to obtain the test results. Among them, in the test site, except for the necessary test equipment, the test vehicle needs to be unloaded and placed on an insulating support. All vehicle systems in the test vehicle that may affect the immunity-related functions are turned on, and the driving assistance function of the test vehicle is activated. The detection equipment tooling is arranged according to the standard requirements, the steering wheel of the test vehicle is parked on the wheel turntable, and the wheel steering simulator is arranged on the steering wheel. The main control device is connected to the data acquisition module, and the standard parameter information of the steering wheel and wheels in the test vehicle is configured in the main control device.

[0035] The main control device controls the steering simulation device to perform multiple steering actions on the steering wheel of the test vehicle in a normal state, so as to drive the wheels to perform multiple steering actions, and obtain the standard steering wheel angle information, torque standard information and wheel standard angle information. For example, the test vehicle is controlled to rotate left, so that the driving wheel rotates left, and the rotation angle information and torque information are collected in real time, so as to obtain the standard steering wheel angle information, wheel standard angle information, and torque standard information, and the standard steering wheel angle information and the standard wheel angle information are subtracted to obtain the standard delay information.

[0036] In this embodiment, by acquiring standard parameter information before generating electromagnetic interference to the test vehicle, input parameter information can be provided for subsequent application of electromagnetic interference, thereby improving the accuracy of electromagnetic compatibility interference testing.

[0037] S102: Control the electromagnetic interference generating device to emit electromagnetic waves to the test vehicle to generate electromagnetic interference to the test vehicle.

[0038] It is understandable that in order to verify the adaptability of the test vehicle's steer-by-wire function in a complex electromagnetic environment, it is necessary to generate electromagnetic interference to the test vehicle. The main control device can generate electromagnetic interference to the test vehicle by controlling the electromagnetic interference generating device to emit electromagnetic waves to the test vehicle.

[0039] Among them, see Figure 3As shown, the electromagnetic interference generating device may include a test cavity 31, a signal generator 32, a power amplifier 33, a radio frequency antenna 34, a test computer 35 and a field strength probe 36, and the field strength probe 36 and the radio frequency antenna 34 are both located in the test cavity 31. The test computer 35 is electrically connected to the signal generator 32 and the radio frequency antenna 34 respectively. The test computer 35 is internally configured with a test software, and the user can test the wire control steering function of the test vehicle by running the test software. The steering simulation device may include a steering wheel steering simulator 11, a wheel turntable 12, a data acquisition module 13 and a photoelectric conversion module 14. The main control device 20 is electrically connected to the data acquisition module 13 through the photoelectric conversion module 14, and the data acquisition module 13 is used to collect information about the steering wheel and wheels of the test vehicle, and the photoelectric conversion module 14 is used to realize the mutual conversion between optical signals and electrical signals.

[0040] Specifically, in the process of generating electromagnetic interference to the test vehicle, the main control device can first control the parameter configuration of the electromagnetic interference generating device according to the preset configuration parameters of the electromagnetic interference generating device. After the parameter configuration is completed, the signal generating source in the electromagnetic interference generating device is controlled to generate an initial radio frequency signal. Then, according to the electric field strength value calibrated at the test site where the test vehicle is located, the power amplifier in the electromagnetic interference generating device is controlled to amplify the initial radio frequency signal to obtain an amplified radio frequency signal, and the radio frequency antenna in the electromagnetic interference generating device is controlled to transmit the amplified radio frequency signal to the test vehicle to generate electromagnetic interference to the test vehicle.

[0041] The above configuration parameters may be customized by the user according to the properties of the actual electromagnetic interference generating device and the electromagnetic compatibility test requirements, and may include, for example, the electric field strength value of the test site, the antenna polarization direction, etc.

[0042] The main control device can first control the electromagnetic interference generating device to configure the electric field strength value and the antenna polarization direction according to the preset configuration parameters, for example, setting the electric field strength value to the calibrated electric field strength value, and setting the antenna polarization direction to the 360° random polarization mode. After the parameter configuration is completed, a control instruction is generated, and the control instruction is sent to the electromagnetic interference generating device, so that the test computer in the electromagnetic interference generating device receives and responds to the control instruction, generates a control signal and sends it to the signal generating source, so that the signal generating source generates an initial radio frequency signal, which can be a specified modulation mode or an unmodulated electromagnetic wave, and controls the power amplifier to amplify the initial radio frequency signal to obtain an amplified radio frequency signal, and then transmits the amplified radio frequency signal to the test vehicle through the radio frequency antenna, thereby forming an electromagnetic environment to generate electromagnetic interference to the test vehicle, and at the same time monitors the field strength information in the test cavity through the field strength probe, so that the test site where the test vehicle is located is at the calibrated electric field strength value.

[0043] In this step, electromagnetic waves are emitted to the test vehicle, which can generate electromagnetic interference to the test vehicle, thereby simulating an electromagnetic interference environment for the test vehicle, so as to impose an environment that is more in line with the actual application scenario on the test vehicle, and facilitate subsequent electromagnetic compatibility testing of the test vehicle's steer-by-wire function.

[0044] S103 . According to the standard parameter information, control the steering simulation device to perform a steering action on the steering wheel of the test vehicle to drive the wheels to perform the steering action.

[0045] It should be noted that the above-mentioned steering action refers to the action performed on the steering wheel of the test vehicle, which may include left steering action and right steering action. By performing the steering action on the steering wheel, the wheels of the test vehicle are driven to perform the steering action to simulate the steering behavior of the test vehicle. For example, the main control device controls the steering simulation device to perform the steering action on the steering wheel of the test vehicle to drive the wheels of the test vehicle to perform the steering action. Among them, the main control device can control the steering simulation device to perform the steering action on the test vehicle according to the preset test frequency, or it can randomly control the steering simulation device to perform the steering action on the test vehicle.

[0046] In the process of controlling the steering simulation device to perform steering actions on the test vehicle, the main control device may control the steering simulation device to perform a single rotation action on the steering wheel, for example, first controlling the steering simulation device to rotate 90 degrees to the left, and then controlling the steering simulation device to rotate 90 degrees to the right.

[0047] See also Figure 4 As shown, the above-mentioned steering simulation device may include a steering wheel steering simulator 11, a wheel turntable 12, and a data acquisition module ( Figure 4 not shown) and the photoelectric conversion module ( Figure 4 The main control device is electrically connected to the data acquisition module through the photoelectric conversion module, the data acquisition module is used to collect information about the steering wheel and wheels of the test vehicle, and the photoelectric conversion module is used to realize the mutual conversion between optical signals and electrical signals.

[0048] Optionally, the main control device may be internally configured with steering simulation device control software to control the steering simulation device to perform steering actions on the steering wheel of the test vehicle through the steering simulation device control software.

[0049] Exemplarily, when the main control device controls the steering simulation device to perform steering actions on the test vehicle, the test frequency may be pre-set, and a control instruction may be generated according to the test frequency and sent to the photoelectric conversion module, so that the photoelectric conversion module converts the signal into an optical signal, and sends the signal to the data acquisition module via optical fiber, so that the data acquisition module sends the signal to the steering wheel steering simulator, thereby performing the steering action, and driving the wheel to perform the steering action via the wheel turntable.

[0050] In this step, by controlling the steering simulation device to perform steering actions on the test vehicle, the driver's steering behavior of the steering wheel can be more realistically simulated, thereby facilitating a more accurate verification of the adaptability of the wire control steering function of the test vehicle in a complex electromagnetic environment.

[0051] S104, obtaining actual steering wheel angle information, torque information, and actual wheel angle information of the test vehicle when performing a steering action under electromagnetic interference.

[0052] It should be noted that the above-mentioned actual steering wheel angle information refers to the rotation information corresponding to the steering wheel performing a steering action when electromagnetic interference is applied, and the torque information refers to the torque information corresponding to the steering wheel performing a steering action when electromagnetic interference is applied; the actual wheel angle information refers to the rotation information corresponding to the wheel performing a steering action when interference is applied.

[0053] Among them, the above-mentioned steering wheel actual angle information may include steering wheel actual steering information and steering wheel actual rotation angle information; the above-mentioned torque information may include resistance torque and return torque; the above-mentioned wheel actual angle information may include wheel actual steering information and wheel actual rotation angle information.

[0054] When the steering simulation device performs a steering action on the steering wheel, the actual steering angle information and resistance torque of the steering wheel are collected through the data acquisition module. When the driving wheel performs a steering action, the actual wheel angle information is collected through the data acquisition module. Then, the steering simulation device performs a return action on the steering wheel, and the data acquisition module collects the return torque of the steering wheel.

[0055] In this step, by obtaining the actual steering wheel angle information, actual wheel angle information and torque information of the steer-by-wire function of the test vehicle under electromagnetic interference, data guidance information can be provided for the electromagnetic compatibility test of the steer-by-wire function of the subsequent test vehicle, thereby facilitating a more detailed electromagnetic compatibility test of the steer-by-wire function.

[0056] S105. Perform an electromagnetic compatibility test on the steer-by-wire function of the test vehicle according to the actual steering wheel angle information, the torque information, and the actual wheel angle information to obtain a test result.

[0057] After obtaining the actual steering wheel angle information, torque information and actual wheel angle information of the test vehicle, the time interval between the rotation time of the steering wheel executing the actual steering wheel angle information and the rotation time of the wheel executing the actual wheel angle information can be determined based on the actual steering wheel angle information and the actual wheel angle information to obtain the actual delay information, and the electromagnetic compatibility test of the steer-by-wire function of the test vehicle is performed in combination with the actual delay information to obtain the test result. The test result is used to indicate whether the electromagnetic compatibility test of the steer-by-wire function of the test vehicle has passed or failed.

[0058] In one embodiment, after the above steps S101-S104, the present application further provides a specific implementation method for performing an electromagnetic compatibility test on the steer-by-wire function of the test vehicle according to the actual steering wheel angle information, torque information and actual wheel angle information to obtain the test results. Figure 5 As shown, the method includes: S201. Based on the actual steering wheel angle information, the actual wheel angle information, the resistance torque and the return torque, determine whether the steering wheel and the wheels turn up and down synchronously, whether they turn up and down continuously, and whether an unexpected mutation occurs.

[0059] S202: When the steering wheel and the wheels turn up and down synchronously and continuously without unexpected sudden changes, it is determined that the test result is that the electromagnetic compatibility test of the steer-by-wire function of the test vehicle has passed.

[0060] S203: When any one of the following conditions is met: the steering wheel and the wheels do not turn synchronously, do not turn continuously, or have unexpected mutations, the test result is determined to be that the electromagnetic compatibility test of the steer-by-wire function of the test vehicle has failed.

[0061] It should be noted that after the test is completed, the data needs to be evaluated, and three indicators can be considered, namely whether the up and down rotation of the steering wheel and the wheel is synchronized, whether the up and down rotation is aligned, and whether there is any unexpected mutation. Whether the up and down rotation angle is synchronized is used to consider whether there is a delay between the steering wheel and the wheel rotation response; whether the up and down rotation is aligned is used to consider whether the resistance torque and the return torque of the steering wheel are the same and whether the actual steering angle information of the steering wheel is the same as the actual steering angle information of the wheel; whether there is any unexpected mutation is used to consider the sudden and sharp change of the steering wheel angle without a large-scale operation.

[0062] Specifically, in the process of judging whether the steering wheel and the wheels turn up and down synchronously, whether they turn up and down continuously, or whether unexpected mutations occur based on the actual steering wheel angle information, the actual wheel angle information, the resistance torque and the return torque, the actual delay information can be determined based on the actual steering wheel angle information and the actual wheel angle information, the change between the actual delay information and the standard delay information can be calculated, and based on the change, whether the steering wheel and the wheels turn up and down synchronously; whether the steering wheel and the wheels turn up and down continuously based on the resistance torque, the return torque, the actual steering wheel angle information and the actual wheel angle information; and whether unexpected mutations occur on the steering wheel based on the resistance torque and the return torque.

[0063] As an optional implementation, in the process of judging whether the steering wheel and the wheel are synchronously turned up and down according to the change amount, it can be determined that the steering wheel and the wheel are synchronously turned up and down when the change amount is within a preset range; when the change amount is not within the preset range, it is determined that the steering wheel and the wheel are not synchronously turned up and down. The preset range is customized according to actual needs.

[0064] Exemplarily, taking the preset range of 0~10% of the standard delay information m as an example, when the change amount is within the preset range (0~m*10%), it is determined that the up and down turns of the steering wheel and the wheels are synchronized; when the change amount is not within the preset range (0~m*10%), it is determined that the up and down turns of the steering wheel and the wheels are not synchronized.

[0065] As another optional implementation method, in the process of judging whether the steering wheel and the wheel turn up and down continuously based on the resistance torque, the return torque, the actual steering wheel angle information and the actual wheel angle information, it is possible to judge whether the resistance torque and the return torque are the same, and whether the actual steering wheel angle information is the same as the actual wheel angle information. When the resistance torque and the return torque are the same and the actual steering wheel angle information is the same as the actual wheel angle information, it is determined that the steering wheel and the wheel turn up and down continuously; when the resistance torque and the return torque are different, or when the actual steering wheel angle information is different from the actual wheel angle information, or when the resistance torque and the return torque are different and when the actual steering wheel angle information is different from the actual wheel angle information, it is determined that the steering wheel and the wheel do not turn up and down continuously.

[0066] As another optional implementation method, in the process of judging whether the steering wheel has an unexpected mutation based on the resistance torque and the return torque, it can be judged whether the resistance torque and the return torque meet the preset expected mutation conditions. When the preset expected mutation conditions are met, it is characterized that the resistance torque and the return torque have not undergone unexpected mutations; when the preset expected mutation conditions are not met, it is characterized that the resistance torque and the return torque have undergone unexpected mutations.

[0067] When the steering wheel and the wheels turn up and down synchronously, turn up and down continuously, and no unexpected mutation occurs, the test result is determined to be that the electromagnetic compatibility test of the test vehicle's steer-by-wire function has passed; when the steering wheel and the wheels do not turn up and down synchronously, or when the steering wheel and the wheels do not turn up and down continuously, or unexpected mutation occurs, or when any two or three of the three indicators are met, the test result is determined to be that the electromagnetic compatibility test of the test vehicle's steer-by-wire function has failed.

[0068] Furthermore, the main control device is also used to monitor the overall state of the test vehicle to determine whether the vehicle has other faults; when the overall state of the vehicle meets the requirements, it is determined that the vehicle has no other faults; when the overall state of the vehicle does not meet the requirements, it is determined that the vehicle has other faults. When the vehicle has other faults, it is determined that the electromagnetic compatibility test of the wire control steering function of the test vehicle has failed.

[0069] The electromagnetic compatibility testing method for a vehicle provided in an embodiment of the present application includes: obtaining standard parameter information of a steering wheel and wheels in a test vehicle, the standard parameter information being used to characterize parameter information of the test vehicle when no electromagnetic interference is applied, and when the test vehicle meets the test conditions, emitting electromagnetic waves to the test vehicle to generate electromagnetic interference to the test vehicle; according to the standard parameter information, controlling a steering simulation device to perform a steering action on the steering wheel of the test vehicle to drive the wheels to perform a steering action; obtaining actual steering wheel angle information, torque information and actual wheel angle information of the test vehicle when performing a steering action under electromagnetic interference; and performing an electromagnetic compatibility test on the wire control steering function of the test vehicle based on the actual steering wheel angle information, torque information and actual wheel angle information to obtain a test result. Compared with the prior art, on the one hand, this technical solution can simulate the electromagnetic interference environment for the test vehicle, and control the steering simulation device to perform steering actions on the steering wheel of the test vehicle to drive the wheels to perform steering actions, thereby more realistically simulating the steering behavior of the steering wheel and wheels in the actual vehicle driving scenario, and improving the accuracy of the electromagnetic compatibility test; on the other hand, after applying electromagnetic interference, by obtaining the actual steering wheel angle information, torque information and actual wheel angle information of the test vehicle, the actual steering wheel angle information, torque information and actual wheel angle information of the test vehicle can be comprehensively considered. Factors such as the information, torque information and actual wheel angle of the test vehicle can thereby more comprehensively and accurately evaluate the electromagnetic interference immunity of the wire-controlled steering function of the test vehicle, thereby improving the detection efficiency and detection accuracy of the wire-controlled steering function, and further improving the safety of vehicle driving.

[0070] On the other hand, please continue to see Figure 1As shown, an embodiment of the present application provides an electromagnetic compatibility testing system for a vehicle, the system comprising: a steering simulation device 10, a main control device 20, and an electromagnetic interference generating device 30; the main control device 20 establishes communication connections with the steering simulation device 10 and the electromagnetic interference generating device 30 respectively.

[0071] The main control device 20 is used to: when the test vehicle 40 meets the test conditions, obtain standard parameter information of the steering wheel and wheels in the test vehicle 40; control the electromagnetic interference generating device 30 to emit electromagnetic waves to the test vehicle 40 to generate electromagnetic interference to the test vehicle 40; according to the standard parameter information, control the vehicle steering simulation device to perform a steering action on the steering wheel of the test vehicle 40 to drive the wheels to perform a steering action; obtain the actual steering wheel angle information, torque information and actual wheel angle information of the test vehicle 40 when performing a steering action under electromagnetic interference; according to the actual steering wheel angle information, torque information and actual wheel angle information of the test vehicle 40, perform an electromagnetic compatibility test on the wire control steering function of the test vehicle 40 to obtain the test results; the standard parameter information is used to characterize the parameter information of the test vehicle 40 when no electromagnetic interference is applied.

[0072] The electromagnetic interference generating device 30 is used to emit electromagnetic waves to the test vehicle 40 to generate electromagnetic interference to the test vehicle 40 ; the steering simulation device 10 is used to perform a steering action on the steering wheel of the test vehicle 40 to drive the wheels to perform a steering action.

[0073] Specifically, the main control device 20 can be arranged outside the test site, and a steering control software can be arranged inside the main control device 20, which is used to receive data sent by the steering simulation device 10, and control the steering simulation device 10 to perform a steering action on the steering wheel of the test vehicle to drive the wheel to perform a steering action. The electromagnetic interference generating device 30 is controlled to perform an electromagnetic compatibility test on the wire control steering function of the test vehicle to obtain a test result; and electromagnetic waves are emitted to the test vehicle to generate electromagnetic interference to the test vehicle. The actual steering wheel angle information, torque information and actual wheel angle information of the test vehicle when performing a steering action under electromagnetic interference are obtained, and the electromagnetic compatibility test is performed on the wire control steering function of the test vehicle according to the actual steering wheel angle information, torque information and actual wheel angle information of the test vehicle to obtain a test result.

[0074] In one embodiment, see Figure 3As shown, the electromagnetic interference generating device includes: a test cavity 31, a test computer 35, a signal generator 32, a power amplifier 33, a radio frequency antenna 34, and a field strength probe 36. The test computer 35 is electrically connected to the signal generator 32, the power amplifier 33, and the field strength probe 36, respectively. The field strength probe 36 and the radio frequency antenna 34 are both located inside the test cavity 31; the power amplifier 33 is electrically connected to the signal generator 32 and the radio frequency antenna 34, respectively.

[0075] The signal generator 32 is used to: receive and respond to the control signal, generate an initial RF signal and send it to the power amplifier; the power amplifier 33 is used to: amplify the initial RF signal, obtain the amplified RF signal and send it to the RF antenna 34; the RF antenna 34 is used to: transmit the amplified RF signal into the test cavity to generate electromagnetic interference to the test vehicle; the test computer 35 is used to: generate a control signal according to preset configuration parameters and send it to the signal generator 32, the RF antenna 34 and the field strength probe 36; the field strength probe 36 is used to: monitor the field strength information in the test cavity so that the test site where the test vehicle is located is at a calibrated electric field strength value.

[0076] Specifically, the RF antenna 34 can be an omnidirectional antenna without directionality, or a directional directional antenna. An omnidirectional antenna is a 360° uniform antenna in the horizontal pattern; a directional antenna is a directional antenna that radiates within a certain angle range in the horizontal pattern. The directional antenna is generally suitable for environments with long communication distances, small coverage, high target density, and high frequency utilization.

[0077] The signal generator 32 is used to generate an initial RF signal and send it to the power amplifier, which amplifies the signal through the power amplifier 33 to obtain an amplified RF signal and send it to the RF antenna, so that the RF antenna 34 transmits the amplified RF signal to the test vehicle to generate electromagnetic interference to the test vehicle.

[0078] In one embodiment, the steering simulation device 10 includes a wheel turntable 12, a steering wheel steering simulator 11, a data acquisition module 13 and a photoelectric conversion module 14. The main control device 20 is electrically connected to the data acquisition module 13 through the photoelectric conversion module 14, and the data acquisition module 13 is also connected to the steering wheel steering simulator 11 and the wheel turntable 12.

[0079] The steering wheel steering simulator 11 is used to: perform steering actions on the steering wheel of the test vehicle; the wheel turntable 12 is used to: drive the wheel to perform steering actions; the photoelectric conversion module 14 is used to: convert control instructions into optical signals and transmit the optical signals to the data acquisition module; and convert the actual steering wheel angle information, torque information and actual wheel angle information into electrical signals and send them to the main control device; the data acquisition module 13 is used to: when the steering wheel steering simulator performs steering actions on the steering wheel of the test vehicle, collect the actual steering wheel angle information and torque information and send them to the photoelectric conversion module; and collect the actual wheel angle information of the wheel turntable and send it to the photoelectric conversion module.

[0080] Among them, the steering wheel steering simulator includes: a motor, a motor controller, a first angle sensor and a torque sensor; a second angle sensor is installed on the wheel turntable; and a data acquisition module is electrically connected to the motor, the motor controller, the first angle sensor, the torque sensor and the second angle sensor respectively.

[0081] The motor controller is used to receive control instructions sent by the data acquisition module and send drive instructions to the motor; the motor is used to receive and respond to drive instructions, provide power to the steering wheel of the test vehicle, and drive the steering wheel to perform steering actions; the first angle sensor is used to collect actual steering wheel angle information and send it to the data acquisition module; the torque sensor is used to collect torque information of the steering wheel and send it to the data acquisition module; the first angle sensor is used to collect actual wheel angle information and send it to the data acquisition module.

[0082] The first angle sensor and the second angle sensor may be the same or different.

[0083] The electromagnetic compatibility test system for the vehicle provided in this embodiment can greatly improve the electromagnetic immunity detection efficiency and detection accuracy of the wire-controlled steering function. It can simulate the steering action of the test vehicle through a steering simulation device to examine whether the wire-controlled steering function is normal under the electromagnetic interference environment, accurately evaluate the performance of the vehicle's wire-controlled steering function under the electromagnetic interference environment, and can accurately reflect the stability and reliability of the wire-controlled steering function under various electromagnetic interference environments that may be encountered in actual use through test reports, which will help promote the further development of wire-controlled steering technology, thereby promoting the wire-controlled steering system to maintain stable operation in more complex and harsher electromagnetic environments, thereby providing strong support for the widespread application of intelligent chassis and automation technology.

[0084] Figure 6 FIG. 1 is a schematic diagram of the structure of a main control device provided by an embodiment of the present invention. Figure 6 As shown, it shows a structural schematic diagram of a main control device 20 suitable for implementing an embodiment of the present application.

[0085] like Figure 6 As shown, the main control device 20 includes a central processing unit (CPU) 401, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 402 or the program loaded from the storage part 408 to the random access memory (RAM) 403. In the RAM 403, various programs and data required for system operation are also stored. The CPU 401, the ROM 402, and the RAM 403 are connected to each other through a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0086] The following components are connected to the I / O interface 405: an input section 406 including a keyboard, a mouse, etc.; an output section 407 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 408 including a hard disk, etc.; and a communication section 409 including a network interface card such as a LAN card, a modem, etc. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to the I / O interface 405 as needed. A removable medium 411, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 410 as needed, so that a computer program read therefrom is installed into the storage section 408 as needed.

[0087] In particular, according to the embodiments of the present disclosure, the above reference Figure 2 The described processes may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program comprising a computer program for executing Figure 2 In such an embodiment, the computer program may be downloaded and installed from a network via the communication section 409 and / or installed from the removable medium 411.

[0088] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of the code, and the aforementioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0089] The units or modules involved in the embodiments described in this application may be implemented by software or hardware, and the units or modules described may also be set in a processor.

[0090] As another aspect, the present application also provides a computer-readable medium, which may be included in the processing device described in the above embodiment; or may exist independently without being assembled into the main control device. The above computer-readable medium carries one or more programs, and when the above one or more programs are executed by a main control device, the main control device implements the electromagnetic compatibility test method of the vehicle as described in the above embodiment.

[0091] As yet another aspect, the present application further provides a computer program product, including a computer program, which, when executed by a processor, implements the electromagnetic compatibility testing method for a vehicle provided in the above embodiment.

[0092] For example, the main control device can be implemented as follows Figure 2As shown in: Step S101, when the test vehicle meets the test conditions, obtain the standard parameter information of the steering wheel and wheels in the test vehicle; the standard parameter information is used to characterize the parameter information of the test vehicle when no electromagnetic interference is applied; Step S102, control the electromagnetic interference generating device to emit electromagnetic waves to the test vehicle to generate electromagnetic interference to the test vehicle; Step S103, according to the standard parameter information, control the steering simulation device to perform a steering action on the steering wheel of the test vehicle to drive the wheel to perform a steering action; Step S104, obtain the actual steering wheel angle information, torque information and actual wheel angle information of the test vehicle when performing the steering action under electromagnetic interference; Step S105, according to the actual steering wheel angle information, torque information and actual wheel angle information, perform an electromagnetic compatibility test on the wire control steering function of the test vehicle to obtain the test result. Perform an electromagnetic compatibility test on the wire control steering function of the test vehicle to obtain the test result. For another example, the main control device can also implement the following Figure 5 The steps shown in .

[0093] It should be noted that, although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into multiple modules or units to be embodied.

[0094] In addition, although the steps of the method in the present disclosure are described in a specific order in the accompanying drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps, etc. Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware.

[0095] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

Claims

1. A vehicle electromagnetic compatibility testing method, characterized in that: The method includes: When the test vehicle meets the test conditions, standard parameter information of the steering wheel and wheels in the test vehicle is obtained; the standard parameter information is used to characterize parameter information of the test vehicle when no electromagnetic interference is applied; Controlling the electromagnetic interference generating device to emit electromagnetic waves to the test vehicle to generate electromagnetic interference to the test vehicle; According to the standard parameter information, controlling the steering simulation device to perform a steering action on the steering wheel of the test vehicle to drive the wheels to perform a steering action; Acquiring actual steering wheel angle information, torque information, and actual wheel angle information of the test vehicle when performing a steering action under electromagnetic interference; According to the actual steering wheel angle information, torque information and actual wheel angle information, an electromagnetic compatibility test is performed on the steer-by-wire function of the test vehicle to obtain a test result.

2. The method according to claim 1, characterized in that The standard parameter information includes: standard steering wheel angle information, standard torque information, standard wheel angle information, and standard delay information; obtaining standard parameter information of the steering wheel and wheels in the test vehicle includes: Check whether the test vehicle is in normal condition; When in a normal state, controlling the steering simulation device to perform multiple steering actions on the steering wheel of the test vehicle in the normal state, so as to drive the wheel to perform the steering action; Acquiring the standard steering wheel angle information, the standard torque information, and the standard wheel angle information; Standard delay information is determined based on the steering wheel standard angle information and the wheel standard angle information; the standard delay information is used to characterize the time interval between the rotation time of the steering wheel to execute the steering wheel standard angle information and the rotation time of the wheel to execute the wheel standard angle information.

3. The method according to claim 2, characterized in that The torque information includes resistance torque and return torque; According to the actual steering wheel angle information, torque information and actual wheel angle information, an electromagnetic compatibility test is performed on the steer-by-wire function of the test vehicle to obtain test results, including: Based on the actual steering wheel angle information, the actual wheel angle information, the resistance torque and the self-aligning torque, determine whether the steering wheel and the wheel turn up and down synchronously, whether they turn up and down continuously, and whether an unexpected sudden change occurs; When the steering wheel and the wheels rotate up and down synchronously and continuously without unexpected sudden changes, it is determined that the test result is that the electromagnetic compatibility test of the wire control steering function of the test vehicle has passed; When any one of the following conditions is met: the steering wheel and the wheels do not turn up and down synchronously, the turning up and down is discontinuous, or an unexpected mutation occurs, it is determined that the test result is that the electromagnetic compatibility test of the steer-by-wire function of the test vehicle fails.

4. The method according to claim 3, characterized in that: Based on the actual steering wheel angle information, the actual wheel angle information, the resistance torque and the self-aligning torque, judging whether the steering wheel and the wheel are synchronously turned up and down, whether the up and down turns are continuous, and whether an unexpected mutation occurs, including: Based on the actual steering wheel angle information and the actual wheel angle information, actual delay information is determined; the actual delay information is used to represent the time interval between the rotation time of the steering wheel to execute the actual steering wheel angle information and the rotation time of the wheel to execute the actual wheel angle information; Calculating a change between the actual delay information and the standard delay information, and judging whether the steering wheel and the wheel turn up and down synchronously according to the change; Determining whether the steering wheel and the wheel rotate up and down continuously according to the resistance torque, the return torque, the actual steering wheel angle information and the actual wheel angle information; Based on the resistance torque and the return torque, it is determined whether an unexpected sudden change of the steering wheel occurs.

5. The method according to claim 4, characterized in that Judging, according to the change amount, whether the steering wheel and the wheel turn up and down synchronously includes: When the change amount is within a preset range, determining whether the steering wheel and the wheels are turned up and down synchronously; When the change amount is not within a preset range, it is determined that the up and down turning of the steering wheel and the wheels are not synchronized.

6. The method according to claim 1, characterized in that Controlling the electromagnetic interference generating device to emit electromagnetic waves to the test vehicle to generate electromagnetic interference to the test vehicle includes: According to preset configuration parameters of the electromagnetic interference generating device, controlling parameter configuration of the electromagnetic interference generating device; When the parameter configuration is completed, controlling the signal generator in the electromagnetic interference generating device to generate an initial radio frequency signal; According to the electric field strength value calibrated at the test site where the test vehicle is located, controlling the power amplifier in the electromagnetic interference generating device to amplify the initial radio frequency signal; The radio frequency antenna in the electromagnetic interference generating device is controlled to transmit the amplified radio frequency signal to the test vehicle to generate electromagnetic interference to the test vehicle.

7. A vehicle electromagnetic compatibility test system, characterized in that: include: A steering simulation device, a main control device, and an electromagnetic interference generating device; the main control device establishes communication connections with the steering simulation device and the electromagnetic interference generating device respectively; The main control device is used to: when the test vehicle meets the test conditions, obtain standard parameter information of the steering wheel and wheels in the test vehicle; control the electromagnetic interference generating device to emit electromagnetic waves to the test vehicle to generate electromagnetic interference to the test vehicle; according to the standard parameter information, control the steering simulation device to perform a steering action on the steering wheel of the test vehicle to drive the wheels to perform a steering action; obtain the actual steering wheel angle information, torque information and actual wheel angle information of the test vehicle when performing a steering action under electromagnetic interference; perform an electromagnetic compatibility test on the wire control steering function of the test vehicle according to the actual steering wheel angle information, torque information and actual wheel angle information of the test vehicle to obtain a test result; The standard parameter information is used to characterize the parameter information of the test vehicle when no electromagnetic interference is applied; The electromagnetic interference generating device is used to: emit electromagnetic waves to the test vehicle to generate electromagnetic interference to the test vehicle; The steering simulation device is used to perform a steering action on the steering wheel of the test vehicle to drive the wheels to perform the steering action.

8. The system according to claim 7, characterized in that The electromagnetic interference generating device comprises: a test cavity, a test computer, a signal generating source, a power amplifier, a radio frequency antenna, and a field strength probe. The test computer is electrically connected to the signal generating source, the power amplifier, and the field strength probe respectively. The field strength probe and the radio frequency antenna are both located inside the test cavity. The power amplifier is electrically connected to the signal generating source and the radio frequency antenna respectively. The test computer is used to: generate a control signal according to preset configuration parameters and send it to the signal generation source, the radio frequency antenna and the field strength probe; The signal generator is used to: receive and respond to the control signal, generate an initial radio frequency signal and send it to the power amplifier; The power amplifier is used to: perform signal amplification processing on the initial radio frequency signal to obtain an amplified radio frequency signal and send it to the radio frequency antenna; The radio frequency antenna is used to: transmit the amplified radio frequency signal into the test cavity to generate electromagnetic interference to the test vehicle; The field strength probe is used to monitor the field strength information in the test cavity so that the test site where the test vehicle is located is at a calibrated electric field strength value.

9. The system according to claim 7, characterized in that The steering simulation device comprises a wheel turntable, a steering wheel steering simulator, a data acquisition module and a photoelectric conversion module, the main control device is electrically connected to the data acquisition module via the photoelectric conversion module, and the data acquisition module is also connected to the steering wheel steering simulator and the wheel turntable; The steering wheel steering simulator is used to perform steering actions on the steering wheel of the test vehicle; the wheel turntable is used to drive the wheel to perform steering actions; The photoelectric conversion module is used to: convert the control instruction into an optical signal and transmit the optical signal to the data acquisition module; and convert the actual steering wheel angle information, torque information and actual wheel angle information into an electrical signal and send it to the main control device; The data acquisition module is used to: when the steering wheel steering simulator performs a steering action on the steering wheel of the test vehicle, collect the actual steering wheel angle information and torque information and send them to the photoelectric conversion module; And it is used to collect the actual wheel angle information of the wheel turntable and send it to the photoelectric conversion module.

10. The system according to claim 9, characterized in that The steering wheel steering simulator comprises: a motor, a motor controller, a first angle sensor and a torque sensor; a second angle sensor is installed on the wheel turntable; the data acquisition module is electrically connected to the motor, the motor controller, the first angle sensor, the torque sensor and the second angle sensor respectively; The motor controller is used to: receive the control instruction sent by the data acquisition module and send a driving instruction to the motor; The motor is used to: receive and respond to the driving instruction, provide power to the steering wheel of the test vehicle, and drive the steering wheel to perform a steering action; The first angle sensor is used to: collect the actual steering wheel angle information and send it to the data acquisition module; The torque sensor is used to: collect torque information of the steering wheel and send it to the data acquisition module; The first angle sensor is used to collect the actual turning angle information of the wheel and send it to the data acquisition module.

11. A main control device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the electromagnetic compatibility testing method for a vehicle according to any one of claims 1 to 6.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the electromagnetic compatibility testing method for a vehicle according to any one of claims 1 to 6 is implemented.

Images