Electromagnetic Compatibility Testing Method, System, Device and Medium for Vehicles

Abstract

The present application discloses an electromagnetic compatibility testing method, system, device and medium for a vehicle, relating to the technical field of electromagnetic compatibility testing. The method includes: when the test vehicle meets the test conditions, obtaining the standard parameter information of the steering wheel and wheels in the test vehicle; emitting electromagnetic waves to the test vehicle to generate electromagnetic interference to the test vehicle; controlling the steering simulation device to perform a steering action on the steering wheel of the test vehicle according to the standard parameter information to drive the wheels to perform a steering action; obtaining the actual steering angle information, torque information of the steering wheel and the actual steering angle information of the wheels of the test vehicle when performing the steering action under the electromagnetic interference; and performing electromagnetic compatibility testing on the steer-by-wire function of the test vehicle according to the actual steering angle information, torque information and the actual steering angle information of the wheels to obtain a test result. This solution can comprehensively and accurately evaluate the electromagnetic immunity of the steer-by-wire function of the test vehicle, improving the detection accuracy of the steer-by-wire function.

Description

Technical Field

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

[0002] With the continuous development of automotive technology, intelligent assisted driving has been increasingly applied to people's daily lives due to its advantages of reducing traffic congestion and improving driver safety. Among them, the steer-by-wire function, as an advanced automotive steering technology, has gradually received extensive attention and application. Different from the traditional mechanical steering system, the steer-by-wire 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 an electric motor to achieve the steering operation. During vehicle driving, the steer-by-wire system can achieve an automatic steering function, significantly improving driving safety.

[0003] At present, the steer-by-wire system in a vehicle generally includes complex modules, such as a steering wheel module, a steering execution module, an electronic control unit, and various sensors. However, these modules mainly rely on electronic signals for control, and they 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 perform electromagnetic compatibility testing on the steer-by-wire function of a vehicle 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 desirable to provide an electromagnetic compatibility testing method, system, device and medium for a vehicle, which can comprehensively and accurately evaluate the electromagnetic immunity of the steer-by-wire function of a test vehicle, and improve the detection efficiency and accuracy of the steer-by-wire function.

[0005] In a first aspect, the present invention provides an electromagnetic compatibility testing method for a vehicle, the method comprising:

[0006] When the test vehicle meets the test conditions, obtaining standard parameter information of the steering wheel and the 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;

[0007] Controlling an electromagnetic interference generating device to emit electromagnetic waves to the test vehicle to generate electromagnetic interference to the test vehicle;

[0008] 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;

[0009] 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;

[0010] Conduct electromagnetic compatibility testing on the steer-by-wire 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.

[0011] In one embodiment, the standard parameter information includes: standard steering wheel angle information, torque standard information, standard wheel angle information, standard delay information; Obtain the standard parameter information of the steering wheel and wheels in the test vehicle, including:

[0012] Check whether the test vehicle is in a normal state;

[0013] 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;

[0014] Obtain the standard steering wheel angle information, the torque standard information, and the standard wheel angle information;

[0015] Determine the standard delay information based on the standard steering wheel angle information and the standard wheel angle information; The standard delay information is used to characterize the time interval between the rotation time of the steering wheel performing the standard steering wheel angle information and the rotation time of the wheels performing the standard wheel angle information.

[0016] In one embodiment, the torque information includes a resistance torque and a return torque; Conduct electromagnetic compatibility testing on the steer-by-wire 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, including:

[0017] 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 rotate synchronously up and down, continuously up and down, and whether there are unexpected mutations;

[0018] When the steering wheel and the wheels rotate synchronously up and down, continuously up and down, and there are no unexpected mutations, determine that the test result is that the electromagnetic compatibility test of the steer-by-wire function of the test vehicle passes;

[0019] When any one of the conditions that the steering wheel and the wheels do not rotate synchronously up and down, do not rotate continuously up and down, and there are unexpected mutations is met, determine that the test result is that the electromagnetic compatibility test of the steer-by-wire function of the test vehicle fails.

[0020] In one embodiment, based on the actual steering wheel rotation angle information, the actual wheel rotation angle information, the resistance torque, and the return torque, determining whether the steering wheel and the wheels are synchronized in up-and-down rotation, whether the up-and-down rotation is continuous, and whether an unexpected mutation occurs, includes:

[0021] Based on the actual steering wheel rotation angle information and the actual wheel rotation angle information, determining actual delay information; the actual delay information is used to characterize the time interval between the rotation time of the steering wheel executing the actual steering wheel rotation angle information and the rotation time of the wheels executing the actual wheel rotation angle information;

[0022] Calculating the change amount between the actual delay information and the standard delay information, and based on the change amount, determining whether the steering wheel and the wheels are synchronized in up-and-down rotation;

[0023] Based on the resistance torque, the return torque, the actual steering wheel rotation angle information, and the actual wheel rotation angle information, determining whether the steering wheel and the wheels are continuous in up-and-down rotation;

[0024] Based on the resistance torque and the return torque, determining whether an unexpected mutation occurs in the steering wheel.

[0025] In one embodiment, based on the change amount, determining whether the steering wheel and the wheels are synchronized in up-and-down rotation, includes:

[0026] When the change amount is within a preset range, determining that the steering wheel and the wheels are synchronized in up-and-down rotation;

[0027] When the change amount is not within the preset range, determining that the steering wheel and the wheels are not synchronized in up-and-down rotation.

[0028] In one embodiment, emitting an electromagnetic wave to the test vehicle to generate electromagnetic interference to the test vehicle, includes:

[0029] According to the preset configuration parameters of the electromagnetic interference generating device, controlling the parameter configuration of the electromagnetic interference generating device;

[0030] When the parameter configuration is completed, controlling the signal source in the electromagnetic interference generating device to generate an initial radio frequency signal;

[0031] According to the electric field intensity value calibrated for 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;

[0032] Controlling the radio frequency antenna in the electromagnetic interference generating device to transmit the amplified radio frequency signal to the test vehicle to generate electromagnetic interference to the test vehicle.

[0033] In a second aspect, an electromagnetic compatibility test system for a vehicle is provided according to an embodiment of the present application. The system includes: 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;

[0034] The main control device is configured to: when the test vehicle meets the test conditions, obtain the standard parameter information of the steering wheel and the 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 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 steer-by-wire function of the test vehicle according to the actual steering angle information, torque information, and actual wheel angle information of the test vehicle 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;

[0035] The electromagnetic interference generating device is configured to: emit electromagnetic waves to the test vehicle to generate electromagnetic interference to the test vehicle;

[0036] The steering simulation device is configured to: perform a steering action on the steering wheel of the test vehicle to drive the wheels to perform a steering action.

[0037] In a third aspect, a main control device is provided according to an embodiment of the present application, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor executes the computer program to implement the method provided in the above embodiment.

[0038] In a fourth aspect, a computer-readable storage medium is provided according to an embodiment of the present application, on which a computer program is stored, and when the computer program is executed by a processor, the method provided in the above embodiment is implemented.

[0039] The electromagnetic compatibility testing method, system, device and medium for a vehicle provided by an embodiment of the present application, the method includes: obtaining standard parameter information of the steering wheel and wheels in a test vehicle, where the standard parameter information is used to characterize the 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 on 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 the actual steering 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 angle information, torque information and actual wheel angle information, performing electromagnetic compatibility testing on the steer-by-wire function of the test vehicle to obtain a test result. Compared with the prior art, on the one hand, this technical solution can simulate an electromagnetic interference environment for the test vehicle, and by 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, thus more realistically simulating the steering behavior of the steering wheel and wheels in the actual vehicle driving scenario, improving the accuracy of electromagnetic compatibility testing; on the other hand, after applying electromagnetic interference, by obtaining the actual steering angle information, torque information and actual wheel angle information of the test vehicle, factors such as the actual steering angle information, torque information and actual wheel angle information of the test vehicle can be comprehensively considered, so as to more comprehensively and accurately evaluate the electromagnetic immunity of the steer-by-wire function of the test vehicle, improving the detection efficiency and detection accuracy of the steer-by-wire function, and further improving the safety of vehicle driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] By reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings, other features, objects and advantages of the present application will become more apparent:

[0041] Figure 1 It is a schematic structural diagram of an electromagnetic compatibility testing system for a vehicle provided by an embodiment of the present application;

[0042] Figure 2 It is a schematic flow diagram of an electromagnetic compatibility testing method for a vehicle steer-by-wire function provided by an embodiment of the present application;

[0043] Figure 3 It is a schematic structural diagram of an electromagnetic compatibility testing system for a vehicle provided by an embodiment of the present application;

[0044] Figure 4 It is a schematic structural diagram of a steering simulation device provided by an embodiment of the present application;

[0045] Figure 5 It is a schematic flow diagram of an electromagnetic compatibility testing method for a vehicle steer-by-wire function provided by another embodiment of the present application;

[0046] Figure 6 Schematic structural diagram of the main control device provided by the embodiment of the present application;

[0047] Explanation of reference numerals in the drawings

[0048] 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 generating source - 32; Power amplifier - 33; RF antenna - 34; Test computer - 35; Field strength probe - 36; Test vehicle - 40. Detailed implementation manners

[0049] The present application will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the related invention, rather than limiting the invention. Additionally, it should be noted that for the sake of convenience of description, only the parts related to the invention are shown in the drawings.

[0050] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the drawings and embodiments.

[0051] It can be understood that in the rapid development process of vehicle technology, the steer-by-wire system of wheels generally includes complex modules, such as a steering wheel module, a steering execution module, an electronic control unit, and various sensors, etc. However, these modules mainly rely on electronic signals for control, and they 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 the steer-by-wire function of vehicles is an urgent problem to be solved.

[0052] Based on the above defects, the present application provides an electromagnetic compatibility testing method, system, device, and medium for vehicles. Compared with the prior art, on the one hand, this technical solution can simulate an electromagnetic interference environment for the test vehicle and drive the wheels to execute a steering action by controlling the steering simulation device to perform a steering action on the steering wheel of the test vehicle, so as to more realistically simulate the steering behaviors of the steering wheel and wheels in the actual vehicle driving scenario, improving the accuracy of electromagnetic compatibility testing; on the other hand, after applying electromagnetic interference, by obtaining the actual steering angle information, torque information, and actual wheel steering angle information of the test vehicle, it is possible to comprehensively consider factors such as the actual steering angle information, torque information, and actual wheel steering angle information of the test vehicle, so as to more comprehensively and accurately evaluate the electromagnetic immunity of the steer-by-wire function of the test vehicle, improving the detection efficiency and detection accuracy of the steer-by-wire function, and further improving the safety of vehicle driving.

[0053] Please refer to Figure 1 as shown Figure 1 which is a schematic structural diagram of an electromagnetic compatibility test system for a vehicle. The system includes: a steering simulation device 10, a main control device 20, and an electromagnetic interference generating device 30; the main control device 20 is respectively communicatively connected to the steering simulation device 10 and the electromagnetic interference generating device 30.

[0054] It should be noted that the above electromagnetic compatibility test system is used to perform electromagnetic compatibility tests on the steer-by-wire function of the test vehicle 40. Among them, the test vehicle 40 refers to a vehicle that needs to perform electromagnetic compatibility tests on the steer-by-wire function. The test vehicle 40 may include: a drive system, a braking system, a hands-off detection system, a steer-by-wire system, etc. The steer-by-wire system may include a steering controller and a steering execution module inside the test vehicle.

[0055] The above 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.

[0056] The above electromagnetic interference generating device 30 is a device for generating interference to the test vehicle 40. 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.

[0057] The above main control device 20 has the functions of data processing, data receiving, and data sending, and may include a server and a terminal communicatively connected to 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 providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery network (Content Delivery Network, CDN), and big data and artificial intelligence platforms. The above terminal may run an operating system, which may include but is not limited to Android system, IOS system, Linux system, Unix, Windows system, etc., and may also include a user interface (User Interface, UI) layer, which can provide the display of data through the UI layer. In addition, it can also send data to the electromagnetic interference generating device 30 and the steering simulation device 10 based on the application programming interface (Application Programming Interface, API), and is used to receive the data transmitted by the electromagnetic interference generating device 30 and the steering simulation device 10.

[0058] The server and the terminal can be internally provided with a microprocessor (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 circuits.

[0059] To better understand and illustrate the vehicle electromagnetic compatibility testing method provided by the embodiments of the present application, the following Figures 2 to 6 provides a detailed explanation.

[0060] Figure 2 FIG. is a schematic flow chart of the vehicle electromagnetic compatibility testing method provided by the embodiments of the present application. As Figure 2 shown, this method is executed by a main control device, and the main control device can be implemented in part or in whole by software, hardware, or a combination of software and hardware. This method includes:

[0061] 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.

[0062] The above test vehicle can be one or multiple. The test vehicle can be an electric vehicle, a fuel vehicle, or a hybrid vehicle. It can include an engine system, a drive system, a braking system, a steering system, a running system, etc.

[0063] 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 state is normal; when the information of each system is normal and the operating state is normal, it indicates that the test vehicle meets the test conditions; when the information of each system is abnormal or the operating state is abnormal, it indicates that the test vehicle does not meet the test conditions. Among them, the preset test conditions can be custom-set according to the actual attribute parameters and test requirements of the vehicle.

[0064] In one embodiment, the above standard parameter information includes: steering wheel standard rotation angle information, torque standard information, wheel standard rotation angle information, and standard delay information. The embodiments of the present application provide a specific implementation manner for obtaining the standard parameter information before generating electromagnetic interference to the test vehicle. This method includes:

[0065] 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 standard steering angle information, torque standard information, and wheel standard angle information of the steering wheel; determine the standard delay information according to the standard steering angle information of the steering wheel and the standard angle information of the wheels; the standard delay information is used to characterize the time interval between the rotation time of the steering wheel executing the standard steering angle information of the steering wheel and the rotation time of the wheels executing the standard angle information of the wheels.

[0066] It can be understood that the above-mentioned standard steering angle information of the steering wheel refers to the rotation information corresponding to the steering of the steering wheel when no electromagnetic interference is applied, and the torque standard information refers to the torque information corresponding to the steering of the steering wheel when no electromagnetic interference is applied; the standard angle information of the wheels refers to the rotation information corresponding to the steering of the wheels when no interference is applied.

[0067] In this embodiment, during 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, and the system information can include the information of the engine system, drive system, braking system, hands-off detection system, and driving system. The user can customize the conditions corresponding to each system being in a normal state according to actual needs. The main control device can obtain the information of the engine system, drive system, braking 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.

[0068] Before performing electromagnetic compatibility testing, it is necessary to calibrate the test site. The calibration methods can include: free-field method test calibration and electromagnetic reverberation chamber test calibration, and different calibration methods correspond to different test sites. When calibrating the field, the vehicle does not need to appear at the test site. The test site can be arranged according to the test standard requirements. The field strength probe can be placed in the test area, and an unmodulated sine wave can be used for calibration to record the forward power required to generate the specified field strength at each test frequency. This forward power determines the electric field strength value when applying electromagnetic interference to the test vehicle. When calibrating the test site using the out-of-vehicle radiation source method, it is necessary to calibrate the electric field strength value under two conditions of vertical polarization and horizontal polarization; when using the reverberation chamber method for testing, only one calibration is required, and it is necessary to verify the field uniformity to ensure that the test site meets the test requirements.

[0069] After the calibration of the test site for 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 steer-by-wire 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 wheels of the test vehicle are parked on the wheel turntables, and a 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.

[0070] 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 to drive the wheels to perform multiple steering actions, and obtain the standard steering angle information of the steering wheel, the standard torque information, and the standard steering angle information of the wheels. For example, control the test vehicle to rotate to the left, so that the driving wheels rotate to the left, and collect the rotation angle information and torque information in real time, so as to obtain the standard steering angle information of the steering wheel, the standard steering angle information of the wheels, and the standard torque information, and perform a difference operation on the standard steering angle information of the steering wheel and the standard steering angle information of the wheels to obtain the standard delay information.

[0071] In this embodiment, before generating electromagnetic interference on the test vehicle, by obtaining the standard parameter information, it is possible to provide input parameter information for subsequent application of electromagnetic interference, improving the accuracy of the electromagnetic compatibility interference test.

[0072] S102. Control the electromagnetic interference generating device to emit electromagnetic waves to the test vehicle to generate electromagnetic interference on the test vehicle.

[0073] It can be understood that in order to verify the adaptability of the steer-by-wire function of the test vehicle in a complex electromagnetic environment, it is necessary to generate electromagnetic interference on the test vehicle. The main control device can control the electromagnetic interference generating device to emit electromagnetic waves to the test vehicle, thereby generating electromagnetic interference on the test vehicle.

[0074] Among them, please refer to Figure 3As shown in the figure, the above 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. Both the field strength probe 36 and the radio frequency antenna 34 are located inside 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 test software, and the user can test the steer-by-wire function of the test vehicle by running this test software. The above steering simulation device may include a steering wheel steering simulator 11, a wheel turntable 12, a data acquisition module 13, and an optoelectronic conversion module 14. The main control device 20 is electrically connected to the data acquisition module 13 through the optoelectronic conversion module 14. The data acquisition module 13 is used to collect information on the steering wheel and wheels of the test vehicle, and the optoelectronic conversion module 14 is used to achieve the mutual conversion between optical signals and electrical signals.

[0075] Specifically, during 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, it controls the signal generator in the electromagnetic interference generating device to generate an initial radio frequency signal. Then, according to the calibrated electric field strength value of the test site where the test vehicle is located, it controls the power amplifier in the electromagnetic interference generating device to amplify the initial radio frequency signal to obtain an amplified radio frequency signal, and controls the radio frequency antenna in the electromagnetic interference generating device to transmit the amplified radio frequency signal to the test vehicle to generate electromagnetic interference to the test vehicle.

[0076] The above configuration parameters can be custom-set by the user according to the attributes of the actual electromagnetic interference generating device and the requirements of electromagnetic compatibility testing. For example, they may include the electric field strength value of the test site, the antenna polarization direction, etc.

[0077] The main control device can first control the parameter configuration of the electric field strength value and the antenna polarization direction in the electromagnetic interference generating device according to the preset configuration parameters. For example, set the electric field strength value to the calibrated electric field strength value, and set the antenna polarization direction to a 360° random polarization mode. After the parameter configuration is completed, generate a control command and send the control command to the electromagnetic interference generating device, so that the test computer in the electromagnetic interference generating device receives and responds to this control command, generates a control signal and sends it to the signal generator, so that the signal generator generates an initial radio frequency signal. This initial radio frequency signal can be a specified modulation method or an unmodulated electromagnetic wave, and control the power amplifier to amplify the initial radio frequency signal to obtain an amplified radio frequency signal, and then transmit 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. At the same time, monitor the field strength information in the test cavity through the field strength probe to make the test site where the test vehicle is located at the calibrated electric field strength value.

[0078] In this step, by emitting electromagnetic waves to the test vehicle, electromagnetic interference can be generated on the test vehicle, so as to simulate an electromagnetic interference environment for the test vehicle, making it easier to apply an environment that better conforms to the actual application scenario to the test vehicle and facilitating the subsequent electromagnetic compatibility test of the steer-by-wire function of the test vehicle.

[0079] 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 a steering action.

[0080] 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 a left steering action and a right steering action. By performing a steering action on the steering wheel, the wheels of the test vehicle are driven to perform a steering action to simulate the steering behavior of the test vehicle. For example, the main control device controls the steering simulation device to perform a steering action on the steering wheel of the test vehicle to drive the wheels of the test vehicle to perform a steering action. Among them, the main control device can control the steering simulation device to perform a steering action on the test vehicle according to a preset test frequency, or randomly control the steering simulation device to perform a steering action on the test vehicle.

[0081] During the process of controlling the steering simulation device to perform a steering action on the test vehicle, the main control device can control the steering simulation device to perform a single rotation action on the steering wheel. For example, first control the steering simulation device to perform an action of rotating 90° to the left, and then control the steering simulation device to perform an action of rotating 90° to the right.

[0082] Please refer to Figure 4 As shown, the above-mentioned steering simulation device may include a steering wheel simulator 11, a wheel turntable 12, a data acquisition module ( Figure 4 not shown in the figure) and an optoelectronic conversion module ( Figure 4 not shown in the figure). The main control device is electrically connected to the data acquisition module through the optoelectronic conversion module. The data acquisition module is used to collect information on the steering wheel and wheels of the test vehicle, and the optoelectronic conversion module is used to realize the mutual conversion between optical signals and electrical signals.

[0083] Optionally, the main control device may be internally configured with steering simulation device control software to control the steering simulation device to perform a steering action on the steering wheel of the test vehicle through the steering simulation device control software.

[0084] Exemplarily, during the process of the main control device controlling the steering simulation device to perform a steering action on the test vehicle, a test frequency can be preset, control instructions are generated according to the test frequency and sent to the optoelectronic conversion module, so that the optoelectronic conversion module converts them into optical signals and sends them to the data acquisition module through an optical fiber, and then the data acquisition module sends them to the steering wheel steering simulator, thereby performing a steering action, and driving the wheels to perform a steering action through the wheel turntable.

[0085] In this step, by controlling the steering simulation device to perform a steering action on the test vehicle, the steering behavior of the driver on the steering wheel can be simulated more realistically, so as to facilitate more accurate verification of the adaptability of the steer-by-wire function of the test vehicle in a complex electromagnetic environment.

[0086] S104. Obtain the actual steering angle information, torque information, and actual wheel steering angle information of the test vehicle when performing a steering action under electromagnetic interference.

[0087] It should be noted that the above-mentioned actual steering angle information of the steering wheel refers to the rotation information corresponding to the steering action of the steering wheel when electromagnetic interference is applied, and the torque information refers to the torque information corresponding to the steering action of the steering wheel when electromagnetic interference is applied; the actual wheel steering angle information refers to the rotation information corresponding to the steering action of the wheels when interference is applied.

[0088] Among them, the above-mentioned actual steering angle information of the steering wheel can include the actual steering information and the actual rotation angle information of the steering wheel; the above-mentioned torque information can include the resistance torque and the return torque; the above-mentioned actual wheel steering angle information can include the actual steering information and the actual rotation angle information of the wheels.

[0089] When the steering simulation device performs a steering action on the steering wheel, the actual steering angle information and the resistance torque of the steering wheel are collected through the data acquisition module. When driving the wheels to perform a steering action, the actual wheel steering angle information is collected through the data acquisition module. Then, the steering simulation device performs a return action on the steering wheel, and the return torque of the steering wheel is collected through the data acquisition module.

[0090] In this step, by obtaining the actual steering angle information, actual wheel steering 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, which is convenient for more detailed electromagnetic compatibility testing of the steer-by-wire function.

[0091] S105. Perform an electromagnetic compatibility test on the steer-by-wire function of the test vehicle according to the actual steering angle information, torque information, and actual wheel steering angle information, and obtain a test result.

[0092] After obtaining the actual steering wheel angle information, torque information, and actual wheel angle information of the test vehicle, based on the actual steering wheel angle information and the actual wheel angle information, the time interval between the rotation time when the steering wheel executes the actual steering wheel angle information and the rotation time when the wheel executes the actual wheel angle information can be determined to obtain the actual delay information. Combining the actual delay information, the electromagnetic compatibility test of the steer-by-wire function of the test vehicle is carried out to obtain the test result. This test result is used to indicate whether the electromagnetic compatibility test of the steer-by-wire function of the test vehicle passes or fails.

[0093] In one embodiment, after the above steps S101 - S104, the present application also provides a specific implementation manner 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 result. As Figure 5 shown, the method includes:

[0094] S201. Based on the actual steering wheel angle information, actual wheel angle information, resistance torque, and return torque, determine whether the steering wheel and the wheel rotate synchronously up and down, continuously up and down, and whether there is an unexpected mutation.

[0095] S202. When the steering wheel and the wheel rotate synchronously up and down, continuously up and down, and there is no unexpected mutation, determine that the test result is that the electromagnetic compatibility test of the steer-by-wire function of the test vehicle passes.

[0096] S203. When any one of the conditions that the steering wheel and the wheel do not rotate synchronously up and down, do not rotate continuously up and down, or there is an unexpected mutation is met, determine that the test result is that the electromagnetic compatibility test of the steer-by-wire function of the test vehicle fails.

[0097] It should be noted that after the test is completed, the data needs to be evaluated. Three indicators can be considered, namely whether the steering wheel and the wheel rotate synchronously up and down, whether they are aligned up and down, and whether there is an unexpected mutation. Whether the up and down rotation angles are synchronous is used to consider whether there is a delay between the rotation responses of the steering wheel and the wheel; whether they are aligned up and down is used to consider whether the resistance torque and return torque of the steering wheel are the same and whether the actual steering wheel angle information is the same as the actual wheel angle information; whether there is an unexpected mutation is used to consider whether the steering wheel suddenly has a sharp change in angle without significant operation.

[0098] Specifically, in the process of determining whether the steering wheel and the wheels rotate synchronously up and down, continuously up and down, and whether there are unexpected mutations based on the actual steering angle information of the steering wheel, the actual steering angle information of the wheels, the resistance torque, and the self-aligning torque, it can be based on the actual steering angle information of the steering wheel and the actual steering angle information of the wheels to determine the actual delay information, calculate the change amount between the actual delay information and the standard delay information, and determine whether the steering wheel and the wheels rotate synchronously up and down according to the change amount; according to the resistance torque, the self-aligning torque, the actual steering angle information of the steering wheel, and the actual steering angle information of the wheels, determine whether the steering wheel and the wheels rotate continuously up and down; based on the resistance torque and the self-aligning torque, determine whether the steering wheel has an unexpected mutation.

[0099] As an alternative implementation, in the process of determining whether the steering wheel and the wheels rotate synchronously up and down according to the change amount, it can be determined that the steering wheel and the wheels rotate synchronously 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 wheels do not rotate synchronously up and down. Among them, the preset range is custom-set according to actual needs.

[0100] Exemplarily, taking the preset range as 0 to 10% of the standard delay information m as an example, when the change amount is within this preset range (0 to m*10%), it is determined that the steering wheel and the wheels rotate synchronously up and down; when the change amount is not within this preset range (0 to m*10%), it is determined that the steering wheel and the wheels do not rotate synchronously up and down.

[0101] As another alternative implementation, in the process of determining whether the steering wheel and the wheels rotate continuously up and down according to the resistance torque, the self-aligning torque, the actual steering angle information of the steering wheel, and the actual steering angle information of the wheels, it can be determined whether the resistance torque and the self-aligning torque 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 wheels. When the resistance torque and the self-aligning torque are the same and the actual steering angle information of the steering wheel is the same as the actual steering angle information of the wheels, it is determined that the steering wheel and the wheels rotate continuously up and down; when the resistance torque and the self-aligning torque are different, or when the actual steering angle information of the steering wheel is different from the actual steering angle information of the wheels, or when the resistance torque and the self-aligning torque are different and the actual steering angle information of the steering wheel is different from the actual steering angle information of the wheels, it is determined that the steering wheel and the wheels do not rotate continuously up and down.

[0102] As yet another alternative implementation, in the process of determining whether the steering wheel has an unexpected mutation based on the resistance torque and the self-aligning torque, it can be determined whether the resistance torque and the self-aligning torque meet the preset unexpected mutation conditions. When they meet the preset unexpected mutation conditions, it indicates that the resistance torque and the self-aligning torque do not have an unexpected mutation; when they do not meet the preset unexpected mutation conditions, it indicates that the resistance torque and the self-aligning torque have an unexpected mutation.

[0103] When the steering wheel rotates synchronously with the up-and-down rotation of the wheels, the up-and-down rotation is continuous, and no unexpected mutation occurs, it is determined that the electromagnetic compatibility test of the steer-by-wire function of the test vehicle passes; when the steering wheel does not rotate synchronously with the up-and-down rotation of the wheels, or when the steering wheel and the wheels do not rotate continuously, or an unexpected mutation occurs, or when any two or three of these three indicators are met, it is determined that the electromagnetic compatibility test of the steer-by-wire function of the test vehicle fails.

[0104] Furthermore, the above main control device is also used to monitor the overall state of the test vehicle to determine whether other faults occur in the vehicle; when the overall state of the vehicle meets the requirements, it is determined that no other faults occur in the vehicle; when the overall state of the vehicle does not meet the requirements, it is determined that other faults occur in the vehicle. When other faults occur in the vehicle, it is determined that the electromagnetic compatibility test of the steer-by-wire function of the test vehicle fails.

[0105] The electromagnetic compatibility test method for a vehicle provided by an embodiment of the present application includes: obtaining standard parameter information of the steering wheel and wheels in the test vehicle, where the standard parameter information is used to characterize the parameter information of the test vehicle when no electromagnetic interference is applied; when the test vehicle meets the test conditions, emitting electromagnetic waves to the test vehicle to generate electromagnetic interference on the test vehicle; controlling a steering simulation device to perform a steering action on the steering wheel of the test vehicle according to the standard parameter information to drive the wheels to perform a steering action; obtaining the actual steering angle information, torque information, and actual wheel angle information of the test vehicle when performing the steering action under electromagnetic interference; and performing an electromagnetic compatibility test on the steer-by-wire function of the test vehicle based on the actual steering angle information, torque information, and actual wheel angle information of the steering wheel to obtain a test result. Compared with the prior art, on the one hand, this technical solution can simulate an electromagnetic interference environment for the test vehicle and drive the wheels to perform a steering action by controlling the steering simulation device to perform a steering action on the steering wheel of the test vehicle, 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 angle information, torque information, and actual wheel angle information of the test vehicle, it is possible to comprehensively consider factors such as the actual steering angle information, torque information, and actual wheel angle information of the test vehicle, so as to more comprehensively and accurately evaluate the electromagnetic immunity of the steer-by-wire function of the test vehicle, improve the detection efficiency and detection accuracy of the steer-by-wire function, and further improve the safety of vehicle driving.

[0106] On the other hand, please continue to refer to Figure 1As shown in the figure, an electromagnetic compatibility test system for a vehicle is provided in an embodiment of the present application. The system includes: a steering simulation device 10, a main control device 20, and an electromagnetic interference generating device 30; the main control device 20 is respectively communicatively connected to the steering simulation device 10 and the electromagnetic interference generating device 30.

[0107] The main control device 20 is configured to: when the test vehicle 40 meets the test conditions, obtain the 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 angle information, torque information, and actual wheel angle information of the test vehicle 40 when performing the steering action under electromagnetic interference; perform electromagnetic compatibility testing on the steer-by-wire function of the test vehicle 40 according to the actual steering angle information, torque information, and actual wheel angle information of the test vehicle 40 to obtain a test result; the standard parameter information is used to characterize the parameter information of the test vehicle 40 when no electromagnetic interference is applied.

[0108] The electromagnetic interference generating device 30 is configured to: emit electromagnetic waves to the test vehicle 40 to generate electromagnetic interference to the test vehicle 40; the steering simulation device 10 is configured to: perform a steering action on the steering wheel of the test vehicle 40 to drive the wheels to perform a steering action.

[0109] Specifically, the above-mentioned main control device 20 can be arranged outside the test site, and a steering control software can be arranged inside it, which is used to receive the data sent by the steering simulation device 10, control the steering simulation device 10 to perform a steering action on the steering wheel of the test vehicle to drive the wheels to perform a steering action. And control the electromagnetic interference generating device 30 to perform electromagnetic compatibility testing on the steer-by-wire function of the test vehicle to obtain a test result; and emit electromagnetic waves to the test vehicle to generate electromagnetic interference to the test vehicle. Obtain the actual steering angle information, torque information, and actual wheel angle information of the test vehicle when performing the steering action under electromagnetic interference, and perform electromagnetic compatibility testing on the steer-by-wire function of the test vehicle according to the actual steering angle information, torque information, and actual wheel angle information of the test vehicle to obtain a test result.

[0110] In one embodiment, please continue to refer to Figure 3As shown in the figure, the above 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. Both the field strength probe 36 and the radio frequency antenna 34 are 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.

[0111] The signal generator 32 is configured to: receive and respond to a control signal, generate an initial radio frequency signal and send it to the power amplifier; the power amplifier 33 is configured to: perform signal amplification processing on the initial radio frequency signal, obtain an amplified radio frequency signal and send it to the radio frequency antenna 34; the radio frequency antenna 34 is configured to: transmit the amplified radio frequency signal into the test cavity to generate electromagnetic interference to the test vehicle; the test computer 35 is configured to: generate a control signal according to preset configuration parameters and send it to the signal generator 32, the radio frequency antenna 34, and the field strength probe 36; the field strength probe 36 is configured to: monitor the field strength information in the test cavity to make the test site where the test vehicle is located at a calibrated electric field strength value.

[0112] Specifically, the radio frequency antenna 34 can be an omnidirectional antenna without directionality or a directional antenna with directionality. Among them, the omnidirectional antenna shows uniform radiation at 360° in the horizontal pattern; the directional antenna shows radiation in a certain angular range in the horizontal pattern. This directional antenna is generally applicable to environments with long communication distances, small coverage ranges, large target densities, and high frequency utilization rates.

[0113] The signal generator 32 is used to generate an initial radio frequency signal and send it to the power amplifier. The power amplifier 33 performs signal amplification processing to obtain an amplified radio frequency signal and send it to the radio frequency antenna, so that the radio frequency antenna 34 transmits the amplified radio frequency signal to the test vehicle to generate electromagnetic interference to the test vehicle.

[0114] In one embodiment, the steering simulation device 10 includes a wheel turntable 12, a steering wheel simulator 11, a data acquisition module 13, and an optoelectronic conversion module 14. The main control device 20 is electrically connected to the data acquisition module 13 through the optoelectronic conversion module 14. The data acquisition module 13 is also connected to the steering wheel simulator 11 and the wheel turntable 12.

[0115] The steering wheel steering simulator 11 is used for: performing a steering action on the steering wheel of the test vehicle; the wheel turntable 12 is used for: driving the wheels to perform a steering action; the optoelectronic conversion module 14 is used for: converting a control instruction into an optical signal and transmitting the optical signal to the data acquisition module; and converting and sending the actual steering angle information, torque information of the steering wheel and the actual steering angle information of the wheels into electrical signals and sending them to the main control device; the data acquisition module 13 is used for: when the steering wheel steering simulator performs a steering action on the steering wheel of the test vehicle, collecting the actual steering angle information and torque information of the steering wheel and sending them to the optoelectronic conversion module; and for collecting the actual steering angle information of the wheels of the wheel turntable and sending it to the optoelectronic conversion module.

[0116] 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; 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.

[0117] The motor controller is used for: receiving the control instruction sent by the data acquisition module and sending a driving instruction to the motor; the motor is used for: receiving and responding to the driving instruction, providing power for the steering wheel of the test vehicle and driving the steering wheel to perform a steering action; the first angle sensor is used for: collecting the actual steering angle information of the steering wheel and sending it to the data acquisition module; the torque sensor is used for: collecting the torque information of the steering wheel and sending it to the data acquisition module; the first angle sensor is used for: collecting the actual steering angle information of the wheels and sending it to the data acquisition module.

[0118] The first angle sensor and the second angle sensor can be the same or different.

[0119] The electromagnetic compatibility test system of the vehicle provided in this embodiment can greatly improve the detection efficiency and detection accuracy of the electromagnetic immunity of the steer-by-wire function. By simulating the steering action of the test vehicle through the steering simulation device, it is investigated whether the steer-by-wire function is normal in the electromagnetic interference environment, and the performance of the vehicle's steer-by-wire function in the electromagnetic interference environment is accurately evaluated. And it can accurately reflect the stability and reliability of the steer-by-wire function in various electromagnetic interference environments that may be encountered in actual use through the test report, which helps to promote the further development of the steer-by-wire technology, so as to promote the stable operation of the steer-by-wire system in a more complex and harsher electromagnetic environment, and thus provide strong support for the wide application of intelligent chassis and automation technology.

[0120] Figure 6 This is a schematic structural diagram of a main control device provided by an embodiment of the present invention. As Figure 6 shown, it shows a schematic structural diagram of the main control device 20 suitable for implementing the embodiments of the present application.

[0121] AsFigure 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 a program stored in a read-only memory (ROM) 402 or a program loaded from a storage section 408 into a random access memory (RAM) 403. In the RAM 403, various programs and data required for system operation are also stored. The CPU 401, ROM 402, and RAM 403 are connected to each other via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0122] 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 from it can be installed into the storage section 408 as needed.

[0123] In particular, according to an embodiment of the present disclosure, the process described above with reference to Figure 2 can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program tangibly embodied on a machine-readable medium, the computer program including program code for performing Figure 2 the method. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 409, and / or installed from the removable medium 411.

[0124] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a part of code, and the foregoing module, segment of a program, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, as well as combinations of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based system that performs the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions.

[0125] The units or modules involved in the embodiments described in this application can be implemented in software or in hardware. The described units or modules can also be provided in a processor.

[0126] As another aspect, this application also provides a computer-readable medium, which may be included in the processing device described in the foregoing embodiments; or may exist separately without being assembled into the main control device. The foregoing computer-readable medium carries one or more programs, and when the foregoing one or more programs are executed by a main control device, the main control device is caused to implement the method for electromagnetic compatibility testing of a vehicle as described in the foregoing embodiments.

[0127] As yet another aspect, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the method for electromagnetic compatibility testing of a vehicle provided in the foregoing embodiments.

[0128] For example, the main control device may implement as 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 wheels to perform a steering action; Step S104, obtain the actual steering angle information, torque information, and actual wheel steering angle information of the test vehicle when performing the steering action under electromagnetic interference; Step S105, perform an electromagnetic compatibility test on the steer-by-wire function of the test vehicle according to the actual steering angle information, torque information, and actual wheel steering angle information to obtain a test result. Perform an electromagnetic compatibility test on the steer-by-wire function of the test vehicle to obtain a test result. For another example, the main control device can also implement each step as shown in Figure 5 as shown in.

[0129] It should be noted that although several modules or units of devices 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 of the above-described modules or units can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0130] In addition, although the steps of the methods in the present disclosure are described in a specific order in the drawings, this does not require or imply that these steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step for execution, and / or one step may be decomposed into multiple steps for execution, etc. Through the description of the above embodiments, those skilled in the art can easily understand that the example embodiments described herein can be implemented by software or by a combination of software and necessary hardware.

[0131] The above description is only a preferred embodiment of the present application and an explanation of the technical principles applied. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solutions formed by the specific combination of the above technical features, and 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 technical solutions formed by mutually replacing the above features with technical features (but not limited to) having similar functions disclosed in the present application.

Claims

1. An electromagnetic compatibility testing method for a vehicle, characterized in that The method includes: When the test vehicle meets the test conditions, obtaining 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; 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 the actual steering angle information, torque information, and actual wheel steering angle information of the test vehicle when performing the steering action under electromagnetic interference; Performing an electromagnetic compatibility test on the steer-by-wire function of the test vehicle according to the actual steering angle information, torque information, and actual wheel steering angle information of the steering wheel to obtain a test result; the torque information includes a resistance torque and a return torque; Performing an electromagnetic compatibility test on the steer-by-wire function of the test vehicle according to the actual steering angle information, torque information, and actual wheel steering angle information of the steering wheel to obtain a test result, including: Based on the actual steering angle information of the steering wheel, the actual wheel steering angle information, the resistance torque, and the return torque, determining whether the steering wheel and the wheels rotate synchronously up and down, whether they rotate continuously up and down, and whether there is an unexpected mutation; When the steering wheel and the wheels rotate synchronously up and down, rotate continuously up and down, and no unexpected mutation occurs, determining that the test result is that the electromagnetic compatibility test of the steer-by-wire function of the test vehicle passes; When any one of the conditions that the steering wheel and the wheels do not rotate synchronously up and down, the rotation is not continuous up and down, and an unexpected mutation occurs is met, determining that the test result is that the electromagnetic compatibility test of the steer-by-wire function of the test vehicle fails.

2. The method according to claim 1, wherein The standard parameter information includes: standard steering angle information of the steering wheel, torque standard information, standard wheel steering angle information, standard delay information; obtaining the standard parameter information of the steering wheel and wheels in the test vehicle includes: Checking whether the test vehicle is in a normal state; When in a normal state, controlling 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 a steering action; Obtaining the standard steering angle information of the steering wheel, the torque standard information, and the standard wheel steering angle information; Determining the standard delay information according to the standard steering angle information of the steering wheel and the standard wheel steering angle information; the standard delay information is used to characterize the time interval between the rotation time of the steering wheel performing the standard steering angle information of the steering wheel and the rotation time of the wheels performing the standard wheel steering angle information.

3. The method according to claim 1, characterized in that Based on the actual steering angle information of the steering wheel, the actual wheel steering angle information, the resistance torque, and the return torque, determining whether the steering wheel and the wheels rotate synchronously up and down, whether the rotation is continuous up and down, and whether there is an unexpected mutation, including: Based on the actual steering wheel rotation angle information and the actual wheel rotation angle information, determine the actual delay information; the actual delay information is used to characterize the time interval between the rotation time of the steering wheel executing the actual steering wheel rotation angle information and the rotation time of the wheel executing the actual wheel rotation angle information; Calculate the change amount between the actual delay information and the standard delay information, and based on the change amount, determine whether the steering wheel and the wheel are synchronized in up-and-down rotation; Based on the resistance torque, the return torque, the actual steering wheel rotation angle information, and the actual wheel rotation angle information, determine whether the steering wheel and the wheel are continuous in up-and-down rotation; Based on the resistance torque and the return torque, determine whether the steering wheel has an unexpected mutation.

4. The method according to claim 3, characterized in that, Determining whether the steering wheel and the wheel are synchronized in up-and-down rotation according to the change amount includes: When the change amount is within a preset range, determine that the steering wheel and the wheel are synchronized in up-and-down rotation; When the change amount is not within the preset range, determine that the steering wheel and the wheel are not synchronized in up-and-down rotation.

5. 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, including: According to the preset configuration parameters of the electromagnetic interference generating device, control the parameter configuration of the electromagnetic interference generating device; After the parameter configuration is completed, control the signal generator in the electromagnetic interference generating device to generate an initial radio frequency signal; According to the calibrated electric field strength value of the test site where the test vehicle is located, control the power amplifier in the electromagnetic interference generating device to amplify the initial radio frequency signal; Control the radio frequency antenna in the electromagnetic interference generating device to transmit the amplified radio frequency signal to the test vehicle to generate electromagnetic interference to the test vehicle.

6. An electromagnetic compatibility test system for a vehicle, characterized in that, Including: 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 configured to: when the test vehicle meets the test conditions, obtain the standard parameter information of the steering wheel and the wheel 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 wheel to perform a steering action; obtain the actual steering wheel rotation angle information, torque information, and actual wheel rotation angle information of the test vehicle when performing the steering action under electromagnetic interference; according to the actual steering wheel rotation angle information, torque information, and actual wheel rotation angle information of the test vehicle, perform electromagnetic compatibility testing on the steer-by-wire function 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 torque information includes a resistance torque and a return torque; The electromagnetic interference generating device is configured to: emit electromagnetic waves to the test vehicle to generate electromagnetic interference to the test vehicle; The steering simulation device is used for: performing a steering action on the steering wheel of the test vehicle to drive the wheels to perform a steering action; The main control device is further used for: based on the actual steering angle information of the steering wheel, the actual steering angle information of the wheels, the resistance torque, and the return torque, determining whether the steering wheel and the wheels are synchronized in up-and-down rotation, whether the up-and-down rotation is continuous, and whether there is an unexpected mutation; When the steering wheel and the wheels are synchronized in up-and-down rotation, the up-and-down rotation is continuous, and there is no unexpected mutation, it is determined that the test result is that the electromagnetic compatibility test of the steer-by-wire function of the test vehicle passes; When any one of the conditions that the steering wheel and the wheels are not synchronized in up-and-down rotation, the up-and-down rotation is not continuous, and there is an unexpected mutation is met, it is determined that the test result is that the electromagnetic compatibility test of the steer-by-wire function of the test vehicle fails.

7. The system according to claim 6, wherein The electromagnetic interference generating device includes: a test cavity, a test computer, a signal generator, a power amplifier, a radio frequency antenna, and a field strength probe. The test computer is electrically connected to the signal generator, 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 generator and the radio frequency antenna respectively; The test computer is used for: generating a control signal according to preset configuration parameters and sending it to the signal generator, the radio frequency antenna, and the field strength probe; The signal generator is used for: receiving and responding to the control signal, generating an initial radio frequency signal and sending it to the power amplifier; The power amplifier is used for: performing signal amplification processing on the initial radio frequency signal, obtaining an amplified radio frequency signal and sending it to the radio frequency antenna; The radio frequency antenna is used for: transmitting the amplified radio frequency signal into the test cavity to generate electromagnetic interference to the test vehicle; The field strength probe is used for: monitoring the field strength information in the test cavity to make the test site where the test vehicle is located at a calibrated electric field strength value.

8. The system according to claim 6, characterized in that, The steering simulation device includes a wheel turntable, a steering wheel simulator, a data acquisition module, and an optoelectronic conversion module. The main control device is electrically connected to the data acquisition module through the optoelectronic conversion module. The data acquisition module is also connected to the steering wheel simulator and the wheel turntable; The steering wheel simulator is used for: performing a steering action on the steering wheel of the test vehicle; the wheel turntable is used for: driving the wheels to perform a steering action; The optoelectronic conversion module is used for: converting a control instruction into an optical signal and transmitting the optical signal to the data acquisition module; and converting and sending the actual steering angle information, torque information, and actual steering angle information of the wheels into electrical signals and sending them to the main control device; The data acquisition module is used for: when the steering wheel simulator performs a steering action on the steering wheel of the test vehicle, acquiring the actual steering angle information and torque information of the steering wheel and sending them to the optoelectronic conversion module; And for acquiring the actual steering angle information of the wheel turntable and sending it to the optoelectronic conversion module.

9. The system according to claim 8, wherein 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; 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 configured to: receive a control instruction sent by the data acquisition module and send a drive instruction to the motor; The motor is configured to: receive and respond to the drive instruction, provide power for the steering wheel of the test vehicle, and drive the steering wheel to perform a steering action; The first angle sensor is configured to: collect the actual steering angle information of the steering wheel and send it to the data acquisition module; The torque sensor is configured to: collect the torque information of the steering wheel and send it to the data acquisition module; The first angle sensor is configured to: collect the actual rotation angle information of the wheel and send it to the data acquisition module.

10. A main control device, comprising: A memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the computer program to implement the electromagnetic compatibility test method for a vehicle according to any one of claims 1-5.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the electromagnetic compatibility test method for a vehicle according to any one of claims 1-5.

Images