HIL remote monitoring system and method based on CAN bus

Abstract

The invention discloses an HIL remote monitoring system and method based on a CAN bus. The HIL remote monitoring system comprises a first connection module, a second connection module and a data acquisition and forwarding module, wherein the first connection module is used for connecting an HIL test device connected with each controller with the data acquisition and forwarding module; the second connection module is used for connecting each data acquisition and forwarding module with the HIL remote monitoring system; the data acquisition and forwarding module is used for receiving and forwarding the message sent by each controller to the HIL remote monitoring system; according to the invention, the problem of new energy HIL test project resource bottleneck can be effectively solved; the software development capability is improved; waste of research and development resources is avoided; and the intelligent, digital and unmanned test level of the new energy HIL test is improved. And the purposes of cost reduction and benefit increase in new energy software development are achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of remote monitoring, and in particular relates to a CAN bus HIL remote monitoring system and method. Background Art

[0002] In the field of new energy development, HIL (Hardware-in-the-Loop) hardware-in-the-loop testing is particularly critical, and various automotive R&D companies have made large investments in capabilities. Its purpose is to solve the hardware-in-the-loop simulation of various domain controllers of new energy vehicles. Through the HIL test system, the DBC file messages of various units of the vehicle, such as VCU, MCU, BMS, EMS, etc., are integrated to form a hardware-in-the-loop environment; the vehicle working conditions are used to coordinate various domain controllers to achieve dynamic road simulation of the vehicle; the CAN message control logic of each domain controller is effectively verified to achieve the BNG (Bug Nailing and Gunning) problem of the test system software.

[0003] In the field of automobile research and development, especially when it comes to the development of various new energy electric control systems, the use of HIL hardware-in-the-loop equipment can simulate the software and hardware control logic of each control unit of the electric control system in real time; through HIL simulation and simulation measurement and control technology, the virtual verification of new energy vehicle research and development can be moved forward; in order to improve research and development efficiency and shorten the automobile research and development cycle; effectively solve the dynamic testing of various domain controllers and verify software and hardware design defects; various automobile manufacturers have invested a lot of money to purchase new energy hardware-in-the-loop test equipment; however, advanced HIL test equipment mostly relies on foreign imports; the cost of purchasing a single set of HIL equipment is about several million yuan; due to the high price of the test system, it takes a lot of time for test engineers to debug a set of hardware-in-the-loop simulation environment, and the different capabilities of engineers lead to low equipment utilization rate; the input and output are not proportional; how to make good use of the HIL equipment that has been invested; each research and development field has formulated corresponding new energy software HIL capability improvement methods; its equipment operation efficiency and equipment start-up rate are still less than 50%. A lot of research and development resources and manpower costs are wasted. Summary of the invention

[0004] In order to improve the means of scheduling new energy software development, testing, and verification; meet the new energy HIL software and hardware development and testing; and solve the problems of low debugging efficiency of each domain controller of the new energy HIL and uneven busyness between coordination domain controllers, the present invention proposes a HIL remote monitoring system and method based on the CAN bus.

[0005] A CAN bus HIL remote monitoring system to achieve one of the purposes of the present invention comprises:

[0006] The first connection module is used to connect the HIL test equipment connected to each controller with the data acquisition and forwarding module;

[0007] The second connection module is used to connect each data acquisition and forwarding module with the HIL remote monitoring system;

[0008] Data acquisition and forwarding module: used to receive and forward messages sent by each controller to the HIL remote monitoring system.

[0009] Furthermore, the above system also includes a message integration module: used to integrate the DBC files of each controller to form a HIL remote monitoring DBC file, and import it into the HIL remote monitoring system. The DBC files of each controller are used to define the format of the CAN message sent by each controller; after the DBC files of each controller are integrated, the DBC file corresponding to the controller can be called to parse the message sent by the controller according to the message currently sent by each controller. The integration of the DBC files of each controller includes: establishing a correspondence between the message of the controller and the DBC file of the controller, and after receiving the message of each controller, determining the DBC file corresponding to the controller according to the correspondence.

[0010] Furthermore, the system further comprises a message parsing module, which is located in the HIL remote monitoring system and is used to parse the received message according to the HIL remote monitoring DBC file to obtain the status of each HIL device.

[0011] Furthermore, in the above-mentioned first connection module, each controller is connected to a CAN interface of the HIL test equipment via a CAN twisted pair cable.

[0012] Furthermore, a resistor is included between the HIL test equipment and the data acquisition and forwarding module, and the resistor is used to simulate each controller. Its technical effects are: improving anti-interference ability, allowing high-frequency and low-energy signals to quickly disappear; ensuring that the bus quickly enters the recessive state, allowing the energy of the parasitic capacitor to disappear faster; improving signal quality, placed at both ends of the bus, and reducing reflected energy.

[0013] Furthermore, in the above-mentioned second connection module, the data acquisition and forwarding module encapsulates the network protocol message in the first format received from each controller into a network protocol message in the second format and then forwards it to the HIL remote monitoring system.

[0014] Furthermore, in the above-mentioned second connection module, the IP addresses of each data acquisition and forwarding module and the HIL remote monitoring system are in the same network segment.

[0015] A CAN bus HIL remote monitoring method based on the second object of the present invention comprises:

[0016] Connect the HIL test equipment connected to each controller to the data acquisition and forwarding module;

[0017] Connect each data acquisition and forwarding module with the HIL remote monitoring system;

[0018] Receive and forward messages sent by each controller to the HIL remote monitoring system.

[0019] Furthermore, the above method also includes:

[0020] The DBC files of each controller are integrated to form a HIL remote monitoring DBC file, which is imported into the HIL remote monitoring system; the HIL remote monitoring system parses the received message according to the HIL remote monitoring DBC file to obtain the status of each HIL device.

[0021] Furthermore, a resistor is included between the HIL test equipment and the data acquisition and forwarding module.

[0022] Furthermore, receiving and forwarding the messages sent by each controller to the HIL remote monitoring system includes: after the network protocol messages in the first format received from each controller are encapsulated into network protocol messages in the second format and then forwarded to the HIL remote monitoring system.

[0023] The beneficial effects of the present invention include:

[0024] The present invention uses technical means to connect all new energy HIL equipment, such as VCU, TCU, MCU, BMS, ESM, Body and other HIL hardware-in-the-loop test equipment; remote data acquisition is performed, and the HIL test equipment can be displayed on a digital large screen according to the analyzed data; CAN bus technology is used to establish a CAN message control environment; DBC files are written, and at the same time, each domain controller HIL test equipment is converted to a TCP network through CAN; data acquisition and remote data interaction between HIL and HIL are realized; data is uploaded in real time; the digital large screen collects data based on TCP to analyze the operating status of the HIL equipment in real time; the system automatically calculates the equipment operating hours and equipment load rate of the day; the new energy HIL remote monitoring system through the CAN bus; the operating status of each HIL equipment is displayed online in real time; the research and development project is guided to effectively schedule HIL test tasks; and the idleness of HIL resources and the unevenness of resource busyness and idleness are avoided;

[0025] The present invention can effectively solve the resource bottleneck problem of new energy HIL test projects, improve software development capabilities, eliminate the waste of R&D resources, and improve the level of intelligent, digital, and unmanned testing of new energy HIL tests, thereby achieving the goal of reducing costs and increasing efficiency in new energy software development. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the HIL remote monitoring system based on the CAN bus;

[0027] Figure 2 It is a flow chart of an embodiment of a HIL remote monitoring method based on a CAN bus. DETAILED DESCRIPTION

[0028] The following specific implementations are used to explain the technical solutions of the claims of the present invention so that those skilled in the art can understand the claims. The protection scope of the present invention is not limited to the following specific implementation structures. The technical solutions of the claims of the present invention made by those skilled in the art but different from the following specific implementations are also within the protection scope of the present invention.

[0029] Example 1

[0030] A CAN bus HIL remote monitoring system, comprising:

[0031] The first connection module is used to connect the HIL test equipment connected to each controller with the data acquisition and forwarding module;

[0032] The second connection module is used to connect each data acquisition and forwarding module with the HIL remote monitoring system;

[0033] Data acquisition and forwarding module: used to receive and forward messages sent by each controller to the HIL remote monitoring system.

[0034] In some embodiments, in the first connection module, each controller is connected to the CAN interface of the HIL test device through a CAN twisted pair, and a 120Ω resistor is added between the HIL test device and the data acquisition and forwarding module. Figure 1 As shown, the MCU, TCU, VCU, BMS and other domain controllers are connected to the corresponding HIL test equipment through the CAN bus. The CAN interface is connected through a CAN twisted pair. Based on the CAN protocol standard, the 2nd pin of the DB9 output interface is CAN-L and the 7th pin is CAN-H; define the P-CAN and H-CAN transmission message information format; add a 120Ω resistor to the CAN bus port connecting each HIL test equipment and the data acquisition and forwarding module; connect the HIL test equipment output CAN interface to the CAN interface of the data acquisition and forwarding module (hereinafter referred to as the CANFD / TCP module). At this time, pay attention to the CAN bus transmission distance, which should not exceed 100m; CANFD is Controller Area Network with Flexible Data-Rate, which is a flexible data rate controller area network.

[0035] In some embodiments, in the above-mentioned second connection module, in the second connection module, the data acquisition and forwarding module encapsulates the network protocol message of the first format received from each controller into the network protocol message of the second format and then forwards it to the HIL remote monitoring system. Specifically, the network protocol message of the first format is the CAN protocol; the network protocol message of the second format is the TCP / IP protocol; the CANFD / TCP module corresponding to the HIL test equipment is connected to the local area network through a network cable, and the IP address, gateway and other parameters of each CANFD / TCP module are defined; the network communication IP address of each CANFD / TCP module and the IP address of the remote monitoring computer are defined to ensure that the network is on the same network segment; and ensure that the TCP network communication is normal.

[0036] In some embodiments, it also includes a TCP network test, in which the CANFD / TCP module and the HIL test equipment are tested for communication through a network debugging assistant, and the port numbers of the TCP server and client are set; a TCP network test is performed, and when the HIL test equipment outputs a CAN message, the network debugging assistant automatically collects the CAN message output and sets the hexadecimal and binary parsing methods.

[0037] In some embodiments, a message integration module is also included: it is used to integrate the DBC files of each controller to form a HIL remote monitoring DBC file, and import it into the HIL remote monitoring system. Specifically, when writing the DBC (Database for CAN) file, use the CAN tool to integrate the DBC files of each domain controller such as MCU, TCU, VCU, BMS, etc. into CAN messages, write key messages, define the CAN network communication matrix according to the whole vehicle, define the message ID, message length, message cycle, message accuracy, offset, etc.; and perform message editing. After writing, the message integration is performed to form a HIL remote monitoring DBC file, which is imported into the HIL remote monitoring computer system. Its purpose is to realize real-time sampling, storage, data cleaning, etc. of the back-end data of the digital remote monitoring display.

[0038] The key messages of MCU, TCU, VCU and BMS are as follows:

[0039] SG_MCU_MotorFault Motor fault

[0040] SG_MCU_MotorTemp Motor temperature

[0041] SG_MCU_MotorTorque Motor torque

[0042] SG_MCU_MotorSpd: motor speed

[0043] SG_MCU_ControllerTemp controller temperature

[0044] SG_BMS_SOCBattery SOC

[0045] SG_BMS_VoltageBattery voltage

[0046] SG_BMS_Current Battery current

[0047] SG_BMS_Batt Temp Battery module temperature

[0048] SG_TCU_Gear Shift Status Gear shift status

[0049] SG_VCU_CheckSum Vehicle Inspection

[0050] SG_VCU_VehSpd vehicle speed

[0051] SG_VCU_EngSpd Engine speed ...........

[0053] In some embodiments, a message parsing module is also included, which is located in the HIL remote monitoring system and is used to parse the received message according to the HIL remote monitoring DBC file to obtain the status of each HIL device. Specifically, in the HIL remote monitoring system, a computer code is written and Java software is used to obtain the CANFD / TCP module IP address, the module CAN interface port, and the port address position, and the CAN message data of the controllers such as MCU, TCU, VCU, BMS and the HIL test equipment are read in real time through the Java program.

[0054] NewThread(()->{

[0055] TcpMonitortcpMonitor=newTcpMonitor(ip:"*********"

[0056] port:********,tcpService):

[0057] tcps.add(tcpMonitor);

[0058] try{

[0059] tcpMonitor.start():

[0060] }catch(InterruptedExceptione){

[0061] throw new RuntimeException(e): ..............

[0063] Import the integrated DBC file into the remote monitoring system, read the CAN message of the CANFD / TCP module through software programming, and parse the CAN message data based on the integrated message and CANFD / TCP; when the HIL test equipment runs and outputs messages, the CANFD / TCP module will collect and parse the HIL test equipment running messages in real time; store the collected data into the monitoring system through the database, and display the key operating data of the HIL test equipment on a digital remote large screen in real time; the remote monitoring system can realize the real-time collection and storage of hardware-in-the-loop dynamic simulation data of controllers such as MCU, TCU, VCU, and BMS.

[0064] Through the remote monitoring system, the operating status of each controller such as MCU, TCU, VCU, BMS, etc. can be remotely monitored in real time; provide intelligent, digital, and unmanned solutions for vehicle software development, and use big data analysis to realize real-time remote verification of the vehicle CAN message control logic matrix, effectively solving the software bug detection rate during the software development process. The key messages of each control unit are displayed on a large screen in real time, such as vehicle speed, battery SOC, motor speed, motor torque, gearbox gear, etc.; through digital means, HIL test tasks and controller development are tested and scheduled; effectively solve the effective test time, test preparation time, and operation time of each controller; accurately calculate the HIL test load rate; improve the effective operation load rate of HIL test equipment, improve vehicle development efficiency, shorten vehicle R&D time, and reduce development costs. Among them, equipment load rate = actual test time / total test time. The actual test time is: the time when the equipment actually operates or works in a working cycle, excluding non-test time such as equipment downtime, maintenance, test preparation, and HIL test case programming. Total operating time is the total operating time of the equipment in a work week, including actual testing time and test preparation time.

[0065] Example 2

[0066] A CAN bus HIL remote monitoring method, comprising:

[0067] Connect the HIL test equipment connected to each controller to the data acquisition and forwarding module;

[0068] Connect each data acquisition and forwarding module with the HIL remote monitoring system;

[0069] Receive and forward messages sent by each controller to the HIL remote monitoring system.

[0070] In some embodiments, the method further includes: integrating the DBC files of each controller to form a HIL remote monitoring DBC file, and importing the file into the HIL remote monitoring system; the HIL remote monitoring system is used to parse the received message according to the HIL remote monitoring DBC file to obtain the status of each HIL device.

[0071] Example 3

[0072] A HIL remote monitoring method based on CAN bus

[0073] Step (1) CAN bus hardware integration: MCU, TCU, VCU, BMS and other domain controllers are connected to the CAN interface of the HIL test equipment through CAN twisted pair cables. According to the CAN protocol standard, the 2nd pin of the DB9 output interface is CAN-L and the 7th pin is CAN-H; a 120Ω resistor is added between the 2nd and 7th pins to simulate each controller; the HIL test equipment output CAN interface is connected to the CAN interface of the data acquisition module. The CAN bus transmission distance is usually not more than 100m.

[0074] Step (2) TCP network communication integration: Connect the CANFD / TCP data acquisition module corresponding to the HIL test equipment to the local area network via a network cable, define the IP address, gateway and other parameters of each CANFD / TCP data acquisition module; ensure that the TCP network communication is normal.

[0075] Step (3) TCP network test: Use the network debugging assistant to test the communication between the CANFD / TCP data acquisition module and the HIL test equipment, set the port numbers of the TCP server and client; perform a TCP network test. When the HIL test equipment outputs a CAN message, the network debugging assistant automatically collects the CAN message output and sets the hexadecimal and binary parsing methods.

[0076] Step (4) Write DBC file: Integrate the DBC files of each domain controller such as MCU, TCU, VCU, BMS, etc., and write key messages. The purpose is to realize real-time sampling, storage, data cleaning, etc. of the back-end data of digital remote monitoring display. According to the vehicle CAN network communication matrix, write DBC files, including: message ID, message length, message frequency, message accuracy, offset, etc.;

[0077] The key messages of MCU, TCU, VCU and BMS are as follows:

[0078] SG_MCU_MotorFault Motor fault

[0079] SG_MCU_MotorTemp Motor temperature

[0080] SG_MCU_MotorTorque Motor torque

[0081] SG_MCU_MotorSpd: motor speed

[0082] SG_MCU_ControllerTemp controller temperature

[0083] SG_BMS_SOCBattery SOC

[0084] SG_BMS_VoltageBattery voltage

[0085] SG_BMS_Current Battery current

[0086] SG_BMS_Batt Temp Battery module temperature

[0087] SG_TCU_Gear Shift Status Gear shift status

[0088] SG_VCU_CheckSum Vehicle Inspection

[0089] SG_VCU_VehSpd vehicle speed

[0090] SG_VCU_EngSpd Engine speed ...........

[0092] Step (5) writes computer code, uses Java software to set the CANFD / TCP data acquisition module IP address, module CAN interface port, and define the port address position; through the Java program, reads the MCU, TCU, VCU, BMS and other controllers and HIL test equipment CAN message data in real time, and compiles the computer code and imports it into the HIL remote monitoring system for operation.

[0093] New Thread(()->{

[0094] TcpMonitor tcpMonitor=new TcpMonitor(ip:"*******"

[0095] port:********,tcpService):

[0096] tcps.add(tcpMonitor);

[0097] try{

[0098] tcpMonitor.start():

[0099] }catch(InterruptedException e){

[0100] throw new RuntimeException(e): ..............

[0102] Step (6) import the integrated DBC file into the HIL remote monitoring system, read the CAN message of the CANFD / TCP data acquisition module through software programming, and analyze the CAN message data collected by the integrated message and CANFD / TCP; when the HIL test equipment runs and outputs the message, the CANFD / TCP data acquisition module collects and analyzes the HIL test equipment running message in real time; the collected data is stored in the HIL remote monitoring system through the database, and the HIL remote monitoring system can be a computer system, which is also connected to other hardware systems, such as a digital large screen, to display the key operating data of the HIL test equipment on a digital remote large screen in real time; the HIL remote monitoring system can realize the real-time acquisition and storage of dynamic simulation data of the hardware in the loop of controllers such as MCU, TCU, VCU, BMS, etc. Real-time remote monitoring of the operating status of each controller such as MCU, TCU, VCU, BMS, etc.; using big data analysis, the real-time remote verification of the vehicle CAN message control logic matrix is ​​realized. The key messages of each control unit are displayed on a large screen in real time, such as vehicle speed, battery SOC, motor speed, motor torque, gearbox gear, etc.; HIL test tasks are scheduled with controller development; the effective test time, test preparation time, and operating time of each controller are effectively solved; and the HIL test load rate is accurately calculated.

[0103] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0104] Example 4

[0105] An embodiment of the present invention further provides a computer-readable storage medium, which stores a computer program. The computer program includes program instructions. When the program instructions are executed by a processor, the steps of the method described in the present invention are implemented, which will not be repeated here.

[0106] The computer-readable storage medium may be the data transmission device provided in any of the aforementioned embodiments or the internal storage unit of the computer device, such as the hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, a smart memory card (smartmedia card, SMC), a secure digital (secure digital, SD) card, a flash card (flash card), etc., provided on the computer device.

[0107] Furthermore, the computer-readable storage medium may include both an internal storage unit of the computer device and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the computer device. The computer-readable storage medium may also be used to temporarily store data to be output or has been output.

[0108] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0109] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0110] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0111] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0112] Example 4

[0113] A computer program product comprises a computer program / instruction, wherein when the computer program / instruction is executed by a processor, any step of the CAN bus based HIL remote monitoring method is implemented.

[0114] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

Claims

1. A CAN bus HIL remote monitoring system, characterized in that: include: The first connection module is used to connect the HIL test equipment connected to each controller with the data acquisition and forwarding module; The second connection module is used to connect each data acquisition and forwarding module with the HIL remote monitoring system; Data acquisition and forwarding module: used to receive and forward messages sent by each controller to the HIL remote monitoring system.

2. The CAN bus HIL remote monitoring system according to claim 1, characterized in that: It also includes a message integration module: used to integrate the DBC files of each controller to form a HIL remote monitoring DBC file, and import it into the HIL remote monitoring system.

3. The CAN bus based HIL remote monitoring system as claimed in claim 2, characterized in that: It also includes a message parsing module, which is located in the HIL remote monitoring system and is used to parse the received message according to the HIL remote monitoring DBC file to obtain the status of each HIL device.

4. The CAN bus based HIL remote monitoring system according to claim 1, characterized in that: A resistor is also included between the HIL test equipment and the data acquisition forwarding module.

5. The CAN bus based HIL remote monitoring system according to claim 1, characterized in that: In the second connection module, the data acquisition and forwarding module encapsulates the network protocol message in the first format received from each controller into a network protocol message in the second format and then forwards it to the HIL remote monitoring system.

6. The CAN bus based HIL remote monitoring system according to claim 1, characterized in that: In the second connection module, the IP addresses of the data acquisition and forwarding modules and the HIL remote monitoring system are in the same network segment.

7. A CAN bus HIL remote monitoring method based on the system of claim 1, characterized in that: include: Connect the HIL test equipment connected to each controller to the data acquisition and forwarding module; Connect each data acquisition and forwarding module with the HIL remote monitoring system; Receive and forward messages sent by each controller to the HIL remote monitoring system.

8. The CAN bus HIL remote monitoring method according to claim 7, characterized in that: Also includes: Integrate the DBC files of each controller to form the HIL remote monitoring DBC file, and import it into the HIL remote monitoring system.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the CAN bus based HIL remote monitoring method according to any one of claims 7 to 8 are implemented.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instruction is executed by a processor, the steps of the CAN bus based HIL remote monitoring method according to any one of claims 7 to 8 are implemented.

Images