High-integration novel driving unit test method, electronic equipment and storage medium

Abstract

The invention relates to the technical field of vehicle testing, in particular to a high-integration novel driving unit testing method, electronic equipment and a storage medium. The capability test system comprises a measurement module, a control module, a fixed support, a road load simulation platform arranged on the fixed support, a wheel load dynamic loading mechanism and an electrical system, and the method comprises the following steps: determining control parameters, simulation parameters, loading parameters and electrical parameters according to current test requirements, respectively controlling the road load simulation platform, the wheel load dynamic loading mechanism and the electrical system to be in corresponding states, sending control parameters to the to-be-tested high-integration novel driving unit, and measuring current test parameters of the to-be-tested high-integration novel driving unit; and obtaining a function test result and / or a performance test result of the to-be-tested high-integration novel driving unit. Therefore, the problems of high cost, high danger coefficient, long period and the like of the existing test method are solved.

Description

Technical Field

[0001] The present application relates to the field of vehicle testing technology, and in particular to a highly integrated new driving unit testing method, electronic equipment and storage medium. Background Art

[0002] The highly integrated new driving unit is a modular assembly formed by deeply integrating the driving, braking, steering and suspension functions on the basis of the wheel-side / wheel-hub motor distributed drive architecture, realizing the integrated control of the longitudinal, transverse and vertical multi-dimensional motion of the whole vehicle, and significantly improving the comprehensive motion control performance of the chassis domain. The whole vehicle equipped with the highly integrated new driving unit can have novel operation modes such as in-situ steering, fixed-point steering, crab-walking into the warehouse and diagonal lane change, enriching the vehicle service scene. In addition, while supporting the modular development of the chassis, the highly integrated new driving unit technology can promote the decoupling design of the chassis and the body, greatly accelerating the vehicle development cycle. Therefore, the highly integrated new driving unit technology is considered to be a strategic core technology in the field of vehicle engineering and an ideal carrier for the future intelligent chassis of automobiles under the guidance of the "New Four Modernizations". The promotion and application of the highly integrated new driving unit technology will lead to a subversive change in the whole vehicle R&D industry chain. The high-function integrated 1 / 4 chassis attribute makes the bench test verification of the highly integrated new driving unit prominently important, becoming an extremely critical link in the V-shaped R&D verification system of the industry chain.

[0003] However, the industry currently lacks industrial-grade testing equipment for highly integrated new travel units under the boundary conditions of the whole vehicle, resulting in the inability to effectively carry out performance and function verification of the highly integrated new travel units under single driving, braking, rotation and suspension conditions and coupled conditions that simulate the use of the whole vehicle on the test bench. It can only be completed through road testing under the conditions of vehicle installation. The testing cost is high, the risk factor is high, the cycle is long, and the optimization and update are delayed, which urgently needs to be solved. Summary of the invention

[0004] The present application provides a highly integrated new driving unit testing method, electronic equipment and storage medium to solve the problems of high cost, high risk factor and long cycle in existing testing methods, saving vehicle development funds and time costs and shortening the R&D cycle.

[0005] The first aspect of the present application provides a highly integrated new type of driving unit testing method, the method adopts a capability testing system, the capability testing system includes a measurement module, a control module, a fixed bracket, a road load simulation platform arranged on the fixed bracket, a wheel load dynamic loading mechanism and an electrical system, wherein the method includes the following steps:

[0006] Obtain the current test requirements of the highly integrated new driving unit to be tested;

[0007] Determining control parameters of the control module, simulation parameters of the road load simulation platform of the fixed bracket, loading parameters of the wheel load dynamic loading mechanism, and electrical parameters of the electrical system according to the current test requirements;

[0008] Based on the simulation parameters, the loading parameters and the electrical parameters, the road load simulation platform of the fixed bracket, the wheel load dynamic loading mechanism and the electrical system are controlled to be in corresponding states respectively, and the control module is used to send the control parameters to the highly integrated new type of driving unit to be tested, and the measurement module is used to measure the current test parameters of the highly integrated new type of driving unit to be tested, and the functional test results and / or performance test results of the highly integrated new type of driving unit to be tested are obtained according to the current test parameters.

[0009] According to one embodiment of the present application, the current test requirements include at least one of static and dynamic steering function testing, driving and braking performance testing, vertical alternating load testing, dynamics and control calibration, handling performance testing and functional safety testing.

[0010] According to an embodiment of the present application, the current test requirement is the static and dynamic steering function test, and the current test parameters of the highly integrated new driving unit to be tested are measured by the measurement module, and the function test results and / or performance test results of the highly integrated new driving unit to be tested are obtained according to the current test parameters, including:

[0011] When the current test requirement is a static steering function test, the measuring module is used to measure a first actual steering angle of the wheel, and a first execution response time of the wheel steering is read, and a static steering function test result is obtained according to the first actual steering angle and the first execution response time;

[0012] And / or, when the current test requirement is a dynamic steering function test, the measurement module is used to measure a second actual steering angle of the wheel, and the second execution response time of the wheel steering is read, and based on the second actual steering angle and the second execution response time, the dynamic steering function test result of the highly integrated new driving unit to be tested is obtained.

[0013] According to an embodiment of the present application, the current test requirement is the driving and braking performance test, and the current test parameters of the highly integrated new travel unit to be tested are measured by the measurement module, and the function test results and / or performance test results of the highly integrated new travel unit to be tested are obtained according to the current test parameters, including:

[0014] Based on a plurality of road adhesion coefficients, the measuring module is used to measure the driving torque under the acceleration condition or the braking torque under the deceleration condition;

[0015] The driving and braking performance test result of the highly integrated new travel unit to be tested is obtained according to the driving torque under the acceleration condition or the braking torque under the deceleration condition.

[0016] According to an embodiment of the present application, the current test requirement is the vertical alternating load test, and the current test parameters of the highly integrated new travel unit to be tested are measured by the measurement module, and the function test results and / or performance test results of the highly integrated new travel unit to be tested are obtained according to the current test parameters, including:

[0017] Using the measurement module to measure the suspension load-bearing capacity of the highly integrated new travel unit to be tested under multiple road flatnesses;

[0018] The vertical alternating load test result of the highly integrated new travel unit to be tested is obtained according to the suspension bearing capacity under the multiple road flatnesses.

[0019] According to an embodiment of the present application, the current test requirement is the dynamics and control calibration, and the current test parameters of the highly integrated new travel unit to be tested are measured by the measurement module, and the function test results and / or performance test results of the highly integrated new travel unit to be tested are obtained according to the current test parameters, including:

[0020] Based on multiple test temperatures and multiple vehicle driving simulation conditions, the measuring module is used to measure the driving torque parameter, braking torque parameter, wheel side slip angle parameter and camber angle parameter of the highly integrated new driving unit to be tested;

[0021] According to the driving torque parameters, braking torque parameters, wheel slip angle parameters and camber angle parameters of the highly integrated new driving unit to be tested under the multiple test temperatures and the multiple vehicle driving simulation conditions, the parameters in the dynamics and control system are reversely calibrated.

[0022] According to an embodiment of the present application, the current test requirement is the handling performance test, and the measuring module is used to measure the current test parameters of the highly integrated new travel unit to be tested, and the function test results and / or performance test results of the highly integrated new travel unit to be tested are obtained according to the current test parameters, including:

[0023] Based on a preset hardware-in-the-loop simulation test environment, the measurement module is used to measure the driving torque parameter, speed parameter, wheel side slip angle parameter and camber angle parameter of the highly integrated new driving unit to be tested;

[0024] Feeding back the driving torque parameter, speed parameter, wheel slip angle parameter and camber angle parameter of the highly integrated new driving unit to be tested to the dynamic control system to obtain the lateral acceleration parameter and yaw angular velocity parameter;

[0025] Based on the lateral acceleration parameter and the yaw angular velocity parameter, a control performance test result of the highly integrated new driving unit to be tested is obtained.

[0026] According to an embodiment of the present application, the current test requirement is the functional safety test, and the measuring module is used to measure the current test parameters of the highly integrated new travel unit to be tested, and the functional test results and / or performance test results of the highly integrated new travel unit to be tested are obtained according to the current test parameters, including:

[0027] A vehicle dynamics model is established based on a preset simulation software, and a fault is injected into the highly integrated new driving unit to be tested in a preset hardware-in-the-loop simulation test environment;

[0028] Using the measurement module to measure the driving torque parameter, braking torque parameter and steering torque parameter of the highly integrated new travel unit to be tested;

[0029] Based on the driving torque parameter, the braking torque parameter and the steering torque parameter, a functional safety test result of the highly integrated new traveling unit to be tested is obtained.

[0030] According to the highly integrated new driving unit test method provided in the embodiment of the present application, the control parameters, simulation parameters, loading parameters and electrical parameters are determined according to the current test requirements, and the road load simulation platform, the wheel load dynamic loading mechanism and the electrical system are controlled to be in corresponding states respectively, and the control parameters are sent to the highly integrated new driving unit to be tested, and the current test parameters of the highly integrated new driving unit to be tested are measured to obtain the functional test results and / or performance test results of the highly integrated new driving unit to be tested. Thus, the problems of high cost, high risk factor and long cycle in the existing test methods are solved, the funds and time costs of vehicle model development are saved, and the research and development cycle is shortened.

[0031] A second aspect of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the highly integrated new driving unit testing method as described in the above embodiment.

[0032] The third aspect of the present application provides a computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable the computer to execute the highly integrated new driving unit testing method as described in the above embodiment.

[0033] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0035] Figure 1 It is a structural schematic diagram of a highly integrated new type of driving unit comprehensive performance and function verification device according to an embodiment of the present application;

[0036] Figure 2 is a structural schematic diagram of an electrical system according to an embodiment of the present application;

[0037] Figure 3 A topological diagram of a capability testing system according to an embodiment of the present application;

[0038] Figure 4 A flowchart of a highly integrated novel driving unit testing method provided according to an embodiment of the present application;

[0039] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0040] Figure numerals: 1-fixed bracket, 2-sprung loading system, 3-highly integrated new travel unit suspension connection point, 4-road load simulation platform, 5-lateral loading system, 6-drum vertical loading system, 7-drum rotation system. DETAILED DESCRIPTION

[0041] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0042] The following describes the highly integrated new driving unit testing method, electronic device and storage medium of the embodiments of the present application with reference to the accompanying drawings.

[0043] Before introducing the highly integrated new driving unit testing method of the embodiment of the present application, the capability testing system involved in the highly integrated new driving unit testing method of the present application is first introduced.

[0044] Specifically, the capability testing system includes a measuring module, a control module, a fixed bracket, a road load simulation platform arranged on the fixed bracket, a wheel load dynamic loading mechanism and an electrical system, wherein the fixed bracket, the road load simulation platform, the wheel load dynamic loading mechanism and the electrical system constitute a highly integrated new type of driving unit comprehensive performance and function verification equipment.

[0045] The overall configuration of a highly integrated new type of driving unit comprehensive performance and function verification equipment involved in this application is as follows Figure 1 As shown, it is composed of a fixed bracket 1, a road load simulation platform 4, a wheel load dynamic loading mechanism and an electrical system. The highly integrated new travel unit suspension connection point 3 is connected to the fixed bracket 1 and placed on the road load simulation platform 4. The road load simulation platform 4 and the wheel load dynamic loading mechanism are installed on the fixed bracket 1.

[0046] Furthermore, the road load simulation platform 4 of the embodiment of the present application is of flat belt type, specifically including a drum motor, a drum flat belt, a hydraulic tensioning system, a tension and pressure sensor, an encoder and a water cooler, etc., covering the tire specifications of passenger cars, and is used to truly simulate the movement state of the wheel and the actual road surface, and adjust the friction coefficient of the simulated road surface according to the test conditions; the road load simulation platform 4 performs simulations of operating conditions such as uniform straight-line driving, acceleration, deceleration, and gliding, and the load power motor is configured with an independent cooling system.

[0047] Furthermore, the wheel load dynamic loading mechanism of the embodiment of the present application is a four-degree-of-freedom wheel load dynamic loading mechanism, specifically including a sprung loading system 2, a lateral loading system 5, a drum rotation system 7 and a drum vertical loading system 6, and the device size covers the tire specifications of passenger cars. Through vertical road vibration loading, sprung mass loading, lateral (steering) loading and lateral loading, the load state of the wheel on the actual road is simulated, the loading movement in each direction is completely independent, and the loading state is adjusted according to the test condition requirements. Among them, the sprung loading system 2 includes a lead screw, a linear guide, a reducer, a force sensor and a loading motor, which are used to simulate the sprung mass loading of a highly integrated new travel unit and release the vertical degree of freedom; the lateral loading system 5 includes a servo motor, a reducer, a ball screw and a linear guide, which are used to simulate the lateral force loading of a highly integrated new travel unit and release the lateral degree of freedom; the drum rotation system 7 includes a servo motor, a planetary reducer, a turntable bearing, a gear ring and a three-force sensor, which are used to simulate the actual contact state between the road surface and the tire under the driving and steering coupling condition of the highly integrated new travel unit, and release the freedom of relative steering between the tire and the road surface; the drum vertical loading system 6 includes: an electric cylinder, a tension and pressure sensor, a support system, a linear bearing and a vertical road vibration loading gravity balance device, which are used to simulate the vertical impact of the uneven road surface on the highly integrated new travel unit and release the vertical degree of freedom of the road surface.

[0048] Furthermore, if Figure 2 As shown, the electrical system of the embodiment of the present application includes a frequency conversion cabinet, a control system, electrical components of a distribution cabinet, an industrial computer, an electric cylinder servo motor, a UPS power supply and control software, etc.

[0049] Furthermore, the measurement module of the highly integrated new travel unit comprehensive performance and function verification equipment of the embodiment of the present application is equipped with a wheel speed sensor, a wheel slip angle and camber angle measurement, a braking force measurement, a vertical load measurement, a lateral force measurement, and a rotational torque measurement sensor, wherein the measurement range of the above-mentioned measurement module can be: test environment temperature: -40°C-+40°C; force measurement accuracy: ±1.5% of the full scale of vertical load or braking force; speed measurement accuracy: ±1.0km / h or ±1.5% of the full scale, whichever is larger;

[0050] Among them, the measurement module of the embodiment of the present application also includes a speed test device, a braking force measurement device, a vertical load measurement device and a data acquisition system. The speed test device is used to directly display the vehicle speed through the wheel speed encoder during the test and record it at the same time. The braking force measurement device is used to measure the longitudinal force of the tire and the test road surface, and the range of the braking force sensor meets the 0%-125% vertical load requirement of the tire to be tested. The vertical load measurement device is used to test the vertical load of the highly integrated new driving unit in real time during the movement. In addition, the data acquisition system of the embodiment of the present application supports the input and sampling resolution of various signal types of all the aforementioned sensors, and also includes: the minimum corresponding frequency within 1% of the full scale is 0Hz-100Hz; the minimum sampling frequency of the digital signal is 100Hz, and the load, longitudinal force, speed, lateral force, rotational torque and other parameters recorded synchronously are collected to collect the operating status information of the load motor, cooling system, and security device; collect environmental information when the test sample is running, including ambient temperature, humidity, etc.; all detection elements are subjected to vibration, acceleration and changes in ambient temperature.

[0051] Furthermore, the control module of the embodiment of the present application is equipped with a real-time hardware controller for real-time operation, monitoring, and control of the safe and efficient operation of the test platform, and according to the test needs, the system parameters are set through the control software, and the test process data is recorded and replayed. In addition, the control module is also used to respond to and process in real time and provide prompts when a system failure occurs, and provide detailed information about the failure. The control module also communicates with external devices via Ethernet (TCP / IP, UDP), CAN, etc., and outputs data including parameters such as vehicle speed, acceleration, and drive / braking force. It receives input information from external devices including vehicle speed, drive / braking force, etc. The external device obtains the current operating status of the device in real time and performs parameter configuration. The control module of the embodiment of the present application is also equipped with a UPS power supply for computer use, and has a UPS monitoring function, which automatically stops the test when a power outage occurs;

[0052] It should be noted that other performance parameters of the comprehensive performance and function verification equipment of the highly integrated new driving unit of the embodiment of the present application can be shown in Table 1:

[0053] Table 1

[0054]

[0055]

[0056] Therefore, this application designs a highly integrated new driving unit comprehensive performance and function verification device consisting of a fixed bracket, a flat belt road load simulation platform, a four-degree-of-freedom wheel load dynamic loading mechanism and an electrical system, and combines it with a battery simulator, an environmental chamber, a real-time simulation system and multi-physics digital modeling simulation software. The test system topology diagram is as follows Figure 3 As shown, single-operating-condition performance and functional tests of highly integrated new driving units can be carried out, such as static and dynamic steering function tests, driving and braking performance tests, and vertical alternating load tests. Multi-operating-condition coupling performance and functional tests can also be carried out, such as dynamics and control calibration, handling performance tests, and functional safety tests, providing support for product optimization and upgrading, saving vehicle development funds and time costs, and shortening the R&D cycle.

[0057] The following is a detailed introduction to the new highly integrated driving unit testing method using the above-mentioned capability testing system.

[0058] Specifically, Figure 4 A schematic flow chart of a highly integrated novel driving unit testing method provided in an embodiment of the present application.

[0059] like Figure 4 As shown, the highly integrated new driving unit testing method includes the following steps:

[0060] In step S401, the current test requirements of the highly integrated new driving unit to be tested are obtained.

[0061] Among them, the current test requirements refer to the specific functional or performance test items and their related test conditions and objectives that need to be carried out on the highly integrated new driving unit in the current test task.

[0062] Among them, in some embodiments, the current test requirements include at least one of static and dynamic steering function testing, driving and braking performance testing, vertical alternating load testing, dynamics and control calibration, handling performance testing and functional safety testing.

[0063] In step S402, control parameters of the control module, simulation parameters of the road load simulation platform of the fixed bracket, loading parameters of the wheel load dynamic loading mechanism and electrical parameters of the electrical system are determined according to the current test requirements.

[0064] Among them, control parameters refer to the various parameters that need to be set by the control module during the test process. The control parameters are used to control and adjust the working state of the test equipment to simulate specific test conditions. Simulation parameters refer to the various parameters that need to be set by the road load simulation platform during the test process. The simulation parameters are used to simulate different road conditions and driving environments. Loading parameters refer to the various parameters that need to be set by the wheel load dynamic loading mechanism during the test process. The loading parameters are used to simulate various load states of the wheels in actual driving. Electrical parameters refer to the various parameters that need to be set by the electrical system during the test process. The electrical parameters are used to control and monitor the electrical state of the test equipment to ensure the normal operation of the test equipment.

[0065] Optionally, the control parameters may include parameters of the control algorithm, frequency and amplitude of the control signal, etc., the simulation parameters may include the road surface type, slope, flatness, etc. of the road load simulation platform, the loading parameters may include the vertical load, lateral force, rotational torque, etc. of the wheel load dynamic loading mechanism, and the electrical parameters may include the voltage, current, temperature, etc. of the electrical system.

[0066] In step S403, based on the simulation parameters, loading parameters and electrical parameters, the road load simulation platform of the fixed bracket, the wheel load dynamic loading mechanism and the electrical system are controlled to be in corresponding states respectively, and the control module is used to send the control parameters to the highly integrated new type of driving unit to be tested, and the measurement module is used to measure the current test parameters of the highly integrated new type of driving unit to be tested, and the functional test results and / or performance test results of the highly integrated new type of driving unit to be tested are obtained according to the current test parameters.

[0067] Among them, the functional test results may include the response time and control accuracy of the driving unit, and the performance test results may include the efficiency, stability and durability of the driving unit.

[0068] For example, assuming that the current test requirement is to conduct a static steering function test, the control parameters of the control module can be: steering motor speed is 500RPM, steering angle is ±30°, and steering response time is to complete steering within 1 second. The simulation parameters of the road load simulation platform with a fixed bracket can be: road friction coefficient 0.8, road surface flatness is a straight road surface, and drum motor speed is 0RPM. The loading parameters of the wheel load dynamic loading mechanism can be: vertical load is 500kg, lateral force is 1000N, and loading speed is 0.1m / s. The electrical parameters of the electrical system can be: steering motor power supply voltage is 24V, current limit is 10A, and temperature monitoring is not more than 60℃.

[0069] Furthermore, the road load simulation platform of the fixed bracket, the wheel load dynamic loading mechanism and the electrical system are controlled to be in corresponding states. The control module accurately controls the working state of the traveling unit according to the settings of the simulation parameters, loading parameters and electrical parameters to perform specific tests, and uses the measurement module to measure the current test parameters of the highly integrated new traveling unit to be tested. Based on the data obtained by the measurement module, the functional test results and performance test results of the highly integrated new traveling unit to be tested can be analyzed.

[0070] Further, in some embodiments, the current test requirement is a static and dynamic steering function test, and the measurement module is used to measure the current test parameters of the highly integrated new traveling unit to be tested, and the function test results and / or performance test results of the highly integrated new traveling unit to be tested are obtained based on the current test parameters, including: when the current test requirement is a static steering function test, the measurement module is used to measure the first actual steering angle of the wheel, and the first execution response time of the wheel steering is read, and the static steering function test result is obtained based on the first actual steering angle and the first execution response time; and / or, when the current test requirement is a dynamic steering function test, the measurement module is used to measure the second actual steering angle of the wheel, and the second execution response time of the wheel steering is read, and the dynamic steering function test result of the highly integrated new traveling unit to be tested is obtained based on the second actual steering angle and the second execution response time.

[0071] Specifically, the battery simulator provides a simulated vehicle power supply for the highly integrated new driving unit prototype. When the current test requirement is a static steering function test, the control module simulates the steering wheel steering command and outputs it to the steering motor of the highly integrated new driving unit prototype. The steering motor drives the wheel to rotate around the kingpin to form a sideslip angle, and uses the tire sideslip angle of the measuring module to measure the first actual turning angle of the wheel. The first execution response time of the wheel steering is read through the control system, and the steering system function is verified based on the first actual turning angle and the first execution response time.

[0072] Furthermore, when the current test requirement is a dynamic steering function test, the input parameters of the dynamic steering test are set by the control module, such as the changing steering angle, steering speed, and road condition changes. Under dynamic conditions, such as multiple tests at different speeds or different loads, the second actual turning angle of the wheel is measured by the measurement module, and the second execution response time of the wheel steering is recorded, that is, the time from sending the steering command to the start of the wheel turning under dynamic conditions. According to the measured second actual turning angle and second execution response time, the dynamic steering response and stability of the wheel are analyzed.

[0073] Further, in some embodiments, the current test requirement is a driving and braking performance test, and the measurement module is used to measure the current test parameters of the highly integrated new traveling unit to be tested, and the functional test results and / or performance test results of the highly integrated new traveling unit to be tested are obtained according to the current test parameters, including: based on multiple road adhesion coefficients, using the measurement module to measure the driving torque under acceleration conditions or the braking torque under deceleration conditions; obtaining the driving and braking performance test results of the highly integrated new traveling unit to be tested according to the driving torque under acceleration conditions or the braking torque under deceleration conditions.

[0074] Furthermore, the battery simulator provides simulated on-board power for the highly integrated new driving unit prototype, establishes a vehicle dynamics model based on multi-physics digital modeling and simulation software, and forms a prototype hardware-in-the-loop simulation test environment in combination with a real-time simulation system. Under different road adhesion coefficients, the driving torque of the prototype under acceleration conditions or the braking torque under deceleration conditions are obtained respectively, and the control effectiveness of the distributed drive system is verified based on the driving torque of the prototype under acceleration conditions or the braking torque under deceleration conditions.

[0075] Further, in some embodiments, the current test requirement is a vertical alternating load test, and the measurement module is used to measure the current test parameters of the highly integrated new traveling unit to be tested, and the functional test results and / or performance test results of the highly integrated new traveling unit to be tested are obtained based on the current test parameters, including: using the measurement module to measure the suspension bearing capacity of the highly integrated new traveling unit to be tested under multiple road flatnesses; and obtaining the vertical alternating load test results of the highly integrated new traveling unit to be tested based on the suspension bearing capacity under multiple road flatnesses.

[0076] Specifically, the battery simulator provides simulated on-board power for the highly integrated new driving unit prototype, establishes a vehicle dynamics model based on multi-physics digital modeling and simulation software, and forms a hardware-in-the-loop simulation test environment for the prototype in combination with the real-time simulation system. The equipment's rotating drum vertical loading system provides vertical displacement for the flat belt road load simulation platform to simulate road unevenness. The measurement module is used to measure the suspension bearing capacity of the highly integrated new driving unit to be tested under multiple road flatnesses, such as the maximum bearing capacity, average bearing capacity, and bearing capacity fluctuations. Based on the measured suspension bearing capacity data, the performance of the suspension system under different road flatnesses is analyzed, thereby verifying the control effectiveness of the prototype's active suspension.

[0077] Further, in some embodiments, the current test requirement is dynamics and control calibration, and the measurement module is used to measure the current test parameters of the highly integrated new traveling unit to be tested, and the functional test results and / or performance test results of the highly integrated new traveling unit to be tested are obtained according to the current test parameters, including: based on multiple test temperatures and multiple vehicle driving simulation conditions, the measurement module is used to measure the driving torque parameters, braking torque parameters, wheel slip angle parameters and camber angle parameters of the highly integrated new traveling unit to be tested; according to the driving torque parameters, braking torque parameters, wheel slip angle parameters and camber angle parameters of the highly integrated new traveling unit to be tested under multiple test temperatures and multiple vehicle driving simulation conditions, the parameters in the dynamics and control system are reversely calibrated.

[0078] Specifically, the battery simulator provides simulated on-board power for the highly integrated new driving unit prototype, the environmental chamber provides temperature conditions for off-season testing, the vehicle dynamics model is established based on multi-physics digital modeling and simulation software, and the real-time simulation system is combined to form a hardware-in-the-loop simulation test environment for the prototype. The measurement module is used to measure the driving torque of the driving unit under different working conditions at each test temperature and vehicle driving simulation condition to evaluate its power output capacity, and the braking torque of the driving unit under different working conditions is measured to evaluate its braking performance, and the side slip angle of the wheel relative to the driving direction is measured to evaluate driving stability and handling, and the camber angle of the wheel relative to the vertical line is measured to evaluate the suspension system performance of the driving unit.

[0079] Furthermore, based on the measured driving torque, braking torque, wheel slip angle and camber angle parameters, optimization algorithms (such as least squares method, genetic algorithm, etc.) are used to reversely calibrate the dynamics and control system parameters, and the parameters obtained by reverse calibration are used to simulate the behavior of the running unit under different test temperatures and vehicle driving simulation conditions, and compared with the actual measured data to verify the accuracy of the model. The effectiveness and robustness of the reverse calibration parameters are verified by comparing the results under different test conditions.

[0080] Further, in some embodiments, the current test requirement is a handling performance test, and the measurement module is used to measure the current test parameters of the highly integrated new traveling unit to be tested, and the functional test results and / or performance test results of the highly integrated new traveling unit to be tested are obtained according to the current test parameters, including: based on a preset hardware-in-the-loop simulation test environment, the measurement module is used to measure the driving torque parameters, speed parameters, wheel sideslip angle parameters and camber angle parameters of the highly integrated new traveling unit to be tested; the driving torque parameters, speed parameters, wheel sideslip angle parameters and camber angle parameters of the highly integrated new traveling unit to be tested are fed back to the dynamics control system to obtain lateral acceleration parameters and yaw angular velocity parameters; based on the lateral acceleration parameters and yaw angular velocity parameters, the handling performance test results of the highly integrated new traveling unit to be tested are obtained.

[0081] Specifically, the battery simulator provides simulated on-board power for the highly integrated new driving unit prototype, establishes a vehicle dynamics model based on multi-physics digital modeling and simulation software, forms a prototype hardware-in-the-loop simulation test environment in combination with a real-time simulation system, and carries out vehicle handling stability simulation tests based on GB / T-6323. The driving torque, speed, wheel sideslip angle, camber angle and other key parameters of the highly integrated new driving unit prototype are measured by measuring devices, and the acquired key parameters are fed back to the vehicle dynamics control system to form a closed-loop control, and key parameters such as the lateral acceleration and yaw angular velocity of the vehicle are output. Based on the output key parameters such as lateral acceleration and yaw angular velocity, the handling performance test results of the highly integrated new driving unit to be tested are obtained, thereby verifying the effectiveness of the vehicle's handling stability control.

[0082] Further, in some embodiments, the current test requirement is a functional safety test, and the measurement module is used to measure the current test parameters of the highly integrated new traveling unit to be tested, and the functional test results and / or performance test results of the highly integrated new traveling unit to be tested are obtained according to the current test parameters, including: establishing a whole vehicle dynamics model based on preset simulation software, and injecting faults into the highly integrated new traveling unit to be tested under a preset hardware-in-the-loop simulation test environment; measuring the driving torque parameters, braking torque parameters and steering torque parameters of the highly integrated new traveling unit to be tested by using the measurement module; and obtaining the functional safety test results of the highly integrated new traveling unit to be tested based on the driving torque parameters, braking torque parameters and steering torque parameters.

[0083] Specifically, the battery simulator provides simulated on-board power for the highly integrated new driving unit prototype, establishes a vehicle dynamics model based on multi-physics digital modeling simulation software, forms a prototype hardware-in-the-loop simulation test environment in combination with a real-time simulation system, and designs a fault injection mechanism that can simulate various fault conditions in a simulation environment, such as sensor failures, actuator failures, communication failures, etc., conducts vehicle functional safety testing based on ISO-26262, and injects faults into other highly integrated new driving unit models in the control system in a simulation environment according to test requirements, simulating vehicle behavior and system response when a fault occurs.

[0084] Furthermore, the measurement module is used to measure the real-time output key parameters of the highly integrated new travel unit prototype, such as driving torque, braking torque and steering torque. Based on the driving torque parameters, braking torque parameters and steering torque parameters, the functional safety of the travel unit is evaluated, thereby verifying the functional safety standards of the vehicle control system, the ability to diagnose faults and the effectiveness of redundant measures.

[0085] Therefore, based on the performance, function assessment and verification needs of the highly integrated new driving unit under single driving, braking, rotation and suspension working conditions and the current situation in the industry where there is a lack of targeted testing equipment and methods, this application proposes comprehensive performance and function verification equipment for a highly integrated new driving unit and establishes corresponding testing methods to ensure the comprehensiveness and effectiveness of the test, provide technical support for the development of new energy vehicle models equipped with highly integrated new driving units, and help the technological upgrading of the new energy vehicle industry.

[0086] According to the highly integrated new driving unit test method proposed in the embodiment of the present application, the control parameters, simulation parameters, loading parameters and electrical parameters are determined according to the current test requirements, and the road load simulation platform, the wheel load dynamic loading mechanism and the electrical system are controlled to be in corresponding states respectively, and the control parameters are sent to the highly integrated new driving unit to be tested, and the current test parameters of the highly integrated new driving unit to be tested are measured to obtain the functional test results and / or performance test results of the highly integrated new driving unit to be tested. As a result, the problems of high cost, high risk factor and long cycle in the existing test methods are solved, the funds and time costs of vehicle model development are saved, and the research and development cycle is shortened.

[0087] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device may include:

[0088] A memory 501 , a processor 502 , and a computer program stored in the memory 501 and executable on the processor 502 .

[0089] When the processor 502 executes the program, the highly integrated novel driving unit testing method provided in the above embodiment is implemented.

[0090] Furthermore, the electronic device further comprises:

[0091] The communication interface 503 is used for communication between the memory 501 and the processor 502 .

[0092] The memory 501 is used to store computer programs that can be executed on the processor 502 .

[0093] The memory 501 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0094] If the memory 501, the processor 502 and the communication interface 503 are implemented independently, the communication interface 503, the memory 501 and the processor 502 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0095] Optionally, in a specific implementation, if the memory 501, the processor 502 and the communication interface 503 are integrated on a chip, the memory 501, the processor 502 and the communication interface 503 can communicate with each other through an internal interface.

[0096] The processor 502 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0097] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the highly integrated new driving unit testing method as described above.

[0098] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0099] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0100] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0101] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0102] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0103] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0104] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0105] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A highly integrated new driving unit testing method, characterized in that: The method adopts a capability testing system, which includes a measuring module, a control module, a fixed bracket, a road load simulation platform arranged on the fixed bracket, a wheel load dynamic loading mechanism and an electrical system, wherein the method includes the following steps: Obtain the current test requirements of the highly integrated new driving unit to be tested; Determining control parameters of the control module, simulation parameters of the road load simulation platform of the fixed bracket, loading parameters of the wheel load dynamic loading mechanism, and electrical parameters of the electrical system according to the current test requirements; Based on the simulation parameters, the loading parameters and the electrical parameters, the road load simulation platform of the fixed bracket, the wheel load dynamic loading mechanism and the electrical system are controlled to be in corresponding states respectively, and the control module is used to send the control parameters to the highly integrated new type of driving unit to be tested, and the measurement module is used to measure the current test parameters of the highly integrated new type of driving unit to be tested, and the functional test results and / or performance test results of the highly integrated new type of driving unit to be tested are obtained according to the current test parameters.

2. The method according to claim 1, characterized in that The current test requirements include at least one of static and dynamic steering function testing, driving and braking performance testing, vertical alternating load testing, dynamics and control calibration, handling performance testing and functional safety testing.

3. The method according to claim 2, characterized in that The current test requirement is the static and dynamic steering function test, and the current test parameters of the highly integrated new driving unit to be tested are measured by the measurement module, and the function test results and / or performance test results of the highly integrated new driving unit to be tested are obtained according to the current test parameters, including: When the current test requirement is a static steering function test, the measuring module is used to measure a first actual steering angle of the wheel, and a first execution response time of the wheel steering is read, and a static steering function test result is obtained according to the first actual steering angle and the first execution response time; And / or, when the current test requirement is a dynamic steering function test, the measurement module is used to measure a second actual steering angle of the wheel, and the second execution response time of the wheel steering is read, and based on the second actual steering angle and the second execution response time, the dynamic steering function test result of the highly integrated new driving unit to be tested is obtained.

4. The method according to claim 2, characterized in that: The current test requirement is the driving and braking performance test, and the current test parameters of the highly integrated new travel unit to be tested are measured by the measurement module, and the function test results and / or performance test results of the highly integrated new travel unit to be tested are obtained according to the current test parameters, including: Based on a plurality of road adhesion coefficients, the measuring module is used to measure the driving torque under the acceleration condition or the braking torque under the deceleration condition; The driving and braking performance test result of the highly integrated new travel unit to be tested is obtained according to the driving torque under the acceleration condition or the braking torque under the deceleration condition.

5. The method according to claim 2, characterized in that: The current test requirement is the vertical alternating load test, and the current test parameters of the highly integrated new travel unit to be tested are measured by the measurement module, and the function test results and / or performance test results of the highly integrated new travel unit to be tested are obtained according to the current test parameters, including: Using the measurement module to measure the suspension load-bearing capacity of the highly integrated new travel unit to be tested under multiple road flatnesses; The vertical alternating load test result of the highly integrated new travel unit to be tested is obtained according to the suspension bearing capacity under the multiple road flatnesses.

6. The method according to claim 2, characterized in that The current test requirement is the dynamics and control calibration, the current test parameters of the highly integrated new travel unit to be tested are measured by the measurement module, and the function test results and / or performance test results of the highly integrated new travel unit to be tested are obtained according to the current test parameters, including: Based on multiple test temperatures and multiple vehicle driving simulation conditions, the measuring module is used to measure the driving torque parameter, braking torque parameter, wheel side slip angle parameter and camber angle parameter of the highly integrated new driving unit to be tested; According to the driving torque parameters, braking torque parameters, wheel slip angle parameters and camber angle parameters of the highly integrated new driving unit to be tested under the multiple test temperatures and the multiple vehicle driving simulation conditions, the parameters in the dynamics and control system are reversely calibrated.

7. The method according to claim 2, characterized in that The current test requirement is the control performance test, and the current test parameters of the highly integrated new travel unit to be tested are measured by the measurement module, and the function test results and / or performance test results of the highly integrated new travel unit to be tested are obtained according to the current test parameters, including: Based on a preset hardware-in-the-loop simulation test environment, the measurement module is used to measure the driving torque parameter, speed parameter, wheel side slip angle parameter and camber angle parameter of the highly integrated new driving unit to be tested; Feeding back the driving torque parameter, speed parameter, wheel slip angle parameter and camber angle parameter of the highly integrated new driving unit to be tested to the dynamic control system to obtain the lateral acceleration parameter and yaw angular velocity parameter; Based on the lateral acceleration parameter and the yaw angular velocity parameter, a control performance test result of the highly integrated new driving unit to be tested is obtained.

8. The method according to claim 2, characterized in that: The current test requirement is the functional safety test, and the current test parameters of the highly integrated new travel unit to be tested are measured by the measurement module, and the functional test results and / or performance test results of the highly integrated new travel unit to be tested are obtained according to the current test parameters, including: A vehicle dynamics model is established based on a preset simulation software, and a fault is injected into the highly integrated new driving unit to be tested in a preset hardware-in-the-loop simulation test environment; Using the measurement module to measure the driving torque parameter, braking torque parameter and steering torque parameter of the highly integrated new travel unit to be tested; Based on the driving torque parameter, the braking torque parameter and the steering torque parameter, a functional safety test result of the highly integrated new traveling unit to be tested is obtained.

9. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement a highly integrated novel driving unit testing method as described in any one of claims 1 to 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement a highly integrated new driving unit testing method as described in any one of claims 1-8.

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