Simulation test system based on steer-by-wire

Abstract

The embodiment of the invention relates to a simulation test system based on steer-by-wire. The system comprises an upper steering control subsystem, a lower steering motor assembly, a load motor assembly and a simulation control subsystem, a motor rotating shaft of the lower steering motor assembly is mechanically connected with a motor rotating shaft of the load motor assembly; the upper steering control subsystem is used for sending a steering control signal to the lower steering motor assembly; the lower steering motor assembly is used for applying steering torque to the load motor assembly according to the steering control signal to drive the load motor assembly to rotate; the simulation control subsystem is used for simulating a vehicle driving environment and sending a road surface torque simulation signal to the load motor assembly; the load motor assembly is used for outputting feedback torque opposite to the steering torque to the lower steering motor assembly according to the road surface torque analog signal. The test system is simpler in structure and more convenient to install, the load motor can be flexibly controlled by the simulation control subsystem, and the test efficiency and accuracy are improved.

Description

Technical Field

[0001] The present application relates to the technical field of automobile simulation testing, and in particular to a simulation testing system based on wire-controlled steering. Background Art

[0002] With the continuous iterative development of automotive technology, the original mechanical steering components have been decoupled and are no longer affected by the traditional architecture, so the wire-controlled steering system is applied to automobiles. Vehicle lateral motion control is the basis for realizing the driving automation function, and the wire-controlled steering system determines whether the vehicle's lateral motion control function can be realized and the effect of its realization. Response performance, as an important performance indicator of the wire-controlled steering system, directly affects the accuracy of steering control and has a significant impact on the comfort and safety of the vehicle. How to evaluate the response performance of the wire-controlled steering system for autonomous vehicles is a problem that needs to be solved. Most of the existing wire-controlled steering system test equipment has a complex structure, is difficult to build, has low versatility, and the test results are not accurate enough. As a result, in the early stage of the development of the vehicle's wire-controlled steering system, the performance of the wire-controlled system cannot be verified in time, affecting the development efficiency. Summary of the invention

[0003] In view of this, in order to solve some or all of the above-mentioned technical problems, an embodiment of the present application provides a simulation test system based on wire-controlled steering, and the system includes: an upper steering control subsystem, a lower steering motor assembly, a load motor assembly and a simulation control subsystem; the motor shaft of the lower steering motor assembly is mechanically connected to the motor shaft of the load motor assembly; the upper steering control subsystem is connected to the lower steering motor assembly through a wiring harness; the simulation control subsystem is connected to the load motor assembly through a wiring harness; the upper steering control subsystem is used to send a steering control signal to the lower steering motor assembly; the lower steering motor assembly is used to apply a steering torque to the load motor assembly according to the steering control signal, thereby driving the load motor assembly to rotate; the simulation control subsystem is used to simulate the vehicle driving environment and send a road torque simulation signal to the load motor assembly; the load motor assembly is used to output a feedback torque opposite to the steering torque to the lower steering motor assembly according to the road torque simulation signal.

[0004] In one possible embodiment, the upper steering control subsystem includes an upper steering motor assembly and a steering wheel assembly, which are mechanically connected; the lower steering motor assembly is also used to: send a feedback signal indicating the magnitude of the steering torque to the upper steering motor assembly; the upper steering motor assembly is used to output a hand force feedback torque to the steering wheel assembly based on the feedback signal.

[0005] In one possible implementation, the lower steering motor assembly is also used to: calculate rack position simulation data based on the feedback torque output by the load motor, generate a simulated rack torque signal based on the rack position simulation data, and use the simulated rack torque signal as a feedback signal representing the steering torque.

[0006] In one possible implementation, the upper steering motor assembly is connected to the simulation control subsystem via a wiring harness, and the upper steering motor assembly is also used to: receive vehicle status information sent by the simulation control subsystem, and send a steering assist signal to the lower steering motor assembly based on the vehicle status information, so that the lower steering motor assembly outputs steering torque to the load motor assembly based on the steering assist signal.

[0007] In one possible embodiment, the upper steering control subsystem includes a torque sensor and an angle sensor, the torque sensor is used to sense the torque of the steering wheel assembly, and the angle sensor is used to sense the steering angle of the steering wheel assembly; the upper steering control subsystem is also used to generate a steering control signal based on the torque of the steering wheel assembly sensed by the torque sensor and the steering angle of the steering wheel assembly sensed by the angle sensor.

[0008] In one possible implementation, the upper steering control subsystem is also used to: when the torque sensor senses that the torque of the steering wheel assembly is zero and the steering angle of the steering wheel assembly sensed by the angle sensor exceeds a preset angle threshold, control the steering motor to output an active return torque to the steering wheel assembly.

[0009] In one possible implementation, the load motor assembly is further used to: in response to receiving a steering sticking signal sent by the simulation control subsystem, the lower steering motor outputs a motor sticking torque; the lower steering motor assembly is further used to: in response to sensing the motor sticking torque, send a sticking feedback signal to the upper steering motor assembly; the upper steering motor assembly is further used to: output a hand force sticking feedback torque to the steering wheel assembly according to the sticking feedback signal.

[0010] In one possible implementation, the lower steering motor assembly is also used to: in response to detecting that the temperature of the lower steering motor assembly and / or the load motor assembly exceeds a preset temperature, reduce the upper limit of the driving current of the lower steering motor assembly and / or the load motor assembly to a preset current.

[0011] In one possible implementation, the simulation control subsystem includes a host computer, a simulation device and a programmable power supply; the programmable power supply is used to provide power to the upper steering control subsystem, the lower steering motor assembly, the load motor assembly and the simulation device; the simulation device is connected to the host computer, the load motor assembly and the upper steering control subsystem, and is used to run the vehicle driving simulation software under the control of the host computer, send a road torque simulation signal to the load motor assembly, and send vehicle status information to the upper steering control subsystem.

[0012] In one possible implementation, the simulation control subsystem further includes a bus drive device, which is connected to the host computer, the upper steering control subsystem, and the lower steering motor assembly, and is used for data communication between the host computer and the upper steering control subsystem and the lower steering motor assembly.

[0013] The simulation test system based on wire control steering provided by the embodiment of the present application includes an upper steering control subsystem, a lower steering motor assembly, a load motor assembly and a simulation control subsystem, wherein the motor shaft of the lower steering motor assembly is mechanically connected to the motor shaft of the load motor assembly; the upper steering control subsystem is used to send a steering control signal to the lower steering motor assembly; the lower steering motor assembly is used to apply a steering torque to the load motor assembly according to the steering control signal, so as to drive the load motor assembly to rotate; the simulation control subsystem is used to simulate the vehicle driving environment and send a road torque simulation signal to the load motor assembly; the load motor assembly is used to output a feedback torque opposite to the steering torque to the lower steering motor assembly according to the road torque simulation signal. The embodiment of the present application realizes setting a load motor in the test system, and the load motor simulates the road resistance encountered when the vehicle turns. Compared with the current test system, there is no need to set a rack, gear and other devices for the lower steering motor, so that the structure of the test system is simpler and the installation is more convenient, and the load motor can be flexibly controlled by the simulation control subsystem, thereby improving the efficiency and accuracy of vehicle simulation testing using wire control steering. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0015] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0016] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0017] Figure 1 A schematic diagram of the connection relationship between the components of a simulation test system based on wire control steering provided in an embodiment of the present application;

[0018] Figure 2A schematic diagram of the physical structure of a simulation test system based on steer-by-wire provided in an embodiment of the present application;

[0019] Figure 3 A schematic diagram of the connection relationship between the various components of another simulation test system based on wire-controlled steering provided in an embodiment of the present application. DETAILED DESCRIPTION

[0020] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. It should be noted that unless otherwise specifically stated, the relative arrangement of the components and steps, the numerical expressions and the numerical values ​​described in these embodiments do not limit the scope of the present application.

[0021] Those skilled in the art will understand that the terms "first" and "second" in the embodiments of the present application are only used to distinguish between different steps, devices, modules and other objects, and do not represent any specific technical meanings, nor do they indicate the logical order between them.

[0022] It should also be understood that in this embodiment, “plurality” may refer to two or more than two, and “at least one” may refer to one, two or more than two.

[0023] It should also be understood that any component, data or structure mentioned in the embodiments of the present application can generally be understood as one or more, unless explicitly limited or otherwise indicated in the context.

[0024] In addition, the term "and / or" in this application is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this application generally indicates that the associated objects before and after are in an "or" relationship.

[0025] It should also be understood that the description of the various embodiments in this application focuses on the differences between the various embodiments, and the same or similar aspects thereof can be referenced to each other, and for the sake of brevity, they will not be described one by one.

[0026] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present application, its application, or uses.

[0027] Technologies, systems, and devices known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the above-mentioned technologies, systems, and devices should be considered part of the specification.

[0028] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0029] It should be noted that, in the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. To facilitate the understanding of the embodiments of the present application, the present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0030] In order to solve the technical problems in the prior art that the simulation test system based on wire-controlled steering is complex in structure, difficult to build, and has low versatility, the present application provides a simulation test system based on wire-controlled steering, which simplifies the structure of the test system, greatly enhances the convenience and versatility of system construction, and greatly improves the test efficiency and accuracy.

[0031] Figure 1 The following is a schematic diagram of the connection relationship of various components of a steer-by-wire simulation test system 100 provided in an embodiment of the present application. The system can perform software and hardware function tests on the steer-by-wire system during the development of the vehicle steer-by-wire system.

[0032] like Figure 1 As shown, the system 100 specifically includes: an upper steering control subsystem 101 , a lower steering motor assembly 102 , a load motor assembly 103 and a simulation control subsystem 104 .

[0033] The motor shaft of the lower steering motor assembly 102 is mechanically connected to the motor shaft of the load motor assembly 103. The lower steering motor assembly 102 may include a lower steering motor and a lower steering controller. The load motor assembly 103 may include a load motor and a load motor controller. The load motor and the lower steering motor shaft may be directly fixedly connected or indirectly connected through a gear, a chain or the like.

[0034] In this embodiment, the upper steering control subsystem 101 is connected to the lower steering motor assembly 102 through a wiring harness; the simulation control subsystem 104 is connected to the load motor assembly 103 through a wiring harness. The upper steering control subsystem 101 and the lower steering motor assembly 102 communicate and interact in real time through the wiring harness. The simulation control subsystem 104 feeds back the simulated road excitation to the load motor through the wiring harness, thereby causing the load motor to apply a corresponding torque to the lower steering motor.

[0035] In this embodiment, the upper steering control subsystem 101 is used to send a steering control signal to the lower steering motor assembly 102. The upper steering control subsystem 101 can simulate the steering action of the vehicle under the operation of the user. The upper steering control subsystem 101 may include an upper steering controller, which can monitor the steering action in real time and send a steering control signal to the lower steering motor assembly 102 for simulating the vehicle turning angle and the steering force applied by the user.

[0036] In this embodiment, the lower steering motor assembly 102 is used to apply a steering torque to the load motor assembly 103 according to a steering control signal, thereby driving the load motor assembly 103 to rotate.

[0037] In this embodiment, the simulation control subsystem 104 is used to simulate the vehicle driving environment and send a road torque simulation signal to the load motor assembly 103 .

[0038] The simulation subsystem may be provided with a simulation device (such as a simulation real-time machine) for simulating vehicle driving. The simulation device runs simulation software to output a reaction force of the road surface on the tire when the vehicle turns, and generates a road torque simulation signal representing the reaction force.

[0039] In this embodiment, the load motor assembly 103 is used to direct the downward steering motor assembly 102 to output a feedback torque opposite to the steering torque according to the road torque simulation signal.

[0040] The above-mentioned road torque simulation signal can be a current drive signal, which can drive the load motor to apply a force opposite to the steering torque to the downward steering motor assembly 102 according to the set torque, so as to achieve the effect of simulating road conditions. For example, if the current simulation control subsystem 104 simulates that the vehicle is traveling at a low speed, then according to the correspondence between the pre-calibrated speed and the feedback torque, the corresponding road torque simulation signal is output, and the load motor applies a larger feedback torque to the downward steering motor assembly 102; if the current simulation control subsystem 104 simulates that the vehicle is traveling at a high speed, then the corresponding road torque simulation signal is output, and the load motor applies a smaller feedback torque to the downward steering motor assembly 102.

[0041] The simulation test system based on wire control steering provided by the embodiment of the present application includes an upper steering control subsystem, a lower steering motor assembly, a load motor assembly and a simulation control subsystem, wherein the motor shaft of the lower steering motor assembly is mechanically connected to the motor shaft of the load motor assembly; the upper steering control subsystem is used to send a steering control signal to the lower steering motor assembly; the lower steering motor assembly is used to apply a steering torque to the load motor assembly according to the steering control signal, so as to drive the load motor assembly to rotate; the simulation control subsystem is used to simulate the vehicle driving environment and send a road torque simulation signal to the load motor assembly; the load motor assembly is used to output a feedback torque opposite to the steering torque to the lower steering motor assembly according to the road torque simulation signal. The embodiment of the present application realizes setting a load motor in the test system, and the load motor simulates the road resistance encountered when the vehicle turns. Compared with the current test system, there is no need to set a rack, gear and other devices for the lower steering motor, so that the structure of the test system is simpler and the installation is more convenient, and the load motor can be flexibly controlled by the simulation control subsystem, thereby improving the efficiency and accuracy of vehicle simulation testing using wire control steering.

[0042] In some optional implementations of this embodiment, such as Figure 2 , which shows a physical structural schematic diagram of a simulation test system based on wire control steering provided by the present application. The upper steering control subsystem 101 includes an upper steering motor assembly 1011 and a steering wheel assembly 1012, and the upper steering motor assembly 1011 and the steering wheel assembly 1012 are mechanically connected.

[0043] Specifically, the lower steering motor assembly 102 and the load motor assembly 103 may be disposed on a lower steering motor support 105 , and the upper steering control subsystem 101 may be disposed on an upper steering subsystem support 106 .

[0044] The upper steering motor assembly 1011 includes a steering column and an upper steering motor, and the steering wheel assembly 1012 is arranged on the shaft of the steering column. When the steering wheel assembly 1012 rotates, it drives the upper steering motor to rotate. The upper steering motor outputs a rotational force to the steering wheel assembly 1012 under the drive of the input drive signal.

[0045] The lower steering motor is also used to: send a feedback signal indicating the magnitude of the steering torque to the upper steering motor assembly 1011; the upper steering motor assembly 1011 is used to output a hand force feedback torque to the steering wheel assembly 1012 according to the feedback signal.

[0046] Specifically, while the lower steering motor assembly 102 outputs the steering torque to the load motor assembly 103, the lower steering motor assembly 102 sends the above-mentioned feedback signal to the upper steering motor assembly 1011. The upper steering motor assembly 1011 controls the rotation of the upper steering motor according to the correspondence between the preset feedback signal and the hand force feedback torque, and outputs the hand force feedback torque in the opposite direction of the steering wheel rotation to the steering wheel assembly 1012.

[0047] In this embodiment, the lower steering motor assembly 102 sends a feedback signal to the upper steering motor assembly 1011, and the upper steering motor assembly 1011 applies a torque in the opposite direction to the steering wheel assembly 1012, so that the user can apply a certain resistance to the steering wheel when turning the steering wheel, which is closer to the real driving scene and improves the accuracy of vehicle simulation testing using wire-controlled steering.

[0048] In some optional implementations of this embodiment, the lower steering motor assembly 102 is also used for:

[0049] According to the feedback torque output by the load motor, the rack position simulation data is calculated, and according to the rack position simulation data, a simulated rack torque signal is generated, and the simulated rack torque signal is used as a feedback signal representing the steering torque.

[0050] Specifically, the lower steering motor assembly 102 can collect the feedback torque output by the load motor through the torque sensor, and determine the rack position simulation data based on the preset correspondence between the rack position and the feedback torque. The rack torque can be further determined based on the correspondence between the rack position simulation data and the rack torque. Since the rack torque simulates the torque applied by the upper steering control subsystem 101 to the vehicle's steering system, the rack torque can be used as the steering torque.

[0051] This embodiment determines the magnitude of the steering torque by sensing the magnitude of the feedback torque output by the load motor according to a pre-calibrated rack position calculation method and rack force calculation method, thereby more accurately feeding back the steering torque to the upper steering motor assembly 1011 so that the upper steering motor assembly 1011 can accurately output the hand force feedback torque.

[0052] In some optional implementations of this embodiment, such as Figure 2 As shown, the upper steering motor assembly 1011 is connected to the simulation control subsystem 104 via a wiring harness.

[0053] The upper steering motor assembly 1011 is also used for:

[0054] The vehicle state information sent by the simulation control subsystem 104 is received, and a steering assist signal is sent to the lower steering motor assembly 102 according to the vehicle state information, so that the lower steering motor assembly 102 outputs a steering torque to the load motor assembly 103 according to the steering assist signal.

[0055] Among them, when simulating the scene of driving a vehicle, the simulation control subsystem 104 can feed back vehicle status information to the upper steering motor assembly 1011 in real time. The vehicle status information may include at least one of information such as vehicle speed, road type, tire pressure, etc. The above vehicle status information is related to the magnitude of the steering torque. For example, the higher the vehicle speed, the greater the steering torque; the smoother the road surface, the smaller the steering torque; the lower the tire pressure, the greater the steering torque. The upper steering motor assembly 1011 sends a steering assist signal to the lower steering motor assembly 102 according to the preset correspondence between the vehicle status information and the steering assist magnitude. The lower steering motor assembly 102 outputs the corresponding steering torque to the load motor according to the steering assist signal.

[0056] This embodiment can accurately simulate the scene of the vehicle driving on the actual road by adaptively making the lower steering motor assembly 102 output the corresponding steering torque based on the vehicle state information, thereby improving the accuracy of the vehicle simulation test using wire control steering.

[0057] In some optional implementations of this embodiment, the upper steering control subsystem 101 includes a torque sensor and an angle sensor. The torque sensor is used to sense the torque of the steering wheel assembly 1012 , and the angle sensor is used to sense the steering angle of the steering wheel assembly 1012 .

[0058] The upper steering control subsystem 101 is also used for:

[0059] A steering control signal is generated based on the torque of the steering wheel assembly 1012 sensed by the torque sensor and the steering angle of the steering wheel assembly 1012 sensed by the angle sensor.

[0060] The steering control signal can control the rotation angle and torque of the lower steering motor assembly 102, thereby helping the upper steering control subsystem 101 to accurately control the lower steering motor assembly 102 and improving the accuracy of vehicle simulation testing using wire-controlled steering.

[0061] In some optional implementations of this embodiment, the upper steering motor assembly 1011 is also used for:

[0062] When the torque sensor senses that the torque of the steering wheel assembly 1012 is zero and the steering angle of the steering wheel assembly 1012 sensed by the angle sensor exceeds a preset angle threshold, an active return torque is output to the steering wheel assembly 1012 .

[0063] Usually, in the actual driving scene, if the driver releases the steering wheel after the vehicle turns, the pay-off reel will automatically return to the center. In this embodiment, when the torque of the steering wheel assembly 1012 is sensed to be zero and the rotation angle is large, it can be determined that the tester is no longer applying force to the steering wheel. At this time, the active return torque is output to the steering wheel assembly 1012, which can make the steering wheel automatically return to the center, thereby improving the accuracy of simulating the real driving scene of the vehicle.

[0064] In some optional implementations of this embodiment, the load motor assembly 103 is further used for:

[0065] In response to receiving the steering jam signal sent by the simulation control subsystem 104, the lower steering motor outputs a motor jam torque. The steering jam signal is used to simulate the scene where the wheel jams when the vehicle is turning. At this time, the load motor assembly 103 can output a large feedback torque to the lower steering motor assembly 102 as the motor jam torque (the motor jam torque can be preset), that is, the load motor stops rotating with the lower steering motor assembly 102, or the lower steering motor drives the load motor to rotate with a large steering torque.

[0066] The lower steering motor assembly 102 is further configured to send a jamming feedback signal to the upper steering motor assembly 1011 in response to sensing the motor jamming torque.

[0067] Specifically, the lower steering motor assembly 102 can sense the feedback torque of the load motor through a torque sensor. If the sensed feedback torque is large (for example, exceeding a preset feedback force threshold), a stuck feedback signal can be sent to the upper steering motor assembly 1011 .

[0068] The upper steering motor assembly 1011 is also used to output a hand force stuck feedback torque to the steering wheel assembly 1012 according to the stuck feedback signal.

[0069] The hand force stuck feedback torque can be preset, that is, under the action of the stuck feedback torque, the steering wheel assembly 1012 cannot drive the upper steering motor to rotate, or requires a greater force to drive the upper steering motor to rotate.

[0070] This embodiment uses the simulation control subsystem 104 to simulate the steering jam of the vehicle, thereby further improving the accuracy of using the load motor to simulate the real driving scene and further improving the accuracy of the vehicle simulation test using the wire control steering.

[0071] In some optional implementations of this embodiment, the lower steering motor assembly 102 is also used for:

[0072] In response to detecting that the temperature of the lower steering motor assembly 102 and / or the load motor assembly 103 exceeds a preset temperature, the upper limit of the driving current of the lower steering motor assembly 102 and / or the load motor assembly 103 is reduced to a preset current.

[0073] Specifically, since the lower steering motor assembly 102 and the load motor assembly 103 simulate the steering force and road resistance of a real vehicle, these two forces usually require a larger current to drive. Therefore, in order to improve the safety of the test system and reduce failures caused by excessive current, a temperature sensor can be set in the lower steering motor assembly 102 and / or the load motor assembly 103. When the temperature is sensed to be too high, it indicates that an overload phenomenon has occurred. At this time, the driving current of the lower steering motor assembly 102 and / or the load motor assembly 103 can be limited, thereby preventing the test system from failing.

[0074] In some optional implementations of this embodiment, such as Figure 3 As shown, the simulation control subsystem 104 includes a host computer 1041, a simulation device 1042 and a program-controlled power supply 1043. Generally, the host computer 1041, the simulation device 1042 and the program-controlled power supply 1043 can be arranged in a cabinet.

[0075] The program-controlled power supply 1043 is used to provide power to the upper steering control subsystem 101, the lower steering motor assembly 102, the load motor assembly 103, and the simulation device 1042. Generally, the program-controlled power supply 1043 can provide 220V AC or 12V DC to each device included in the system.

[0076] The simulation device 1042 is connected to the host computer 1041, the load motor assembly 103 and the upper steering control subsystem 101, and is used to run the vehicle driving simulation software under the control of the host computer 1041, send the road torque simulation signal to the load motor assembly 103, and send the vehicle status information to the upper steering control subsystem 101.

[0077] The host computer 1041 can configure the simulation device 1042, build a test environment for the interface of the simulation system, such as a test road surface, a test road, a test ramp and other test environments, and complete the execution of test steps through the operation interface, such as turning the steering wheel, braking, accelerating, shifting gears and other driving operations; and monitor the changes of the data to be tested through the bus.

[0078] The simulation device 1042 is used to run the vehicle driving simulation software in real time, run the vehicle simulation model and algorithm model inside it, and receive and output data related to the simulated vehicle.

[0079] This embodiment realizes simulation control of the upper steering control subsystem 101, the lower steering motor assembly 102, and the load motor assembly 103 by setting up a host computer 1041, a simulation device 1042, and a programmable power supply 1043, thereby improving the overall operation efficiency of the system.

[0080] In some optional implementations of this embodiment, such as Figure 3 As shown, the simulation control subsystem 104104 also includes a bus driver 1044, which is connected to the host computer 1041, the upper steering control subsystem 101, the lower steering motor assembly 102 and the load motor assembly 103, and is used for data communication between the host computer 1041 and the upper steering control subsystem 101, the lower steering motor assembly 102 and the load motor assembly 103.

[0081] As an example, the bus driving device 1044 may include Canape, Canoe devices and other devices. Using the bus driving device, the upper steering control subsystem 101, the lower steering motor assembly 102 and the load motor assembly 103 can be calibrated before testing, as well as test fault injection, E2E (end to end, point to point) verification and real-time data monitoring in the test environment.

[0082] This embodiment can realize real-time communication and data transmission between various components in the test system by providing a bus driving device, thereby improving the accuracy and efficiency of the test system operation.

[0083] The professionals should also be further aware that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different systems to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0084] The steps of the system or algorithm described in conjunction with the embodiments disclosed herein may be implemented using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0085] It should be understood that the terms used in the text are only for the purpose of describing specific example embodiments, and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used in the text may also be meant to include plural forms. The terms "include", "comprise", "contain", and "have" are inclusive, and therefore specify the existence of stated features, steps, operations, elements and / or parts, but do not exclude the existence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The system steps, processes, and operations described herein are not interpreted as necessarily requiring them to be performed in the specific order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0086] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A simulation test system based on wire control steering, characterized in that: The system comprises: an upper steering control subsystem, a lower steering motor assembly, a load motor assembly and a simulation control subsystem; The motor shaft of the lower steering motor assembly is mechanically connected to the motor shaft of the load motor assembly; the upper steering control subsystem is connected to the lower steering motor assembly through a wiring harness; the simulation control subsystem is connected to the load motor assembly through a wiring harness; The upper steering control subsystem is used to send a steering control signal to the lower steering motor assembly; The lower steering motor assembly is used to apply a steering torque to the load motor assembly according to the steering control signal, thereby driving the load motor assembly to rotate; The simulation control subsystem is used to simulate the vehicle driving environment and send a road torque simulation signal to the load motor assembly; The load motor assembly is used to output a feedback torque opposite to the steering torque to the lower steering motor assembly according to the road torque simulation signal.

2. The system according to claim 1, characterized in that The upper steering control subsystem includes an upper steering motor assembly and a steering wheel assembly, and the upper steering motor assembly and the steering wheel assembly are mechanically connected; The lower steering motor assembly is further used to: send a feedback signal indicating the magnitude of the steering torque to the upper steering motor assembly; The upper steering motor assembly is used to output a hand force feedback torque to the steering wheel assembly according to the feedback signal.

3. The system according to claim 2, characterized in that The lower steering motor assembly is also used for: According to the feedback torque output by the load motor, rack position simulation data is calculated, and according to the rack position simulation data, a simulated rack torque signal is generated, and the simulated rack torque signal is used as the feedback signal representing the steering torque.

4. The system according to claim 2, characterized in that The upper steering motor assembly is connected to the simulation control subsystem via a wiring harness, and the upper steering motor assembly is also used for: The vehicle state information sent by the simulation control subsystem is received, and a steering assist signal is sent to the lower steering motor assembly according to the vehicle state information, so that the lower steering motor assembly outputs a steering torque to the load motor assembly according to the steering assist signal.

5. The system according to claim 2, characterized in that The upper steering control subsystem includes a torque sensor and an angle sensor, wherein the torque sensor is used to sense the torque of the steering wheel assembly, and the angle sensor is used to sense the steering angle of the steering wheel assembly; The upper steering control subsystem is also used for: The steering control signal is generated based on the torque of the steering wheel assembly sensed by the torque sensor and the steering angle of the steering wheel assembly sensed by the angle sensor.

6. The system according to claim 5, characterized in that The upper steering control subsystem is also used for: When the torque sensor senses that the torque of the steering wheel assembly is zero and the steering angle of the steering wheel assembly sensed by the angle sensor exceeds a preset angle threshold, the steering motor is controlled to output an active return torque to the steering wheel assembly.

7. The system according to claim 2, characterized in that The load motor assembly is also used for: In response to receiving a steering jam signal sent by the simulation control subsystem, the lower steering motor outputs a motor jam torque; The lower steering motor assembly is also used for: In response to sensing the motor stuck torque, sending a stuck feedback signal to the upper steering motor assembly; The upper steering motor assembly is also used for: According to the stuck feedback signal, a hand force stuck feedback torque is output to the steering wheel assembly.

8. The system according to claim 1, characterized in that The lower steering motor assembly is also used for: In response to detecting that the temperature of the lower steering motor assembly and / or the load motor assembly exceeds a preset temperature, the upper limit of the driving current of the lower steering motor assembly and / or the load motor assembly is reduced to a preset current.

9. The system according to claim 1, characterized in that The simulation control subsystem includes a host computer, a simulation device and a program-controlled power supply; The program-controlled power supply is used to provide power to the upper steering control subsystem, the lower steering motor assembly, the load motor assembly, and the simulation device; The simulation device is connected to the host computer, the load motor assembly and the upper steering control subsystem, and is used to run vehicle driving simulation software under the control of the host computer, send a road torque simulation signal to the load motor assembly, and send vehicle status information to the upper steering control subsystem.

10. The system according to claim 9, characterized in that The simulation control subsystem also includes a bus driving device, which is connected to the host computer, the upper steering control subsystem, and the lower steering motor assembly, and is used for data communication between the host computer and the upper steering control subsystem and the lower steering motor assembly.

Images