Simulation test system based on steer-by-wire

Abstract

The embodiment of the application relates to a simulation test system based on a steer-by-wire, and 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 connected with a motor rotating shaft of the load motor assembly in a mechanical mode; 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 a steering torque to the load motor assembly according to the steering control signal, and driving 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; and the load motor assembly is used for outputting a feedback torque opposite to the steering torque to the lower steering motor assembly according to the road surface torque simulation signal. The test system of the embodiment of the application has a more simple structure, is more convenient to install, and the load motor can be flexibly controlled by the simulation control subsystem, so that the test efficiency and accuracy are improved.

Description

Technical Field

[0001] This application relates to the field of automotive simulation testing technology, and in particular to a simulation testing system based on steer-by-wire. Background Technology

[0002] With the continuous iteration and development of automotive technology, traditional mechanical steering components have been decoupled and are no longer affected by traditional architectures, leading to the application of steer-by-wire systems in automobiles. Lateral motion control of the vehicle is fundamental to achieving automated driving functions, and the steer-by-wire system determines whether this function can be achieved and its effectiveness. Response performance, as a crucial performance indicator of the steer-by-wire system, directly affects the accuracy of steering control, significantly impacting vehicle comfort and safety. Therefore, evaluating the responsiveness of steer-by-wire systems for autonomous vehicles is a problem that needs to be addressed. Existing steer-by-wire system testing equipment is mostly complex in structure, difficult to assemble, has low versatility, and provides inaccurate test results. This makes it impossible to verify the performance of the steer-by-wire system in the early stages of development, affecting development efficiency. Summary of the Invention

[0003] In view of this, to solve some or all of the above-mentioned technical problems, this application provides a simulation test system based on steer-by-wire, the system including: 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 via a wiring harness; the simulation control subsystem is connected to the load motor assembly via 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, driving the load motor assembly to rotate; the simulation control subsystem is used to simulate the vehicle driving environment and send a road surface 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 surface torque simulation signal.

[0004] In one possible implementation, 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 representing the magnitude of the steering torque to the upper steering motor assembly; and 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 further configured to: calculate rack position simulation data based on the magnitude of 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 magnitude of the steering torque.

[0006] In one possible implementation, the upper steering motor assembly is connected to the simulation control subsystem via a wiring harness. 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 implementation, the upper steering control subsystem includes a torque sensor and an angle sensor, the torque sensor being used to sense the torque of the steering wheel assembly and the angle sensor being 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 further configured to: control the steering motor to output active return torque to the steering wheel assembly when the torque sensor senses zero torque of the steering wheel assembly and the angle sensor senses a steering angle of the steering wheel assembly exceeding a preset angle threshold.

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

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

[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 provides power to the upward steering control subsystem, the downward 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 upward steering control subsystem, and is used to run vehicle driving simulation software under the control of the host computer, send road torque simulation signals to the load motor assembly, and send vehicle status information to the upward steering control subsystem.

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

[0013] The steer-by-wire simulation testing system provided in this application 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 sends steering control signals to the lower steering motor assembly. The lower steering motor assembly applies steering torque to the load motor assembly according to the steering control signals, causing the load motor assembly to rotate. The simulation control subsystem simulates the vehicle's driving environment and sends road surface torque simulation signals to the load motor assembly. The load motor assembly outputs a feedback torque opposite to the steering torque according to the road surface torque simulation signals. This application embodiment implements a load motor in the testing system to simulate the road resistance encountered by the vehicle during steering. Compared with current testing systems, there is no need to set racks, gears, or other devices for the lower steering motor, making the structure of the testing system simpler and easier to install. Furthermore, the load motor can be flexibly controlled by the simulation control subsystem, thereby improving the efficiency and accuracy of vehicle simulation testing using steer-by-wire. Attached Figure Description

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

[0015] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0017] Figure 1 A schematic diagram showing the connection relationships of the components of a simulation test system based on steer-by-wire provided for an embodiment of this application;

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

[0019] Figure 3 This is a schematic diagram showing the connection relationship of the components of another simulation test system based on steer-by-wire provided in this application embodiment. Detailed Implementation

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

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

[0022] It should also be understood that in this embodiment, "multiple" can refer to two or more, and "at least one" can refer to one, two or more.

[0023] It should also be understood that any component, data or structure mentioned in the embodiments of this application can generally be understood as one or more unless explicitly defined or given contrary guidance in the context.

[0024] Furthermore, the term "and / or" in this application is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this application generally indicates that the preceding and following related objects have an "or" relationship.

[0025] It should also be understood that the description of the various embodiments in this application emphasizes the differences between the various embodiments, and the similarities or similarities can be referred to each other. For the sake of brevity, they will not be described in detail.

[0026] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the scope of this application and its application or use.

[0027] Techniques, systems, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, systems, and equipment should be considered part of the specification.

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

[0029] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. To facilitate understanding of the embodiments of this application, the application will be described in detail below with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0030] To address the technical problems of complex structure, difficult construction, and low versatility of existing steer-by-wire simulation testing systems, this application provides a steer-by-wire simulation testing system that simplifies the system structure, greatly enhances the convenience and versatility of system construction, and significantly improves testing efficiency and accuracy.

[0031] Figure 1 This diagram illustrates the connection relationships of the components of a simulation testing system 100 based on steer-by-wire, as provided in this embodiment of the application. This system can perform hardware and software functional tests on the steer-by-wire system during its development.

[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 shafts of the load motor and the lower steering motor can be directly fixedly connected, or indirectly connected via gears, chains, or other devices.

[0034] In this embodiment, the upper steering control subsystem 101 is connected to the lower steering motor assembly 102 via a wiring harness; the simulation control subsystem 104 is connected to the load motor assembly 103 via a wiring harness. The upper steering control subsystem 101 and the lower steering motor assembly 102 communicate and interact in real time via the wiring harness. The simulation control subsystem 104 feeds back the simulated road excitation to the load motor via 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 steering control signals to the lower steering motor assembly 102. The upper steering control subsystem 101 can simulate the vehicle's steering actions under user operation. The upper steering control subsystem 101 may include an upper steering controller, which can monitor steering actions in real time and send steering control signals to the lower steering motor assembly 102 to simulate the vehicle's turning angle and the steering force applied by the user.

[0036] In this embodiment, the lower steering motor assembly 102 is used to apply steering torque to the load motor assembly 103 according to the 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 road torque simulation signals to the load motor assembly 103.

[0038] The simulation subsystem can be equipped with simulation equipment (such as a real-time simulation machine) to simulate vehicle driving. The simulation equipment runs simulation software and outputs the reaction force of the road surface on the tire when the vehicle turns, generating a simulated signal of road torque representing the reaction force.

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

[0040] The aforementioned road surface torque simulation signal can be a current-driven signal. This current-driven signal 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, thereby simulating road conditions. For example, if the current simulation control subsystem 104 is simulating a vehicle traveling at a low speed, it outputs a corresponding road surface torque simulation signal based on the pre-calibrated correspondence between speed and feedback torque, and the load motor applies a larger feedback torque to the downward steering motor assembly 102; if the current simulation control subsystem 104 is simulating a vehicle traveling at a high speed, it outputs a corresponding road surface torque simulation signal, and the load motor applies a smaller feedback torque to the downward steering motor assembly 102.

[0041] The steer-by-wire simulation testing system provided in this application 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 sends steering control signals to the lower steering motor assembly. The lower steering motor assembly applies steering torque to the load motor assembly according to the steering control signals, causing the load motor assembly to rotate. The simulation control subsystem simulates the vehicle's driving environment and sends road surface torque simulation signals to the load motor assembly. The load motor assembly outputs a feedback torque opposite to the steering torque according to the road surface torque simulation signals. This application embodiment implements a load motor in the testing system to simulate the road resistance encountered by the vehicle during steering. Compared with current testing systems, there is no need to set racks, gears, or other devices for the lower steering motor, making the structure of the testing system simpler and easier to install. Furthermore, the load motor can be flexibly controlled by the simulation control subsystem, thereby improving the efficiency and accuracy of vehicle simulation testing using steer-by-wire.

[0042] In some optional implementations of this embodiment, such as Figure 2 As shown, it illustrates the physical structure of the simulation test system based on steer-by-wire provided in this application. The upper steering control subsystem 101 includes an upper steering motor assembly 1011 and a steering wheel assembly 1012, which are mechanically connected.

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

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

[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; and the upper steering motor assembly 1011 is used to output a hand force feedback torque to the steering wheel assembly 1012 based on the feedback signal.

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

[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. This allows the user to apply a certain amount of resistance to the steering wheel when turning it, which is closer to a real driving scenario and improves the accuracy of vehicle simulation tests using steer-by-wire.

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

[0049] Based on the magnitude of the feedback torque output by the load motor, simulated rack position data is calculated. Based on the simulated rack position data, a simulated rack torque signal is generated, and the simulated rack torque signal is used as a feedback signal to represent the magnitude of the steering torque.

[0050] Specifically, the lower steering motor assembly 102 can acquire the magnitude of the feedback torque output by the load motor through a torque sensor. Based on the pre-set correspondence between the rack position and the feedback torque, the rack position simulation data can be determined. Based on the correspondence between the rack position simulation data and the rack torque, the rack torque can be further determined. Since this rack torque simulates the torque applied by the upper steering control subsystem 101 to the vehicle's steering system, it can be used as the steering torque.

[0051] In this embodiment, the magnitude of the steering torque is determined by the feedback torque output by the induction load motor, based on the pre-calibrated rack position calculation method and rack force calculation method. This allows for more accurate feedback of the steering torque to the upper steering motor assembly 1011, enabling the upper steering motor assembly 1011 to 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 system receives vehicle status information sent by the simulation control subsystem 104. Based on the vehicle status information, it sends a steering assist signal to the lower steering motor assembly 102, causing the lower steering motor assembly 102 to output steering torque to the load motor assembly 103 according to the steering assist signal.

[0055] In the simulation control subsystem 104, when simulating a driving scenario, it can provide real-time feedback of vehicle status information to the upper steering motor assembly 1011. This vehicle status information may include at least one of the following: vehicle speed, road surface type, and tire pressure. This vehicle status information is related to the magnitude of the steering torque; for example, higher vehicle speed results in greater steering torque; smoother road surface results in less steering torque; and lower tire pressure results in greater steering torque. Based on a pre-set correspondence between the vehicle status information and the steering assist level, the upper steering motor assembly 1011 sends a steering assist signal to the lower steering motor assembly 102. The lower steering motor assembly 102 then outputs the corresponding steering torque to the load motor based on the steering assist signal.

[0056] This embodiment adapts the lower steering motor assembly 102 to output corresponding steering torque based on vehicle status information, which can accurately simulate the scenario of a vehicle driving on a real road and improve the accuracy of vehicle simulation testing using steer-by-wire.

[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] Steering control signals are 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 tests using steer-by-wire.

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

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

[0063] In typical real-world driving scenarios, once the driver releases the steering wheel after a turn, the steering wheel automatically returns to center. In this embodiment, when the torque of the steering wheel assembly 1012 is zero and the rotation angle is large, it can be determined that the tester has stopped applying force to the steering wheel. At this point, an active return torque is output to the steering wheel assembly 1012, causing the steering wheel to automatically return to center, thus improving the accuracy of simulating real-world driving scenarios.

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

[0065] In response to receiving a steering jamming signal from the simulation control subsystem 104, the lower steering motor outputs a motor jamming torque. The steering jamming signal simulates a scenario where the wheels of the vehicle jam during steering. In this case, the load motor assembly 103 can output a larger feedback torque to the lower steering motor assembly 102 as the motor jamming torque (this motor jamming torque can be preset). This means either 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 larger steering torque.

[0066] The lower steering motor assembly 102 is also used to: send a jamming feedback signal to the upper steering motor assembly 1011 in response to sensing a 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 (e.g., exceeding a preset feedback force threshold), it can send a jamming feedback signal to the upper steering motor assembly 1011.

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

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

[0070] This embodiment improves the accuracy of simulating real driving scenarios using a load motor by simulating the phenomenon of vehicle steering jamming through the simulation control subsystem 104, and further improves the accuracy of vehicle simulation testing using steer-by-wire.

[0071] In some optional implementations of this embodiment, the lower steering motor assembly 102 is further 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 drive 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 large current to drive them. Therefore, in order to improve the safety of the test system and reduce failures caused by excessive current, temperature sensors can be installed in the lower steering motor assembly 102 and / or the load motor assembly 103. When an excessively high temperature is detected, it indicates that an overload 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 to prevent the test system from malfunctioning.

[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 programmable power supply 1043. Typically, the host computer 1041, the simulation device 1042, and the programmable power supply 1043 can be housed in a cabinet.

[0075] The programmable power supply 1043 provides power to the upward steering control subsystem 101, the downward steering motor assembly 102, the load motor assembly 103, and the simulation device 1042. Typically, the programmable power supply 1043 can provide 220V AC or 12V DC power to the various devices included in this 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. Under the control of the host computer 1041, it runs vehicle driving simulation software, sends road torque simulation signals to the load motor assembly 103, and sends vehicle status information to the upper steering control subsystem 101.

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

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

[0079] This embodiment achieves simulation control of the upper steering control subsystem 101, lower steering motor assembly 102, and 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 operating 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 drive device 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 to perform 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 drive device 1044 may include devices such as Canape and Canoe devices. Using the bus drive 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) verification and real-time data monitoring under the test environment.

[0082] This embodiment enables real-time communication and data transmission between components within the testing system by setting up a bus driver, thereby improving the accuracy and efficiency of the testing system's operation.

[0083] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different systems to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

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

[0085] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also mean including the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The system steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0086] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A simulation test system based on steer-by-wire, characterized in that, 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 via a wiring harness; the simulation control subsystem is connected to the load motor assembly via a wiring harness. The upper steering control subsystem is used to send steering control signals to the lower steering motor assembly; The lower steering motor assembly is used to apply 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 road torque simulation signals 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 based on the road surface torque simulation signal; 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 according to the feedback signal; The lower steering motor assembly is also used for: Based on the magnitude of the feedback torque output by the load motor, simulated rack position data is calculated. Based on the simulated rack position data, a simulated rack torque signal is generated. The simulated rack torque signal is used as the feedback signal representing the magnitude of the steering torque.

2. The system according to claim 1, characterized in that, The upper steering motor assembly is connected to the simulation control subsystem via a wiring harness. The upper steering motor assembly is also used for: The system receives vehicle status information sent by the simulation control subsystem and sends 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 according to the steering assist signal.

3. The system according to claim 1, characterized in that, 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 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.

4. The system according to claim 3, characterized in that, The upper steering control subsystem is also used for: When the torque sensor detects that the torque of the steering wheel assembly is zero, and the angle sensor detects that the steering angle of the steering wheel assembly exceeds a preset angle threshold, the steering motor is controlled to output an active return torque to the steering wheel assembly.

5. The system according to claim 1, characterized in that, The load motor assembly is also used for: In response to receiving a steering jamming signal from the simulation control subsystem, the lower steering motor outputs a motor jamming torque; The lower steering motor assembly is also used for: In response to sensing the motor jamming torque, a jamming feedback signal is sent to the upper steering motor assembly; The upper steering motor assembly is also used for: Based on the sticking feedback signal, a hand force sticking feedback torque is output to the steering wheel assembly.

6. 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 drive current of the lower steering motor assembly and / or the load motor assembly is reduced to a preset current.

7. The system according to claim 1, characterized in that, 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. Under the control of the host computer, it runs vehicle driving simulation software, sends road torque simulation signals to the load motor assembly, and sends vehicle status information to the upper steering control subsystem.

8. The system according to claim 7, characterized in that, The simulation control subsystem also includes a bus driver 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, the upper steering control subsystem, and the lower steering motor assembly.

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