Distributed HIL test system and method for linear chassis control system

Abstract

The invention belongs to the technical field of chassis testing, and particularly relates to a distributed HIL testing system and method for a linear chassis control system, and the method comprises the steps: a central coordination module receives a fault injection parameter configured by a user, and transmits a fault injection instruction to a fault injection module based on the fault injection parameter; the fault injection module receives a fault injection instruction of the central coordination module, analyzes the instruction to obtain a fault injection parameter, generates a fault signal meeting the input requirement of a target HIL node by using a pre-established mathematical model according to the fault injection parameter obtained through analysis, and sends the fault signal to the target HIL node; and the test management module acquires real-time state data of each subsystem, a system response curve after fault injection and key indexes in real time through the acquisition module, and generates a test report. The real-time data interaction mechanism of each HIL node enables the system to quickly respond to the change of the working condition and provide real-time feedback information, so that problems can be found in time.

Description

Technical Field

[0001] The present invention belongs to the technical field of chassis testing, and particularly relates to a distributed HIL test system and method for a linear chassis control system. Background Art

[0002] Linear chassis control systems (such as steering control, braking control, suspension control) are important components of modern vehicles, and their performance directly affects the safety and comfort of vehicles. During vehicle development, HIL test technology effectively verifies control algorithms and hardware devices by combining real hardware with a virtual simulation environment.

[0003] However, traditional HIL test systems usually adopt a centralized architecture, suffering from problems such as high test complexity, limited computing resources, and insufficient real-time performance, which are particularly evident in linear chassis control systems involving multi-module collaborative work.

[0004] Distributed HIL test systems can improve resource utilization, enhance system real-time performance and flexibility by distributing computing tasks to multiple nodes for operation. However, existing distributed HIL test methods still have certain technical bottlenecks in aspects such as communication delay, synchronization control, and module expansion. Therefore, there is an urgent need for a more efficient and reliable distributed HIL test system to meet the test requirements of linear chassis control systems. Summary of the Invention

[0005] In view of the problems of traditional HIL test systems usually adopting a centralized architecture, such as high test complexity, limited computing resources, and insufficient real-time performance, the present invention provides a distributed HIL test system and method for a linear chassis control system.

[0006] In a first aspect, the technical solution of the present invention provides a distributed HIL test system for a linear chassis control system, including a fault injection module and a central coordination module. The central coordination module is connected to a plurality of HIL nodes; the fault injection module is respectively connected to the HIL nodes, and a communication protocol and a clock synchronization mechanism are configured in each HIL node; data interaction is carried out between the HIL nodes through a high-speed communication bus; The linear chassis control system is divided into multiple subsystems according to chassis functions, and each subsystem is operated by an independent HIL node; a corresponding mathematical model is established for each subsystem according to the functions of the linear chassis control system; The central coordination module generates dynamic working condition signals in real time according to a preset test scenario, and broadcasts the generated working condition signals to each HIL node in real time, and at the same time ensures time synchronization through the clock synchronization mechanism; each HIL node calculates the chassis control response in real time based on the mathematical model of the subsystem and feeds back the response result to the central coordination module; The fault injection module sends fault signals to the target HIL node within a set time period to verify the robustness of the subsystem running on the HIL node.

[0007] As a further limitation of the technical solution of the present invention, the system further includes: the user determines various test scenarios according to the test requirements of the linear chassis control system, sets corresponding operating condition parameters for each test scenario, stores the preset test scenarios and parameters in the central coordination module and configures the broadcast parameters of the central coordination module; Connect the central coordination module and each HIL node to the same local area network. The central coordination module is installed and configured with NTP server software. Install NTP client software on each HIL node and configure the NTP client of the HIL node to connect to the NTP server of the central coordination module. The NTP client of the HIL node periodically sends time request messages to the NTP server of the central coordination module. After receiving the request, the NTP server of the central coordination module sends the current time information to the HIL node, and the HIL node adjusts its local clock according to the received time information to achieve time synchronization; The central coordination module calculates the real-time operating condition signal according to the preset test scenario and the current time, converts the calculated operating condition signal into the format received by the HIL node, and broadcasts the dynamic operating condition signal to each HIL node in real time through the high-speed communication bus.

[0008] As a further limitation of the technical solution of the present invention, a mathematical model, i.e., an operating condition model, between each operating condition parameter established according to the physical principle and dynamic characteristics of the linear chassis control system is stored in the central coordination module; the central coordination module reads the current time in real time as the time reference for calculating the operating condition signal; according to the current test requirements, selects the current test scenario from the stored test scenarios, queries the corresponding operating condition parameters from the scenario data according to the current time and the selected test scenario. If the operating condition parameter is described by a mathematical function, calculates the corresponding parameter value according to the current time; if the operating condition parameter is stored in tabular data, obtains the parameter value corresponding to the current time through interpolation; substitutes the queried or calculated operating condition parameter value into the operating condition model to calculate the real-time operating condition signal.

[0009] As a further limitation of the technical solution of the present invention, the HIL node receives the operating condition signal broadcast by the central coordination module, obtains the current state information of the subsystem from the local, inputs the operating condition signal and the subsystem state information into the mathematical model of the subsystem for real-time calculation to obtain the chassis control response, sorts and packages the calculated chassis control response result, and converts it into the set transmission format to feedback the response result to the central coordination module through the high-speed communication bus.

[0010] As a further limitation of the technical solution of the present invention, the fault injection module receives a fault injection instruction from the central coordination module or an external host computer, parses the instruction to obtain fault injection parameters, and based on the parsed fault injection parameters, uses a pre-established mathematical model to generate a fault signal that meets the input requirements of the target HIL node, and within a set time period, sends the fault signal to the target HIL node according to a predetermined injection method; the fault injection parameters include fault type, injection time, duration, and target HIL node information.

[0011] As a further limitation of the technical solution of the present invention, the system further includes a test management module that determines the indicators to be monitored according to the functions and performance requirements of the subsystems, and sets the normal ranges and acceptable deviation thresholds of the monitoring indicators according to the design requirements and safety specifications of the subsystems; during and before and after fault injection, the acquisition module collects the operation data of the target HIL node and related subsystems in real time; compares and analyzes the data collected during fault injection with the normal operation data, evaluates the performance changes of the subsystems under fault conditions, and calculates the deviation values, fluctuation ranges, and recovery times of the monitoring indicators; judges the robustness of the subsystems according to the results of the comparison and analysis.

[0012] As a further limitation of the technical solution of the present invention, the test management module records the real-time operation status and communication data of each HIL node; records the data under each test condition, and also organizes the process, results, analysis, and suggestions of the fault injection test into a detailed report; the report includes the test purpose, test scenario, fault injection parameters, monitoring data, and performance evaluation results.

[0013] As a further limitation of the technical solution of the present invention, the central coordination module receives the fault injection parameters configured by the user and sends a fault injection instruction to the fault injection module based on the fault injection parameters.

[0014] The linear chassis control system is divided into multiple subsystems according to the chassis functions, and each subsystem is run by an independent HIL node. This design makes the system highly modular, and during the test process, individual subsystems can be flexibly adjusted, upgraded, or replaced as needed without affecting other subsystems. At the same time, when new chassis functions need to be added, only the corresponding HIL nodes and subsystem models need to be added, greatly improving the scalability of the test system.

[0015] Each subsystem establishes a corresponding mathematical model according to the functions of the linear chassis control system, which can more accurately simulate the actual operation of the subsystem. Compared with establishing a unified model for the entire chassis control system, this targeted modeling method can take into account the unique physical characteristics and working principles of each subsystem, thereby improving the accuracy of the model and providing a more reliable basis for subsequent simulation and testing.

[0016] Connecting the actuator device to the corresponding HIL node realizes the hardware-in-the-loop (HIL) test. This test method can simulate the operation of the real chassis control system in the laboratory environment, allowing the actuator device to work under conditions close to the actual working conditions, thereby more accurately verifying the performance and reliability of the system, while reducing the cost and risk of testing on actual vehicles.

[0017] Each HIL node independently runs the corresponding subsystem simulation and transmits the simulation data to the central coordination module. The central coordination module generates dynamic working condition signals according to the preset test scenarios and broadcasts them to each HIL node. Each HIL node calculates the chassis control response in real time based on the subsystem mathematical model and feeds back. This real-time data interaction mechanism enables the test system to quickly respond to changes in working conditions, timely simulate the operation of the chassis control system under different working conditions, provide real-time feedback information for testers, and help to discover and solve problems in a timely manner.

[0018] The central coordination module ensures the time synchronization of each HIL node through the clock synchronization mechanism. In a distributed test system, time synchronization is the key to ensuring the coordinated operation of each subsystem and data consistency. Through precise time synchronization, each HIL node can perform simulation and calculation under the same time reference, avoiding test errors caused by time differences, and improving the accuracy and reliability of test results.

[0019] The central coordination module receives the fault injection parameters configured by the user and sends fault signals to the target HIL node through the fault injection module within the set time period. This fault injection mechanism can simulate various fault situations that the chassis control system may encounter during actual operation, such as sensor faults, actuator faults, communication faults, etc. By observing the response of the system under fault conditions, the robustness and fault tolerance of the system can be comprehensively verified, potential weak links of the system can be discovered, and a basis for system optimization and improvement can be provided. The fault injection parameters include fault type, injection time, duration, target HIL node information, etc., and the user can flexibly configure the fault scenarios according to the test requirements. This flexibility enables the test to cover more actual working conditions and improves the comprehensiveness and effectiveness of the test.

[0020] The test management module collects the real-time status data of each subsystem, the system response curve after fault injection, and key indicators in real time through the acquisition module. This real-time monitoring function enables testers to promptly understand the operating status and performance changes of the system, providing rich data support for fault diagnosis and problem analysis. The test management module conducts preliminary analysis on the collected data and generates test reports. By analyzing and processing a large amount of test data, valuable information can be quickly extracted to help testers more intuitively understand the test results and evaluate the performance and reliability of the system.

[0021] In a second aspect, the technical solution of the present invention provides a distributed HIL test method for a linear chassis control system, including: The linear chassis control system is divided into multiple subsystems according to the chassis functions, and each subsystem is operated by an independent HIL node; a corresponding mathematical model is established for each subsystem according to the functions of the linear chassis control system; and the actuator device is connected to the corresponding HIL node. Each HIL node independently runs the simulation of its corresponding subsystem and transmits the simulation data to the central coordination module. The central coordination module generates dynamic working condition signals in real time according to the preset test scenarios, broadcasts the generated working condition signals to each HIL node in real time, and ensures time synchronization through clock synchronization mechanism; each HIL node calculates the chassis control response in real time based on the mathematical model of the subsystem and feeds back the response results to the central coordination module. The central coordination module receives the fault injection parameters configured by the user and sends a fault injection instruction to the fault injection module based on the fault injection parameters; the fault injection module receives the fault injection instruction from the central coordination module, parses the instruction to obtain the fault injection parameters, and generates a fault signal that meets the input requirements of the target HIL node using the pre-established mathematical model, and sends the fault signal to the target HIL node within a set time period according to the predetermined injection method; the fault injection parameters include fault type, injection time, duration, and target HIL node information. The test management module collects the real-time status data of each subsystem, the system response curve after fault injection, and key indicators in real time through the acquisition module, and conducts preliminary analysis on the collected data to generate test reports.

[0022] As a further limitation of the technical solution of the present invention, the HIL node includes a knuckle control node, a brake control HIL node, and a suspension control HIL node. The step that each HIL node independently runs the simulation of its corresponding subsystem and transmits the simulation data to the central coordination module includes: The steering control HIL node receives the steering wheel angle signal in real time, calculates the output state of the steering system, and synchronously exchanges vehicle state information with the central coordination module and other HIL nodes; The brake control HIL node processes the brake pedal input in real time, simulates the vehicle deceleration process, generates braking force feedback data, and transmits it to other HIL nodes and the central coordination module; The suspension control HIL node simulates the vehicle body dynamics under different road conditions, outputs vehicle body attitude parameters, and transmits them to other HIL nodes and the central coordination module.

[0023] Advantages of the technical solution of the present invention: The HIL test tasks are distributed to multiple independent nodes for operation. Each node corresponds to a linear chassis subsystem, realizing the efficient utilization of resources and the modular design of the test. This architecture supports flexible expansion, and nodes can be added or reduced according to the requirements of specific vehicle platforms to adapt to linear chassis control systems with different complexities. The central coordinator module dynamically generates test conditions such as complex road conditions, environmental disturbances, and vehicle behaviors. Each node runs in real-time interaction to achieve multi-module collaborative control testing. Through the distributed design, the computing load of a single node is reduced. Each node collaborates to complete the simulation calculation, improving the overall efficiency and reducing the hardware requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solution of the present invention, the drawings required for description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0025] Figure 1 It is a connection block diagram of the distributed HIL test system provided by an embodiment of the present invention.

[0026] Figure 2 It is a connection block diagram of the distributed HIL test system provided by another embodiment of the present invention.

[0027] Figure 3 It is a schematic flow diagram of the test method. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] In order to make the objectives, features, and advantages of the present invention more obvious and understandable, the technical solutions in the present invention will be clearly and completely described below with reference to the drawings in the specific embodiments of the present invention. Obviously, the embodiments described below are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.

[0029] As Figure 1 shown, an embodiment of the present invention provides a distributed HIL test system for a linear chassis control system, including a fault injection module and a central coordination module. The central coordination module is connected to a plurality of HIL nodes; the fault injection module is respectively connected to the HIL nodes, and a communication protocol and a clock synchronization mechanism are configured in each HIL node; data interaction is performed between the HIL nodes through a high-speed communication bus; The linear chassis control system is divided into multiple subsystems according to the chassis functions, and each subsystem is operated by an independent HIL node; a corresponding mathematical model is established for each subsystem according to the functions of the linear chassis control system; The functions of the linear chassis control system are analyzed in detail to determine its main functional modules, such as the steering system, the braking system, the suspension system, etc. The input and output interfaces and functional boundaries of each subsystem are clarified to ensure the independence and relevance between subsystems. According to the complexity of the subsystems and the resource conditions of the HIL nodes, each subsystem is allocated to the corresponding HIL node. Based on the physical principles and working characteristics of the subsystems, corresponding mathematical models are established, such as the dynamic model of the steering system and the pressure model of the braking system. The parameters in the mathematical model are determined through experimental tests, theoretical calculations or referring to relevant materials. The actual working condition data is input into the mathematical model and compared with the output of the actual system to verify the accuracy and reliability of the model. According to the verification results, the mathematical model is adjusted and optimized to improve the accuracy of the model.

[0030] The central coordination module generates dynamic working condition signals in real time according to the preset test scenarios, and broadcasts the generated working condition signals to each HIL node in real time. At the same time, time synchronization is ensured through the clock synchronization mechanism; each HIL node calculates the chassis control response in real time based on the mathematical model of the subsystem and feeds back the response result to the central coordination module; According to the test requirements of the linear chassis control system, various test scenarios are determined, such as straight driving, cornering, emergency braking, etc. Corresponding working condition parameters are set for each test scenario, such as vehicle speed, steering angle, braking pressure, etc. The preset test scenarios and parameters are stored in the scenario library of the central coordination module. The central coordination module calculates the real-time working condition signals according to the preset test scenarios and the current time according to a certain algorithm. The calculated working condition signals are converted into a format suitable for the HIL nodes to receive. The broadcast parameters of the central coordination module are configured, including the broadcast period, priority, etc. The dynamic working condition signals are broadcast to each HIL node in real time through the high-speed communication bus.

[0031] The HIL node receives the operating condition signal broadcast by the central coordination module and obtains the current state information of the subsystem locally. The operating condition signal and the subsystem state information are input into the mathematical model of the subsystem for real-time calculation to obtain the chassis control response. The calculated chassis control response results are sorted and packaged and converted into a format suitable for transmission. The response results are fed back to the central coordination module via a high-speed communication bus.

[0032] The fault injection module sends a fault signal to the target HIL node within a set time period to verify the robustness of the subsystem running on the HIL node.

[0033] Determine the types of faults to be injected, such as sensor faults, actuator faults, communication faults, etc. Set corresponding parameters for each type of fault, such as fault occurrence time, duration, fault value, etc. Generate corresponding fault signals according to the fault type and parameters. Determine the target HIL nodes to which faults need to be injected according to the test requirements. Within the set time period, send fault signals to the target HIL nodes through the fault injection module. Observe the changes in the chassis control response of the target HIL node after receiving the fault signal and record the relevant data. Evaluate the robustness of the subsystem according to the preset evaluation indicators, such as system stability, control accuracy, recovery time, etc. Analyze the performance differences of the subsystem before and after fault injection to determine the tolerance of the subsystem to different faults and the effectiveness of the coping strategies.

[0034] In some embodiments, the central coordination module and each HIL node are connected to the same local area network. The central coordination module is installed and configured with NTP server software. NTP client software is installed on each HIL node and the NTP client of the HIL node is configured to connect to the NTP server of the central coordination module. The NTP client of the HIL node periodically sends a time request message to the NTP server of the central coordination module. After receiving the request, the NTP server of the central coordination module sends the current time information to the HIL node, and the HIL node adjusts its local clock according to the received time information to achieve time synchronization. The central coordination module calculates the real-time operating condition signal according to the preset test scenario and the current time, converts the calculated operating condition signal into the format received by the HIL node, and broadcasts the dynamic operating condition signal to each HIL node in real time via a high-speed communication bus. The HIL node receives the operating condition signal broadcast by the central coordination module, obtains the current state information of the subsystem locally, inputs the operating condition signal and the subsystem state information into the mathematical model of the subsystem for real-time calculation to obtain the chassis control response, sorts and packages the calculated chassis control response results, converts them into the set transmission format, and feeds the response results back to the central coordination module via a high-speed communication bus.

[0035] In some embodiments, a mathematical model, i.e., a working condition model, between various working condition parameters established according to the physical principles and dynamic characteristics of the linear chassis control system is stored in the central coordination module; the central coordination module reads the current time in real time as the time reference for calculating the working condition signal; according to the current test requirements, the current test scenario is selected from the stored test scenarios, and according to the current time and the selected test scenario, the corresponding working condition parameters are queried from the scenario data. If the working condition parameters are described by a mathematical function, the corresponding parameter values are calculated according to the current time; if the working condition parameters are stored in tabular data, the parameter values corresponding to the current time are obtained by interpolation; the obtained or calculated working condition parameter values are substituted into the working condition model to calculate the real-time working condition signal.

[0036] In some embodiments, the central coordination module receives the fault injection parameters configured by the user and sends a fault injection instruction to the fault injection module based on the fault injection parameters. The fault injection module receives the fault injection instruction from the central coordination module or an external host computer, parses the instruction to obtain the fault injection parameters, and generates a fault signal that meets the input requirements of the target HIL node using a pre-established mathematical model. Within a set time period, the fault signal is sent to the target HIL node according to a predetermined injection method; the fault injection parameters include the fault type, injection time, duration, and target HIL node information.

[0037] In some embodiments, the system further includes a test management module that determines the indicators to be monitored according to the functions and performance requirements of the subsystems, and sets the normal ranges and acceptable deviation thresholds of the monitoring indicators according to the design requirements and safety specifications of the subsystems; during and before and after the fault injection, the operation data of the target HIL node and related subsystems are collected in real time through the acquisition module; the data collected during the fault injection is compared and analyzed with the normal operation data to evaluate the performance changes of the subsystems under fault conditions, and the deviation values, fluctuation ranges, and recovery times of the monitoring indicators are calculated; according to the results of the comparison and analysis, the robustness of the subsystems is judged.

[0038] The test management module records the real-time operation status and communication data of each HIL node; records the data under each test working condition, and also organizes the process, results, analysis, and suggestions of the fault injection test into a detailed report; the report includes the test purpose, test scenario, fault injection parameters, monitoring data, and performance evaluation results.

[0039] It should be noted that the working principle of the central coordination module is as follows: 1. The central coordination module first receives the test requirements input by the user, which include simulation tasks, scenario configurations, and operating conditions parameters. Based on these inputs, the central coordination module performs the following tasks: Generate a test plan: According to different test objectives and operating condition configurations (such as vehicle speed, acceleration, steering angle, braking force, etc.), the central coordination module decomposes the test tasks into multiple subtasks and clarifies the simulation work that each distributed HIL node needs to perform.

[0040] Allocate tasks to each node: According to the distributed architecture, the central coordination module is responsible for dynamically allocating these tasks to each HIL node (such as the steering control HIL node, braking control HIL node, suspension control HIL node, etc.) to ensure that each node undertakes specific simulation responsibilities.

[0041] 2. Time synchronization management The central coordination module plays a crucial role in ensuring the synchronization of simulation data among nodes. In some embodiments, it achieves time synchronization through the following methods: Global clock synchronization: By using a high-precision time synchronization protocol, the central coordination module maintains the synchronization of the global clock to ensure that all HIL nodes perform simulation operations under a unified time reference.

[0042] Time scheduling mechanism: Through time-sensitive network technology, the coordination module assigns time windows to each data packet and gives priority to transmitting critical data (such as steering angle, braking force, etc.) to avoid low-priority data affecting the transmission of critical control signals.

[0043] 3. Global scenario simulation function The central coordination module plays a key role in global scenario simulation. It generates adaptive dynamic operating conditions in real time according to different test tasks and coordinates the simulation work of each node as follows: Operating condition signal generation: According to the defined test operating conditions (such as emergency braking, low-friction ground, sharp turn, etc.), the central coordination module generates corresponding control signals and transmits them to each HIL node. For example, if an emergency braking test is conducted, the coordination module will generate a braking signal and transmit it to the braking control HIL node, or generate a road surface disturbance signal and transmit it to the suspension control HIL node.

[0044] Scenario switching and adaptation: During the test, the central coordination module switches scenarios based on real-time data feedback. For example, when an abnormality or instability occurs at a specific node during the test, the module can automatically adjust the test scenario, increase or decrease the test difficulty, and ensure the comprehensiveness and reliability of the simulation process.

[0045] The central coordination module generates dynamic operating condition signals through the following specific steps to achieve precise simulation of complex road conditions, specifically as follows: 1. Scenario Input and Parameter Parsing: The user defines the test conditions through the test management module, including the initial vehicle speed, road surface adhesion coefficient, road condition type (such as flat road, wavy road surface, ice and snow road surface, etc.), and vehicle operation inputs (such as steering wheel angle, brake pedal pressure). The central coordination module parses these parameters and converts them into simulation condition parameters. 2. Dynamic Road Condition Modeling: The central coordination module generates time-varying road surface input signals and environmental disturbance signals based on road dynamics and vehicle dynamics theories. For road surface disturbance modeling, a random road surface spectrum or user-defined function (such as a sine wave) is used to generate road surface height change signals with different frequencies and amplitudes, which are used to simulate the influence of different road surface conditions on the vehicle suspension system. For adhesion coefficient modeling, a road surface adhesion coefficient change model is set according to the specified road conditions, and a local adhesion coefficient distribution is generated in real time, such as the dynamic changes in dry road surface, wet and slippery road surface, and ice and snow mixed areas. For obstacle modeling, by adding obstacle contour data (such as potholes, speed bumps), dynamic load signals when the vehicle passes through the obstacles are generated.

[0046] 3. Real-time Dynamic Calculation: The central coordination module uses an embedded dynamic scenario engine to comprehensively calculate dynamic condition signals from road conditions, vehicle kinematic parameters, user operation inputs, etc., and transmits them to each distributed HIL node through a high-speed communication bus. For example, in a turning scenario, according to the steering wheel angle, vehicle speed, and road surface adhesion coefficient, the steering angle, lateral force, and roll angle are calculated in real time. In a braking scenario, according to the brake pedal input and the current vehicle speed, the braking force distribution is dynamically adjusted, and at the same time, the vehicle body pitch angle and braking slip ratio are calculated.

[0047] 4. Data Distribution and Synchronization: The central coordination module broadcasts the generated condition data to each HIL node in real time, and at the same time, ensures data consistency and time synchronization through a time synchronization protocol to ensure the coordination of global simulation results.

[0048] Test Preparation Phase: First, according to the functional modules of the linear chassis control system (such as steering control, braking control, suspension control, etc.), the corresponding HIL nodes include steering control HIL nodes, braking control HIL nodes, suspension control HIL nodes as Figure 2 shown; mathematical models and simulation models of each module are established. A steering system model is established based on parameters such as steering wheel angle and vehicle speed to simulate the steering angle and return torque, a braking system model is established by calculating the braking force and slip ratio according to the braking pressure and vehicle speed, and a suspension system model is established based on the body attitude change under simulated road surface excitation; secondly, the actual hardware actuator devices (including ECU, actuators, sensors) are connected to the corresponding HIL nodes; thirdly, in each HIL node, communication protocols and clock synchronization mechanisms are configured.

[0049] The configuration of the communication protocol is mainly to ensure efficient and reliable data exchange between different HIL nodes. Especially in a real-time simulation environment, low latency and high bandwidth need to be guaranteed. First, a high-performance communication protocol should be selected. The communication protocol based on Time-Sensitive Networking (TSN) is adopted to ensure real-time data transmission. TSN can ensure parameters such as the priority and transmission time of data packets, enabling critical control signals (such as steering angle, braking force, etc.) to be transmitted preferentially, avoiding delays and data loss. Secondly, the data format and frame structure should be configured. Define the data transmission format and frame structure to ensure that each HIL node can correctly parse and generate the required control signals. The configuration using the standardized protocol RTICANMM message format ensures the accurate transmission of control information in the HIL simulation system. Finally, the protocol configuration is carried out. In each distributed HIL node, configure the communication interface, such as the TCP / IP protocol stack, and specify information such as the sending frequency, data packet priority, and receiving port of each node. Through the scheduling mechanism, data streams with high real-time requirements (such as steering angle, braking pressure, etc.) can be sent with high priority.

[0050] The configuration of the clock synchronization mechanism is to solve the synchronization problem of multiple nodes in a distributed environment, ensuring that the calculation moments of each node are consistent with the global system, thereby avoiding simulation result deviations caused by time delays or desynchronization. First, global clock synchronization is carried out. Adopt a time synchronization protocol, such as IEEE 1588 or NTP, to synchronize the time between the central coordination module of the system and each HIL node. In this way, the clocks of all nodes can be kept consistent, ensuring that the simulation data of each module is processed and exchanged at the same time point. Secondly, clock distribution and coordination are carried out. The central coordination module acts as the master clock source, and it distributes the time synchronization signal to each distributed node through the network. The local clock in each node is compared and adjusted with the clock of the coordination module to ensure global synchronization. Then, time-sensitive network support should be obtained. TSN is not only used to optimize the time delay of data transmission but also ensures no data conflicts during transmission through a time-aware scheduling mechanism, thus guaranteeing the synchronization of real-time data. This mechanism can schedule according to the priority and transmission time slot of each data packet to avoid delays of high-priority signals. Finally, use the timestamp technology to add timestamps to each sent data packet to ensure that each node can understand the exact moment of the data during data exchange, so as to maintain consistency during calculation and response.

[0051] Real-time testing phase: (1) Multi-node co-simulation Each HIL node independently runs its corresponding subsystem simulation. Specifically, it includes: The steering control HIL node can receive the steering wheel angle signal in real time, calculate the output states of the steering system (such as steering angle, steering torque), and synchronously exchange vehicle state information (such as speed, acceleration) with other nodes. The braking control HIL node can process the brake pedal input in real time, simulate the vehicle deceleration process, generate braking force feedback data, and transmit it to other nodes. The suspension control HIL node can simulate the vehicle body dynamics under different road conditions and output vehicle body attitude parameters. Data interaction and synchronization mean that high-speed data exchange is achieved between nodes through the communication bus. The simulation data of each node (such as steering torque, braking force, vehicle body tilt angle, etc.) is transmitted to the central coordination module to ensure global consistency. (2)Dynamic condition generation and fault injection Dynamic condition generation is that the central coordination module generates dynamic condition signals in real time according to the preset test scenarios, including: turning scenarios, used to simulate rapid steering wheel angle changes and braking on low adhesion coefficient roads; high-speed emergency braking, which can simulate emergency braking during high-speed driving and the working state of ABS; road surface disturbances, which can simulate the dynamic responses of the suspension system under different road conditions.

[0052] The fault injection module can send fault signals to a certain node alone, including the failure of the electronic control unit (ECU) of the braking system, steering system jamming or response delay. At the same time, it supports multi-fault injection to test the stability and fault tolerance of the control system in extreme situations. (3)Real-time monitoring and feedback The test data is displayed in real time through the test management module, including: the real-time state data of each subsystem (such as vehicle speed, acceleration, steering angle, braking force), the system response curve and key indicators after fault injection. The test management module conducts preliminary analysis on the collected data and generates test reports and system optimization suggestions.

[0053] The system uses a TSN network to achieve global time synchronization to ensure real-time data transmission between distributed HIL nodes; high-priority data streams (such as steering angle, braking force, etc.) are preferentially transmitted through the time-aware scheduling mechanism to ensure that the latency and jitter meet the test requirements. The central coordination module generates unified dynamic simulation data according to the test scenario and distributes it to each HIL node; each HIL node calculates the chassis control response in real time based on the mathematical model of the subsystem and feeds the results back to the central coordination module to form a closed-loop simulation. The fault injection module can send fault signals to the target HIL node within a set time period to verify the robustness of the subsystem; the system supports complex condition simulations (such as emergency braking, serpentine steering), covering typical driving scenarios and extreme conditions. The test management module records the real-time operating status and communication data of each HIL node; the system records the data under each test condition for testers to analyze the test results.

[0054] As Figure 3 shown, an embodiment of the present invention provides a distributed HIL test method for a linear chassis control system, including: S1: Divide the linear chassis control system into multiple subsystems according to the chassis functions, and each subsystem is run by an independent HIL node; establish a corresponding mathematical model for each subsystem according to the functions of the linear chassis control system; and connect the actuator devices to the corresponding HIL nodes; S2: Each HIL node independently runs the simulation of its corresponding subsystem and transmits the simulation data to the central coordination module; S3: The central coordination module generates dynamic working condition signals in real time according to the preset test scenarios, and broadcasts the generated working condition signals to each HIL node in real time, and at the same time ensures time synchronization through a clock synchronization mechanism; each HIL node calculates the chassis control response in real time based on the mathematical model of the subsystem and feeds back the response results to the central coordination module; S4: The central coordination module receives the fault injection parameters configured by the user, and sends a fault injection instruction to the fault injection module based on the fault injection parameters; the fault injection module receives the fault injection instruction from the central coordination module, parses the instruction to obtain the fault injection parameters, and according to the parsed fault injection parameters, generates a fault signal that meets the input requirements of the target HIL node by using the pre-established mathematical model, and sends the fault signal to the target HIL node in a preset injection manner within a set time period; the fault injection parameters include fault type, injection time, duration, and target HIL node information; S5: The test management module collects the real-time state data of each subsystem, the system response curve after fault injection, and key indicators in real time through the collection module, and performs preliminary analysis on the collected data to generate a test report.

[0055] In some embodiments, the HIL nodes include a steering knuckle control node, a brake control HIL node, and a suspension control HIL node. The steps of each HIL node independently running the simulation of its corresponding subsystem and transmitting the simulation data to the central coordination module include: The steering control HIL node receives the steering wheel angle signal in real time, calculates the output state of the steering system, and synchronously exchanges vehicle state information with the central coordination module and other HIL nodes; The brake control HIL node processes the brake pedal input in real time, simulates the vehicle deceleration process, generates brake force feedback data, and transmits it to other HIL nodes and the central coordination module; The suspension control HIL node simulates the vehicle body dynamics under different road conditions, outputs the vehicle body attitude parameters, and transmits them to other HIL nodes and the central coordination module.

[0056] The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. 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 the present invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A distributed HIL test system for a linear chassis control system, characterized in that: It includes a fault injection module and a central coordination module, wherein the central coordination module is connected to a plurality of HIL nodes; the fault injection modules are respectively connected to the HIL nodes, and a communication protocol and a clock synchronization mechanism are configured in each HIL node; data is exchanged between the HIL nodes via a high-speed communication bus; The linear chassis control system is divided into multiple subsystems according to the chassis functions, and each subsystem is operated by an independent HIL node; each subsystem establishes a corresponding mathematical model according to the function of the linear chassis control system; The central coordination module generates dynamic working condition signals in real time according to the preset test scenarios, and broadcasts the generated working condition signals to each HIL node in real time, while ensuring time synchronization through the clock synchronization mechanism; Each HIL node calculates the chassis control response in real time based on the mathematical model of the subsystem and feeds the response results back to the central coordination module; The fault injection module sends fault signals to the target HIL node in a set time period to verify the robustness of the subsystem running on the HIL node.

2. The distributed HIL test system for linear chassis control system according to claim 1, characterized in that: The system also includes: the user determines various test scenarios according to the test requirements of the linear chassis control system, sets corresponding working condition parameters for each test scenario, stores the preset test scenarios and parameters in the central coordination module and configures the broadcast parameters of the central coordination module; The central coordination module and each HIL node are connected to the same LAN. The central coordination module is installed and configured with NTP server software. NTP client software is installed on each HIL node and the NTP client of the HIL node is configured to connect to the NTP server of the central coordination module. The NTP client of the HIL node regularly sends time request messages to the NTP server of the central coordination module. After receiving the request, the NTP server of the central coordination module sends the current time information to the HIL node. The HIL node adjusts its local clock according to the received time information to achieve time synchronization. The central coordination module calculates the real-time operating condition signal according to the preset test scenario and the current time, converts the calculated operating condition signal into the format received by the HIL node, and broadcasts the dynamic operating condition signal to each HIL node in real time through the high-speed communication bus.

3. The distributed HIL test system for linear chassis control system according to claim 2, characterized in that: The central coordination module stores a mathematical model between various operating parameters, namely the operating condition model, which is established according to the physical principles and dynamic characteristics of the linear chassis control system; the central coordination module reads the current time in real time as the time reference for calculating the operating condition signal; according to the current test requirements, the current test scene is selected from the stored test scenes, and the corresponding operating condition parameters are queried or calculated from the scene data according to the current time and the selected test scene, and the queried or calculated operating condition parameters are substituted into the operating condition model to calculate the real-time operating condition signal.

4. The distributed HIL test system for linear chassis control system according to claim 3, characterized in that: The HIL node receives the operating condition signal broadcast by the central coordination module, obtains the current status information of the subsystem locally, inputs the operating condition signal and subsystem status information into the mathematical model of the subsystem, performs real-time calculations, obtains the chassis control response, organizes and packages the calculated chassis control response results, converts them into the set transmission format, and feeds the response results back to the central coordination module through the high-speed communication bus.

5. The distributed HIL test system for linear chassis control system according to claim 4, characterized in that: The fault injection module receives the fault injection instruction from the central coordination module or the external host computer, parses the instruction to obtain the fault injection parameters, generates a fault signal that meets the input requirements of the target HIL node according to the fault injection parameters obtained by the analysis using a pre-established mathematical model, and sends the fault signal to the target HIL node in a set time period according to a predetermined injection method; the fault injection parameters include fault type, injection time, duration, and target HIL node information.

6. The distributed HIL test system for linear chassis control system according to claim 5, characterized in that: The system also includes a test management module that determines the indicators that need to be monitored according to the functional and performance requirements of the subsystem, and sets the normal range and acceptable deviation threshold of each monitoring indicator according to the design requirements and safety specifications of the subsystem; during and before and after fault injection, the acquisition module collects the operating data of the target HIL node and related subsystems in real time; Compare and analyze the data collected during the fault injection period with the normal operation data, evaluate the performance changes of the subsystem under fault conditions, and calculate the deviation value, fluctuation range, and recovery time of various monitoring indicators; judge the robustness of the subsystem based on the results of the comparative analysis.

7. The distributed HIL test system for linear chassis control system according to claim 6, characterized in that: The test management module records the real-time operation status and communication data of each HIL node; The data under each test condition is recorded, and the process, results, analysis and suggestions of the fault injection test are compiled into a detailed report; the report includes the test purpose, test scenario, fault injection parameters, monitoring data, and performance evaluation results.

8. The distributed HIL test system for linear chassis control system according to claim 7, characterized in that: The central coordination module receives the fault injection parameters configured by the user, and sends a fault injection instruction to the fault injection module based on the fault injection parameters.

9. A distributed HIL test method for a linear chassis control system, characterized in that: include: The linear chassis control system is divided into multiple subsystems according to the chassis functions, and each subsystem is operated by an independent HIL node; each subsystem establishes a corresponding mathematical model according to the function of the linear chassis control system; and the actuator device is connected to the corresponding HIL node; Each HIL node independently runs its corresponding subsystem simulation and transmits the simulation data to the central coordination module; The central coordination module generates dynamic working condition signals in real time according to the preset test scenarios, and broadcasts the generated working condition signals to each HIL node in real time, while ensuring time synchronization through the clock synchronization mechanism; Each HIL node calculates the chassis control response in real time based on the mathematical model of the subsystem and feeds the response results back to the central coordination module; The central coordination module receives the fault injection parameters configured by the user, and sends the fault injection instructions to the fault injection module based on the fault injection parameters; The fault injection module receives the fault injection instruction from the central coordination module, parses the instruction to obtain fault injection parameters, generates a fault signal that meets the input requirements of the target HIL node based on the fault injection parameters obtained by parsing using a pre-established mathematical model, and sends the fault signal to the target HIL node in a set time period according to a predetermined injection method; the fault injection parameters include fault type, injection time, duration, and target HIL node information; The test management module collects the real-time status data of each subsystem, the system response curve and key indicators after fault injection in real time through the acquisition module, and performs preliminary analysis on the collected data to generate a test report.

10. The distributed HIL test method for a linear chassis control system according to claim 9, characterized in that: The HIL nodes include a steering knuckle control node, a brake control HIL node, and a suspension control HIL node. Each HIL node independently runs the simulation of its corresponding subsystem, and the steps of transmitting the simulation data to the central coordination module include: The steering control HIL node receives the steering wheel angle signal in real time, calculates the output state of the steering system, and synchronously exchanges vehicle status information with the central coordination module and other HIL nodes; The brake control HIL node processes brake pedal input in real time, simulates vehicle deceleration, generates brake force feedback data, and transmits it to other HIL nodes and the central coordination module; The suspension control HIL node simulates the vehicle's body dynamics under different road conditions, outputs body posture parameters, and transmits them to other HIL nodes and the central coordination module.

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