Hardware-in-the-loop test system of steering system

Abstract

The invention discloses a hardware-in-the-loop test system of a steering system, which comprises an upper computer, a steering execution simulation system, a wire harness connection fault test box and a motor controller, and is characterized in that the upper computer is used for simulating the driving state of a vehicle and generating vehicle operation condition information; the steering execution simulation system is used for simulating a sensor to generate a corresponding sensor signal according to the vehicle operation condition information and sending the sensor signal to the motor controller; the motor controller is used for generating a motor control signal required when the vehicle executes steering operation according to the received sensor signal; the steering execution simulation system is also used for simulating the work of the motor according to the motor control signal and feeding back the working state information of the motor to the motor controller, so that the upper computer can judge whether the logic function of the steering system is normal or not according to the working state information of the motor; the wire harness connection fault test box is used for simulating open circuit and short circuit of signals between the steering execution simulation system and the motor controller so as to realize fault injection test.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle testing, and in particular, to a hardware-in-the-loop test system for a steering system. Background Art

[0002] Hardware-in-the-Loop (HIL) testing refers to the process of verifying the safety, functions, performance, etc. of a device under test by placing hardware devices in a simulation environment without a complete vehicle. It is a very crucial step in the R & D stage of embedded products. At present, for the HIL testing of the Electric Power Steering (EPS) system and the Steering By Wire System (SBW), the Electronic Control Unit (ECU) is connected to real mechanical hardware, and the host computer is used to simulate the sending and receiving of vehicle signals and monitor the device under test in real time, so as to detect and solve problems in time before the product is installed in the vehicle, and ensure that the safety, functions, performance, etc. of the product meet the requirements of the complete vehicle.

[0003] As Figure 1 shown, the existing testing of EPS or SBW generally includes two parts: a host computer and a load bench. The load bench includes a power supply, an ECU, a motor, sensors, and a brake. The power supply supplies power to the ECU, the motor, the sensors, and the brake; the motor is an actuator controlled by the ECU; there is embedded software in the ECU, which controls the motor by receiving signals sent by the host computer. When the motor rotates, the sensors calculate and feedback torque signals and speed signals; the brake acts as a load on the motor and provides resistance to the motor by simulating road feel. Usually, test management software is installed in the host computer, and during the test, motor control signals are sent to the ECU according to test cases. After receiving the motor control signals, the ECU controls the motor to work. The sensors calculate the torque and speed information during the operation of the motor and feedback the motor torque and speed signals to the host computer. By analyzing whether the feedback signals match the expected results, the test purpose can be achieved. In the existing test system, the steering device and sensors are composed of real hardware, which not only has low test coverage and reusability, inconvenient switching of the device under test, but also has a risk of hardware damage when testing extreme working conditions, and there are manual test links during the test, so full automation testing cannot be completely realized, resulting in low test efficiency, increased labor costs for enterprises, and may also affect the R & D cycle of products. Therefore, it is necessary to provide an improved technical solution to overcome the above technical problems existing in the prior art. Summary of the Invention

[0004] In view of the above problems, the object of the present invention is to provide a hardware-in-the-loop test system for a steering system, which can improve the reusability and test coverage of the test system, achieve fully automated testing, and improve test efficiency.

[0005] The present invention provides a hardware-in-the-loop test system for a steering system, including a host computer, a steering execution simulation system, and a motor controller. The host computer is respectively communicatively connected to the steering execution simulation system and the motor controller, and the steering execution simulation system is electrically connected to the motor controller;

[0006] The host computer is used to simulate the driving state of the vehicle and generate vehicle operating condition information;

[0007] The steering execution simulation system is used to simulate sensors according to the vehicle operating condition information to generate corresponding sensor signals and send them to the motor controller;

[0008] The motor controller is used to generate motor control signals required when the vehicle performs a steering operation according to the received sensor signals;

[0009] The steering execution simulation system is further used to simulate the operation of the motor according to the motor control signals and feedback the working state information of the motor to the motor controller, so that the host computer can judge whether the logic function of the steering system is normal according to the working state information of the motor.

[0010] Further, the host computer is used to run a vehicle dynamics model software, and the vehicle dynamics model software is used to build a steering system model of the vehicle according to actual vehicle parameters, including a front-wheel steering system model and a rear-wheel steering system model.

[0011] Further, the host computer is also used to run a test management software, and the test management software is used to configure parameters in the steering system model and the steering execution simulation system according to an automated test script to simulate different force conditions of the vehicle during driving, including simulating the load condition of the vehicle, the tire pressure condition, the vehicle speed during driving, and the slope resistance on an inclined road surface.

[0012] Further, the host computer is also used to run an automated test software, and the automated test software is used to write automated test scripts for the vehicle under different operating conditions.

[0013] Further, the steering execution simulation system includes a communication module, and / or a real-time processing module, and / or a motor simulation module, and / or a SENT module, and / or an input / output module, and / or a power supply module;

[0014] The communication module is used to implement the signal interaction function among the host computer, the steering execution simulation system, and the motor controller;

[0015] The real-time processing module is used to synchronize the working timings of the host computer, the steering execution simulation system, and the motor controller in real time;

[0016] The motor simulation module is used to simulate the motor model in the steering system;

[0017] The SENT module is used to simulate the steering wheel torque signal, small rack torque signal, steering wheel angle signal, and wheel angle signal generated by each sensor according to different force conditions of the vehicle;

[0018] The input / output module is used to receive and send digital signals and analog signals between the steering execution simulation system and the motor controller;

[0019] The power supply module is used to provide the working voltage for the motor controller and the vehicle ignition signal.

[0020] Further, the motor model includes a steering motor model;

[0021] The motor controller is also used to generate a steering control signal according to the steering wheel torque signal, small rack torque signal, and steering wheel angle signal and send it to the steering motor model;

[0022] The steering motor model is used to output a steering torque according to the steering control signal to implement the steering operation.

[0023] Further, the motor model also includes a road feel simulation motor model;

[0024] The motor controller is also used to generate a road feel feedback control signal according to the vehicle speed, steering wheel torque signal, small rack torque signal, steering wheel angle signal, and wheel angle signal during vehicle driving and send it to the road feel simulation motor model;

[0025] The road feel simulation motor model is used to output a road feel feedback torque acting on the steering wheel according to the road feel feedback control signal to implement road feel simulation.

[0026] Further, the motor model also includes a redundant steering motor model and a redundant road feel simulation motor model.

[0027] Further, the system also includes a wiring harness connection fault test box, which is used to simulate the open circuit and short circuit of the signals between the steering execution simulation system and the motor controller to implement fault injection testing.

[0028] Further, the input end of the wire harness connection fault test box is connected to the steering execution simulation system through multiple wire harnesses for injecting different fault signals; the output end of the wire harness connection fault test box is connected to the motor controller through a single integrated connector.

[0029] The hardware-in-the-loop test system for the steering system provided by the present invention simulates the steering execution device and the sensor module in the vehicle steering system through a parameterized simulation model, improving the reusability and test coverage of the test system, and realizing the fully automated test process of the vehicle steering system by controlling the steering execution simulation system and the motor controller through a host computer. Moreover, fault injection tests are carried out through the wire harness connection fault test box to achieve convenient switching between different test objects, improving the test compatibility and test efficiency. Brief Description of the Drawings

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0031] Figure 1 It is a structural block diagram of a test system for a steering device in the prior art;

[0032] Figure 2 It is a structural block diagram of the hardware-in-the-loop test system for the steering system provided by the present invention;

[0033] Figure 3 It is a structural block diagram of the hardware-in-the-loop test system for the steering system provided by a specific embodiment of the present invention. Detailed Description of the Embodiments

[0034] The foregoing and other technical contents, features and effects of the present invention will be clearly presented in the following detailed description of the preferred embodiments in conjunction with the reference drawings. Through the description of the specific embodiments, a more in-depth and specific understanding of the technical means and effects adopted by the present invention to achieve the expected purpose can be obtained. However, the attached drawings are only for reference and illustration purposes and are not used to limit the present invention. Some well-known parts may not be shown. In each drawing, the same elements are represented by similar reference numerals. For the sake of clarity, the parts in the drawings are not drawn to scale.

[0035] Figure 2 It is a structural block diagram of the hardware-in-the-loop test system for the steering system provided by the present invention; as Figure 2As shown in the figure, the hardware-in-the-loop test system of the steering system provided by the present invention includes a host computer 110, a steering execution simulation system 120, a wiring harness connection fault test box 130, and a motor controller 140. The host computer 110 is communicatively connected to the steering execution simulation system 120 and the motor controller 140 via Ethernet respectively. The steering execution simulation system 120 is electrically connected to the motor controller 140 through the wiring harness connection fault test box 130.

[0036] Among them, the host computer 110 is used to simulate the driving state of the vehicle and generate vehicle operating condition information. For example, the host computer 110 can build a simulation model of the vehicle model to be tested according to the test requirements by using software, simulate the operating conditions of the vehicle under different driving states by setting corresponding parameters, and generate corresponding operating condition information according to the operating conditions of the vehicle, such as the driving speed of the vehicle, the road surface gradient of the vehicle driving, the angle that the vehicle needs to turn, etc.

[0037] The steering execution simulation system 120 is used to simulate sensors according to the vehicle operating condition information to generate corresponding sensor signals and send them to the motor controller 140. For example, it simulates a vehicle speed sensor to generate a vehicle speed signal according to the vehicle speed information, and simulates an angle sensor to generate a steering wheel angle signal according to the steering angle information of the steering wheel, etc.

[0038] The motor controller 140 is used to generate the motor control signals required when the vehicle performs a steering operation according to the received sensor signals; the steering execution simulation system 120 is also used to simulate the operation of the motor according to the motor control signals and feedback the working state information of the motor to the motor controller 140, so that the host computer 110 can judge whether the logic function of the steering system is normal according to the working state information of the motor. For example, the motor controller 140 generates a motor torque control signal according to the steering wheel torque signal and the steering wheel angle signal, controls the steering execution simulation system 120 to simulate the working process of the motor when the vehicle turns, and feeds back the working state information of the motor to the motor controller 140. The host computer 110 obtains the working state information of the steering execution simulation system 120 through real-time monitoring of the motor controller 140, and compares and analyzes it with the expected results to generate a corresponding test report.

[0039] The wiring harness connection fault test box 130 is used to simulate the open circuit and short circuit of the signals between the steering execution simulation system 120 and the motor controller 140 by plugging and unplugging connectors to achieve fault injection testing.

[0040] Figure 3 It is the structural block diagram of the hardware-in-the-loop test system of the steering system provided by a specific embodiment of the present invention; as Figure 3As shown, in a specific embodiment of the present invention, the host computer 110 is used to run the vehicle dynamics model software 111. The vehicle dynamics model software 111 is used to build a steering system model of the vehicle according to the actual vehicle parameters, including a front-wheel steering system model and a rear-wheel steering system model, and set corresponding configuration parameters according to the specific structural type of the steering device assembled in the tested vehicle model, such as an EPS steering device or an SBW steering device, so that the test system of the present application can not only achieve the steering test of EPS, but also achieve the steering test of SBW.

[0041] In a specific embodiment of the present invention, the host computer 110 is further used to run the test management software 112. The test management software 112 is used to configure the parameters in the steering system model and the steering execution simulation system 120 according to the automated test script to simulate different force conditions of the vehicle during driving, including simulating the load condition of the vehicle, the tire pressure condition, the vehicle speed during driving, and the slope resistance on an inclined road surface.

[0042] In a specific embodiment of the present invention, the host computer 110 is further used to run the automated test software 113. The automated test software 113 is used to write automated test scripts for the vehicle under different operating conditions. According to the test requirements, the automated test software 113 calls the parameters in the vehicle dynamics model software 111 and the steering execution simulation system 120 through the test management software 112. After calling the parameters, the components inside the automated test software 113 are used to write the test scripts for each module such as the test timing, state machine, and test matrix, perform automated configuration on the called parameters according to the written script logic, import the written test scripts into the test management software 112, and then the functional logic among the steering system model, the steering execution simulation system 120, and the motor controller 140 can be automatically tested, and a detailed test report can be automatically generated according to the test results. In addition, custom functions can be defined through programming languages and a function library can be established, and it can be called by the above-mentioned automated test scripts and imported into the test management software 112, so that more automated tests under different working conditions can be achieved. In addition, the automated test software 113 can also perform custom management on the test scripts to meet the requirements of various development processes for testing.

[0043] In some other embodiments of the present invention, in the case where the dedicated automated test software 113 is not installed on the host computer, the automated test script can also be directly written through a programming language, and the written automated test script is loaded through the test management software 112 to complete the automated test process of the steering system.

[0044] In a specific embodiment of the present invention, the steering execution simulation system 120 includes a communication module 121, a real-time processing module 122, a motor simulation module 123, a SENT module 124, an input / output (I / O) module 125, and a power supply module 126. Among them, the communication module 121 is used to implement the signal interaction function among the host computer 110, the steering execution simulation system 120, and the motor controller 140. The real-time processing module 122 is used to synchronize the working timings of the host computer 110, the steering execution simulation system 120, and the motor controller 140 in real time, so that the host computer 110, the steering execution simulation system 120, and the motor controller 140 work under the same real-time system, ensuring that the interaction among the host computer 110, the steering execution simulation system 120, and the motor controller 140 is real-time. The motor simulation module 123 is used to simulate the motor model in the steering system. The SENT (Single Edge Nibble Transmission) module is used to simulate the steering wheel torque signal, the small rack torque signal, the steering wheel angle signal, and the wheel angle signal generated by each sensor according to different force conditions of the vehicle. The SENT protocol is a one-way communication scheme that encodes sensor data into a series of pulse signals and is used for the data transmission from the sensor to the engine control unit. The sensor signals transmitted using this protocol have the characteristics of high signal frequency, fast transmission speed, and continuous unidirectional data transmission. Therefore, the SENT module 124 can be used to simulate the sensor for the transmission of sensor signals. The input / output module 125 is used to receive and send digital signals and analog signals between the steering execution simulation system 120 and the motor controller 140. The power supply module 126 is used to provide the working voltage for the motor controller 140 (i.e., simulate the KL30 signal of the whole vehicle) and the vehicle ignition signal (the KL15 signal of the whole vehicle).

[0045] Specifically, when performing the HIL test on the steering system, first, the test management software 112 calls the parameters of the vehicle dynamics model software 111 according to the automated test script to simulate different force conditions of the vehicle during driving, such as simulating the vehicle's load condition, tire pressure condition, vehicle driving speed, and slope resistance on an inclined road surface, etc.; the steering execution simulation system 120 presents the force condition of the vehicle as a sensor signal, and sends the sensor signal to the motor controller 140 through the SENT module 124 in a simulated manner. After receiving each sensor signal, the motor controller 140 responds according to the signal transceiver logic of the internally embedded software, sends the corresponding motor control signal to the motor simulation module 123 in the steering execution simulation system 120, controls the motor model to simulate the working state of the vehicle during steering, and feeds back the working state information of the motor, including the position information of the motor, phase current and phase voltage information during motor operation, to the motor controller 140 in the form of a signal through the output channel in the motor simulation module 123. Then, the test management software 112 monitors the feedback signal to obtain the operation result of the steering execution system, and compares and analyzes it with the designed expected result to generate a detailed test report. In addition, during the software development process, if the software needs to be updated due to reasons such as requirement changes and defect repairs, in order to ensure that the product's functions are not affected after the software update, regression testing is usually required to verify all the functions of the product. At this time, only by executing the previous automated test script in the test management software 112, the regression test can be completed within a limited time, thereby improving the test efficiency.

[0046] In a specific embodiment of the present invention, the motor model includes a steering motor model; the motor controller 140 is further configured to generate a steering control signal according to the steering wheel torque signal, small rack torque signal, and steering wheel angle signal and send it to the steering motor model; the steering motor model is configured to output a steering torque according to the steering control signal to achieve a steering operation.

[0047] In a specific embodiment of the present invention, the motor model further includes a road feel simulation motor model; the motor controller 140 is further configured to generate a road feel feedback control signal according to the vehicle driving speed, steering wheel torque signal, small rack torque signal, steering wheel angle signal, and wheel angle signal and send it to the road feel simulation motor model; the road feel simulation motor model is configured to output a road feel feedback torque acting on the steering wheel according to the road feel feedback control signal to achieve road feel simulation.

[0048] In a specific embodiment of the present invention, the motor model further includes a redundant steering motor model and a redundant road feel simulation motor model. Through the redundant steering motor model and the redundant road feel simulation motor model, it is possible to simulate the test of the backup steering control strategy for the steering system when a failure occurs in the steering motor or the road feel simulation motor.

[0049] In a specific embodiment of the present invention, the input end of the harness connection fault test box 130 (Break-Out Box, BOB) is connected to the steering execution simulation system 120 through multiple harnesses for injecting different fault signals; the output end of the harness connection fault test box 130 is connected to the motor controller 140 through a single integrated connector, which is convenient for the plugging and unplugging and switching of the controller under test. Specifically, there are multiple banana plugs on the surface of the BOB, and each banana plug is respectively plugged into the signal lines of each module of the above-mentioned steering execution simulation system 120. Each path of signal can be manually plugged and unplugged by a separate banana plug to achieve signal open circuit and short circuit, thereby realizing fault injection testing.

[0050] The hardware-in-the-loop test system of the steering system provided by the present invention uses a parameterized simulation model to simulate the steering execution device and the sensor module in the vehicle steering system, improving the reusability and test coverage of the test system, avoiding the risk of hardware damage, and realizing the full-automatic test process of the vehicle steering system through the test management software in the upper computer to control the steering execution simulation system and the motor controller. Moreover, by integrating the signal harness through the BOB and connecting to the controller under test through a single integrated connector at the output end, it is not only convenient for fault injection testing of signals, but also convenient for switching different controllers under test, improving the test compatibility and test efficiency.

[0051] In the description of the present invention, unless otherwise clearly defined and limited, terms such as "set", "installed", "connected", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances. The term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, including not only those listed elements, but also other elements not expressly listed.

[0052] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention.

Claims

1. A hardware-in-the-loop test system for a steering system, characterized in that It includes a host computer, a steering execution simulation system, and a motor controller. The host computer is communicatively connected to the steering execution simulation system and the motor controller respectively, and the steering execution simulation system is electrically connected to the motor controller; The host computer is used to simulate the driving state of the vehicle and generate vehicle operation condition information; The steering execution simulation system is used to simulate sensors according to the vehicle operation condition information to generate corresponding sensor signals and send them to the motor controller; The motor controller is used to generate motor control signals required when the vehicle performs a steering operation according to the received sensor signals; The steering execution simulation system is also used to simulate the operation of the motor according to the motor control signals and feedback the working state information of the motor to the motor controller, so that the host computer can judge whether the logic function of the steering system is normal according to the working state information of the motor.

2. The hardware-in-the-loop test system for the steering system according to claim 1, characterized in that The host computer is used to run the vehicle dynamics model software, and the vehicle dynamics model software is used to build a steering system model of the vehicle according to the actual vehicle parameters, including a front-wheel steering system model and a rear-wheel steering system model.

3. The hardware-in-the-loop test system for the steering system according to claim 1, characterized in that The steering execution simulation system includes a communication module, and / or a real-time processing module, and / or a motor simulation module, and / or a SENT module, and / or an input / output module, and / or a power supply module; The communication module is used to implement the signal interaction function among the host computer, the steering execution simulation system, and the motor controller; The real-time processing module is used to synchronize the working timings of the host computer, the steering execution simulation system, and the motor controller in real time; The motor simulation module is used to simulate the motor model in the steering system; The SENT module is used to simulate the steering wheel torque signal, small rack torque signal, steering wheel angle signal, and wheel angle signal generated by each sensor according to different force conditions of the vehicle; The input / output module is used to receive and send digital signals and analog signals between the steering execution simulation system and the motor controller; The power supply module is used to provide a working voltage for the motor controller and a vehicle ignition signal.

4. The hardware-in-the-loop test system for the steering system according to claim 3, characterized in that, The motor model includes a steering motor model; The motor controller is also used to generate a steering control signal according to the steering wheel torque signal, small rack torque signal, and steering wheel angle signal and send it to the steering motor model; The steering motor model is used to output a steering torque according to the steering control signal to achieve a steering operation.

5. The hardware-in-the-loop test system for the steering system according to claim 3 or 4, characterized in that The motor model also includes a road feel simulation motor model; The motor controller is also used to generate a road feel feedback control signal according to the vehicle speed, steering wheel torque signal, small rack torque signal, steering wheel angle signal, and wheel angle signal during vehicle driving and send it to the road feel simulation motor model; The road feel simulation motor model is used to output a road feel feedback torque acting on the steering wheel according to the road feel feedback control signal to achieve road feel simulation.

6. The hardware-in-the-loop test system for the steering system according to claim 5, characterized in that, The motor model also includes a redundant steering motor model and a redundant road feel simulation motor model.

7. The hardware-in-the-loop test system for the steering system according to claim 1, wherein The host computer is also used to run the automated test software, and the automated test software is used to write automated test scripts for the vehicle under different operating conditions.

8. The hardware-in-the-loop test system for a steering system according to claim 7, characterized in that, The host computer is also used to run the test management software, and the test management software is used to configure the parameters in the steering system model and the steering execution simulation system according to the automated test script to simulate different force conditions of the vehicle during driving, including simulating the load condition of the vehicle, the tire pressure condition, the vehicle speed during driving, and the slope resistance on the inclined road surface.

9. The hardware-in-the-loop test system for a steering system according to claim 1, characterized in that, It further includes a wiring harness connection fault test box, and the wiring harness connection fault test box is used to simulate the open circuit and short circuit of the signals between the steering execution simulation system and the motor controller to implement fault injection testing.

10. The hardware-in-the-loop test system for the steering system according to claim 9, characterized in that The input end of the wiring harness connection fault test box is connected to the steering execution simulation system through multiple wiring harnesses for injecting different fault signals; the output end of the wiring harness connection fault test box is connected to the motor controller through a single integrated connector.

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