Intelligent vehicle automatic test process control method based on CANFD protocol

Abstract

The invention discloses an intelligent vehicle automatic test process control method based on a CANFD protocol. The method comprises the following steps: compiling a control script for a test case; loading the DBC file to a memory; the interpreter imports the control script for analysis; and executing the control script according to the test process obtained after analysis to complete automatic test. According to the intelligent vehicle automatic test process control method based on the CANFD protocol, a tester can design various complex test cases through the control script and execute the test, the test process is greatly simplified, and the test efficiency and the development efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle-mounted intelligent system technology and CAN bus communication protocol testing, and in particular to a method for controlling an automated test process of an intelligent vehicle based on the CANFD protocol. Background Art

[0002] In-vehicle intelligent systems usually require interactive testing through the CANFD protocol, mainly for simulation testing of TBOX (on-board terminal).

[0003] Currently, there is limited research on test languages ​​in the market. Manufacturers typically use general-purpose languages ​​such as Lauterbach's CMM language to write test scripts for testing. For CAN bus communication protocol testing, this language has a low level of automation and relies on specialized hardware tools.

[0004] At present, some manufacturers have tried to use self-developed CAN test tools, which are usually implemented based on a graphical interface. After importing DBC, tedious configuration is required, which is prone to errors. In addition, the reusability and scalability of test case configuration are very low, which in turn affects the correctness of the electronic control unit test results, making the entire testing process cumbersome and low in development efficiency.

[0005] Therefore, how to improve vehicle testing efficiency is a technical problem that needs to be solved urgently. Summary of the Invention

[0006] In order to address the shortcomings of the existing technology, the present invention provides an intelligent vehicle automated test process control method based on the CANFD protocol, which allows testers to design various complex test cases and execute tests through control scripts, greatly simplifying the test process and improving test efficiency and development efficiency.

[0007] The embodiment of the present invention provides the following solutions:

[0008] An embodiment of the present invention provides a method for controlling an automated test process of an intelligent vehicle based on the CANFD protocol, the method comprising:

[0009] S1. Write a control script for the test case. The control script describes the operation instructions of the test case based on CANFD signal interaction. The signal variables involved in the operation instructions have the same name as the signal defined in the DBC file.

[0010] S2. Load the DBC file into memory;

[0011] S3. The interpreter imports the control script, parses the control script according to the definition of the DBC file, and obtains the test process represented by the operation instructions of the test case;

[0012] S4. Execute the control script according to the test process obtained after analysis to complete the automated test.

[0013] In an optional embodiment, the control script in step S1 is described as follows:

[0014] (1) Using flow control functions to describe operation instructions;

[0015] (2) The flow control function starts with a special character, followed by the function name, and then the function control content is described in separate lines. When the next flow control function starts or the control script ends, the current flow control function ends.

[0016] (3) The first flow control function in the control script is the entry function. Other flow control functions are used to represent corresponding device control instructions. When the test is executed, after waiting for a preset time, it starts to send or stops sending the message corresponding to the signal involved in the flow control function, executes the device control instruction, and prints the current sending and receiving status until the next flow control function starts or the control script ends;

[0017] (4) If the flow control function determines whether the device log matches the regular expression, it means that the determination is valid only when the log line received in real time matches the regular expression, and then the device control instruction represented by the flow control function is executed;

[0018] (5) Use annotation symbols to indicate annotation content, which can be printed directly during test execution;

[0019] (6) Use special characters to indicate signal names that are not displayed in the line chart;

[0020] (7) The signal variable referenced by the flow control function is used to enable the interpreter to automatically parse the corresponding signal description, signal value meaning, and signal value range according to the DBC file, and convert the signal into a message and obtain the message attributes according to the signal offset, value range, and precision;

[0021] (8) If the value of a signal variable is set in a flow control function, it is used to update the value into the corresponding message, which will be sent out continuously in a periodic manner. When a flow control function ends, the changed signal sending state will not change until another flow control function changes the signal sending state again.

[0022] (9) If the signal variable value is set to empty in the flow control function, it is used to set this signal to the default value. When there is no other valid signal for the corresponding message, the corresponding message will be automatically stopped;

[0023] (10) If the signal variable value is N in the flow control function, it means that the judgment is valid only when the received signal is N, and then the device control instruction represented by the flow control function is executed.

[0024] In an optional embodiment, the message attributes include a message ID, a message description, and a sending cycle.

[0025] In an optional embodiment, the operation instructions described in step S1 include loop control instructions, condition judgment instructions for receiving signals and real-time logs of devices, signal sending instructions, real-time analysis instructions for device logs, environment initialization instructions, flow control function authentication instructions and other control instructions.

[0026] In an optional embodiment, executing the control script according to the test process obtained after parsing in step S4 includes the following process:

[0027] S4.1. Check whether a wake-up message is set in the control script. If so, wait for the wake-up message to wake up the vehicle and then proceed to step S4.2. Otherwise, start execution from the entry function and proceed to step S4.2.

[0028] S4.2. Perform electronic controller certification;

[0029] S4.3. Enter the message or signal trigger control sub-process based on the instructions obtained by parsing the control script, and simultaneously execute the device under test log control sub-process and the manual script instruction interaction sub-process;

[0030] S4.4. Exit and make a line graph of signal changes.

[0031] In an optional embodiment, the electronic controller authentication described in step S4.2 includes selecting an authentication algorithm, mode and key, monitoring authentication messages, and initiating authentication interaction.

[0032] In an optional embodiment, the message or signal triggering control sub-process described in step S4.3 means that when the received message or signal meets the judgment condition recorded in the flow control function, the general control unit sub-process is executed.

[0033] In an optional embodiment, the general control unit sub-process refers to executing the device control instructions represented by the flow control function obtained by analysis, that is, starting to send or stop sending the message corresponding to the signal involved in the flow control function after waiting for a preset time, executing the device control instructions, and printing the current sending and receiving status; only one flow control function is executed at the same time, and the newly triggered flow control function replaces the running flow control function.

[0034] In an optional embodiment, the log control sub-process of the device under test described in step S4.3 includes the following process: for the logs output in real time during the execution process, each time a line is received, if the content of the line matches the highlighting rule, the log text is highlighted; if it matches the alarm rule, a pop-up box or email is issued to alert; if it matches the end rule, the control process is exited and the graph is automatically drawn; repeat this process until all are received.

[0035] The beneficial effects of the present invention based on its technical solution are:

[0036] The present invention provides an intelligent vehicle automated test process control method based on the CANFD protocol, which enables testers to design various complex test cases and execute tests through specially structured control scripts, greatly simplifying the test process and improving test efficiency and development efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of this specification or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0038] Figure 1 This is a flow chart of a method for controlling an automated test process of an intelligent vehicle based on the CANFD protocol provided in this embodiment.

[0039] Figure 2 A schematic diagram of the execution process.

[0040] Figure 3 Take a screenshot of the automatic parking scene control script. DETAILED DESCRIPTION

[0041] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field fall within the scope of protection of the embodiments of the present invention.

[0042] Reference Figure 1 This embodiment provides a method for controlling an automated test process of an intelligent vehicle based on the CANFD protocol, the method comprising:

[0043] S1. Write a control script for the test case. The control script describes the operation instructions of the test case based on CANFD signal interaction. The signal variables involved in the operation instructions have the same name as the signal defined in the DBC file.

[0044] The control script is described as follows:

[0045] (1) Using flow control functions to describe operation instructions;

[0046] (2) The flow control function starts with a special character, such as "%. The function name is followed by a line describing the control content of the function. The flow control function ends when the next flow control function starts or the control script ends.

[0047] (3) The first flow control function in the control script is the entry function. Other flow control functions are used to represent corresponding device control instructions. When the test is executed, after waiting for a preset time, it starts to send or stops sending the message corresponding to the signal involved in the flow control function, executes the device control instruction, and prints the current sending and receiving status until the next flow control function starts or the control script ends;

[0048] (4) If the flow control function determines whether the device log matches the regular expression, it means that the determination is valid only when the log line received in real time matches the regular expression, and then the device control instruction represented by the flow control function is executed;

[0049] (5) Use comment characters, such as “;” or “#”, to indicate the comment content, which is used to print directly during test execution. When a comment is added to the name of a flow control function, the comment content will be printed out during the automated test to indicate the current stage of the automated test.

[0050] (6) Use special characters to indicate signal names that are not displayed in the line chart;

[0051] (7) The signal variable referenced by the flow control function is used to enable the interpreter to automatically parse the corresponding signal description, signal value meaning, and signal value range according to the DBC file, and convert the signal into a message and obtain the message attributes based on the signal offset, value range, and precision; the message attributes include message ID, message description, and sending period;

[0052] (8) If the value of a signal variable is set in a flow control function, it is used to update the value into the corresponding message, which will be sent out continuously in a periodic manner. When a flow control function ends, the changed signal sending state will not change until another flow control function changes the signal sending state again.

[0053] (9) If the signal variable value is set to empty in the flow control function, it is used to set this signal to the default value. When there is no other valid signal for the corresponding message, the corresponding message will be automatically stopped;

[0054] (10) If the signal variable value is N in the flow control function, it means that the judgment is valid only when the received signal is N, and then the device control instruction represented by the flow control function is executed.

[0055] The operation instructions include loop control instructions, conditional judgment instructions for receiving signals and real-time device logs, signal sending instructions, real-time device log analysis instructions, environment initialization instructions, flow control function authentication instructions, and other control instructions. The following are the instruction function forms used in this embodiment:

[0056] a. Flow control instructions, which indicate instructions to be executed in sequence, have the following format:

[0057] %Flow control function name (parameter name 1 = value 1, parameter name 2 = value 2, ...)

[0058] Instruction 1

[0059] Instruction 2

[0060] …

[0061] The first flow control function is named main;

[0062] The content in the brackets defines general variables. There is no complex logic within the function. Except for built-in variables, all variables are global variables and the variable type is a string type with weak numeric values.

[0063] b. Loop control instruction, which means to repeat the flow control function N times and then jump to other flow control functions. The format is:

[0064] %Flow control function name (loop=N);

[0065] c. Conditional judgment instructions for receiving signals and real-time device logs include the following instructions, the formats are:

[0066] %Signal==[num] means that when the received signal value is num, the currently executed flow control function is terminated and the instructions in this function are executed sequentially. When == is replaced by >=, <=, >, and <, it means that the received signal value is greater than or equal to, less than or equal to, greater than, and less than num, respectively.

[0067] %Signal1==Signal2, which means that when the received signal value Signal1 is consistent with the signal value Signal2 being sent, the currently executed flow control function is terminated and the instructions in this function are executed sequentially; where == is replaced by >=, <=, >, and <, which respectively indicate that the received signal value signal is greater than or equal to, less than or equal to, greater than, and less than num;

[0068] %Signal1==[expr], means when the received signal signal value matches the arithmetic expression expr, the currently executed flow control function ends and the instructions in this function are executed sequentially; where == is replaced by >=, <=, >, and <, respectively, indicating that the received signal signal value is greater than or equal to, less than or equal to, greater than, and less than num;

[0069] %log~[regexp]: When the device's real-time log matches the regular expression regexp, the current flow control function is terminated and the instructions in this function are executed sequentially.

[0070] %[condition 1]and[condition 2] means that when both condition 1 and condition 2 are met, the currently executed flow control function will be terminated and the instructions in this function will be executed sequentially. When "and" is replaced by "or", it means that either condition 1 or condition 2 is met.

[0071] d. Send signal instructions, including the following instructions, the formats are:

[0072] Signal = [num], which means finding the corresponding signal Signal in the DBC file, setting the signal value to num, and packaging the signal into a corresponding message. It is continuously sent to the device periodically. When num is empty, the signal sending stops.

[0073] Signal1 = Signal2. Find the corresponding signal Signal1 in the DBC file, set the signal value to the value of the received signal Signal2, and package the signal into a corresponding message, and send it to the device periodically.

[0074] Signal = [expr] means finding the corresponding signal Signal in the DBC file, setting the signal value to the regular expression expr, and packaging the signal into a corresponding message. It is continuously sent to the device periodically. When expr is empty, the signal sending stops.

[0075] _Signal = [expr], which means finding the corresponding signal _Signal in the DBC file, setting the signal value to the regular expression expr, and packaging the signal into a corresponding message, which is continuously sent to the device periodically. When expr is empty, the signal is no longer sent and is ignored during the final automatic drawing.

[0076] e. Device log real-time analysis instructions include the following instructions, the formats are:

[0077] red[regular expression]: Use regular expressions to match log output line by line, and automatically mark the log in red when a match is successful;

[0078] warn[regular expression]: Use regular expressions to match log output line by line, and issue a warning when a match is successful;

[0079] exit[regular expression]: Use regular expressions to match the log output line by line. When the match is successful, the automated test process ends and a line graph is drawn to show the signal changes during the test.

[0080] error[regular expression]: Use regular expressions to match the log output line by line. When the match is successful, the automated test process ends, and the signal changes during the test are plotted in a line graph. At the same time, an error reminder is automatically issued.

[0081] [exit / error]_cntN: The automated test ends when exit or error completes the Nth match;

[0082] [exit / error]_delay_time N: After the test ends, it will officially end after N milliseconds.

[0083] [exit / error]_delay_line N: After the test ends, the test will continue to capture N lines of logs and then officially end.

[0084] f. Environment initialization instructions, including the following instructions, the formats are:

[0085] dbc[DBC file path]: specifies the path of the DBC file to be loaded, and the interpreter will parse according to the DBC file;

[0086] dev_log [console command]: The interpreter obtains the real-time output of the device log and judges the current status of the automated test based on it;

[0087] can_log[CANFD message record saving path]: The interpreter saves the sent and received messages to the specified path;

[0088] wakeup_msgid[msgid]: Sets the wakeup message number msgid. After setting, the first flow control function main will not be executed directly when the control script is started. Instead, it will wait until the corresponding wakeup message is received before starting the first flow control function main. This instruction is designed for the special case of vehicle dormancy. In this special case, the script will not execute the first flow control function directly, but will wait until the vehicle is awakened before entering the flow control test.

[0089] clock_msgid[msgid]: Set the number msgid of the clock message. The interpreter automatically obtains the current time of the device from the clock message and uses it as the time coordinate for drawing after the process ends.

[0090] g. Flow control function authentication instructions include the following instructions, the formats are:

[0091] enable[1] and enable[0], turn on and off automatic authentication;

[0092] method[algorithm name], specifies the encryption algorithm used in the authentication process;

[0093] type[interaction mode], specifies the interaction mode of the authentication message;

[0094] key[key content], specifies the encryption key used in the authentication process;

[0095] Signal_ok = [val], specifies the received signal discrimination value for successful authentication;

[0096] Signal_ko = [val], specifies the received signal discrimination value for authentication failure;

[0097] h. Other control instructions, including the following instructions, the formats are:

[0098] waitN: wait for N milliseconds and then execute the following control statement;

[0099] call[next flow control function name]: execute the next flow control function;

[0100] call[next flow control function name](loop=N): execute the next flow control function N times;

[0101] remote[device shell command]: log in to the device and execute shell commands on the device;

[0102] cmd[host shell command]: execute the shell command on the host.

[0103] S2. Load the DBC file into memory;

[0104] S3. The interpreter imports the control script, parses the control script according to the definition of the DBC file, and obtains the test process represented by the operation instructions of the test case;

[0105] S4. Execute the control script according to the test process obtained after analysis to complete the automated test. Figure 2 , specifically including the following processes:

[0106] S4.1. Check whether a wake-up message is set in the control script. If so, wait for the wake-up message and proceed to step S4.2. Otherwise, start execution from the entry function and proceed to step S4.2.

[0107] S4.2. Perform electronic controller authentication, including selecting an authentication algorithm, mode, and key, monitoring authentication messages, and initiating authentication interactions;

[0108] S4.3. Enter the message or signal trigger control sub-process based on the instructions obtained by parsing the control script, and simultaneously execute the device under test log control sub-process and the manual script instruction interaction sub-process;

[0109] The message or signal trigger control sub-process refers to the execution of the general control unit sub-process when the received message or signal meets the judgment conditions recorded in the flow control function. The general control unit sub-process refers to the execution of the device control instructions represented by the parsed flow control function, that is, after waiting for a preset time, it starts or stops sending the message corresponding to the signal involved in the flow control function, executes the device control instructions, and prints the current sending and receiving status. Only one flow control function is executed at a time, and the newly triggered flow control function replaces the running flow control function.

[0110] The device log control sub-process includes the following steps: when receiving a line, if the line content matches the highlighting rule, the log text is highlighted; if it matches the alert rule, an alert is sent via a pop-up window or email; if it matches the end rule, the control process is exited and the graph is automatically drawn; this process is repeated until all the data is received;

[0111] S4.4. Exit and make a line graph of signal changes.

[0112] Reference Figure 3 A screenshot of the control script for the parking scene is shown. It can be seen that the script is very concise and clear. It only requires writing a configuration file, not a complete code, making it easy for testers to write and implement.

[0113] If the existing languages ​​(such as Lauterbach CMM language, TSmatser script language, etc.) are not targeted enough, it is necessary to write complex test process program codes, and the amount of code is often 5 to 10 times more, which places high demands on testers and is not conducive to rapid product upgrades.

[0114] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0115] The present invention is described with reference to flowcharts and / or block diagrams of methods, apparatus (modules, systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0116] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0117] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0118] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0119] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A method for controlling an automated test process of an intelligent vehicle based on the CANFD protocol, characterized in that: The method comprises the following steps: S1. Write a control script for the test case. The control script describes the operation instructions of the test case based on CANFD signal interaction. The signal variables involved in the operation instructions have the same name as the signal defined in the DBC file. S2. Load the DBC file into memory; S3. The interpreter imports the control script, parses the control script according to the definition of the DBC file, and obtains the test process represented by the operation instructions of the test case; S4. Execute the control script according to the test process obtained after analysis to complete the automated test.

2. The method for controlling an automated test process of an intelligent vehicle based on the CANFD protocol according to claim 2, characterized in that: The control script described in step S1 is described as follows: (1) Using flow control functions to describe operation instructions; (2) The flow control function starts with a special character, followed by the function name, and then the function control content is described in separate lines. When the next flow control function starts or the control script ends, the current flow control function ends. (3) The first flow control function in the control script is the entry function. Other flow control functions are used to represent corresponding device control instructions. When the test is executed, after waiting for a preset time, it starts to send or stops sending the message corresponding to the signal involved in the flow control function, executes the device control instruction, and prints the current sending and receiving status until the next flow control function starts or the control script ends; (4) If the flow control function determines whether the device log matches the regular expression, it means that the determination is valid only when the log line received in real time matches the regular expression, and then the device control instruction represented by the flow control function is executed; (5) Use annotation symbols to indicate annotation content, which can be printed directly during test execution; (6) Use special characters to indicate signal names that are not displayed in the line chart; (7) The signal variable referenced by the flow control function is used to enable the interpreter to automatically parse the corresponding signal description, signal value meaning, and signal value range according to the DBC file, and convert the signal into a message and obtain the message attributes according to the signal offset, value range, and precision; (8) If the value of a signal variable is set in a flow control function, it is used to update the value into the corresponding message, which will be sent out continuously in a periodic manner. When a flow control function ends, the changed signal sending state will not change until another flow control function changes the signal sending state again. (9) If the signal variable value is set to empty in the flow control function, it is used to set this signal to the default value. When there is no other valid signal for the corresponding message, the corresponding message will be automatically stopped; (10) If the signal variable value is N in the flow control function, it means that the judgment is valid only when the received signal is N, and then the device control instruction represented by the flow control function is executed.

3. The method for controlling an automated test process of an intelligent vehicle based on the CANFD protocol according to claim 2, characterized in that: The message attributes include message ID, message description and sending cycle.

4. The method for controlling an automated test process of an intelligent vehicle based on the CANFD protocol according to claim 1, characterized in that: The operation instructions described in step S1 include loop control instructions, condition judgment instructions for receiving signals and real-time device logs, signal sending instructions, real-time device log analysis instructions, environment initialization instructions, flow control function authentication instructions and other control instructions.

5. The intelligent vehicle automated test process control method based on the CANFD protocol according to claim 1 is characterized in that: Step S4 executes the control script according to the test process obtained after analysis. The following processes are included: S4.

1. Check whether a wake-up message is set in the control script. If so, wait for the wake-up message to wake up the vehicle and then proceed to step S4.

2. Otherwise, start execution from the entry function and proceed to step S4.

2. S4.

2. Perform electronic controller certification; S4.

3. Enter the message or signal trigger control sub-process based on the instructions obtained by parsing the control script, and simultaneously execute the device under test log control sub-process and the manual script instruction interaction sub-process; S4.

4. Exit and make a line graph of signal changes.

6. The method for controlling an automated test process of an intelligent vehicle based on the CANFD protocol according to claim 5, characterized in that: The electronic controller authentication described in step S4.2 includes selecting an authentication algorithm, mode and key, monitoring authentication messages, and initiating authentication interactions.

7. The method for controlling an automated test process of an intelligent vehicle based on the CANFD protocol according to claim 5, characterized in that: The message or signal triggering control sub-process described in step S4.3 means that when the received message or signal meets the judgment conditions recorded in the flow control function, the general control unit sub-process is executed.

8. The method for controlling an automated test process of an intelligent vehicle based on the CANFD protocol according to claim 7, characterized in that: The general control unit sub-process refers to executing the device control instructions represented by the flow control function obtained by parsing, that is, starting or stopping sending the message corresponding to the signal involved in the flow control function after waiting for a preset time, executing the device control instructions, and printing the current sending and receiving status; Only one flow control function is executed at a time, and the newly triggered flow control function replaces the running flow control function.

9. The method for controlling an automated test process of an intelligent vehicle based on the CANFD protocol according to claim 5, characterized in that: The device under test log control sub-process described in step S4.3 The process includes the following: for the logs output in real time during the execution process, each time a line is received, if the content of the line matches the highlighting rule, the log text is highlighted; if it matches the alert rule, an alert is sent out in a pop-up box or email; if it matches the end rule, the control flow is exited and the graph is automatically drawn; this process is repeated until all the logs are received.

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