Software development and iterative cross test verification device and method for drive-by-wire product

Abstract

The invention relates to the field of drive-by-wire product development, and discloses a drive-by-wire product software development and iterative cross test verification device and method.The drive-by-wire product software development and iterative cross test verification device comprises a rack used for installing test equipment, and an EHB actuator is arranged on the outer side of the rack; an EMB actuator is arranged on the inner side of the rack; the system further comprises a software simulation system, a chassis domain controller and a pedal sensor used for inputting signals to the chassis domain controller. The test system comprises an EMB sub-test system, an EHB sub-test system and an HBBW sub-test system; the test system is connected with the EMB actuator, or the EHB actuator, or the EMB actuator and the EHB actuator according to actual test items; the upper computer is in communication connection with the test system, the software simulation system, the chassis domain controller and the electronic sensor for information interaction. The system can realize multi-working-condition and multi-product cooperative work, the research and development efficiency is improved, and the research and development cost is saved.

Description

Technical Field

[0001] The present invention relates to the field of wire control brake product development, and mainly relates to a wire control product software development and iterative cross-test verification device and method. Background Art

[0002] Existing test equipment can only test a single product's existence and cannot simultaneously meet the requirements of software, semi-physical, and physical simulations. It can only verify EMB, EHB, and HBBW separately. For example, Chinese patent application CN105938331A, a semi-physical simulation platform for hybrid vehicle development, cannot visually observe the functional differences and functional durability of multiple drive-by-wire products. Customizing test equipment for product iterations is costly, prolonging R&D cycles. Summary of the Invention

[0003] In view of the shortcomings of the prior art, the present invention provides a device and method for software development and iterative cross-test verification of a control-by-wire product.

[0004] A device for software development and iterative cross-testing of a drive-by-wire product includes a test bench for mounting test equipment, with an EHB actuator disposed on the outside of the bench and an EMB actuator disposed on the inside of the bench. The number of both the EHB actuator and the EMB actuator is four, corresponding to the four wheels of a simulated vehicle. It also includes a software simulation system capable of simulating output working conditions and outputting parameter information of the product to be tested, a chassis domain controller, and a pedal sensor for inputting signals to the chassis domain controller; It also includes a test system, which includes an EMB sub-test system, an EHB sub-test system, and an HBBW sub-test system; the test system is connected to the EMB actuator, or to the EHB actuator, or to the EMB actuator and the EHB actuator according to the actual test items; It also includes a host computer, which communicates with the test system, software simulation system, chassis domain controller and electronic sensors to exchange information.

[0005] Preferably, the simulation system is communicatively connected with the test system to form a software simulation system, and the simulation system, brake pedal sensor and chassis domain controller are communicatively connected with the test system together to form a semi-physical simulation system; and the chassis domain controller is communicatively connected with the test system alone to form a physical simulation system.

[0006] Preferably, the EMB sub-test system can be used to connect to the EMB controller of the physical product to be tested for physical testing, or to simulate and generate the EMB controller through a software system for virtual simulation testing.

[0007] As preferred, the EMB sub-test system is used for testing in connection with four EMB actuators, the EHB sub-test system is used for testing in connection with four EHB actuators, and the HBBW sub-test system is used for testing in connection with two EHB actuators and two EMB actuators.

[0008] As preferred, the EMB sub-test system, the EHB sub-test system and the HBBW sub-test system can perform testing work individually or two of them simultaneously or all of them simultaneously.

[0009] As preferred, the software simulation system, the semi-physical simulation system and the physical simulation system can be performed simultaneously.

[0010] As preferred, the EHB sub-test system is connected with a hydraulic pump for braking and an ESC system.

[0011] As preferred, the simulation system includes a Carsim system, an Amesim system and a Simulink system. The Carsim system is used for modeling vehicle dynamics and simulating the dynamic state of the vehicle under different road conditions to provide boundary conditions for the simulation of the braking system. The Amesim system is used for modeling the hydraulic and mechanical transmission parts of the system and analyzing the rheological properties of the brake fluid under different working conditions, and is deeply coupled with the vehicle model in the Carsim system. The Simulink system is used for building an algorithm model of the control system and connecting with the physical model established by the Carsim system and the Amesim system.

[0012] A method for cross-testing and verifying the development and iteration of a drive-by-wire product software, comprising a test bench for installing test equipment, the test bench being provided with EHB actuators on the outside; the test bench being provided with EMB actuators on the inside; the number of EHB actuators and EMB actuators is four corresponding to four wheels of a simulated vehicle. The method further comprises a software simulation system capable of simulating output working conditions and outputting parameter information of the product to be tested, a chassis domain controller and a pedal sensor for input signal of the chassis domain controller. The method further comprises a test system including an EMB sub-test system, an EHB sub-test system and a HBBW sub-test system; the test system is connected with the EMB actuators, the EHB actuators or both according to actual test projects. Further comprising a host computer, the host computer is in communication connection with the test system, the software simulation system, the chassis domain controller and the electronic sensor for information interaction; the simulation system is in communication connection with the test system to form a software simulation system, the software simulation system 4, the brake pedal sensor and the chassis domain controller are in communication connection with the test system to form a semi-physical simulation system; the chassis domain controller is in communication connection with the test system to form a physical simulation system; The cross-validation method comprises the following steps: Step one, the host computer inputs the working condition to be tested; Step two, the test system selects a test item, selects one or more of the EMB sub-test system, the EHB sub-test system and the HBBW sub-test system; Step three, the EMB sub-test system, the EHB sub-test system and the HBBW sub-test system transmit information to the host computer through CAN communication or CANFD communication; Step four, the host computer inputs a new working condition after analyzing the data collected by each sub-test system to perform step one again.

[0013] As preferred, the EMB controller in the EMB sub-test system, the EHB control in the EHB sub-test system and the hybrid brake control controller in the HBBW sub-test system are physical controller products or controller models simulated through software simulation; the data source mode of the host computer working condition input is one or several of manual input, software simulation system, physical simulation system and semi-physical simulation system; the cross-validation method can also be used for product calibration.

[0014] Compared with the prior art, the present scheme has the following beneficial effects: the present application proposes a brake-by-wire product software development and iterative cross-test verification device, based on the iterative verification of existing two-wheel / passenger vehicles, taking into account the functional durability test of various brake-by-wire products, reducing the research and development cycle. Meet the functional test layout of EMB, HBBW, EHB and other three kinds of brake-by-wire products, realize product function benchmarking and software algorithm, semi-physical, physical simulation. Before real vehicle test, the running state of the actuator can be observed, the correctness of the monitoring software is verified, the fault injection cross-verification product is improved, and the braking performance is improved. The purpose of the present application is to cross-verify and test the brake-by-wire product, iteratively develop the brake-by-wire product, speed up the development speed of the brake-by-wire product, and can connect the functions of mature products and newly developed products. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a schematic diagram of a bench.

[0016] Figure 2 is an EHB system control schematic diagram.

[0017] Figure 3This is the control diagram of the HBBW system.

[0018] Figure 4 This is the control diagram of the EMB system.

[0019] Figure 5 It is the simulation system block diagram.

[0020] Figure 6 It is a schematic diagram of the system workflow.

[0021] The reference numerals in the figure refer to: 1—test bench, 2—EHB actuator, 3—EMB actuator, 4—software simulation system, 5—chassis domain controller, 6—test system, 61—EMB sub-test system, 62—EHB sub-test system, 63—HBBW sub-test system, 7—host computer, 8—hydraulic pump, 9—pedal sensor. DETAILED DESCRIPTION

[0022] The present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0023] Example 1 A device for software development and iterative cross-testing of drive-by-wire products includes a test bench 1 for mounting test equipment. The bench 1 is equipped with an EHB actuator 2 on the outside and an EMB actuator 3 on the inside. There are four EHB actuators 2 and four EMB actuators 3, each corresponding to the four wheels of a simulated vehicle. Different actuator types and positions are used under different operating conditions. The bench 1 also includes a seat and a display screen mounted on the bench 1, which simulates the current state of reality.

[0024] The system also includes a software simulation system 4 capable of simulating output operating conditions and outputting parameter information about the product under test. It also includes a chassis domain controller 5 and a pedal sensor 9 for inputting signals to the chassis domain controller 5. The pedal sensor 9 is mounted on an electronic pedal and simulates and outputs braking information. During the simulation verification process, the electronic pedal and chassis domain controller 5 form a physical simulation system. When a product requires physical simulation cross-testing, the electronic pedal and chassis domain controller 5 input test operating condition information to the product under test, completing the physical simulation test.

[0025] The test system 6 includes an EMB sub-test system 61, an EHB sub-test system 62, and an HBBW sub-test system 63; the test system 6 is connected with the EMB actuator 3, or the EHB actuator 2, or the EMB actuator 3 and the EHB actuator 2 according to the actual test project; the EMB sub-test system 61 can be used for detecting the EMB controller product or verifying the virtual EMB controller, and the same applies to the EHB sub-test system 62 and the HBBW sub-test system 63. The HBBW sub-test system 63 is an English representation, EMB is a brake-by-wire electronic mechanical brake system, EHB is a brake-by-wire electronic hydraulic brake system, and the product to be tested is an EMB controller, an EHB controller, and an HBBW controller; in the development stage, the working conditions are simulated by software simulation, and the parameters of the product to be tested are simulated to accelerate the development of the product.

[0026] Of course, the scheme also includes a host computer 7, which is in communication connection with the test system 6, the software simulation system 4, the chassis domain controller 5, and the electronic sensor for information interaction.

[0027] The simulation system is in communication connection with the test system 6 to form the software simulation system 4; when the simulation system, the brake pedal sensor 9, and the chassis domain controller 5 are in communication connection with the test system 6, a semi-physical simulation system is formed; when the chassis domain controller 5 is in communication connection with the test system 6, a physical simulation system is formed.

[0028] Specifically, the EMB sub-test system 61 can be used to connect the EMB controller to be tested for physical testing, or to generate an EMB controller through a software system for virtual simulation testing.

[0029] The EMB sub-test system 61 is used to connect with four EMB actuators 3 for testing, the EHB sub-test system 62 is used to connect with four EHB actuators 2 for testing, and the HBBW sub-test system 63 is used to connect with two EHB actuators 2 and two EMB actuators 3 for testing; specifically, the HBBW sub-test system 63 is used for matching test of the HBBW controller; the controller described in this paper can be a physical product or a virtual control system, which is convenient for testing, cross verification, and subsequent correction and improvement.

[0030] The EMB sub-test system 61, the EHB sub-test system 62, and the HBBW sub-test system 63 can be tested individually or simultaneously in two or three. The software simulation system 4, the semi-physical simulation system, and the physical simulation system can be tested individually or simultaneously.

[0031] In the embodiment, the EHB sub-test system 62 is connected with the hydraulic brake pump 8 and the ESC system. The hydraulic brake pump 8 is used to provide hydraulic pressure for braking.

[0032] The simulation system includes a Carsim system, an Amesim system, and a Simulink system. The Carsim system is used to model vehicle dynamics and simulate the dynamic state of the vehicle under different road conditions, to provide boundary conditions for the simulation of the brake system. For example, by adjusting the tire model parameters in Carsim, combined with actual tire test data, the vehicle handling in the simulation is highly consistent with the actual situation, thereby improving the accuracy of the brake system and the whole vehicle collaborative simulation.

[0033] The Amesim system is used to model the hydraulic and mechanical transmission parts of the system, analyze the rheological properties of brake fluid under different working conditions, and analyze the stress deformation of mechanical components. The vehicle model in Carsim is deeply coupled to realize high-precision simulation of the whole process from driver operation to brake execution. The Simulink system is used to build an algorithm model of the control system and connect it with the physical model established by the Carsim system and the Amesim system. Specifically, the modular modeling and simulation function of Simulink is used to build an algorithm model of the brake control system, which is seamlessly connected with the physical model established by Carsim and Amesim, to realize software and hardware co-simulation. Through the real-time simulation tool of Simulink, the effectiveness of the control algorithm can be quickly verified, providing direct support for the optimization of the brake system.

[0034] Embodiment 2 Based on embodiment 1, the embodiment provides a drive-by-wire product software development and iterative cross-test verification method, which includes a test bench 1 for installing test equipment, and the test bench 1 is provided with EHB actuators 2 on the outside; the test bench 1 is provided with EMB actuators 3 on the inside; the number of EHB actuators 2 and EMB actuators 3 is four, corresponding to four wheels of the simulated vehicle. It also includes a software simulation system 4, which can simulate output working conditions and output parameter information of the product to be tested, and a chassis domain controller 5 and a pedal sensor 9 for input signals of the chassis domain controller 5. It also includes a test system 6, which includes an EMB sub-test system 61, an EHB sub-test system 62, and an HBBW sub-test system 63; the test system 6 is connected with the EMB actuators 3 according to the actual test project, or connected with the EHB actuators 2, or connected with the EMB actuators 3 and the EHB actuators 2. Also included is a host computer 7, which is in communication connection with the test system 6, the software simulation system 4, the chassis domain controller 5 and the electronic sensor for information interaction; the simulation system is in communication connection with the test system 6 to form the software simulation system 4, and the simulation system, the brake pedal sensor 9 and the chassis domain controller 5 are in communication connection with the test system 6 to form a semi-physical simulation system; the chassis domain controller 5 is in communication connection with the test system 6 to form a physical simulation system; The cross-validation method comprises the following steps: Step one, the host computer 7 inputs the working condition to be tested; Step two, the test system 6 selects a test item, selects one or more of the EMB sub-test system 61, the EHB sub-test system 62 and the HBBW sub-test system 63; Step three, the EMB sub-test system 61, the EHB sub-test system 62 and the HBBW sub-test system 63 transmit information to the host computer 7 through CAN communication or CANFD communication; Step four, the host computer 7 inputs a new working condition after analyzing the data collected by each sub-test system 6 to perform step one again.

[0035] Among them, the EMB controller in the EMB sub-test system 61, the EHB control in the EHB sub-test system 62 and the hybrid brake control controller in the HBBW sub-test system 63 are physical controller products or controller models or control system models simulated through software simulation; the data source of the host computer 7 working condition input is one or more of manual input, software simulation system 4, physical simulation system and semi-physical simulation system; the cross-validation method can also be used for product calibration.

[0036] Embodiment 3 The difference between this embodiment and embodiments 1 and 2 is that the test system 6 and the actuator are in information interaction through electrical signals, and the actuator transmits stroke feedback or pressure signal feedback to the test system 6.

Claims

1. A device for software development and iterative cross-testing and verification of a control-by-wire product, characterized by: The invention comprises a test bench (1) for installing a test device, wherein an EHB actuator (2) is arranged on the outside of the test bench (1); an EMB actuator (3) is arranged on the inside of the test bench (1); the number of the EHB actuator (2) and the number of the EMB actuator (3) are both four, corresponding to the four wheels of the simulated vehicle; It also includes a software simulation system (4), which can simulate output working conditions and output parameter information of the product to be tested, and also includes a chassis domain controller (5) and a pedal sensor (9) for inputting signals to the chassis domain controller (5); The invention also includes a test system (6), wherein the test system (6) includes an EMB sub-test system (61), an EHB sub-test system (62), and an HBBW sub-test system (63); the test system (6) is connected to the EMB actuator (3), or to the EHB actuator (2), or to the EMB actuator (3) and the EHB actuator (2) according to actual test items; It also includes a host computer (7), which is connected to the test system (6), the software simulation system (4), the chassis domain controller (5) and the electronic sensor for information exchange.

2. The device for software development and iterative cross-testing and verification of a control-by-wire product according to claim 1, characterized in that: The simulation system and the test system (6) are connected in communication to form a software simulation system (4). The simulation system, the brake pedal sensor (9) and the chassis domain controller (5) are connected in communication with the test system (6) to form a semi-physical simulation system. The chassis domain controller (5) is connected in communication with the test system (6) alone to form a physical simulation system.

3. The device for software development and iterative cross-testing and verification of a control-by-wire product according to claim 1, characterized in that: The EMB sub-test system (61) can be used to connect the EMB controller of the physical product to be tested to perform physical testing, or to use the EMB control software to perform virtual simulation testing; the EHB sub-test system (62) can be used to connect the EHB controller of the physical product to be tested to perform physical testing, or to use the EHB control software to perform virtual simulation testing; the HBBW sub-test system (63) can be used to connect the HBBW controller of the physical product to be tested to perform physical testing, or to use the HBBW control software to perform virtual simulation testing.

4. The device for software development and iterative cross-testing and verification of a control-by-wire product according to claim 1, characterized in that: The EMB sub-test system (61) is used to connect to four EMB actuators (3) for testing, the EHB sub-test system (62) is used to connect to four EHB actuators (2) for testing, and the HBBW sub-test system (63) is used to connect to two EHB actuators (2) and two EMB actuators (3) for testing.

5. The device for software development and iterative cross-testing and verification of a control-by-wire product according to claim 1, characterized in that: The EMB sub-test system (61), the EHB sub-test system (62) and the HBBW sub-test system (63) can perform testing work individually, or two of them can perform testing work simultaneously, or all three can perform testing work simultaneously.

6. The device for software development and iterative cross-testing and verification of a control-by-wire product according to claim 2, characterized in that: The software simulation system (4), the semi-physical simulation system and the physical simulation system can be carried out individually or in multiple ways simultaneously.

7. The device for software development and iterative cross-testing and verification of a control-by-wire product according to claim 1, characterized in that: The EHB sub-test system (62) is connected to a brake hydraulic pump (8) and an ESC system.

8. The device for software development and iterative cross-testing and verification of a control-by-wire product according to claim 1, characterized in that: Simulation systems include Carsim system, Amesim system, and Simulink system; The Carsim system is used to model vehicle dynamics, simulate the vehicle's form under different road conditions, and provide boundary conditions for vehicle motion for braking system simulation; The Amesim system is used to model the hydraulic and mechanical transmission parts of the system, analyze the rheological characteristics of the brake fluid under different working conditions, and deeply couple with the vehicle model in the Carsim system; The Simulink system is used to build the algorithm model of the control system and connect it with the physical models established by the Carsim system and the Amesim system.

9. A method for software development and iterative cross-testing verification of a control-by-wire product, characterized by: The invention comprises a test bench (1) for installing a test device, wherein an EHB actuator (2) is arranged on the outside of the test bench (1); an EMB actuator (3) is arranged on the inside of the test bench (1); the number of the EHB actuator (2) and the number of the EMB actuator (3) are both four, corresponding to the four wheels of the simulated vehicle; It also includes a software simulation system (4), which can simulate output working conditions and output parameter information of the product to be tested, and also includes a chassis domain controller (5) and a pedal sensor (9) for inputting signals to the chassis domain controller (5); The invention also includes a test system (6), wherein the test system (6) includes an EMB sub-test system (61), an EHB sub-test system (62), and an HBBW sub-test system (63); the test system (6) is connected to the EMB actuator (3), or to the EHB actuator (2), or to the EMB actuator (3) and the EHB actuator (2) according to actual test items; The system further includes a host computer (7), wherein the host computer (7) is connected to the test system (6), the software simulation system (4), the chassis domain controller (5), and the electronic sensor for information exchange; the simulation system is connected to the test system (6) to form the software simulation system (4), and the simulation system, the brake pedal sensor (9), and the chassis domain controller (5) are connected to the test system (6) to form a semi-physical simulation system; The chassis domain controller (5) forms a physical simulation system when it is individually connected to the test system (6); The cross-validation method includes the following steps: Step 1: The host computer (7) inputs the working condition to be tested; Step 2: The test system (6) selects a test item, and selects one or more of the EMB sub-test system (61), the EHB sub-test system (62), and the HBBW sub-test system (63); Step 3: The EMB sub-test system (61), the EHB sub-test system (62), and the HBBW sub-test system (63) transmit information to the host computer (7) via CAN communication or CANFD communication; Step 4: After the host computer (7) analyzes the data collected from each sub-test system (6), it inputs the new working condition and repeats step 1.

10. The method for software development and iterative cross-testing and verification of a control-by-wire product according to claim 9, characterized in that: The EMB controller in the EMB sub-test system (61), the EHB control in the EHB sub-test system (62), and the hybrid brake-by-wire controller in the HBBW sub-test system (63) are physical controller products or controller models simulated by software simulation; the data source of the working condition input of the host computer (7) is one or more of manual input, software simulation system (4), physical simulation system, and semi-physical simulation system; the cross-validation method can also be used for product calibration.

Images