HIL test system and method based on IBC controller and medium

Abstract

The invention provides an HIL test system and method based on an IBC controller and a medium. The system comprises a software platform, a hardware platform, the IBC controller and an IBC actuator. Wherein the software platform comprises a whole vehicle dynamics model, the hardware platform comprises an actuator virtual model, the IBC controller and the IBC actuator are in intrusive hard wire connection through a fault injection board card, and the actuator virtual model is used for simulating the working characteristics of the IBC actuator. Interventional hardwire connection between the IBC controller and the IBC actuator is established through the fault injection board card, and the HIL test system can control functions needing to be tested in a mode of remotely controlling a fault injection mode. Meanwhile, the actuator virtual model can specifically simulate the working characteristics of the IBC actuator, so that the limitation of traditional hardware is eliminated, the whole test method can be completed through a pure model, and the conventional function test requirements can be effectively met.

Description

Technical Field

[0001] This application relates to the field of automotive electronics technology, and in particular to a HIL test system, method and medium based on an IBC controller. Background Technology

[0002] IBC (Integrated Brake Control) is an advanced braking control technology that achieves precise vehicle braking control through a highly integrated control system. Current testing of IBC controllers often relies on HIL (Hardware-in-the-Loop) systems. However, HIL-based testing methods require the IBC controller to be connected to the actual IBC actuator and hydraulic load. In real-world testing scenarios, because the IBC controller and actuator are physically integrated, it's impossible to perform fault testing on multiple functions of the IBC controller, failing to meet conventional functional testing requirements. Therefore, HIL-based testing methods for IBC controllers suffer from incomplete testing capabilities. Summary of the Invention

[0003] In view of the above problems, in order to solve the problem that the current HIL testing method based on IBC controller cannot meet the conventional functional testing requirements and has the problem of incomplete testing, this application provides an HIL testing system, method and medium based on IBC controller.

[0004] The embodiments of this application disclose the following technical solutions:

[0005] In a first aspect, embodiments of this application provide a HIL testing system based on an IBC controller, characterized in that it includes: a software platform, a hardware platform, an IBC controller, and an IBC actuator; the software platform includes a vehicle dynamics model, and the hardware platform includes: an actuator virtual model; the IBC controller and the IBC actuator maintain an intervention-enabled hardwired connection through a fault injection board; the actuator virtual model is used to simulate the working characteristics of the IBC actuator;

[0006] The software platform is used to simulate braking scenarios based on the target test command and the vehicle dynamics model, so as to send virtual driving parameters and virtual braking signals of the vehicle model to the IBC controller, and adjust the fault injection mode of the fault injection board.

[0007] The IBC controller is used to drive the IBC actuator according to the virtual driving parameters, the virtual braking signal and the fault injection board, so that the hardware platform can collect the drive response signal of the IBC actuator;

[0008] The hardware platform is used to generate wheel cylinder pressure signals based on the drive response signals and the actuator virtual model, and load the wheel cylinder pressure signals into the vehicle dynamics model to complete the closed-loop test for the IBC controller.

[0009] In one possible implementation, the IBC actuator includes a motor and a solenoid valve, the actuator virtual model includes a motor model and a hydraulic model, and the drive response signal includes a three-phase current signal and a solenoid valve current signal.

[0010] The hardware platform includes a simulation module, which is specifically used for:

[0011] Motor simulation is performed based on the three-phase current signals and the motor model to generate motor position signals and motor torque signals;

[0012] Based on the motor position signal, the motor torque signal, and the hydraulic model, solenoid valve simulation is performed to generate the wheel cylinder pressure signal. The wheel cylinder pressure signal is then loaded into the vehicle dynamics model to complete the closed-loop test for the IBC controller.

[0013] In one possible implementation, the software platform includes: a first testing module, specifically used for:

[0014] Based on the target test instructions, determine the target test scenario and the target test failure mode;

[0015] Based on the target test scenario, the vehicle dynamics model is used to simulate braking scenarios, generating virtual driving parameters and virtual braking signals. Additionally, based on the target test fault mode, the opening or closing of multiple relays in the fault injection board is controlled to adjust the fault injection mode.

[0016] In one possible implementation, the software platform further includes: a second testing module, which is specifically used for:

[0017] The wheel cylinder pressure signal is input to the vehicle dynamics model to perform vehicle motion state analysis and generate braking response data; the braking response data is used to characterize the braking effect of the vehicle model under the wheel cylinder pressure signal.

[0018] The braking response data is sent to the IBC controller in real time to test the performance of the IBC controller under dynamic operating conditions.

[0019] In one possible implementation, the hydraulic model is generated through modeling of multiple solenoid valves and hydraulic lines; the hydraulic model performs solenoid valve simulation based on the motor position signal and motor torque signal, and on its built-in orifice throttling formula and volume effect formula.

[0020] The orifice throttling formula is based on the normalized opening of the solenoid valve, the flow coefficient of the solenoid valve, and the pressure difference across the valve orifice when the fluid passes through it; the volumetric effect formula is based on the elastic modulus of the oil, the volume of the cavity, and the flow rate entering the cavity.

[0021] In one possible implementation, the hardware platform includes: a signal acquisition module; the signal acquisition module includes: a motor stator, a solenoid valve coil, a current sensor, and an analog acquisition board; the signal acquisition module is used to acquire the three-phase current signal and the solenoid valve current signal.

[0022] Secondly, embodiments of this application provide a HIL testing method based on an IBC controller, applied to a HIL testing system; the HIL testing system includes: a software platform, a hardware platform, an IBC controller, and an IBC actuator; the software platform includes a vehicle dynamics model, and the hardware platform includes: an actuator virtual model; the IBC controller and the IBC actuator maintain an intervention-enabled hardwired connection through a fault injection board; the actuator virtual model is used to simulate the working characteristics of the IBC actuator;

[0023] The software platform is controlled to simulate braking scenarios based on the target test instructions and the vehicle dynamics model, so as to send virtual driving parameters and virtual braking signals of the vehicle model to the IBC controller, and adjust the fault injection mode of the fault injection board.

[0024] The IBC controller is controlled to drive the IBC actuator according to the virtual driving parameters, the virtual braking signal, and the fault injection board, so that the hardware platform can collect the drive response signal of the IBC actuator.

[0025] The hardware platform is controlled to generate wheel cylinder pressure signals based on the drive response signals and the actuator virtual model, and the wheel cylinder pressure signals are loaded into the vehicle dynamics model to complete the closed loop test for the IBC controller.

[0026] In one possible implementation, the IBC actuator includes a motor and a solenoid valve, the actuator virtual model includes a motor model and a hydraulic model, and the drive response signal includes a three-phase current signal and a solenoid valve current signal.

[0027] The step of generating wheel cylinder pressure signals based on the drive response signal and the actuator virtual model, and loading the wheel cylinder pressure signals into the vehicle dynamics model to complete the closed-loop test for the IBC controller includes:

[0028] Motor simulation is performed based on the three-phase current signals and the motor model to generate motor position signals and motor torque signals;

[0029] Based on the motor position signal, the motor torque signal, and the hydraulic model, solenoid valve simulation is performed to generate the wheel cylinder pressure signal. The wheel cylinder pressure signal is then loaded into the vehicle dynamics model to complete the closed-loop test for the IBC controller.

[0030] In one possible implementation, the hydraulic model is generated through modeling of multiple solenoid valves and hydraulic lines; the hydraulic model performs solenoid valve simulation based on the motor position signal and motor torque signal, and on its built-in orifice throttling formula and volume effect formula.

[0031] The orifice throttling formula is based on the normalized opening of the solenoid valve, the flow coefficient of the solenoid valve, and the pressure difference across the valve orifice when the fluid passes through it; the volumetric effect formula is based on the elastic modulus of the oil, the volume of the cavity, and the flow rate entering the cavity.

[0032] Thirdly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any possible HIL testing method based on an IBC controller as described in the second aspect.

[0033] Compared to existing technologies, this application offers the following advantages: This application provides a HIL testing system, method, and medium based on an IBC controller. The HIL testing system provided includes a software platform, a hardware platform, an IBC controller, and an IBC actuator. The IBC controller and IBC actuator maintain an intervenable hardwired connection via a fault injection board, thereby separating the overall connection structure between the IBC controller and the IBC actuator. This allows for fault injection for different functions via the fault injection board, improving the comprehensiveness of functional testing. The software platform simulates braking scenarios based on target test commands and its built-in vehicle dynamics model, sending virtual driving parameters and virtual braking signals of the vehicle model to the IBC controller and adjusting the fault injection mode of the fault injection board. Subsequently, the IBC controller drives the hardwired IBC actuator based on the virtual driving parameters, virtual braking signals, and fault injection board from the software platform, enabling the hardware platform to acquire the corresponding drive response signals from the IBC actuator. Finally, the hardware platform simulates the operating characteristics of the IBC actuator based on the received drive response signal and the virtual actuator model built into the hardware platform. This generates wheel cylinder pressure signals for the vehicle model, which are then fed back into the vehicle dynamics model, thus completing the test closed loop for the IBC controller. In this way, this application establishes an intervention-enabled hardwired connection between the IBC controller and the IBC actuator using a fault injection board. The HIL test system can remotely control the functions to be tested through fault injection mode. Simultaneously, the virtual actuator model can specifically simulate the operating characteristics of the IBC actuator, thus breaking free from the limitations of traditional hardware. This allows the overall testing method to be completed using a pure model, effectively meeting conventional functional testing requirements. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 A schematic diagram of the structure of a HIL test system based on an IBC controller provided in this application embodiment;

[0036] Figure 2 This is a schematic diagram of the structure of a fault injection board provided in an embodiment of this application;

[0037] Figure 3A schematic diagram of another HIL test system for an IBC controller provided in this application embodiment;

[0038] Figure 4 A schematic diagram of a motor model provided in an embodiment of this application;

[0039] Figure 5 This is a flowchart illustrating a HIL testing method based on an IBC controller, provided in an embodiment of this application. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with specific embodiments and accompanying drawings. It should be particularly noted that the embodiments described in this application are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0041] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this application should have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in the embodiments of this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are only used to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0042] As is currently the case with IBC controllers, testing is often based on the Hierarchical Instruction (HIL) system. However, HIL-based testing methods require the IBC controller to be connected to the actual IBC actuator and hydraulic load. In real-world testing scenarios, because the IBC controller and actuator are physically integrated, it is impossible to perform fault testing on multiple functions of the IBC controller, thus failing to meet conventional functional testing requirements. Therefore, HIL-based testing methods for IBC controllers suffer from incomplete testing.

[0043] To address the aforementioned issues, this application provides a HIL testing system, method, and medium based on an IBC controller. The HIL testing system provided in this application includes a software platform, a hardware platform, an IBC controller, and an IBC actuator. The IBC controller and the IBC actuator are connected via an intervention-enabled hardwired connection through a fault injection board. This separates the overall connection structure between the IBC controller and the IBC actuator, allowing for fault injection for different functions through the fault injection board, thus improving the comprehensiveness of functional testing. The software platform simulates braking scenarios based on target test commands and its built-in vehicle dynamics model. It sends virtual driving parameters and virtual braking signals of the vehicle model to the IBC controller and adjusts the fault injection mode of the fault injection board. Subsequently, the IBC controller drives the hardwired IBC actuator based on the virtual driving parameters, virtual braking signals, and fault injection board from the software platform, enabling the hardware platform to acquire the corresponding drive response signals from the IBC actuator. Finally, the hardware platform simulates the operating characteristics of the IBC actuator based on the received drive response signal and the virtual actuator model built into the hardware platform. This generates wheel cylinder pressure signals for the vehicle model, which are then fed back into the vehicle dynamics model, thus completing the test closed loop for the IBC controller. In this way, this application establishes an intervention-enabled hardwired connection between the IBC controller and the IBC actuator using a fault injection board. The HIL test system can remotely control the functions to be tested through fault injection mode. Simultaneously, the virtual actuator model can specifically simulate the operating characteristics of the IBC actuator, thus breaking free from the limitations of traditional hardware. This allows the overall testing method to be completed using a pure model, effectively meeting conventional functional testing requirements.

[0044] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0045] See Figure 1 This figure is a schematic diagram of the structure of a HIL test system based on an IBC controller provided in an embodiment of this application. Figure 1As can be seen, the overall HIL testing system includes a software platform, a hardware platform, an IBC controller, and IBC actuators. The software platform includes a vehicle dynamics model, which simulates the normal driving and braking processes of a vehicle using a virtual vehicle model and specific test scenarios. This allows the IBC controller's execution function to be tested by judging the driving state of the virtual vehicle during braking. The hardware platform includes a virtual actuator model, corresponding to the type of actual IBC actuator. This virtual model simulates the actual working characteristics of the actuator based on the drive response signal output by the IBC actuator. It can also simulate different types and degrees of faults (such as signal loss, drift, etc.) to test the IBC controller's function under abnormal operating conditions.

[0046] Specifically, the IBC controller and IBC actuator maintain an intervention-enabled hardware connection via a fault injection board. This differs from the traditional integrated connection structure between IBC controllers and IBC actuators, where they are integrated assemblies connected via internal wiring (such as PCB soldering or non-removable connectors). In this integrated assembly structure, the signal transmission path between them is: controller output drive signal - internal closed path - actuator, and the signal path between them cannot be intervened by external devices.

[0047] Therefore, to address this issue, in the HIL testing system of this embodiment, the IBC controller and IBC actuator are pre-separated, and a connection between them is established via an external hardwire. A fault injection board is then inserted into this hardwire connection, forming an intervention-enabled hardwire connection. Under this connection structure, the signal transmission path between the two is: controller output drive signal - external hardwire (including the fault injection board) - actuator. With this connection structure, the fault injection board can use its internal relays to open or close the signal path between the IBC controller and the actuator, performing operations such as disconnection, short-circuiting, and signal tampering, thereby enabling fault injection in different modes.

[0048] Next, we will discuss... Figure 1 This section introduces the software platform, hardware platform, and functions performed by the IBC controller in the HIL system.

[0049] The software platform is used to simulate braking scenarios based on target test instructions and the vehicle dynamics model, so as to send virtual driving parameters and virtual braking signals of the vehicle model to the IBC controller, and adjust the fault injection mode of the fault injection board.

[0050] The software platform can be viewed as the command initiator in the HIL testing system. It needs to simulate vehicle braking scenarios based on external target test commands and its own vehicle dynamics model, and then simulate virtual driving parameters and virtual braking signals to the IBC controller. This allows for functional testing of the IBC controller by observing its control logic. Simultaneously, the software platform also needs to control the opening and closing of multiple relays on the fault injection board based on the target test commands, thereby controlling the fault injection mode of the fault injection board.

[0051] The vehicle dynamics model supports various vehicle model types. In this embodiment, the vehicle dynamics model uses the ModelBase model, which includes multiple models capable of simulating vehicle driving, such as body system models, steering system models, braking system models, suspension system models, tire models, road models, and driver models. By combining multiple virtual models, the real vehicle conditions and braking situations during driving can be simulated from multiple perspectives, and the virtual driving parameters and virtual braking signals of the vehicle models during the simulation are sent to the IBC controller.

[0052] The virtual driving parameters of the vehicle model are used to characterize the vehicle model's pose and velocity parameters on the virtual test surface, such as the vehicle's position on the road and its speed. Simultaneously, the vehicle dynamics model will apply varying degrees of braking to the vehicle according to the actual target test commands, thereby simulating the brake pedal signal typically output by a driver in a driving scenario.

[0053] Within the software platform, the confirmation and adjustment of virtual driving parameters, virtual braking signals, and fault injection modes are implemented by the first test module. Specifically, the first test module performs the following two steps:

[0054] Step 1: Determine the target test scenario and target test failure mode according to the target test instructions.

[0055] Target test commands can be test commands for specific functions of the IBC controller, such as ABS (Anti-lock Braking System Test), TCS (Traction Control System Test), and ESC (Electronic Stability Control Test). Based on the specific test function, the corresponding target test scenarios (such as emergency braking on high-friction surfaces, acceleration on low-friction surfaces, and cornering on slippery surfaces) and target test fault modes can be determined.

[0056] Step 2: Based on the target test scenario, simulate the braking scenario of the vehicle dynamics model to generate the virtual driving parameters and virtual braking signals. Also, based on the target test fault mode, control the opening or closing of multiple relays in the fault injection board to adjust the fault injection mode.

[0057] The vehicle dynamics model, combined with the target test scenario, calculates the vehicle's virtual driving parameters (vehicle speed, acceleration, wheel speed, vehicle attitude, etc.) and generates virtual braking signals based on the target test functions included in the target test instructions. These signals serve as input data for the IBC controller. For example, when testing the ABS anti-lock braking function, the corresponding target test scenario is emergency braking on a high-friction road surface, with a virtual driving parameter of 80 km / h and a virtual braking signal of 100% brake pedal opening.

[0058] In addition, the fault injection mode of the fault injection board needs to be adjusted according to the target test fault mode. The target test fault mode can be of various types, such as motor winding short circuit, solenoid valve jamming, position signal loss, etc. See also Figure 2 This figure is a schematic diagram of the structure of a fault injection board provided in an embodiment of this application. Figure 2 As can be seen, different relay switches correspond to different fault injection functions within the fault injection board. The first test module sends control signals to the fault injection board to adjust the switching states of multiple relays within the board, thereby adjusting different fault injection modes. Taking motor drive fault injection as an example, to achieve motor drive fault injection, it is necessary to disconnect or short-circuit the three-phase winding connection of the motor to simulate a motor drive fault.

[0059] The above is an introduction to the software platform and its first internal testing module. The following will continue to combine... Figure 1 The IBC controller and hardware platform in the embodiments of this application are described.

[0060] The IBC controller is used to drive the IBC actuator according to the virtual driving parameters, the virtual braking signal, and the fault injection board, so that the hardware platform can collect the drive response signal of the IBC actuator.

[0061] After receiving virtual driving parameters and virtual braking signals from vehicle dynamics feedback, the IBC controller calculates the drive requirements of the IBC actuator based on its own execution logic. In one possible implementation, the IBC controller can adjust the drive signal for the IBC actuator according to the fault injection mode of the fault injection board. The drive signal sent by the IBC controller to the IBC actuator is determined by the actual type of the IBC actuator. In this embodiment, the IBC actuator includes a motor and a solenoid valve. For a motor, the corresponding drive signal is a PWM (Pulse Width Modulation Waveform Signal) waveform signal; for a solenoid valve, the corresponding drive signal is the solenoid valve current signal.

[0062] In this embodiment, a specific type of signal sensor is provided in the IBC actuator. After the IBC actuator is driven by the IBC controller, the signal sensor in the actuator can effectively capture the drive response signal output by the actuator corresponding to the drive command, so that the hardware platform can collect the drive response signal.

[0063] The hardware platform can be understood as the core brain of the HIL system. It needs to simulate the working characteristics of the IBC actuator through a built-in virtual actuator model and collected drive response signals. Accordingly, the hardware platform uses its built-in signal acquisition module to collect the drive response signals of the IBC actuator motor and solenoid valve. For the two specific actuator types, motor and solenoid valve, corresponding signal acquisition devices are also set in the signal acquisition module.

[0064] The signal acquisition module includes a motor stator, solenoid valve coils, current sensors, and an analog acquisition board. The motor stator, as the load for the motor drive signals, provides accurate motor winding impedance characteristics, ensuring the acquired current signals match actual operating conditions, thus acquiring the three-phase current signals output by the motor. Similarly, the solenoid valve coil, as the load for the solenoid valve drive signals, provides accurate solenoid valve coil impedance characteristics, ensuring the acquired solenoid valve current signals match actual operating conditions. The current sensors acquire the three-phase current signals and the solenoid valve current signals. The analog acquisition board converts the analog signals acquired by the current sensors into digital signals, which are then input into the actuator virtual model to simulate the operating characteristics of the IBC actuator.

[0065] The hardware platform is used to generate wheel cylinder pressure signals based on the drive response signals and the actuator virtual model, and load the wheel cylinder pressure signals into the vehicle dynamics model to complete the closed-loop test for the IBC controller.

[0066] After acquiring the drive response signals (three-phase current signals and solenoid valve current signals) of the IBC actuator, the hardware platform inputs these signals into the corresponding virtual actuator model. By executing the virtual model and the actual drive response signals of the actuator, the platform simulates the actuator's operating characteristics and calculates the wheel cylinder pressure signals that can measure braking performance. Finally, the wheel cylinder pressure signals are fed back to the vehicle dynamics model. The vehicle dynamics model dynamically simulates the actual driving conditions of the vehicle based on the wheel cylinder pressure signals, thereby obtaining new virtual driving parameters and virtual braking signals, thus enabling dynamic testing of the IBC controller.

[0067] See Figure 3 This figure is a schematic diagram of another HIL test system for an IBC controller provided in an embodiment of this application. The details can be understood in conjunction with this figure and the following text.

[0068] As mentioned above, in this embodiment, the IBC actuator includes a motor and a solenoid valve. Correspondingly, the actuator virtual model includes a motor model and a hydraulic model, which are used to simulate the working characteristics of the motor and solenoid valve, respectively. In the hardware platform, the built-in simulation module simulates the working characteristics of the motor and solenoid valve, thereby generating the wheel cylinder pressure signal. Specifically, the simulation module performs the following two steps to achieve this function:

[0069] Step 1: Perform motor simulation based on the three-phase current signal and the motor model to generate motor position signal and motor torque signal.

[0070] First, the three-phase current signals are used as input data for the motor model. The operating characteristics of the motor are simulated using an FPGA (Field-Programmable Gate Array) board within the motor model. The motor model is based on the DQ (Direct-Quadrature) transformation; for details, please refer to [link to relevant documentation]. Figure 4 A schematic diagram of a motor model is disclosed. (For example...) Figure 4 As shown, the inverter converts the PWM signal into three-phase voltages (A, B, and C), which are then converted into two-phase voltages (d and q). Based on the d and q phase voltages and calculation formulas, the d and q phase currents are calculated, and these currents are then transformed through a 2-3 phase conversion to obtain the A, B, and C phase currents.

[0071] The specific calculation formulas for the d-phase, q-phase, and torque currents can be found below. The parameters in these formulas involve inherent parameters of the motor itself, including: number of pole pairs, stator resistance, inductance, flux linkage, load torque, moment of inertia, and coefficient of friction. The following formulas effectively simulate the motor's position and torque information, thereby outputting motor position and torque signals to the hydraulic model. The specific formulas are as follows:

[0072] ;

[0073] Step 2: Perform solenoid valve simulation based on the motor position signal, the motor torque signal, and the hydraulic model to generate the wheel cylinder pressure signal, and load the wheel cylinder pressure signal into the vehicle dynamics model to complete the closed-loop test for the IBC controller.

[0074] The hydraulic model is used to simulate the working characteristics of solenoid valves, that is, to simulate the characteristics of the hydraulic circuit. The hydraulic model is generated by modeling each solenoid valve and hydraulic pipeline. It uses a combination of multiple solenoid valve models and hydraulic pipeline models to characterize the hydraulic flow direction and the formation of final pressure during actual operation.

[0075] Motor position signals (such as speed or rotor angle) and motor torque signals directly reflect the physical behavior of the motor-driven hydraulic pump. The motor position signal determines the output flow rate of the hydraulic pump under hydraulic load. In a real system, the hydraulic pump is driven by a motor; the faster the motor rotates, the greater the flow rate of the hydraulic fluid output by the pump. Therefore, to accurately simulate the working characteristics of the solenoid valve, the hydraulic model needs to calculate the flow rate of the hydraulic pump based on the real-time speed of the motor, thus reflecting the flow velocity of the hydraulic fluid in the brake line.

[0076] On the other hand, the motor torque signal reflects the load resistance overcome by the motor when driving the hydraulic pump, directly affecting the output pressure of the hydraulic system. When the hydraulic pump is working, the oil resistance creates a load, and the motor needs to output sufficient torque to maintain the pump's operation. The greater the load (such as when the solenoid valve is closed), the higher the motor torque requirement, and the greater the system pressure. Therefore, the hydraulic model also needs to calculate the hydraulic pump's output pressure based on the torque signal.

[0077] Therefore, the motor position signal and motor torque signal are the physical driving sources of the hydraulic model, corresponding to the flow and pressure generation mechanisms of the hydraulic pump, respectively. Only through these two signals can the hydraulic model dynamically reflect the working characteristics of the solenoid valve, thus providing accurate wheel cylinder pressure signals.

[0078] Specifically, based on the motor position and torque signals, the hydraulic model also needs to perform solenoid valve simulation using its built-in orifice throttling formula and volumetric effect formula to calculate the wheel cylinder pressure signal. The orifice throttling formula is shown below:

[0079] ;

[0080] In the formula, For the normalized opening of the solenoid valve, The flow coefficient of the solenoid valve is... This indicates the pressure difference across the valve port when fluid passes through it.

[0081] The volume effect formula is as follows:

[0082] ;

[0083] In the formula, The elastic modulus of the oil. For the volume of the cavity, This constitutes the flow rate entering the cavity.

[0084] Finally, the hardware platform sends the wheel cylinder pressure signal to the vehicle dynamics model on the software platform to complete the closed loop for the IBC controller test.

[0085] In one possible implementation, the software platform also includes a second testing module. This second testing module updates the vehicle model's state after the wheel cylinder pressure signal is sent to the vehicle dynamics model, thereby achieving a closed-loop test for the IBC controller. Specifically, the second testing module performs the following two steps:

[0086] Step 1: Input the wheel cylinder pressure signal into the vehicle dynamics model to perform vehicle motion state analysis and generate braking response data; the braking response data is used to characterize the braking effect of the vehicle model under the wheel cylinder pressure signal.

[0087] The vehicle dynamics model calculates the braking torque of each wheel based on the wheel cylinder pressure signals fed back from the hardware platform. Simultaneously, it updates the vehicle's dynamic state by combining previously simulated virtual driving parameters such as vehicle speed, wheel speed, and road surface adhesion coefficient. Based on this, the updated dynamic state parameters of the vehicle are acquired, and these parameters are encapsulated as time-series data to generate braking response data.

[0088] Step 2: Send the braking response data to the IBC controller in real time to test the performance of the IBC controller under dynamic conditions.

[0089] Furthermore, the vehicle dynamics model feeds back braking response data to the IBC controller. Upon receiving the braking response data, the IBC controller dynamically adjusts the motor drive current and the solenoid valve opening according to its preset control strategy, and outputs a new drive signal. Thus, by analyzing the new drive signal output by the IBC controller, the normality of the IBC controller's control function can be tested, forming a closed-loop test. This also allows for testing the IBC controller's performance under dynamic operating conditions.

[0090] This application provides a HIL testing system, method, and medium based on an IBC controller. The HIL testing system includes a software platform, a hardware platform, an IBC controller, and an IBC actuator. The IBC controller and IBC actuator are connected via an intervention-enabled hardwired connection through a fault injection board. This separates the overall connection structure between the IBC controller and the IBC actuator, allowing for fault injection for different functions and improving the comprehensiveness of functional testing. The software platform simulates braking scenarios based on target test commands and its built-in vehicle dynamics model. It sends virtual driving parameters and virtual braking signals of the vehicle model to the IBC controller and adjusts the fault injection mode of the fault injection board. Subsequently, the IBC controller drives the hardwired IBC actuator based on the virtual driving parameters, virtual braking signals, and fault injection board from the software platform, enabling the hardware platform to acquire the corresponding drive response signals from the IBC actuator. Finally, the hardware platform simulates the operating characteristics of the IBC actuator based on the received drive response signal and the virtual actuator model built into the hardware platform. This generates wheel cylinder pressure signals for the vehicle model, which are then fed back into the vehicle dynamics model, thus completing the test closed loop for the IBC controller. In this way, this application establishes an intervention-enabled hardwired connection between the IBC controller and the IBC actuator using a fault injection board. The HIL test system can remotely control the functions to be tested through fault injection mode. Simultaneously, the virtual actuator model can specifically simulate the operating characteristics of the IBC actuator, thus breaking free from the limitations of traditional hardware. This allows the overall testing method to be completed using a pure model, effectively meeting conventional functional testing requirements.

[0091] The following describes a HIL testing method based on an IBC controller provided in an embodiment of this application. The HIL testing method based on an IBC controller described below can be referred to in correspondence with the HIL testing system based on an IBC controller described above.

[0092] See Figure 5 This figure is a flowchart illustrating a HIL testing method based on an IBC controller provided in an embodiment of this application, which is applied to a HIL testing system. The HIL testing system includes a software platform, a hardware platform, an IBC controller, and an IBC actuator. The software platform includes a vehicle dynamics model, and the hardware platform includes an actuator virtual model. The IBC controller and the IBC actuator maintain an intervention-enabled hardwired connection via a fault injection board. The actuator virtual model is used to simulate the operating characteristics of the IBC actuator. The method includes the following steps:

[0093] S101: Control the software platform to simulate braking scenarios based on the target test instructions and the vehicle dynamics model, so as to send virtual driving parameters and virtual braking signals of the vehicle model to the IBC controller, and adjust the fault injection mode of the fault injection board.

[0094] S102: Control the IBC controller to drive the IBC actuator according to the virtual driving parameters, the virtual braking signal and the fault injection board, so that the hardware platform can collect the drive response signal of the IBC actuator;

[0095] S103: Control the hardware platform to generate the wheel cylinder pressure signal of the virtual vehicle based on the drive response signal and the actuator virtual model, and load the wheel cylinder pressure signal into the vehicle dynamics model to complete the closed loop test for the IBC controller.

[0096] In one possible implementation, the IBC actuator includes a motor and a solenoid valve, the actuator virtual model includes a motor model and a hydraulic model, and the drive response signal includes a three-phase current signal and a solenoid valve current signal.

[0097] The control hardware platform generates wheel cylinder pressure signals for the virtual vehicle based on the drive response signal and the actuator virtual model, and loads the wheel cylinder pressure signals into the vehicle dynamics model to complete the closed-loop test for the IBC controller, including:

[0098] Motor simulation is performed based on the three-phase current signals and the motor model to generate motor position signals and motor torque signals;

[0099] Based on the motor position signal, the motor torque signal, and the hydraulic model, solenoid valve simulation is performed to generate the wheel cylinder pressure signal. The wheel cylinder pressure signal is then loaded into the vehicle dynamics model to complete the closed-loop test for the IBC controller.

[0100] In one possible implementation, the hydraulic model is generated through modeling of multiple solenoid valves and hydraulic lines; the hydraulic model performs solenoid valve simulation based on the motor position signal and motor torque signal, and on its built-in orifice throttling formula and volume effect formula.

[0101] The orifice throttling formula is based on the normalized opening of the solenoid valve, the flow coefficient of the solenoid valve, and the pressure difference across the valve orifice when the fluid passes through it; the volumetric effect formula is based on the elastic modulus of the oil, the volume of the cavity, and the flow rate entering the cavity.

[0102] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this application also provides a computer-readable storage medium storing computer instructions for causing the computer to execute the HIL test method based on the IBC controller as described in any of the above embodiments.

[0103] The computer-readable media in this application embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0104] The computer instructions stored in the storage medium of the above embodiments are used to cause the computer to execute the HIL test method based on the IBC controller as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0105] It should be noted that the various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the methods, systems, and media are basically similar to the method embodiments, so the descriptions are relatively simple, and the relevant parts can be referred to the descriptions of the method embodiments. The methods, systems, and media described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components indicated as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of the solution in this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0106] The above description is merely one specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A HIL test system based on an IBC controller, characterized in that, include: Software platform, hardware platform, IBC controller, and IBC actuator; The software platform includes a vehicle dynamics model, and the hardware platform includes: an actuator virtual model; the IBC controller and the IBC actuator maintain an intervention-enabled hardwired connection through a fault injection board; the actuator virtual model is used to simulate the working characteristics of the IBC actuator. The software platform is used to simulate braking scenarios based on the target test command and the vehicle dynamics model, so as to send virtual driving parameters and virtual braking signals of the vehicle model to the IBC controller, and adjust the fault injection mode of the fault injection board. The IBC controller is used to drive the IBC actuator according to the virtual driving parameters, the virtual braking signal and the fault injection board, so that the hardware platform can collect the drive response signal of the IBC actuator; The hardware platform is used to generate wheel cylinder pressure signals based on the drive response signals and the actuator virtual model, and load the wheel cylinder pressure signals into the vehicle dynamics model to complete the closed-loop test for the IBC controller.

2. The system according to claim 1, characterized in that, The IBC actuator includes a motor and a solenoid valve; the virtual model of the actuator includes a motor model and a hydraulic model; the drive response signal includes a three-phase current signal and a solenoid valve current signal. The hardware platform includes a simulation module, which is specifically used for: Motor simulation is performed based on the three-phase current signals and the motor model to generate motor position signals and motor torque signals; Based on the motor position signal, the motor torque signal, and the hydraulic model, solenoid valve simulation is performed to generate the wheel cylinder pressure signal. The wheel cylinder pressure signal is then loaded into the vehicle dynamics model to complete the closed-loop test for the IBC controller.

3. The system according to claim 1, characterized in that, The software platform includes: a first testing module, which is specifically used for: Based on the target test instructions, determine the target test scenario and the target test failure mode; Based on the target test scenario, the vehicle dynamics model is used to simulate braking scenarios, generating virtual driving parameters and virtual braking signals. Additionally, based on the target test fault mode, the opening or closing of multiple relays in the fault injection board is controlled to adjust the fault injection mode.

4. The system according to claim 1, characterized in that, The software platform further includes: a second testing module, which is specifically used for: The wheel cylinder pressure signal is input to the vehicle dynamics model to perform vehicle motion state analysis and generate braking response data; the braking response data is used to characterize the braking effect of the vehicle model under the wheel cylinder pressure signal. The braking response data is sent to the IBC controller in real time to test the performance of the IBC controller under dynamic operating conditions.

5. The system according to claim 2, characterized in that, The hydraulic model is generated through modeling of multiple solenoid valves and hydraulic lines; the hydraulic model performs solenoid valve simulation based on the motor position signal and motor torque signal, and on its built-in orifice throttling formula and volume effect formula. The orifice throttling formula is based on the normalized opening of the solenoid valve, the flow coefficient of the solenoid valve, and the pressure difference across the valve orifice when the fluid passes through it; the volumetric effect formula is based on the elastic modulus of the oil, the volume of the cavity, and the flow rate entering the cavity.

6. The system according to claim 2, characterized in that, The hardware platform includes a signal acquisition module; the signal acquisition module includes a motor stator, a solenoid valve coil, a current sensor, and an analog acquisition board; the signal acquisition module is used to acquire the three-phase current signal and the solenoid valve current signal.

7. A HIL testing method based on an IBC controller, characterized in that, Applied to HIL testing systems; The HIL testing system includes: a software platform, a hardware platform, an IBC controller, and an IBC actuator; the software platform includes a vehicle dynamics model, and the hardware platform includes: an actuator virtual model; the IBC controller and the IBC actuator maintain an intervention-enabled hardwired connection through a fault injection board; the actuator virtual model is used to simulate the working characteristics of the IBC actuator. The software platform is controlled to simulate braking scenarios based on the target test instructions and the vehicle dynamics model, so as to send virtual driving parameters and virtual braking signals of the vehicle model to the IBC controller, and adjust the fault injection mode of the fault injection board. The IBC controller is controlled to drive the IBC actuator according to the virtual driving parameters, the virtual braking signal, and the fault injection board, so that the hardware platform can collect the drive response signal of the IBC actuator. The hardware platform is controlled to generate wheel cylinder pressure signals based on the drive response signals and the actuator virtual model, and the wheel cylinder pressure signals are loaded into the vehicle dynamics model to complete the closed loop test for the IBC controller.

8. The method according to claim 7, characterized in that, The IBC actuator includes a motor and a solenoid valve; the virtual model of the actuator includes a motor model and a hydraulic model; the drive response signal includes a three-phase current signal and a solenoid valve current signal. The control hardware platform generates wheel cylinder pressure signals based on the drive response signals and the actuator virtual model, and loads the wheel cylinder pressure signals into the vehicle dynamics model to complete the closed-loop test for the IBC controller, including: Motor simulation is performed based on the three-phase current signals and the motor model to generate motor position signals and motor torque signals; Based on the motor position signal, the motor torque signal, and the hydraulic model, solenoid valve simulation is performed to generate the wheel cylinder pressure signal. The wheel cylinder pressure signal is then loaded into the vehicle dynamics model to complete the closed-loop test for the IBC controller.

9. The method according to claim 7, characterized in that, The hydraulic model is generated through modeling of multiple solenoid valves and hydraulic lines; the hydraulic model performs solenoid valve simulation based on the motor position signal and motor torque signal, and on its built-in orifice throttling formula and volume effect formula. The orifice throttling formula is based on the normalized opening of the solenoid valve, the flow coefficient of the solenoid valve, and the pressure difference across the valve orifice when the fluid passes through it; the volumetric effect formula is based on the elastic modulus of the oil, the volume of the cavity, and the flow rate entering the cavity.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by the processor, the program implements the HIL test method based on the IBC controller as described in any one of claims 7-9.

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