Testing method and testing device for electric power steering gear and electronic equipment

Abstract

The invention provides a test method and a test device of an electric power steering gear and electronic equipment, and the method relates to the field of vehicle steering, and the method comprises the following steps: obtaining test data of a power control unit in the electric power steering gear; obtaining a first test result based on the first test data and the development model; obtaining a second test result based on the second test data and the development model; and based on the first test result and the second test result, whether the power output of the power control unit in the first state is the same as the power output of the power control unit in the second state is obtained. The method can improve the testing accuracy of the electric power steering gear.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle steering, and more particularly, to a test method, test device and electronic equipment of an electric power steering gear in the field of vehicle steering. BACKGROUND

[0002] With the rapid development and iteration of vehicles, electric power steering systems have gradually attracted the attention of developers. The electric power steering system relies on related functions in the power control unit of the vehicle. After the software in the power control unit is developed, in order to verify its consistency in different states, the prior art usually verifies the consistency of the output results by uniformly inputting and calibrating parameters when the power control unit is in different states. The consistency verification method in the prior art leads to errors, and the verification conclusion is not rigorous.

[0003] Therefore, how to improve the accuracy of electric power steering gear testing is a problem to be solved at present. SUMMARY

[0004] The present application provides a test method, test device and electronic equipment of an electric power steering gear, which can improve the accuracy of electric power steering gear testing.

[0005] In a first aspect, a test method of an electric power steering gear is provided, the method comprising: obtaining test data of a power control unit in the electric power steering gear, the test data comprising first test data in a first state and second test data in a second state, the first state being used to indicate that the power control unit is in one of a mass production state and a calibration state, and the second state being used to indicate that the power control unit is in the other of the mass production state and the calibration state; obtaining a first test result based on the first test data and a development model, the first test result being used to indicate whether the power output of the power control unit in the first state is the same as the power output of the development model; obtaining a second test result based on the second test data and the development model, the second test result being used to indicate whether the power output of the power control unit in the second state is the same as the power output of the development model; obtaining whether the power output of the power control unit in the first state is the same as the power output of the power control unit in the second state based on the first test result and the second test result.

[0006] In the embodiments of the present application, by acquiring test data of the power control unit in the electric power steering gear, first test results and second test results are obtained based on the test data in the mass production state and the calibration state and the development model respectively, so as to determine whether the power output in the mass production state is consistent with that in the calibration state. Compared with the prior art, when verifying the functional consistency of the power output in the two states, the output of the power control unit in the two states needs to be collected through the real vehicle working condition simulation bench, however, there is fluctuation of parameters such as rotation speed during the test, resulting in inaccurate test results. Since in the present scheme, the development model is accurately compared in the two states respectively, it is not necessary to directly compare the output results of the two real vehicle working condition simulation bench tests, the test error is avoided, and therefore it can be accurately determined whether the power output of the power control unit in the two states is consistent, and the accuracy and reliability of the test process are improved.

[0007] In combination with the first aspect, in some possible implementation manners, the second test result is obtained based on the second test data and the development model, including: When the first test result indicates that the power output of the power control unit in the first state is consistent with the power output of the development model, the second test result is obtained based on the second test data and the development model.

[0008] In the embodiments of the present application, when the first test result indicates that the power output of the power control unit in the first state is consistent with the development model, the second test result is obtained based on the second test data and the development model; since the present scheme performs the second state test when confirming that the power output in the first state is consistent with the development model, unnecessary calculation and test steps can be reduced; compared with the prior art in which the outputs in the two states need to be independently collected on the bench and deviation determination is performed, the present scheme can improve the test efficiency, and since the accurate output comparison of the development model is relied on, the accuracy and reliability of the test results can be improved.

[0009] In combination with the first aspect and the above implementation manners, in some possible implementation manners, the first test data includes a first input signal, a first calibration parameter and a first output signal, the first test result is obtained based on the first test data and the development model, including: A first simulation output signal is obtained based on the first input signal, the first calibration parameter and the development model; The first test result is obtained based on a difference signal of the first output signal and the first simulation output signal.

[0010] In the embodiments of the present application, the first test result is obtained by obtaining the first input signal, the first calibration parameter and the first output signal in the first test data, generating the first simulation output signal based on the development model, and then calculating the difference between the actual output and the simulation output. Since the input signal, the calibration parameter and the development model are accurately simulated and compared, it can be determined whether the power output of the power control unit in the first state is consistent with the development model. Compared with the prior art which relies on real vehicle working condition bench to collect output and allows a certain deviation to determine consistency, the present scheme can provide absolute consistency judgment, thereby improving the accuracy and reliability of test judgment.

[0011] In combination with the first aspect and the above implementation manners, in some possible implementation manners, the first test result is obtained based on the difference signal between the first output signal and the first simulation output signal, including: When the difference signal includes a non-zero value, it is determined that the first test result indicates that the power output of the power control unit in the first state is different from the power output of the development model; When the difference signal does not include a non-zero value, it is determined that the first test result indicates that the power output of the power control unit in the first state is the same as the power output of the development model.

[0012] In the embodiments of the present application, the first test result is determined by judging whether the difference signal between the first output signal and the first simulation output signal includes a non-zero value. The difference signal is judged, which can accurately determine whether the power output of the power control unit in the first state is consistent with the development model. Compared with the prior art which judges within a certain deviation range, the present scheme can eliminate the influence of errors, thereby improving the rigor of the test conclusion.

[0013] In combination with the first aspect and the above implementation manners, in some possible implementation manners, the first simulation output signal is obtained based on the first input signal, the first calibration parameter and the development model, including: The first input signal is preprocessed to obtain a preprocessed first input signal, and the preprocessing includes time axis matching and data type conversion; The preprocessed first input signal and the first calibration parameter are input into the development model to obtain the first simulation output signal.

[0014] In the embodiments of the present application, the input signal is preprocessed by time axis matching and data type conversion, which can ensure the effectiveness of the test result comparison, and the preprocessing process ensures the compatibility between the input data and the development model. The present scheme ensures the effectiveness of the development model operation by standardizing the input data, enhances the credibility of the test result, and ensures that the simulation output accurately corresponds to the input signal, thereby avoiding test errors caused by asynchronous signals.

[0015] With reference to the first aspect and the foregoing implementation manners, in some possible implementation manners, the method further includes: When the power output of the power control unit in the first state is the same as the power output of the power control unit in the second state, based on the development model, it is determined whether the first calibration parameter in the first test data and the second calibration parameter in the second test data are the same.

[0016] In the embodiments of the present application, when the power output of the power control unit in the first state is the same as the power output in the second state, it is determined based on the development model whether the first calibration parameter in the first test data and the second calibration parameter in the second test data are the same; since the calibration parameters are compared under the premise that the power outputs are the same, potential parameter configuration problems can be found; since the parameter difference can be hidden by the same output, the implicit parameter configuration error can be identified by the present solution; by actively comparing the parameters, subsequent failures caused by different parameters can be prevented; thereby improving the robustness of the test.

[0017] With reference to the first aspect and the foregoing implementation manners, in some possible implementation manners, based on the development model, it is determined whether the first calibration parameter in the first test data and the second calibration parameter in the second test data are the same, including: The first input signal in the first test data and the second calibration parameter are input to the development model to obtain a second simulation output signal; if a difference signal between the second simulation output signal and the first output signal in the first test data includes a non-zero value, it is determined that the first calibration parameter and the second calibration parameter are different; if the difference signal between the second simulation output signal and the first output signal does not include a non-zero value, it is determined that the first calibration parameter and the second calibration parameter are the same; or, The second input signal in the second test data and the first calibration parameter are input to the development model to obtain a third simulation output signal; if a difference signal between the third simulation output signal and the second output signal in the second test data includes a non-zero value, it is determined that the first calibration parameter and the second calibration parameter are different; if the difference signal between the third simulation output signal and the second output signal does not include a non-zero value, it is determined that the first calibration parameter and the second calibration parameter are the same.

[0018] In the embodiments of the present application, the input signal of the first test data and the second calibration parameter are input to the development model to generate a second simulation output signal, or the input signal of the second test data and the first calibration parameter are input to the development model to generate a third simulation output signal, and it is determined based on the difference signal whether the calibration parameters are consistent; the present solution can accurately locate the parameter difference by cross-validation of interchanging the calibration parameters; therefore, the consistency of the calibration parameters can be accurately tested, thereby reducing the risk of test defects flowing out.

[0019] With reference to the first aspect and the foregoing implementation manners, in some possible implementation manners, the method further includes: obtaining an operation period of a module to be tested in the power control unit; obtaining test data of the power control unit in the electric power steering gear, including: obtaining the test data of the power control unit based on the operation period.

[0020] In the embodiments of the present application, the operation period of the module to be tested in the power control unit is obtained, and the test data is obtained based on the operation period. Since the data is obtained according to the operation period of the module, the timing consistency between the test data and the running state of the module is ensured. The present scheme can improve the accuracy and effectiveness of the test results, thereby realizing reliable testing of the power control unit.

[0021] In a second aspect, a testing device for an electric power steering gear is provided, and the device includes: a obtaining module, configured to obtain test data of a power control unit in the electric power steering gear, the test data including first test data in a first state and second test data in a second state, the first state being used to indicate that the power control unit is in one of a mass production state and a calibration state, and the second state being used to indicate that the power control unit is in the other of the mass production state and the calibration state; a processing module, configured to obtain a first test result based on the first test data and a development model, the first test result being used to indicate whether the power output of the power control unit in the first state is the same as the power output of the development model; obtain a second test result based on the second test data and the development model, the second test result being used to indicate whether the power output of the power control unit in the second state is the same as the power output of the development model; and obtain whether the power output of the power control unit in the first state is the same as the power output of the electric power steering gear in the second state based on the first test result and the second test result.

[0022] It should be understood that the expansion, limitation, explanation and description of the related content in the above first aspect also apply to the same content in the second aspect.

[0023] In a third aspect, an electronic device is provided, including a memory and a processor; the memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the testing device executes the electric power steering gear testing method in the above first aspect or any one of the possible implementation manners of the first aspect.

[0024] In a fourth aspect, a computer program product is provided, and the computer program product includes: computer program code, when the computer program code runs on a computer, the computer program code causes the computer to execute the electric power steering gear testing method in the above first aspect or any one of the possible implementation manners of the first aspect.

[0025] In a fifth aspect, a computer-readable storage medium is provided, which stores computer program codes, when the computer program codes are run on a computer, the computer is caused to execute the test method of the electric power steering gear according to the first aspect or any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 is a schematic flowchart of a test method of an electric power steering gear provided by an embodiment of the present application; Figure 2 is a schematic diagram of a data simulation process provided by an embodiment of the present application; Figure 3 is a schematic flowchart of another test method of an electric power steering gear provided by an embodiment of the present application; Figure 4 is a structural schematic diagram of a test device of an electric power steering gear provided by an embodiment of the present application; Figure 5 is a structural schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0027] The technical solutions in the present application will be described clearly and thoroughly in combination with the drawings. In the description of the embodiments of the present application, unless otherwise specified, “ / ” represents the meaning of or, for example, A / B can represent A or B: “and / or” in the text only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone. In addition, in the description of the embodiments of the present application, “multiple” means two or more than two.

[0028] Hereinafter, the terms “first” and “second” are only used for description purposes, and cannot be understood as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with “first” and “second” can explicitly or implicitly include one or more features.

[0029] Before introducing the method of the embodiments of the present application, the professional terms that may be involved in the embodiments of the present application are first explained.

[0030] Electric power steering (EPS): also known as electronic power steering system, electronic power steering device, electronic power steering device, which is used to provide steering auxiliary force for the steering system of the vehicle. For example, the electric power steering gear can include a steering column, a steering gear, a power control unit and a motor connected thereto.

[0031] Power pack unit (PPU): also known as motor control unit, power motor control module, steering control unit, used to control the operation of the motor in the electric power steering, perform assist torque calculation and output control.

[0032] Torque only sensor (TOS): also known as single torque sensor, steering torque detection sensor, assist torque sensor, used to detect the torque applied by the driver on the steering wheel.

[0033] Torque and angle sensor (TAS): also known as integrated steering sensor, dual-parameter steering sensor, composite steering sensor, used to detect the steering torque and steering angle of the driver at the same time.

[0034] Controller area network (CAN): also known as CAN bus, vehicle network bus, multi-node communication bus, etc., is a kind of serial communication protocol with multi-master-slave architecture, used for data exchange between various electronic control units in the vehicle; the signal transmitted in the controller area network bus can be called CAN signal or CAN message.

[0035] Universal measurement and calibration protocol (XCP): also known as calibration communication protocol, ECU calibration protocol, development calibration interface protocol, used for measurement, calibration and data acquisition of vehicle control unit.

[0036] Model-based development: also known as model-driven development, model-based design, model-based control logic development method, used to build, verify and optimize the software logic of vehicle control system through mathematical model or simulation model. For example, model-based development can include: using Simulink to build dynamic model, control algorithm model and calibration parameter interface, using model for function simulation and consistency verification, and automatically generating model code and deploying it to the power control unit of the electric power steering.

[0037] Under the background of rapid development and iteration of vehicle models in the automotive industry, the development mode of electric power steering gears tends to be based on platform-based rapid development and verification. For newly developed vehicle models, the development of electric power steering gears is usually carried out by real vehicle calibration matching parameters on the calibration software, and the final state of the real vehicle after matching parameters is evaluated. After the evaluation is passed, the calibration parameters are frozen. The real vehicle state that passes the evaluation is called the calibration frozen state, and the frozen calibration parameters are called the calibration frozen parameters.

[0038] Further, the calibration frozen parameters are imported into the development model of the calibration software, and the production software is recompiled. Before the production software is released, consistency verification needs to be performed on each functional module (such as speed-dependent assist, active return, damping compensation, inertia compensation, friction compensation, etc.) of the production state and the calibration frozen state.

[0039] In the prior art, when verifying the consistency of each functional module in the production state and the calibration frozen state, the measured power control unit is installed on a real vehicle working condition simulation bench, and then the same real vehicle working condition is simulated in the production state and the calibration frozen state respectively. The functional module outputs in the two states are collected. If the outputs of the functional modules in the two states are consistent within a certain deviation range, the consistency verification test is passed, and it is considered that the functional module outputs are the same.

[0040] However, the output of the functional module is usually related to the motor speed. When testing on the real vehicle working condition simulation bench, the simulation of the motor speed can be realized by using a drag motor, but the actual speed of the drag motor cannot be consistent with the set speed value, but fluctuates around the set speed value, especially in the case of high speed, the fluctuation error is larger, so it cannot be ensured that the actual speeds of the two real vehicle working condition simulations are consistent. In the case of speed error, the output of the functional module is different, which leads to inaccurate test results and unreliable test results, and there is a risk of defect outflow.

[0041] Therefore, the present scheme proposes a test method, test device and electronic equipment for an electric power steering gear. By obtaining test data of a power control unit in an electric power steering gear, first and second test results are obtained based on the test data of the production state and the calibration state and the development model, so as to determine whether the power output in the production state and the calibration state is consistent. Compared with the prior art, when verifying the functional consistency of the power output in the two states, the output of the power control unit in the two states needs to be collected by the real vehicle working condition simulation bench. Due to the fluctuation of parameters such as speed during testing, the test result is not accurate. In the present scheme, the power control unit in the two states can be accurately compared with the development model respectively, so as to ensure whether the power output of the power control unit in the two states is completely consistent, and the accuracy and reliability of the test process are improved.

[0042] The following describes the embodiments of the application in detail Figure 1 A test method for an electric power steering gear provided by the embodiments of the application is described in detail.

[0043] Figure 1 is a schematic flowchart of a test method for an electric power steering gear provided by the embodiments of the application. As shown in Figure 1 The method 100 includes S110 to S140, which are described in detail below.

[0044] The method 100 shown in the example Figure 1 The method 100 shown in the example can be executed by an electronic control unit in a vehicle, or by a processor in the vehicle, or by a chip loaded in the processor of the vehicle, or by an electronic device, or by a software platform in the electronic device, such as a test bench or a simulation platform.

[0045] S110, acquiring test data of a power control unit in the electric power steering gear.

[0046] The test data includes first test data in a first state and second test data in a second state, which refers to data related to function verification collected or generated when the power control unit of the electric power steering gear is running, and can include a set of all input signals of the measured module, a set of all output signals of the measured module, and a set of all calibration parameters of the measured module. For example, for a speed-dependent power module, the input signals can include a vehicle speed signal, a vehicle speed validity signal, a torque signal, a power mode selection signal, and the like, and the output signals can include a speed-dependent power target torque, a speed-dependent power target torque validity, and the like.

[0047] The calibration parameters are used to represent parameters related to vehicle model matching, such as speed-dependent power curve parameters, angle correction parameters, and temperature compensation parameters, and the like. By setting an online modification interface supporting XCP protocol in the power control unit, the calibration parameters can be changed online without updating the control unit software. The calibration parameters can be flexibly adjusted according to the requirements of different vehicle models under the same software platform to adjust the power characteristics of the electric power steering gear, thereby meeting the requirements of vehicle model adaptation and hand feeling optimization.

[0048] The mass production state is used to represent the real vehicle state after the power control unit is flashed with the mass production software. An exemplary method of flashing the power control unit to the mass production state is to import the calibration frozen parameters into the corresponding development model of the calibration software, recompile the generated software, and flash it into the power control unit. The calibration state can also be referred to as the calibration frozen state, which is used to represent the real vehicle state that passes the final state review in the real vehicle calibration matching stage. An exemplary method of flashing the power control unit to the calibration frozen state is to flash the calibration software into the power control unit, and then flash the calibration frozen parameters into the power control unit. The calibration software is the software used in the real vehicle calibration parameter matching stage.

[0049] The to-be-tested module is each functional sub-module of the electric power steering gear, such as speed-dependent assist, active return, damping compensation, inertia compensation, and friction compensation. Each to-be-tested module has an independent operation period, which is referred to as the operation period of the to-be-tested module. For example, the operation period of the speed-dependent assist module is 1 ms, indicating that the speed-dependent assist module will calculate and update the output signal once every 1 ms according to the input signal.

[0050] It should be noted that the calibration frozen parameters can only be flashed into the volatile storage area of the power control unit, and the calibration frozen parameters will be lost after the power control unit is powered off. Therefore, if the power control unit is powered off during the test, the calibration frozen parameters need to be re-flashed after being powered on again. The calibration frozen parameters refer to the final state review of the vehicle state in the real vehicle calibration matching stage, and the calibration parameters are frozen after passing the review, that is, the calibration frozen parameters.

[0051] In the embodiments of the present application, when testing the electric power steering gear, first, the relevant test data of the power control unit in different working states need to be obtained, which can reflect the response of the control unit to the input signal and the calibration parameter. For example, data collection can be performed on the power control unit in the mass production state and the calibration frozen state respectively, thereby providing original data for subsequent comparison and verification.

[0052] For example, when testing the speed-dependent assist module, the vehicle speed signal (i.e., the input signal) and the speed-dependent assist curve parameter (i.e., the calibration parameter) are input into the power control unit, and the power control unit outputs the target assist torque signal (i.e., the output signal). Assuming that the collection duration is 4000 ms and the operation period is 1 ms, an array containing 4000 vehicle speed sampling points, a corresponding calibration parameter set, and an array containing 4000 target assist torque sampling points are finally obtained, which together constitute the test data of the speed-dependent assist module.

[0053] In an implementation manner, the method further includes: obtaining the operation period of the to-be-tested module in the power control unit; Obtaining test data of a power control unit in an electric power steering gear, comprising: Based on the operation period, obtaining test data of the power control unit.

[0054] Wherein, the test data can include input signals, output signals and calibration parameters; since multiple values are usually collected when collecting data, the input signals, output signals and calibration parameters can also be referred to as input signal groups, output signal groups and calibration parameter groups.

[0055] In the embodiments of the present application, the operation period of the module to be tested is first obtained, and after the operation period is determined, the collection of test data is carried out based on the operation period.

[0056] For example, when collecting the signals in the input signal group, a tool supporting CAN Calibration Protocol (CCP) and XCP protocol such as CAN Application Programming Environment (CANape) can be used to realize, and the setting of the sampling period must be consistent with the operation period of the module to be tested. Collect and save the signals in the input signal group, and each signal will save a one-dimensional array. For example, the speed signal of the speed-dependent assist module is collected and saved, and the operation period of the speed-dependent assist module is 1ms, so the sampling period of the speed signal should be set to 1ms, and if the collection time is 4000ms, a one-dimensional array containing 4000 elements is collected.

[0057] For example, when collecting the signals in the output signal group, a tool supporting CCP and XCP protocol such as CANape can be used to realize, and the setting of the sampling period must be consistent with the operation period of the module to be tested. Collect and save the signals in the output signal group, and each signal will save a one-dimensional array. For example, the speed-dependent assist target torque signal of the speed-dependent assist module is collected and saved, and the operation period of the speed-dependent assist module is 1ms, so the sampling period of the speed-dependent assist target torque signal should be set to 1ms, and if the collection time is 4000ms, a one-dimensional array containing 4000 elements is collected.

[0058] Optionally, in addition to real vehicle testing, a virtual sampling period consistent with the operation period can be used on a bench simulation platform to verify the consistency of the control logic in a simulation environment.

[0059] In the implementation mode, the operation period of the module to be tested in the power control unit is obtained, and the test data is obtained based on the operation period. Since the data is obtained according to the module operation period, the timing consistency of the test data and the module running state is ensured. The scheme can improve the accuracy and effectiveness of the test result, thereby realizing reliable power control unit testing.

[0060] S120, obtaining a first test result based on the first test data and the development model.

[0061] The first test result is used to indicate whether the power output of the power control unit in the first state is the same as the power output of the development model. The development model can also be referred to as a reference model, a simulation model or a verification model, which is used to calculate the input signal and the calibration parameter to obtain theoretical output data. For example, the development model can include a dynamics equation model, a boost characteristic model, a torque control model, etc., which is used to simulate the output logic of the power control unit under different input conditions. The development model serves as a reference benchmark, and its function is to provide expected theoretical calculation results, thereby being used to compare and verify whether the output logic of the power control unit in the mass production state or the calibration state is correct.

[0062] It should be understood that the development model in the embodiments of the present application can be a Simulink development model based on an MBD development mode. In the software compilation stage, the calibration software and the mass production software are generated based on the same development model, but the calibration parameters are different. The development model used in the model data simulation of the present design refers to the development model of a module to be tested, and the internal logic thereof can be encrypted or non-encrypted, but the input interface, the calibration parameter interface and the output interface of the module to be tested must be retained.

[0063] It should be noted that the input interface of the measured module is consistent with the number of signals in the input signal group, and the name of the input interface is one-to-one corresponding to the signal name in the input signal group. The specific process of inputting the signals in the input signal group into the development model: after the signals in the input signal group are matched with the time axis, they are released to the workspace of Matlab, and then imported into the Simulink simulation environment through the From Workspace module in Simulink. After data type conversion, the same name interface of the development model is connected, and the input is completed. The number of calibration parameter interfaces of the measured module is consistent with the number of parameters in the calibration parameter group, and the names are one-to-one corresponding. The process of inputting the parameters in the calibration parameter group into the development model: first, release the parameters in the calibration parameter group to the workspace of Matlab, and the development model automatically imports the same name calibration parameter from the workspace after the simulation starts. In addition, the number of output interfaces of the measured module is consistent with the number of signals in the output signal group, and the name of the output interface is one-to-one corresponding to the signal name in the output signal group. The set of signals output by the output interface is called the simulation output signal group. The purpose of model data simulation is to compare whether the two signals corresponding to the same name in the simulation output signal group and the output signal group are consistent. If they are consistent, the result of model data simulation is passed, otherwise it is failed.

[0064] In an implementation manner, the method comprises: obtaining a first simulation output signal based on the first input signal, the first calibration parameter and the development model; obtaining a first test result based on a difference signal of the first output signal and the first simulation output signal.

[0065] In the embodiments of the present application, the input signal and the calibration parameter collected in the test process are input into the development model, and the development model is calculated to obtain a theoretical simulation output signal. Then, the simulation output signal is compared with the output signal collected in the actual test, and the difference between the two is calculated to determine whether the output logic of the power control unit is consistent with the development model, thereby forming a first test result.

[0066] For example, the power control unit of the electric power steering device is written as a calibration frozen state, the power control unit is tested for the first time in a real vehicle working condition bench simulation, the input signal, the output signal and the calibration parameter of the measured module are collected and saved, and the input signal, the output signal and the calibration parameter are used as the input of the model data simulation. When the result of the first model data simulation is failed, the test is ended and the conclusion is that the power control unit of the electric power steering device is inconsistent with the function logic of the development model in the calibration frozen state.

[0067] It should be noted that the real vehicle working condition bench simulation test refers to that the power control unit is installed on a real vehicle working condition simulation bench, the output shaft of the power control unit is connected with a drag motor of the real vehicle working condition simulation bench, the drag motor drags the output shaft of the power control unit to rotate to simulate the rotation of the output shaft of the power control unit when the driver turns the steering wheel, the sensor interface of the power control unit is connected with a TOS or TAS sensor simulation interface of the real vehicle working condition simulation bench to simulate the torque and angle signals of the driver steering, and the CAN communication interface of the power control unit is connected with a CAN simulation interface of the real vehicle working condition simulation bench to simulate the CAN network environment of the whole vehicle. By starting a pre-set program in the real vehicle working condition simulation bench, various working conditions of the power control unit in the real vehicle operation can be simulated, such as S-bend and 8-shaped turn, and different real vehicle working conditions can be designed according to the functional characteristics and parameter characteristics of the measured module.

[0068] Optionally, the inconsistent functional logic means that the power output of the power control unit is inconsistent, and when the functional logic is inconsistent, it can be represented as test failure or test failure.

[0069] Exemplarily, Figure 2 is a schematic diagram of a data simulation process provided by an embodiment of the present application. As shown in Figure 2 , the data simulation process 200 first performs time axis matching and data type conversion on each signal in the input signal group and inputs it into the development model; the parameters in the calibration parameter group are synchronously input into the development model, and after simulation calculation by the development model, the simulation output signal group is obtained; the signals in the simulation output signal group and the signals in the output signal group after time axis matching are imported into the subtraction module together to obtain the difference array; if the difference array is a full zero array, it proves that the signals in the simulation output signal group and the signals in the output signal group after time axis matching are completely consistent, and the model data simulation passes; otherwise, the model data simulation fails. In addition, the signals in the simulation output signal group and the signals in the output signal group after time axis matching can be imported into the signal display module together to facilitate intuitive display of the waveform difference between the two.

[0070] In the above implementation manner, the first input signal, the first calibration parameter and the first output signal in the first test data are acquired, the first simulation output signal is generated based on the development model, and the actual output and the simulation output are calculated by difference to obtain the first test result; since the input signal, the calibration parameter and the development model are accurately simulated and compared, whether the power output of the power control unit in the first state is consistent with the development model can be judged; compared with the prior art which depends on the real vehicle working condition bench to collect the output and allows a certain deviation to determine consistency, the present scheme can provide absolute consistency judgment, thereby improving the accuracy and reliability of test judgment.

[0071] In an implementation, the method comprises: when the difference signal comprises a non-zero value, determining that the first test result indicates that the power output of the power control unit in the first state is different from the power output of the development model; when the difference signal does not comprise a non-zero value, determining that the first test result indicates that the power output of the power control unit in the first state is the same as the power output of the development model.

[0072] In the embodiments of the present application, by judging whether the difference signal is all zero, if there is a non-zero value in the difference signal, it indicates that the output of the power control unit in the first state is different from the calculation result of the development model, that is, the power control unit of the electric power steering device in the first state is inconsistent with the function logic of the development model.

[0073] For example, as shown in Figure 2 The difference signal group is obtained by the subtraction module if the simulation output signal group and the output signal group matched with the time axis are subtracted. If the difference array is an all-zero array, it proves that the signals in the simulation output signal group and the signals in the output signal group matched with the time axis are completely consistent, the model data simulation is passed, that is, the power output of the power control unit in the state is the same as the power output of the development model, and the function logic is consistent. Otherwise, the model data simulation fails, that is, the power output of the power control unit in the state is different from the power output of the development model, and the function logic is inconsistent.

[0074] In the above implementation, the first test result is determined by judging whether the difference signal between the first output signal and the first simulation output signal contains a non-zero value. Since the difference signal is accurately judged, it can accurately determine whether the power output of the power control unit in the first state is consistent with the development model. Compared with the prior art which determines consistency by deviation range, the present scheme can eliminate the influence of errors, thereby improving the rigor of the test conclusion.

[0075] In an implementation, the method comprises: preprocessing the first input signal to obtain a preprocessed first input signal, the preprocessing comprising time axis matching and data type conversion; inputting the preprocessed first input signal and the first calibration parameter into the development model to obtain a first simulation output signal.

[0076] The data type conversion is used to convert the target array into a data type compatible with the development model. For example, the data type conversion can be used to convert the signals in the input signal group into a data type consistent with the development model interface. For example, for the vehicle speed validity signal in the input signal group of the speed-dependent assist module, the signal type collected in the real vehicle working condition bench simulation test is a double-precision type, while the development model interface is a Boolean type data. When running the simulation, an error of data type mismatch will be reported. Therefore, the data type needs to be converted into a data type consistent with the development model interface, and then input into the development model.

[0077] The time axis matching is to match the time axis of each signal in the input signal group and each signal in the output signal group. Each signal in the input signal group and each signal in the output signal group collected in the real vehicle working condition bench simulation test can be recorded and saved in the form of a one-dimensional array. For example, the time axis matching can match the first value of the one-dimensional array corresponding to the saved signal with time 1*T, the second value with time 2*T, and the nth value with time n*T, so as to obtain a one-dimensional time axis array, where T is the operation period of the to-be-tested module. For example, if the operation period of the to-be-tested module is 0.001 s, and the one-dimensional array corresponding to the saved signal has 10,000 values, then the time axis array obtained by matching is 0.001, 0.002, …, 10. The purpose of the time axis matching is to align the signals in the input signal group and the signals in the output signal group in time, so that the signals in the simulation output signal group and the signals in the output signal group can be directly compared for consistency after simulation calculation.

[0078] In the above implementation mode, the time axis matching and data type conversion preprocessing of the input signal can ensure the effectiveness of the test result comparison, and the preprocessing process ensures the compatibility between the input data and the development model. The present scheme ensures the effectiveness of the development model operation by standardizing the input data, enhances the credibility of the test result, and ensures that the simulation output is accurately corresponding to the input signal, thereby avoiding the test error caused by the asynchronous signals.

[0079] In the above implementation mode, the time axis matching and data type conversion preprocessing of the input signal can ensure the effectiveness of the test result comparison, and the preprocessing process ensures the compatibility between the input data and the development model. The present scheme ensures the effectiveness of the development model operation by standardizing the input data, enhances the credibility of the test result, and ensures that the simulation output is accurately corresponding to the input signal, thereby avoiding the test error caused by the asynchronous signals.

[0080] In the embodiments of the present application, the input signal, the output signal and the calibration parameter collected and saved in the second state are input into the development model, and the development model is calculated to obtain a theoretical simulation output signal. Then, the simulation output signal is compared with the collected output signal, the difference between the two is calculated, and it is judged whether the output logic of the power control unit is consistent with the development model, so as to form the second test result.

[0081] In one implementation mode, the above method comprises: When the first test result indicates that the power output of the power control unit in the first state is the same as the power output of the development model, a second test result is obtained based on the second test data and the development model.

[0082] In the embodiments of the present application, only when the power output of the power control unit in the first state is the same as the power output of the development model, the test in the second state is performed. That is, if the power output of the power control unit in the first state is not the same as the power output of the development model, the subsequent test verification is not performed.

[0083] For example, first, the power control unit is programmed to the calibration state, and the first real vehicle working condition bench simulation test is performed on the power control unit. The input signal, the output signal and the calibration parameter in the calibration state are collected and saved, and are input to the model for simulation. If the difference signal between the output signal and the simulation output obtained by the development model has a non-zero value, the power output of the power control unit in the calibration state is not the same as the power output of the development model, and at this time, the functional logic is inconsistent, and therefore the subsequent verification is stopped.

[0084] For example, first, the power control unit is programmed to the calibration state, and the first real vehicle working condition bench simulation test is performed on the power control unit. The input signal, the output signal and the calibration parameter in the calibration state are collected and saved, and are input to the model for simulation. If the difference signal between the output signal and the simulation output obtained by the development model has no non-zero value, the power output of the power control unit in the calibration state is the same as the power output of the development model, and at this time, the functional logic is consistent, and therefore the power control unit is programmed to the production state, and the second real vehicle working condition bench simulation test is performed on the power control unit. The input signal, the output signal and the calibration parameter in the production state are collected and saved, and are input to the model for simulation.

[0085] Optionally, when the test is performed on the power control unit in the second state, the input signal, the output signal and the calibration parameter are input to the model for simulation. It is judged whether the difference signal between the output signal and the simulation output obtained by the development model has a non-zero value. If there is no non-zero value, the power output of the power control unit in the second state is the same as the power output of the development model, and the functional logic is consistent. If there is a non-zero value, the power output of the power control unit in the second state is not the same as the power output of the development model, and the functional logic is inconsistent.

[0086] In the above implementation, when the first test result indicates that the power output of the power control unit in the first state is consistent with the development model, a second test result is obtained based on the second test data and the development model; since the second state test is performed again when the power output in the first state is confirmed to be consistent with the development model, unnecessary calculation and test steps can be reduced; compared with the prior art in which the outputs of the two states need to be independently collected on the test bench and the deviation is determined, the present scheme can improve the test efficiency, and since the accurate output comparison of the development model is relied on, the accuracy and reliability of the test result can be improved.

[0087] S140, based on the first test result and the second test result, whether the power output of the power control unit in the first state is the same as the power output of the power control unit in the second state.

[0088] In the embodiments of the present application, when it is determined that the power output in the first state is consistent with the development model and the power output in the second state is consistent with the development model, since the power outputs in the two states are consistent with the development model, it can be determined that the power outputs in the first state and the second state are consistent.

[0089] For example, the difference signal between the output signal in the mass production state and the simulation output signal does not have a non-zero value, and the difference signal between the output signal in the calibration state and the simulation output signal does not have a non-zero value, and at this time, it is determined that the power outputs of the power control unit in the mass production state and the calibration state are the same, and the functional logic is consistent.

[0090] In an implementation, the method further comprises: When the power output of the power control unit in the first state is the same as the power output of the power control unit in the second state, based on the development model, it is determined whether the first calibration parameter in the first test data and the second calibration parameter in the second test data are the same.

[0091] In the embodiments of the present application, when it is determined that the power output in the first state is consistent with the development model and the power output in the second state is consistent with the development model, since the power outputs in the two states are consistent with the development model, it can be determined that the power outputs in the first state and the second state are consistent, and at this time, it is further determined whether the calibration parameters of the two states are consistent.

[0092] In the implementation manner, the first calibration parameter in the first test data and the second calibration parameter in the second test data are determined to be same or different by judging whether the first calibration parameter in the first test data and the second calibration parameter in the second test data are same or different based on the development model when the power output of the power control unit in the first state is consistent with the power output of the power control unit in the second state. Since the calibration parameters are compared under the premise of consistent power output, potential parameter configuration problems can be found. Since the parameter difference can be hidden by the same output, the implicit parameter configuration error can be identified. By actively comparing the parameters, subsequent faults caused by different parameters can be prevented. Therefore, the robustness of the test is improved.

[0093] In an implementation manner, the method comprises: inputting the first input signal in the first test data and the second calibration parameter into the development model to obtain a second simulation output signal; if a difference signal between the second simulation output signal and the first output signal in the first test data includes a non-zero value, it is determined that the first calibration parameter and the second calibration parameter are different; if the difference signal between the second simulation output signal and the first output signal does not include a non-zero value, it is determined that the first calibration parameter and the second calibration parameter are same; or, inputting the second input signal in the second test data and the first calibration parameter into the development model to obtain a third simulation output signal; if a difference signal between the third simulation output signal and the second output signal in the second test data includes a non-zero value, it is determined that the first calibration parameter and the second calibration parameter are different; if the difference signal between the third simulation output signal and the second output signal does not include a non-zero value, it is determined that the first calibration parameter and the second calibration parameter are same.

[0094] In the embodiments of the present application, the input signals and different calibration parameters are combined, and the combined data is input into the development model to obtain a simulation output signal, and the output signal in the original test data is compared. According to whether the difference signal is zero, it is determined whether the calibration parameters in different states are same. If the difference signal is zero, it is indicated that the calibration parameters in different states are same. If the difference signal is not zero, it is indicated that there is a difference.

[0095] For example, after the second model simulation is passed, i.e., it is determined that the power output in the first state is consistent with the power output in the second state, the input signal group, the output signal group in the second state, and the calibration parameter in the first state are input into the model data simulation to obtain a simulation result, and it is determined whether the calibration parameters are same.

[0096] Optionally, the input signal set in the second state, the output signal set, and the calibration parameter in the first state are taken as inputs of model data simulation, the simulation output signal is calculated by developing the model based on the input signal set in the second state and the calibration parameter in the first state, the simulation output signal is subtracted from the output signal in the second state to obtain a difference signal, and it is judged whether the difference signal has a non-zero value. If there is a non-zero value, the test fails, and the functional logic of the production state and the calibration frozen state is consistent, but the calibration parameters are inconsistent. If there is no non-zero value, the test passes, and the functional logic of the production state and the calibration frozen state is consistent, and the calibration parameters are consistent.

[0097] Optionally, the input signal set in the first state, the output signal set, and the calibration parameter in the second state can be taken as inputs of model data simulation to obtain a simulation result, and it is determined whether the calibration parameters are the same.

[0098] In the above implementation manner, the input signal of the first test data and the second calibration parameter are input into the developed model to generate a second simulation output signal, or the input signal of the second test data and the first calibration parameter are input into the developed model to generate a third simulation output signal, and it is judged whether the calibration parameters are consistent based on the difference signal. The present scheme can accurately locate the parameter difference by cross-validation of the calibration parameters, and can accurately test the consistency of the calibration parameters, thereby reducing the risk of test defects flowing out.

[0099] In the above embodiment, the test data of the power control unit in the electric power steering gear is obtained, and the first test result and the second test result are obtained based on the test data in the production state and the calibration state and the developed model, so as to determine whether the power output in the production state and the calibration state is consistent. Compared with the prior art, when verifying the functional consistency of the power output in the two states, the output of the power control unit in the two states needs to be collected by a real vehicle working condition simulation bench. Since there is fluctuation of parameters such as speed during testing, the test result is not accurate. In the present scheme, accurate comparison with the developed model in the two states can be performed to ensure whether the power output of the power control unit in the two states is completely consistent, thereby improving the accuracy and reliability of the test process.

[0100] The above is described in combination with Figure 3 Another test method of an electric power steering gear provided by the embodiment of the present application is described in detail.

[0101] Figure 3 is a schematic flowchart of another test method of an electric power steering gear provided by the embodiment of the present application. As Figure 3 shown, the method 300 includes S301 to S315, which are described in detail below.

[0102] Exemplarily, Figure 3 The method 300 shown can be executed by an electronic control unit in the vehicle, or by a processor in the vehicle, or by a chip loaded in the processor of the vehicle, or by an electronic device, or by a software platform in the electronic device, such as a test bench or a simulation platform.

[0103] S301, an operation cycle of a measured module is acquired.

[0104] Exemplarily, if the operation cycle of the speed-dependent assist module is 1 ms, the sampling cycle of the signal should be set to 1 ms, and if the collection duration is 4000 ms, a one-dimensional array containing 4000 elements is collected.

[0105] Optionally, the implementation of S301 can refer to the related description in S110 of Figure 1 , which will not be repeated here.

[0106] S302, the power control unit of the electric power steering gear is written as a calibration frozen state.

[0107] Exemplarily, the software of the released vehicle model is written into the power control unit, and the calibration parameters are written into the parameter area of the power control unit through the calibration tool.

[0108] Optionally, the software or calibration parameters can be written using a writing tool, for example, the writing tool can be CANape.

[0109] Optionally, the implementation of S302 can refer to the related description in S120 of Figure 1 , which will not be repeated here.

[0110] S303, a first real vehicle working condition bench simulation test is performed on the power control unit, and the input signal group 1, the output signal group 1 and the calibration parameter group 1 of the measured module are collected and saved based on the operation cycle of the measured module.

[0111] Exemplarily, when testing the speed-dependent assist module, the vehicle speed signal (i.e. the input signal) and the speed-dependent assist curve parameters (i.e. the calibration parameters) are input into the power control unit, and the power control unit outputs the target assist torque signal (i.e. the output signal). Assuming that the collection duration is 4000 ms and the operation cycle is 1 ms, a 4000-element array containing vehicle speed sampling points, a corresponding calibration parameter set, and a 4000-element array containing target assist torque sampling points are finally obtained, which together constitute the test data of the speed-dependent assist module.

[0112] Optionally, the implementation of S303 can refer to the related description in S130 of Figure 1For details, refer to the description of S120 in the foregoing embodiment, which will not be repeated here.

[0113] S304, inputting the input signal group 1, the output signal group 1 and the calibration parameter group 1 as inputs of model data simulation, determining a difference signal group 1 between the output signal group 1 and a simulation output signal group 1.

[0114] In the embodiment of the present application, the input signal collected in the test process and the calibration parameter are input into the development model, and the development model is allowed to calculate, so as to obtain a theoretical simulation output signal; then the simulation output signal is compared with the output signal collected in the actual test, the difference between the two is calculated, and it is judged whether the output logic of the power control unit is consistent with the development model, so as to form the first test result.

[0115] Optionally, the implementation of S304 can refer to the related description of S120 in the foregoing embodiment, which will not be repeated here. Figure 1

[0116] S305, judging whether the difference signal group 1 includes a non-zero value, if yes, executing S307; if no, executing S306.

[0117] In the embodiment of the present application, it is judged whether the difference signal group 1 includes a non-zero value, if the difference signal group 1 includes a non-zero value, it indicates that there is a difference between the output signal and the simulation output signal, and the function logic of the power control unit of the electric power steering device in the calibration frozen state is inconsistent with the development model, S307 is executed; if the difference signal group 1 does not include a non-zero value, it indicates that there is no difference between the output signal and the simulation output signal, and the function logic of the power control unit of the electric power steering device in the calibration frozen state is consistent with the development model, the consistency in the production state can be further verified, and S306 is executed.

[0118] Optionally, the implementation of S305 can refer to the related description of S120 in the foregoing embodiment, which will not be repeated here. Figure 1

[0119] S306, the power control unit of the electric power steering device is written as the production state.

[0120] For example, the software package of the production version is written into the power control unit together with the calibration parameter.

[0121] Optionally, the order of S302 to S305 can be exchanged with S306, S308 and S309, that is, the power control unit of the electric power steering device is written as the production state first, and then the power control unit of the electric power steering device is written as the calibration frozen state after it is tested that the function logic of the power control unit in the production state is consistent with the development model.

[0122] ​​Optionally, the implementation of S306 can refer to the related description in S120 of Figure 1 herein.

[0123] S307, determining that the first test result is that the power control unit is inconsistent with the function logic of the development model in the calibration frozen state.

[0124] For example, when a non-zero value is included in the differential signal group 1, it indicates that there is a difference between the output signal and the simulation output signal, and the power control unit of the electric power steering device is inconsistent with the function logic of the development model in the calibration frozen state.

[0125] Optionally, the implementation of S307 can refer to the related description in S120 of Figure 1 herein.

[0126] S308, performing a second real vehicle working condition bench simulation test on the power control unit, collecting and saving the input signal group 2, the output signal group 2 and the calibration parameter group 2 of the measured module based on the operation period of the measured module.

[0127] For example, when testing the speed-dependent assist module, the vehicle speed signal (i.e. input signal) and the speed-dependent assist curve parameter (i.e. calibration parameter) are input into the power control unit, and the power control unit outputs the target assist torque signal (i.e. output signal). Assuming that the collection duration is 4000 ms and the operation period is 1 ms, an array containing 4000 vehicle speed sampling points, a corresponding calibration parameter set, and an array containing 4000 target assist torque sampling points are finally obtained, which together constitute the test data of the speed-dependent assist module.

[0128] Optionally, the implementation of S308 can refer to the related description in S120 of Figure 1 herein.

[0129] S309, inputting the input signal group 2, the output signal group 2 and the calibration parameter group 2 as model data simulation inputs, and determining the differential signal group 2 between the output signal group 2 and the simulation output signal group 2.

[0130] In the embodiments of the present application, the input signal and the calibration parameter collected during the test are input into the development model for calculation, so as to obtain a theoretical simulation output signal; then the simulation output signal is compared with the output signal collected during the actual test, the difference between the two is calculated, and it is determined whether the output logic of the power control unit is consistent with the development model, so as to form the second test result.

[0131] Optionally, the implementation of S309 can refer to the related description in S120 of Figure 1 herein.

[0132] S310, determine whether the difference signal group 2 includes a non-zero value, if yes, execute S312; if no, execute S311.

[0133] In the embodiment of the present application, it is determined whether the difference signal group 2 includes a non-zero value. If the difference signal group 2 includes a non-zero value, it indicates that the output signal and the simulation output signal are different, and the power control unit of the electric power steering device is inconsistent with the functional logic of the development model in the mass production state. S312 is executed. If the difference signal group 2 does not include a non-zero value, it indicates that the output signal and the simulation output signal are not different, and the power control unit of the electric power steering device is consistent with the functional logic of the development model in the mass production state, that is, the power control unit of the electric power steering device is consistent with the functional logic in the calibration frozen state in the mass production state. The consistency of the calibration parameters can be further verified, and S311 is executed.

[0134] Alternatively, the implementation of S310 can refer to the related description in S120 in Figure 1 , which will not be described here.

[0135] S311, input signal group 2, output signal group 2 and calibration parameter group 1 as model data simulation input, determine the difference signal group 3 between the output signal group 2 and the simulation output signal group 3.

[0136] For example, after the second model simulation is passed, that is, it is determined that the power output in the first state is consistent with that in the second state, the input signal group in the second state, the output signal group, and the calibration parameter in the first state are input as model data simulation input to obtain a simulation result. It is determined whether the calibration parameters are the same.

[0137] Alternatively, input signal group 1, output signal group 1 and calibration parameter group 2 can be input as model data simulation input to obtain simulation output signal group 3, and determine the difference signal group 3 between output signal group 1 and simulation output signal group 3.

[0138] Alternatively, the implementation of S311 can refer to the related description in S140 in Figure 1 , which will not be described here.

[0139] S312, determine that the second test result is that the functional logic of the power control unit in the mass production state is inconsistent with that in the calibration frozen state.

[0140] For example, when the difference signal group 2 includes a non-zero value, it indicates that the output signal and the simulation output signal are different, and the power control unit of the electric power steering device is inconsistent with the functional logic of the development model in the mass production state.

[0141] Alternatively, the implementation of S312 can refer to the related description inFigure 1 The related description in S120 is referred to here and will not be repeated.

[0142] S313, determining whether the difference signal group 3 includes a non-zero value, if yes, performing S315; if no, performing S314.

[0143] In the embodiment of the present application, if the difference signal group 3 includes a non-zero value, it indicates that the output signal and the simulation output signal are different, and the power control unit of the electric power steering gear in the mass production state is inconsistent with the calibration parameters in the calibration frozen state, and S315 is performed; if the difference signal group 3 does not include a non-zero value, it indicates that the output signal and the simulation output signal are not different, and the power control unit of the electric power steering gear in the mass production state is consistent with the calibration parameters in the calibration frozen state, and S314 is performed.

[0144] Alternatively, the implementation manner of S313 can refer to the related description in S140, which will not be repeated here. Figure 1 The related description in S140 is referred to here and will not be repeated.

[0145] S314, determining that the test result is that the function logic and the calibration parameters of the power control unit in the mass production state and the calibration frozen state are consistent.

[0146] In the embodiment of the present application, the input signal group 2, the output signal group 2, and the calibration parameter group 1 are taken as the input of model data simulation, the simulation output signal is calculated through the development model, the difference value signal 3 is obtained by subtracting the simulation output signal group 3 from the output signal group 2, and it is determined that the difference value signal does not have a non-zero value, so that the test is passed, and the function logic of the mass production state and the calibration frozen state is consistent and the calibration parameters are consistent.

[0147] Alternatively, the implementation manner of S314 can refer to the related description in S140, which will not be repeated here. Figure 1 The related description in S140 is referred to here and will not be repeated.

[0148] S315, determining that the first test result is that the function logic of the power control unit in the mass production state and the calibration frozen state is consistent, but the calibration parameters are inconsistent.

[0149] In the embodiment of the present application, the input signal group 2, the output signal group 2, and the calibration parameter group 1 are taken as the input of model data simulation, the simulation output signal is calculated through the development model, the difference value signal group 3 is obtained by subtracting the simulation output signal group 3 from the output signal group 2, and it is determined that the difference value signal group 3 has a non-zero value, so that the test is not passed, and the function logic of the mass production state and the calibration frozen state is consistent but the calibration parameters are inconsistent.

[0150] Alternatively, the implementation manner of S315 can refer to the related description in S140, which will not be repeated here. Figure 1The related description in S140 is not repeated here.

[0151] In the above embodiment, by acquiring the test data of the power control unit in the electric power steering gear, the first test result and the second test result are obtained based on the test data in the mass production state and the calibration state and the development model respectively, so as to determine whether the power output in the mass production state and the calibration state is consistent. Compared with the prior art, when verifying the functional consistency of the power output in the two states, the output of the power control unit in the two states needs to be collected through the real vehicle working condition simulation bench. However, there is fluctuation of parameters such as speed during testing, which leads to inaccurate test results. In the present scheme, the power output of the power control unit in the two states can be accurately compared with the development model in the two states respectively, so as to ensure that the power output of the power control unit in the two states is completely consistent, and the accuracy and reliability of the testing process are improved.

[0152] The above is combined with Figures 1 to 3 The application embodiment provides a kind of electric power steering gear testing method;The following will be combined with Figure 4 And Figure 5 The device embodiment of the present application is described in detail. It should be understood that the device in the embodiment of the present application can execute the various methods of the foregoing embodiments of the present application, i.e., the specific working processes of the following various products can refer to the corresponding processes in the foregoing method embodiments.

[0153] Figure 4 It is a kind of electric power steering gear testing device structure schematic diagram provided by the embodiment of the present application. Among them, the electric power steering gear testing device 400 includes acquisition module 410 and processing module 420.

[0154] The acquisition module is used to acquire the test data of the power control unit in the electric power steering gear. The test data includes first test data in a first state and second test data in a second state. The first state is used to indicate that the power control unit is in one of the mass production state and the calibration state. The second state is used to indicate that the power control unit is in the other of the mass production state and the calibration state. The processing module is used to obtain a first test result based on the first test data and a development model. The first test result is used to indicate whether the power output of the power control unit in the first state is the same as the power output of the development model. The processing module is used to obtain a second test result based on the second test data and the development model. The second test result is used to indicate whether the power output of the power control unit in the second state is the same as the power output of the development model. The processing module is used to obtain whether the power output of the power control unit in the first state is the same as the power output of the electric power steering gear in the second state based on the first test result and the second test result.

[0155] Optionally, as one embodiment, the processing module 420 is specifically configured to: based on the second test data and the development model, obtain a second test result when the first test result indicates that the power output of the power control unit in the first state is the same as the power output of the development model.

[0156] Optionally, as one embodiment, the processing module 420 is specifically configured to: based on the first input signal, the first calibration parameter and the development model, obtain a first simulation output signal; and based on a difference signal of the first output signal and the first simulation output signal, obtain the first test result.

[0157] Optionally, as one embodiment, the processing module 420 is specifically configured to: when the difference signal includes a non-zero value, determine that the first test result indicates that the power output of the power control unit in the first state is not the same as the power output of the development model; and when the difference signal does not include a non-zero value, determine that the first test result indicates that the power output of the power control unit in the first state is the same as the power output of the development model.

[0158] Optionally, as one embodiment, the processing module 420 is specifically configured to: pre-process the first input signal to obtain a pre-processed first input signal, the pre-processing including time axis matching and data type conversion; and input the pre-processed first input signal and the first calibration parameter to the development model to obtain the first simulation output signal.

[0159] Optionally, as one embodiment, the processing module 420 is specifically configured to: based on the development model, determine whether the first calibration parameter in the first test data and the second calibration parameter in the second test data are the same when the power output of the power control unit in the first state is the same as the power output of the power control unit in the second state.

[0160] Optionally, as one embodiment, the processing module 420 is specifically configured to: input the first input signal in the first test data and the second calibration parameter to the development model to obtain a second simulation output signal; if a difference signal of the second simulation output signal and the first output signal in the first test data includes a non-zero value, determine that the first calibration parameter and the second calibration parameter are not the same; if the difference signal of the second simulation output signal and the first output signal does not include a non-zero value, determine that the first calibration parameter and the second calibration parameter are the same; or input the second input signal in the second test data and the first calibration parameter to the development model to obtain a third simulation output signal; if a difference signal of the third simulation output signal and the second output signal in the second test data includes a non-zero value, determine that the first calibration parameter and the second calibration parameter are not the same; if the difference signal of the third simulation output signal and the second output signal does not include a non-zero value, determine that the first calibration parameter and the second calibration parameter are the same.

[0161] Optionally, as an embodiment, the processing module 420 is further configured to: acquire a calculation period of the to-be-tested module in the power control unit; and acquire test data of the power control unit in the electric power steering gear, including: acquiring the test data of the power control unit based on the calculation period.

[0162] It should be noted that the test device 400 of the electric power steering gear is embodied in the form of a functional unit. The term "module" herein can be implemented in the form of software and / or hardware, and is not specifically limited.

[0163] For example, the "module" can be a software program, a hardware circuit, or a combination of both, which implements the above functions. The hardware circuit can include an Application Specific Integrated Circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor, or a group processor, etc.) and a memory for executing one or more software or firmware programs, and a combination of logic circuit and / or other suitable components supporting the described functions.

[0164] Therefore, the units of each example described in the embodiments of the present application can be implemented in an electronic hardware or a combination of computer software and electronic hardware. Whether the functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0165] Figure 5 FIG. 1 is a structural schematic diagram of an electronic device provided by an embodiment of the present application.

[0166] For example, the electronic device 500 includes a processor 510, a memory 520, and executable program code 530.

[0167] For example, the electronic device 500 includes one or more processors 510, which can support the electronic device 500 to implement the test method of the electric power steering gear in the method embodiments. The processor 510 can be a general-purpose processor or a special-purpose processor. For example, the processor 510 can be a Central Processing Unit (CPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit, a Field Programmable Gate Array (FPGA), or other programmable logic devices, such as discrete gates, transistor logic, or discrete hardware components.

[0168] The processor 510 can be configured to control the electronic device 500, execute a software program, and process data of the software program. The electronic device 500 can further include a communication unit configured to implement input (reception) and output (transmission) of signals.

[0169] The processor 510 can be configured to execute the executable program code 530 stored in the memory 520 to generate instructions, so that the processor 510 performs the test method of the electric power steering device according to the instructions. For example, the processor 510 is configured to execute the instructions to obtain test data of a power control unit in the electric power steering device, the test data including first test data in a first state and second test data in a second state, the first state being used to indicate that the power control unit is in one of a mass production state and a calibration state, and the second state being used to indicate that the power control unit is in the other of the mass production state and the calibration state; obtain a first test result based on the first test data and a development model, the first test result being used to indicate whether the power output of the power control unit in the first state is the same as the power output of the development model; obtain a second test result based on the second test data and the development model, the second test result being used to indicate whether the power output of the power control unit in the second state is the same as the power output of the development model; and obtain a third test result based on the first test result and the second test result, the third test result being used to indicate whether the power output of the power control unit in the first state is the same as the power output of the power control unit in the second state.

[0170] Optionally, the memory 520 can further store data. Optionally, the processor 510 can further read the data stored in the memory 520, and the data can be stored in the same storage address as the executable program code 530 or in different storage addresses from the executable program code 530.

[0171] Optionally, the processor 510 and the memory 520 can be separately arranged or integrated together, for example, integrated on a system on chip (SOC) of the terminal device.

[0172] Optionally, the memory 520 can be configured to store the related program of the test method of the electric power steering device provided in the embodiments of the present application, and the processor 510 can be configured to call the executable program code 530 stored in the memory 520 when controlling the electronic device, and execute the test method of the electric power steering device according to the embodiments of the present application. The present application further provides a computer readable storage medium, which stores a computer program, and the program is executed by the processor to implement the steps of the test method of the electric power steering device according to any one of the preceding embodiments.

[0173] The computer readable storage medium can include, but is not limited to, any type of disk including floppy disks, optical disks, Digital Video Discs (DVDs), Compact Disc Read-Only Memories (CD-ROMs), micro-drives, and magneto-optical disks, Read-Only Memories (ROMs), Random Access Memories (RAMs), Erasable Programmable Read-Only Memories (EPROMs), Electrically Erasable Programmable Read-Only Memories (EEPROMs), Dynamic Random Access Memories (DRAMs), Video Random Access Memories (VRAMs), flash memory devices, magnetic or optical cards, nano-systems (including molecular memory ICs), or any type of media or device suitable for storing instructions and / or data.

[0174] The application further provides a computer program product, which, when running on a computer, causes the computer to perform the above related steps to realize the test method of the electric power steering gear in the above embodiments.

[0175] In addition, the electronic device provided by the embodiments of the application can be a chip, an assembly or a module, and the electronic device can include a connected processor and a memory; the memory is used to store instructions, and the processor can invoke and execute the instructions when the electronic device is running, so that the chip executes the test method of the electric power steering gear in the above embodiments.

[0176] The electronic device, the computer readable storage medium, the computer program product or the chip provided by the application are all used to execute the above provided corresponding test method of the electric power steering gear, so the beneficial effects that can be achieved by the electronic device, the computer readable storage medium, the computer program product or the chip are referable to the beneficial effects in the above provided corresponding test method of the electric power steering gear, and will not be described here again.

[0177] Through the description of the above embodiments, those skilled in the art can understand that, for the convenience and brevity of description, only the division of the above functional modules is taken as an example for illustration, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0178] In the embodiments of the present application, it should be understood that the disclosed apparatus and method can be implemented in other manners. For example, the embodiments of the apparatus described above are merely schematic; for example, the division of the modules or units is only a logical function division; there can be another division manner in actual implementation; for example, a plurality of units or components can be combined or integrated into another device, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different units, or the among different units, can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0179] The foregoing is merely specific implementation; the protection scope of the present application is not limited thereto, and any modification or replacement within the technical scope disclosed by the present application can be easily conceived by those skilled in the art, and should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method of testing an electric power assisted steering gear, characterised in that, The test method comprises: obtaining test data of a power control unit in an electric power steering gear, the test data comprising first test data in a first state and second test data in a second state, the first state being used to indicate that the power control unit is in one of a mass production state and a calibration state, and the second state being used to indicate that the power control unit is in the other of the mass production state and the calibration state; obtaining a first test result based on the first test data and a development model, the first test result being used to indicate whether the power output of the power control unit in the first state is the same as the power output of the development model; obtaining a second test result based on the second test data and the development model, the second test result being used to indicate whether the power output of the power control unit in the second state is the same as the power output of the development model; obtaining whether the power output of the power control unit in the first state is the same as the power output of the power control unit in the second state based on the first test result and the second test result.

2. The test method of claim 1, wherein, The obtaining of the second test result based on the second test data and the development model comprises: when the first test result indicates that the power output of the power control unit in the first state is the same as the power output of the development model, obtaining the second test result based on the second test data and the development model.

3. The test method of claim 1, wherein, The first test data comprises a first input signal, first calibration parameters and a first output signal, and the obtaining of the first test result based on the first test data and the development model comprises: obtaining a first simulation output signal based on the first input signal, the first calibration parameters and the development model; obtaining the first test result based on a difference signal of the first output signal and the first simulation output signal.

4. The test method of claim 3, wherein, The obtaining of the first test result based on the difference signal of the first output signal and the first simulation output signal comprises: when the difference signal comprises a non-zero value, determining that the first test result indicates that the power output of the power control unit in the first state is not the same as the power output of the development model; when the difference signal does not comprise a non-zero value, determining that the first test result indicates that the power output of the power control unit in the first state is the same as the power output of the development model.

5. The test method of claim 3, wherein, The obtaining of the first simulation output signal based on the first input signal, the first calibration parameters and the development model comprises: preprocessing the first input signal to obtain the first input signal after preprocessing, the preprocessing comprising time axis matching and data type conversion; inputting the first input signal after preprocessing and the first calibration parameters into the development model to obtain the first simulation output signal.

6. The test method according to any one of claims 1 to 5, characterized in that, The method further comprises: When the power output of the power control unit in the first state is the same as the power output of the power control unit in the second state, it is determined, based on the development model, whether the first calibration parameter in the first test data and the second calibration parameter in the second test data are the same.

7. The test method of claim 6, wherein, The determination, based on the development model, whether the first calibration parameter in the first test data and the second calibration parameter in the second test data are the same comprises: inputting the first input signal in the first test data and the second calibration parameter into the development model to obtain a second simulation output signal; if a difference signal between the second simulation output signal and the first output signal in the first test data includes a non-zero value, it is determined that the first calibration parameter and the second calibration parameter are different; if the difference signal between the second simulation output signal and the first output signal does not include a non-zero value, it is determined that the first calibration parameter and the second calibration parameter are the same; or, inputting the second input signal in the second test data and the first calibration parameter into the development model to obtain a third simulation output signal; if a difference signal between the third simulation output signal and the second output signal in the second test data includes a non-zero value, it is determined that the first calibration parameter and the second calibration parameter are different; if the difference signal between the third simulation output signal and the second output signal does not include a non-zero value, it is determined that the first calibration parameter and the second calibration parameter are the same.

8. The test method of claim 7, wherein, Further comprising: acquiring an operation period of a to-be-tested module in the power control unit; The acquisition of the test data of the power control unit in the electric power steering device comprises: acquiring the test data of the power control unit based on the operation period.

9. A test device for an electric power assisted steering gear, characterised in that, The test device comprises: an acquisition module, configured to acquire test data of a power control unit in an electric power steering device, the test data comprising first test data in a first state and second test data in a second state, the first state being used to indicate that the power control unit is in one of a mass production state and a calibration state, and the second state being used to indicate that the power control unit is in the other of the mass production state and the calibration state; a processing module, configured to obtain a first test result based on the first test data and a development model, the first test result being used to indicate whether the power output of the power control unit in the first state is the same as the power output of the development model; obtain a second test result based on the second test data and the development model, the second test result being used to indicate whether the power output of the power control unit in the second state is the same as the power output of the development model; and obtain whether the power output of the power control unit in the first state is the same as the power output of the electric power steering device in the second state based on the first test result and the second test result.

10. An electronic device, comprising: The electronic device comprises: a memory, configured to store executable program code; and a processor, configured to execute the executable program code stored in the memory. a processor configured to call and run the executable program code from the memory, so that the electronic device performs the method of any one of claims 1 to 8.

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