Automatic testing method for rear wheel steering system based on hardware-in-the-loop

Abstract

The invention discloses an automatic testing method for a rear wheel steering system based on hardware-in-the-loop, and the method achieves the automatic importing of a test case, the automatic execution of a test process, the automatic evaluation of a test result and the automatic generation of a report in stages through the construction of a hardware testing platform and the combination of automatic software. Specifically, a hardware-in-the-loop test platform is constructed, an automatic test program is designed and at least comprises a test management module, a scene generation module, a data acquisition and analysis module, a result judgment module and the like, then test scene parameters are automatically loaded after initialization, and the test scene parameters are issued to a real-time processor and a rear wheel steering system; in the testing process, feedback of a rear wheel steering system and whole vehicle dynamic parameters are collected in real time, indexes are automatically analyzed, a testing result is evaluated, and finally a testing report is generated. The problems that an existing testing scheme is low in efficiency and coverage, high in cost and risk and difficult to simulate complex working conditions and fault working conditions are effectively solved, and the testing efficiency and reliability of the rear wheel steering system are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of automotive testing technology, and in particular to an automated testing method for a rear-wheel steering system based on hardware-in-the-loop technology. Background Technology

[0002] Rear-wheel steering technology, a key active chassis technology for enhancing handling stability and low-speed agility in modern high-end vehicles, hinges on the rear-wheel steering electronic control unit (ECU). This ECU needs to process information from vehicle sensors and the bus in real time and precisely drive the rear-wheel actuators to implement complex front-to-rear wheel coordinated control algorithms. Therefore, conducting thorough and reliable functional, performance, and fault diagnosis tests on the rear-wheel steering ECU is paramount to ensuring overall vehicle safety and performance.

[0003] Hardware-in-the-loop (HIL) testing has become a standard verification step in the automotive electronics development process. It connects real ECU hardware with simulated vehicle and environmental model software to build a highly realistic closed-loop test system in a laboratory environment. For rear-wheel steering systems, HIL testing effectively compensates for the distortions of pure simulation testing and the high cost and high risk of real-vehicle testing.

[0004] Existing HIL-based rear-wheel steering testing methods involve test engineers writing test cases, importing them into test management software, manually selecting observations after starting the test, and analyzing the results after the test is completed. While this method expands the test scenarios and test case coverage compared to real-vehicle testing, it suffers from inefficiency. This is mainly reflected in:

[0005] (1) The testing process relies too much on manual labor: Most HIL tests currently require engineers to manually select test cases, start the test, monitor the process, and manually analyze massive amounts of data after the test to determine whether the test passed or failed. This method is inefficient, easily affected by subjective factors, and cannot achieve unattended continuous testing.

[0006] (2) Rigid test case management: Test cases are usually pre-written static scripts, which lack flexibility and cannot dynamically adjust the test scope and depth according to the model of the ECU under test, the software version or the results of previous tests, making it difficult to achieve intelligent test coverage.

[0007] (3) The results evaluation is highly subjective: the judgment of test results often depends on fixed thresholds set by engineers based on experience. For complex system responses, there is a lack of objective and quantitative automatic evaluation algorithms, which may lead to missed defects.

[0008] (4) Low efficiency of regression testing: When the ECU software is updated, a large number of regression tests need to be re-executed. The manual operation method is labor-intensive and time-consuming, which seriously affects the progress of the development process. Summary of the Invention

[0009] In view of the above, the present invention aims to provide an automatic testing method for rear wheel steering systems based on hardware-in-the-loop, in order to solve the aforementioned technical problems.

[0010] The technical solution adopted in this invention is as follows:

[0011] This invention provides an automated testing method for a hardware-in-the-loop rear-wheel steering system, comprising:

[0012] After initializing the hardware-in-the-loop test platform, calibrate the rear-wheel steering system under test; the hardware-in-the-loop test platform includes at least: a real-time processor, an I / O interface module, and a fault injection unit;

[0013] Using a pre-defined test case library, load the corresponding scenarios and configure the corresponding parameters for each test case;

[0014] Based on the test scenario and test parameters, the test is automatically executed: the real-time processor runs the vehicle dynamics model, calculates the vehicle state parameters in real time, and sends them synchronously to the controller of the rear wheel steering system via the I / O interface module; the controller outputs steering motor control commands according to the vehicle state parameters to drive the rear wheel steering system to perform actions; the I / O interface module collects and uploads the response parameters fed back by the rear wheel steering system.

[0015] The response parameters are automatically evaluated, and the test result of the current test case is determined.

[0016] After all test cases have been executed, a test report is generated.

[0017] In at least one possible implementation, calibrating the rear wheel steering system under test includes: automatically detecting the status of each component of the test platform, and after the detection is passed, triggering the controller of the rear wheel steering system to power on and performing zero-position calibration on the rear wheel steering system: after the controller controls the rear wheel steering motor to return to the pre-calibrated mechanical zero position, the angle sensor signal of the rear wheel steering system is reset to zero.

[0018] In at least one of the possible implementations, loading the corresponding scenario and configuring the corresponding parameters includes: automatically loading the parameters corresponding to the current scenario based on the selected test type and scenario conditions, and sending them to the real-time processor and the controller of the rear wheel steering system.

[0019] In at least one of the possible implementations, the automatic execution test further includes: if the current test case contains fault injection, the fault injection unit is triggered at a preset time point to simulate the corresponding fault, and the I / O interface module continuously collects and uploads the response parameters of the rear wheel steering system under the fault state.

[0020] In at least one possible implementation, the automatic determination of the response parameters and the test result of the current test case includes:

[0021] The received response parameters are updated according to a predetermined cycle, and the key indicators of the rear wheel steering system are automatically calculated. The test results are automatically marked according to the comparison between the key indicators and the corresponding preset standard values. If the test result is marked as failed, the current test case is paused and all parameter data at the time of failure are recorded.

[0022] In at least one of the possible implementations, the test report shall include at least: a list of test cases, test result statistics, and key indicator curves.

[0023] Compared with existing technologies, the main design concept of this invention lies in constructing an integrated system of hardware testing platform and software automation modules, and designing a phased automated testing process to achieve automatic import of test cases, automatic execution of the testing process, automatic evaluation of test results, and automatic generation of reports. Specifically, a hardware-in-the-loop testing platform is constructed, and an automated testing program is designed, including at least test management, scenario generation, data acquisition and analysis, and result judgment modules. First, the rear wheel steering zero position and I / O accuracy are automatically calibrated by initialization. Then, test scenario parameters are automatically loaded and sent to the real-time processor and the controller of the rear wheel steering system. During the test, the response parameters of the rear wheel steering system and the vehicle dynamics parameters are collected in real time, the indicators are automatically analyzed and the test results are evaluated, and finally a test report is generated. This invention effectively solves the problems of low efficiency, low coverage, high cost, high risk, and inability to effectively simulate complex working conditions and fault conditions in existing testing schemes, thereby significantly improving the testing efficiency and reliability of the rear wheel steering system.

[0024] Furthermore, practical verification has shown that the present invention can simulate the normal, extreme, and dangerous operating conditions and complex failure modes involved in rear-wheel steering. Not only does it have a much wider test coverage than bench and real-vehicle testing, but it can also accurately reproduce almost all test conditions, facilitating problem localization and debugging. In addition, all high-risk test items are completed in the laboratory, which avoids the dangers that may be brought by real-vehicle testing. Furthermore, even when physical components (such as actuators) are not available, the ECU control strategy can be thoroughly verified, supporting parallel development processes. Moreover, the level of test automation is greatly improved, and it can run 24 hours a day without interruption, which greatly shortens the test cycle and reduces development costs and time costs. Attached Figure Description

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described below with reference to the accompanying drawings, wherein:

[0026] Figure 1 This is a schematic diagram of an automatic testing method for a rear-wheel steering system based on hardware-in-the-loop provided in an embodiment of the present invention. Detailed Implementation

[0027] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0028] This invention proposes an embodiment of an automatic testing method for rear-wheel steering systems based on hardware-in-the-loop, specifically, as follows: Figure 1 As shown, it includes:

[0029] Step S1: After initializing the hardware-in-the-loop test platform, calibrate the rear wheel steering system under test;

[0030] The system automatically detects the status of each component of the HIL hardware platform. After successful verification, it powers on the rear wheel steering controller and performs zero-position calibration on the rear wheel steering system. This mainly includes: after controlling the rear wheel steering motor to return to the pre-calibrated mechanical zero position, clearing the rear wheel steering angle sensor signal to zero; during this process, the signal acquisition accuracy of the I / O interface module of the test platform can also be calibrated. Therefore, the hardware-in-the-loop test platform is described in detail, which mainly includes: a real-time processor, such as the multi-core industrial-grade processor TestBase, primarily used to run the ModelBase and Simulink vehicle dynamics models, calculating parameters such as vehicle attitude, yaw rate, sideslip angle, and longitudinal acceleration in real time.

[0031] The I / O interface module preferably uses a multi-channel input / output board, which mainly includes analog voltage / current input / output, digital input / output and CAN signal interface, etc., to realize signal interaction with the controller, steering motor and steering angle sensor of the rear wheel steering system.

[0032] The fault injection unit, configured via a fault injection board and fault injection software, is used to simulate typical rear-wheel steering-related faults such as short circuits, open circuits, and invalidity of the steering angle sensor pins, open circuits in the motor drive circuit, and frame loss in CAN communication.

[0033] Of course, the test platform also includes necessary testing devices such as a high-voltage power distribution unit and a programmable power supply, which will not be described in detail here. It can be further noted that the lower-level machine associated with the test platform is equipped with an automated testing program, which mainly includes the following modules:

[0034] (1) Automated test management module: It has a pre-set test case library, which mainly includes functional testing, performance testing, fault injection testing, etc., and can support custom test cases, such as setting parameters such as vehicle speed, front wheel steering angle, and target steering angle of the rear wheel steering system;

[0035] (2) Scene generation module: Automatically generates various working condition test scenarios, and can modify road conditions, vehicle speed, etc. according to actual needs;

[0036] (3) Data acquisition and analysis module: Real-time acquisition of key parameters such as the actual steering angle, motor current, vehicle yaw rate, and vehicle body slip angle of the rear wheel steering system under test, and can automatically calculate indicators such as the deviation between the actual steering angle and the target steering angle and the peak value of the motor current. These indicators can be compared with preset standard values.

[0037] (4) Result Judgment and Reporting Module: Used to analyze the results and automatically determine whether the current test case has passed or failed, and can automatically generate a standardized report accordingly.

[0038] Under the premise of the above embodiments, step S2 is executed: using the preset test case library, the test scenario is loaded and the test parameters are configured;

[0039] Specifically, based on the selected test type and scenario conditions, such as but not limited to the established "high-speed lane change test" (of course, you can also choose to import the aforementioned customized test cases), the parameters of the corresponding scenario conditions, such as vehicle speed, front wheel steering angle change curve, and rear wheel steering control strategy, can be automatically loaded and sent to the real-time processor and the controller of the rear wheel steering system.

[0040] Step S3: Based on the test scenario and test parameters, automatically execute the test: The real-time processor runs the vehicle dynamics model and calculates the vehicle state parameters in real time, such as vehicle speed, body posture, yaw rate, sideslip angle, longitudinal acceleration, road resistance, etc., and sends them synchronously to the controller of the rear wheel steering system via the I / O interface module; The controller outputs steering motor control commands according to the input vehicle state parameters to drive the rear wheel steering action; and the I / O interface module collects the actual response parameters of the rear wheel steering system and uploads them to the data acquisition and analysis module in real time to execute the next step S4; It can also be added that if the current test case includes fault injection, such as sensor open circuit, the fault injection unit is triggered at a preset time point (such as when the scenario runs for 10 seconds) to simulate the corresponding fault, and the I / O interface module continuously collects and uploads the response parameters of the rear wheel steering system under the fault state.

[0041] Step S4: Automatically identify the response parameters and determine the test result of the current test case;

[0042] In actual operation, the received response parameters are updated at a predetermined period (e.g., 10ms), and key indicators such as the steering angle, rear wheel steering angle state, speed, and fault handling of the rear wheel steering system are automatically calculated. If the key indicators exceed the corresponding preset standard values ​​(e.g., response delay > 100ms), the test is automatically marked as "test failed" and the current test case is paused, while all parameter data at the time of the fault are recorded. If the key indicators are normal, the next test case is executed.

[0043] Step S5: After all test cases have been executed, generate a test report.

[0044] The generated test report mainly includes: a list of test cases, test result (pass / fail) statistics, key data curves, such as the curve of the steering angle of the rear wheel steering system changing with the steering angle of the front wheel, and the fault injection response curve;

[0045] Finally, test data and test reports can be automatically archived to the database, and on-demand retrieval is supported by indexes such as vehicle model, test date, and test type.

[0046] In summary, the main design concept of this invention lies in constructing an integrated system of a hardware testing platform and software automation modules, and designing a phased automated testing process to achieve automatic import of test cases, automatic execution of the testing process, automatic evaluation of test results, and automatic generation of reports. Specifically, a hardware-in-the-loop testing platform is constructed, and an automated testing program is designed, including at least test management, scenario generation, data acquisition and analysis, and result judgment modules. First, the rear wheel steering zero position and I / O accuracy are automatically calibrated during initialization. Then, test scenario parameters are automatically loaded and sent to the real-time processor and the controller of the rear wheel steering system. During the test, the response parameters of the rear wheel steering system and the vehicle dynamics parameters are collected in real time, the indicators are automatically analyzed, the test results are evaluated, and finally, a test report is generated. This invention effectively solves the problems of low efficiency, low coverage, high cost, high risk, and inability to effectively simulate complex and fault conditions in existing testing schemes, thereby significantly improving the testing efficiency and reliability of the rear wheel steering system.

[0047] In this invention, when directional terms are mentioned, they are relative concepts based on the embodiments. Furthermore, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent the existence of A alone, A and B simultaneously, or B alone. A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects have an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, and c can represent: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, and c can be single or multiple.

[0048] The above description of the structure, features, and effects of the present invention is based on the embodiments shown in the figures. However, the above are only preferred embodiments of the present invention. It should be noted that the technical features involved in the above embodiments and their preferred methods can be reasonably combined and matched by those skilled in the art to form a variety of equivalent solutions without departing from or changing the design concept and technical effects of the present invention. Therefore, the present invention is not limited to the scope of implementation shown in the figures. Any changes made in accordance with the concept of the present invention, or modifications to equivalent embodiments, that do not exceed the spirit covered by the specification and figures, should be within the protection scope of the present invention.

Claims

1. A hardware-in-the-loop based rear wheel steering system automatic test method, characterized in that, The calibration of the rear wheel steering system under test comprises automatically detecting the state of each component of the test platform, and after passing the detection, triggering the power-on of the controller of the rear wheel steering system, and performing zero calibration on the rear wheel steering system: after the rear wheel steering motor is controlled by the controller to return to the pre-designated mechanical zero position, the angle sensor signal of the rear wheel steering system is zeroed. The loading of the corresponding scene and the configuration of the corresponding parameters comprise: based on the selected test type and scene working condition, the parameters corresponding to the current scene working condition are automatically loaded and issued to the real-time processor and the controller of the rear wheel steering system. The automatic execution of the test further comprises: if the current test case contains fault injection, triggering the fault injection unit to simulate the corresponding fault at a preset time point, and continuously collecting and uploading the response parameters of the rear wheel steering system under the fault state by the I / O interface module. The automatic discrimination of the response parameters and the determination of the test result of the current test case comprise: The test report at least comprises: test case list, test result statistics and key indicator curve. The calibration of the rear wheel steering system under test comprises automatically detecting the state of each component of the test platform, and after passing the detection, triggering the power-on of the controller of the rear wheel steering system, and performing zero calibration on the rear wheel steering system: after the rear wheel steering motor is controlled by the controller to return to the pre-designated mechanical zero position, the angle sensor signal of the rear wheel steering system is zeroed. The loading of the corresponding scene and the configuration of the corresponding parameters comprise: based on the selected test type and scene working condition, the parameters corresponding to the current scene working condition are automatically loaded and issued to the real-time processor and the controller of the rear wheel steering system.

2. The hardware-in-the-loop based rear wheel steering system automatic test method according to claim 1, wherein The automatic execution of the test further comprises: if the current test case contains fault injection, triggering the fault injection unit to simulate the corresponding fault at a preset time point, and continuously collecting and uploading the response parameters of the rear wheel steering system under the fault state by the I / O interface module.

3. The hardware-in-the-loop based rear wheel steering system automatic test method of claim 1, wherein, The automatic discrimination of the response parameters and the determination of the test result of the current test case comprise:

4. The hardware-in-the-loop based rear wheel steering system automatic test method of claim 1, wherein, According to the predetermined period, the received response parameters are updated, and the key indicators of the rear wheel steering system are automatically calculated; according to the comparison relationship between the key indicators and the corresponding preset standard values, the test result is automatically marked, and if the test result is marked as failed, the current case is suspended and all parameter data at the fault time are recorded.

5. The hardware-in-the-loop based rear wheel steering system automatic test method according to any one of claims 1-4, characterized in that, The test report at least comprises: test case list, test result statistics and key indicator curve. ​ 6. The hardware-in-the-loop based rear wheel steering system automatic test method according to claim 5, wherein, ​

Images