Steer-by-wire system fault injection device and test method

Abstract

The invention provides a steer-by-wire system fault injection device and a testing method, and belongs to the technical field of steer-by-wire system testing, and the steer-by-wire system fault injection device comprises a power supply fault injection module which comprises a plurality of power supply fault injection units which are respectively connected with a multi-redundancy steer-by-wire system so as to provide power supply fault injection; the communication fault injection module comprises a plurality of communication fault injection units which are respectively used for being connected with the multi-redundancy steer-by-wire system so as to provide communication fault injection; the steering sensor fault injection module comprises a plurality of sensor fault injection units which are respectively used for being connected with the multi-redundancy steer-by-wire system so as to provide steering sensor fault injection; and the control chip is used for controlling the actions of each power supply fault injection unit, each communication fault injection unit and each sensor fault injection unit. The method can be suitable for a redundant system, can cover most fault types of the SBW system, can simulate combined faults, and has expansibility.

Description

Technical Field

[0001] This invention relates to the field of steer-by-wire system testing technology, and in particular to a steer-by-wire system fault injection device and testing method. Background Technology

[0002] With the rapid development of intelligent driving technology, the application of steer-by-wire systems in vehicles is gradually increasing. Steer-by-wire systems eliminate mechanical connections, becoming fully power steering systems. Sensor failures, communication delays, and control algorithm errors can lead to loss of vehicle steering control, threatening driving safety. Compared to traditional power steering systems, steer-by-wire systems require more rigorous safety testing. Currently, functional safety verification of steer-by-wire systems mainly relies on simulation testing and real-vehicle trials. However, traditional methods struggle to fully cover the complex failure scenarios of steer-by-wire systems, especially since current steer-by-wire systems often incorporate redundant designs, making the injection and reproduction of multi-node combined faults quite difficult.

[0003] CN108733024B discloses a simulator hardware-in-the-loop architecture and control logic for a vehicle steer-by-wire test system. This solution includes a simulator architecture for a steer-by-wire vehicle system, a method for building and using such a system, and programmable control logic for operating the simulator test system. This solution is used for the road feel simulation portion of steer-by-wire, enabling flexible signal transmission and reception, resistance loading, and data acquisition. However, this solution is primarily used to test the performance of the steer-by-wire road feel simulation portion and does not consider the redundancy of the steering gear and system. Furthermore, this solution can only inject signal-type faults and cannot simulate electrical circuit faults.

[0004] CN119334663A discloses a steer-by-wire test bench and a load control method. The test bench includes a host computer, a real-time simulator, a data acquisition system, a steer-by-wire system, and a load loading system. This scheme simulates real steering loads to the greatest extent possible, improving accuracy through two load correction forces. However, this scheme primarily tests the functional characteristics of the steer-by-wire system, lacks a fault injection mechanism, and does not consider the impact of system redundancy, thus it cannot directly verify the fault safety of the steer-by-wire system.

[0005] steer-by-wire systems require rigorous safety verification, and existing methods cannot cover the needs of fault injection. Therefore, developing a dedicated fault injection device and method for steer-by-wire systems is of significant engineering importance. Summary of the Invention

[0006] The present invention aims to solve at least one of the technical problems existing in the prior art, and proposes a fault injection device and testing method for a steer-by-wire system.

[0007] In a first aspect, embodiments of the present invention provide a fault injection device for a steer-by-wire system, the device comprising:

[0008] The power supply fault injection module includes multiple power supply fault injection units, each of which is respectively connected to each of the multiple redundant steer-by-wire systems to provide power supply fault injection.

[0009] The communication fault injection module includes multiple communication fault injection units, each of which is respectively connected to each of the multiple redundant steer-by-wire systems to provide communication fault injection.

[0010] The steering sensor fault injection module includes multiple sensor fault injection units, each of which is respectively connected to each of the multiple redundant steer-by-wire systems to provide steering sensor fault injection.

[0011] The control chip is connected to each power supply fault injection unit, each communication fault injection unit, and each sensor fault injection unit, and controls the operation of each power supply fault injection unit, each communication fault injection unit, and each sensor fault injection unit.

[0012] Furthermore, the power supply fault injection unit includes multiple sets of terminals and relay switches, with each set of terminals connected to a relay switch, and the relay connected to the control chip.

[0013] Furthermore, the communication fault injection unit includes a communication simulation unit, a programmable switch, and a pair of input / output terminals. The programmable switch is connected to the communication simulation unit and the pair of input / output terminals, respectively. The programmable switch and the communication simulation unit are connected to the control chip, respectively.

[0014] Furthermore, the communication simulation unit is a CAN transceiver.

[0015] Furthermore, the steering sensor fault injection module includes a sensor simulation unit, a programmable switch, and a pair of input / output terminals. The programmable switch is connected to the sensor simulation unit and the pair of input / output terminals, respectively, and the programmable switch and the sensor simulation unit are connected to the control chip, respectively.

[0016] Furthermore, the sensor simulation unit is a SENT generator or a pulse width modulation wave generator.

[0017] Secondly, embodiments of the present invention provide a method for testing faults in a steer-by-wire system, implemented using the steer-by-wire system fault injection device described above. This method includes the following steps:

[0018] S100, each of the multiple power supply fault injection units of the steer-by-wire system fault injection device is connected to each of the multiple redundant steer-by-wire systems, each of the multiple communication fault injection units is connected to each of the multiple redundant steer-by-wire systems, and each of the multiple sensor fault injection units is connected to each of the multiple redundant steer-by-wire systems.

[0019] S200, the control chip controls the operation of each power supply fault injection unit, each communication fault injection unit, and each sensor fault injection unit to simulate at least one power supply fault, and / or at least one communication fault, and / or at least one steering sensor fault.

[0020] Furthermore, each of the multiple power supply fault injection units of the steer-by-wire system fault injection device is connected to the low-voltage battery, power converter, feel simulator controller, and steering actuator controller of each of the multi-redundant steer-by-wire systems.

[0021] Furthermore, each of the multiple communication fault injection units of the steer-by-wire system fault injection device is connected to the chassis bus, feel simulator controller, and steering actuator controller of each of the multi-redundant steer-by-wire systems.

[0022] Furthermore, each of the multiple sensor fault injection units of the steer-by-wire system fault injection device is connected to the feel simulator sensor, steering actuator sensor, feel simulator controller, and steering actuator controller of each of the multi-redundant steer-by-wire systems.

[0023] The steer-by-wire (SBW) system fault injection device and testing method provided by this invention include: a power supply fault injection module comprising multiple power supply fault injection units, each of which is connected to each of a multi-redundant steer-by-wire (SBW) system to provide power supply fault injection; a communication fault injection module comprising multiple communication fault injection units, each of which is connected to each of the multi-redundant SBW system to provide communication fault injection; a steering sensor fault injection module comprising multiple sensor fault injection units, each of which is connected to each of the multi-redundant SBW system to provide steering sensor fault injection; and a control chip connected to each power supply fault injection unit, each communication fault injection unit, and each sensor fault injection unit, and controlling the operation of each power supply fault injection unit, each communication fault injection unit, and each sensor fault injection unit. This method is applicable to redundant systems, covers most fault types of SBW systems, can simulate combined faults, and is scalable. It does not require changes to the SBW system's own software and hardware; mass-produced products can be tested by integrating this invention, ensuring the authenticity and validity of the safety verification results after fault injection. Attached Figure Description

[0024] Figure 1 A schematic diagram of a fault injection device for a steer-by-wire system provided in an embodiment of the present invention;

[0025] Figure 2 A flowchart illustrating a fault testing method for a steer-by-wire system provided in an embodiment of the present invention;

[0026] Figure 3 The circuit connection diagram for power supply fault testing provided in the embodiments of the present invention;

[0027] Figure 4 A circuit connection diagram for communication fault testing provided in an embodiment of the present invention;

[0028] Figure 5 The circuit connection diagram for steering sensor fault testing provided in an embodiment of the present invention is shown. Detailed Implementation

[0029] To enable those skilled in the art to better understand the technical solutions of the present invention, exemplary embodiments of the present invention are described below in conjunction with the accompanying drawings, including various details of the embodiments of the present invention to aid understanding. These should be considered merely exemplary. Therefore, those skilled in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0030] Where there is no conflict, the various embodiments of the present invention and the features thereof may be combined with each other.

[0031] As used herein, the term “and / or” includes any and all combinations of one or more related enumerated entries.

[0032] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used herein, the singular forms “a” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that when the terms “comprising” and / or “made of” are used in this specification, the presence of the stated feature, integral, step, operation, element, and / or component is specified, but the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof is not excluded. Terms such as “connected” or “linked” are not limited to physical or mechanical connections but can include electrical connections, whether direct or indirect.

[0033] Unless otherwise specified, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having the meaning consistent with their meaning in the context of the relevant art and the invention, and will not be interpreted as having an idealized or overly formal meaning unless expressly so defined herein.

[0034] This invention provides a fault injection device for a steer-by-wire system. Figure 1 This is a schematic diagram of a fault injection device for a steer-by-wire system provided in an embodiment of the present invention. The device includes:

[0035] The power supply fault injection module includes multiple power supply fault injection units, each of which is respectively connected to each of the multiple redundant steering-by-wire (SBW) systems to provide power supply fault injection;

[0036] The communication fault injection module includes multiple communication fault injection units, each of which is respectively connected to each of the multiple redundant steering-by-wire (SBW) systems to provide communication fault injection;

[0037] The steering sensor fault injection module includes multiple sensor fault injection units, each of which is respectively connected to each of the multiple redundant steer-by-wire (SBW) systems to provide steering sensor fault injection.

[0038] The control chip is connected to each power supply fault injection unit, each communication fault injection unit, and each sensor fault injection unit, and controls the operation of each power supply fault injection unit, each communication fault injection unit, and each sensor fault injection unit.

[0039] It should be noted that the control chip is programmable and can control the actions of each fault injection unit, enabling the control of multi-node combined faults and preset test cases for automated fault injection testing. If the fault injection device has too many internal components and a single chip cannot control them, additional control chips can be added to meet the requirements.

[0040] In one embodiment, the power supply fault injection unit includes multiple sets of terminals and relay switches. Each set of terminals is connected to a relay switch, and the relay is connected to a control chip. The power supply fault injection unit can flexibly control the on / off state of the power supply, and its channels and the number of terminals are related to the fault injection requirements. For example, the electronic and electrical architecture of a dual-redundant SBW system includes dual DC-DC power converters, dual-redundant road sense controllers, and dual-redundant steering actuators. In this case, power supply fault injection requires 6 channels.

[0041] In one embodiment, the communication fault injection unit includes a communication simulation unit, a programmable switch, and a pair of input / output terminals. The programmable switch is connected to both the communication simulation unit and the pair of input / output terminals. Both the programmable switch and the communication simulation unit are connected to the control chip. Currently, steer-by-wire (SBW) communication primarily uses CAN; therefore, the communication simulation unit is essentially a CAN transceiver, with each terminal containing both CAN-H and CAN-L twisted pairs. The number of communication fault injection unit groups included in the communication fault injection module depends on the communication network topology. For example, a dual-redundant SBW system containing four chassis CAN groups and four internal CAN groups requires eight fault injection groups.

[0042] In one embodiment, the steering sensor fault injection module includes a sensor simulation unit, a programmable switch, and a pair of input / output terminals. The programmable switch is connected to the sensor simulation unit and the pair of input / output terminals, respectively. The programmable switch and the sensor simulation unit are connected to the control chip. Currently, steer-by-wire (SBW) sensors mainly use the Single-sided Half-Word Transmission (SENT) protocol or Pulse Width Modulation (PWM) wave to transmit data. The corresponding sensor simulation unit is a SENT generator or a PWM wave generator, which can be a separate electronic component or a chip integrating such generators. In a dual-redundant SBW system, the road feel simulator and steering actuator each contain two sensor communication channels, requiring four fault injection groups.

[0043] This invention, through the provision of a fault injection device for a steer-by-wire system, includes: a power supply fault injection module comprising multiple power supply fault injection units, each of which is connected to each of a multi-redundant steer-by-wire (SBW) system to provide power supply fault injection; a communication fault injection module comprising multiple communication fault injection units, each of which is connected to each of the multi-redundant steer-by-wire (SBW) system to provide communication fault injection; a steering sensor fault injection module comprising multiple sensor fault injection units, each of which is connected to each of the multi-redundant steer-by-wire (SBW) system to provide steering sensor fault injection; and a control chip connected to each power supply fault injection unit, each communication fault injection unit, and each sensor fault injection unit, and controlling the actions of each power supply fault injection unit, each communication fault injection unit, and each sensor fault injection unit. This device is applicable to redundant systems, covers most fault types in SBW systems, can simulate combined faults, and is scalable. It does not require changes to the SBW system's own software and hardware; mass-produced products can be tested by integrating this invention, ensuring the authenticity and validity of the safety verification results after fault injection.

[0044] The present invention also provides a method for testing faults in a steer-by-wire system, which is implemented based on the steer-by-wire system fault injection device described above. Figure 2 This is a flowchart illustrating a fault testing method for a steer-by-wire system provided by an embodiment of the present invention. The method includes the following steps:

[0045] S100, each of the multiple power supply fault injection units of the steer-by-wire system fault injection device is connected to each of the multiple redundant steer-by-wire systems, each of the multiple communication fault injection units is connected to each of the multiple redundant steer-by-wire systems, and each of the multiple sensor fault injection units is connected to each of the multiple redundant steer-by-wire systems.

[0046] S200, the control chip controls the operation of each power supply fault injection unit, each communication fault injection unit, and each sensor fault injection unit to simulate at least one power supply fault, and / or at least one communication fault, and / or at least one steering sensor fault.

[0047] In one embodiment, each of the plurality of power supply fault injection units of the steer-by-wire system fault injection device is connected to the low-voltage battery, power converter, hand feel simulator (HWA) controller, and steering actuator (RWA) controller of each of the multi-redundant steer-by-wire systems. Specifically, the low-voltage battery, power converter, hand feel simulator controller, and steering actuator are respectively connected to the terminals of the power supply fault injection unit.

[0048] In one embodiment, each of the plurality of communication fault injection units of the steer-by-wire system fault injection device is respectively connected to the chassis bus, hand feel simulator (HWA) controller, and steering actuator (RWA) controller of each of the multi-redundant steer-by-wire systems. Specifically, the chassis bus, hand feel simulator controller, and steering actuator are respectively connected to the terminals of the communication fault injection unit.

[0049] In one embodiment, each of the multiple sensor fault injection units of the steer-by-wire system fault injection device is connected to a hand feel simulator (HWA) sensor, a steering actuator (RWA) sensor, a hand feel simulator (HWA) controller, and a steering actuator (RWA) controller for each of the multi-redundant steer-by-wire systems. Specifically, the hand feel simulator sensor, the steering actuator sensor, the hand feel simulator controller, and the steering actuator are each connected to the terminals of the sensor fault injection unit.

[0050] This invention uses a dual-redundant SBW system as an example to illustrate the internal components of each fault injection module. In practice, for non-redundant or more redundant SBW systems, the number of internal component groups can be reduced or increased based on the above description; the structure is similar and scalable. The circuit connections and fault injection methods of this invention are described below according to different fault types.

[0051] For power supply fault testing, taking a dual-redundant SBW system as an example, the circuit connection of the present invention is as follows: Figure 3 As shown. The main control chip controls the on / off state of each power supply line via relays, which can simulate:

[0052] 1) Single-circuit or dual-circuit faults in the power converter and single-circuit or dual-circuit faults in the battery charging circuit;

[0053] 2) A single or dual-channel power supply failure in the HWA controller;

[0054] 3) Single or dual power supply failure of the RWA controller.

[0055] For communication fault testing, taking a dual-redundant SBW system as an example, the chassis CAN and proprietary CAN communication lines of this invention are connected as follows: Figure 4 As shown. Each chassis CAN bus is connected to a set of HWA and RWA via a fault injection device. The main control chip controls the CAN communication to be directly connected via a programmable switch, or to use the output signal of the communication simulation unit. The redundant SBW system generally has 4 private CAN buses. Each line is connected across the corresponding terminal of the communication fault injection module, and can be directly connected or the output signal of the communication simulation unit can be used. The fault types that can be simulated by the present invention include:

[0056] 1) Short circuit or open circuit fault in single-channel / dual-channel chassis CAN;

[0057] 2) Abnormal faults in single-channel / dual-channel chassis CAN data, such as loss, stagnation, or jumps in vehicle speed, inertial navigation, and other data;

[0058] 3) Short circuit or open circuit fault in single / dual communication between HWA and RWA;

[0059] 4) Abnormal communication data between HWA and RWA, such as loss, stagnation, or jumps in angle, torque, and other data;

[0060] 5) Communication short circuit, open circuit, or abnormal data fault between the two redundant controllers of HWA;

[0061] 6) Communication short circuit, open circuit, or abnormal data fault between the two redundant controllers of RWA;

[0062] 7) Combination faults among the above communication faults.

[0063] For steering sensor fault testing, taking a dual-redundant SBW system as an example, the HWA and RWA sensor wiring connections in this invention are as follows: Figure 5 As shown, note that each sensor path contains multiple sensor lines, including sensor power supply and data transmission lines. The HWA and RWA sensors in the dual-redundant SBW system each contain two paths, respectively feeding back the measured data to the dual-redundant HWA and RWA controllers. Four sets of sensor signal lines are connected across the corresponding terminals of the steering sensor fault injection module. The main control signal, via a programmable switch, can control the on / off state of a single line in each sensor path, or use the output of the sensor signal simulation unit to replace the output of the actual sensor. The sensor fault types that this invention can simulate include:

[0064] 1) Single / dual power supply failure of HWA or RWA sensor;

[0065] 2) Several signal lines of the HWA or RWA sensor are open or short-circuited.

[0066] 3) Abnormal data faults of HWA sensors, such as loss, stagnation, or jumps in angle and torque data;

[0067] 4) Abnormal data faults of single / dual channels of RWA sensor, such as loss, stagnation, or jump in corner data;

[0068] 5) Combination faults among the above sensor faults.

[0069] Example embodiments have been disclosed herein, and while specific terminology has been used, it is for illustrative purposes only and should be construed as such, and is not intended to be limiting. In some instances, it will be apparent to those skilled in the art that features, characteristics, and / or elements described in conjunction with particular embodiments may be used alone, or in combination with features, characteristics, and / or elements described in conjunction with other embodiments, unless otherwise expressly indicated. Therefore, those skilled in the art will understand that various changes in form and detail may be made without departing from the scope of the invention as set forth in the appended claims.

Claims

1. A fault injection device for a steer-by-wire system, characterized in that, The device includes: The power supply fault injection module includes multiple power supply fault injection units, each of which is respectively connected to each of the multiple redundant steer-by-wire systems to provide power supply fault injection. The communication fault injection module includes multiple communication fault injection units, each of which is respectively connected to each of the multiple redundant steer-by-wire systems to provide communication fault injection. The steering sensor fault injection module includes multiple sensor fault injection units, each of which is respectively connected to each of the multiple redundant steer-by-wire systems to provide steering sensor fault injection. The control chip is connected to each power supply fault injection unit, each communication fault injection unit, and each sensor fault injection unit, and controls the operation of each power supply fault injection unit, each communication fault injection unit, and each sensor fault injection unit.

2. The device according to claim 1, characterized in that, The power supply fault injection unit includes multiple sets of terminals and relay switches. Each set of terminals is connected to a relay switch, and the relay is connected to the control chip.

3. The device according to claim 1, characterized in that, The communication fault injection unit includes a communication simulation unit, a programmable switch, and a pair of input / output terminals. The programmable switch is connected to the communication simulation unit and the pair of input / output terminals, respectively. The programmable switch and the communication simulation unit are connected to the control chip, respectively.

4. The device according to claim 3, characterized in that, The communication simulation unit is a CAN transceiver.

5. The device according to claim 1, characterized in that, The steering sensor fault injection module includes a sensor simulation unit, a programmable switch, and a pair of input / output terminals. The programmable switch is connected to the sensor simulation unit and the pair of input / output terminals, respectively. The programmable switch and the sensor simulation unit are connected to the control chip, respectively.

6. The device according to claim 5, characterized in that, The sensor simulation unit is a SENT generator or a pulse width modulation wave generator.

7. A method for testing faults in a steer-by-wire system, implemented using the steer-by-wire system fault injection device as described in any one of claims 1-6, characterized in that, This working method includes the following steps: S100, each of the multiple power supply fault injection units of the steer-by-wire system fault injection device is connected to each of the multiple redundant steer-by-wire systems, each of the multiple communication fault injection units is connected to each of the multiple redundant steer-by-wire systems, and each of the multiple sensor fault injection units is connected to each of the multiple redundant steer-by-wire systems. S200, the control chip controls the operation of each power supply fault injection unit, each communication fault injection unit, and each sensor fault injection unit to simulate at least one power supply fault, and / or at least one communication fault, and / or at least one steering sensor fault.

8. The test method according to claim 7, characterized in that, Each of the multiple power supply fault injection units of the steer-by-wire system fault injection device is connected to the low-voltage battery, power converter, feel simulator controller, and steering actuator controller of each of the multi-redundant steer-by-wire systems.

9. The test method according to claim 7, characterized in that, Each of the multiple communication fault injection units of the steer-by-wire system fault injection device is connected to the chassis bus, feel simulator controller, and steering actuator controller of each of the multi-redundant steer-by-wire systems.

10. The test method according to claim 7, characterized in that, Each of the multiple sensor fault injection units of the steer-by-wire system fault injection device is connected to the feel simulator sensor, steering actuator sensor, feel simulator controller, and steering actuator controller of each of the multi-redundant steer-by-wire systems.

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