Test method and device
By constructing vehicle dynamics, battery, and motor models, and combining this with fault injection into circuit boards, the problem of traditional testing methods failing to meet high-efficiency requirements was solved, enabling accurate testing of the controller under test.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- LIUZHOU WULING NEW ENERGY VEHICLE CO LTD
- Filing Date
- 2025-12-19
- Publication Date
- 2026-04-17
AI Technical Summary
Traditional testing methods are insufficient to meet the high-quality and high-efficiency R&D requirements of vehicle power domain controllers, especially for testing complex functional logic and diagnostic strategies in the context of the electrification and intelligentization of the automotive industry.
A vehicle dynamics model, a power battery model, and a permanent magnet synchronous motor model are constructed. The environment is set using a test management host computer, and faults are injected through the board to simulate vehicle faults in order to test the controller under test.
It enables accurate and efficient testing of the controller under test, and can comprehensively simulate vehicle faults, thereby improving the accuracy and efficiency of testing.
Smart Images
Figure CN121879322A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicle testing technology, and in particular to a testing method and apparatus. Background Technology
[0002] Against the backdrop of the rapid development of electrification and intelligentization in the automotive industry, the complexity of the functional logic, diagnostic strategies, and collaborative control of vehicle power domain controllers is increasing exponentially. Traditional testing methods, such as discrete single-controller testing, simplified HIL testing, or later real-vehicle testing, are no longer sufficient to meet the demands of high-quality and high-efficiency R&D.
[0003] In conclusion, how to accurately and efficiently test the controller under test is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention
[0004] In view of this, this application provides a testing method and apparatus, which are designed to accurately and efficiently test the controller under test.
[0005] Firstly, this application provides a testing method, including:
[0006] The test management host computer was used to construct the vehicle dynamics model, the power battery model, and the permanent magnet synchronous motor model.
[0007] Configure the test environment on the test management host computer;
[0008] Based on the aforementioned test environment, the vehicle dynamics model, the power battery model, and the permanent magnet synchronous motor model are run.
[0009] By adjusting the parameters of the vehicle dynamics model, the power battery model, and the permanent magnet synchronous motor model, and by injecting faults into the circuit board, vehicle faults are simulated.
[0010] The controller under test is tested based on the vehicle's fault.
[0011] Optionally, the vehicle dynamics model is used to calculate the longitudinal torque demand and real-time vehicle speed based on multibody kinematics, taking into account factors such as slope, wind resistance, rolling resistance, and mass changes.
[0012] Optionally, the electrical part of the power battery model uses a second-order RC network to simulate the battery's ohmic internal resistance, electrochemical polarization, and concentration polarization, while the thermal part uses a three-dimensional thermal model or a lumped parameter thermal model to calculate the heat generation and heat dissipation of each cell.
[0013] Optionally, the power battery model is used to output the state of charge (SOC), state of battery health (SOH), and charge / discharge power boundaries in real time, providing a data foundation for the verification of the battery management system (BMS) algorithm.
[0014] Optionally, the permanent magnet synchronous motor model is constructed based on the dq axis theory, includes nonlinear flux saturation effect, has a simulation step size of 1-10 microseconds, and outputs high-fidelity three-phase current and back electromotive force waveforms.
[0015] Optionally, the board package includes a dedicated fault injection board, a high-precision excitation and acquisition board, a programmable power supply and power management board, and an on-board network interface card. The dedicated fault injection board is used to programmably simulate the open circuit, short circuit, and signal drift of the battery management system (BMS) acquisition harness. The high-precision excitation and acquisition board provides signal excitation and measurement at the μV / mA level. The programmable power supply and power management board is used to simulate the vehicle's power network, and the on-board network interface card is used to simulate the vehicle's CAN / CAN FD network.
[0016] Optionally, the testing of the controller under test based on the vehicle's fault includes:
[0017] Monitor the network packets and I / O signals generated by the controller under test in the event of a vehicle malfunction;
[0018] The network packets and I / O signals are compared with the expected behavior, and a test report is generated.
[0019] Secondly, this application provides a testing apparatus, comprising:
[0020] The module is used to build vehicle dynamics models, power battery models, and permanent magnet synchronous motor models using the test management host computer.
[0021] The configuration module is used to configure the test environment on the test management host computer;
[0022] The running module is used to run the vehicle dynamics model, the power battery model, and the permanent magnet synchronous motor model based on the test environment.
[0023] The fault injection module is used to simulate vehicle faults by adjusting the parameters of the vehicle dynamics model, the power battery model, and the permanent magnet synchronous motor model, and by injecting faults through the board.
[0024] The testing module is used to test the controller under test based on the faults of the vehicle.
[0025] Optionally, the vehicle dynamics model is used to calculate the longitudinal torque demand and real-time vehicle speed based on multibody kinematics, taking into account factors such as slope, wind resistance, rolling resistance, and mass changes.
[0026] Optionally, the electrical part of the power battery model uses a second-order RC network to simulate the battery's ohmic internal resistance, electrochemical polarization, and concentration polarization, while the thermal part uses a three-dimensional thermal model or a lumped parameter thermal model to calculate the heat generation and heat dissipation of each cell.
[0027] Optionally, the power battery model is used to output the state of charge (SOC), state of battery health (SOH), and charge / discharge power boundaries in real time, providing a data foundation for the verification of the battery management system (BMS) algorithm.
[0028] Optionally, the permanent magnet synchronous motor model is constructed based on the dq axis theory, includes nonlinear flux saturation effect, has a simulation step size of 1-10 microseconds, and outputs high-fidelity three-phase current and back electromotive force waveforms.
[0029] Optionally, the board package includes a dedicated fault injection board, a high-precision excitation and acquisition board, a programmable power supply and power management board, and an on-board network interface card. The dedicated fault injection board is used to programmably simulate the open circuit, short circuit, and signal drift of the battery management system (BMS) acquisition harness. The high-precision excitation and acquisition board provides signal excitation and measurement at the μV / mA level. The programmable power supply and power management board is used to simulate the vehicle's power network, and the on-board network interface card is used to simulate the vehicle's CAN / CAN FD network.
[0030] Optionally, the test module is specifically used for:
[0031] Monitor the network packets and I / O signals generated by the controller under test in the event of a vehicle malfunction;
[0032] The network packets and I / O signals are compared with the expected behavior, and a test report is generated.
[0033] Thirdly, embodiments of this application provide a computer device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the testing method described in any of the embodiments of the first aspect of this application.
[0034] Fourthly, embodiments of this application provide a computer-readable storage medium storing instructions that, when executed on a terminal device, cause the terminal device to perform a test method as described in any of the embodiments of the first aspect of this application.
[0035] This application provides a testing method. When executing the method, firstly, a vehicle dynamics model, a power battery model, and a permanent magnet synchronous motor model are constructed using a test management host computer. Then, a test environment is set on the test management host computer. Next, based on the test environment, the vehicle dynamics model, power battery model, and permanent magnet synchronous motor model are run. By adjusting the parameters of the vehicle dynamics model, power battery model, and permanent magnet synchronous motor model, and by injecting faults into the circuit boards, vehicle faults are simulated. Finally, based on the vehicle faults, the controller under test is tested. In this way, by adjusting the parameters of the vehicle dynamics model, power battery model, and permanent magnet synchronous motor model, and by injecting faults into the circuit boards, vehicle faults are comprehensively simulated, thereby enabling accurate and efficient testing of the controller under test. Attached Figure Description
[0036] To more clearly illustrate the technical solutions in this embodiment or the prior art, the drawings used in the description of the embodiment or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0037] Figure 1 A flowchart of a testing method provided in an embodiment of this application;
[0038] Figure 2 This is a schematic diagram of the structure of a testing device provided in an embodiment of this application;
[0039] Figure 3 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation
[0040] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. This application provides a testing method and apparatus, which relates to the field of vehicle testing technology. The above are merely examples and do not limit the application field of the method and apparatus provided in this application.
[0041] Against the backdrop of the rapid development of electrification and intelligentization in the automotive industry, the complexity of the functional logic, diagnostic strategies, and collaborative control of vehicle power domain controllers is increasing exponentially. Traditional testing methods, such as discrete single-controller testing, simplified HIL testing, or later real-vehicle testing, are no longer sufficient to meet the demands of high-quality and high-efficiency R&D.
[0042] The inventors, through research, proposed the technical solution of this application. First, they construct a vehicle dynamics model, a power battery model, and a permanent magnet synchronous motor model using a test management host computer. Then, they set up a test environment on the host computer. Next, based on the test environment, they run the vehicle dynamics model, power battery model, and permanent magnet synchronous motor model. By adjusting the parameters of these models and injecting faults into the circuit boards, they simulate vehicle faults. Finally, based on these vehicle faults, they test the controller under test. In this way, by adjusting the parameters of the vehicle dynamics model, power battery model, and permanent magnet synchronous motor model, and by injecting faults into the circuit boards, they comprehensively simulate vehicle faults, thereby enabling accurate and efficient testing of the controller under test.
[0043] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only a part of the embodiments of the present application, and not all of them. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present application. It should be noted that, for ease of description, only the parts related to the invention are shown in the accompanying drawings. Unless otherwise specified, the embodiments and features in the embodiments of the present application can be combined with each other.
[0044] See Figure 1 , Figure 1 A flowchart of a testing method provided in this application embodiment includes:
[0045] S101: Utilize the test management host computer to construct the vehicle dynamics model, power battery model, and permanent magnet synchronous motor model.
[0046] In this embodiment, the test management host computer is equipped with test automation software and a model development environment, serving as the command center for test tasks. The model development environment includes, but is not limited to, MATLAB, Simulink, etc.
[0047] The vehicle dynamics model, power battery model, and permanent magnet synchronous motor model were constructed using the test management host computer, among which:
[0048] The vehicle dynamics model can be based on multibody dynamics to calculate in real time the longitudinal torque required and the real-time vehicle speed, taking into account factors such as slope, wind resistance, rolling resistance, and mass changes.
[0049] The power battery model comprises electrical and thermal components. The electrical component uses a second-order RC network to simulate the battery's ohmic internal resistance, electrochemical polarization, and concentration polarization, accurately simulating transient and steady-state voltage responses. The thermal component employs a three-dimensional thermal model or a lumped-parameter thermal model to calculate the heat generation and dissipation of each cell in real time based on current and ambient temperature, outputting temperature field data. The power battery model can output accurate real-time State of Charge (SOC), State of Health (SOH), and charge / discharge power boundaries, providing a data foundation for the Battery Management System (BMS) algorithm verification. The BMS is responsible for monitoring battery states such as voltage, current, and temperature, estimating the SOC or SOH, and executing thermal and charge / discharge management controllers. The SOC represents the percentage of remaining battery capacity. The SOH is the ratio of the battery's current state to its new state, reflecting the degree of battery aging.
[0050] The permanent magnet synchronous motor (PMSM) model is built based on dq-axis theory and can be implemented on a field-programmable gate array (FPGA) with simulation step sizes ranging from 1 to 10 microseconds. This PMSM model incorporates nonlinear flux saturation effects and accurately simulates the motor's torque-speed characteristics at maximum torque-to-current ratio (MTPA) and in the field-weakening region. The PMSM model can output high-fidelity three-phase current and back EMF waveforms to verify the field-oriented control (FOC) algorithm of the motor controller MCU. The motor controller MCU controls the drive motor to output specific torque and speed according to instructions from the vehicle controller CU (Vehicle Controller Unit). The VCU is the highest-level decision controller for the vehicle, responsible for torque distribution, energy management, and driving mode selection.
[0051] S102: Set up the test environment on the test management host computer.
[0052] Set the test environment on the test management host computer, such as -10°C environment, WLTC driving cycle, etc.
[0053] S103: Based on the test environment, run the vehicle dynamics model, power battery model, and permanent magnet synchronous motor model.
[0054] Connect to the controller under test and start the test. The models run in tandem to form a high-fidelity closed loop. For example, the driver requests acceleration, the VCU requests torque, the BMS calculates and feeds back the current maximum discharge power, the VCU arbitrates and sends the limited torque to the MCU, the MCU controls the motor model to output torque, and the vehicle model calculates acceleration and feeds it back.
[0055] S104: By adjusting the parameters of the vehicle dynamics model, power battery model, and permanent magnet synchronous motor model, and by injecting faults through the board, vehicle faults are simulated.
[0056] During testing, parameters of the vehicle dynamics model, power battery model, and permanent magnet synchronous motor model were adjusted or faults were injected into the circuit boards to simulate vehicle malfunctions.
[0057] The boards include, but are not limited to, dedicated fault injection boards, high-precision excitation and acquisition boards, programmable power supply and power management boards, and vehicle network interface cards. Dedicated fault injection boards are used to simulate open circuits, short circuits, and signal drift in the acquisition harness of the battery management system (BMS). High-precision excitation and acquisition boards provide signal excitation and measurement at the μV / mA level. Programmable power supply and power management boards are used to simulate the vehicle's power network, and vehicle network interface cards are used to simulate the vehicle's CAN / CAN FD network.
[0058] S105: Test the controller under test based on vehicle faults.
[0059] Automatically monitor network packets and I / O signals of all controllers, compare them with expected behavior, and generate reports.
[0060] In the embodiments provided in this application, a vehicle dynamics model, a power battery model, and a permanent magnet synchronous motor model are first constructed using a test management host computer. Then, a test environment is set on the test management host computer. Next, based on the test environment, the vehicle dynamics model, the power battery model, and the permanent magnet synchronous motor model are run. By adjusting the parameters of the vehicle dynamics model, the power battery model, and the permanent magnet synchronous motor model, and by injecting faults into the circuit boards, vehicle faults are simulated. Finally, based on the vehicle faults, the controller under test is tested. In this way, by adjusting the parameters of the vehicle dynamics model, the power battery model, and the permanent magnet synchronous motor model, and by injecting faults into the circuit boards, vehicle faults are comprehensively simulated, thereby enabling accurate and efficient testing of the controller under test.
[0061] The above are some specific implementations of the testing method provided in the embodiments of this application. Based on this, this application also provides a corresponding apparatus. The apparatus provided in the embodiments of this application will be described below from the perspective of functional modularity.
[0062] See Figure 2 , Figure 2 This is a schematic diagram of a testing device provided in an embodiment of this application. The testing device 200 includes:
[0063] Module 210 is used to build a vehicle dynamics model, a power battery model, and a permanent magnet synchronous motor model using the test management host computer.
[0064] Setting module 220 is used to set the test environment on the test management host computer;
[0065] The running module 230 is used to run the vehicle dynamics model, the power battery model, and the permanent magnet synchronous motor model based on the test environment.
[0066] The fault injection module 240 is used to simulate vehicle faults by adjusting the parameters of the vehicle dynamics model, the power battery model and the permanent magnet synchronous motor model, and by injecting faults through the board.
[0067] Test module 250 is used to test the controller under test based on the faults of the vehicle.
[0068] Optionally, the vehicle dynamics model is used to calculate the longitudinal torque demand and real-time vehicle speed based on multibody kinematics, taking into account factors such as slope, wind resistance, rolling resistance, and mass changes.
[0069] Optionally, the electrical part of the power battery model uses a second-order RC network to simulate the battery's ohmic internal resistance, electrochemical polarization, and concentration polarization, while the thermal part uses a three-dimensional thermal model or a lumped parameter thermal model to calculate the heat generation and heat dissipation of each cell.
[0070] Optionally, the power battery model is used to output the state of charge (SOC), state of battery health (SOH), and charge / discharge power boundaries in real time, providing a data foundation for the verification of the battery management system (BMS) algorithm.
[0071] Optionally, the permanent magnet synchronous motor model is constructed based on the dq axis theory, includes nonlinear flux saturation effect, has a simulation step size of 1-10 microseconds, and outputs high-fidelity three-phase current and back electromotive force waveforms.
[0072] Optionally, the board package includes a dedicated fault injection board, a high-precision excitation and acquisition board, a programmable power supply and power management board, and an on-board network interface card. The dedicated fault injection board is used to programmably simulate the open circuit, short circuit, and signal drift of the battery management system (BMS) acquisition harness. The high-precision excitation and acquisition board provides signal excitation and measurement at the μV / mA level. The programmable power supply and power management board is used to simulate the vehicle's power network, and the on-board network interface card is used to simulate the vehicle's CAN / CAN FD network.
[0073] Optionally, the test module 250 is specifically used for:
[0074] Monitor the network packets and I / O signals generated by the controller under test in the event of a vehicle malfunction;
[0075] The network packets and I / O signals are compared with the expected behavior, and a test report is generated.
[0076] This application also provides corresponding devices and computer storage media for implementing the solutions provided in this application.
[0077] like Figure 3 As shown, computer device 01 is represented in the form of a general-purpose computing device. The components of computer device 01 may include, but are not limited to: one or more processors or processor units 03, system memory 08, and bus 04 connecting different system components (including system memory 08 and processor unit 03).
[0078] Bus 04 represents one or more of several bus architectures, including memory buses or memory controllers, peripheral buses, graphics acceleration ports, processors, or local buses using any of the various bus architectures. Examples of these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.
[0079] Computer device 01 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by computer device 01, including volatile and non-volatile media, removable and non-removable media.
[0080] System memory 08 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 09 and / or cache memory 10. Computer device 01 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 11 may be used to read and write non-removable, non-volatile magnetic media (…). Figure 3 Not shown; usually referred to as a "hard drive"). Although Figure 3 As not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk") and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 04 via one or more data media interfaces. System memory 08 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of the present invention.
[0081] A program / utility 12 having a set (at least one) of program modules 13 may be stored, for example, in system memory 08. Such program modules 13 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 13 typically perform the functions and / or methods described in the embodiments of the present invention.
[0082] Computer device 01 can also communicate with one or more external devices 02 (e.g., keyboard, pointing device, display 07, etc.), and with one or more devices that enable a user to interact with the computer device 01, and / or with any device that enables the computer device 01 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed through input / output (I / O) interface 06. Furthermore, computer device 01 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) through network adapter 05. Figure 3 As shown, network adapter 05 communicates with other modules of computer device 01 via bus 04. It should be understood that, although... Figure 3 As not shown in the diagram, it can be used in conjunction with computer device 01 with other hardware and / or software modules, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.
[0083] The processor unit 03 executes various functional applications and data processing by running programs stored in the system memory 08, such as implementing a testing method provided in the embodiments of this application.
[0084] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.
[0085] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that all or part of the steps in the methods of the above embodiments can be implemented by means of software plus a general-purpose hardware platform. Based on this understanding, the technical solution of this application can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as a read-only memory (ROM) / RAM, magnetic disk, optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, a server, or a network communication device such as a router) to execute the methods described in various embodiments or some parts of the embodiments of this application.
[0086] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on its differences from other embodiments. In particular, the apparatus embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.
[0087] The above description is merely an exemplary implementation of this application and is not intended to limit the scope of protection of this application.
Claims
1. A testing method, characterized in that, include: The test management host computer was used to construct the vehicle dynamics model, the power battery model, and the permanent magnet synchronous motor model. Configure the test environment on the test management host computer; Based on the aforementioned test environment, the vehicle dynamics model, the power battery model, and the permanent magnet synchronous motor model are run. By adjusting the parameters of the vehicle dynamics model, the power battery model, and the permanent magnet synchronous motor model, and by injecting faults into the circuit board, vehicle faults are simulated. The controller under test is tested based on the vehicle's fault.
2. The method according to claim 1, characterized in that, The vehicle dynamics model is used to calculate the longitudinal torque and real-time vehicle speed based on multibody kinematics, taking into account factors such as slope, wind resistance, rolling resistance, and mass changes.
3. The method according to claim 1, characterized in that, The electrical part of the power battery model uses a second-order RC network to simulate the battery's ohmic internal resistance, electrochemical polarization, and concentration polarization, while the thermal part uses a three-dimensional thermal model or a lumped parameter thermal model to calculate the heat generation and heat dissipation of each cell.
4. The method according to claim 3, characterized in that, The power battery model is used to output the state of charge (SOC), state of health (SOH), and charge / discharge power boundaries in real time, providing a data foundation for the verification of the battery management system (BMS) algorithm.
5. The method according to claim 1, characterized in that, The permanent magnet synchronous motor model is constructed based on the dq axis theory, includes nonlinear flux saturation effect, has a simulation step size of 1-10 microseconds, and outputs high-fidelity three-phase current and back electromotive force waveforms.
6. The method according to claim 1, characterized in that, The board package includes a dedicated fault injection board, a high-precision excitation and acquisition board, a programmable power supply and power management board, and an on-board network interface card. The dedicated fault injection board is used to programmably simulate the open circuit, short circuit, and signal drift of the battery management system (BMS) acquisition harness; the high-precision excitation and acquisition board provides signal excitation and measurement at the μV / mA level; the programmable power supply and power management board is used to simulate the vehicle power network; and the vehicle network interface card is used to simulate the vehicle CAN / CAN FD network.
7. The method according to claim 1, characterized in that, The testing of the controller under test based on the vehicle's fault includes: Monitor the network packets and I / O signals generated by the controller under test in the event of a vehicle malfunction; The network packets and I / O signals are compared with the expected behavior, and a test report is generated.
8. A testing device, characterized in that, include: The module is used to build vehicle dynamics models, power battery models, and permanent magnet synchronous motor models using the test management host computer. The configuration module is used to configure the test environment on the test management host computer; The running module is used to run the vehicle dynamics model, the power battery model, and the permanent magnet synchronous motor model based on the test environment. The fault injection module is used to simulate vehicle faults by adjusting the parameters of the vehicle dynamics model, the power battery model, and the permanent magnet synchronous motor model, and by injecting faults through the board. The testing module is used to test the controller under test based on the faults of the vehicle.
9. A computer device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the test method as described in any one of claims 1-7.
10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed on a terminal device, cause the terminal device to perform the test method as described in any one of claims 1-7.