A bench test method, system, and vehicle for stationary turning function

Abstract

This invention discloses a bench test method, system, and vehicle for stationary turning function. The method includes: determining the drive type to be tested corresponding to the bench test device; wherein the drive type to be tested includes: front-wheel drive, a first four-wheel drive type with independent forward and reverse rotation of the front and rear axles, a second four-wheel drive type with synchronized rear wheel steering, and a third four-wheel drive type with independent four-wheel drive; determining the stationary turning mode to be tested of the bench test device, and controlling the bench test device to simulate steering wheel twisting to the limit position; wherein the stationary turning mode to be tested includes: a fixed-circle turning mode with any rear wheel as the center, and a tank turn mode rotating around its own center; according to the drive type to be tested and the stationary turning mode to be tested, controlling the bench test device to perform the corresponding stationary turning test, and obtaining the corresponding bench test data.

Description

Technical Field

[0001] This invention relates to the field of automotive steering control technology, and in particular to a bench test method, system, and vehicle for stationary steering function. Background Technology

[0002] In off-road driving scenarios, conventional U-turn methods are difficult to adapt to limited environments such as narrow roads and mountain curves. The stationary steering (including stationary U-turn) function significantly reduces the turning radius by coordinating the control of wheel drive, steering and braking systems, and has become the core competitiveness of electric off-road vehicles. All car companies are focusing on the research and development and implementation of this electronic control function.

[0003] Because this function involves the coupled control of multiple systems, the reliability of the software logic and the response accuracy of the actuators directly determine driving safety, requiring comprehensive verification before mass production. Existing technologies primarily rely on real-vehicle testing for verification. However, real-vehicle testing is well-known to only be compatible with the driving conditions of a single vehicle model, failing to meet the requirements of stationary steering tests for different drive types and making it difficult to fully reproduce various test conditions. Furthermore, real-vehicle testing causes significant wear and tear on components such as tires and chassis suspensions, resulting in high costs for vehicles, facilities, and human resources, severely hindering R&D efficiency and mass production progress.

[0004] It is evident that a systematic testing scheme for the stationary turning function has not yet been developed. Summary of the Invention

[0005] To address or partially address the technical problem of the lack of a systematic testing scheme for stationary steering functionality, this invention provides a bench testing method, system, and vehicle for stationary steering functionality. It constructs a testing scheme that can comprehensively cover different drive types and steering modes to replace the real vehicle testing scheme. It can fully verify the control logic of stationary steering at the logical level, significantly reduce testing costs, and significantly reduce the resource consumption and R&D cycle caused by real vehicle testing.

[0006] To address the aforementioned technical problems, a first aspect of the present invention discloses a bench test method for on-the-spot turning function, the method comprising: Determine the type of drive to be tested corresponding to the bench test device; wherein, the type of drive to be tested includes: front drive type, first four-wheel drive type with independent forward and reverse rotation of front and rear axles, second four-wheel drive type with synchronized rear wheel steering, and third four-wheel drive type with independent four-wheel drive. The test stationary steering mode of the bench test device is determined, and the bench test device is controlled to simulate the steering wheel turning to the limit position; wherein, the test stationary steering mode includes: a fixed circle steering mode with any rear wheel as the center of the stationary steering, and a tank turn mode with the device rotating around its own center in place. Based on the drive type to be tested and the stationary turning mode to be tested, the bench test device is controlled to perform the corresponding stationary turning test to obtain the corresponding bench test data.

[0007] Optionally, if the stationary steering mode to be tested is the fixed-circle steering mode, and the drive type to be tested is: the front-wheel drive type, or the first four-wheel drive type, or the second four-wheel drive type, then controlling the bench testing device to perform the corresponding stationary steering test according to the drive type to be tested and the stationary steering mode to be tested, and obtaining the corresponding bench test data, specifically includes: Based on the fixed-circle steering mode, determine the steering side that is consistent with the steering wheel twist direction, and apply braking force to the rear wheel on the steering side; Depress the accelerator pedal; According to the front-wheel drive type, or the first four-wheel drive type, or the second four-wheel drive type, the front axle motor is controlled to drive forward, and the rear axle motor is stopped, so that the bench test device travels in a circle with the rear wheel on the steering side as the center, and the bench test data is obtained.

[0008] Optionally, if the test stationary turning mode is the tank turn mode activated, and the test drive type is the first four-wheel drive type, the step of controlling the bench testing device to perform the corresponding stationary turning test according to the test drive type and the test stationary turning mode to obtain the corresponding bench test data specifically includes: Determine the target control torque for both the front axle motor and the rear axle motor; Depress the accelerator pedal; Based on the tank turning mode and the first four-wheel drive type, the front axle motor is controlled to drive forward according to the corresponding target control torque, and the rear axle motor is controlled to drive backward according to the corresponding target control torque, so that the bench test device can turn and move in place to obtain the bench test data.

[0009] Optionally, determining the target control torque for each of the front axle motor and the rear axle motor specifically includes: Determine the target control torque of the front axle motor and the front wheel deflection angle; The target control torque of the rear axle motor is calculated based on the target control torque of the front axle motor and the front wheel deflection angle.

[0010] Optionally, if the test stationary turning mode is the tank turn mode and the test drive type is the second four-wheel drive type, the step of controlling the bench testing device to perform the corresponding stationary turning test according to the test drive type and the test stationary turning mode to obtain the corresponding bench test data specifically includes: According to the tank turning mode, the rear axle is controlled to turn in the same direction as the front axle, and the deflection angle of the rear axle is the same as that of the front axle; wherein, the deflection direction of the front axle is in the direction of steering wheel rotation. Depress the accelerator pedal; According to the second four-wheel drive type, the front axle motor is controlled to drive forward and the rear axle motor is controlled to drive in reverse, so that the bench test device can turn and move in place to obtain the bench test data; wherein, the driving torque values ​​of the front axle motor and the rear axle motor are equal.

[0011] Optionally, if the test stationary turning mode is the tank turn mode and the test drive type is the third- or fourth-wheel drive type, the step of controlling the bench testing device to perform the corresponding stationary turning test according to the test drive type and the test stationary turning mode to obtain the corresponding bench test data specifically includes: According to the tank turning mode, control the left front wheel and the right rear wheel to deflect to the extreme angle in opposite directions to the right, and control the right front wheel and the left rear wheel to deflect to the extreme angle to the left. Depress the accelerator pedal; According to the third and fourth drive type, the two hub motors away from the steering side are controlled to drive forward, and the two hub motors close to the steering side are controlled to drive in reverse, so that the bench test device can turn and move in place to obtain the bench test data; wherein, the driving torque values ​​of the four motors are equal.

[0012] Optionally, after controlling the bench testing device to perform corresponding in-place steering tests according to the drive type under test and the in-place steering mode under test, and obtaining the corresponding bench test data, the method further includes: Store the bench test data and corresponding test condition parameters; Retrieve the test control standard that matches the test condition parameters; The bench test data is compared with the test control standard; If there is a discrepancy in the comparison, the bench testing device should be adjusted and calibrated, and the corresponding in-place turning test should be re-executed; If there is no deviation in the comparison, the bench test data and corresponding test condition parameters are built into the actual vehicle so that the actual vehicle can perform the corresponding stationary steering control action for testing according to the vehicle's drive type and the local stationary steering mode.

[0013] A second aspect of the present invention discloses a bench testing system for in-place turning function, the system comprising: an industrial control computer and a bench testing device for testing the in-place turning function; the industrial control computer is specifically used for: Determine the type of drive to be tested corresponding to the bench test device; wherein, the type of drive to be tested includes: front drive type, first four-wheel drive type with independent forward and reverse rotation of front and rear axles, second four-wheel drive type with synchronized rear wheel steering, and third four-wheel drive type with independent four-wheel drive. The test stationary steering mode of the bench test device is determined, and the bench test device is controlled to simulate the steering wheel turning to the limit position; wherein, the test stationary steering mode includes: a fixed circle steering mode with any rear wheel as the center of the stationary steering, and a tank turn mode with the device rotating around its own center in place. Based on the drive type to be tested and the stationary turning mode to be tested, the bench test device is controlled to perform the corresponding stationary turning test to obtain the corresponding bench test data.

[0014] Optionally, the bench testing device includes: a hardware-in-the-loop test bench and a hardware actuator configured on the simulated vehicle chassis; The hardware-in-the-loop test bench is controlled by the industrial computer and is used to control the hardware actuator to perform in-the-place turning operations that are compatible with the type of drive under test and the in-the-place turning mode under test.

[0015] A third aspect of the present invention discloses a vehicle, including a memory, an on-board processor, and a computer program stored in the memory and executable on the processor. The on-board processor calibrates the on-board steering control parameters based on bench test data obtained by the bench test method for the on-board steering function described in the first aspect, and performs on-board steering control.

[0016] Through one or more technical solutions of the present invention, the present invention has the following beneficial effects or advantages: The technical solution of this invention first determines the test drive type and test stationary steering mode corresponding to the bench test device by pre-setting multiple test drive types and multiple core test stationary steering modes covering mainstream vehicle models. Then, it controls the bench test device to simulate the steering wheel of a real vehicle to the limit position. Finally, it conducts matched stationary steering tests based on drive type and steering mode and obtains bench test data. This can realize systematic, standardized, and full-scenario coverage testing of stationary steering function. The test logic is complete and provides objective basis for the verification of control strategy, performance calibration and optimization of stationary steering function. At the same time, it has the outstanding advantages of high testing efficiency, strong versatility and adaptability to multiple types of chassis drive architecture, which greatly improves the standardization and practicality of stationary steering function bench testing.

[0017] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0018] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 A schematic diagram of a bench test system for in-situ turning function according to an embodiment of the present invention is shown; Figure 2 A flowchart of a bench test method for the stationary turning function according to an embodiment of the present invention is shown; Figures 3A-3B Two in-situ turning schematic diagrams of a fixed-circle turning mode according to an embodiment of the present invention are shown; Figures 4A-4B The diagram illustrates two types of stationary turning in a first four-wheel drive type combined with a tank turn mode according to an embodiment of the present invention. Figures 5A-5B The diagram illustrates two types of stationary turning in a second four-wheel drive type combined with a tank turn mode according to an embodiment of the present invention. Figures 6A-6B The diagram illustrates two types of stationary turning in a third-wheel drive type combined with a tank turn mode according to an embodiment of the present invention. Detailed Implementation

[0019] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0020] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0021] In a first aspect, embodiments of the present invention disclose a bench test method for in-place turning function, which is used in a bench test system for in-place turning function. See below. Figure 1 This is a schematic diagram of the system structure.

[0022] The system includes an industrial computer 101 and a bench test device for testing the stationary turning function.

[0023] The bench testing device includes: a hardware-in-the-loop test bench 102 and a hardware actuator 105 configured on a simulated vehicle chassis; The hardware-in-the-loop test bench 102 is controlled by the industrial computer 101 and is used to control the hardware actuator 105 to perform a stationary turning operation that is compatible with the type of drive under test and the stationary turning mode under test.

[0024] Specifically, the bench testing equipment includes: HIL (Hardware-in-the-Loop) test bench 102, simulated vehicle frame, calibration equipment 103, signal converter 104, hardware actuator 105, control panel 106, and PDCU (Power Distribution Control Unit).

[0025] The HIL control panel 106 is used for bench status display, local operation, and emergency stop control.

[0026] The hardware-in-the-loop test bench 102 and the industrial control computer 101 are directly connected via a CAN network, and are also connected to the industrial control computer 101 via the calibration device 103 to establish a CAN communication link for parameter calibration. The hardware-in-the-loop test bench 102 is connected to the hardware actuator 105 via the signal adapter 104, and has a bidirectional signal connection with the hardware actuator 105. The hardware actuator 105 is mounted in the simulated vehicle frame. In addition, the PDCU is connected to the hardware-in-the-loop test bench 102 and is used to provide unified power to the hardware-in-the-loop test bench 102, the industrial control computer 101, the calibration device 103, the signal adapter 104, and the hardware actuator 105.

[0027] The hardware-in-the-loop test bench 102 is an independent electronic control device, with built-in simulation control modules for various drive types and stationary steering modes. It is the core computing and control unit of the bench, responsible for receiving instructions from the industrial control computer 101, executing simulation logic, and outputting control signals. For example, it includes simulation modules for front-wheel drive, simulation control modules for the first four-wheel drive type with independent forward and reverse rotation of the front and rear axles, simulation control modules for the second four-wheel drive type with synchronized rear wheel steering, and simulation control modules for the third four-wheel drive type with independent four-wheel drive. It also includes simulation control modules for stationary steering modes with any rear wheel as the center and for tank turn modes rotating around its own center.

[0028] The simulation control module for each drive type is used to receive drive type configuration instructions from the industrial control computer 101, simulate the torque distribution signal of the corresponding drive type, and provide power simulation support for the corresponding stationary steering mode. The simulation control module for each stationary steering mode is used to receive steering mode configuration instructions from the industrial control computer 101, combine them with the simulation state of the current drive type, and output the corresponding steering control signal to drive the hardware actuator 105 to complete the corresponding steering action.

[0029] The hardware actuator 105, mounted on the simulation vehicle frame, includes: a drive simulation unit, such as a motor load simulator and a torque sensor; a steering simulation unit, such as a steering angle actuator and a steering angle sensor; and a braking simulation unit, such as a brake pressure simulator and a pressure sensor. The hardware actuator 105 is used to perform corresponding steering operations based on the torque distribution signal and the steering control signal.

[0030] The simulated chassis is used to simulate the geometry, track width, wheelbase, and mechanical constraints of a real vehicle chassis, providing the hardware actuator 105 with a physical mounting reference and mechanical transmission path consistent with that of a real vehicle. Of course, the simulated chassis can be mechanically assembled with the hardware-in-the-loop test bench 102 to form an integrated structure, but this does not constitute a limitation.

[0031] In order to simulate various driving conditions in the same simulation chassis, the simulation chassis adopts a modular and adjustable chassis simulation structure design. It can be arranged according to the coordinate system of a real vehicle chassis, such as an off-road vehicle chassis. It can simulate front-wheel drive type, first four-wheel drive type with independent forward and reverse rotation of front and rear axles, second four-wheel drive type with synchronized rear wheel steering, and third four-wheel drive type with independent four-wheel drive by switching mounting positions and selecting actuators.

[0032] The main frame adopts a modular chassis with adjustable wheelbase and track width, forming a unified physical installation benchmark. The axle support structure features independent front and rear axle support positions, making the front and rear axles mechanically independent and capable of supporting the drive, steering, and braking hardware actuators 105 respectively. The drive mechanism mounting positions include front drive mounting positions on both sides of the front axle and rear drive mounting positions on both sides of the rear axle. All mounting positions are quick-change structures, allowing for independent assembly or disassembly of the drive simulation unit depending on the drive type. Furthermore, the rear axle is equipped with a detachable synchronous steering actuator mounting position for adding a rear-wheel steering actuator, enabling synchronous steering with the front wheels and adapting to four-wheel drive configurations with synchronous rear-wheel steering. All four wheel mounting positions utilize independent suspension supports, providing independent mechanical constraints for each wheel and adapting to the independent control requirements under different drive types.

[0033] When simulating the front-wheel drive type, a drive simulation unit is installed at the front drive mounting position, while the rear axle is not equipped with a drive simulation unit and only serves as a follower axle to realize the front drive force layout simulation.

[0034] When simulating the first four-wheel drive type where the front and rear axles can independently rotate forward and backward, independent drive simulation units are installed at the drive mounting positions of both the front and rear axles. The front and rear axles are mechanically and control-independent, enabling independent forward and reverse rotation simulation of the front and rear axles.

[0035] When simulating the second four-wheel drive type with synchronized rear wheel steering, a synchronized steering actuator is added to the rear axle, based on the fact that drive simulation units are installed on both the front and rear axles, so that the rear wheels can be steered synchronously with the front wheels, thus completing the chassis layout simulation of this four-wheel drive type.

[0036] When simulating the third type of four-wheel independent drive, independent drive simulation units are installed at each of the four wheel mounting positions to achieve independent power output and independent control of the four wheels, thus completing the simulation of the four-wheel independent drive configuration.

[0037] The signal adapter 104 is an example of a BOB (Breakout Box), used to realize the signal relay, distribution and transmission between the hardware-in-the-loop test bench 102 and the hardware actuator 105.

[0038] The calibration device 103 is specifically a CAN calibrator, which is used to perform online calibration, adjustment and real-time debugging of simulation parameters and control parameters between the industrial control computer 101 and the hardware-in-the-loop test bench 102, so as to ensure that the driving torque, steering angle, braking pressure and other operating parameters are accurate and controllable during the test.

[0039] The industrial control computer 101 determines the type of drive under test and the stationary turning mode under test according to the test requirements, and sends the corresponding configuration instructions to the hardware-in-the-loop test bench 102. The configuration instructions include: drive type configuration instructions and turning mode configuration instructions.

[0040] Before and during testing, the industrial control computer 101 performs online calibration and adjustment of the simulation parameters and control parameters of the hardware-in-the-loop test bench 102 through the calibration device 103 to ensure test accuracy. The hardware-in-the-loop test bench 102 receives configuration instructions and calls the matching drive type simulation control module to simulate the torque distribution signal of the corresponding drive type, providing power simulation support for the corresponding stationary steering mode. In addition, it calls the stationary steering mode simulation control module and outputs the corresponding steering control signal based on the simulation state of the current drive type. The torque distribution signal and steering control signal are transmitted together to the hardware actuator 105 via BOB. The hardware actuator 105 executes power output, steering action and braking application, and collects real-time execution data through sensors and sends it back to the hardware-in-the-loop test bench 102. The hardware-in-the-loop test bench 102 synchronously feeds back the bench test data and test condition parameters to the industrial control computer 101 to complete the closed-loop interaction.

[0041] See Figure 2 This paper introduces the implementation process of the bench test method for the stationary turning function, which includes at least the following steps: S201, determine the type of drive to be tested corresponding to the bench test device.

[0042] The drive types to be tested include: front-wheel drive, first four-wheel drive with independent forward and reverse rotation of the front and rear axles, second four-wheel drive with synchronized rear wheel steering, and third four-wheel drive with independent four-wheel drive.

[0043] Front-wheel drive type, specifically, is a front-engine, front-wheel drive configuration where the two wheels on the front axle are driven synchronously, and the rear axle has no power output.

[0044] The first type of four-wheel drive is one in which the front and rear axles can independently rotate in both directions. Specifically, the front and rear axles are driven independently, and the front and rear axles can independently achieve forward and reverse rotation and torque adjustment.

[0045] The second type of four-wheel drive with synchronized rear-wheel steering is a four-wheel drive system in which the rear wheels can perform steering actions synchronously, and the power of the front and rear axles and the steering angle of the rear wheels are controlled in a coordinated manner.

[0046] The third type of four-wheel drive with independent four-wheel drive is a four-wheel drive system in which the front left, front right, rear left, and right wheels are all independently driven, and the speed, torque, and steering of each wheel can be independently controlled.

[0047] S202, determine the test stationary steering mode of the bench test device, and control the bench test device to simulate steering wheel turning to the limit position.

[0048] The tested stationary turning modes include: a fixed-circle turning mode with any rear wheel as the center, and a tank turn mode that rotates around its own center.

[0049] Specifically, a steering wheel angle signal is sent to the test bench to control the test bench to simulate the steering wheel being turned to its limit.

[0050] S203, based on the drive type to be tested and the stationary turning mode to be tested, control the bench test device to perform the corresponding stationary turning test and obtain the corresponding bench test data.

[0051] In one optional implementation, if the stationary steering mode to be tested is the fixed-circle steering mode, and the drive type to be tested is: the front-wheel drive type, or the first four-wheel drive type, or the second four-wheel drive type, during the stationary steering test, according to the fixed-circle steering mode, the steering side consistent with the steering wheel twist direction is determined, and braking force is applied to the rear wheel on the steering side; the accelerator pedal is controlled to be depressed; according to the front-wheel drive type, or the first four-wheel drive type, or the second four-wheel drive type, the front axle motor is controlled to drive forward, and the rear axle motor is stopped, so that the bench test device travels in a fixed circle with the rear wheel on the steering side as the center, and the bench test data is obtained.

[0052] See Figures 3A-3B This is a schematic diagram of two types of in-situ turning in a fixed-circle turning mode.

[0053] See Figure 3A If the bench testing device simulates a steering wheel being turned to its limit to the left, then the rear wheel on the steering side becomes the left rear wheel, and braking force is applied to the left rear wheel. At this time, the accelerator pedal is depressed, and the front axle motor is controlled to drive forward while the rear axle motor stops driving, so that the bench testing device can rotate in a fixed circle with the left rear wheel as the center, thereby obtaining the bench test data.

[0054] See Figure 3B If the bench testing device simulates the steering wheel being turned to its limit to the right, then the rear wheel on the steering side becomes the right rear wheel, and braking force is applied to the right rear wheel. At this time, the accelerator pedal is depressed, and the front axle motor is controlled to drive forward while the rear axle motor stops driving, so that the bench testing device can rotate in a fixed circle with the right rear wheel as the center, thereby obtaining the bench test data.

[0055] It is worth noting that, regardless of whether it is a front-wheel drive type, the first four-wheel drive type, or the second four-wheel drive type, all are controlled according to the above control logic.

[0056] In one optional implementation, if the test stationary turning mode is the tank turn mode activated, and the test drive type is the first four-wheel drive type, during the stationary turning test, the target control torques of the front axle motor and the rear axle motor are determined. Since the target control torque of the rear axle motor is controlled by the target control torque of the front axle motor and the front wheel deflection angle, during the determination of the target control torques of the front and rear axle motors, the target control torque of the front axle motor and the front wheel deflection angle are determined; based on the target control torque of the front axle motor and the front wheel deflection angle, the target control torque of the rear axle motor is calculated. Specifically, according to the formula... T h = T q × cosα Calculate the target control torque for the rear axle motor. Among these, Th This indicates the target control torque of the rear axle motor, in units of... N m ; T q This indicates the target control torque of the front axle motor, in units of... N m , α Indicates the front wheel deflection angle, in degrees.

[0057] Furthermore, the accelerator pedal is depressed; according to the tank turn mode and the first four-wheel drive type, the front axle motor is controlled to drive forward according to the corresponding target control torque, and the rear axle motor is controlled to drive backward according to the corresponding target control torque, so that the bench test device turns and moves in place, and the bench test data is obtained.

[0058] See Figures 4A-4B This is a diagram illustrating two types of stationary turning methods, combining the first type of four-wheel drive with the tank turn mode.

[0059] See Figure 4A If the bench test device simulates the steering wheel being turned to the left to its limit position, the target control torque of the front axle motor and the rear axle motor is determined; the accelerator pedal is depressed; the front axle motor is controlled to drive forward according to the corresponding target control torque, and the driving direction of the front axle motor is the same as the steering wheel turning direction, that is, driving to the left; the rear axle motor is controlled to drive in the opposite direction according to the corresponding target control torque, and the driving direction is perpendicular to the rear axle.

[0060] See Figure 4B If the bench test device simulates the steering wheel being turned to the right to its limit position, the target control torque of the front axle motor and the rear axle motor is determined; the accelerator pedal is depressed; the front axle motor is controlled to drive forward according to the corresponding target control torque, and the driving direction of the front axle motor is the same as the steering wheel turning direction, that is, driving to the right; the rear axle motor is controlled to drive in the opposite direction according to the corresponding target control torque, and the direction of the reverse drive is perpendicular to the rear axle.

[0061] In one optional implementation, if the test stationary turning mode is the tank turn mode and the test drive type is the second four-wheel drive type, during the stationary turning test, according to the tank turn mode, the rear axle is controlled to turn in the same direction as the front axle, and the rear axle turning angle is the same as the front axle turning angle; wherein, the front axle turning direction is in the direction of steering wheel rotation; the accelerator pedal is depressed; according to the second four-wheel drive type, the front axle motor is controlled to drive forward, and the rear axle motor is controlled to drive in reverse, so that the bench test device can turn in place and obtain the bench test data; wherein, the driving torque values ​​of the front axle motor and the rear axle motor are equal.

[0062] See Figures 5A-5B This is a diagram illustrating two types of stationary turning techniques combining a second-wheel drive system with a tank turn mode.

[0063] See Figure 5A If the bench test device simulates turning the steering wheel to the left to its limit, it controls the front axle (tire) to turn to the left, and controls the driving direction of the front axle motor to be consistent with the deflection direction of the front axle (tire), that is, driving to the left in a forward direction; it controls the rear axle (tire) to deflect in the same direction as the front axle (tire), and the deflection angle of the rear axle (tire) is the same as that of the front axle (tire); however, the rear axle motor drives in the opposite direction, and the driving direction of the rear axle motor is opposite to the driving direction of the front axle, that is: the driving direction of the rear axle motor is opposite to the deflection direction of the rear axle (tire), so that the bench test device turns to the left in place.

[0064] See Figure 5B If the bench test device simulates turning the steering wheel to the right to its limit, it controls the front axle (tire) to turn to the right, and controls the driving direction of the front axle motor to be consistent with the deflection direction of the front axle (tire), that is, driving to the right in a positive direction; it controls the rear axle (tire) to deflect in the same direction as the front axle (tire), and the deflection angle of the rear axle (tire) is the same as that of the front axle (tire); however, the rear axle motor drives in the opposite direction, and the driving direction of the rear axle motor is opposite to the driving direction of the front axle, that is: the driving direction of the rear axle motor is opposite to the deflection direction of the rear axle (tire), so that the bench test device turns to the right in place.

[0065] In one optional implementation, if the test stationary turning mode is the tank turn mode and the test drive type is the third- or fourth-wheel drive type, during the stationary turning test, according to the tank turn mode, the left front wheel and right rear wheel are controlled to deflect to the right in opposite directions to their limit angles, and the right front wheel and left rear wheel are controlled to deflect to the left to their limit angles; the accelerator pedal is depressed; according to the third- or fourth-wheel drive type, the two hub motors away from the steering side are controlled to drive forward, and the two hub motors near the steering side are controlled to drive in the opposite direction, so that the bench test device can turn in place and obtain the bench test data; wherein, the driving torque values ​​of the four motors are equal.

[0066] See Figures 6A-6B This is a diagram illustrating two types of stationary turning that combine third- and fourth-wheel drive systems with a tank turn mode.

[0067] See Figure 6A If the bench test device simulates the steering wheel turning to the left to its limit position, it controls the left front wheel and right rear wheel to deflect to the right to their limit angle, and controls the right front wheel and left rear wheel to deflect to the left to their limit angle. Furthermore, it controls the two wheel hub motors closer to the steering side (left side) to drive in the opposite direction, and controls the two wheel hub motors farther from the steering side (right side) to drive in the forward direction, so that the bench test device turns to the left in place.

[0068] See Figure 6B If the bench test device simulates the steering wheel turning to the right to its limit position, it controls the left front wheel and the right rear wheel to deflect to the right to their limit angle, and controls the right front wheel and the left rear wheel to deflect to the left to their limit angle. Furthermore, it controls the two wheel hub motors closer to the steering side (right side) to drive in the opposite direction, and controls the two wheel hub motors farther from the steering side (left side) to drive in the forward direction, so that the bench test device turns to the right and drives in place.

[0069] After obtaining the corresponding bench test data, the process further includes: acquiring the bench test data and corresponding test condition parameters and test logic; storing the bench test data and corresponding test condition parameters; the test condition parameters include the drive type under test, the stationary steering mode under test, the steering wheel twist direction and angle, accelerator pedal parameters, brake application parameters, and torque control parameters; retrieving the test control standard matching the test condition parameters; wherein, different test conditions correspond to different test control standards. The bench test data is compared with the test control standard; if there is a deviation in the comparison, the bench test device is adjusted and calibrated, and the corresponding stationary steering test is re-executed; if there is no deviation in the comparison, the bench test data, test condition parameters, and test logic are built into the actual vehicle, so that the actual vehicle can execute the corresponding stationary steering control action for testing according to the vehicle's drive type under test and the local stationary steering mode under test.

[0070] The technical solution of this invention first determines the test drive type and test stationary steering mode corresponding to the bench test device by pre-setting multiple test drive types and multiple core test stationary steering modes covering mainstream vehicle models. Then, it controls the bench test device to simulate the steering wheel of a real vehicle to the limit position. Finally, it conducts matched stationary steering tests based on drive type and steering mode and obtains bench test data. This can realize systematic, standardized, and full-scenario coverage testing of stationary steering function. The test logic is complete and provides objective basis for the verification of control strategy, performance calibration and optimization of stationary steering function. At the same time, it has the outstanding advantages of high testing efficiency, strong versatility and adaptability to multiple types of chassis drive architecture, which greatly improves the standardization and practicality of stationary steering function bench testing.

[0071] Furthermore, this invention uses the HIL bench to simulate steering conditions of various drive types and various stationary steering modes, enabling complete testing of the stationary steering control logic at the logic level. This significantly reduces the resource requirements and time cycle for functional verification, ensuring the correctness of the stationary steering function software logic before vehicle installation. Subsequently, only a small number of real-vehicle experience tests and calibration of relevant parameters are required, without needing to change the software architecture or software logic, thus greatly reducing the consumption of vehicle resources.

[0072] Secondly, based on the same inventive concept as the bench test method for the stationary steering function provided in the first aspect of the embodiments described above, the embodiments of the present invention also provide a bench test system for the stationary steering function, see below. Figure 1 The system includes: an industrial control computer 101 and a bench testing device for testing the stationary turning function; the industrial control computer 101 is specifically used for: Determine the type of drive to be tested corresponding to the bench test device; wherein, the type of drive to be tested includes: front drive type, first four-wheel drive type with independent forward and reverse rotation of front and rear axles, second four-wheel drive type with synchronized rear wheel steering, and third four-wheel drive type with independent four-wheel drive. The test stationary steering mode of the bench test device is determined, and the bench test device is controlled to simulate the steering wheel turning to the limit position; wherein, the test stationary steering mode includes: a fixed circle steering mode with any rear wheel as the center of the stationary steering, and a tank turn mode with the device rotating around its own center in place. Based on the drive type to be tested and the stationary turning mode to be tested, the bench test device is controlled to perform the corresponding stationary turning test to obtain the corresponding bench test data.

[0073] Furthermore, the bench testing device includes: a hardware-in-the-loop test bench 102 and a hardware actuator 105 configured on the simulated vehicle chassis; The hardware-in-the-loop test bench 102 is controlled by the industrial computer and is used to control the hardware actuator 105 to perform a stationary turning operation that is compatible with the type of drive under test and the stationary turning mode under test.

[0074] For details on the structure of the bench testing device, please refer to [link / reference]. Figure 1 Its description will not be repeated here.

[0075] It should be noted that the specific operation methods of each component in the bench test system for the stationary turning function provided in the embodiments of the present invention have been described in detail in the method embodiments provided in the first aspect above. The specific implementation process can be referred to the method embodiments provided in the first aspect above, and will not be described in detail here.

[0076] Thirdly, based on the same inventive concept as the bench test method for stationary steering function provided in the first aspect of the embodiment, the present invention also discloses a vehicle, including a memory, an on-board processor, and a computer program stored in the memory and executable on the processor. The on-board processor calibrates the stationary steering control parameters with reference to the bench test data obtained by the bench test method for stationary steering function described in the first aspect, and performs stationary steering control.

[0077] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0078] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A bench test method for on-the-spot turning function, characterized in that, The method includes: Determine the type of drive to be tested corresponding to the bench test device; wherein, the type of drive to be tested includes: front drive type, first four-wheel drive type with independent forward and reverse rotation of front and rear axles, second four-wheel drive type with synchronized rear wheel steering, and third four-wheel drive type with independent four-wheel drive. The test stationary steering mode of the bench test device is determined, and the bench test device is controlled to simulate the steering wheel turning to the limit position; wherein, the test stationary steering mode includes: a fixed circle steering mode with any rear wheel as the center of the stationary steering, and a tank turn mode with the device rotating around its own center in place. Based on the drive type to be tested and the stationary turning mode to be tested, the bench test device is controlled to perform the corresponding stationary turning test to obtain the corresponding bench test data.

2. The method as described in claim 1, characterized in that, If the stationary steering mode to be tested is the fixed-circle steering mode, and the drive type to be tested is: the front-wheel drive type, or the first four-wheel drive type, or the second four-wheel drive type, then according to the drive type to be tested and the stationary steering mode to be tested, the bench testing device is controlled to perform the corresponding stationary steering test to obtain the corresponding bench test data, specifically including: Based on the fixed-circle steering mode, determine the steering side that is consistent with the steering wheel twist direction, and apply braking force to the rear wheel on the steering side; Depress the accelerator pedal; According to the front-wheel drive type, or the first four-wheel drive type, or the second four-wheel drive type, the front axle motor is controlled to drive forward, and the rear axle motor is stopped, so that the bench test device travels in a circle with the rear wheel on the steering side as the center, and the bench test data is obtained.

3. The method as described in claim 1, characterized in that, If the test stationary turning mode is the tank turn mode activated, and the test drive type is the first four-wheel drive type, the test bench device is controlled to perform a corresponding stationary turning test based on the test drive type and the test stationary turning mode to obtain corresponding bench test data, specifically including: Determine the target control torque for both the front axle motor and the rear axle motor; Depress the accelerator pedal; Based on the tank turning mode and the first four-wheel drive type, the front axle motor is controlled to drive forward according to the corresponding target control torque, and the rear axle motor is controlled to drive backward according to the corresponding target control torque, so that the bench test device can turn and move in place to obtain the bench test data.

4. The method as described in claim 3, characterized in that, Determining the target control torque for each of the front axle motor and the rear axle motor specifically includes: Determine the target control torque of the front axle motor and the front wheel deflection angle; The target control torque of the rear axle motor is calculated based on the target control torque of the front axle motor and the front wheel deflection angle.

5. The method as described in claim 1, characterized in that, If the test stationary turning mode is the tank turn mode, and the test drive type is the second four-wheel drive type, the test bench device is controlled to perform the corresponding stationary turning test according to the test drive type and the test stationary turning mode to obtain the corresponding bench test data, specifically including: According to the tank turning mode, the rear axle is controlled to turn in the same direction as the front axle, and the deflection angle of the rear axle is the same as that of the front axle; wherein, the deflection direction of the front axle is in the direction of steering wheel rotation. Depress the accelerator pedal; According to the second four-wheel drive type, the front axle motor is controlled to drive forward and the rear axle motor is controlled to drive in reverse, so that the bench test device can turn and move in place to obtain the bench test data; wherein, the driving torque values ​​of the front axle motor and the rear axle motor are equal.

6. The method as described in claim 1, characterized in that, If the test stationary turning mode is the tank turn mode, and the test drive type is the third- or fourth-wheel drive type, the test bench device is controlled to perform a corresponding stationary turning test based on the test drive type and the test stationary turning mode to obtain corresponding bench test data, specifically including: According to the tank turning mode, control the left front wheel and the right rear wheel to deflect to the extreme angle in opposite directions to the right, and control the right front wheel and the left rear wheel to deflect to the extreme angle to the left. Depress the accelerator pedal; According to the third and fourth drive type, the two hub motors away from the steering side are controlled to drive forward, and the two hub motors close to the steering side are controlled to drive in reverse, so that the bench test device can turn and move in place to obtain the bench test data; wherein, the driving torque values ​​of the four motors are equal.

7. The method as described in claim 1, characterized in that, After controlling the bench testing device to perform corresponding in-place steering tests according to the drive type under test and the in-place steering mode under test, and obtaining the corresponding bench test data, the method further includes: Store the bench test data and corresponding test condition parameters; Retrieve the test control standard that matches the test condition parameters; The bench test data is compared with the test control standard; If there is a discrepancy in the comparison, the bench testing device should be adjusted and calibrated, and the corresponding in-place turning test should be re-executed; If there is no deviation in the comparison, the bench test data and corresponding test condition parameters are built into the actual vehicle so that the actual vehicle can perform the corresponding stationary steering control action for testing according to the vehicle's drive type and the local stationary steering mode.

8. A bench test system for in-situ turning function, characterized in that, The system includes: an industrial control computer and a bench testing device for testing the in-situ turning function; the industrial control computer is specifically used for: Determine the type of drive to be tested corresponding to the bench test device; wherein, the type of drive to be tested includes: front drive type, first four-wheel drive type with independent forward and reverse rotation of front and rear axles, second four-wheel drive type with synchronized rear wheel steering, and third four-wheel drive type with independent four-wheel drive. The test stationary steering mode of the bench test device is determined, and the bench test device is controlled to simulate the steering wheel turning to the limit position; wherein, the test stationary steering mode includes: a fixed circle steering mode with any rear wheel as the center of the stationary steering, and a tank turn mode with the device rotating around its own center in place. Based on the drive type to be tested and the stationary turning mode to be tested, the bench test device is controlled to perform the corresponding stationary turning test to obtain the corresponding bench test data.

9. The system as described in claim 8, characterized in that, The bench testing device includes: a hardware-in-the-loop test bench and a hardware actuator configured on a simulated vehicle chassis; The hardware-in-the-loop test bench is controlled by the industrial computer and is used to control the hardware actuator to perform in-the-place turning operations that are compatible with the type of drive under test and the in-the-place turning mode under test.

10. A vehicle, comprising a memory, an on-board processor, and a computer program stored in the memory and executable on the processor, characterized in that, The on-board processor calibrates the on-site steering control parameters using bench test data obtained by the bench test method for the on-site steering function according to any one of claims 1-7, and then executes on-site steering control.

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