Fault simulation system

Abstract

The utility model provides a fault simulation system. The fault simulation system comprises an upper computer; the simulation system is electrically connected with the upper computer; the control system comprises at least two controllers, and each controller is electrically connected with the simulation system; the fault injection module is electrically connected with the simulation system and the control system; the fault injection module comprises a first switch part which is connected between at least two controllers of the control system. The upper computer, the simulation system, the fault injection module and the control system are jointly constructed to achieve simulation and testing of fault conditions, a plurality of controllers are arranged in the control system, and the fault injection module comprises a first switch part used for controlling connection and disconnection of the controllers in the control system. The on-off control of the connection between the controllers can be realized by controlling the first switch part, so that the inter-board fault of the controller is simulated, and the comprehensiveness of fault simulation in the vehicle is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a fault simulation test technical field especially relates to a fault simulation system. BACKGROUND

[0002] With the vehicle industry constantly advancing towards intelligent direction, the steer-by-wire technology receives more and more attention. The steer-by-wire system replaces the traditional mechanical steering device through electronic signal, so that the steering wheel and steering mechanical mechanism are decoupled, which brings higher integration, greater variable steering ratio, more flexible design and higher comfort to the automobile. The motor controller directly relates to vehicle steering, and is a key component related to driving safety, therefore, the function and performance test of the controller needs continuous improvement and progress, to provide more possibilities for the intelligent and automatic driving technology development of the automobile industry.

[0003] In the fault simulation system in the related art, the simulation of the fault condition is realized through the simulation system, the simulation system is connected with the controller, and different fault conditions are simulated. The fault simulation system cannot realize the simulation of the fault between the multiple controller boards without separately connecting the hardware, and there is a defect in the simulation test of the system. UTILITY MODEL CONTENT

[0004] The application provides a fault simulation system to realize the simulation of the fault between the multiple controller boards and improve the comprehensiveness of the fault simulation in the vehicle.

[0005] The application provides a fault simulation system, which comprises: an upper computer; a simulation system, electrically connected with the upper computer; a control system, comprising at least two controllers, and each controller is electrically connected with the simulation system; a fault injection module, electrically connected with the simulation system and the control system; wherein the fault injection module comprises: a first switch part, connected between the at least two controllers in the control system.

[0006] Optionally, the at least two controllers are connected through a CAN bus, and the first switch part is connected between the controller and the CAN bus.

[0007] Optionally, the at least two controllers comprise a first controller and a second controller, the first controller and the second controller are connected through a first CAN bus, and the first switch part comprises: a first switch, connected between the first controller and the first CAN bus; and a second switch, connected between the second controller and the first CAN bus.

[0008] Optionally, the first controller comprises a first master controller and a first slave controller; the first switch comprises: a first sub-switch connected between the first master controller and the first CAN bus; and a second sub-switch connected between the first slave controller and the first CAN bus; the first master controller and the first slave controller are connected through a second CAN bus; and the first switch part further comprises: a third switch connected between the first master controller and the second CAN bus; and a fourth switch connected between the first slave controller and the second CAN bus.

[0009] Optionally, the second controller comprises a second master controller and a second slave controller; the second switch comprises: a third sub-switch connected between the second master controller and the first CAN bus; and a fourth sub-switch connected between the second slave controller and the first CAN bus; the second master controller and the second slave controller are connected through a third CAN bus; and the first switch part further comprises: a fifth switch connected between the second master controller and the third CAN bus; and a sixth switch connected between the second slave controller and the third CAN bus.

[0010] Optionally, the first CAN bus comprises a first CAN sub-bus and a second CAN sub-bus; the first master controller and the second master controller are connected through the first CAN sub-bus; and the first slave controller and the second slave controller are connected through the second CAN sub-bus; the first sub-switch comprises: a first secondary sub-switch connected between the first master controller and the first CAN sub-bus; and a second secondary sub-switch connected between the first master controller and the second CAN sub-bus; the second sub-switch comprises: a third secondary sub-switch connected between the first slave controller and the first CAN sub-bus; and a fourth secondary sub-switch connected between the first slave controller and the second CAN sub-bus; the third sub-switch comprises: a fifth secondary sub-switch connected between the second master controller and the first CAN sub-bus; and a sixth secondary sub-switch connected between the second master controller and the second CAN sub-bus; and the fourth sub-switch comprises: a seventh secondary sub-switch connected between the second slave controller and the first CAN sub-bus; and an eighth secondary sub-switch connected between the second slave controller and the second CAN sub-bus.

[0011] Optionally, the first switch part further comprises at least one of a seventh switch, an eighth switch, a ninth switch and a tenth switch; the seventh switch is connected between the first master controller and the third CAN bus; the eighth switch is connected between the first slave controller and the third CAN bus; the ninth switch is connected between the second master controller and the second CAN bus; and the tenth switch is connected between the second slave controller and the second CAN bus.

[0012] Optionally, one of the first controller and the second controller is a handwheel controller, and the other is a roadwheel controller.

[0013] Optionally, the fault injection module further includes a second switching unit, which includes multiple switching elements connected between the simulation system and various controllers in the control system.

[0014] Optionally, the simulation system includes: a power supply board, one end of which is electrically connected to the host computer, and the other end of which is electrically connected to each controller in the control system via a fault injection module, for providing voltage to each controller in the control system according to the settings of the host computer; a motor board, which stores the simulation model of the simulation object, one end of which is electrically connected to the host computer, and the other end of which is electrically connected to each controller in the control system via a fault injection module; a communication board, one end of which is electrically connected to the host computer, and the other end of which is electrically connected to each controller in the control system via a fault injection module, for realizing communication; a sensor simulation board, for simulating the transmission of sensor signals in the vehicle, one end of which is electrically connected to the host computer, and the other end of which is electrically connected to each controller in the control system via a fault injection module; and a switch connected between at least one of the power supply board, motor board, communication board, and sensor simulation board and the control system.

[0015] The fault simulation system provided in this application is constructed by a host computer, a simulation system, a fault injection module, and a control system to simulate and test fault conditions. The control system is equipped with multiple controllers, and the fault injection module includes a first switch that can be used to control the connection between controllers in the control system. By controlling the first switch, the connection between controllers can be controlled, thereby simulating inter-board faults of the controllers, which helps to improve the comprehensiveness of fault simulation in the vehicle. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of a fault simulation system provided in one embodiment of this application;

[0017] Figure 2 This is a schematic diagram of a fault simulation system provided in another embodiment of this application;

[0018] Figure 3 This is a schematic diagram of a fault simulation system provided in another embodiment of this application.

[0019] Figure Labels

[0020] 10: Host computer; 20: Simulation system; 201: Power supply board; 202: Motor board; 203: Communication board; 204: Sensor simulation board; 300: Controller; 311: First master controller; 312: First slave controller; 321: Second master controller; 322: Second slave controller;

[0021] 40: Fault injection module; 4111: First and second-level sub-switches; 4112: Second and second-level sub-switches; 4121: Third and second-level sub-switches; 4122: Fourth and second-level sub-switches; 4131: Fifth and second-level sub-switches; 4132: Sixth and second-level sub-switches; 4141: Seventh and second-level sub-switches; 4142: Eighth and second-level sub-switches; 413: Third switch; 414: Fourth switch; 415: Fifth switch; 416: Sixth switch; 417: Seventh switch; 418: Eighth switch; 419: Ninth switch; 4110: Tenth switch; 42: Second switch section;

[0022] 4011: First CAN sub-bus; 4012: Second CAN sub-bus; 402: Second CAN bus; 403: Third CAN bus. Detailed Implementation

[0023] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings.

[0024] Combination Figures 1 to 3 As shown, this application provides a fault simulation system.

[0025] Combination Figure 1 As shown, the fault simulation system provided in this application embodiment includes: a host computer 10, a simulation system 20, a control system, and a fault injection module 40.

[0026] The simulation system 20 is electrically connected to the host computer 10. The control system includes at least two controllers 300, and each controller 300 is electrically connected to the simulation system 20. The fault injection module 40 is electrically connected to both the simulation system 20 and the control system.

[0027] The fault injection module 40 includes a first switch section connected between at least two controllers 300 in the control system. It should be noted that the first switch section includes one or more switches. As part of the fault injection module 40, the first switch section is electrically connected to the simulation system 20 and the host computer 10, and can be controlled to open or close.

[0028] The fault simulation system provided in this application embodiment is constructed by the host computer 10, the simulation system 20, the fault injection module 40 and the control system to simulate and test fault conditions. The control system is equipped with multiple controllers 300, and the fault injection module 40 includes a first switch that can be used to control the connection between the controllers 300 in the control system. By controlling the first switch, the connection between the controllers 300 can be controlled, thereby simulating the inter-board faults of the controllers 300, which helps to improve the comprehensiveness of the fault simulation in the vehicle.

[0029] The fault injection module can inject faults into signals not only before the input controllers and before each board in the simulation system, but also into the input and output signals between controllers. This fault simulation system can simulate inter-board communication failures such as controller crashes, data transmission errors, message loss, and protocol errors in one or more controllers. This allows for further practice of the system's fault handling procedures and emergency response plans, evaluation of the communication and collaborative operation between controllers, and fault tolerance capabilities in the event of communication failures, thereby verifying the system's stability and reliability. Furthermore, interleaved communication between controllers can be achieved by adjusting the first switch section to simulate the system's performance and response capabilities when one or more controllers are hardware mismatched. Thus, by setting up the first switch section and multiple controllers, the comprehensiveness of the fault simulation is effectively improved.

[0030] This section provides a more detailed explanation of the fault simulation system.

[0031] The host computer 10 is used to simulate the operation of the whole vehicle, specifically to simulate the dynamic behavior of the whole vehicle under different working conditions and the vehicle controller 300.

[0032] The host computer 10 includes a vehicle dynamics model, residual bus simulation, automated testing software, and a test execution interface. The vehicle dynamics model simulates the vehicle's dynamic behavior under different operating conditions, specifically including performance in braking, acceleration, steering, and suspension. It also provides the controller 300 with necessary vehicle status signals such as steering wheel angle, torque, rack displacement, and vehicle posture. The residual bus simulation simulates the vehicle controller 300. The virtual vehicle controller 300 model requires loading the corresponding DBC (Database Container) file and establishing virtual nodes for simulation. It interacts with the controller 300 by editing the controller 300's logic and instructions through scripts. The automated testing software is used to develop automated scripts, which, after compilation, generate readable files that are added to the test case execution interface for testing. During test execution, user operations are simulated according to the steps and assertions defined in the script, and the system's response is checked to ensure it meets expectations.

[0033] The simulation system 20 includes a power supply board 201, a motor board 202, a communication board 203, and a sensor simulation board 204.

[0034] One end of the power supply board 201 is electrically connected to the host computer 10, and the other end is electrically connected to each controller 300 in the control system via the fault injection module 40. It is used to provide voltage to each controller 300 in the control system according to the settings of the host computer 10. The power supply board 201 provides independent power to each controller 300 in the control system, and outputs voltage and current according to the settings of the host computer 10 to ensure the operation of the control system and the overall fault simulation system. In some embodiments, the power supply board 201 is electrically connected to the motor board 202, the communication board 203, and the sensor simulation board 204, and supplies power to other boards in the simulation system 20. In at least some embodiments, the power supply board 201 is not electrically connected to the motor board 202, the communication board 203, and the sensor simulation board 204. The fault simulation system also includes a power supply for the motor board 202, the communication board 203, and the sensor simulation board 204.

[0035] The motor board 202 stores simulation models of the simulated objects. One end is electrically connected to the host computer 10, and the other end is electrically connected to the various controllers 300 in the control system via the fault injection module 40. The simulation models embedded in the motor board 202 include simulation models of the motor, sensors, and inverter. During implementation, the simulation models built using model design software such as Simulink are compiled to generate software packages, which the host computer 10 can integrate into the motor board 202 via Ethernet. The simulation model releases key parameter variable interfaces, allowing users to directly input corresponding motor external characteristic parameters, inverter parameters, and sensor parameters through the host computer 10 interface for modeling, thereby generating simulation models that closely meet user needs.

[0036] The motor board 202 provides digital and analog signal acquisition / output channels. Specifically, the motor board 202 is connected to each controller 300 via a first transmission line, a second transmission line, a third transmission line, and a fourth transmission line. The first transmission line is used to transmit PWM signals; the second transmission line is used to transmit phase voltage signals; the third transmission line is used to transmit phase current signals; and the fourth transmission line is used to transmit motor angle signals.

[0037] It should be noted that the first, second, third, and fourth transmission lines here are distinguished only by their function, and their quantity is not limited. For example, corresponding to the six half-bridges of the controller 300, the first transmission line can be configured to include six transmission lines, the second transmission line can be configured to include three transmission lines, the third transmission line can be configured to include three transmission lines, and the fourth transmission line can be configured to include eight transmission lines. The current position of the motor can be determined based on the fourth transmission line. During implementation, the motor board 202 acquires the control signals from the controller 300, i.e., the PWM signal, and outputs three-phase current, three-phase voltage, and motor angle signals to the controller 300.

[0038] One end of the communication board 203 is electrically connected to the host computer 10, and the other end is electrically connected to each controller 300 in the control system via the fault injection module 40, for the purpose of communication. Specifically, the communication board 203 is used to realize communication between the host computer 10 and the fault injection module 40.

[0039] The sensor simulation board 204 is used to simulate the signal transmission of sensors within the vehicle. One end is electrically connected to the host computer 10, and the other end is electrically connected to each controller 300 in the control system via the fault injection module 40. Specifically, the sensor simulation board 204 is used to simulate the working principle of sensors within the vehicle and further simulate the signal transmission within the sensors. In some embodiments, the sensor simulation board 204 is specifically a SENT (Single Edge Nibble Transmission) board, used to simulate the signal transmission of SENT sensors.

[0040] The fault injection module 40 intercepts signals transmitted to the control system through the simulation system 20, processes the intercepted input or output signals accordingly to generate a fault signal, and then inputs or outputs it to the controller 300 of the control system. In at least some embodiments, the various controllers 300 within the control system are connected via a CAN bus. The fault injection module 40 is used to intercept signals transmitted to the control system through the simulation system 20 and the CAN bus, process the intercepted input or output signals accordingly to generate a fault signal, and then input or output it to the controller 300 of the control system.

[0041] In some embodiments, the control system includes at least three controllers, and the first switching unit includes multiple switches, with switches provided between each pair of controllers. This allows for on / off control of the connections between the controllers.

[0042] Combination Figure 2 As shown, in some embodiments, when at least two controllers 300 within the control system are connected via a CAN bus, a first switch is connected between the controller 300 and the CAN bus. Thus, by controlling the communication connection between the controller 300 and the CAN bus, the communication between the two controllers 300 can be controlled.

[0043] In some embodiments, at least two controllers 300 include a first controller and a second controller, which are connected via a first CAN bus. In this case, a first switching unit includes a first switch and a second switch. The first switch is connected between the first controller and the first CAN bus, and the second switch is connected between the second controller and the first CAN bus. Thus, by controlling the first and second switches, simulations of different fault conditions between the first and second controllers can be achieved.

[0044] Here, one of the first controller and the second controller is a handwheel controller, and the other is a road wheel controller. The handwheel controller and the road wheel controller are important controllers in the steer-by-wire system. Directly setting the control system to include both the handwheel controller and the road wheel controller helps improve the accuracy of simulating the steer-by-wire system in the vehicle.

[0045] Specifically, the handwheel controller, or steering wheel assembly, serves as the interface between the driver and the vehicle's steering system. It receives and converts the driver's steering intentions into electrical signals, while simultaneously receiving and transmitting road feel feedback signals, providing the driver with real-time vehicle steering status information. The wheel controller, or wheel steering module, precisely controls the steering angle and speed of the wheels based on steering commands from the vehicle's main controller, ensuring that the vehicle's steering actions correspond to the driver's intentions. Figure 1 This ensures the vehicle's steering response characteristics and accuracy at different speeds.

[0046] In some embodiments, the first CAN bus is a proprietary CAN bus.

[0047] Specifically, continue to combine Figure 2 As shown, in some embodiments, the first controller includes a first master controller 311 and a first slave controller 312. The first switch includes a first sub-switch and a second sub-switch. The first sub-switch is connected between the first master controller 311 and the first CAN bus; the second sub-switch is connected between the first slave controller 312 and the first CAN bus. This further enhances the diversity and accuracy of fault simulation between controller boards 300 within the control system, thereby improving the overall comprehensiveness of the fault simulation system.

[0048] Here, when the first controller is a handwheel controller, the first master controller 311 is a handwheel master controller and the first slave controller 312 is a handwheel slave controller. When the first controller is a road wheel controller, the first master controller 311 is a road wheel master controller and the first slave controller 312 is a road wheel slave controller.

[0049] The handwheel master controller, as the core of the handwheel control system, is responsible for receiving and processing input signals from the handwheel inside the vehicle. These input signals may include the steering wheel's rotation angle, rotation speed, and the force applied by the driver through the steering wheel. Based on the received input signals and the vehicle's current speed, steering angle, and other conditions, the handwheel master controller calculates the required steering command and sends it to other vehicle control systems, such as the wheel controller, or actuators, such as the steering motor.

[0050] The handwheel slave controller, as an auxiliary controller, supports or extends the functions of the main handwheel controller. For example, it monitors other sensor signals related to handwheel operation, such as torque and angle sensors; or it processes specific control logic, such as anti-lock steering and steering torque assist. In some cases, the handwheel slave controller may also be responsible for sending processed signals or control commands to other vehicle systems to achieve more complex control functions.

[0051] The main wheel controller, as the core of the road wheel controller system, is the key controller responsible for the vehicle's steering actuation system. It receives steering commands from the handwheel controller or other vehicle control systems and controls the steering motor, steering gear, and other steering actuators to perform steering actions based on these commands. The main wheel controller also monitors the status of the steering system, such as front wheel angle, steering speed, and steering torque, and adjusts the steering commands in real time based on the monitored status information to ensure accurate, stable, and safe vehicle steering.

[0052] The wheel slave controller serves as an auxiliary controller, supporting the operation of the main wheel controller. For example, it monitors other key parameters of the steering system, such as tire wear and road surface adhesion; or it handles specific control logic, such as steering stability control and road surface adaptation adjustments. In some cases, the wheel slave controller feeds back the steering system's status information to the main controller or other vehicle systems to achieve more comprehensive vehicle control and safety monitoring.

[0053] It should be noted that in actual vehicle systems, the specific functions and architectures of the handwheel master controller, handwheel slave controller, road wheel master controller, and road wheel slave controller may be adapted and are not entirely consistent with the aforementioned examples.

[0054] The first master controller 311 and the first slave controller 312 are connected via a second CAN bus 402. In some embodiments, the second CAN bus 402 is a master-slave CAN bus.

[0055] The handwheel master controller calculates and allocates the target torque to the handwheel slave controller based on the closed-loop angle calculation and distribution when the advanced driver assistance system (ADAS) intervenes. Communication between the handwheel master and slave controllers is achieved via a master-slave CAN bus. For example, the handwheel master controller calculates the closed-loop angle and allocates the target torque to the slave controller based on driver input and ADAS intervention. Communication between the handwheel master controller and the road wheel master controller is achieved via a private CAN bus. For example, the road wheel master controller calculates the target angle at the road wheel end, and when ADAS intervention occurs, the road wheel master controller calculates the target angle at the handwheel end. Communication between the road wheel master and slave controllers is also achieved via a master-slave CAN bus. For example, the road wheel master controller calculates and allocates the target torque to the slave controller. Communication between the handwheel slave controller and the road wheel slave controller is achieved via a private CAN bus.

[0056] The first switching unit also includes a third switch 413 and a fourth switch 414. The third switch 413 is connected between the first master controller 311 and the second CAN bus 402; the fourth switch 414 is connected between the first slave controller 312 and the second CAN bus 402. In this way, by controlling the on / off state of the third switch 413 and the fourth switch 414, different on / off control methods can be realized for the connection between the first master controller 311 and the first slave controller 312, which is beneficial to improving the diversity and accuracy of fault simulation between controller boards 300 in the control system, thereby improving the simulation comprehensiveness of the overall fault simulation system.

[0057] In some embodiments, the second controller includes a second master controller 321 and a second slave controller 322. The second switch includes a third sub-switch and a fourth sub-switch. The third sub-switch is connected between the second master controller 321 and the first CAN bus; the fourth sub-switch is connected between the second slave controller 322 and the first CAN bus. Thus, by controlling the third and fourth sub-switches, the connection between the second master controller 321 and the second slave controller 322 and the first controller can be controlled, which helps to improve the diversity and accuracy of fault simulation between controller boards 300 within the control system, thereby improving the overall comprehensiveness of the fault simulation system.

[0058] Here, when the second controller is a handwheel controller, the second master controller 321 is the handwheel master controller and the second slave controller 322 is the handwheel slave controller. When the second controller is a road wheel controller, the second master controller 321 is the road wheel master controller and the second slave controller 322 is the road wheel slave controller. The specific functions of the handwheel master controller, handwheel slave controller, road wheel master controller, and road wheel slave controller 300 have been described in detail and will not be repeated here.

[0059] The second master controller 321 and the second slave controller 322 are connected via a third CAN bus 403. The first switching unit also includes a fifth switch 415 and a sixth switch 416. The fifth switch 415 is connected between the second master controller 321 and the third CAN bus 403; the sixth switch 416 is connected between the second slave controller 322 and the third CAN bus 403. By controlling the fifth switch 415 and the sixth switch 416, different types of on / off control of the connection between the second master controller 321 and the second slave controller 322 can be achieved, which is beneficial to improving the diversity and accuracy of fault simulation between controller boards 300 within the control system, thereby improving the overall comprehensiveness of the fault simulation system.

[0060] Furthermore, in some embodiments, where the first controller includes a first master controller 311 and a first slave controller 312, and the second controller includes a second master controller 321 and a second slave controller 322, the first CAN bus includes a first CAN sub-bus 4011 and a second CAN sub-bus 4012. The first master controller 311 and the second master controller 321 are connected via the first CAN sub-bus 4011; the first slave controller 312 and the second slave controller 322 are connected via the second CAN sub-bus 4012.

[0061] At this time, the first sub-switch includes a first secondary sub-switch 4111 and a second secondary sub-switch 4112. The first secondary sub-switch 4111 is connected between the first main controller 311 and the first CAN sub-bus 4011; the second secondary sub-switch 4112 is connected between the first main controller 311 and the second CAN sub-bus 4012.

[0062] The second sub-switch includes a third secondary sub-switch 4121 and a fourth secondary sub-switch 4122. The third secondary sub-switch 4121 is connected between the first slave controller 312 and the first CAN sub-bus 4011; the fourth secondary sub-switch 4122 is connected between the first slave controller 312 and the second CAN sub-bus 4012.

[0063] The third sub-switch includes a fifth secondary sub-switch 4131 and a sixth secondary sub-switch 4132. The fifth secondary sub-switch 4131 is connected between the second main controller 321 and the first CAN sub-bus 4011; the sixth secondary sub-switch 4132 is connected between the second main controller 321 and the second CAN sub-bus 4012.

[0064] The fourth sub-switch includes a seventh secondary sub-switch 4141 and an eighth secondary sub-switch 4142. The seventh secondary sub-switch 4141 is connected between the second slave controller 322 and the first CAN sub-bus 4011; the eighth secondary sub-switch 4142 is connected between the second slave controller 322 and the second CAN sub-bus 4012.

[0065] In this way, with the first master controller 311 and the second master controller 321 connected via the first CAN sub-bus 4011, and the first slave controller 312 and the second slave controller 322 connected via the second CAN sub-bus 4012, more flexible on / off control of the connection between the controller 300 and the first CAN sub-bus 4011 and the second CAN sub-bus 4012 can be achieved. This is beneficial to improving the diversity and accuracy of fault simulation between controller 300 boards in the control system, and thus to improving the overall comprehensiveness of the fault simulation system.

[0066] In some embodiments, the first switching unit further includes at least one of a seventh switch 417, an eighth switch 418, a ninth switch 419, and a tenth switch 4110. The seventh switch 417 is connected between the first master controller 311 and the third CAN bus 403; the eighth switch 418 is connected between the first slave controller 312 and the third CAN bus 403; the ninth switch 419 is connected between the second master controller 321 and the second CAN bus 402; and the tenth switch 4110 is connected between the second slave controller 322 and the second CAN bus 402. This allows for more diverse inter-board fault simulation of the controllers 300 within the control system, improving the diversity and accuracy of inter-board fault simulation within the control system, and consequently enhancing the overall comprehensiveness of the fault simulation system.

[0067] Here, with the first switching section including the seventh switch 417, the eighth switch 418, the ninth switch 419, and the tenth switch 4110, combined with the aforementioned switches within the first switching section, it is possible to control the on / off connection of any of the four controllers 300 (first master controller 311, second master controller 321, first slave controller 312, and second slave controller 322) and the four CAN buses (first CAN sub-bus 4011, second CAN sub-bus 4012, second CAN bus 402, and third CAN bus 403) within the control system. This configuration allows for a more comprehensive simulation of different types of inter-board faults among the controllers 300 in the control system, thus improving the overall comprehensiveness of the fault simulation system.

[0068] Combination Figure 3 As shown, in some embodiments, the fault injection module 40 further includes a second switching unit 42, which includes multiple switching elements connected between the simulation system 20 and each controller 300 in the control system. This allows for on / off control of the connection between each controller 300 in the control system and the simulation system 20, enabling adjustments to the controllers 300 connected to the simulation system 20, thereby simulating different fault conditions and improving the overall comprehensiveness of the fault simulation system.

[0069] In the case where the simulation system 20 includes a power supply board 201, a motor board 202, a communication board 203, and a sensor simulation board 204, a switch is connected between at least one of the power supply board 201, the motor board 202, the communication board 203, and the sensor simulation board 204 and the control system. This allows for switching between the boards and the control system in the simulation system 20, facilitating the simulation of different fault conditions and improving the overall comprehensiveness of the fault simulation system.

[0070] In some embodiments, the second switching unit 42 includes a switch connected between the power supply board 201 and the control system. Further, the second switching unit 42 includes a switch connected between the power supply board 201 and each controller 300 of the control system. By controlling the switch between the power supply board 201 and the control system, power supply control of the controllers 300 in the control system can be achieved, thereby simulating different power supply conditions.

[0071] In some embodiments, the second switching unit 42 includes a switch connecting the motor board 202 and the control system. Specifically, the second switching unit 42 includes a switch connecting the motor board 202 and each controller 300 of the control system. This enables on / off control of the connection between the motor board 202 and the controllers 300 within the system. More specifically, considering that the motor board 202 is connected to each controller 300 via a first transmission line, a second transmission line, a third transmission line, and a fourth transmission line, multiple switches may be provided. In some embodiments, the number of switches is determined by the number of transmission lines, with switches provided on each transmission line to enable on / off control of that transmission line. This improves the accuracy of communication control between the motor board 202 and the control system.

[0072] In some embodiments, the second switch unit 42 includes a switch element connected between the communication board 203 and the control system. Specifically, the second switch unit 42 includes a switch element connected between the communication board 203 and each controller 300 in the control system. In this way, the connection between the communication board 203 and the controller 300 can be controlled to simulate different communication conditions, thereby improving the simulation comprehensiveness of the overall fault simulation system.

[0073] In some embodiments, the second switch unit 42 includes a switch element connected between the sensor simulation board 204 and the control system. Specifically, the second switch unit 42 includes a switch element connected between the sensor simulation board 204 and each controller 300 in the control system. This enables on / off control of the connection between the sensor simulation board 204 and the controller 300.

[0074] In the description of this application, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

Claims

1. A fault simulation system, characterized in that, include: Host computer; The simulation system is electrically connected to the host computer. The control system includes at least two controllers, and each of the controllers is electrically connected to the simulation system; The fault injection module is electrically connected to the simulation system and the control system. The fault injection module includes a first switch unit connected between at least two controllers in the control system.

2. The fault simulation system according to claim 1, characterized in that, The at least two controllers are connected via a CAN bus, and the first switch is connected between the controller and the CAN bus.

3. The fault simulation system according to claim 2, characterized in that, The at least two controllers include a first controller and a second controller, the first controller and the second controller are connected via a first CAN bus, and the first switch unit includes: The first switch is connected between the first controller and the first CAN bus; The second switch is connected between the second controller and the first CAN bus.

4. The fault simulation system according to claim 3, characterized in that, The first controller includes a first master controller and a first slave controller; The first switch includes: The first sub-switch is connected between the first main controller and the first CAN bus; The second sub-switch is connected between the first slave controller and the first CAN bus; The first master controller and the first slave controller are connected via a second CAN bus; the first switch unit further includes: The third switch is connected between the first main controller and the second CAN bus; The fourth switch is connected between the first slave controller and the second CAN bus.

5. The fault simulation system according to claim 4, characterized in that, The second controller includes a second master controller and a second slave controller; The second switch includes: The third sub-switch is connected between the second main controller and the first CAN bus; The fourth sub-switch is connected between the second slave controller and the first CAN bus; The second master controller and the second slave controller are connected via a third CAN bus; the first switch unit further includes: The fifth switch is connected between the second main controller and the third CAN bus; The sixth switch is connected between the second slave controller and the third CAN bus.

6. The fault simulation system according to claim 5, characterized in that, The first CAN bus includes a first CAN sub-bus and a second CAN sub-bus; The first main controller and the second main controller are connected via the first CAN sub-bus; The first slave controller and the second slave controller are connected via the second CAN sub-bus; The first sub-switch includes: The first and second sub-switches are connected between the first main controller and the first CAN sub-bus; The second sub-switch is connected between the first main controller and the second CAN sub-bus; The second sub-switch includes: The third secondary sub-switch is connected between the first slave controller and the first CAN sub-bus; The fourth secondary sub-switch is connected between the first slave controller and the second CAN sub-bus; The third sub-switch includes: The fifth secondary sub-switch is connected between the second main controller and the first CAN sub-bus; The sixth and second sub-switches are connected between the second main controller and the second CAN sub-bus; The fourth sub-switch includes: The seventh secondary sub-switch is connected between the second slave controller and the first CAN sub-bus; The eighth secondary sub-switch is connected between the second slave controller and the second CAN sub-bus.

7. The fault simulation system according to claim 6, characterized in that, The first switching unit further includes at least one of a seventh switch, an eighth switch, a ninth switch, and a tenth switch; The seventh switch is connected between the first main controller and the third CAN bus; The eighth switch is connected between the first slave controller and the third CAN bus; The ninth switch is connected between the second main controller and the second CAN bus; The tenth switch is connected between the second slave controller and the second CAN bus.

8. The fault simulation system according to claim 3, characterized in that, One of the first controller and the second controller is a handwheel controller, and the other is a road wheel controller.

9. The fault simulation system according to claim 2, characterized in that, The fault injection module further includes a second switching unit, which includes multiple switching components connected between the simulation system and each controller in the control system.

10. The fault simulation system according to claim 9, characterized in that, The simulation system includes: The power supply board has one end electrically connected to the host computer and the other end electrically connected to each controller in the control system through the fault injection module. It is used to provide voltage to each controller in the control system according to the settings of the host computer. The motor board stores the simulation model of the simulation object. One end is electrically connected to the host computer, and the other end is electrically connected to each controller in the control system through the fault injection module. The communication board has one end electrically connected to the host computer and the other end electrically connected to each controller in the control system through the fault injection module, for the purpose of communication. The sensor simulation board is used to simulate the transmission of sensor signals in the vehicle. One end is electrically connected to the host computer, and the other end is electrically connected to each controller in the control system through the fault injection module. The switch is connected between at least one of the power supply board, the motor board, the communication board, and the sensor simulation board and the control system.

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