CN102073278A - Virtual vehicle and virtual component-based engine control model (ECM) calibration and verification system - Google Patents
Virtual vehicle and virtual component-based engine control model (ECM) calibration and verification system Download PDFInfo
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- CN102073278A CN102073278A CN2009101992200A CN200910199220A CN102073278A CN 102073278 A CN102073278 A CN 102073278A CN 2009101992200 A CN2009101992200 A CN 2009101992200A CN 200910199220 A CN200910199220 A CN 200910199220A CN 102073278 A CN102073278 A CN 102073278A
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Abstract
The invention relates to an engine control model (ECM) calibration and verification system for an automobile. A virtual vehicle component and a virtual power assembly component are constructed by using an application program, a virtual vehicle platform and a virtual power assembly are constructed by using these virtual components, and correct and real-time interaction between the application program and ECM hardware is realized by taking a simulator as a virtuality and reality combined bridge, so that calibration and verification of an ECM can be realized in an interaction process. An entire simulation test stand has high performance, high operability and high portability, so that the ECM can be calibrated and verified easily, labor force and material resource costs of ECM calibration and verification work can be lowered, and the development quality of ECM calibration can be enhanced.
Description
Technical field
The present invention relates to the development system that ECM in the vehicle development process (Engine Control Model, engine control module) demarcates and verifies, specially refer to virtual vehicle and virtual component in the application of ECM hardware in ring demarcation and verification system.
Background technology
Along with the widespread use of electronic technology in auto industry, the society and the public propose more and more higher requirement to the function and the performance of automobile, the result causes requiring a great deal of time in the performance history of modern vehicle, the man power and material carries out the demarcation and the checking of function and performance to ECM, and this process is extremely important to the construction cycle and the development quality of vehicle, but this performance history need be carried out related work usually on the exploitation sample car, so this performance history exists following remarkable shortcoming:
(1) construction cycle is long.Because waiting until after the construction of exploitation sample car finishes, the demarcation of ECM and checking need of work just can carry out related work, and vehicle need be transported to different areas in order under different temperature conditions, sea level elevation and condition of road surface, ECM to be demarcated with verifying, and need spend the considerable time at the enterprising rower of actual sample car during fixed and checking and remove to control the state of vehicle, thereby cause the demarcation of ECM and checking work need spend considerable time from start to end.
(2) cost of development height.Because the demarcation of ECM and checking need of work use a large amount of exploitation sample cars, on drum dynamometer and real road ECM are carried out complicated loaded down with trivial details demarcation and checking work.And in order under different external environments, ECM to be demarcated with verifying and need to transport the exploitation sample car to different area, and accurately the running operating mode of control vehicle need expend the plenty of time when carrying out actual demarcation and checking work, and above-mentioned these factors will make the development cost of ECM increase greatly.
(3) exploitation imperfection.Owing on the exploitation sample car, can not move the limiting condition of some vehicles, therefore also can not carry out relevant demarcation and the checking work of ECM, simultaneously owing to can not accurately control the external environment condition and the running status of vehicle, therefore relevant demarcation and checking work also can not be enough accurately and comprehensive.
Summary of the invention
The objective of the invention is for overcome that current ECM demarcates and checking work in the above-mentioned shortcoming that exists, and external environment condition, the duty of vehicle and the work of power assembly parts of employing software simulation vehicle, and the method for employing actual situation combination is quickened demarcation and the proof procedure of ECM.
The present invention has disclosed a kind of method that the automotive engine control module is demarcated and verified that is used for, and comprises the steps: to have made up by emulator the virtual power assembly electric-control system of a virtual vehicle; The operation information and the ambient condition of virtual vehicle are set by the computer screen control; By virtual power assembly electric-control system described operation information and ambient condition are converted to electric signal, are input to engine control module; Simultaneously the also electrical control signal that sends of detection of engine control module is converted into physical quantity corresponding by virtual power assembly electric-control system with the electrical control signal that receives then; Carry out engine control module demarcation and checking.
Further, described virtual power assembly electric-control system comprises virtual engine assembly and virtual transmission assembly, and virtual engine sensor and virtual engine actuator, described virtual engine sensor links to each other with virtual engine with the virtual engine actuator.Described virtual engine sensor is converted to electric signal with operation information and ambient condition, and described virtual engine actuator is converted into physical quantity corresponding with the electrical control signal that receives.
Further, described operation information and ambient condition comprise the residing air themperature of virtual vehicle, atmospheric pressure and the road resistance gradient, ignition switch, accelerator pedal, clutch pedal, brake pedal, the duty of gearbox gear-shift bar and air-conditioning request switch.
Further, described engine control module demarcation and verification method are under closed loop mode, also comprise the electric signal physical quantity corresponding of exporting according to described engine control module and calculate all input physical quantitys of next moment engine control module of virtual vehicle working time, be converted into electric signal by the virtual engine sensor then, and these electric signals delivered to the respective pin of engine control module by emulator.
Further, described engine control module demarcation and verification method are under open loop mode, also comprise according to the electric signal physical quantity corresponding of described engine control module output and calculate the steady state (SS) of virtual vehicle, and adjust a certain running parameter individually to study its influence.
The invention allows for a kind of system that the automotive engine control module is demarcated and verified that is used for simultaneously, described system comprises emulator, testing cassete, engine control module and subscriber computer, described emulator links to each other with testing cassete with the CAN communication bus by the class2 communication bus, described ECM control module links to each other with testing cassete, described emulator has made up a virtual vehicle that is operated in various states, and in emulator for virtual vehicle has made up all virtual-sensors and virtual actuator, described subscriber computer comprises the operation information that virtual vehicle is set and the screen control of ambient condition.
Further, described testing cassete can disconnect the load that is connected on emulator or the ECM output signal line, and has on the testing cassete for the measurement port of measuring emulator or ECM output electric signal.
Further, described emulator comprises the dynamics of vehicle analog function, the engine working process analog function, wheel box operation process simulation function, CAN communication message transmitting-receiving function, Class2 communication message transmitting-receiving function, all the sensors operation process simulation function, all actuator operation process simulation functions, the hardware configuration function of emulator, made up the virtual power assembly electric-control system of a virtual vehicle jointly, described virtual power assembly electric-control system comprises virtual engine assembly and virtual transmission assembly, and virtual engine sensor and virtual engine actuator, described virtual engine sensor links to each other with virtual engine with the virtual engine actuator.
Adopt system and method for the present invention, can shorten the construction cycle greatly, reduce cost of development, improve development quality.Only just can adapt to different exploitation vehicles, so the transplanting cost of itself is also very little with the transplanting workload by the vehicle configuration file of change application program and the operating characteristic of power assembly parts.
Description of drawings
Fig. 1 is ECM demarcation and the verification system based on virtual vehicle and virtual component;
Fig. 2 is the virtual power assembly electric-control system of the present invention.
Embodiment
The characteristics of technical solution of the present invention are to utilize the test figure of engine pedestal, ECM (Engine Control Model, engine control module) and TCM (Transmission ControlModel, the wheel box control module) relevant control strategy and control algolithm have made up a virtual engine and a virtual wheel box that is operated in various states, and in emulator (for example Pi AutoSim emulator), all virtual-sensors and virtual actuator have been made up for vehicle and power assembly electric-control system according to the operating characteristic of sensor and actuator, export the electric signal of virtual-sensor and obtain the electrical control signal of ECM by emulator then so that virtual actuator is carried out virtual action, be that vehicle has made up a virtual vehicle-carrying communication network according to the data link layer of Class2 and CAN bus and the enterprise network protocols of execution level simultaneously, utilize the manipulation control of the screen control simulating vehicle pilothouse of subscriber computer at last, finally built a virtual environment very true to nature for ECM.This virtual environment can be carried out real-time reciprocation by the electric signal of emulator and ECM controller, and the response process of this virtual environment and control procedure have higher degree of accuracy and real-time, therefore can be used for demarcation and the proof procedure of ECM.
According to the ECM of such scheme design demarcate and analogue system at run duration, can enter closed-loop simulation process or open loop simulation process according to tester's needs.This system is only according to the Behavior modeling of pilot control control and the electric signal of all input and output ECM controllers of detection under the closed-loop simulation process, for tester and ECM controller have been built a virtual Vehicular system, the control accuracy of this system and real-time and real vehicle are similar, can demarcate and verify some dynamic control process of ECM controller.The duty simulation of vehicle running state that this system will set according to the tester under the open loop simulation process and power assembly parts and detect the electric signal of all input and output ECM controllers can allow demarcation and the checking work of tester at each state research ECM controller.
The concrete principle of work of the present invention can be described below:
At first the tester need be provided with the residing air themperature of virtual vehicle, atmospheric pressure and the road resistance gradient by the computer screen control, the system architecture of before also tackling virtual vehicle and virtual power assembly is configured, and the operating characteristic of all the sensors, actuator and related electric signal is provided with.
In the closed-loop simulation process, pass through the ignition switch on the operating computer screen, accelerator pedal, clutch pedal, brake pedal, screen controls such as gearbox gear-shift bar and air-conditioning request switch go to control the running status of virtual vehicle, emulator then obtains the operation information and the ambient condition of virtual vehicle from subscriber computer by netting twine, also detect simultaneously the electrical control signal that the ECM controller sends, its application program is converted into physical quantity corresponding according to the operating characteristic of actuator with above-mentioned electric signal then, at last according to above-mentioned all information with calculate virtual actuator working time, virtual engine, virtual wheel box, the course of work of virtual-sensor and virtual network, thereby obtain next all input physical quantity of ECM constantly, operating characteristic according to sensor is converted into electric signal then, and these electric signals are delivered to the respective pin of ECM by emulator, said process is the mutual unstable state iterative process of a personal-machine, can demarcate dynamically and checking work ECM by this process.
In the open loop simulation process by the ignition key position on the computer screen is set, accelerator pedal position, the clutch pedal position, brake pedal position, gearbox gear-shift bar position, the measured value of the air-conditioning request position of the switch and all the sensors is with the fixing working environment of ECM, these physical quantitys will be delivered to emulator from subscriber computer by netting twine, its application program then is converted to electric signal according to the operating characteristic of sensor with physical quantity, and these electric signals are delivered to the respective pin of ECM, also detect simultaneously the electrical control signal that ECM sends, and above-mentioned electric signal is converted into corresponding physical quantity according to the operating characteristic of actuator, at last according to the virtual actuator of above-mentioned information calculations, virtual engine, virtual wheel box, the steady state (SS) of virtual-sensor and virtual network, in this process, can adjust a certain running parameter individually to study its influence, can carry out the demarcation and the checking work of stable state to ECM by this process.
The emulation test system of this demarcation and checking is made up of hardware and software two parts, this system hardware is formed as shown in Figure 1, by emulator, testing cassete, emulator is to the wire harness of testing cassete, testing cassete is to the wire harness of ECM, exploitation ECM control module, the 12V stabilized voltage supply, the CAN communication bus, Class2 communication bus and interfacing equipment VSI thereof (Vehicle Serial Interface) and subscriber computer are formed, this system also may comprise some parts to be tested as required, wherein the electric signal of all input and output emulators and ECM all will be passed through testing cassete, testing cassete can disconnect the load that is connected on emulator or the ECM output signal line, and have on the testing cassete for the measurement port of measuring emulator or ECM output electric signal, so testing cassete can make things convenient for the measurement of emulator or ECM output electric signal, and get rid of it and drive the influence of load or circuit its measurement.
And this system software is mainly by the dynamics of vehicle analog function, the engine working process analog function, wheel box operation process simulation function, CAN communication message transmitting-receiving function, Class2 communication message transmitting-receiving function, all the sensors operation process simulation function, all actuator operation process simulation functions, the hardware configuration function of emulator and trailer reversing control modeling interface program are formed, trailer reversing control modeling interface program operates in the subscriber computer as user interface, and other analog function downloads in the emulator operation with simulating vehicle after through compiling.
As shown in Figure 2, the present invention adopts the engine of application program constructing virtual, virtual wheel box, virtual engine sensor, virtual engine actuator, virtual communication network and virtual trailer reversing control etc., in software environment, built a virtual power assembly electric-control system then, adopt emulator that the output signal of virtual system is converted to electric signal, and these electric signals are delivered to the respective pin of true ECM, it also detects the electrical control signal that ECM sends simultaneously, and be physical quantity being sent to each application program, thereby made up one accurately with these transform electric, stable and real-time hardware-in-loop simulation system is to realize demarcation and the checking of ECM on simulator stand.
The present invention is applicable to demarcation and the checking work of ECM off-line, be specially adapted to ECM to sensor and actuator is demarcated and checking work, can before building, sample car just begin demarcation and the checking work of ECM, also can be used for verifying the exploitation exemplar of vehicle engine assembly control system design scheme and system unit, the demarcation of its relative traditional E CM and verification method have following remarkable advantage:
(1) shortens the construction cycle. Because can and affect parameter to the running status of simulating vehicle carries out comprehensively, repeat and the time reality simulation and control, therefore adopt this testing stand to simplify, reduce and accelerate demarcation and the checking work of ECM, and when building the exploitation sample car, just can carry out demarcation and the checking work of ECM, and can be in performance and matching problem the problem early to find in vehicle engine assembly control system exist of the initial stage of vehicle development with regard to proving ECM and system unit, and on this simulation test stand, also can carry out repeatedly careful research with the solution of acceleration problem to the problem that the exploitation sample car occurs.
(2) reducing development cost. Carry out demarcation and the checking work of ECM owing to adopt virtual vehicle, therefore will greatly reduce quantity, the number of times of development experiments and developer's the man-hour etc. of exploitation sample car, this simulation test stand itself has again very large flexibility simultaneously, only just can adapt to different exploitation vehicles by the vehicle configuration file of change application program and the operating characteristic of power assembly parts, so the transplanting cost of itself is also very little with the transplanting workload.
(3) improve development quality. Owing to carry out demarcation and the not dangerous property of checking work of ECM at simulation test stand, therefore can under all vehicle operation operating modes, demarcate and checking work ECM, and can be easily the running status of vehicle and power assembly be controlled at a certain specific pattern or process, can demarcates all sidedly ECM and verify based on each state or each process accordingly.
Claims (11)
1. one kind is used for the method that the automotive engine control module is demarcated and verified, it is characterized in that: the virtual power assembly electric-control system that has made up a virtual vehicle by emulator; The operation information and the ambient condition of virtual vehicle are set by the computer screen control; By virtual power assembly electric-control system described operation information and ambient condition are converted to electric signal, are input to engine control module; Simultaneously the also electrical control signal that sends of detection of engine control module is converted into physical quantity corresponding by virtual power assembly electric-control system with the electrical control signal that receives then; Carry out engine control module demarcation and checking.
2. a kind of method that the automotive engine control module is demarcated and verified that is used for according to claim 1, it is characterized in that: described virtual power assembly electric-control system comprises virtual engine assembly and virtual transmission assembly, and virtual engine sensor and virtual engine actuator, described virtual engine sensor links to each other with virtual engine with the virtual engine actuator.
3. a kind of method that the automotive engine control module is demarcated and verified that is used for according to claim 2, it is characterized in that: described virtual engine sensor is converted to electric signal with operation information and ambient condition.
4. a kind of method that the automotive engine control module is demarcated and verified that is used for according to claim 2, it is characterized in that: described virtual engine actuator is converted into physical quantity corresponding with the electrical control signal that receives.
5. a kind of method that the automotive engine control module is demarcated and verified that is used for according to claim 1, it is characterized in that: described operation information and ambient condition comprise the residing air themperature of virtual vehicle, atmospheric pressure and the road resistance gradient, ignition switch, accelerator pedal, clutch pedal, brake pedal, the duty of gearbox gear-shift bar and air-conditioning request switch.
6. a kind of method that the automotive engine control module is demarcated and verified that is used for according to claim 2, it is characterized in that: described engine control module demarcation and verification method are under closed loop mode, also comprise the electric signal physical quantity corresponding of exporting according to described engine control module and calculate all input physical quantitys of next moment engine control module of virtual vehicle working time, be converted into electric signal by the virtual engine sensor then, and these electric signals delivered to the respective pin of engine control module by emulator.
7. a kind of method that the automotive engine control module is demarcated and verified that is used for according to claim 2, it is characterized in that: described engine control module demarcation and verification method are under open loop mode, also comprise according to the electric signal physical quantity corresponding of described engine control module output and calculate the steady state (SS) of virtual vehicle, and adjust a certain running parameter individually to study its influence.
8. one kind is used for the system that the automotive engine control module is demarcated and verified, it is characterized in that: described system comprises emulator, testing cassete, engine control module and subscriber computer, described emulator links to each other with testing cassete with the CAN communication bus by the class2 communication bus, described ECM control module links to each other with testing cassete, described emulator has made up a virtual vehicle that is operated in various states, and in emulator for virtual vehicle has made up all virtual-sensors and virtual actuator, described subscriber computer comprises the operation information that virtual vehicle is set and the screen control of ambient condition.
9. a kind of system that the automotive engine control module is demarcated and verified that is used for according to claim 8, it is characterized in that: described testing cassete can disconnect the load that is connected on emulator or the ECM output signal line, and has on the testing cassete for the measurement port of measuring emulator or ECM output electric signal.
10. a kind of system that the automotive engine control module is demarcated and verified that is used for according to claim 8, it is characterized in that: described emulator comprises the hardware configuration function of dynamics of vehicle analog function, engine working process analog function, wheel box operation process simulation function, CAN communication message transmitting-receiving function, Class2 communication message transmitting-receiving function, all the sensors operation process simulation function, all actuator operation process simulation functions, emulator, has made up the virtual power assembly electric-control system of a virtual vehicle jointly.
11. a kind of system that the automotive engine control module is demarcated and verified that is used for according to claim 10, it is characterized in that: described virtual power assembly electric-control system comprises virtual engine assembly and virtual transmission assembly, and virtual engine sensor and virtual engine actuator, described virtual engine sensor links to each other with virtual engine with the virtual engine actuator.
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| CN103885341A (en) * | 2014-03-28 | 2014-06-25 | 长城汽车股份有限公司 | Performance analysis system and method based on automobile performance simulator |
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| CN104898647A (en) * | 2015-05-05 | 2015-09-09 | 广州锦红源电子科技有限公司 | Automatic calibration simulation testing system for ECU stand |
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| CN102591327A (en) * | 2012-02-27 | 2012-07-18 | 湖南大学 | Virtual-real combined test method developed for automobile body control |
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| CN104898647A (en) * | 2015-05-05 | 2015-09-09 | 广州锦红源电子科技有限公司 | Automatic calibration simulation testing system for ECU stand |
| CN106529392A (en) * | 2015-09-11 | 2017-03-22 | 福特全球技术公司 | Sensor-data generation in virtual driving environment |
| CN105673213A (en) * | 2016-01-22 | 2016-06-15 | 哈尔滨工业大学 | Simulator of AXIe interface gas turbine accelerator executor |
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| CN114779746B (en) * | 2022-04-29 | 2024-05-17 | 中国第一汽车股份有限公司 | Controller calibration method, calibration system and electronic device based on HIL rack system |
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Application publication date: 20110525 |