CN104298129A - Test simulator of automotive electronic controller - Google Patents
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- CN104298129A CN104298129A CN201410639518.XA CN201410639518A CN104298129A CN 104298129 A CN104298129 A CN 104298129A CN 201410639518 A CN201410639518 A CN 201410639518A CN 104298129 A CN104298129 A CN 104298129A
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Abstract
The invention discloses a test simulator of an automotive electronic controller and aims to solve the problem of resource waste in function and performance when a current general high-performance hardware-in-loop system is applied to the automotive electronic controller. The test simulator of the automotive electronic controller is composed of a server and a CompactRIO real-time control system, wherein the server is connected with the CompactRIO real-time control system through an Ethernet line; the CompactRIO real-time control system is composed of a CompactRIO integration system and a CompactRIO I/O (Input/Output) module; the CompactRIO integration system integrates a real-time processor and a reconfigurable FPGA (Field Programmable Gate Array) cabinet and is connected with the CompactRIO I/O module through a serial interface; the tested electronic controller is connected with the CompactRIO I/O module through a VCU (Vehicle Control Unit) hardware interface; a real-time controller transfers data to the server through TCP/IP (Transmission Control Protocol/Internet Protocol), and the server transfers the data to the real-time controller through a network sharing variable; the real-time controller communicates with the FPGA cabinet through an FPGA interface; communication between the FPGA cabinet and the tested automotive electronic controller is completed through data transmission based on a CAN (Controller Area Network) bus communication protocol and input/output of an analog-to-digital signal.
Description
Technical field
The present invention relates to electronic control device for vehicle, be specifically related to a kind of electronic controller for vehicle test gimulator.
Background technology
With the develop rapidly of field of automobile electronic control, electronic control system is increasingly huge, numerous electronic controllers installed by a medium-to-high grade car, and in order to ensure the security of automobile, the software and hardware test of electronic controller becomes one of core content of automobile electric control system exploitation.
At present, the electronic controller simulation test of international mainstream is called hardware in loop, namely by special high-performance software and hardware, and the various working conditions of simulation electronic controller, thus effectively test out in real time the reliability in the function of electronic controller and operation process.The testing apparatus of this hardware in loop is generally formed by having the real-time controller of powerful calculation processing power, abundant I/O interface and sophisticated software platform, thus can realize the emulation testing of all kinds of electronic controller.The main automobile electronic controller hardware in loop platform used comprises dSPACE, PXI and LabCar both at home and abroad at present.This type systematic builds hardware in loop platform under usually requiring to be applicable to varying environment different field in design, must possess powerful function and excellent performance.But this type systematic to be applied on electronic controller for vehicle shortcoming also clearly: this kind of powerful and universal hardware-in―the-loop test system that is excellent performance is applied in single electronic controller for vehicle simulation test process with high costs, for electronic controller most in automotive system, certainly exist the waste in a large amount of function and performance.
Summary of the invention
To be applied on electronic controller for vehicle in loop systems and to there is to solve current universal high-performance hardware the problem that in function and performance, the utilization of resources is wasted, the present invention designs a kind of device of ad hoc type electronic controller for vehicle simulation test.
The invention provides a kind of electronic controller for vehicle test gimulator, by server, CompactRIO real-time control system forms, server is connected by ethernet line with CompactRIO real-time control system, wherein, CompactRIO real-time control system is made up of CompactRIO integrated system and CompactRIO I/O module, the integrated real-time processor of CompactRIO integrated system and reconfigurable FPGA (field programmable gate array) cabinet, CompactRIO integrated system is connected by serial line interface with CompactRIO I/O module, tested electronic controller is by VCU hardware interface and CompactRIO I/O model calling, described CompactRIO I/O module comprises four blocks of data capture cards: NI DI/O series, for the constrained input of digital signal, NI CAN card, for the transmission of the communication node bag based on CAN agreement, NI AO series, for the output of simulating signal, NI AI series, for the input of simulating signal.
As the improvement project of a kind of electronic controller for vehicle test gimulator provided by the invention, real-time controller adopts the mode of TCP/IP to transmit data to server, and server adopts the mode of network shared variable to transmit data to real-time controller CompactRIO; The communication of real-time controller and FPGA cabinet is by FPGA Interface realization; The communication of FPGA cabinet and tested electronic controller for vehicle is by transmit based on the data of CAN communication protocol and the I/O of modulus signal completes.
As the improvement project of a kind of electronic controller for vehicle test gimulator provided by the invention, the software architecture of this electronic controller for vehicle test gimulator comprises server module, real-time controller module and FPGA module; Wherein,
Server module comprises: receive data division, for the experimental data that real-time controller module records being shown in real time, auto report completing, data recorded at random; Sending operation part, for sending instruction to real-time controller module, thus carrying out simulation test work;
Real-time controller module comprises auto model and communication cycles, real-time controller module is used for real time execution auto model, receive the data from FPGA module, then the real-time running state of vehicle is parsed according to the control strategy of inside, as correlation parameters such as motor operating state, Motor torque, power accumulator state, charging set states, send data to server module and return to FPGA module through communication cycles;
Data, for generating with the message frame in collection signal, transmitting-receiving CAN, running a part of model (as motor precharge model), are then delivered in the auto model of real time execution in real-time controller module with the form of FPGA interface by FPGA module.
As the further improvement project of a kind of electronic controller for vehicle test gimulator provided by the invention, the auto model of described real-time control module is used for replacing real vehicle with the forward simulation model of vehicle, test parameter required under being provided in each operating mode to tested electronic controller for vehicle; The communication cycles of described real-time control module comprises: based on the communication cycles of ICP/IP protocol, and it is for transmitting test data to server module; Based on the communication cycles of CAN agreement, it is for sending message frame to FPGA module.
Expected Results by setting forth the present invention from the following aspects and can reaching:
1. the present invention uses NI CompactRIO real-time control system as a kind of electronic controller for vehicle test gimulator, and this is a set of low cost, simultaneously can meet measuring accuracy again and can carry out the real-time control system of independent development according to customer demand;
2. when considering the real-time controller resource-constrained of selected electronic controller for vehicle test gimulator, by multitasking under the real-time system of a whole set of versatility and program optimization measure, comprise reasonable distribution program is run under real-time system priority, choose reasonable program run location, the measure such as time step of circulation is rationally set, thus reach saving resource, alleviate the object of the load of real-time controller to ensure the requirement of real-time in electronic controller for vehicle test simulation process.
Accompanying drawing explanation
Fig. 1 is a kind of electronic controller for vehicle test gimulator hardware structure schematic diagram
Fig. 2 is a kind of hardware schematic diagram of electronic controller for vehicle test gimulator slave computer CompactRIO real-time control system
Fig. 3 is the communication mode schematic diagram between a kind of electronic controller for vehicle test gimulator each several part
Fig. 4 is a kind of electronic controller for vehicle test gimulator real-time controller module diagram
Fig. 5 is a kind of data transmission stream journey figure of electronic controller for vehicle test gimulator
Embodiment
With reference to Fig. 1, a kind of electronic controller for vehicle test gimulator, be made up of host computer server, slave computer CompactRIO (the reconfigurable embedded Webserver that American National instrument is produced) real-time control system, to complete the simulation test to tested electronic controller for vehicle.Being wherein be connected by ethernet line between host computer with slave computer, is be connected by VCU hardware interface between slave computer with tested electronic controller for vehicle.In power initiation in electronic controller for vehicle test simulation process needed for each several part hardware, tested electronic controller for vehicle is by 12V DC power supply, and slave computer CompactRIO real-time control system is then by 100-120V/200-240V ac power supply.
With reference to Fig. 2, a kind of slave computer CompactRIO real-time control system of electronic controller for vehicle test gimulator is made up of CompactRIO integrated system and CompactRIO I/O module two parts, the integrated real-time processor of CompactRIO integrated system and reconfigurable FPGA (field programmable gate array) cabinet, FPGA cabinet and CompactRIO I/O module are then be connected by serial line interface, and tested electronic controller is by VCU hardware interface and CompactRIO I/O model calling.CompactRIO I/O module comprises four blocks of data capture cards: 1. NI DI/O series, for the constrained input of digital signal; 2. NI CAN card, for the transmission of the communication node bag based on CAN (controller local area network) bus protocol; 3. NI AO series, for the output of simulating signal; 4. NI AI series, for the input of simulating signal.
With reference to Fig. 3, the communication mode between a kind of electronic controller for vehicle test gimulator each several part: the communication 1. between real-time controller and host computer server has been come by TCP/IP and network shared variable.Due to transmit mass data time TCP/IP than network shared variable saving resource, need to a large amount of vehicle operating information of host computer transmission in the test simulation process of tested electronic controller for vehicle, comprise the speed of a motor vehicle, cell voltage, electric current, moment of torsion etc., and host computer only includes starting switch to the instruction that real-time controller sends, parking brake switch, driving model is selected, thus the present invention adopts the mode of TCP/IP to transmit data to host computer, the mode of network shared variable transmits data by host computer to real-time controller, therefore the variable of excessive use consumes resources can be avoided, 2. the FPGA Interface realization that provided by NI LabVIEW of the communication of real-time controller and FPGA data collecting card, thus in real time data are passed on real-time controller, 3. real-time controller and electronic controller for vehicle such as the communication of ECU (electronic control unit) are completed by CAN (controller local area network) bus communication protocol.
With reference to Fig. 3, a kind of electronic controller for vehicle test gimulator software architecture can be divided into three parts: server module, real-time controller module and FPGA module.The function of FPGA module generates at a high speed and collection signal, the message frame of receiving and dispatching in CAN, runs a part of simulation step length and require that high model is as motor precharge model, and the form of the FPGA interface then data provided by LabVIEW FPGA module is delivered in the auto model of real time execution in real-time controller module; The function of real-time controller module is real time execution auto model, receive the data from FPGA module, then the real-time running state of vehicle is parsed according to the control strategy of inside, as correlation parameters such as motor operating state, Motor torque, power accumulator state, charging set states, through communication cycles data are passed and be sent to server module and return in FPGA module; The function of server module is: 1. receive data division: the experimental data that real-time controller module records shown in real time on host computer, auto report completing, data recorded at random, 2. operation part is sent: send instruction to real-time controller module, thus carry out simulation test work.
With reference to Fig. 4, operating in the present invention in real-time controller module of task can be divided into two parts: (1) high-priority task, namely needs the auto model at real-time controller module real time execution.This model is based on electric automobile, based on experiment measured data and theoretical formula, by NI LabVIEW graphical programming software, directly build and operate in the forward simulation model on real-time controller, its major function be with the forward simulation model of vehicle replace real vehicle be provided in each operating mode to tested electronic controller for vehicle under required test parameter.(2) low priority task, namely operates in the communication cycles on real-time controller.Its concrete two aspects: the effect based on the communication cycles of ICP/IP protocol transmits test data to server module and host computer; Communication cycles based on CAN agreement packs the data to CAN message frame based on CAN agreement to be sent to FPGA module.Why the present invention can utilize the CompactRIO system building of low cost to go out to meet its innovation of measuring accuracy ad hoc type electronic controller for vehicle test gimulator when being the real-time controller resource-constrained considering selected electronic controller for vehicle test gimulator, task in real-time controller module is divided into high-priority task and low priority task, thus multitasking and program optimization scheme under proposing the real-time system of a set of versatility: 1. based on the priority assign strategy of multitasking under real-time control system.The task division operated on real-time controller is high-priority task (mold cycle) and low priority task (communication cycles) by the simulated testing system that the present invention builds, by real-time task being set to high priority and utilizing FIFO (first-in first-out) to transmit the method for data between task, ensure that the real-time of system; 2. under real-time control system to the strategy of program optimization.When program division is deployed to real-time controller by the simulated testing system that the present invention builds, due to the introducing of collection signal and the finiteness of real-time controller resource, therefore off-line procedure modified and optimize, namely the time step of circulation is rationally set for mold cycle and communication cycles, time step by mold cycle increases to the ms level step-length being enough to meet measuring accuracy, and the time step of communication cycles then can select the time step being greater than simulation loop.
With reference to Fig. 5, a kind of data transmission stream journey figure of automobile controller test gimulator, can viewed from following two aspects: (1) is from entire car controller, the digital and analogue signals that I/O communications portion in FPGA module collects is sent to entire car controller, entire car controller is by the real-time running state of internal control policy resolution vehicle, as motor operating state, Motor torque, power accumulator state, the correlation parameters such as charging set state, transmission CAN message frame and digital signal are to FPGA module, digital signal is sent to precharge model by the I/O communications portion in FPGA module, and the CAN communication part in FPGA module carries out resolving the acquisition running status of motor and the demand torque of motor according to CAN communication protocol to CAN message frame, the auto model of real time execution is sent to by the form of FPGA interface, to drive auto model real time execution, (2) from the angle of controlled device (vehicle gone out by the forward simulation model virtual of vehicle), in real-time controller module real time execution auto model according to the correlation parameter of vehicle operating calculate motor, battery, car load running status and CAN communication part through being passed to FPGA module based on the communication cycles of CAN with the form of FPGA interface is return to entire car controller, entire car controller judges the state of vehicle current driving by the variable that these characterize travel condition of vehicle, the anti-real-time running state solving vehicle.
Claims (4)
1. an electronic controller for vehicle test gimulator, it is characterized in that, by server, CompactRIO real-time control system forms, server is connected by ethernet line with CompactRIO real-time control system, wherein, CompactRIO real-time control system is made up of CompactRIO integrated system and CompactRIO I/O module, the integrated real-time processor of CompactRIO integrated system and reconfigurable FPGA cabinet, FPGA cabinet is connected by serial line interface with CompactRIO I/O module, tested electronic controller is by VCU hardware interface and CompactRIO I/O model calling, described FPGA data collecting card comprises four blocks of data capture cards: NI DI/O series, for the constrained input of digital signal, NI CAN card, for the transmission of the communication node bag based on CAN agreement, NI AO series, for the output of simulating signal, NI AI series, for the input of simulating signal.
2. according to a kind of electronic controller for vehicle test gimulator according to claim 1, it is characterized in that, real-time controller CompactRIO adopts the mode of TCP/IP to transmit data to server, and server adopts the mode of network shared variable to transmit data to real-time controller CompactRIO; The communication of real-time controller and FPGA cabinet is by FPGA Interface realization; The communication of FPGA cabinet and tested electronic controller for vehicle is by transmit based on the data of CAN communication protocol and the I/O of modulus signal completes.
3. according to a kind of electronic controller for vehicle test gimulator according to claim 1, it is characterized in that, the software architecture of this electronic controller for vehicle test gimulator comprises server module, real-time controller module and FPGA module; Wherein,
Server module comprises: receive data division, for the experimental data that real-time controller module records being shown in real time, auto report completing, data recorded at random; Sending operation part, for sending instruction to real-time controller module, thus carrying out simulation test work;
Real-time controller module comprises auto model and communication cycles, real-time controller module is used for real time execution auto model, receive the data from FPGA module, then the real-time running state of vehicle is parsed according to the control strategy of inside, as correlation parameters such as motor operating state, Motor torque, power accumulator state, charging set states, send data to server module and return to FPGA module through communication cycles;
Data, for generating with the message frame in collection signal, transmitting-receiving CAN, running a part of model, are then delivered in the auto model of real time execution in real-time controller module with the form of FPGA interface by FPGA module.
4. according to a kind of electronic controller for vehicle test gimulator according to claim 3, it is characterized in that, the auto model of described real-time control module is used for replacing real vehicle with the forward simulation model of vehicle, test parameter required under being provided in each operating mode to tested electronic controller for vehicle;
The communication cycles of described real-time control module comprises: based on the communication cycles of ICP/IP protocol, and it is for transmitting test data to server module; Based on the communication cycles of CAN agreement, it is for receiving from the message frame of FPGA module and sending message frame to tested electronic controller for vehicle.
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| CN201410639518.XA CN104298129A (en) | 2014-11-11 | 2014-11-11 | Test simulator of automotive electronic controller |
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| CN201410639518.XA CN104298129A (en) | 2014-11-11 | 2014-11-11 | Test simulator of automotive electronic controller |
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| CN109243077A (en) * | 2018-09-21 | 2019-01-18 | 青岛特锐德电气股份有限公司 | A kind of simulator of charging terminal |
| CN109613500A (en) * | 2018-10-29 | 2019-04-12 | 上海无线电设备研究所 | Radar signal processor automatic test approach based on CompactRIO |
| CN110044636A (en) * | 2018-01-15 | 2019-07-23 | 本田技研工业株式会社 | Vehicle inspection device and vehicle inspection method |
| CN110412973A (en) * | 2019-07-01 | 2019-11-05 | 东南大学 | A kind of bench test electric car drive robot system based on virtual instrument |
| CN111736572A (en) * | 2020-06-17 | 2020-10-02 | 武汉华中数控股份有限公司 | Numerical control system complete machine hardware testing platform based on Codesys software development system |
| CN113168370A (en) * | 2021-03-25 | 2021-07-23 | 华为技术有限公司 | Test system, vehicle simulation device, test device and test method |
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Cited By (10)
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| CN105573296A (en) * | 2016-01-15 | 2016-05-11 | 上海汽车变速器有限公司 | Hardware-in-loop-based automation test system for automobile diagnosis, and method thereof |
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| CN109613500A (en) * | 2018-10-29 | 2019-04-12 | 上海无线电设备研究所 | Radar signal processor automatic test approach based on CompactRIO |
| CN110412973A (en) * | 2019-07-01 | 2019-11-05 | 东南大学 | A kind of bench test electric car drive robot system based on virtual instrument |
| CN110412973B (en) * | 2019-07-01 | 2022-03-29 | 东南大学 | Bench test electric automobile driving robot system based on virtual instrument |
| CN111736572A (en) * | 2020-06-17 | 2020-10-02 | 武汉华中数控股份有限公司 | Numerical control system complete machine hardware testing platform based on Codesys software development system |
| CN111736572B (en) * | 2020-06-17 | 2021-10-26 | 武汉华中数控股份有限公司 | Numerical control system complete machine hardware testing platform based on Codesys software development system |
| CN113168370A (en) * | 2021-03-25 | 2021-07-23 | 华为技术有限公司 | Test system, vehicle simulation device, test device and test method |
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