CN106706346A - Steering-by-wire system test bench - Google Patents
Steering-by-wire system test bench Download PDFInfo
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- CN106706346A CN106706346A CN201611259014.0A CN201611259014A CN106706346A CN 106706346 A CN106706346 A CN 106706346A CN 201611259014 A CN201611259014 A CN 201611259014A CN 106706346 A CN106706346 A CN 106706346A
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- 238000012360 testing method Methods 0.000 title claims abstract description 10
- 238000004088 simulation Methods 0.000 claims abstract description 26
- 238000013461 design Methods 0.000 claims abstract description 7
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 12
- 229910052742 iron Inorganic materials 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 239000004411 aluminium Substances 0.000 claims description 4
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 4
- 229910052782 aluminium Inorganic materials 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 4
- 230000006835 compression Effects 0.000 claims description 4
- 238000007906 compression Methods 0.000 claims description 4
- 238000012546 transfer Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims description 2
- 239000000463 material Substances 0.000 claims 1
- 239000011148 porous material Substances 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 6
- 230000005540 biological transmission Effects 0.000 abstract description 5
- 238000010276 construction Methods 0.000 abstract 1
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000006247 magnetic powder Substances 0.000 description 2
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- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
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- 238000005265 energy consumption Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
- G01M17/06—Steering behaviour; Rolling behaviour
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- General Physics & Mathematics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention discloses a steering-by-wire system test bench, which comprises the design of a master control module, a fault-tolerant module, a steering control module, a steering execution module and a resistance loading module and connection parts thereof. A steering wheel is connected with a steering-column-assisted type steering gear to simulate road surface feedback; and two pinion-and-rack type steering gears with different power are connected by means of the parts, receive sensor signals by means of a master control single chip microcomputer, and realize steering and resistance simulation through transmitting PWM signals by using an Flexray bus. The mechanical connection between steering execution and operation is reduced, a transmission ratio and road feeling can be designed freely to change force transmission characteristic and angle transmission characteristic of the system, the layout space of a vehicle is saved, and the operation stability of the vehicle is improved. The steering-by-wire system test bench can simulate the road surface resistance in various states, and improves the precision of the system. The construction method of the SBW test bench disclosed by the invention is simple and effective, and can be applied to the experimental study of an SBW system control algorithm, a fault-tolerant algorithm and a bus technology.
Description
Technical field
It is SBW test-beds the present invention relates to a kind of wire-controlled steering system, belongs to Automotive Steering Technology field.
Background technology
In recent years due to market demand and electronic technology development, automobile starts to tend to intelligent, in the field of steering, via machine
Tool steering, hydraulic power-assist steering system（Abbreviation HPS）, electro-hydraulic servo steering system (abbreviation EHPS) and electric power steering
System (abbreviation EPS) is to wire-controlled steering system（Steer-By-Wire, abbreviation SBW）Development.EPS is divided into steering column power-assisted
Formula（C-EPS）, turn to little gear booster type（P-EPS）, tooth bar booster type（R-EPS）.DC motor type EPS technologies tend into
It is ripe, and it is widely used in real vehicle, steering-by-wire technology is not because the factors such as cost, stability are also in cheap family expenses sedan-chair
Popularized in car.
At present, known SBW systems are substantially individually from the assembling of the parts such as motor, decelerator, rack and pinion steering gear
Composition handling maneuver structure and steering perform structure, and rigging error is difficult to control to；Mostly realize that single-chip microcomputer leads to using CAN
News, the peak performance limit is 1Mbps, and transmission speed is slow, and real-time control effect is general, the rapidity of the control of SBW systems, accurate
Property proposes requirement higher to bus system；Current Resistance-load mechanism uses spring, magnetic powder brake, spring to add mostly
The resistance Changing Pattern of load is constant, and magnetic powder brake is then easy to control to slip up and unstable properties of making moist.
Hunan University's master thesis《Based on automobile steering-by-wire it is system test-bed loop systems emulation》Carried in one text
The SBW systems for going out use servomotor Resistance-load mechanism, and are connected defeated to SBW systems with motor reducer by ball-screw
Go out the moment of resistance, ball-screw bearing capacity is relatively low, shock-absorbing capacity is low and has abrasion, understand because of frictional influence positioning precision and rigidity,
Moment of friction can also cause bounce during commutation to be mutated.
It is rarely mentioned in presently relevant document directly by the use of EPS steering wheels mechanical structure as SBW system handling maneuver machines
Structure, steering executing agency and Resistance-load mechanism.
The content of the invention
The purpose of the present invention is directed to a kind of not enough wire-controlled steering system of offer of prior art i.e. SBW test-beds, using direct current
Electric motor type EPS steering wheel mechanical structures save design time, improve assembly precision.Using motor Resistance-load mechanism, can
Realize resistance simulation under different operating modes and easily controllable.By Flexray bus communications, accelerate transmission speed, reduce danger
In the reaction time of the system of dangerous section's condition, improve the stability of system.
The present invention uses following technical scheme：
Test-bed structure of the present invention includes upper and lower two-layer, and upper strata is made up of for main control module ECU, and lower floor is handling maneuver
Module, steering performing module, Resistance-load module and fault-tolerant module；Handling maneuver module is by steering wheel, road feel motor, motor control
Device processed, torque sensor, rotary angle transmitter and current sensor are constituted；Performing module is turned to by steering actuating motor, motor control
Device processed, current sensor, linear movement pick-up and pull pressure sensor are constituted；Resistance-load module is mechanical, electrical by resistance simulation electricity
Machine controller and current sensor are constituted；Fault-tolerant module is made up of RECU, and the test bench system is wrapped using the power supply of 12V
Containing the power circuit interface for turning 5V for the 12V that sensor and control chip are powered, GES is provided by signal generator.
The upper strata main control module ECU and fault-tolerant module RECU of the SBW system tests stand, including 16 microcontrollers
Device, Flexray drive circuits；
The ECU and RECU use embedded microcontroller --- 16 single-chip microcomputer MC9S12XF512 of Freescale, the chip
X-GATE coprocessors are increased, with stronger data-handling capacity and control function；Flexray drive circuits with
TJA1080 is transceiver；MC9S12XF512 is internally integrated 2 road Flexray controllers, the number on two channels of FlexRay buses
Can reach 10Mbps according to speed maximum, total data rate can reach 20Mbit/ seconds, with using flexible, low in energy consumption, low noise,
The advantages of transmitting fast；S12 MCU bus frequencies are 25MHz, conveniently realize that some complicated Balance route algorithms and multibus are logical
News control.Also real-time timepiece chip and EEPROM storage chips, the RX of 2 road Flexray are accessed in MCU peripheries by iic bus
TJA1080 transceivers are connect respectively with TX pin constitutes inside and outside pair of Flexray communication network.
Lower floor's handling maneuver module road feel motor uses C-EPS steering wheels, and because experimental data shows, steering wheel turns
Square is not above 5N m, is 150W -350W DC motor type C-EPS steering wheels from power, using MC9S12XF512 conducts
Motor control panel simultaneously designs the motor-drive circuit with DRV8301 as driving chip and the Flexray with TJA1080 as transceiver
Drive circuit；Rotary angle transmitter uses photoelectric encoder, and precision is 0.5 degree or so；Torque sensor is passed using non-contact torque
Sensor；Current sensor uses Hall-type current sensor, and handling maneuver module is used alone aluminium section bar stand and builds, and lower floor sets
Vertical dividing plate is used for placing control panel and power supply.
Lower floor's handling maneuver module turns to actuating motor and uses R-EPS（Or P-EPS）Steering wheel, due to turning for automobile
All directly provided by steering actuating motor to action, so higher to the power requirement of steering motor, the present invention is used
Power 600W -900W DC motor types R-EPS（Or P-EPS）Steering wheel；So that MC9S12XF512 is as motor control panel and sets
The meter motor-drive circuit with DRV8301 as driving chip and the Flexray drive circuits with TJA1080 as transceiver.Line position
Displacement sensor uses rod-pulling type linear displacement transducer, and pull pressure sensor uses S type pull pressure sensor.
Lower floor's Resistance-load module is made up of resistance simulation motor, electric machine controller and current sensor；Resistance mould
Intend motor and be also adopted by R-EPS（Or P-EPS）Steering wheel, is 150W -350W DC motor types R-EPS from power（Or P-EPS）
Steering wheel.Using MC9S12XF512 as motor control panel and design motor-drive circuit with DRV8301 as driving chip and with
TJA1080 is the Flexray drive circuits of transceiver.
The lower floor turns to performing module：The tension and compression in performing module will be turned to
The two ends of the resistance simulation motor in force snesor and Resistance-load module are connected with following parts, the part be sleeve and
One studs, sleeve left side is right-handed thread, and right side is left hand thread；Studs left side is left hand thread, and right side is
The extracting tools such as groove, convenient use spanner are left in the middle of right-handed thread, sleeve and studs；The part passes through helicitic texture
Ensure the connection reliability and levelness of steering performing module and Resistance-load module, while pull pressure sensor can be dismantled conveniently
With steering actuating motor.
Steering wheel, torque sensor, the installation site of rotary angle transmitter are cylindrical hole knot in the handling maneuver module
Structure, is directly installed on C-EPS steering wheel column jeckets, and column jecket head comes with right-handed thread, and torque sensor, corner are installed successively
Sensor, steering wheel are fastened on C-EPS steering wheel column jeckets and with nut, are fixed on C-EPS steering wheels by bolt arrangement
On aluminium section bar stand, R-EPS in performing module and resistance simulation module is turned to（Or P-EPS）Steering wheel two ends are right-handed thread
Structure, R-EPS（Or P-EPS）Steering wheel is arranged on the moderate iron plate of thickness and goes up and ensure in straight line by bolt arrangement
On, the R-EPS of resistance simulation module（Or P-EPS）Steering wheel right side right-handed thread connects with union piece sleeve left side right-handed thread
Connect, sleeve right side left hand thread is connected with studs left side left hand thread, studs right side right-handed thread connection pressure
Sensor, pull pressure sensor is connected with steering actuating motor helicitic texture again.Linear movement pick-up is installed by bolt arrangement
Parallel to R-EPS（Or P-EPS）The position of steering wheel, its pull bar is fastened on one piece of iron plate using bolt arrangement, and iron plate leads to
Cross nut to be fixed between pull pressure sensor and steering actuating motor, the two-way pwm signal of the motor control panel of each motor
Output end electric wire is connected with motor both positive and negative polarity, BP the and BM ends of Flexray driving plates are used with BP the and BM ends of main control module ECU
Electric wire is connected, and connects 12V power supplys, and current sensor is connected on motor positive pole.The ECT modules collection of the ECU of main control module turns
The signal of angle transducer, A/D modules collection torque sensor, pull pressure sensor, linear movement pick-up, current sensor letter
Number, each sensor and microcontroller are both needed to connect the power supply of 5V.
Wire-controlled steering system of the present invention is that the SBW test-bed courses of work are as follows：
Testing crew is by the torque of assigned direction disk, corner, ECU collection torque and rotary angle transmitter signal and signal generator
Random GES, by the algorithm computing inside ECU, calculate driving road feel motor, turn to actuating motor, resistance simulation
The pwm control signal of motor, by Flexray bus transfers to each motor control panel of lower floor, road feel motor control panel receives road
Electrification machine pwm control signal realizes that road feel is simulated, and turns to performing module and receives steering actuating motor pwm control signal to realize turning
To feedback line displacement signal realizes turning to execution closed-loop control and feedback tension and compression force signal based on main control module resistance and road feel
Calculate, Resistance-load module receives resistance simulation motor PWM control signal to realize resistance simulation.Each current sensor feeds back to
ECU current signals, for motor closed-loop control.
Beneficial effects of the present invention：SBW test-beds building method of the present invention is easy and effective, can be used for SBW systems
Control algolithm, tolerant fail algorithm, the experimental study of bussing technique.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is system architecture control schematic diagram of the invention；
Fig. 3 is that the union piece schematic diagram between performing module and Resistance-load module is turned in the present invention；
1. steering wheel in figure, 2. rotary angle transmitter, 3. torque sensor, 4. road feel motor, 5. road feel motor control panel, 6. leads
Module is controlled, 7. fault-tolerant module, 8. resistance simulation motor control panel, 9. turns to actuating motor control panel, 10. resistance simulation motor,
11. union pieces, 12. linear movement pick-ups, 13. pull pressure sensor, 14. turn to actuating motor, 15.Flexray buses
；Fig. 3 arrow pointed locations use left hand thread.
Specific embodiment
Below in conjunction with the accompanying drawings with the present invention is further described.
Pull pressure sensor 13 and linear movement pick-up 12 are housed in steering linkage, by the two sensors in real time
Reflect pavement behavior, you can draw road feel information, then these information be converted into electric signal and be transmitted to ECU in main control module 6,
GES that ECU is transmitted according to speed generator and the current signal for coming is fed back on road feel motor 4, calculated by algorithm
Road feel motor PWM signal, the rotation direction and output for transmitting pwm signal using Flexray buses 15 to control road feel motor is turned round
Square size, so that the real-time control of the electrification machine that completes to satisfy the need.
Torque sensor 3, rotary angle transmitter 2 are installed in steering spindle, and steering motor 14 is led to resistance simulation motor 10
Union piece 11 is crossed to be connected.When steering wheel 1 is rotated, sensor start working, will in steering spindle produce torque signal and
Angle turn signal is converted to electric signal and is transmitted to ECU；Simultaneously two on the ECU electric signals that foundation vehicle speed sensor is transmitted again, pull bar
The current signal that comes and the current signal fed back on resistance simulation motor are fed back in the road feel signal of sensor, steering motor,
The pwm signal for turning to actuating motor and resistance simulation motor is calculated by algorithm, using Flexray bus transfer pwm signals
To decide to move to the steering direction and torque of actuating motor and the rotation direction and drag size of resistance simulation motor, from
And complete the real-time control to turning to actuating motor and resistance simulation motor.
While to steering motor, road feel motor and resistance simulation motor control, RECU is again to ECU in fault-tolerant module 7
Monitor in real time is carried out, to carry out when ECU breaks down making up control to system.
Claims (2)
1. a kind of wire-controlled steering system test-bed, it is characterised in that the test-bed structure includes upper and lower two-layer, and upper strata is
Main control module is made up of ECU, and lower floor is handling maneuver module, turns to performing module, Resistance-load module and fault-tolerant module；Turn to
Manipulation module is made up of steering wheel, road feel motor, electric machine controller, torque sensor, rotary angle transmitter and current sensor；Turn
To performing module by steering actuating motor, electric machine controller, current sensor, linear movement pick-up and pull pressure sensor structure
Into；Resistance-load module is made up of resistance simulation motor, electric machine controller and current sensor；Fault-tolerant module is made up of RECU,
The test bench system is included as the 12V that sensor and control chip power and turns the power circuit of 5V connecing using the power supply of 12V
Mouthful, GES is provided by signal generator；
The upper strata main control module ECU and fault-tolerant module RECU of the SBW system tests stand, including 16 8-digit microcontroller,
Flexray drive circuits；
Wire-controlled steering system of the present invention is that the SBW test-bed courses of work are as follows：
Testing crew is by the torque of assigned direction disk, corner, ECU collection torque and rotary angle transmitter signal and signal generator
Random GES, by the algorithm computing inside ECU, calculate driving road feel motor, turn to actuating motor, resistance simulation
The pwm control signal of motor, by Flexray bus transfers to each motor control panel of lower floor, road feel motor control panel receives road
Electrification machine pwm control signal realizes that road feel is simulated, and turns to performing module and receives steering actuating motor pwm control signal to realize turning
To feedback line displacement signal realizes turning to execution closed-loop control and feedback tension and compression force signal based on main control module resistance and road feel
Calculate, Resistance-load module receives resistance simulation motor PWM control signal to realize resistance simulation；Each current sensor feeds back to
ECU current signals, for motor closed-loop control.
2. a kind of wire-controlled steering system test-bed according to claim 1, it is characterised in that the ECU and RECU are adopted
With embedded microcontroller --- 16 single-chip microcomputer MC9S12XF512 of Freescale, the chip increased the treatment of X-GATE associations
Device, with stronger data-handling capacity and control function；Flexray drive circuits are with TJA1080 as transceiver；
MC9S12XF512 is internally integrated 2 road Flexray controllers, and the data rate on two channels of FlexRay buses is up to
10Mbps, total data rate reaches 20Mbit/ seconds；S12 MCU bus frequencies are 25MHz, conveniently realize the equilibrium of some complexity
Control algolithm and multibus Communication Control；Also real-time timepiece chip is accessed in MCU peripheries by iic bus and EEPROM stores core
Piece, RX the and TX pin of 2 road Flexray connect TJA1080 transceivers and constitute inside and outside pair of Flexray communication network respectively；
Lower floor's handling maneuver module road feel motor uses C-EPS steering wheels, is 150W -350W direct current generators from power
Formula C-EPS steering wheels, use motors of the MC9S12XF512 as motor control panel and design with DRV8301 as driving chip to drive
Dynamic circuit and the Flexray drive circuits with TJA1080 as transceiver；Rotary angle transmitter uses photoelectric encoder, and precision is 0.5
Degree left and right；Torque sensor uses non-contact torque sensor；Current sensor uses Hall-type current sensor, handling maneuver
Module is used alone aluminium section bar stand and builds, and lower floor sets up dividing plate for placing control panel and power supply；
Lower floor's handling maneuver module turns to actuating motor and uses R-EPS or P-EPS steering wheels, using power 600W -900W
DC motor type R-EPS or P-EPS steering wheel；So that MC9S12XF512 is as motor control panel and design is to drive with DRV8301
The motor-drive circuit of chip and the Flexray drive circuits with TJA1080 as transceiver；Linear movement pick-up uses rod-pulling type
Linear displacement transducer, pull pressure sensor uses S type pull pressure sensor；
Lower floor's Resistance-load module is made up of resistance simulation motor, electric machine controller and current sensor；Resistance simulation electricity
Machine is also adopted by R-EPS or P-EPS steering wheels, is 150W -350W DC motor type R-EPS or P-EPS steering wheels from power；
So that MC9S12XF512 is as motor control panel and designs motor-drive circuit with DRV8301 as driving chip and with TJA1080
It is the Flexray drive circuits of transceiver；
The lower floor turns to performing module：The pressure that will be turned in performing module is passed
The two ends of the resistance simulation motor in sensor and Resistance-load module are connected with following parts, and the part is a sleeve and one
Studs, sleeve left side is right-handed thread, and right side is left hand thread；Studs left side is left hand thread, and right side is dextrorotation
The extracting tools such as groove, convenient use spanner are left in the middle of screw thread, sleeve and studs；The part is ensured by helicitic texture
The connection reliability and levelness of performing module and Resistance-load module are turned to, while can conveniently dismantle pull pressure sensor and turn
To actuating motor；
Steering wheel, torque sensor, the installation site of rotary angle transmitter are cylinder pore structure in the handling maneuver module, directly
Connect on C-EPS steering wheel column jeckets, column jecket head comes with right-handed thread, torque sensor, rotation angular sensing are installed successively
Device, steering wheel are fastened on C-EPS steering wheel column jeckets and with nut, and C-EPS steering wheels are fixed on into aluminium profiles by bolt arrangement
On material stand, R-EPS or P-EPS steering wheels two ends are right-handed thread structure in turning to performing module and resistance simulation module,
R-EPS or P-EPS steering wheels are arranged on the moderate iron plate of thickness and go up and ensure point-blank by bolt arrangement, resistance mould
R-EPS the or P-EPS steering wheels right side right-handed thread for intending module is connected with union piece sleeve left side right-handed thread, sleeve right side
Left hand thread is connected with studs left side left hand thread, studs right side right-handed thread connection pull pressure sensor, tension and compression
Force snesor is connected with steering actuating motor helicitic texture again；Linear movement pick-up is arranged on parallel to R- by bolt arrangement
The position of EPS or P-EPS steering wheels, its pull bar is fastened on one piece of iron plate using bolt arrangement, and iron plate is fixed on by nut
Between pull pressure sensor and steering actuating motor, the two-way pwm signal output end electric wire of the motor control panel of each motor
It is connected with motor both positive and negative polarity, BP the and BM ends of Flexray driving plates are connected with BP the and BM ends of main control module ECU with electric wire, and
12V power supplys are connected, current sensor is connected on motor positive pole；The ECT modules of the ECU of main control module gather the letter of rotary angle transmitter
Number, A/D modules collection torque sensor, pull pressure sensor, linear movement pick-up, current sensor signal, each sensor
With the power supply that microcontroller is both needed to connect 5V.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201611259014.0A CN106706346A (en) | 2016-12-30 | 2016-12-30 | Steering-by-wire system test bench |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611259014.0A CN106706346A (en) | 2016-12-30 | 2016-12-30 | Steering-by-wire system test bench |
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| CN106706346A true CN106706346A (en) | 2017-05-24 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109455219A (en) * | 2018-09-29 | 2019-03-12 | 合肥工业大学 | A kind of wire-controlled steering system steering wheel with limiting device and limit method |
| CN109556778A (en) * | 2018-12-06 | 2019-04-02 | 北京工业大学 | A kind of ball screw assembly, pretightning force on-line monitoring method based on electric current |
| CN110058532A (en) * | 2019-04-23 | 2019-07-26 | 合肥工业大学 | A kind of intelligent automobile chassis vertically and horizontally integrated control experiment porch and its experimental method |
| CN111458167A (en) * | 2020-04-14 | 2020-07-28 | 上汽依维柯红岩商用车有限公司 | Test system and method for acquiring performance parameters of electric control power steering system |
| CN114279724A (en) * | 2021-12-31 | 2022-04-05 | 重庆理工大学 | Steering simulation mechanism, whole vehicle in-loop test bench and test method thereof |
| CN114354228A (en) * | 2022-01-07 | 2022-04-15 | 苏州挚途科技有限公司 | Test method and system of steer-by-wire system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109556778A (en) * | 2018-12-06 | 2019-04-02 | 北京工业大学 | A kind of ball screw assembly, pretightning force on-line monitoring method based on electric current |
| CN110058532A (en) * | 2019-04-23 | 2019-07-26 | 合肥工业大学 | A kind of intelligent automobile chassis vertically and horizontally integrated control experiment porch and its experimental method |
| CN111458167A (en) * | 2020-04-14 | 2020-07-28 | 上汽依维柯红岩商用车有限公司 | Test system and method for acquiring performance parameters of electric control power steering system |
| CN111458167B (en) * | 2020-04-14 | 2022-04-08 | 上汽依维柯红岩商用车有限公司 | Test system and method for acquiring performance parameters of electric control power steering system |
| CN114279724A (en) * | 2021-12-31 | 2022-04-05 | 重庆理工大学 | Steering simulation mechanism, whole vehicle in-loop test bench and test method thereof |
| CN114279724B (en) * | 2021-12-31 | 2023-12-26 | 重庆理工大学 | Steering simulation mechanism, whole-vehicle in-loop test bench and test method thereof |
| CN114354228A (en) * | 2022-01-07 | 2022-04-15 | 苏州挚途科技有限公司 | Test method and system of steer-by-wire system |
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