CN109240268B

CN109240268B - Function verification and test system and method of vehicle control unit

Info

Publication number: CN109240268B
Application number: CN201811148287.7A
Authority: CN
Inventors: 林绅堤; 叶伟宏; 林汉坤; 陈厚波
Original assignee: Xiamen Jinlong Automobile New Energy Technology Co ltd
Current assignee: Xiamen Jinlong Automobile New Energy Technology Co ltd
Priority date: 2018-09-29
Filing date: 2018-09-29
Publication date: 2020-10-16
Anticipated expiration: 2038-09-29
Also published as: CN109240268A

Abstract

The invention discloses a function verification and test system and method of a vehicle controller, which comprises a port signal input module, a control panel and an upper computer, wherein the port signal input module is connected with the vehicle controller to be tested; the port signal input module is used for providing vehicle control signals to the whole vehicle controller to be tested by simulating a whole vehicle cockpit; each finished automobile part module in the control panel carries out calculation processing according to parameters input by the upper computer and the finished automobile controller to be detected, sends a processing result to the upper computer for displaying, and sends the processed information to the finished automobile controller to be detected; therefore, the function verification cost of the vehicle control unit is reduced, the function verification and test safety problems of the vehicle control unit are reduced, the vehicle control unit is suitable for electric drive assembly systems with different specifications, and the universality of the function verification and test system of the vehicle control unit is improved.

Description

Function verification and test system and method of vehicle control unit

Technical Field

The invention relates to the technical field of vehicle manufacturing, in particular to a system and a method for verifying and testing functions of a vehicle control unit.

Background

At present, in the process of performing functional verification and test on a vehicle control unit in a new energy automobile, a rack system combining a motor controller, a tested motor, an accompanying motor, a power battery and a battery management system is mostly adopted to perform functional verification and test on the vehicle control unit.

However, this approach has at least the following disadvantages:

1. the mode is equivalent to moving the sample car to a laboratory to perform functional verification and test on the whole car controller, a large amount of manpower and material resources are needed, and no accessory assembly is provided, so that the functional verification and test on the whole car controller are not comprehensive enough;

2. the motor, the electric control and the like are real objects, are in safety consideration and cannot verify the limit working condition;

3. the function of the vehicle control unit electrically controlled by the motor can be verified only, and the universality is poor.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the art described above. Therefore, an object of the present invention is to provide a function verification and test system for a vehicle control unit, which can reduce the cost of function verification and test of the vehicle control unit, reduce the occurrence of safety problems of function verification and test of the vehicle control unit, be suitable for electric drive assembly systems of different specifications, and improve the universality of the function verification and test system for the vehicle control unit.

The second objective of the present invention is to provide a method for verifying and testing the function of the vehicle control unit.

In order to achieve the above object, an embodiment of a first aspect of the present invention provides a function verification and test system for a vehicle controller, including a port signal input module, a control board and an upper computer, where the port signal input module is connected to the vehicle controller to be tested, and the control board is in CAN network communication with the vehicle controller to be tested and the upper computer respectively, where the control board simulates a motor and a motor controller, a battery and a battery manager, an electrical accessory module, a high-voltage power distribution module and a fault injection processing module based on a vehicle part mathematical model; the port signal input module is used for providing a vehicle control signal to the vehicle control unit to be tested by simulating a vehicle control cabin, so that the vehicle control unit to be tested can output a required torque to the motor and the motor controller according to the vehicle control signal, output an electric accessory control instruction to the electric accessory module and output a relay control instruction to the high-voltage power distribution module; the motor and the motor controller calculate a motor bus current, a motor power, a vehicle speed, a motor rotating speed and a motor controller heartbeat according to a vehicle parameter and a motor parameter input by the upper computer and a required torque output by the vehicle controller to be detected, send the motor bus current, the motor power, the vehicle speed and the motor rotating speed to the upper computer for display, and send the motor bus current, the motor power, the motor rotating speed and the motor controller heartbeat to the vehicle controller to be detected; the battery and the battery manager calculate battery voltage, allowable charge and discharge current, real-time SOC and battery manager heartbeat according to the initial battery SOC and the battery temperature input by the upper computer, send the battery voltage, the allowable charge and discharge current and the real-time SOC to the upper computer for display, and send the battery voltage, the allowable charge and discharge current, the real-time SOC and the battery manager heartbeat to the whole vehicle controller to be tested; the electric accessory module simulates the working state and the heartbeat of an electric accessory according to the electric accessory parameters input by the upper computer and the electric accessory control instruction output by the vehicle control unit to be tested, sends the working state of the electric accessory to the upper computer for display, and sends the working state and the heartbeat of the electric accessory to the vehicle control unit to be tested; the high-voltage power distribution module simulates an actual vehicle high-voltage distribution board according to a relay control instruction output by the vehicle control unit to be tested so as to obtain a relay state and a distribution board heartbeat, sends the relay state to the upper computer for display, and sends the relay state and the distribution board heartbeat to the vehicle control unit to be tested; and the fault injection processing module performs fault classification processing according to the fault code input by the upper computer to obtain a fault grade and sends the fault grade to the vehicle control unit to be tested.

The function verification and test system of the vehicle control unit comprises a port signal input module, a control panel and an upper computer, wherein the port signal input module is connected with the vehicle control unit to be tested, and the control panel is respectively communicated with the vehicle control unit to be tested and the upper computer through a CAN network; the port signal input module provides a vehicle control signal to the vehicle control unit to be tested by simulating a vehicle control cabin of the vehicle, so that the vehicle control unit to be tested outputs a required torque to the motor and the motor controller according to the vehicle control signal, outputs an electric accessory control instruction to the electric accessory module, and outputs a relay control instruction to the high-voltage distribution module; the motor and the motor controller calculate the motor bus current, the motor power, the whole vehicle speed, the motor rotating speed and the motor controller heartbeat according to the whole vehicle parameters and the motor parameters input by the upper computer and the required torque output by the whole vehicle controller to be detected, send the motor bus current, the motor power, the whole vehicle speed and the motor rotating speed to the upper computer for display, and send the motor bus current, the motor power, the motor rotating speed and the motor controller heartbeat to the whole vehicle controller to be detected; the battery and the battery manager calculate battery voltage, allowable charging and discharging current, real-time SOC and battery manager heartbeat according to the initial battery SOC and the battery temperature input by the upper computer, send the battery voltage, the allowable charging and discharging current and the real-time SOC to the upper computer for displaying, and send the battery voltage, the allowable charging and discharging current, the real-time SOC and the battery manager heartbeat to the whole vehicle controller to be tested; the electrical accessory module simulates the working state and heartbeat of the electrical accessory according to electrical accessory parameters input by the upper computer and electrical accessory control instructions output by the vehicle control unit to be tested, sends the working state of the electrical accessory to the upper computer for displaying, and sends the working state and heartbeat of the electrical accessory to the vehicle control unit to be tested; the high-voltage power distribution module simulates a real-vehicle high-voltage distribution board according to a relay control instruction output by the vehicle control unit to be tested so as to obtain a relay state and a distribution board heartbeat, sends the relay state to an upper computer for display, and sends the relay state and the distribution board heartbeat to the vehicle control unit to be tested; the fault injection processing module carries out fault grading processing according to a fault code input by the upper computer to obtain a fault grade and sends the fault grade to the whole vehicle controller to be tested; therefore, the function verification and test cost of the vehicle control unit is reduced, the occurrence of safety problems of the function verification and test of the vehicle control unit is reduced, the vehicle control unit is suitable for electric drive assembly systems of different specifications, and the universality of the function verification and test system of the vehicle control unit is improved.

In addition, the function verification and test system for the vehicle control unit according to the above embodiment of the present invention may further have the following additional technical features:

optionally, the vehicle control signals include a key gear signal, a driving gear signal, an accelerator pedal signal, and a brake pedal signal.

Optionally, when an ACC gear signal of a key gear is valid, the motor and the motor controller continuously send the motor controller heartbeat to the vehicle controller to be tested, the battery and the battery manager continuously send the battery manager heartbeat to the vehicle controller to be tested, the electrical accessory module continuously send the electrical accessory heartbeat to the vehicle controller to be tested, the high-voltage power distribution module continuously sends the power distribution board heartbeat to the vehicle controller to be tested, and when an ON gear signal of the key gear is valid, the vehicle controller to be tested enters a power-ON process and sends the relay control instruction to the high-voltage power distribution module, and when high-voltage power supply is completed, the vehicle controller to be tested sends the electrical accessory control instruction to the electrical accessory module and enters a driving mode according to the running gear signal, when the opening degree of an accelerator pedal is judged to be larger than 0 according to the accelerator pedal signal, the whole vehicle controller to be tested sends the required torque to the motor and the motor controller; when the vehicle speed is greater than 0 and the opening degree of the accelerator pedal is 0, the vehicle controller to be tested calculates a sliding feedback torque and sends the sliding feedback torque to the motor and the motor controller, the motor and the motor controller calculate a sliding feedback current according to the sliding feedback torque, and sends the sliding feedback current to the upper computer for display, and feeds the sliding feedback current back to the vehicle controller to be tested; when the speed of the whole vehicle is greater than 0 and the opening degree of a brake pedal is greater than 0, the whole vehicle controller to be tested calculates brake feedback torque and sends the brake feedback torque to the motor and the motor controller, the motor and the motor controller calculate brake feedback current according to the brake feedback torque, send the brake feedback current to the upper computer for display, and feed the brake feedback current back to the whole vehicle controller to be tested.

Optionally, after the high-voltage power-on of the vehicle controller to be tested is completed, if the vehicle is in a static state, the vehicle controller to be tested generates a first fault processing instruction according to the fault level, and sends the first fault processing instruction to the motor and motor controller, the electrical accessory module and the high-voltage power distribution module, so that the motor and motor controller, the electrical accessory module and the high-voltage power distribution module respectively send processing results to the upper computer for displaying.

Optionally, after the high-voltage power-on of the vehicle controller to be tested is completed, if the vehicle is in a running state, the vehicle controller to be tested generates a second fault processing instruction according to the fault level, and sends the second fault processing instruction to the motor and motor controller, the electrical accessory module and the high-voltage power distribution module, so that the motor and motor controller, the electrical accessory module and the high-voltage power distribution module respectively send processing results to the upper computer for displaying.

In order to achieve the above object, a second aspect of the present invention provides a method for verifying and testing functions of a vehicle controller, including the following steps: simulating a motor and a motor controller, a battery and a battery manager, an electric accessory module, a high-voltage power distribution module and a fault injection processing module based on a complete vehicle part mathematical model; providing a vehicle control signal to a vehicle control unit to be tested by simulating a vehicle control cabin, so that the vehicle control unit to be tested outputs a required torque to a motor and a motor controller according to the vehicle control signal, outputs an electric accessory control instruction to an electric accessory module, and outputs a relay control instruction to the high-voltage power distribution module; the motor and the motor controller calculate a motor bus current, a motor power, a vehicle speed, a motor rotating speed and a motor controller heartbeat according to a vehicle parameter and a motor parameter input by an upper computer and a required torque output by the vehicle controller to be detected, send the motor bus current, the motor power, the vehicle speed and the motor rotating speed to the upper computer for display, and send the motor bus current, the motor power, the motor rotating speed and the motor controller heartbeat to the vehicle controller to be detected; the battery and the battery manager calculate battery voltage, allowable charge and discharge current, real-time SOC and battery manager heartbeat according to the initial battery SOC and the battery temperature input by the upper computer, send the battery voltage, the allowable charge and discharge current and the real-time SOC to the upper computer for display, and send the battery voltage, the allowable charge and discharge current, the real-time SOC and the battery manager heartbeat to the whole vehicle controller to be tested; the electric accessory module simulates the working state and the heartbeat of an electric accessory according to the electric accessory parameters input by the upper computer and the electric accessory control instruction output by the vehicle control unit to be tested, sends the working state of the electric accessory to the upper computer for display, and sends the working state and the heartbeat of the electric accessory to the vehicle control unit to be tested; the high-voltage power distribution module simulates an actual vehicle high-voltage distribution board according to a relay control instruction output by the vehicle control unit to be tested so as to obtain a relay state and a distribution board heartbeat, sends the relay state to the upper computer for display, and sends the relay state and the distribution board heartbeat to the vehicle control unit to be tested; and the fault injection processing module performs fault classification processing according to the fault code input by the upper computer to obtain a fault grade and sends the fault grade to the vehicle control unit to be tested.

According to the function verification and test method of the vehicle control unit, firstly, a motor controller, a battery manager, an electric accessory module, a high-voltage power distribution module and a fault injection processing module are simulated based on a mathematical model of vehicle parts; then, a vehicle control signal is provided for the vehicle controller to be tested by simulating the vehicle control cabin, so that the vehicle controller to be tested can output a required torque to the motor and the motor controller according to the vehicle control signal, output an electric accessory control instruction to the electric accessory module and output a relay control instruction to the high-voltage distribution module; then, the motor and the motor controller calculate the motor bus current, the motor power, the whole vehicle speed, the motor rotating speed and the motor controller heartbeat according to the whole vehicle parameters and the motor parameters input by the upper computer and the required torque output by the whole vehicle controller to be detected, send the motor bus current, the motor power, the whole vehicle speed and the motor rotating speed to the upper computer for display, and send the motor bus current, the motor power, the motor rotating speed and the motor controller heartbeat to the whole vehicle controller to be detected; then, the battery and the battery manager calculate battery voltage, allowable charging and discharging current, real-time SOC and battery manager heartbeat according to the initial battery SOC and the battery temperature input by the upper computer, send the battery voltage, the allowable charging and discharging current and the real-time SOC to the upper computer for displaying, and send the battery voltage, the allowable charging and discharging current, the real-time SOC and the battery manager heartbeat to the whole vehicle controller to be tested; then, the electric accessory module simulates the working state and the heartbeat of the electric accessory according to the electric accessory parameters input by the upper computer and the electric accessory control instruction output by the vehicle control unit to be tested, sends the working state of the electric accessory to the upper computer for displaying, and sends the working state and the heartbeat of the electric accessory to the vehicle control unit to be tested; secondly, the high-voltage power distribution module simulates a real vehicle high-voltage distribution board according to a relay control instruction output by the vehicle control unit to be tested so as to obtain a relay state and a distribution board heartbeat, sends the relay state to an upper computer for display, and sends the relay state and the distribution board heartbeat to the vehicle control unit to be tested; then, the fault injection processing module carries out fault grading processing according to fault codes input by the upper computer to obtain a fault grade, and sends the fault grade to the whole vehicle controller to be tested; therefore, the function verification and test cost of the vehicle control unit is reduced, the occurrence of safety problems of the function verification and test of the vehicle control unit is reduced, the vehicle control unit is suitable for electric drive assembly systems of different specifications, and the universality of the function verification and test system of the vehicle control unit is improved.

In addition, the function verification and test method for the vehicle control unit according to the above embodiment of the present invention may further have the following additional technical features:

Drawings

Fig. 1 is a schematic structural diagram of a function verification and test system of a vehicle control unit according to an embodiment of the invention;

fig. 2 is a schematic flowchart illustrating a method for verifying and testing the function of the vehicle control unit in a normal driving state according to another embodiment of the invention;

fig. 3 is a schematic flow chart illustrating a method for verifying and testing the function of the vehicle control unit according to the embodiment of the invention;

fig. 4 is a schematic flow chart illustrating a method for verifying and testing the function of the vehicle control unit in a normal driving state of the vehicle according to the embodiment of the invention;

fig. 5 is a schematic flow chart illustrating a method for verifying and testing the function of the vehicle control unit in the vehicle power-on static state according to the embodiment of the present invention;

fig. 6 is a flowchart illustrating a method for verifying and testing the function of a vehicle control unit having a failure during a driving process according to an embodiment of the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

The traditional method for verifying and testing the functions of the vehicle control unit in the new energy vehicle is not comprehensive, a large amount of manpower and material resources are required to be consumed, the limit working condition is difficult to verify and the universality is poor; the function verification and test system of the vehicle control unit comprises a port signal input module, a control panel and an upper computer, wherein the port signal input module is connected with the vehicle control unit to be tested, and the control panel is respectively communicated with the vehicle control unit to be tested and the upper computer through a CAN network; the port signal input module provides a vehicle control signal to the vehicle control unit to be tested by simulating a vehicle control cabin of the vehicle, so that the vehicle control unit to be tested outputs a required torque to the motor and the motor controller according to the vehicle control signal, outputs an electric accessory control instruction to the electric accessory module, and outputs a relay control instruction to the high-voltage distribution module; the motor and the motor controller calculate the motor bus current, the motor power, the whole vehicle speed, the motor rotating speed and the motor controller heartbeat according to the whole vehicle parameters and the motor parameters input by the upper computer and the required torque output by the whole vehicle controller to be detected, send the motor bus current, the motor power, the whole vehicle speed and the motor rotating speed to the upper computer for display, and send the motor bus current, the motor power, the motor rotating speed and the motor controller heartbeat to the whole vehicle controller to be detected; the battery and the battery manager calculate battery voltage, allowable charging and discharging current, real-time SOC and battery manager heartbeat according to the initial battery SOC and the battery temperature input by the upper computer, send the battery voltage, the allowable charging and discharging current and the real-time SOC to the upper computer for displaying, and send the battery voltage, the allowable charging and discharging current, the real-time SOC and the battery manager heartbeat to the whole vehicle controller to be tested; the electrical accessory module simulates the working state and heartbeat of the electrical accessory according to electrical accessory parameters input by the upper computer and electrical accessory control instructions output by the vehicle control unit to be tested, sends the working state of the electrical accessory to the upper computer for displaying, and sends the working state and heartbeat of the electrical accessory to the vehicle control unit to be tested; the high-voltage power distribution module simulates a real-vehicle high-voltage distribution board according to a relay control instruction output by the vehicle control unit to be tested so as to obtain a relay state and a distribution board heartbeat, sends the relay state to an upper computer for display, and sends the relay state and the distribution board heartbeat to the vehicle control unit to be tested; the fault injection processing module carries out fault grading processing according to a fault code input by the upper computer to obtain a fault grade and sends the fault grade to the whole vehicle controller to be tested; therefore, the function verification and test cost of the vehicle control unit is reduced, the occurrence of safety problems of the function verification and test of the vehicle control unit is reduced, the vehicle control unit is suitable for electric drive assembly systems of different specifications, and the universality of the function verification and test system of the vehicle control unit is improved.

In order to better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.

Fig. 1 is a schematic structural view of a function verification and test system of a vehicle control unit according to an embodiment of the present invention, and as shown in fig. 1, the function verification and test system of the vehicle control unit includes: the device comprises a port signal input module 10, a control board 20 and an upper computer 30.

The port signal input module 10 is connected with the vehicle control unit 40 to be tested, and the control board 20 is in CAN network communication with the vehicle control unit 40 to be tested and the upper computer 30 respectively.

That is, the port signal input module 10 is connected to the controller under test 40, so that the port signal input module 10 inputs the vehicle control signal to the vehicle controller under test 40; the control board 20 is respectively in CAN network communication with the vehicle control unit 40 to be tested, so that the control board 20 receives control instructions such as required torque, electric accessory control instruction, relay control instruction and the like output by the vehicle control unit 40 to be tested through CAN network communication, and sends processed data to the vehicle control unit 40 to be tested through CAN network communication; the control board 20 and the upper computer 30 are in CAN network communication, so that the control board 20 receives information such as vehicle parameters, motor parameters, initial battery SOC, battery temperature, electric accessory parameters and fault codes sent by the upper computer through the CAN network communication; and the information such as the bus current of the motor, the power of the motor, the speed of the whole vehicle, the rotating speed of the motor, the voltage of the battery pack, the allowable charging and discharging current, the real-time SOC, the working state of the electric accessory, the state of the relay and the like is sent to the upper computer 30 through CAN network communication, so that the information is displayed through the upper computer 30.

The control board 20 simulates a motor and motor controller 21, a battery and battery manager 22, an electric accessory module 23, a high-voltage power distribution module 24 and a fault injection processing module 25 based on a complete vehicle part mathematical model.

That is, the control board 20 performs simulation function verification and test on the vehicle control unit 40 to be tested through the simulated mathematical model of the vehicle parts by simulating the parts and the corresponding control units on the vehicle.

The port signal input module 10 provides a vehicle control signal to the vehicle control unit 40 to be tested by simulating the vehicle control cabin, so that the vehicle control unit 40 to be tested outputs a required torque to the motor and motor controller 21 according to the vehicle control signal, outputs an electrical accessory control command to the electrical accessory module 23, and outputs a relay control command to the high-voltage distribution module 24.

The vehicle control signals may include digital quantity and analog quantity signals such as key gear signals, driving gear signals, accelerator pedal signals, brake pedal signals, etc., and it should be noted that the port signal input module 10 and the vehicle control unit 40 to be tested may be directly connected through a signal line.

The motor and motor controller 21 calculates a motor bus current, a motor power, a vehicle speed, a motor rotating speed and a motor controller heartbeat according to the vehicle parameters and the motor parameters input by the upper computer 30 and the required torque output by the vehicle controller 40 to be detected, sends the motor bus current, the motor power, the vehicle speed and the motor rotating speed to the upper computer 30 for display, and sends the motor bus current, the motor power, the motor rotating speed and the motor controller heartbeat to the vehicle controller 40 to be detected;

it should be noted that the motor and motor controller 21 may also calculate parameters such as current driving resistance, driving force, acceleration and the like of the vehicle according to the vehicle parameters and the motor parameters input by the upper computer 30 and the required torque output by the vehicle controller 40 to be measured, and send the parameters to the upper computer 30 and the vehicle controller 40 to be measured.

The battery and battery manager 22 calculates battery voltage, allowable charge and discharge current, real-time SOC and battery manager heartbeat according to the initial battery SOC and the battery temperature input by the upper computer 30, sends the battery voltage, the allowable charge and discharge current and the real-time SOC to the upper computer 30 for display, and sends the battery voltage, the allowable charge and discharge current, the real-time SOC and the battery manager heartbeat to the whole vehicle controller 40 to be tested;

the electrical accessory module 23 simulates the working state and heartbeat of the electrical accessory according to the electrical accessory parameters input by the upper computer 30 and the electrical accessory control instruction output by the vehicle control unit 40 to be tested, sends the working state of the electrical accessory to the upper computer 30 for displaying, and sends the working state and heartbeat of the electrical accessory to the vehicle control unit 40 to be tested;

among them, the type of the electric accessories may be various, for example, a booster oil pump, a pumping pump, a spot air conditioner, a DCDC, etc., and thus, the type of the electric accessories is not limited herein.

The high-voltage power distribution module 24 simulates a real vehicle high-voltage distribution board according to a relay control instruction output by the vehicle control unit 40 to be tested so as to obtain a relay state and a distribution board heartbeat, sends the relay state to the upper computer 30 for display, and sends the relay state and the distribution board heartbeat to the vehicle control unit 40 to be tested;

the fault injection processing module 25 performs fault classification processing according to the fault code input by the upper computer 30 to obtain a fault grade, and sends the fault grade to the vehicle control unit 40 to be tested.

As an example, for ease of understanding, the following explanation takes a specific test procedure as an example:

as shown in fig. 2, in the process of verifying the normal driving function, first, vehicle information (e.g., vehicle mass, tire radius, etc.), electrical control information (e.g., motor temperature, motor controller temperature, battery SOC, etc.) is input on the upper computer 30; the upper computer 30 sends the vehicle information and the electric control information to the control board 20 through the CAN network communication, so that the control board 20 calculates the vehicle information such as the vehicle running resistance, the allowable charging and discharging current of the battery, the battery pack voltage, the real-time SOC and the like according to the vehicle information and the electric control information, and sends the vehicle information to the vehicle controller 40 to be tested; then, when the ACC gear signal is valid, the motor and motor controller 21 continuously sends a motor controller heartbeat to the vehicle control unit 40 to be tested, the battery and battery manager 22 continuously sends a battery manager heartbeat to the vehicle control unit 40 to be tested, the electrical accessory module 23 continuously sends an electrical accessory heartbeat to the vehicle control unit 40 to be tested, and the high-voltage power distribution module 24 continuously sends a distribution board heartbeat to the vehicle control unit 40 to be tested; when the ON gear signal of the key gear is valid, the vehicle controller 40 to be tested enters a power-ON process and sends a relay control instruction to the high-voltage distribution module 24, and when the high-voltage power-ON is completed, the vehicle controller 40 to be tested sends an electric accessory control instruction to the electric accessory module 23 and enters a driving mode according to the driving gear signal; after entering the driving mode, when the opening degree of the accelerator pedal is judged to be greater than 0 according to the accelerator pedal signal, the vehicle control unit 40 to be tested sends a required torque to the motor and the motor controller 21; when the vehicle speed of the whole vehicle is greater than 0 and the opening degree of an accelerator pedal is 0, the whole vehicle controller 40 to be tested calculates a sliding feedback torque and sends the sliding feedback torque to the motor and motor controller 21, the motor and motor controller 21 calculates a sliding feedback current according to the sliding feedback torque and sends the sliding feedback current to the upper computer 30 for display, and the sliding feedback current is fed back to the whole vehicle controller 40 to be tested; when the speed of the whole vehicle is greater than 0 and the opening degree of a brake pedal is greater than 0, the whole vehicle controller 40 to be tested calculates brake feedback torque and sends the brake feedback torque to the motor and motor controller 21, the motor and motor controller 21 calculates brake feedback current according to the brake feedback torque and sends the brake feedback current to the upper computer 30 for display, and the brake feedback current is fed back to the whole vehicle controller 40 to be tested; therefore, the normal running process of the whole vehicle is simulated through the operation, and the control strategies of high-voltage power-on, normal driving running and energy recovery of the whole vehicle controller 40 to be tested are verified according to the simulated normal running process of the whole vehicle; it should be noted that, during the simulated driving, a fault (for example, a gear is engaged at a high speed, a hand brake is effective during the high-speed driving, etc.) may also be artificially created to verify the control strategy of the vehicle controller 40 under test in the fault state.

As another example, after the vehicle controller 40 to be tested is powered on at high voltage and the vehicle is still in a stationary state, the vehicle controller 40 to be tested generates a first fault handling instruction according to the fault level, and sends the first fault handling instruction to the motor and motor controller 21, the electrical accessory module 23 and the high-voltage power distribution module 24, so that the motor and motor controller 21, the electrical accessory module 23 and the high-voltage power distribution module 24 respectively send the handling results to the upper computer 30 for displaying; that is to say, when the vehicle is still in a stationary state after the high-voltage power-on, the vehicle controller 40 to be tested performs a judgment according to the fault level to generate a first fault processing instruction including a corresponding processing measure, and sends the first fault processing instruction to the control board 20, after receiving the first fault processing instruction, the control board 20 performs corresponding processing according to the first fault processing instruction, and sends a processing result to the upper computer 30 for display, so that a tester performs difference comparison before and after a fault according to the display of the upper computer 30 to verify a stationary state fault processing strategy of the vehicle controller 40 to be tested, wherein the fault level may be classified by the control board 20 to form a fault code list corresponding to the fault level, and after the fault level is generated, the fault level is sent to the vehicle controller 40 to be tested.

As another example, after the high-voltage power-on of the vehicle controller to be tested is completed, if the vehicle is in a driving state, the vehicle controller to be tested generates a second fault processing instruction according to the fault level, and sends the second fault processing instruction to the motor and motor controller, the electrical accessory module and the high-voltage power distribution module, so that the motor and motor controller, the electrical accessory module and the high-voltage power distribution module respectively send processing results to the upper computer for displaying; that is to say, if the vehicle has a fault in the normal driving process, the vehicle controller 40 to be tested generates a second fault processing instruction according to the level of the fault, and sends the second fault processing instruction to the control board 20, so that the module in the control board 20 processes the fault according to the processing measure in the second fault processing instruction, and sends the processing result to the upper computer 30 for display after being labored, so that the tester can visually compare the data before and after processing, so as to verify the driving state fault processing strategy of the vehicle controller 40 to be tested.

In summary, the function verification and test system of the vehicle control unit according to the embodiment of the invention includes a port signal input module, a control panel and an upper computer, wherein the port signal input module is connected with the vehicle control unit to be tested, and the control panel is respectively in CAN network communication with the vehicle control unit to be tested and the upper computer, wherein the control panel simulates a motor and a motor controller, a battery and a battery manager, an electric accessory module, a high-voltage power distribution module and a fault injection processing module based on a vehicle part mathematical model; the port signal input module provides a vehicle control signal to the vehicle control unit to be tested by simulating a vehicle control cabin of the vehicle, so that the vehicle control unit to be tested outputs a required torque to the motor and the motor controller according to the vehicle control signal, outputs an electric accessory control instruction to the electric accessory module, and outputs a relay control instruction to the high-voltage distribution module; the motor and the motor controller calculate the motor bus current, the motor power, the whole vehicle speed, the motor rotating speed and the motor controller heartbeat according to the whole vehicle parameters and the motor parameters input by the upper computer and the required torque output by the whole vehicle controller to be detected, send the motor bus current, the motor power, the whole vehicle speed and the motor rotating speed to the upper computer for display, and send the motor bus current, the motor power, the motor rotating speed and the motor controller heartbeat to the whole vehicle controller to be detected; the battery and the battery manager calculate battery voltage, allowable charging and discharging current, real-time SOC and battery manager heartbeat according to the initial battery SOC and the battery temperature input by the upper computer, send the battery voltage, the allowable charging and discharging current and the real-time SOC to the upper computer for displaying, and send the battery voltage, the allowable charging and discharging current, the real-time SOC and the battery manager heartbeat to the whole vehicle controller to be tested; the electrical accessory module simulates the working state and heartbeat of the electrical accessory according to electrical accessory parameters input by the upper computer and electrical accessory control instructions output by the vehicle control unit to be tested, sends the working state of the electrical accessory to the upper computer for displaying, and sends the working state and heartbeat of the electrical accessory to the vehicle control unit to be tested; the high-voltage power distribution module simulates a real-vehicle high-voltage distribution board according to a relay control instruction output by the vehicle control unit to be tested so as to obtain a relay state and a distribution board heartbeat, sends the relay state to an upper computer for display, and sends the relay state and the distribution board heartbeat to the vehicle control unit to be tested; the fault injection processing module carries out fault grading processing according to a fault code input by the upper computer to obtain a fault grade and sends the fault grade to the whole vehicle controller to be tested; therefore, the function verification and test cost of the vehicle control unit is reduced, the occurrence of safety problems of the function verification and test of the vehicle control unit is reduced, the vehicle control unit is suitable for electric drive assembly systems of different specifications, and the universality of the function verification and test system of the vehicle control unit is improved.

In order to implement the above embodiments, an embodiment of the present invention provides a method for verifying and testing a function of a vehicle controller, as shown in fig. 3, the method for verifying and testing a function of a vehicle controller includes the following steps:

and S101, simulating a motor and motor controller, a battery and battery manager, an electric accessory module, a high-voltage power distribution module and a fault injection processing module based on a complete vehicle part mathematical model.

That is to say, each part on the whole vehicle and the corresponding control unit thereof are simulated based on the whole vehicle part mathematical model, so that the simulation verification and test of the whole vehicle controller to be tested can be carried out subsequently through each simulated part on the whole vehicle and the corresponding control unit thereof.

S102, a vehicle control signal is provided to the vehicle control unit to be tested by simulating the vehicle control cabin, so that the vehicle control unit to be tested can output a required torque to the motor and the motor controller according to the vehicle control signal, output an electric accessory control command to the electric accessory module, and output a relay control command to the high-voltage distribution module.

Namely, simulating a whole vehicle cockpit, and providing a vehicle control signal for the whole vehicle controller to be tested by simulating the whole vehicle cockpit, wherein the vehicle control signal may include a key gear signal, a driving gear signal, an accelerator pedal signal and a brake pedal signal; and then, after receiving the vehicle control signal, the vehicle controller to be tested outputs a required torque to the motor and the motor controller according to the vehicle control signal, outputs an electric accessory control instruction to the electric accessory module, and outputs a relay control instruction to the high-voltage distribution module, so that each simulation module in the control board correspondingly processes according to the instruction after receiving the instruction.

S103, the motor and the motor controller calculate the motor bus current, the motor power, the whole vehicle speed, the motor rotating speed and the motor controller heartbeat according to the whole vehicle parameters and the motor parameters input by the upper computer and the required torque output by the whole vehicle controller to be detected, send the motor bus current, the motor power, the whole vehicle speed and the motor rotating speed to the upper computer for display, and send the motor bus current, the motor power, the motor rotating speed and the motor controller heartbeat to the whole vehicle controller to be detected.

As an example, after the vehicle parameters and the motor parameters are input to the control board through the upper computer, the motor and the motor controller in the control board calculate the driving resistance when the vehicle is static according to the vehicle parameters and the motor parameters, wherein the vehicle parameters can include vehicle mass, tire radius and the like; the motor parameters may include motor temperature, motor controller temperature, etc.; then, when the whole vehicle controller to be tested drives to control, receiving the required torque output by the whole vehicle controller to be tested, calculating vehicle parameters such as the current driving resistance, the driving force, the acceleration, the motor rotating speed, the current vehicle speed, the motor power and the motor current of the vehicle, and sending the vehicle parameters to an upper computer and the whole vehicle controller to be tested; meanwhile, when the ACC gear signal is effective, the control board continuously sends a heartbeat signal of the motor controller to the whole vehicle controller to be tested.

And S104, the battery and the battery manager calculate battery voltage, allowable charging and discharging current, real-time SOC and battery manager heartbeat according to the initial battery SOC and the battery temperature input by the upper computer, send the battery voltage, the allowable charging and discharging current and the real-time SOC to the upper computer for displaying, and send the battery voltage, the allowable charging and discharging current, the real-time SOC and the battery manager heartbeat to the whole vehicle controller to be tested.

As an example, the battery and the battery manager calculate parameters such as allowable charge and discharge current and battery voltage according to the initial SOC and the initial battery temperature input by the upper computer; calculating real-time SOC according to the real-time power of the motor and the real-time power of the electric accessory, and respectively sending the battery voltage, the allowable charging and discharging current and the real-time SOC to an upper computer and the whole vehicle controller to be tested; meanwhile, when the ACC gear signal is effective, the control board continuously sends a battery manager heartbeat signal to the whole vehicle controller to be tested.

And S105, simulating the working state and the heartbeat of the electric accessory by the electric accessory module according to the electric accessory parameters input by the upper computer and the electric accessory control command output by the vehicle control unit to be tested, sending the working state of the electric accessory to the upper computer for displaying, and sending the working state and the heartbeat of the electric accessory to the vehicle control unit to be tested.

That is to say, the electrical accessory module simulates the working state of the whole vehicle electrical accessory according to the electrical accessory parameters input by the upper computer and the electrical accessory control instruction output by the whole vehicle controller to be tested, and continuously sends electrical accessory heartbeat to the whole vehicle controller to be tested when the ACC gear signal is effective.

And S106, the high-voltage power distribution module simulates the high-voltage distribution board of the real vehicle according to the relay control instruction output by the vehicle control unit to be tested so as to obtain the relay state and the heartbeat of the distribution board, sends the relay state to the upper computer for displaying, and sends the relay state and the heartbeat of the distribution board to the vehicle control unit to be tested.

And S107, the fault injection processing module performs fault grading processing according to the fault codes input by the upper computer to obtain a fault grade, and sends the fault grade to the vehicle control unit to be tested.

It should be noted that the upper computer provides input of parameters of the whole vehicle and parts, so that simulation of different vehicle types and different parts can be realized, and the universality of the test system is improved; meanwhile, the upper computer also provides real-time display of information such as simulation vehicle speed, a real-time control mode, motor electric control voltage and current, fault codes and the like, so that a tester can conveniently observe the information, and the functions of the whole vehicle controller to be tested are verified and tested through observation.

It should be noted that the above description about the function verification and test system of the vehicle control unit in fig. 1 is also applicable to the function verification and test method of the vehicle control unit, and is not repeated herein.

In summary, according to the function verification and test method of the vehicle control unit in the embodiment of the invention, firstly, a motor and motor controller, a battery and battery manager, an electric accessory module, a high-voltage power distribution module and a fault injection processing module are simulated based on a mathematical model of vehicle parts; then, a vehicle control signal is provided for the vehicle controller to be tested by simulating the vehicle control cabin, so that the vehicle controller to be tested can output a required torque to the motor and the motor controller according to the vehicle control signal, output an electric accessory control instruction to the electric accessory module and output a relay control instruction to the high-voltage distribution module; then, the motor and the motor controller calculate the motor bus current, the motor power, the whole vehicle speed, the motor rotating speed and the motor controller heartbeat according to the whole vehicle parameters and the motor parameters input by the upper computer and the required torque output by the whole vehicle controller to be detected, send the motor bus current, the motor power, the whole vehicle speed and the motor rotating speed to the upper computer for display, and send the motor bus current, the motor power, the motor rotating speed and the motor controller heartbeat to the whole vehicle controller to be detected; then, the battery and the battery manager calculate battery voltage, allowable charging and discharging current, real-time SOC and battery manager heartbeat according to the initial battery SOC and the battery temperature input by the upper computer, send the battery voltage, the allowable charging and discharging current and the real-time SOC to the upper computer for displaying, and send the battery voltage, the allowable charging and discharging current, the real-time SOC and the battery manager heartbeat to the whole vehicle controller to be tested; then, the electric accessory module simulates the working state and the heartbeat of the electric accessory according to the electric accessory parameters input by the upper computer and the electric accessory control instruction output by the vehicle control unit to be tested, sends the working state of the electric accessory to the upper computer for displaying, and sends the working state and the heartbeat of the electric accessory to the vehicle control unit to be tested; secondly, the high-voltage power distribution module simulates a real vehicle high-voltage distribution board according to a relay control instruction output by the vehicle control unit to be tested so as to obtain a relay state and a distribution board heartbeat, sends the relay state to an upper computer for display, and sends the relay state and the distribution board heartbeat to the vehicle control unit to be tested; then, the fault injection processing module carries out fault grading processing according to fault codes input by the upper computer to obtain a fault grade, and sends the fault grade to the whole vehicle controller to be tested; therefore, the function verification and test cost of the vehicle control unit is reduced, the occurrence of safety problems of the function verification and test of the vehicle control unit is reduced, the vehicle control unit is suitable for electric drive assembly systems of different specifications, and the universality of the function verification and test system of the vehicle control unit is improved.

In some embodiments, in order to make the function verification and test of the vehicle control unit to be tested more comprehensive and thorough, the function of the vehicle control unit to be tested is verified and tested according to different states of the simulated vehicle.

As an example, as shown in fig. 4, the method for verifying and testing the function of the vehicle control unit according to the embodiment of the present invention includes the following steps when the vehicle state is in the normal driving state:

s201, when an ACC gear signal of a key gear is effective, the motor and the motor controller continuously send heartbeat of the motor controller to the whole vehicle controller to be tested, the battery and the battery manager continuously send heartbeat of the battery manager to the whole vehicle controller to be tested, the electric accessory module continuously sends heartbeat of an electric accessory to the whole vehicle controller to be tested, and the high-voltage power distribution module continuously sends heartbeat of a power distribution panel to the whole vehicle controller to be tested.

S202, when an ON gear signal of a key gear is effective, the vehicle controller to be tested enters a power-ON process and sends a relay control instruction to the high-voltage power-ON module, and when high-voltage power-ON is completed, the vehicle controller to be tested sends an electrical accessory control instruction to the electrical accessory module and enters a driving mode according to a driving gear signal.

Specifically, when the opening degree of an accelerator pedal is judged to be larger than 0 according to an accelerator pedal signal, the vehicle control unit to be tested sends a required torque to the motor and the motor controller;

when the speed of the whole vehicle is greater than 0 and the opening degree of an accelerator pedal is 0, the whole vehicle controller to be tested calculates a sliding feedback torque and sends the sliding feedback torque to the motor and the motor controller, the motor and the motor controller calculate a sliding feedback current according to the sliding feedback torque and sends the sliding feedback current to an upper computer for display, and the sliding feedback current is fed back to the whole vehicle controller to be tested;

when the speed of the whole vehicle is greater than 0 and the opening degree of a brake pedal is greater than 0, the whole vehicle controller to be tested calculates brake feedback torque and sends the brake feedback torque to the motor and the motor controller, the motor and the motor controller calculate brake feedback current according to the brake feedback torque and send the brake feedback current to the upper computer for display, and the brake feedback current is fed back to the whole vehicle controller to be tested.

As another example, as shown in fig. 5, after the high-voltage power-on is completed, the vehicle is still in a stationary state, and the method for verifying and testing the function of the vehicle controller provided in the embodiment of the present invention further includes the following steps:

s301, the vehicle control unit to be tested generates a first fault processing instruction according to the fault level, and sends the first fault processing instruction to the motor and motor controller, the electric accessory module and the high-voltage power distribution module, so that the motor and motor controller, the electric accessory module and the high-voltage power distribution module respectively send processing results to an upper computer for displaying.

As another example, as shown in fig. 6, when a vehicle fails while the vehicle is in a driving state, the method for verifying and testing the function of the vehicle control unit according to the embodiment of the present invention further includes the following steps:

s401, the vehicle control unit to be tested generates a second fault processing instruction according to the fault level, and sends the second fault processing instruction to the motor and motor controller, the electric accessory module and the high-voltage power distribution module, so that the motor and motor controller, the electric accessory module and the high-voltage power distribution module respectively send processing results to an upper computer for displaying.

In summary, the functional verification and test method for the vehicle control unit according to the embodiment of the present invention respectively verifies and tests different states of the simulated vehicle, and sends the processing result to the upper computer for displaying after the control board processes according to the received processing instruction, so as to facilitate verification by the tester; therefore, the function verification and test process of the vehicle control unit to be tested is simple, convenient, comprehensive and visual.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.

While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above should not be understood to necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A function verification and test system of a vehicle control unit is characterized by comprising a port signal input module, a control panel and an upper computer, wherein the port signal input module is connected with the vehicle control unit to be tested, the control panel is respectively communicated with the vehicle control unit to be tested and the upper computer through a CAN network, wherein,

the control panel simulates a motor and a motor controller, a battery and a battery manager, an electric accessory module, a high-voltage power distribution module and a fault injection processing module based on a complete vehicle part mathematical model;

the port signal input module is used for providing a vehicle control signal to the vehicle control unit to be tested by simulating a vehicle control cabin, so that the vehicle control unit to be tested can output a required torque to the motor and the motor controller according to the vehicle control signal, output an electric accessory control instruction to the electric accessory module and output a relay control instruction to the high-voltage power distribution module;

the motor and the motor controller calculate a motor bus current, a motor power, a vehicle speed, a motor rotating speed and a motor controller heartbeat according to a vehicle parameter and a motor parameter input by the upper computer and a required torque output by the vehicle controller to be detected, send the motor bus current, the motor power, the vehicle speed and the motor rotating speed to the upper computer for display, and send the motor bus current, the motor power, the motor rotating speed and the motor controller heartbeat to the vehicle controller to be detected;

the battery and the battery manager calculate battery voltage, allowable charge and discharge current, real-time SOC and battery manager heartbeat according to the initial battery SOC and the battery temperature input by the upper computer, send the battery voltage, the allowable charge and discharge current and the real-time SOC to the upper computer for display, and send the battery voltage, the allowable charge and discharge current, the real-time SOC and the battery manager heartbeat to the whole vehicle controller to be tested;

the electric accessory module simulates the working state and the heartbeat of an electric accessory according to the electric accessory parameters input by the upper computer and the electric accessory control instruction output by the vehicle control unit to be tested, sends the working state of the electric accessory to the upper computer for display, and sends the working state and the heartbeat of the electric accessory to the vehicle control unit to be tested;

the high-voltage power distribution module simulates an actual vehicle high-voltage distribution board according to a relay control instruction output by the vehicle control unit to be tested so as to obtain a relay state and a distribution board heartbeat, sends the relay state to the upper computer for display, and sends the relay state and the distribution board heartbeat to the vehicle control unit to be tested;

the fault injection processing module carries out fault grading processing according to the fault code input by the upper computer to obtain a fault grade and sends the fault grade to the whole vehicle controller to be tested;

the vehicle control signals comprise key gear signals, driving gear signals, accelerator pedal signals and brake pedal signals;

wherein when an ACC gear signal of a key gear is effective, the motor and the motor controller continuously send the motor controller heartbeat to the vehicle control unit to be tested, the battery and the battery manager continuously send the battery manager heartbeat to the vehicle control unit to be tested, the electric accessory module continuously sends the electric accessory heartbeat to the vehicle control unit to be tested, the high-voltage distribution module continuously sends the distribution board heartbeat to the vehicle control unit to be tested, when an ON gear signal of the key gear is effective, the vehicle control unit to be tested enters a power-ON process and sends the relay control instruction to the high-voltage distribution module, and when high-voltage power-ON is completed, the vehicle control unit to be tested sends the electric accessory control instruction to the electric accessory module and enters a driving mode according to the running gear signal, wherein,

when the opening degree of an accelerator pedal is judged to be larger than 0 according to the accelerator pedal signal, the whole vehicle controller to be tested sends the required torque to the motor and the motor controller;

when the vehicle speed is greater than 0 and the opening degree of the accelerator pedal is 0, the vehicle controller to be tested calculates a sliding feedback torque and sends the sliding feedback torque to the motor and the motor controller, the motor and the motor controller calculate a sliding feedback current according to the sliding feedback torque, and sends the sliding feedback current to the upper computer for display, and feeds the sliding feedback current back to the vehicle controller to be tested;

when the speed of the whole vehicle is greater than 0 and the opening degree of a brake pedal is greater than 0, the whole vehicle controller to be tested calculates brake feedback torque and sends the brake feedback torque to the motor and the motor controller, the motor and the motor controller calculate brake feedback current according to the brake feedback torque, send the brake feedback current to the upper computer for display, and feed the brake feedback current back to the whole vehicle controller to be tested.

2. The system for functional verification and testing of the vehicle control unit according to claim 1, wherein after the vehicle control unit to be tested is powered on at a high voltage, if the vehicle is in a stationary state, the vehicle control unit to be tested generates a first fault handling instruction according to the fault level, and sends the first fault handling instruction to the motor and motor controller, the electrical accessory module and the high-voltage power distribution module, so that the motor and motor controller, the electrical accessory module and the high-voltage power distribution module respectively send processing results to the upper computer for display.

3. The system for functional verification and testing of the vehicle control unit according to claim 1, wherein after the vehicle control unit to be tested is powered on at a high voltage, if the vehicle is in a driving state, the vehicle control unit to be tested generates a second fault handling instruction according to the fault level, and sends the second fault handling instruction to the motor and motor controller, the electrical accessory module and the high-voltage power distribution module, so that the motor and motor controller, the electrical accessory module and the high-voltage power distribution module respectively send processing results to the upper computer for display.

4. A function verification and test method of a vehicle control unit is characterized by comprising the following steps:

simulating a motor and a motor controller, a battery and a battery manager, an electric accessory module, a high-voltage power distribution module and a fault injection processing module based on a complete vehicle part mathematical model;

providing a vehicle control signal to a vehicle control unit to be tested by simulating a vehicle control cabin, so that the vehicle control unit to be tested outputs a required torque to a motor and a motor controller according to the vehicle control signal, outputs an electric accessory control instruction to an electric accessory module, and outputs a relay control instruction to the high-voltage power distribution module;

the motor and the motor controller calculate a motor bus current, a motor power, a vehicle speed, a motor rotating speed and a motor controller heartbeat according to a vehicle parameter and a motor parameter input by an upper computer and a required torque output by the vehicle controller to be detected, send the motor bus current, the motor power, the vehicle speed and the motor rotating speed to the upper computer for display, and send the motor bus current, the motor power, the motor rotating speed and the motor controller heartbeat to the vehicle controller to be detected;

5. The method for functional verification and testing of the vehicle control unit according to claim 4, wherein after the vehicle control unit to be tested is powered on at a high voltage, if the vehicle is in a static state, the vehicle control unit to be tested generates a first fault handling instruction according to the fault level, and sends the first fault handling instruction to the motor and motor controller, the electrical accessory module and the high-voltage power distribution module, so that the motor and motor controller, the electrical accessory module and the high-voltage power distribution module respectively send processing results to the upper computer for display.

6. The method for functional verification and testing of the vehicle control unit according to claim 4, wherein after the vehicle control unit to be tested is powered on at a high voltage, if the vehicle is in a driving state, the vehicle control unit to be tested generates a second fault handling instruction according to the fault level, and sends the second fault handling instruction to the motor and motor controller, the electrical accessory module and the high-voltage power distribution module, so that the motor and motor controller, the electrical accessory module and the high-voltage power distribution module respectively send processing results to the upper computer for display.