CN109634258A - It is a kind of for the bus message method of calibration of hardware-in―the-loop test, apparatus and system - Google Patents
It is a kind of for the bus message method of calibration of hardware-in―the-loop test, apparatus and system Download PDFInfo
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- CN109634258A CN109634258A CN201811457338.4A CN201811457338A CN109634258A CN 109634258 A CN109634258 A CN 109634258A CN 201811457338 A CN201811457338 A CN 201811457338A CN 109634258 A CN109634258 A CN 109634258A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
- G05B23/0262—Confirmation of fault detection, e.g. extra checks to confirm that a failure has indeed occurred
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
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Abstract
The embodiment of the invention provides a kind of for the bus message method of calibration of hardware-in―the-loop test, apparatus and system, which includes: to extract the first message information of each bus message；The DBC agreement prestored is parsed, the second message information that each CAN node in DBC agreement corresponds to message is obtained；It is verified according to first message information of the second message information of CAN node message each in DBC agreement to each bus message, generates bus message check information.By implementing the present invention, realize whether in hardware-in―the-loop test simulation process identification controller by the agreement of DBC sends bus message, it lays a good foundation for the subsequent mistake for correcting message transmission according to recognition result, improves the reliability of bus communication, ensure that the quality of bus communication.
Description
Technical field
The present invention relates to hardware-in-the-loop test technical fields, and in particular to a kind of bus for hardware-in―the-loop test
Message checking method, apparatus and system.
Background technique
The hardware-in-loop simulation of electronic controller for vehicle (ECU, Electronic Control Unit) is surveyed at present
Examination, will usually carry out the analog simulation of CAN (Controller Area Network, controller local area network) bus signals, wrap
The simulation that controller receives CAN bus signal is included, and the reception of the CAN bus signal sent to controller.Different platform
Hardware in loop (HIL, hardware-in-the-loop) test macro is usually to pass through the solution to DBC (database CAN) file
Analysis, is automatically performed the analog simulation of CAN bus signal.
The shortcomings that existing HIL test macro, is, only surveys to the bus message received during emulation testing
Examination, if controller do not press DBC agreement carry out CAN bus message transmission, such as it is multiple or less sent out CAN node message,
Digit mistake or the sending cycle mistake of some CAN bus message of some CAN bus message etc., nothing during emulation testing
Method identification affects the reliability of bus communication, not can guarantee so that the mistake that message is sent can not be corrected according to recognition result
The quality of bus communication.
Summary of the invention
In view of this, the embodiment of the present invention proposes a kind of bus message method of calibration for hardware-in―the-loop test, dress
Set and system, to solve existing HIL system in simulation process can not identification controller whether by the agreement of DBC send bus
Message affects the reliability of bus communication so that the mistake that message is sent can not be corrected according to recognition result, not can guarantee total
The problem of quality of line communication.
To achieve the above object, the present invention adopts the following technical scheme:
According in a first aspect, the embodiment of the invention provides a kind of bus message verification sides for hardware-in―the-loop test
Method, the bus message method of calibration include: to extract the first message information of each bus message；To the DBC agreement prestored
It is parsed, obtains the second message information that each CAN node in the DBC agreement corresponds to message；According to each in the DBC agreement
Second message information of CAN node message verifies the first message information of each bus message, generates bus message
Check information.
With reference to first aspect, in first aspect first embodiment, the first message letter of each bus message is extracted
Before breath, further includes: obtain the bus message, and stabbed to the bus message setup time；According to each bus message
Timestamp generate the first sending cycle information that the corresponding each CAN node of each bus message sends message；It will be each described
Bus message and the corresponding first sending cycle information of each bus message are stored.
First embodiment with reference to first aspect extracts each bus message in first aspect second embodiment
The first message information, comprising: extract the first id information of each bus message, the first message content information and each described total
The corresponding CAN node of report from a liner text sends the first sending cycle information of message.
Second embodiment with reference to first aspect carries out the DBC agreement prestored in first aspect third embodiment
Parsing, obtains the second message information of each CAN node in the DBC agreement, comprising: solve to the DBC agreement prestored
Analysis obtains the second id information of each CAN node message, the second message content information defined in the DBC agreement and the second hair
Send cycle information.
Third embodiment with reference to first aspect, in the 4th embodiment of first aspect, according to each in the DBC agreement
Second message information of CAN node verifies the first message information of each bus message, generates bus message verification
Information, comprising: each first id information and each second id information are compared, the first message checking information is generated,
The first message checking information is for characterizing whether the corresponding bus message of first id information is to determine in the DBC agreement
The message of justice；Each first sending cycle information and each second sending cycle information are compared, the second report is generated
Literary check information, the second message checking information are used to characterize the corresponding CAN node of each bus message and send message
Whether the period is sending cycle defined in the DBC agreement；By each first message content information and each second report
Literary content information compares, and generates third message checking information, the third message checking information is for characterizing described first
Whether the digit of message content information is message digit defined in the DBC agreement.
According to second aspect, the embodiment of the invention provides a kind of bus messages for hardware-in―the-loop test to verify dress
It sets, the bus message calibration equipment includes: information extraction modules, and the first message for extracting each bus message is believed
Breath；It is corresponding to obtain each CAN node in the DBC agreement for parsing to the DBC agreement prestored for DBC protocol resolution module
Second message information of message；Check information generation module, for according to the second of CAN node message each in the DBC agreement
Message information verifies the first message information of each bus message, generates bus message check information.
According to the third aspect, the embodiment of the invention provides a kind of bus messages for hardware-in―the-loop test to verify system
System, the bus message check system includes: adapter, and one end of the adapter is connected with CAN bus；And memory and
Processor is communicated with each other with the other end of the adapter and is connect, and computer instruction, the processing are stored in the memory
Device is by executing the computer instruction, thereby executing total described in first aspect present invention or first aspect any embodiment
Report from a liner text method of calibration.
According to fourth aspect, the embodiment of the invention provides a kind of hardware-in―the-loop test system, the hardware-in―the-loop tests
System includes: bus message check system described in third aspect present invention.
It is described computer-readable the embodiment of the invention provides a kind of computer readable storage medium according to the 5th aspect
Storage medium is stored with computer instruction, and the computer instruction is for making the computer execute first aspect present invention or the
Bus message method of calibration described in one side any embodiment.
Technical solution of the present invention at least has the advantages that compared with prior art
The embodiment of the invention provides a kind of for the bus message method of calibration of hardware-in―the-loop test, apparatus and system,
The bus message method of calibration passes through the first message information for extracting each bus message, and solves to the DBC agreement prestored
Analysis, obtains the second message information that each CAN node in DBC agreement corresponds to message, according to CAN node message each in DBC agreement
Second message information verifies the first message information of each bus message, generates bus message check information, realizes
The agreement that whether identification controller presses DBC in hardware-in―the-loop test simulation process sends bus message, is tied to be subsequent according to identification
The mistake that fruit amendment message is sent is laid a good foundation, and is improved the reliability of bus communication, be ensure that the quality of bus communication.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is a specific example in the embodiment of the present invention for the bus message method of calibration of hardware-in―the-loop test
Flow chart；
Fig. 2 is another specific example in the embodiment of the present invention for the bus message method of calibration of hardware-in―the-loop test
Flow chart；
Fig. 3 is a specific example in the embodiment of the present invention for the bus message calibration equipment of hardware-in―the-loop test
Functional block diagram；
Fig. 4 is a specific example in the embodiment of the present invention for the bus message check system of hardware-in―the-loop test
Schematic diagram
Fig. 5 is the signal of the specific example of hardware-in―the-loop test system in a particular application in the embodiment of the present invention
Figure；
Fig. 6 is the flow chart of a specific example of hardware-in―the-loop test in the embodiment of the present invention.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " first ", " second ", " third " are used for description purposes only,
It is not understood to indicate or imply relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also indirectly connected through an intermediary, it can be with
It is the connection inside two elements, can be wireless connection, be also possible to wired connection.For those of ordinary skill in the art
For, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
As long as in addition, the non-structure each other of technical characteristic involved in invention described below different embodiments
It can be combined with each other at conflict.
The embodiment of the invention provides a kind of bus message methods of calibration for hardware-in―the-loop test, as shown in Figure 1, should
Bus message method of calibration includes:
Step S1: the first message information of each bus message is extracted；
Step S2: parsing the DBC agreement prestored, obtains the second report that each CAN node in DBC agreement corresponds to message
Literary information；
Step S3: according to the second message information of CAN node message each in DBC agreement to the first message of each bus message
Information is verified, and bus message check information is generated.
S1 to step S3 through the above steps, the bus message school provided in an embodiment of the present invention for hardware-in―the-loop test
Proved recipe method by the first message information of each bus message of extraction, and parses the DBC agreement prestored, obtains DBC association
Each CAN node corresponds to the second message information of message in view, according to the second message information of CAN node message each in DBC agreement
First message information of each bus message is verified, bus message check information is generated, realizes in hardware-in―the-loop test
The agreement that whether identification controller presses DBC in simulation process sends bus message, corrects message hair according to recognition result to be subsequent
The mistake sent is laid a good foundation, and the reliability of bus communication is improved, and ensure that the quality of bus communication.
In one particular embodiment of the present invention, as shown in Fig. 2, extracting each bus message in S1 through the above steps
Before first message information, further includes:
Step S4: bus message is obtained, and bus message setup time is stabbed；
Step S5: the corresponding each CAN node of each bus message is generated according to the timestamp of each bus message and sends message
First sending cycle information；
Step S6: each bus message and the corresponding first sending cycle information of each bus message are stored.
S4 to step S6 through the above steps, bus message method of calibration provided in an embodiment of the present invention, to what is received
Bus message setup time stamp generates the sending cycle of each CAN node transmission message according to the timestamp of each bus message and deposits
Storage is laid a good foundation for the sending cycle of subsequent check bus message.
In one particular embodiment of the present invention, as shown in Fig. 2, S1 extracts the of each bus message through the above steps
One message information, comprising:
Step S11: the first id information, the first message content information and each bus message for extracting each bus message are corresponding
First sending cycle information of CAN node transmission message.
In one particular embodiment of the present invention, as shown in Fig. 2, through the above steps S2 to the DBC agreement prestored into
Row parsing, obtains the second message information of each CAN node in DBC agreement, comprising:
Step S21: parsing the DBC agreement prestored, obtains of each CAN node message defined in DBC agreement
Two id informations, the second message content information and the second sending cycle information.Wherein, parsing to the DBC agreement prestored can be with
It is to be realized based on the tool box Network Toolbox MATLAB Vehicle.
In one particular embodiment of the present invention, as shown in Fig. 2, S3 is according to CAN each in DBC agreement through the above steps
Second message information of node verifies the first message information of each bus message, generates bus message check information, tool
Body includes:
Step S31: each first id information and each second id information are compared, and generate the first message checking information, the
Whether one message checking information is message defined in DBC agreement for characterizing the corresponding bus message of the first id information；
Step S32: each first sending cycle information and each second sending cycle information are compared, and generate the second message
Check information, the second message checking information be used to characterize the corresponding CAN node of each bus message send message period whether be
Sending cycle defined in DBC agreement；
Step S33: each first message content information and each second message content information are compared, and generate third message
Check information, whether the digit that third message checking information is used to characterize the first message content information is fixed in the DBC agreement
The message digit of justice, the corresponding message of the first message content information and the corresponding message of the second message content information compared
Id information having the same.
S11, step S21 and step S31 are provided in an embodiment of the present invention for hard to step S33 through the above steps
CAN node each in test process is sent the id information of message, sending cycle is believed in the bus message method of calibration of ring test by part
Breath and message content information respectively with the id information of each CAN node message, sending cycle information and message defined in DBC agreement
Content information compares, so as to identify that whether automobile controller is by DBC agreement transmission message in test process, including
Whether it is multiple or less sent out CAN node message, with the presence or absence of some CAN bus message digit mistake or with the presence or absence of some
The sending cycle mistake of CAN bus message is laid a good foundation for the subsequent mistake for correcting message transmission according to recognition result, is improved
The reliability of bus communication, ensure that the quality of bus communication.
The embodiment of the invention provides a kind of bus message calibration equipments for hardware-in―the-loop test, as shown in figure 3, should
Bus message calibration equipment includes: information extraction modules 1, for extracting the first message information of each bus message, detailed content
It can be found in the associated description of the step S1 of above method embodiment；DBC protocol resolution module 2, for the DBC agreement prestored into
Row parsing, obtains the second message information that each CAN node in DBC agreement corresponds to message, and detailed content can be found in above method reality
Apply the associated description of the step S2 of example；Check information generation module 3, for according to the second of CAN node message each in DBC agreement
Message information verifies the first message information of each bus message, generates bus message check information, and detailed content can join
See the associated description of the step S3 of above method embodiment.
By above- mentioned information extraction module 1, DBC protocol resolution module 2 and check information generation module 3, the present invention is implemented
The bus message calibration equipment for hardware-in―the-loop test that example provides, by extracting the first message information of each bus message,
And the DBC agreement prestored is parsed, the second message information that each CAN node in DBC agreement corresponds to message is obtained, according to
The second message information of each CAN node message verifies the first message information of each bus message in DBC agreement, generates total
Report from a liner text check information, realizes whether the identification controller in hardware-in―the-loop test simulation process is sent always by the agreement of DBC
Report from a liner text lays a good foundation for the subsequent mistake for correcting message transmission according to recognition result, improves the reliability of bus communication,
It ensure that the quality of bus communication.
The embodiment of the invention provides a kind of bus message check systems for hardware-in―the-loop test, as shown in figure 4, should
Bus message check system includes: adapter 4, and one end of adapter 4 is connected with CAN bus；And processor 5 and memory 6,
It communicates with each other and connect with the other end of adapter 4, computer instruction is stored in the memory 6, the processor 5 is by holding
The row computer instruction, thereby executing bus message method of calibration described in the above embodiment of the present invention.
In a specific embodiment of the present invention, above-mentioned adapter 4 is PeakCAN equipment, and the end CAN of PeakCAN equipment is simultaneously
Be associated in automobile controller bus end, the end USB of PeakCAN equipment is connected to test host computer, in host computer processor and
Memory communication connection.PeakCAN equipment is communicated by the CAN node of CAN bus and vehicle, by USB and test
Position machine is communicated, by the message transmissions sent on each CAN node into test host computer, so that the processing in test host computer
Device executes bus message method of calibration described in the above embodiment of the present invention.
Bus message check system provided in an embodiment of the present invention for hardware-in―the-loop test, 5 He of processor therein
Memory 6 can be connected by bus or other modes, in Fig. 4 for being connected by bus.
Processor 5 can be central processing unit (Central Processing Unit, CPU).Processor 5 can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
The combination of the chips such as discrete hardware components or above-mentioned all kinds of chips.
Memory 6 be used as a kind of non-transient computer readable storage medium, can be used for storing non-transient software program, it is non-temporarily
State computer executable program and module, as the bus message for hardware-in―the-loop test in the embodiment of the present invention verifies dress
Corresponding program instruction/module is set (for example, information extraction modules shown in Fig. 31, DBC protocol resolution module 2 and check information
Generation module 3).Non-transient software program, instruction and the module that processor 5 is stored in memory 6 by operation, to hold
The various function application and data processing of row processor, i.e., in realization above method embodiment for hardware-in―the-loop test
Bus message method of calibration.
Memory 6 may include storing program area and storage data area, wherein storing program area can storage program area,
Application program required at least one function；It storage data area can the data etc. that are created of storage processor 5.In addition, storage
Device 6 may include high-speed random access memory, can also include non-transient memory, for example, at least a magnetic disk storage
Part, flush memory device or other non-transient solid-state memories.In some embodiments, it includes relative to processing that memory 6 is optional
The remotely located memory of device 5, these remote memories can pass through network connection to processor 5.The example packet of above-mentioned network
Include but be not limited to internet, intranet, local area network, mobile radio communication and combinations thereof.
One or more of modules are stored in the memory 6, when being executed by the processor 5, are executed such as
The bus message method of calibration for hardware-in―the-loop test in Fig. 1 and embodiment illustrated in fig. 2.
The detail of the above-mentioned bus message check system for hardware-in―the-loop test can correspond to refering to fig. 1 and Fig. 2
Shown in embodiment corresponding associated description and effect understood that details are not described herein again.
The embodiment of the invention also provides a kind of hardware-in―the-loop test system, which includes the present invention
Bus message check system provided by the above embodiment, by the bus message check system, hardware-in―the-loop test system can
It realizes bus message method of calibration described in above-described embodiment, realizes the identification controller in hardware-in―the-loop test simulation process
The agreement for whether pressing DBC sends bus message, lays a good foundation, mentions for the subsequent mistake for correcting message transmission according to recognition result
The high reliability of bus communication, ensure that the quality of bus communication.
Fig. 5 is the schematic diagram of the hardware-in―the-loop test system that provides in a particular application in the embodiment of the present invention.It is specific to survey
Examination process can refer to Fig. 6, and principal function includes three subfunctions, realize that test case executes, CAN bus message information is read respectively
And preservation, CAN message information and dbc verify three functions.After test starts, the parallel operation simultaneously of three subfunctions, mutually solely
Vertical to there is association again, joint realizes bus message verification.The step of bus message is verified is put into functional test while carrying out,
In addition rack resource and testing time are not occupied.
When test case starts automated execution, read in real time all in the CAN bus of PeakCAN equipment transmission
CAN message is saved in txt file, the name and test case file of the txt file after stabbing to each CAN message setup time
Name it is corresponding, destination file is excessive in order to prevent influences subsequent reading speed, and automatically by txt file press default size into
Row cutting.
Verification step is realized by the script developed based on MATLAB, and automatic continuous cycle detection is understood after script startup,
When detecting newly-generated CAN bus message accounting file under specified path, then start to carry out checking process.
After whole use-cases are finished, entire data files are compressed automatically and are packaged, generates test report, and delete original
Data file, to save space.The test report is EXCEL format, and sheet1 is the Global Information of test case, the letter of display
Breath includes use-case filename, message total, normal message number, exception message bibliography, use-case check results；Sheet2 is use-case
Specific error message, the information of display includes use-case filename, the message ID of error, the message content etc. of error.
It is that can lead to it will be understood by those skilled in the art that realizing all or part of the process in above-described embodiment method
Computer program is crossed to instruct relevant hardware and complete, the program can be stored in a computer-readable storage medium
In, the program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, the storage medium can for magnetic disk,
CD, read-only memory (Read-Only Memory, ROM), random access memory (Random Access
Memory, RAM), flash memory (Flash Memory), hard disk (Hard Disk Drive, abbreviation: HDD) or solid state hard disk
(Solid-State Drive, SSD) etc.；The storage medium can also include the combination of the memory of mentioned kind.
Although being described in conjunction with the accompanying the embodiment of the present invention, those skilled in the art can not depart from the present invention
Spirit and scope in the case where various modifications and variations can be made, such modifications and variations are each fallen within by appended claims institute
Within the scope of restriction.
Claims (9)
1. a kind of bus message method of calibration for hardware-in―the-loop test characterized by comprising
Extract the first message information of each bus message；
The DBC agreement prestored is parsed, the second message information that each CAN node in the DBC agreement corresponds to message is obtained；
Believed according to first message of the second message information of CAN node message each in the DBC agreement to each bus message
Breath is verified, and bus message check information is generated.
2. bus message method of calibration according to claim 1, which is characterized in that extract the first of each bus message
Before message information, further includes:
The bus message is obtained, and the bus message setup time is stabbed；
The corresponding each CAN node of each bus message, which is generated, according to the timestamp of each bus message sends the first of message
Sending cycle information；
Each bus message and the corresponding first sending cycle information of each bus message are stored.
3. bus message method of calibration according to claim 2, which is characterized in that extract the first of each bus message
Message information, comprising:
Extract the first id information, the first message content information and the corresponding CAN of each bus message of each bus message
First sending cycle information of node transmission message.
4. bus message method of calibration according to claim 3, which is characterized in that the DBC agreement prestored is parsed,
Obtain the second message information of each CAN node in the DBC agreement, comprising:
The DBC agreement prestored is parsed, the 2nd ID of each CAN node message defined in the DBC agreement is obtained
Information, the second message content information and the second sending cycle information.
5. bus message method of calibration according to claim 4, which is characterized in that saved according to CAN each in the DBC agreement
Second message information of point verifies the first message information of each bus message, generates bus message check information,
Include:
Each first id information and each second id information are compared, generate the first message checking information, described the
One message checking information is for characterizing whether the corresponding bus message of first id information is report defined in the DBC agreement
Text；
Each first sending cycle information and each second sending cycle information are compared, the second message checking is generated
Information, the second message checking information, which is used to characterize the corresponding CAN node of each bus message and sends period of message, is
No is sending cycle defined in the DBC agreement；
Each first message content information and each second message content information are compared, third message checking is generated
Information, the third message checking information is for characterizing whether the digit of the first message content information is the DBC agreement
Defined in message digit.
6. a kind of bus message calibration equipment for hardware-in―the-loop test characterized by comprising
Information extraction modules, for extracting the first message information of each bus message；
DBC protocol resolution module obtains each CAN node pair in the DBC agreement for parsing to the DBC agreement prestored
Answer the second message information of message；
Check information generation module, for according to the second message information of CAN node message each in the DBC agreement to each described
First message information of bus message is verified, and bus message check information is generated.
7. a kind of bus message check system for hardware-in―the-loop test characterized by comprising
One end of adapter, the adapter is connected with CAN bus；And
Memory and processor are communicated with each other with the other end of the adapter and are connect, and are stored with computer in the memory
Instruction, the processor is by executing the computer instruction, thereby executing total report from a liner of any of claims 1-5
Literary method of calibration.
8. a kind of hardware-in―the-loop test system characterized by comprising bus message check system as claimed in claim 7.
9. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage has computer to refer to
It enables, the computer instruction is used to that the computer perform claim to be made to require bus message verification side described in any one of 1-5
Method.
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| CN111008175A (en) * | 2019-09-19 | 2020-04-14 | 江西精骏电控技术有限公司 | Method and device for generating EXCEL-to-DBC file |
| CN112306033A (en) * | 2019-07-29 | 2021-02-02 | 北京新能源汽车股份有限公司 | Vehicle-mounted controller joint test control method, device and system |
| CN112398672A (en) * | 2019-08-16 | 2021-02-23 | 北京新能源汽车股份有限公司 | Message detection method and device |
| CN113189970A (en) * | 2021-05-10 | 2021-07-30 | 东风康明斯发动机有限公司 | Hardware-in-loop automatic test method and system of CAN bus controller and storage medium |
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| CN113704119A (en) * | 2021-08-31 | 2021-11-26 | 中汽创智科技有限公司 | Test method, device and system for intelligent driving and storage medium |
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| CN113704119A (en) * | 2021-08-31 | 2021-11-26 | 中汽创智科技有限公司 | Test method, device and system for intelligent driving and storage medium |
| CN113704119B (en) * | 2021-08-31 | 2024-06-07 | 中汽创智科技有限公司 | Test method, device and system for intelligent driving and storage medium |
| CN113867318A (en) * | 2021-09-30 | 2021-12-31 | 东风汽车集团股份有限公司 | Automatic integration method for hardware-in-loop test engineering of CAN communication controller |
| CN115085867A (en) * | 2022-06-15 | 2022-09-20 | 北斗星通智联科技有限责任公司 | E2E verification method and device for CAN bus message |
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