CN110134106A - Semi-active suspension road vehicle simulation experiment system and test method - Google Patents
Semi-active suspension road vehicle simulation experiment system and test method Download PDFInfo
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Abstract
The invention discloses a kind of semi-active suspension road vehicle simulation experiment system and test methods, the Dynamic Signal in car load spectrum signal and CAN message is transmitted to RPC control system by data acquisition equipment, stationary singnal in CAN message is sent to HIL analogue system, RPC control system is analyzed and processed the load spectrum signal of vehicle, and Dynamic Signal is sent to HIL analogue system, and RPC control system control road simulator stand frame operation, HIL analogue system integrates stationary singnal and Dynamic Signal, and it is sent to Controller for Vehicle Semi-active Suspension, the suspension state of semi-active suspension controller control semi-active suspension vehicle, road simulator stand frame drives semi-active suspension Vehicular vibration.The present invention can be by CAN message transmission synchronous with load spectrum signal, vehicle ECU receives CAN message and sends the instruction of control suspension state, then keep vehicle vibrational state and vehicle consistent when driving on typical condition by the method for iteration, realize semi-active suspension road vehicle simulation test.
Description
Technical field
The invention belongs to road vehicle modelling technique fields, and in particular to half based on CAN message control is actively outstanding
Unwheeling Road-Simulating Testing System and test method.
Background technique
With the development of Domestic Automotive Industry, vehicle endurance quality have become consumer and vehicle manufacturers concern
Emphasis.Vehicle Road Simulation Test plays very important effect in the examination of vehicle durability, it can be fast and effeciently right
Bodywork system, suspension system and main parts size carry out durability evaluation, can be early sudden and violent in entire vehicle design development process
Expose Car design defect, provides improvement foundation for Automobile structure design optimization.
At this stage, Road Simulation Test is tested mainly for conventional helical spring cushion spring suspension vehicle, but with
Vehicle technology progress has many vehicles and is equipped with semi-active suspensions, driving status of the semi-active suspension based on vehicle on road surface,
Calculating analysis is carried out to CAN message in vehicle travel process by vehicle ECU, and then controls the motion state of semi-active suspension.
Road Simulation Test is applied to semi-active suspension vehicle and there is very big technical problem, since vehicle is on rack
Vibration is not allow to power on and strike sparks, and vehicle ECU and each sensor is caused to can not work normally, and carries out road analogy examination
It also needs to guarantee that vehicle suspension state is consistent with the state when test site acquires loading spectrum when testing, meanwhile, suspension state
Variation need to be real-time synchronization with typical condition loading spectrum.
In conclusion the normal spiral spring cushion vehicle examination different from the past of semi-active suspension road vehicle simulation test
It tests, lacks the technical solution that can effectively realize and control semi-active suspension road vehicle simulation test in the prior art.
Summary of the invention
For above-mentioned defect existing in the prior art, the present invention provides a kind of simulations of semi-active suspension road vehicle to try
CAN message transmission synchronous with load spectrum signal, vehicle ECU can be received CAN message simultaneously by check system and test method, the present invention
The instruction for sending control suspension state, then travels vehicle vibrational state and vehicle on typical condition by the method for iteration
When it is consistent, realize semi-active suspension road vehicle simulation test.In conjunction with Figure of description, technical scheme is as follows:
Semi-active suspension road vehicle simulation experiment system, by data acquisition equipment, RPC control system, CAN board, HIL
Analogue system, semi-active suspension controller and the rack and vehicle being made of road simulator stand frame and semi-active suspension vehicle
System composition；
The data acquisition equipment is for acquiring load spectrum signal and vehicle of the semi-active suspension vehicle under typical condition
CAN message in driving process, and the Dynamic Signal in collected load spectrum signal and CAN message is transmitted to RPC control
Stationary singnal in collected CAN message is sent to HIL analogue system by system；
The RPC control system is integrated with CAN snap-gauge, RPC control system load spectrum signal used for vehicles
It is analyzed and processed, and the Dynamic Signal in the CAN message received is sent to HIL analogue system, RPC via CAN board
Control system controls the operation of road simulator stand frame by driving signal；
The HIL analogue system is used to emulate the stationary singnal in CAN message, editor and compiler directive, executes journey
Sequence order, and after the stationary singnal in the Dynamic Signal and CAN message in the CAN message received is integrated, it is sent to
Controller for Vehicle Semi-active Suspension；
The semi-active suspension controller is used to receive the CAN message after the integration of HIL analogue system sending, calculates analysis
The received CAN message of institute, the suspension state of current control semi-active suspension vehicle is controlled by changing semi-active suspension；
In the rack and Vehicular system, semi-active suspension vehicle is fixedly connected on road simulator stand frame, road
Simulation test bench executes the driving signal that RPC control system is sent, and the semi-active suspension Vehicular vibration of driving thereon is with mould
Quasi- typical condition vibrational state.
The road simulator stand frame is made of four road analogy racks with six degree of freedom, includes 24
A linear hydraulic actuator is realized and loads corresponding X-axis, power and X-axis, the Y-axis of Y-axis and Z-direction to four wheels of vehicle
With the torque of Z-direction.
Semi-active suspension road vehicle simulation experiment method, using semi-active suspension road vehicle simulation test as described above
System, detailed process is as follows for the test method:
S1: acquisition loading spectrum and CAN message information；
Semi-active suspension vehicle acquires semi-active suspension vehicle in typical case to provide that speed travels, by data acquisition equipment
CAN message is divided into Dynamic Signal and stationary singnal by the load spectrum signal under operating condition and the CAN message in vehicle travel process,
Dynamic Signal in collected load spectrum signal and CAN message is transmitted to RPC control system by data acquisition equipment, and data are adopted
Stationary singnal in collected CAN message is sent to HIL analogue system and emulated by collection equipment；
S2: data analysis and processing；
It is analyzed and processed by load spectrum signal of the RPC control system to acquisition, it is logical to choose the loading spectrum that iteration needs
Road intercepts corresponding typical condition section, goes to deviate to load spectrum signal, goes mean value and filtering processing, load that treated
Spectrum signal is as expected response signal；
S3: rack and Vehicular system transmission function are solved；
Semi-active suspension vehicle is fixed on road simulator stand frame, forms rack and Vehicular system, and in RPC
Pink noise driving signal is generated in control system at random, drives road analogy using the pink noise driving signal generated at random
Test-bed operation, and then drive rack and Vehicular system to run, then acquire the sound of each sensor of corresponding pink noise driving
Induction signal acquires rack and Vehicular system transmission function；
S4:CAN emulation and iteration；
To the rack and vehicle acquired in the expected response signal applying step S3 obtained in step S2 in RPC control system
Ssystem transfer function carries out loop iteration, and in an iterative process, RPC control system is the dynamic in the CAN message received
Signal is transferred to HIL analogue system, and HIL analogue system will be in the CAN message of Dynamic Signal and emulation in received CAN message
Stationary singnal integration after form the message signals after integration, and the message signals after integration are sent to semi-active suspension control
Device, semi-active suspension controller are that semi-active suspension vehicle sends control instruction, control the suspension state of semi-active suspension vehicle；
S5: road analogy endurance test；
Time domain comparative analysis, power spectrum point are done to the last iteration of step S4 response signal collected and expected response signal
It analyses, wear grade analysis of accounts and pseudo- breakdown diagnosis, determine response signal Pass Test accuracy requirement, the drive that last iteration is obtained
Dynamic signal carries out road analogy endurance test as final system pumping signal, drive system operation, double of active suspension vehicle；
The HIL analogue system and RPC control system associative simulation, CAN message emulation are run simultaneously with loading spectrum iteration,
Guarantee that signal corresponds in real time.
In the step S1, the typical condition includes: great circle protrusion road, hole road in bad repair, railway, roundlet protrusion road, rubs with the hands
Plate circuit, pebble path, Belgian road and fish-scale pit road, and each operating condition at least acquires three groups of data；
The load spectrum signal includes: wheel six square phase signal, spindle nose acceleration signal, suspension displacement signal and control arm
Strain signal；
The CAN message includes all nodal informations in vehicle dbc file.
In the step S4, the loop iteration process are as follows:
The HIL analogue system realizes the emulation and transmission of semi-active suspension vehicle CAN message under typical condition, makes half
Active suspension vehicle is with the suspension state operation under typical condition, and in real time, RPC control system believes typical condition expected response
It number iterates, initial driving signal is found out according to expected response signal, rack and Vehicular system are driven by initial driving signal
Operation acquires road simulator stand frame first time response signal, by road simulator stand frame response signal and expected response
Error analysis is done, response signal error is obtained and then needs to do initial driving signal if the response signal error can not be received
Signal correction, i.e. optimization driving signal are run with Vehicular system with the driving signal driving rack after optimization again, are successively carried out
Iteration, until the error between the response signal and expected response signal of road simulator stand frame within an acceptable range when,
Iteration terminates.
Compared with prior art, the beneficial effects of the present invention are:
1, semi-active suspension road vehicle simulation experiment system of the present invention realizes the operation of load spectrum signal and CAN
The synchronization that message is sent makes semi-active suspension vehicle be able to carry out load spectrum simulative iteration, realizes the durable examination of road analogy
It tests.
2, the test method of semi-active suspension road vehicle simulation experiment system of the present invention, passes through HIL analogue system
The CAN message Dynamic Signal that the CAN message stationary singnal and RPC control system for integrating emulation are sent, and CAN message is sent to
Semi-active suspension controller controls the suspension state of vehicle, at the same time, RPC control system by semi-active suspension controller
Real-time synchronization is iterated expected response signal, using the driving whole system operation of driving signal obtained by final iteration, reaches
The control of double of active suspension vehicle vibrational state.
Detailed description of the invention
Fig. 1 is the structural block diagram of semi-active suspension road vehicle simulation experiment system of the present invention；
Fig. 2 is the test method flow diagram of semi-active suspension road vehicle simulation experiment system of the present invention；
Fig. 3 is semi-active suspension road vehicle simulative iteration flow diagram in test method of the present invention.
Specific embodiment
It is of the invention in conjunction with Figure of description for the technical solution and its specific work process that the present invention is further explained
Specific embodiment is as follows:
As shown in Figure 1, the invention discloses a kind of semi-active suspension road vehicle simulation experiment system, the pilot system
It include: data acquisition equipment, RPC control system, CAN board, HIL analogue system, semi-active suspension controller and by road
The rack and Vehicular system of simulation test bench and semi-active suspension vehicle composition.
The data acquisition equipment is for acquiring load spectrum signal and vehicle of the semi-active suspension vehicle under typical condition
CAN message in driving process, wherein data acquisition equipment believes the dynamic in collected load spectrum signal and CAN message
It number is transmitted to RPC control system, the stationary singnal in collected CAN message is sent to HIL emulation system by data acquisition equipment
System.
The RPC control system is integrated with CAN snap-gauge, the signal output port and HIL analogue system of CAN board
Signal input port be connected, RPC control system control road simulator stand frame operation.The RPC control system for pair
The load spectrum signal of vehicle is analyzed and processed, solving system transmission function and iteration etc., and RPC control system will receive
Dynamic Signal in CAN message is sent to HIL analogue system via CAN board, and RPC control system is controlled by driving signal
The operation of road simulation test bench.
The CAN board is connected between RPC control system and HIL analogue system, CAN board by RPC control system with
HIL analogue system is connected by CAN interface, and CAN board is communicated for CAN message, so that RPC control system will be in CAN message
Dynamic Signal be sent to HIL analogue system via CAN board.
The signal output end of the HIL analogue system passes through the letter of vehicle OBD communication interface and semi-active suspension controller
Number input terminal is connected.HIL analogue system is used to emulate the stationary singnal in CAN message, editor and compiler directive, and executes
Program command, in addition, HIL analogue system by the Dynamic Signal in the stationary singnal and CAN message in the CAN message received into
After row integration, it is sent to Controller for Vehicle Semi-active Suspension.
The semi-active suspension controller is used to receive the CAN message after the integration of HIL analogue system sending, calculates analysis
The received CAN message of institute, the suspension state of current control semi-active suspension vehicle is controlled by changing semi-active suspension.
In the rack and Vehicular system, semi-active suspension vehicle is fixedly connected on road simulator stand frame；It is described
Road simulator stand frame is the executing agency of vibrational state under the semi-active suspension vehicle reproduction typical condition for being used in test,
Road simulator stand frame is made of four road analogy racks with six degree of freedom, shares 24 linear hydraulic actuations
Device can load the torque of corresponding X-axis, Y-axis, the power of Z-direction and X-axis, Y-axis, Z-direction, road to four wheels of vehicle
Simulation test bench executes the driving signal that RPC control system is sent, and drives semi-active suspension Vehicular vibration thereon, uses
Reappear vibrational state under typical condition in the semi-active suspension vehicle of test.
As described above, semi-active suspension road vehicle simulation experiment system of the present invention, realizes CAN message transmission,
Suspension controller is set to control vehicle suspension state, meanwhile, RPC control system driving signal is to road simulator stand frame
Operation is controlled, and then semi-active suspension vehicle is made to carry out exciting, realizes the Road Simulation Test of semi-active suspension vehicle.
Based on the composition and connection structure of above-mentioned semi-active suspension road vehicle simulation experiment system, the present invention also provides
A kind of test method of semi-active suspension road vehicle simulation experiment system is the tool of test method of the present invention shown in Fig. 2
Body process is as follows:
S1: acquisition loading spectrum and CAN message information；
Semi-active suspension vehicle acquires semi-active suspension vehicle in typical case to provide that speed travels, by data acquisition equipment
CAN message is divided into Dynamic Signal and stationary singnal by the load spectrum signal under operating condition and the CAN message in vehicle travel process,
Dynamic Signal in collected load spectrum signal and CAN message is transmitted to RPC control system by data acquisition equipment, and data are adopted
Stationary singnal in collected CAN message is sent to HIL analogue system and emulated by collection equipment；
The typical condition includes: great circle protrusion road, hole road in bad repair, railway, roundlet protrusion road, washboard road, pebble path, ratio
Li Shilu and fish-scale pit road etc., and each operating condition at least acquires three groups of data；
The load spectrum signal includes: wheel six square phase signal, spindle nose acceleration signal, suspension displacement signal and control arm
Strain signal；Wherein, the wheel six square phase signal mainly acquire that wheel is subject to along X-axis, Y-axis, the power of Z axis and wheel by
Along X-axis, Y-axis, Z axis the load informations such as torque；What the spindle nose acceleration signal mainly acquired is spindle nose position along X-axis and
The acceleration signal of Z-direction；What the suspension displacement signal mainly acquired is suspension close to the opposite vehicle body in spindle nose position
Displacement signal；Control arm strain signal includes front suspension No.1 control arm and No. two control arms, rear suspension toe-in control arm and ladder
The strain signal of the components such as shape arm, stabiliser bar and steering linkage corresponding position；
The CAN message include vehicle dbc file in all nodal informations, specifically include that ABS,
The nodes such as AirSuspension, DMS, EMS, EPB, Gateway, SAS, TCU and YRS；
S2: data analysis and processing；
It is analyzed and processed by load spectrum signal of the RPC control system to acquisition, it is logical to choose the loading spectrum that iteration needs
Road intercepts corresponding typical condition section, goes to deviate to load spectrum signal, goes mean value and filtering processing, load that treated
Spectrum signal is as expected response signal；
S3: rack and Vehicular system transmission function are solved；
Semi-active suspension vehicle is fixed on road simulator stand frame, forms rack and Vehicular system, and in RPC
Pink noise driving signal is generated in control system at random, drives road analogy using the pink noise driving signal generated at random
Test-bed operation, and then drive rack and Vehicular system to run, then acquire the sound of each sensor of corresponding pink noise driving
Induction signal can acquire rack and Vehicular system transmission function；
S4:CAN emulation and iteration；
Since rack and Vehicular system belong to nonlinear system, therefore need to change using the transmission function acquired to vehicle
Generation, the iterative process are specific as follows:
To the rack and vehicle acquired in the expected response signal applying step S3 obtained in step S2 in RPC control system
Ssystem transfer function carries out loop iteration, and in an iterative process, RPC control system is the dynamic in the CAN message received
Signal is transferred to HIL analogue system, and HIL analogue system will be in the CAN message of Dynamic Signal and emulation in received CAN message
Stationary singnal integration after form the message signals after integration, and the message signals after integration are sent to semi-active suspension control
Device, semi-active suspension controller are that semi-active suspension vehicle sends control instruction, control the suspension state of semi-active suspension vehicle；
The HIL analogue system realizes the emulation and transmission of semi-active suspension vehicle CAN message under typical condition, makes semi-active suspension
Vehicle is with the suspension state operation under typical condition, and in real time, RPC control system changes repeatedly to typical condition expected response signal
Generation, as shown in figure 3, initial driving signal is found out according to expected response signal, by initial driving signal driving rack and vehicle system
System operation, acquires road simulator stand frame first time response signal, and road simulator stand frame response signal and expectation are rung
Error analysis should be done, response signal error is obtained and then needs if the response signal error can not be received to initial driving signal
Do signal correction, i.e., optimization driving signal, again with optimization after driving signal driving rack and Vehicular system run, successively into
Row iteration, until the error between the response signal and expected response signal of road simulator stand frame within an acceptable range
When, iteration terminates；
In above-mentioned iterative process, the driving signal is the signal for driving bench run, and the response signal is rack fortune
The signal acquired back from each sensor during row, expected response signal are the signals acquired back on road, are rack iteration
Response signal need target to be achieved, final response signal need to be consistent with expected response signal.
Iteration is that driving signal can be acquired to echo and be answered after driving signal drives bench run from sensor in order to obtain
Signal, iteration is consistent with road load spectrum signal until the response signal, and iterative process is completed；
S5: road analogy endurance test；
Time domain comparative analysis, power spectrum point are done to the last iteration of step S4 response signal collected and expected response signal
It analyses, wear grade analysis of accounts and pseudo- breakdown diagnosis, determine response signal Pass Test accuracy requirement, the drive that last iteration is obtained
Dynamic signal carries out road analogy endurance test as final system pumping signal, drive system operation, double of active suspension vehicle；
The HIL analogue system and RPC control system associative simulation, CAN message emulation are run simultaneously with loading spectrum iteration,
Guarantee that signal corresponds in real time.
Claims (5)
1. semi-active suspension road vehicle simulation experiment system, it is characterised in that:
By data acquisition equipment, RPC control system, CAN board, HIL analogue system, semi-active suspension controller and by road
The rack and Vehicular system of simulation test bench and semi-active suspension vehicle composition form；
The data acquisition equipment is for acquiring load spectrum signal and vehicle driving of the semi-active suspension vehicle under typical condition
CAN message in the process, and the Dynamic Signal in collected load spectrum signal and CAN message is transmitted to RPC control system,
Stationary singnal in collected CAN message is sent to HIL analogue system；
The RPC control system is integrated with CAN snap-gauge, and RPC control system load spectrum signal used for vehicles carries out
Analysis processing, and the Dynamic Signal in the CAN message received is sent to HIL analogue system, RPC control via CAN board
System controls the operation of road simulator stand frame by driving signal；
The HIL analogue system is used to emulate the stationary singnal in CAN message, editor and compiler directive, executes program life
It enables, and after the Dynamic Signal in the stationary singnal and CAN message in the CAN message received is integrated, is sent to vehicle
Semi-active suspension controller；
The semi-active suspension controller is used to receive the CAN message after the integration of HIL analogue system sending, calculates analysis and is connect
The CAN message of receipts controls the suspension state of current control semi-active suspension vehicle by changing semi-active suspension；
In the rack and Vehicular system, semi-active suspension vehicle is fixedly connected on road simulator stand frame, road analogy
Test-bed executes the driving signal that RPC control system is sent, and the semi-active suspension Vehicular vibration of driving thereon is to simulate allusion quotation
Type operating condition vibrational state.
2. semi-active suspension road vehicle simulation experiment system as described in claim 1, it is characterised in that:
The road simulator stand frame is made of four road analogy racks with six degree of freedom, includes 24 lines
Property hydraulic actuator, realize and corresponding X-axis, power and X-axis, the Y-axis and Z axis of Y-axis and Z-direction loaded to four wheels of vehicle
The torque in direction.
3. semi-active suspension road vehicle simulation experiment method, it is characterised in that:
Using semi-active suspension road vehicle simulation experiment system as described in claim 1, the detailed process of the test method
It is as follows:
S1: acquisition loading spectrum and CAN message information；
Semi-active suspension vehicle acquires semi-active suspension vehicle in typical condition to provide that speed travels, by data acquisition equipment
Under load spectrum signal and vehicle travel process in CAN message, CAN message is divided into Dynamic Signal and stationary singnal, data
Dynamic Signal in collected load spectrum signal and CAN message is transmitted to RPC control system by acquisition equipment, and data acquisition is set
It is emulated for the stationary singnal in collected CAN message is sent to HIL analogue system；
S2: data analysis and processing；
It is analyzed and processed by load spectrum signal of the RPC control system to acquisition, chooses the loading spectrum channel that iteration needs, cut
Corresponding typical condition section is taken, load spectrum signal is gone to deviate, goes mean value and filtering processing, treated load spectrum signal
As expected response signal；
S3: rack and Vehicular system transmission function are solved；
Semi-active suspension vehicle is fixed on road simulator stand frame, forms rack and Vehicular system, and control in RPC
Pink noise driving signal is generated in system at random, drives Road Simulation Test using the pink noise driving signal generated at random
Bench run, and then drive rack and Vehicular system to run, then acquire the response letter of each sensor of corresponding pink noise driving
Number, acquire rack and Vehicular system transmission function；
S4:CAN emulation and iteration；
To the rack and vehicle system acquired in the expected response signal applying step S3 obtained in step S2 in RPC control system
Transmission function of uniting carries out loop iteration, and in an iterative process, RPC control system is the Dynamic Signal in the CAN message received
It is transferred to HIL analogue system, HIL analogue system will be quiet in the CAN message of Dynamic Signal and emulation in received CAN message
The message signals after integration are formed after state signal integration, and the message signals after integration are sent to semi-active suspension controller,
Semi-active suspension controller is that semi-active suspension vehicle sends control instruction, controls the suspension state of semi-active suspension vehicle；
S5: road analogy endurance test；
To the last iteration of step S4 response signal collected and expected response signal do time domain comparative analysis, power spectrumanalysis,
Grade analysis of accounts and pseudo- breakdown diagnosis are worn, determines response signal Pass Test accuracy requirement, the driving that last iteration is obtained
Signal carries out road analogy endurance test as final system pumping signal, drive system operation, double of active suspension vehicle；
The HIL analogue system and RPC control system associative simulation, CAN message emulation run simultaneously with loading spectrum iteration, guarantee
Signal corresponds in real time.
4. semi-active suspension road vehicle simulation experiment method as claimed in claim 3, it is characterised in that:
In the step S1, the typical condition include: great circle protrusion road, hole road in bad repair, railway, roundlet protrusion road, washboard road,
Pebble path, Belgian road and fish-scale pit road, and each operating condition at least acquires three groups of data；
The load spectrum signal includes: wheel six square phase signal, spindle nose acceleration signal, suspension displacement signal and control arm strain
Signal；
The CAN message includes all nodal informations in vehicle dbc file.
5. semi-active suspension road vehicle simulation experiment method as claimed in claim 3, it is characterised in that:
In the step S4, the loop iteration process are as follows:
The HIL analogue system realizes the emulation and transmission of semi-active suspension vehicle CAN message under typical condition, makes half active
Spring suspension vehicle is with the suspension state operation under typical condition, and in real time, RPC control system is anti-to typical condition expected response signal
Multiple iteration, finds out initial driving signal according to expected response signal, is run by initial driving signal driving rack and Vehicular system,
Road simulator stand frame first time response signal is acquired, road simulator stand frame response signal and expected response are done into error
Analysis obtains response signal error and then needs to do signal to initial driving signal and repair if the response signal error can not be received
Just, that is, optimize driving signal, run with the driving signal driving rack after optimization with Vehicular system, be successively iterated again,
Until the error between the response signal and expected response signal of road simulator stand frame within an acceptable range when, iteration knot
Beam.
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Cited By (4)
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| CN111964925A (en) * | 2020-07-23 | 2020-11-20 | 中国第一汽车股份有限公司 | Eight-channel road simulation test system and test method for suspension system |
| CN113049265A (en) * | 2019-12-27 | 2021-06-29 | 上汽通用汽车有限公司 | Brake condition testing device and method in whole vehicle bench road simulation test |
| CN113467417A (en) * | 2021-06-28 | 2021-10-01 | 东风汽车集团股份有限公司 | Vehicle test control method, device, equipment and readable storage medium |
| CN114354226A (en) * | 2021-12-16 | 2022-04-15 | 东风汽车集团股份有限公司 | Suspension system loading system and loading method under simulated real vehicle running condition |
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Effective date of registration: 20231221 Address after: No. 8899, Dongfeng Street, Changchun automobile economic and Technological Development Zone, Jilin Province, 130011 Patentee after: China Faw Co.,Ltd. Patentee after: CHANGCHUN AUTOMOTIVE TEST CENTER Co.,Ltd. Address before: No. 8899, Dongfeng Street, Changchun automobile economic and Technological Development Zone, Changchun City, Jilin Province, 130011 Patentee before: China Faw Co.,Ltd. |