CN112859817A - Complete vehicle fault diagnosis test system - Google Patents
Complete vehicle fault diagnosis test system Download PDFInfo
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- CN112859817A CN112859817A CN202110084192.9A CN202110084192A CN112859817A CN 112859817 A CN112859817 A CN 112859817A CN 202110084192 A CN202110084192 A CN 202110084192A CN 112859817 A CN112859817 A CN 112859817A
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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
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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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
Abstract
The embodiment of the invention discloses a complete vehicle fault diagnosis test system, which comprises: the upper computer, the hardware-in-loop HIL simulation cabinet and the whole vehicle electric control system; the upper computer is in communication connection with the HIL simulation cabinet through the Ethernet and is used for generating a test sequence and sending a test instruction in the test sequence to the HIL simulation cabinet so as to enable the HIL simulation cabinet to generate a fault simulation control instruction based on the test instruction; the HIL simulation cabinet will fault simulation control instruction send to whole car electrical system, whole car electrical system basis fault simulation control instruction carries out motion control to each executor, plans the operating condition of vehicle under specific trouble, simultaneously with the vehicle operation data parameter feedback that produces to the host computer, the host computer basis the vehicle operation data parameter carries out the fault diagnosis test, has improved whole car fault diagnosis's efficiency of software testing and whole car fault diagnosis test's comprehensiveness, can realize the diagnosis of the more trouble of whole car and verify.
Description
Technical Field
The embodiment of the invention relates to the technical field of automobiles, in particular to a complete automobile fault diagnosis and test system.
Background
With the rapid development of the automobile industry and the continuous progress of the society, the demand of automobiles increases geometrically, and the accident rate of automobiles also increases remarkably.
In order to facilitate troubleshooting and maintenance of the automobile, the automobile fault diagnosis strategy is developing in a more and more comprehensive and deeper direction, and thus the requirement for testing and verifying the automobile fault diagnosis function is increasing. Meanwhile, in the development process of vehicle products, the fault diagnosis functions of all types of all systems of the whole vehicle are verified quickly and accurately, and the method has important significance for shortening the development period of the vehicle and improving the control quality of the vehicle.
Disclosure of Invention
The embodiment of the invention provides a complete vehicle fault diagnosis and test system which has the advantages of high automation degree, short test period, fault traversability and the like, improves the test efficiency of complete vehicle fault diagnosis and the comprehensiveness of complete vehicle fault diagnosis and test, and can realize diagnosis and verification of more faults of a complete vehicle.
In a first aspect, an embodiment of the present invention provides a complete vehicle fault diagnosis and test system, where the complete vehicle fault diagnosis and test system includes:
the system comprises an upper computer, an HIL (Hardware-in-the-Loop) simulation cabinet and a whole vehicle electric control system;
the upper computer is in communication connection with the HIL simulation cabinet through Ethernet and is used for managing a test plan and generating a corresponding test sequence, and test instructions in the test sequence are sent to the HIL simulation cabinet through the Ethernet so that the HIL simulation cabinet generates a fault simulation control instruction based on the test instructions;
the HIL simulation cabinet is in wired connection with the whole vehicle electric control system and is used for sending the fault simulation control instruction to the whole vehicle electric control system so that the whole vehicle electric control system can perform action control on each actuator according to the fault simulation control instruction to simulate the operation condition of a vehicle under a specific fault and feed back the generated vehicle operation data parameters to the upper computer so that the upper computer performs fault diagnosis test according to the vehicle operation data parameters.
Further, the upper computer includes: the system comprises a test management module, a test sequence module and an automatic test module;
the test management module is used for managing a test plan, a test case and a test report;
the test sequence module is used for constructing an executable test sequence according to the test cases in the test management module;
and the automatic test module is used for generating an automatic test code stream according to the test sequence.
Further, the HIL simulation cabinet includes: the system comprises a processor, a hardware board card and a fault injection module;
the processor is in hard-line connection with the fault injection module through the hardware board card, is loaded with a vehicle model, generates the fault simulation control instruction according to the test instruction through the vehicle model, and controls a target component in the fault injection module to act according to the test instruction so as to achieve the purpose of generating a fault.
Further, the vehicle model includes: a driver model, a vehicle dynamics model, and a driving environment model.
Further, the hardware board includes: the system comprises an IO board card, a CAN board card, an LIN board card and an Ethernet board card;
the processor is in hard-line connection with the fault injection module through the IO board card, the CAN board card, the LIN board card and the Ethernet board card respectively;
and the fault injection module is in hard-line connection with the whole vehicle electric control system through the IO board card, the CAN board card, the LIN board card and the Ethernet respectively.
Further, the fault injection module includes: an electric fault injection submodule and a network fault injection submodule;
the electrical fault injection submodule comprises a short-circuit fault type unit, a short-circuit fault control unit, an open-circuit fault control unit and an A/D, PWM fault simulation unit;
the network fault injection sub-module comprises a CAN bus fault injection unit, a LIN bus fault injection unit and an Ethernet bus fault injection unit;
the CAN bus fault injection unit comprises a CAN bus receiving subunit and a CAN bus transmitting subunit, the LIN bus fault injection unit comprises an LIN bus receiving subunit and an LIN bus transmitting subunit, and the Ethernet bus fault injection unit comprises an Ethernet bus receiving subunit and an Ethernet bus transmitting subunit.
Further, the short-circuit fault type unit includes: a power supply short circuit unit, a ground short circuit unit and an arbitrary pin short circuit unit;
the short-circuit fault control unit consists of controlled relays, and the processor controls the corresponding controlled relays to be switched on or off according to the test instruction so as to generate a power supply short-circuit fault, a ground short-circuit fault or a short-circuit fault on any pin;
the open-circuit fault control unit consists of controlled relays, and the processor controls the corresponding controlled relays to be attracted or disconnected according to the test instruction so as to generate open-circuit faults;
the A/D, PWM fault simulation unit consists of a program-controlled simulation power supply, an A/D conversion module and a controlled relay, and the processor controls any A/D and/or PWM signal according to the test instruction and controls the corresponding controlled relay to be switched on or off so as to generate any A/D and/or PWM fault.
Furthermore, the CAN bus receiving subunit is connected with the CAN bus transmitting subunit through a hard wire inside a chip pin, and the CAN bus receiving subunit acquires all CAN data on the CAN bus needing fault injection in real time and then transmits all the acquired CAN data to the CAN bus needing fault injection in real time through the CAN bus transmitting subunit.
Further, the whole vehicle electric control system comprises: the control system comprises at least two control groups consisting of a controller, a sensor module and an actuator module, wherein the controller, the sensor module and the actuator module in each control group are in hard-wired connection.
The embodiment of the invention has the following advantages or beneficial effects:
the vehicle fault diagnosis test system provided by the embodiment of the invention comprises: the upper computer, the hardware-in-loop HIL simulation cabinet and the whole vehicle electric control system; the upper computer is in communication connection with the HIL simulation cabinet through Ethernet and is used for managing a test plan and generating a corresponding test sequence, and test instructions in the test sequence are sent to the HIL simulation cabinet through the Ethernet so that the HIL simulation cabinet generates a fault simulation control instruction based on the test instructions; the HIL simulation cabinet is in wired connection with the whole vehicle electric control system and is used for sending the fault simulation control instruction to the whole vehicle electric control system so that the whole vehicle electric control system can perform action control on each actuator according to the fault simulation control instruction to simulate the operation condition of a vehicle under a specific fault and feed back the generated vehicle operation data parameters to the upper computer so that the upper computer performs fault diagnosis test according to the vehicle operation data parameters. The test system has the advantages of high automation degree, short test period, fault traversability and the like, improves the test efficiency of the fault diagnosis of the whole vehicle and the comprehensiveness of the fault diagnosis test of the whole vehicle, and can realize the diagnosis and verification of more faults of the whole vehicle.
Drawings
Fig. 1 is a schematic structural diagram of a vehicle fault diagnosis test system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an upper computer in the vehicle fault diagnosis testing system according to the first embodiment of the present invention;
fig. 3 is a schematic diagram of a connection structure between a hardware-in-loop HIL simulation cabinet and a vehicle electronic control system in a vehicle fault diagnosis and test system according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a fault injection module in a finished vehicle fault diagnosis test system according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a schematic structural diagram of a vehicle fault diagnosis test system according to a first embodiment of the present invention, and as shown in fig. 1, the vehicle fault diagnosis test system includes: the system comprises an upper computer 110, a hardware-in-loop HIL simulation cabinet 120 and a whole vehicle electronic control system 130.
The upper computer 110 is in communication connection with the HIL simulation cabinet 120 through an ethernet, the upper computer 110 is configured to manage a test plan and generate a corresponding test sequence, and the test instructions in the test sequence are sent to the HIL simulation cabinet 120 through the ethernet, so that the HIL simulation cabinet 120 generates a fault simulation control instruction based on the test instructions. The HIL simulation cabinet 120 is connected to the entire vehicle electronic control system 130 by a wire, and is configured to send the fault simulation control instruction to the entire vehicle electronic control system 130, so that the entire vehicle electronic control system 130 performs action control on each actuator according to the fault simulation control instruction to simulate an operation condition of a vehicle under a specific fault, and simultaneously feed back generated vehicle operation data parameters to the upper computer 110, so that the upper computer 110 performs a fault diagnosis test according to the vehicle operation data parameters. Specifically, a test management module 111 is arranged through the upper computer 110, and test cases and test parameters are created according to test requirements and a test plan; meanwhile, a test sequence module 113 is set up according to the test case for constructing an executable test sequence. Then, an automated testing module 112 is created according to the testing sequence, and meanwhile, the upper computer 110 configures the test cases and the test parameters to the automated testing module 112 for executing an automated testing process. The upper computer 110 sends the test instruction in the automatic test sequence to the HIL simulation cabinet 120 through the ethernet, specifically, according to the specific flow of the test sequence, the test instruction in the test sequence is sent to the processor 121 of the HIL simulation cabinet 120 to load the running vehicle model in real time, and then the output signal of the vehicle model is sent to the entire vehicle electronic control system 130. The entire vehicle electronic control system 130 sends out an actual control instruction according to the current simulated working condition, controls the actuator to execute a corresponding control action, and feeds back the control action to the vehicle model through the IO board card and the bus board card. Then, according to the test parameters configured in the test sequence, the processor sequentially acquires data parameters of modules such as the sensor, the controller, the actuator and the like through the IO board card and the bus board card, and sends the data parameters to the upper computer 110 through the ethernet. Then, when the data parameters are obtained, the automatic test module of the upper computer 110 compares the data parameters with expected test parameters configured in the test sequence, determines whether the current fault diagnosis result is reliable according to the comparison result, and finally, the test management module of the upper computer 110 automatically generates a test report according to the comparison result of the data.
For example, referring to a schematic structural diagram of an upper computer in the vehicle fault diagnosis testing system shown in fig. 2, the upper computer 210 includes: a test management module 211, a test sequence module 212, and an automated test module 213. The test management module 211 is configured to manage a test plan, a test case, and a test report. The test sequence module 212 is used for constructing an executable test sequence according to the test case in the test management module. The automatic test module 213 is configured to generate an automatic test code stream according to the test sequence.
For example, referring to fig. 3, a schematic diagram of a connection structure between a hardware-in-loop HIL simulation cabinet and a vehicle electronic control system in a vehicle fault diagnosis test system is shown, where the HIL simulation cabinet 120 includes: a processor 121, a hardware board 122, and a fault injection module 123. The processor 121 is connected with the fault injection module 123 through a hardware board 122 in a hard-wired manner, the processor 121 is loaded with a vehicle model, the fault simulation control instruction is generated according to the test instruction through the vehicle model, and the processor 121 controls a target component in the fault injection module 122 to act according to the test instruction, so that a fault is generated. The vehicle model includes: a driver model, a vehicle dynamics model, and a driving environment model. The hardware board 122 includes: the system comprises an IO board card, a CAN board card, an LIN board card and an Ethernet board card, wherein the CAN board card, the LIN board card and the Ethernet board card are collectively called bus board cards; the processor 121 is hard-wired to the fault injection module 123 through the IO board card, the CAN board card, the LIN board card, and the Ethernet board card, respectively. The fault injection module 123 is connected with the entire vehicle electric control system 130 through the IO board card, the CAN board card, the LIN board card and the Ethernet by hard wires. The entire vehicle electronic control system 130 includes: the control system comprises at least two control groups consisting of a controller, a sensor module and an actuator module, wherein the controller, the sensor module and the actuator module in each control group are in hard-wired connection.
For example, referring to fig. 4, a schematic structural diagram of a fault injection module 123 in a vehicle fault diagnosis test system, the fault injection module 123 includes: an electric fault injection submodule 1231 and a network fault injection submodule 1232; the electrical fault injection submodule 1231 includes a short-circuit fault type unit, a short-circuit fault control unit, an open-circuit fault control unit, and an a/D, PWM fault simulation unit; the network fault injection submodule 1232 comprises a CAN bus fault injection unit 12321, a LIN bus fault injection unit 12322 and an Ethernet bus fault injection unit 12323; the CAN bus fault injection unit comprises a CAN bus receiving subunit and a CAN bus transmitting subunit, the LIN bus fault injection unit comprises an LIN bus receiving subunit and an LIN bus transmitting subunit, and the Ethernet bus fault injection unit comprises an Ethernet bus receiving subunit and an Ethernet bus transmitting subunit. The short fault type unit includes: a power supply short circuit unit, a ground short circuit unit and an arbitrary pin short circuit unit; the short-circuit fault control unit consists of controlled relays, and the processor controls the corresponding controlled relays to be switched on or off according to the test instruction so as to generate a power supply short-circuit fault, a ground short-circuit fault or a short-circuit fault on any pin; the open-circuit fault control unit consists of controlled relays, and the processor controls the corresponding controlled relays to be attracted or disconnected according to the test instruction so as to generate open-circuit faults; the A/D, PWM fault simulation unit consists of a program-controlled simulation power supply, an A/D conversion module and a controlled relay, and the processor controls any A/D and/or PWM signal according to the test instruction and controls the corresponding controlled relay to be switched on or off so as to generate any A/D and/or PWM fault.
The CAN bus receiving subunit is connected with the CAN bus transmitting subunit through a hard wire inside a chip pin, and the CAN bus receiving subunit acquires all CAN data on a CAN bus needing fault injection in real time and then transmits all the acquired CAN data to the CAN bus needing fault injection in real time through the CAN bus transmitting subunit. The CAN bus receiving subunit distributes the collected bus data according to a data hierarchical structure, and maps the bus data to the CAN bus transmitting subunit according to the hierarchical structure through the mapping module, the CAN bus transmitting subunit is provided with a controlled timer, a controlled selector switch and an output parameter module in front of all data of each hierarchy, and controls the corresponding timer, selector switch and output parameter according to a fault strategy, so that CAN bus faults such as CAN loss, node loss, message delay, abnormal signal value and the like CAN be generated.
Further, the LIN bus receiving subunit is connected with the LIN bus transmitting subunit through a chip pin internal hard wire, and the LIN bus receiving subunit acquires all LIN data currently connected to the LIN bus needing fault injection in real time, and then transmits all the acquired LIN data to the LIN bus needing fault injection in real time through the LIN bus transmitting subunit. The LIN bus receiving subunit distributes the collected bus data according to a data hierarchy structure, and maps the bus data to the LIN bus transmitting subunit according to the hierarchy structure through the mapping module, the LIN bus transmitting subunit is provided with a controlled timer, a controlled selection switch and an output parameter module in front of all data of each hierarchy, and controls the corresponding timer, selection switch and output parameter according to a fault strategy, so that LIN bus faults such as LIN loss, node loss, message delay, abnormal signal value and the like can be generated.
Furthermore, the Ethernet bus receiving subunit and the Ethernet bus sending subunit are connected through a hard line inside a chip pin, the Ethernet bus receiving subunit collects all Ethernet data currently connected to the Ethernet bus requiring fault injection in real time, and then sends all the collected Ethernet data to the Ethernet bus requiring fault injection in real time through the Ethernet bus sending subunit. The Ethernet bus acquisition module arranges the acquired bus data in a distributed manner according to a data hierarchical structure, and maps the bus data to the Ethernet bus transmission subunit according to the hierarchical structure through the mapping module, the Ethernet bus transmission subunit is provided with a controlled timer, a controlled selector switch and an output parameter module in front of all data of each hierarchy, and controls the corresponding timer, selector switch and output parameter according to a fault strategy, so that Ethernet bus faults such as Ethernet loss, node loss, data packet delay, signal value abnormity and the like can be generated.
Furthermore, the electric fault injection submodule and the network fault injection submodule are set to be in a non-fault injection mode, and then the HIL simulation cabinet is controlled according to a whole vehicle functional fault strategy, so that a whole vehicle functional fault can be generated.
It should be noted that the entire vehicle electronic control system 130 includes all controllers of the entire vehicle, sensor modules required by the controllers, and actuator modules required by the controllers. Further, the sensor module may be divided into a real sensor module and an analog sensor module according to the sensor characteristics according to specific requirements, for example, the real sensor is a pressure sensor, when the detected pressure value is 10N, the value displayed by the pressure sensor is 10V, and the analog sensor module may be generated based on the direct correspondence relationship between the pressure value and the voltage value, as long as it is possible to display the voltage value as 10V when the pressure value is 10N, or further, when the voltage value is 10V, and the only corresponding current value is 10A, the pressure value may be represented by the current value. The actuator module can be divided into a real actuator module and a simulated load module according to specific requirements. And each controller is in hard-wire connection with a sensor module required by each electric control system and an actuator module required by each electric control system.
The vehicle fault diagnosis test system provided by the embodiment of the invention comprises: the upper computer, the hardware-in-loop HIL simulation cabinet and the whole vehicle electric control system; the upper computer is in communication connection with the HIL simulation cabinet through Ethernet and is used for managing a test plan and generating a corresponding test sequence, and test instructions in the test sequence are sent to the HIL simulation cabinet through the Ethernet so that the HIL simulation cabinet generates a fault simulation control instruction based on the test instructions; the HIL simulation cabinet is in wired connection with the whole vehicle electric control system and is used for sending the fault simulation control instruction to the whole vehicle electric control system so that the whole vehicle electric control system can perform action control on each actuator according to the fault simulation control instruction to simulate the operation condition of a vehicle under a specific fault and feed back the generated vehicle operation data parameters to the upper computer so that the upper computer performs fault diagnosis test according to the vehicle operation data parameters. The test system has the advantages of high automation degree, short test period, fault traversability and the like, improves the test efficiency of the fault diagnosis of the whole vehicle and the comprehensiveness of the fault diagnosis test of the whole vehicle, and can realize the diagnosis and verification of more faults of the whole vehicle.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (9)
1. The utility model provides a complete car fault diagnosis test system which characterized in that includes: the upper computer, the hardware-in-loop HIL simulation cabinet and the whole vehicle electric control system;
the upper computer is in communication connection with the HIL simulation cabinet through Ethernet and is used for managing a test plan and generating a corresponding test sequence, and test instructions in the test sequence are sent to the HIL simulation cabinet through the Ethernet so that the HIL simulation cabinet generates a fault simulation control instruction based on the test instructions;
the HIL simulation cabinet is in wired connection with the whole vehicle electric control system and is used for sending the fault simulation control instruction to the whole vehicle electric control system so that the whole vehicle electric control system can perform action control on each actuator according to the fault simulation control instruction to simulate the operation condition of a vehicle under a specific fault and feed back the generated vehicle operation data parameters to the upper computer so that the upper computer performs fault diagnosis test according to the vehicle operation data parameters.
2. The system of claim 1, wherein the upper computer comprises: the system comprises a test management module, a test sequence module and an automatic test module;
the test management module is used for managing a test plan, a test case and a test report;
the test sequence module is used for constructing an executable test sequence according to the test cases in the test management module;
and the automatic test module is used for generating an automatic test code stream according to the test sequence.
3. The system of claim 1, wherein the HIL emulation cabinet comprises: the system comprises a processor, a hardware board card and a fault injection module;
the processor is in hard-line connection with the fault injection module through the hardware board card, is loaded with a vehicle model, generates the fault simulation control instruction according to the test instruction through the vehicle model, and controls a target component in the fault injection module to act according to the test instruction so as to achieve the purpose of generating a fault.
4. The system of claim 3, wherein the vehicle model comprises: a driver model, a vehicle dynamics model, and a driving environment model.
5. The system of claim 3, wherein the hardware board comprises: the system comprises an IO board card, a CAN board card, an LIN board card and an Ethernet board card;
the processor is in hard-line connection with the fault injection module through the IO board card, the CAN board card, the LIN board card and the Ethernet board card respectively;
and the fault injection module is in hard-line connection with the whole vehicle electric control system through the IO board card, the CAN board card, the LIN board card and the Ethernet respectively.
6. The system of claim 3, wherein the fault injection module comprises: an electric fault injection submodule and a network fault injection submodule;
the electrical fault injection submodule comprises a short-circuit fault type unit, a short-circuit fault control unit, an open-circuit fault control unit and an A/D, PWM fault simulation unit;
the network fault injection sub-module comprises a CAN bus fault injection unit, a LIN bus fault injection unit and an Ethernet bus fault injection unit;
the CAN bus fault injection unit comprises a CAN bus receiving subunit and a CAN bus transmitting subunit, the LIN bus fault injection unit comprises an LIN bus receiving subunit and an LIN bus transmitting subunit, and the Ethernet bus fault injection unit comprises an Ethernet bus receiving subunit and an Ethernet bus transmitting subunit.
7. The system of claim 6, wherein the short-circuit fault type unit comprises: a power supply short circuit unit, a ground short circuit unit and an arbitrary pin short circuit unit;
the short-circuit fault control unit consists of controlled relays, and the processor controls the corresponding controlled relays to be switched on or off according to the test instruction so as to generate a power supply short-circuit fault, a ground short-circuit fault or a short-circuit fault on any pin;
the open-circuit fault control unit consists of controlled relays, and the processor controls the corresponding controlled relays to be attracted or disconnected according to the test instruction so as to generate open-circuit faults;
the A/D, PWM fault simulation unit consists of a program-controlled simulation power supply, an A/D conversion module and a controlled relay, and the processor controls any A/D and/or PWM signal according to the test instruction and controls the corresponding controlled relay to be switched on or off so as to generate any A/D and/or PWM fault.
8. The system of claim 6, wherein the CAN bus receiving subunit is connected to the CAN bus transmitting subunit through a hard wire inside a chip pin, and the CAN bus receiving subunit acquires all CAN data on the CAN bus to be fault injected in real time, and then transmits all the acquired CAN data to the CAN bus to be fault injected in real time through the CAN bus transmitting subunit.
9. The system of claim 1, wherein the vehicle electrical control system comprises: the control system comprises at least two control groups consisting of a controller, a sensor module and an actuator module, wherein the controller, the sensor module and the actuator module in each control group are in hard-wired connection.
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Application publication date: 20210528 |