CN113296489A - Driving controller hardware open loop test method, device, equipment and storage medium - Google Patents
Driving controller hardware open loop test method, device, equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a method, a device, equipment and a storage medium for open-loop testing of hardware of a driving controller, wherein the method comprises the steps of obtaining CAN bus acquisition data in automobile road testing, filtering the CAN bus acquisition data, and obtaining CAN bus acquisition data to be converted; inputting the CAN bus acquisition data to a driving controller, and carrying out open loop test on the driving controller to obtain a test result; verifying the function of the driving controller according to the test result; the system can comprehensively and specifically test each function of the controller, realizes the hardware open loop test with low cost, has higher test accuracy, avoids the integration of hardware open loop test equipment, saves the cost and realizes the hardware open loop test with low cost; meanwhile, semi-automatic processing of filtering CAN bus data in road test enables the open-loop test efficiency of the driving controller to be higher.
Description
Technical Field
The invention relates to the technical field of intelligent driving of vehicles, in particular to a method, a device, equipment and a storage medium for testing hardware open loop of a driving controller.
Background
Hardware open-loop tests are generally carried out in the early development stage of the intelligent driving controller, but the integration of hardware open-loop test equipment of the intelligent driving controller needs to depend on scene, dynamic simulation software, a real-time processing system and other series of software and hardware investment, and also needs to depend on capital and time, so that the problems that the investment cost is high and effective hardware open-loop tests cannot be carried out on all controllers exist; in addition, the investment of the development of the intelligent internet automobile in the aspect of real automobile road testing is continuously increased, and the road testing mileage developed by an Advanced Driving Assistance System (ADAS) of one automobile type is in the level of one hundred thousand kilometers; and the data collected by the test is basically in a silent state, and the data value is not exerted.
Disclosure of Invention
The invention mainly aims to provide a method, a device, equipment and a storage medium for open-loop testing of hardware of a driving controller, and aims to solve the technical problems that in the prior art, the vehicle-mounted driving controller hardware open-loop testing has high investment cost, wastes a large amount of test acquisition data, and is poor in open-loop testing effectiveness and low in accuracy.
In a first aspect, the present invention provides a driving controller hardware open-loop test method, including the following steps:
acquiring CAN bus acquisition data in an automobile road test, and filtering the CAN bus acquisition data to acquire CAN bus acquisition data to be converted;
inputting the CAN bus acquisition data to a driving controller, and carrying out open loop test on the driving controller to obtain a test result;
and verifying the function of the driving controller according to the test result.
Optionally, the acquiring the CAN bus collected data in the automobile road test, filtering the CAN bus collected data, and acquiring the CAN bus collected data to be converted includes:
detecting traffic signal data of a dynamic and static traffic target object through a vehicle-mounted radar and a vehicle-mounted camera;
vehicle-mounted driving data are obtained through a vehicle-mounted actuator and an instrument, and the traffic signal data and the vehicle-mounted driving data are used as CAN bus acquisition data;
and filtering the CAN bus acquisition data to obtain CAN bus acquisition data to be converted.
Optionally, the obtaining of vehicle-mounted driving data by a vehicle-mounted actuator and a meter, and using the traffic signal data and the vehicle-mounted driving data as CAN bus collected data, includes:
vehicle-mounted driving data are obtained through an engine management system, an electric power steering system, a vehicle body electronic stability control system, an automatic gearbox control unit, a vehicle body controller and a brake lamp;
and taking the traffic signal data and the vehicle-mounted driving data as CAN bus acquisition data.
Optionally, the filtering the CAN bus collected data to obtain the CAN bus collected data to be converted includes:
converting the CAN bus collected data into asc file format data;
and screening out CAN messages sent by the vehicle-mounted radar and the vehicle-mounted camera from the asc file format data, and deleting other messages to obtain CAN bus acquisition data to be converted.
Optionally, the inputting the CAN bus acquisition data to a driving controller, and performing an open-loop test on the driving controller to obtain a test result includes:
a playback system is formed by a stabilized voltage supply, a CAN interface and an upper mechanism;
inputting the CAN bus acquisition data to a driving controller by using the playback system;
and carrying out perception fusion open-loop test on the CAN bus collected data through the driving controller, outputting and reflecting fused target object information, and taking the target object information as a test result.
Optionally, the inputting the CAN bus collected data to a driving controller by using the playback system includes:
sequencing and naming the CAN bus acquisition data according to a time sequence to generate an asc file list;
and supplying power to a driving controller through the stabilized voltage supply, configuring open-loop test parameters through the upper computer, and transmitting the asc file list to the driving controller through the CAN interface.
Optionally, the verifying the function of the driving controller according to the test result includes:
and verifying the open-loop test function of the driving controller according to the environment information and the test result by utilizing the environment information really acquired by each sensor of the vehicle in the road test.
In a second aspect, to achieve the above object, the present invention further provides a driving controller hardware open-loop testing apparatus, including:
the data acquisition module is used for acquiring CAN bus acquisition data in an automobile road test, filtering the CAN bus acquisition data and acquiring CAN bus acquisition data to be converted;
the test module is used for inputting the CAN bus acquisition data to a driving controller and carrying out open-loop test on the driving controller to obtain a test result;
and the verification module is used for verifying the function of the driving controller according to the test result.
In a third aspect, to achieve the above object, the present invention further provides a driving controller hardware open loop test device, including: a memory, a processor, and a drive controller hardware open loop test program stored on the memory and executable on the processor, the drive controller hardware open loop test program configured to implement the steps of the drive controller hardware open loop test method as recited in the claims above.
In a fourth aspect, to achieve the above object, the present invention further provides a storage medium, where a driving controller hardware open-loop test program is stored, and the driving controller hardware open-loop test program, when executed by a processor, implements the steps of the driving controller hardware open-loop test method as described above.
According to the open-loop test method for the hardware of the driving controller, CAN bus acquisition data in automobile road test is acquired, and the CAN bus acquisition data is filtered to obtain CAN bus acquisition data to be converted; inputting the CAN bus acquisition data to a driving controller, and carrying out open loop test on the driving controller to obtain a test result; verifying the function of the driving controller according to the test result; the system can comprehensively and specifically test each function of the controller, realizes the hardware open loop test with low cost, has higher test accuracy, avoids the integration of hardware open loop test equipment, saves the cost and realizes the hardware open loop test with low cost; meanwhile, semi-automatic processing of filtering CAN bus data in road test enables the open-loop test efficiency of the driving controller to be higher.
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FIG. 1 is a schematic diagram of an apparatus architecture of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of a hardware open-loop testing method for a driving controller according to the present invention;
FIG. 3 is a flowchart illustrating a second embodiment of a hardware open-loop testing method for a driving controller according to the present invention;
FIG. 4 is a flowchart illustrating a hardware open-loop testing method for a driving controller according to a third embodiment of the present invention;
FIG. 5 is a flowchart illustrating a fourth exemplary embodiment of a hardware open-loop testing method for a driving controller according to the present invention;
FIG. 6 is a flowchart illustrating a fifth embodiment of the hardware open-loop testing method for a driving controller according to the present invention;
FIG. 7 is a flowchart illustrating a sixth embodiment of a hardware open-loop testing method for a driving controller according to the present invention;
FIG. 8 is a flowchart illustrating a seventh exemplary embodiment of a hardware open-loop testing method for a driving controller according to the present invention;
fig. 9 is a functional block diagram of a hardware open-loop testing apparatus for a steering controller according to a first embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The solution of the embodiment of the invention is mainly as follows: the method comprises the steps of filtering CAN bus acquisition data by acquiring CAN bus acquisition data in an automobile road test to obtain CAN bus acquisition data to be converted; inputting the CAN bus acquisition data to a driving controller, and carrying out open loop test on the driving controller to obtain a test result; verifying the function of the driving controller according to the test result; the system can comprehensively and specifically test each function of the controller, realizes the hardware open loop test with low cost, has higher test accuracy, avoids the integration of hardware open loop test equipment, saves the cost and realizes the hardware open loop test with low cost; meanwhile, semi-automatic processing is performed on the road test CAN bus data, so that the open-loop test efficiency of the driving controller is higher, and the technical problems that in the prior art, the investment cost is high, a large amount of test acquisition data is wasted, the effectiveness of the open-loop test is poor, and the accuracy is low in the open-loop test of the hardware of the vehicle-mounted driving controller are solved.
Referring to fig. 1, fig. 1 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the apparatus may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., a Wi-Fi interface). The Memory 1005 may be a high-speed RAM Memory or a Non-Volatile Memory (Non-Volatile Memory), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration of the apparatus shown in fig. 1 is not intended to be limiting of the apparatus and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a driving controller hardware open loop test program.
The present apparatus calls, by the processor 1001, a driving controller hardware open loop test program stored in the memory 1005, and performs the following operations:
acquiring CAN bus acquisition data in an automobile road test, and filtering the CAN bus acquisition data to acquire CAN bus acquisition data to be converted;
inputting the CAN bus acquisition data to a driving controller, and carrying out open loop test on the driving controller to obtain a test result;
and verifying the function of the driving controller according to the test result.
The apparatus of the present invention calls, by the processor 1001, a driving controller hardware open loop test program stored in the memory 1005, and also performs the following operations:
detecting traffic signal data of a dynamic and static traffic target object through a vehicle-mounted radar and a vehicle-mounted camera;
vehicle-mounted driving data are obtained through a vehicle-mounted actuator and an instrument, and the traffic signal data and the vehicle-mounted driving data are used as CAN bus acquisition data;
and filtering the CAN bus acquisition data to obtain CAN bus acquisition data to be converted.
The apparatus of the present invention calls, by the processor 1001, a driving controller hardware open loop test program stored in the memory 1005, and also performs the following operations:
vehicle-mounted driving data are obtained through an engine management system, an electric power steering system, a vehicle body electronic stability control system, an automatic gearbox control unit, a vehicle body controller and a brake lamp;
and taking the traffic signal data and the vehicle-mounted driving data as CAN bus acquisition data.
The apparatus of the present invention calls, by the processor 1001, a driving controller hardware open loop test program stored in the memory 1005, and also performs the following operations:
converting the CAN bus collected data into asc file format data;
and screening out CAN messages sent by the vehicle-mounted radar and the vehicle-mounted camera from the asc file format data, and deleting other messages to obtain CAN bus acquisition data to be converted.
The apparatus of the present invention calls, by the processor 1001, a driving controller hardware open loop test program stored in the memory 1005, and also performs the following operations:
a playback system is formed by a stabilized voltage supply, a CAN interface and an upper mechanism;
inputting the CAN bus acquisition data to a driving controller by using the playback system;
and carrying out perception fusion open-loop test on the CAN bus collected data through the driving controller, outputting and reflecting fused target object information, and taking the target object information as a test result.
The apparatus of the present invention calls, by the processor 1001, a driving controller hardware open loop test program stored in the memory 1005, and also performs the following operations:
sequencing and naming the CAN bus acquisition data according to a time sequence to generate an asc file list;
and supplying power to a driving controller through the stabilized voltage supply, configuring open-loop test parameters through the upper computer, and transmitting the asc file list to the driving controller through the CAN interface.
The apparatus of the present invention calls, by the processor 1001, a driving controller hardware open loop test program stored in the memory 1005, and also performs the following operations:
and verifying the open-loop test function of the driving controller according to the environment information and the test result by utilizing the environment information really acquired by each sensor of the vehicle in the road test.
According to the scheme, the CAN bus acquisition data in the automobile road test is acquired, and the CAN bus acquisition data is filtered to obtain CAN bus acquisition data to be converted; inputting the CAN bus acquisition data to a driving controller, and carrying out open loop test on the driving controller to obtain a test result; verifying the function of the driving controller according to the test result; the system can comprehensively and specifically test each function of the controller, realizes the hardware open loop test with low cost, has higher test accuracy, avoids the integration of hardware open loop test equipment, saves the cost and realizes the hardware open loop test with low cost; meanwhile, semi-automatic processing of filtering CAN bus data in road test enables the open-loop test efficiency of the driving controller to be higher.
Based on the hardware structure, the embodiment of the hardware open-loop test method for the driving controller is provided.
Referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of a hardware open-loop testing method for a driving controller according to the present invention.
In a first embodiment, the driving controller hardware open loop test method comprises the following steps:
and S10, acquiring CAN bus acquisition data in the automobile road test, filtering the CAN bus acquisition data, and acquiring CAN bus acquisition data to be converted.
It should be noted that the CAN bus collected data is automobile road test data collected by a CAN bus when an automobile is subjected to a road test, and the filtered CAN bus collected data CAN be obtained by filtering the CAN bus collected data and used as CAN bus collected data for subsequent format conversion.
And step S20, inputting the CAN bus acquisition data to a driving controller, and carrying out open loop test on the driving controller to obtain a test result.
It should be understood that after the CAN bus collected data is transmitted to the driving controller, the driving controller may be subjected to an open-loop test according to the CAN bus collected data, so as to obtain a corresponding open-loop test result.
In a specific implementation, the controller is subjected to an open loop test, which may include a perception fusion test, a fault injection test, and a controller offline detection, to verify the functionality of the controller.
And step S30, verifying the function of the driving controller according to the test result.
It is understood that the open loop test function of the driving controller can be verified by the test result.
According to the scheme, the CAN bus acquisition data in the automobile road test is acquired, and the CAN bus acquisition data is filtered to obtain CAN bus acquisition data to be converted; inputting the CAN bus acquisition data to a driving controller, and carrying out open loop test on the driving controller to obtain a test result; verifying the function of the driving controller according to the test result; the system can comprehensively and specifically test each function of the controller, realizes the hardware open loop test with low cost, has higher test accuracy, avoids the integration of hardware open loop test equipment, saves the cost and realizes the hardware open loop test with low cost; meanwhile, semi-automatic processing of filtering CAN bus data in road test enables the open-loop test efficiency of the driving controller to be higher.
Further, fig. 3 is a schematic flowchart of a second embodiment of the driving controller hardware open-loop testing method according to the present invention, and as shown in fig. 3, the second embodiment of the driving controller hardware open-loop testing method according to the present invention is proposed based on the first embodiment, in this embodiment, the step S10 specifically includes the following steps:
and step S11, detecting the traffic signal data of the dynamic and static traffic target objects through the vehicle-mounted radar and the vehicle-mounted camera.
It should be noted that, signals of a static traffic target are detected by a vehicle-mounted radar and a vehicle-mounted camera mounted on a test vehicle, and traffic signal data acquired of the static traffic target can be generally transmitted to a data acquisition device through a sensor bus.
And step S12, vehicle-mounted driving data are obtained through a vehicle-mounted actuator and an instrument, and the traffic signal data and the vehicle-mounted driving data are used as CAN bus acquisition data.
It CAN be understood that the corresponding vehicle-mounted running data of the vehicle in the running process CAN be obtained through various vehicle-mounted actuators and instruments on the vehicle, and the traffic signal data and the vehicle-mounted running data are generally collected as a CAN bus.
And step S13, filtering the CAN bus acquisition data to obtain CAN bus acquisition data to be converted.
It should be understood that after the filtering operation is performed on the CAN center collected data, the filtered data CAN be obtained as the CAN bus collected data of the subsequent format conversion.
According to the scheme, the traffic signal data of the dynamic and static traffic target object is detected through the vehicle-mounted radar and the vehicle-mounted camera; vehicle-mounted driving data are obtained through a vehicle-mounted actuator and an instrument, and the traffic signal data and the vehicle-mounted driving data are used as CAN bus acquisition data; filtering the CAN bus acquisition data to obtain CAN bus acquisition data to be converted; the method can comprehensively and specifically test each function of the controller, realizes the hardware open loop test with low cost, and has higher test accuracy.
Further, fig. 4 is a schematic flowchart of a third embodiment of the hardware open-loop testing method for the driving controller according to the present invention, and as shown in fig. 4, the third embodiment of the hardware open-loop testing method for the driving controller according to the present invention is proposed based on the second embodiment, in this embodiment, the step S12 specifically includes the following steps:
and S121, obtaining vehicle-mounted running data through an engine management system, an electric power steering system, a vehicle body electronic stability control system, an automatic gearbox control unit, a vehicle body controller and a brake lamp.
It should be noted that the vehicle-mounted actuators and meters may include an Engine Management System (EMS), an Electric Power Steering System (EPS), an Electronic Stability Controller (ESC), an automatic Transmission Control Unit (TCU), a Body Controller (BCM), Brake lights, and the like, and may also include vehicle-mounted systems and units such as an Antilock Brake System (ABS) and an Electronic Control Unit (ECU), and various vehicle-mounted data may be collected by the vehicle-mounted actuators and meters during different vehicle-mounted driving.
And S122, taking the traffic signal data and the vehicle-mounted driving data as CAN bus acquisition data.
It should be understood that after the traffic signal data and the vehicle-mounted traveling data are obtained, the traffic signal data and the vehicle-mounted traveling data may be collected as CAN bus data.
According to the scheme, vehicle-mounted driving data are obtained through an engine management system, an electric power steering system, a vehicle body electronic stability control system, an automatic gearbox control unit, a vehicle body controller and a brake lamp; the traffic signal data and the vehicle-mounted driving data are used as CAN bus acquisition data, comprehensive and detailed tests CAN be performed on all functions of the controller, low-cost hardware open-loop tests are achieved, the test accuracy is higher, and the test data are more comprehensive.
Further, fig. 5 is a schematic flowchart of a fourth embodiment of the hardware open-loop testing method for the driving controller according to the present invention, and as shown in fig. 5, the fourth embodiment of the hardware open-loop testing method for the driving controller according to the present invention is proposed based on the second embodiment, in this embodiment, the step S13 specifically includes the following steps:
and S131, converting the CAN bus collected data into asc file format data.
It should be noted that the format of the acquired CAN bus acquisition file is converted into an asc file format, and accordingly, the asc file format includes information such as a timestamp, a message ID, and a 16-system message value.
And S132, screening out CAN messages sent by the vehicle-mounted radar and the vehicle-mounted camera from the asc file format data, and deleting other messages to obtain CAN bus acquisition data to be converted.
It CAN be understood that the CAN messages sent by the vehicle-mounted radar and the vehicle-mounted camera are screened out from the asc file format data, and other irrelevant messages are deleted, so that CAN bus acquisition data of subsequent format conversion CAN be obtained.
According to the scheme, the CAN bus collected data are converted into asc file format data; screening out CAN messages sent by a vehicle-mounted radar and a vehicle-mounted camera from the asc file format data, and deleting other messages to obtain CAN bus acquisition data to be converted; the method can comprehensively and specifically test each function of the controller, realizes the hardware open loop test with low cost, and has higher test accuracy.
Further, fig. 6 is a schematic flowchart of a fifth embodiment of the hardware open-loop testing method for the driving controller according to the present invention, and as shown in fig. 6, the fifth embodiment of the hardware open-loop testing method for the driving controller according to the present invention is proposed based on the first embodiment, in this embodiment, the step S20 specifically includes the following steps:
and step S21, forming a playback system through a stabilized voltage power supply, a CAN interface and an upper mechanism.
It should be noted that the regulated power supply is responsible for providing a stable voltage for the operation of the driving controller, the CAN interface is combined with the upper computer to form a playback system for playback test, and in actual operation, the upper computer is provided with data processing and analyzing software, integrates necessary modules such as a data acquisition module, a data processing module, a playback test module and the like, and is responsible for processing a CAN bus data file transmitted by the data acquisition device and playing back the data file to the driving controller through the CAN interface.
And step S22, inputting the CAN bus acquisition data to a driving controller by using the playback system.
It is understood that the CAN bus collected data collected by the respective sensors may be input to the driving controller through the playback system.
And step S23, carrying out perception fusion open-loop test on the CAN bus collected data through the driving controller, outputting and reflecting fused target object information, and taking the target object information as a test result.
It CAN be understood that a stabilized voltage supply is adopted to supply power to the controller, configuration work of the perception fusion open-loop test is completed through the upper computer, the CAN bus acquisition data is transmitted to the controller through the CAN interface to conduct the perception fusion open-loop test, fused target object information is output, and therefore the target object information is used as a test result.
According to the scheme, the playback system is formed by the stabilized voltage power supply, the CAN interface and the upper mechanism; inputting the CAN bus acquisition data to a driving controller by using the playback system; carrying out perception fusion open-loop test on the CAN bus collected data through the driving controller, outputting and reflecting fused target object information, and taking the target object information as a test result; the hardware open-loop test system has the advantages that various functions of the controller can be comprehensively and specifically tested, low-cost hardware open-loop test is realized, the test accuracy is higher, integration of hardware open-loop test equipment is avoided, the cost is saved, and the low-cost hardware open-loop test is realized.
Further, fig. 7 is a schematic flowchart of a sixth embodiment of the hardware open-loop testing method for the driving controller according to the present invention, and as shown in fig. 7, the sixth embodiment of the hardware open-loop testing method for the driving controller according to the present invention is proposed based on the fifth embodiment, in this embodiment, the step S22 specifically includes the following steps:
and S221, sequencing and naming the CAN bus acquisition data according to a time sequence to generate an asc file list.
It should be noted that, the data collected by the CAN bus may be ordered and named according to a preset message time sequence, and a command is generally started from 1, so as to create a new folder, use the new folder as a target folder, store the renamed file, and automatically merge asc file lists through software.
And step S222, supplying power to a driving controller through the stabilized voltage power supply, configuring open-loop test parameters through the upper computer, and transmitting the asc file list to the driving controller through the CAN interface.
It CAN be understood that the controller CAN be powered by adopting a stabilized voltage supply, open-loop test parameter configuration CAN be carried out through the upper computer, so that the configuration work of the perception fusion open-loop test is completed, the merged asc file list is transmitted to the driving controller through the CAN interface, and the perception fusion open-loop test is carried out.
According to the scheme, the CAN bus collected data are sequenced and named according to the time sequence, and an asc file list is generated; through constant voltage power supply is the drive controller power supply, through the host computer carries out the open loop test parameter configuration, through the CAN interface will asc file list transmits extremely drive controller CAN carry out comprehensive and detailed test to each item function of controller, has realized low-cost hardware open loop test, and the accuracy of test is higher to still avoid hardware open loop test equipment's integration, practiced thrift the cost, realized low-cost hardware open loop test.
Further, fig. 8 is a schematic flowchart of a seventh embodiment of the hardware open-loop testing method for the driving controller according to the present invention, and as shown in fig. 8, the seventh embodiment of the hardware open-loop testing method for the driving controller according to the present invention is proposed based on the first embodiment, in this embodiment, the step S30 includes the following steps:
and step S31, verifying the open-loop test function of the driving controller according to the environment information and the test result by utilizing the environment information really acquired by each sensor of the vehicle in the road test.
It should be noted that the system can be debugged according to the test result, and the environment information actually acquired by each sensor of the vehicle in the road test can be utilized, so that the perception fusion open-loop test function of the driving controller can be verified.
In specific implementation, the embodiment CAN also perform fault injection test, that is, converting the format of the acquired CAN bus acquisition file into an asc file format, editing the asc file format, and setting a fault and the type of the fault; the predefined fault types in the system are three types of signal step change, signal loss and signal blocking, and the common working basis of fault injection of each type is as follows: respectively naming the messages corresponding to the fault types from 1 according to a time sequence; a plurality of folders are newly established and are respectively used for storing messages of each fault type, and asc file lists in each folder are automatically combined through software; a voltage-stabilized power supply is adopted to supply power to the controller, configuration work of fault injection test is completed through an upper computer, the merged asc file lists corresponding to the fault types are sequentially transmitted to the controller through a CAN interface to perform the fault injection test, and a test report reflecting the running state of the controller and software when each fault exists in the system is output; and debugging the system according to the test report, thereby replacing the need of integrating a fault injection unit for the controller hardware-in-the-loop test equipment to complete the fault injection test of the controller.
The driving controller CAN also perform offline detection, convert the format of the acquired CAN bus acquisition file into an asc file format, supply power to the controller by adopting a stabilized voltage power supply, complete the configuration work of the offline detection of the controller through an upper computer, transmit a merged asc file list to the controller through a CAN interface, output running state signals of each application software, detect whether all the application software runs through signals, and if so, perform the offline detection.
According to the scheme, the environment information obtained by each sensor of the vehicle in the road test is utilized, the environment information and the test result are verified through the open-loop test function of the driving controller, the cost of hardware-in-loop test equipment CAN be saved, low-cost hardware-in-loop test is realized, and semi-automatic processing of cleaning and sorting road test CAN bus data is performed, so that the efficiency of the controller-in-loop test is higher.
Correspondingly, the invention further provides a hardware open loop testing device of the driving controller.
Referring to fig. 9, fig. 9 is a functional block diagram of a first embodiment of the hardware open-loop testing apparatus for the driving controller according to the present invention.
In a first embodiment of the device for testing hardware open loop of a driving controller according to the present invention, the device for testing hardware open loop of a driving controller includes:
and the data acquisition module 10 is used for acquiring CAN bus acquisition data in automobile road testing, filtering the CAN bus acquisition data and acquiring CAN bus acquisition data to be converted.
And the test module 20 is used for inputting the CAN bus acquisition data to a driving controller and carrying out open loop test on the driving controller to obtain a test result.
And the verification module 30 is used for verifying the function of the driving controller according to the test result.
The data acquisition module 10 is further configured to detect traffic signal data of a dynamic and static traffic target object through a vehicle-mounted radar and a vehicle-mounted camera; vehicle-mounted driving data are obtained through a vehicle-mounted actuator and an instrument, and the traffic signal data and the vehicle-mounted driving data are used as CAN bus acquisition data; and filtering the CAN bus acquisition data to obtain CAN bus acquisition data to be converted.
The data acquisition module 10 is further used for acquiring vehicle-mounted driving data through an engine management system, an electric power steering system, a vehicle body electronic stability control system, an automatic gearbox control unit, a vehicle body controller and a brake lamp; and taking the traffic signal data and the vehicle-mounted driving data as CAN bus acquisition data.
The data acquisition module 10 is further configured to convert the data acquired by the CAN bus into asc file format data; and screening out CAN messages sent by the vehicle-mounted radar and the vehicle-mounted camera from the asc file format data, and deleting other messages to obtain CAN bus acquisition data to be converted.
The test module 20 is further configured to form a playback system through a voltage-stabilized power supply, a CAN interface and an upper mechanism; inputting the CAN bus acquisition data to a driving controller by using the playback system; and carrying out perception fusion open-loop test on the CAN bus collected data through the driving controller, outputting and reflecting fused target object information, and taking the target object information as a test result.
The test module 20 is further configured to sort and name the CAN bus acquisition data according to a time sequence, and generate an asc file list; and supplying power to a driving controller through the stabilized voltage supply, configuring open-loop test parameters through the upper computer, and transmitting the asc file list to the driving controller through the CAN interface.
The verification module 30 is further configured to verify an open-loop test function of the driving controller according to the environment information and the test result by using environment information actually obtained by each sensor of the vehicle during the road test.
The steps implemented by each functional module of the driving controller hardware open-loop testing device can refer to each embodiment of the driving controller hardware open-loop testing method of the present invention, and are not described herein again.
In addition, an embodiment of the present invention further provides a storage medium, where a driving controller hardware open-loop test program is stored on the storage medium, and when executed by a processor, the driving controller hardware open-loop test program implements the following operations:
acquiring CAN bus acquisition data in an automobile road test, and filtering the CAN bus acquisition data to acquire CAN bus acquisition data to be converted;
inputting the CAN bus acquisition data to a driving controller, and carrying out open loop test on the driving controller to obtain a test result;
and verifying the function of the driving controller according to the test result.
Further, the driving controller hardware open loop test program when executed by the processor further implements the following operations:
detecting traffic signal data of a dynamic and static traffic target object through a vehicle-mounted radar and a vehicle-mounted camera;
vehicle-mounted driving data are obtained through a vehicle-mounted actuator and an instrument, and the traffic signal data and the vehicle-mounted driving data are used as CAN bus acquisition data;
and filtering the CAN bus acquisition data to obtain CAN bus acquisition data to be converted.
Further, the driving controller hardware open loop test program when executed by the processor further implements the following operations:
vehicle-mounted driving data are obtained through an engine management system, an electric power steering system, a vehicle body electronic stability control system, an automatic gearbox control unit, a vehicle body controller and a brake lamp;
and taking the traffic signal data and the vehicle-mounted driving data as CAN bus acquisition data.
Further, the driving controller hardware open loop test program when executed by the processor further implements the following operations:
converting the CAN bus collected data into asc file format data;
and screening out CAN messages sent by the vehicle-mounted radar and the vehicle-mounted camera from the asc file format data, and deleting other messages to obtain CAN bus acquisition data to be converted.
Further, the driving controller hardware open loop test program when executed by the processor further implements the following operations:
a playback system is formed by a stabilized voltage supply, a CAN interface and an upper mechanism;
inputting the CAN bus acquisition data to a driving controller by using the playback system;
and carrying out perception fusion open-loop test on the CAN bus collected data through the driving controller, outputting and reflecting fused target object information, and taking the target object information as a test result.
Further, the driving controller hardware open loop test program when executed by the processor further implements the following operations:
sequencing and naming the CAN bus acquisition data according to a time sequence to generate an asc file list;
and supplying power to a driving controller through the stabilized voltage supply, configuring open-loop test parameters through the upper computer, and transmitting the asc file list to the driving controller through the CAN interface.
Further, the driving controller hardware open loop test program when executed by the processor further implements the following operations:
and verifying the open-loop test function of the driving controller according to the environment information and the test result by utilizing the environment information really acquired by each sensor of the vehicle in the road test.
According to the scheme, the CAN bus acquisition data in the automobile road test is acquired, and the CAN bus acquisition data is filtered to obtain CAN bus acquisition data to be converted; inputting the CAN bus acquisition data to a driving controller, and carrying out open loop test on the driving controller to obtain a test result; verifying the function of the driving controller according to the test result; the system can comprehensively and specifically test each function of the controller, realizes the hardware open loop test with low cost, has higher test accuracy, avoids the integration of hardware open loop test equipment, saves the cost and realizes the hardware open loop test with low cost; meanwhile, semi-automatic processing of filtering CAN bus data in road test enables the open-loop test efficiency of the driving controller to be higher.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A hardware open-loop test method for a driving controller is characterized by comprising the following steps:
acquiring CAN bus acquisition data in an automobile road test, and filtering the CAN bus acquisition data to acquire CAN bus acquisition data to be converted;
inputting the CAN bus acquisition data to a driving controller, and carrying out open loop test on the driving controller to obtain a test result;
and verifying the function of the driving controller according to the test result.
2. The open-loop test method for the hardware of the driving controller according to claim 1, wherein the obtaining of the CAN bus acquisition data in the automobile road test, the filtering of the CAN bus acquisition data, and the obtaining of the CAN bus acquisition data to be converted comprises:
detecting traffic signal data of a dynamic and static traffic target object through a vehicle-mounted radar and a vehicle-mounted camera;
vehicle-mounted driving data are obtained through a vehicle-mounted actuator and an instrument, and the traffic signal data and the vehicle-mounted driving data are used as CAN bus acquisition data;
and filtering the CAN bus acquisition data to obtain CAN bus acquisition data to be converted.
3. The open-loop test method for hardware of a driving controller according to claim 2, wherein the obtaining of vehicle-mounted driving data through vehicle-mounted actuators and instruments, and the using of the traffic signal data and the vehicle-mounted driving data as CAN bus collection data comprises:
vehicle-mounted driving data are obtained through an engine management system, an electric power steering system, a vehicle body electronic stability control system, an automatic gearbox control unit, a vehicle body controller and a brake lamp;
and taking the traffic signal data and the vehicle-mounted driving data as CAN bus acquisition data.
4. The open-loop test method for hardware of a driving controller according to claim 2, wherein the filtering the collected data of the CAN bus to obtain the collected data of the CAN bus to be converted comprises:
converting the CAN bus collected data into asc file format data;
and screening out CAN messages sent by the vehicle-mounted radar and the vehicle-mounted camera from the asc file format data, and deleting other messages to obtain CAN bus acquisition data to be converted.
5. The method for open-loop testing of hardware of a driving controller according to claim 1, wherein the inputting the collected data of the CAN bus to the driving controller and performing the open-loop test on the driving controller to obtain the test result comprises:
a playback system is formed by a stabilized voltage supply, a CAN interface and an upper mechanism;
inputting the CAN bus acquisition data to a driving controller by using the playback system;
and carrying out perception fusion open-loop test on the CAN bus collected data through the driving controller, outputting and reflecting fused target object information, and taking the target object information as a test result.
6. The drive controller hardware open loop test method of claim 5, wherein the inputting the CAN bus gather data to the drive controller with the playback system comprises:
sequencing and naming the CAN bus acquisition data according to a time sequence to generate an asc file list;
and supplying power to a driving controller through the stabilized voltage supply, configuring open-loop test parameters through the upper computer, and transmitting the asc file list to the driving controller through the CAN interface.
7. The method for open-loop testing of driving controller hardware according to claim 1, wherein the verifying the function of the driving controller according to the test result comprises:
and verifying the open-loop test function of the driving controller according to the environment information and the test result by utilizing the environment information really acquired by each sensor of the vehicle in the road test.
8. The utility model provides a drive controller hardware open loop testing arrangement which characterized in that, drive controller hardware open loop testing arrangement includes:
the data acquisition module is used for acquiring CAN bus acquisition data in an automobile road test, filtering the CAN bus acquisition data and acquiring CAN bus acquisition data to be converted;
the test module is used for inputting the CAN bus acquisition data to a driving controller and carrying out open-loop test on the driving controller to obtain a test result;
and the verification module is used for verifying the function of the driving controller according to the test result.
9. A drive controller hardware open loop test apparatus, comprising: a memory, a processor, and a drive controller hardware open loop test program stored on the memory and executable on the processor, the drive controller hardware open loop test program configured to implement the steps of the drive controller hardware open loop test method of any one of claims 1 to 7.
10. A storage medium having stored thereon a driving controller hardware open loop test program, which when executed by a processor implements the steps of the driving controller hardware open loop test method of any one of claims 1 to 7.
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