CN113311814A - Electronic stability control system test method, device, equipment and medium - Google Patents
Electronic stability control system test method, device, equipment and medium Download PDFInfo
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- CN113311814A CN113311814A CN202110643909.9A CN202110643909A CN113311814A CN 113311814 A CN113311814 A CN 113311814A CN 202110643909 A CN202110643909 A CN 202110643909A CN 113311814 A CN113311814 A CN 113311814A
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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
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0256—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults injecting test signals and analyzing monitored process response, e.g. injecting the test signal while interrupting the normal operation of the monitored system; superimposing the test signal onto a control signal during normal operation of the monitored system
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
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Abstract
The embodiment of the invention discloses a method, a device, equipment and a medium for testing an electronic stability control system. The method comprises the following steps: the upper computer system controls the working state of the 3D motion platform, determines the simulation mode of the corner YAW sensor, generates a test signal and sends the test signal to the HIL simulation platform; the HIL simulation platform carries out simulation processing according to the test signal and the simulation mode so that the ESC system can obtain corresponding working condition parameters; the ESC system executes corresponding control actions according to the received working condition parameters, and sends action signals generated after the control actions are executed to the HIL simulation platform; and the upper computer system collects action signals in the HIL simulation platform and determines a test result of the ESC system according to the action signals. According to the technical scheme of the embodiment of the invention, the existing simulation test mode can be improved by controlling the working state of the 3D motion platform, and the accuracy of the test result of the ESC system is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of automatic testing of automobiles, in particular to a method, a device, equipment and a medium for testing an electronic stability control system.
Background
Along with the development of automobile intellectualization, an Electronic Stability Controller (ESC for short) system is indispensable on an automobile, and the intellectualization brings convenience to people and simultaneously puts higher and higher requirements on the aspects of automobile safety, Stability and the like. Therefore, it is very important to perform sufficient testing on the ESC system before the automobile is put into production.
In the prior art, a Hardware-in-the-Loop (HIL for short) simulation platform can be used for performing simulation test on an ESC system. However, the existing simulation test mode is not perfect and needs to be improved.
Disclosure of Invention
The embodiment of the invention provides a method, a device, equipment and a medium for testing an electronic stability control system, which can improve the existing simulation test mode and are beneficial to improving the accuracy of the test result of an ESC system.
In a first aspect, an embodiment of the present invention provides a method for testing an electronic stability control system, which is applied to an ESC system testing device for electronic stability control, where the ESC system testing device includes an upper computer system, a HIL simulation platform with hardware in loop, an ESC system, and a 3D motion platform, the ESC system is installed and fixed on the 3D motion platform, the upper computer system is in communication connection with the HIL simulation platform, the HIL simulation platform is in communication connection with the ESC system, the HIL simulation platform is in communication connection with the 3D motion platform, and the upper computer system is connected with the 3D motion platform, and the method includes:
the upper computer system controls the working state of the 3D motion platform, determines the simulation mode of a corner YAW sensor, generates a test signal and sends the test signal to the HIL simulation platform, wherein the 3D motion platform is used for driving the YAW sensor to move so as to simulate the motion of a vehicle, and the YAW sensor is configured in the ESC system;
the HIL simulation platform carries out simulation processing according to the test signal and the simulation mode so that the ESC system can obtain corresponding working condition parameters, wherein the working condition parameters comprise parameters of the YAW sensor;
the ESC system executes corresponding control actions according to the received working condition parameters, and sends action signals generated after the control actions are executed to the HIL simulation platform;
and the upper computer system collects action signals in the HIL simulation platform and determines a test result of the ESC system according to the action signals.
In a second aspect, an embodiment of the present invention provides an electronic stability control system testing apparatus, which is integrated in an electronic stability control ESC system testing device, where the ESC system testing device includes an upper computer system, a hardware-in-loop HIL simulation platform, an ESC system, and a 3D motion platform, the ESC system is installed and fixed on the 3D motion platform, the upper computer system is in communication connection with the HIL simulation platform, the HIL simulation platform is in communication connection with the ESC system, the HIL simulation platform is in communication connection with the 3D motion platform, and the upper computer system is connected with the 3D motion platform, and the apparatus includes:
the sending module is configured in the upper computer system and used for controlling the working state of the 3D motion platform, determining the simulation mode of a corner YAW sensor, generating a test signal and sending the test signal to the HIL simulation platform, wherein the 3D motion platform is used for driving the YAW sensor to move so as to simulate the motion of a vehicle, and the YAW sensor is configured in the ESC system;
the processing module is configured in the HIL simulation platform and is used for performing simulation processing according to the test signal and the simulation mode so that the ESC system can acquire corresponding working condition parameters, wherein the working condition parameters comprise parameters of the YAW sensor;
the execution module is configured in the ESC system and used for executing corresponding control actions according to the received working condition parameters and sending action signals generated after the control actions are executed to the HIL simulation platform;
and the determining module is configured in the upper computer system and is used for acquiring action signals in the HIL simulation platform and determining a test result of the ESC system according to the action signals.
In a third aspect, an embodiment of the present invention provides an electronic stability control system test apparatus, where the electronic stability control ESC system test apparatus includes:
the system comprises an upper computer system, a hardware-in-loop HIL (hardware in loop) simulation platform, an ESC (electronic stability control) system and a 3D (three-dimensional) motion platform, wherein the ESC system is fixedly installed on the 3D motion platform, the upper computer system is in communication connection with the HIL simulation platform, the HIL simulation platform is in communication connection with the ESC system, the HIL simulation platform is in communication connection with the 3D motion platform, and the upper computer system is connected with the 3D motion platform;
the ESC system test equipment is used for executing the electronic stability control system test method in any embodiment of the invention.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the electronic stability control system testing method according to any embodiment of the present invention.
The embodiment of the invention provides a method, a device, equipment and a medium for testing an electronic stability control system, wherein a 3D motion platform is added in ESC system testing equipment, the 3D motion platform can drive a YAW sensor in the ESC system to move so as to simulate the motion of a vehicle, firstly, an upper computer system controls the working state of the 3D motion platform, determines the simulation mode of a corner YAW sensor and generates a test signal, and sends the test signal to an HIL simulation platform, then the HIL simulation platform carries out simulation processing according to the test signal and the simulation mode so that the ESC system can obtain corresponding working condition parameters, then the ESC system executes corresponding control action according to the received working condition parameters, and sends an action signal generated after the control action is executed to the HIL simulation platform, finally, the upper computer system acquires the action signal in the HIL simulation platform and determines the test result of the ESC system according to the action signal, through the scheme, the 3D motion platform capable of driving the YAW sensor in the ESC system to move to simulate the motion of the vehicle is introduced, the existing simulation test mode can be improved by controlling the working state of the 3D motion platform, and the accuracy of the test result of the ESC system is improved.
Drawings
Fig. 1 is a flowchart of a testing method for an electronic stability control system according to an embodiment of the present invention;
fig. 2A is a flowchart of a testing method of an electronic stability control system according to a second embodiment of the present invention;
fig. 2B is a structural design diagram of the HIL simulation platform, the ESC system, and the 3D motion platform in the method according to the second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a testing apparatus of an electronic stability control system according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a testing apparatus of an electronic stability control system according to a fourth 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.
In the existing method for carrying out simulation test on an ESC system, the integration mode of a corner (YAW) sensor in the ESC system and an electronic control unit in the ESC system is divided into: the YAW sensor is integrated inside the electronic control unit and the YAW sensor is integrated outside the electronic control unit. If the YAW sensor is integrated outside the electronic control unit and can acquire a communication protocol between the YAW sensor and the ESC system, the simulation processing can be carried out through the HIL simulation platform, so that the ESC system is tested; if the YAW sensor is integrated outside the electronic control unit and cannot acquire a communication protocol between the YAW sensor and the ESC system or the YAW sensor is integrated outside the electronic control unit, parameters of the YAW sensor cannot be simulated through the HIL simulation platform, and further simulation test cannot be performed on the ESC system.
Example one
Fig. 1 is a flowchart of a method for testing an electronic stability control system according to an embodiment of the present invention, which is applicable to an ESC system. The testing method for the electronic stability control system provided by the embodiment of the present invention can be implemented by the testing apparatus for an electronic stability control system provided by the embodiment of the present invention, which can be implemented in a software and/or hardware manner and integrated into the testing apparatus for an electronic stability control system that executes the method.
Referring to fig. 1, the method of the present embodiment includes, but is not limited to, the following steps:
and S110, controlling the working state of the 3D motion platform, determining the simulation mode of the YAW sensor, generating a test signal and sending the test signal to the HIL simulation platform by the upper computer system, wherein the 3D motion platform is used for driving the YAW sensor to move so as to simulate the motion of a vehicle, and the YAW sensor is configured in the ESC system.
The upper computer system can comprise a test management module, a test sequence module and an automatic test module. The test management module is in communication connection with the test sequence module, the test management module is in communication connection with the automatic test module, and the test sequence module is in communication connection with the automatic test module.
The test management module can be used for managing test requirements, test cases, test plans, test reports and the like, and parameterizing test sequences. The test requirements can be understood as: the operating conditions under which the ESC system is to operate, and the response of the ESC system under such conditions, the test requirements may be determined by the operator based on the operating conditions that the vehicle may encounter during actual driving, such as may be obtained from driving experience. The test case may be a specific flow of testing the ESC system. The test plan may be understood as a plan for performing a test operation on the test equipment of the ESC system, for example, running multiple test cases simultaneously with the test equipment to implement a test under multiple operating conditions.
The test sequence module may be configured to generate a test sequence, where the test sequence may be understood as a program code corresponding to a test case, and the test case may be completed by running the test sequence, for example, the test sequence may be generated by calling a program in an action library and an evaluation library stored in advance.
The automatic test module can be used for executing a test sequence to generate a test signal, collecting an action signal in the HIL simulation platform, generating a test report, sending the test report to the test management module for storage, management and the like, and is convenient for a worker to check.
In the embodiment of the invention, a 3D motion platform is additionally arranged in ESC system test equipment, an ESC system is arranged on the 3D motion platform, and the 3D motion platform (which can be understood as a test bed) can drive a YAW sensor arranged in the ESC system to rotate around 3 axes so as to simulate the motion of a vehicle. Here, the YAW sensor may be understood as a sensor for measuring an angle, including: yaw rate, lateral acceleration, and longitudinal acceleration, etc. The 3D motion platform consists of a three-axis motor, performs + 45-degree or-45-degree pitching motion around a horizontal axis, and simulates the longitudinal acceleration of the vehicle through position control; a +45 ° or-45 ° roll motion about a horizontal axis, with position control to simulate lateral acceleration of the vehicle; infinitely rotated about a vertical axis, with speed control to simulate the yaw rate of the vehicle. The 3D motion platform is in communication connection with the HIL simulation platform on the one hand, and is connected with the upper computer system on the other hand, and can receive a control instruction of the upper computer.
The ESC system is a novel active safety system of the vehicle, and the driving force and the braking force of front and rear wheels, left and right wheels can be controlled through an electronic control unit in the ESC system, so that the lateral stability of the vehicle in running is ensured. In order to test the ESC system, the upper computer system needs to control the working state of the 3D motion platform (for example, whether the 3D motion platform is started), determine the simulation mode of the YAW sensor, generate a test signal, and send the test signal to the HIL simulation platform, so that the subsequent HIL simulation platform can perform simulation processing according to the test signal and the simulation mode, and the ESC system can acquire corresponding working condition parameters. The control strategy of the working state of the 3D motion platform can be set according to actual requirements, which is generally the case where parameters of the YAW sensor need to be obtained by simulating vehicle motion. As illustrated in the foregoing, the integration manner of the YAW sensor in the ESC system and the electronic control unit in the ESC system is divided into two cases, i.e., the YAW sensor is integrated inside the electronic control unit and the YAW sensor is integrated outside the electronic control unit, and either or both of the two cases may obtain the parameter of the YAW sensor by using the 3D motion platform to drive the YAW sensor to move. Optionally, when one of the YAW sensors is obtained by using the 3D motion platform to drive the YAW sensor to move, the other one may obtain the parameters of the YAW sensor by using another method, for example, by performing simulation on the HIL simulation platform, the parameters of the YAW sensor are obtained.
And S120, the HIL simulation platform performs simulation processing according to the test signal and the simulation mode so that the ESC system can acquire corresponding working condition parameters, wherein the working condition parameters comprise parameters of the YAW sensor.
The HIL simulation platform can be understood as a platform that models a controlled object and runs on a simulator (the controlled object is simulated by real-time simulation hardware), so that the controller can be comprehensively tested in an efficient and low-cost manner.
Because there are two integration methods for the YAW sensor, the simulation method for the YAW sensor may be different due to different integration methods, and further the simulation processing method for the HIL simulation platform may be different. Therefore, after the HIL simulation platform receives the test signal sent by the upper computer system, corresponding simulation processing is performed according to the test signal and the simulation mode of the YAW sensor, so that the ESC system can obtain corresponding working condition parameters, wherein the working condition parameters can include road parameters, vehicle working condition parameters, parameters of the YAW sensor and the like, and therefore the subsequent ESC system can execute corresponding control actions according to the received working condition parameters and send action signals generated after the control actions are executed to the HIL simulation platform.
And S130, the ESC system executes corresponding control actions according to the received working condition parameters, and sends action signals generated after the control actions are executed to the HIL simulation platform.
The ESC system can comprise an ESC electronic control unit, a YAW sensor, a solenoid valve and the like. An electronic control unit in the ESC system can generate a control signal (i.e., execute a corresponding control action) according to the received operating condition parameters, and send the control signal to the solenoid valve so that the solenoid valve generates a corresponding action signal according to the control signal. The ESC system needs to send the action signal to the HIL simulation platform so that the upper computer system collects the action signal in the HIL simulation platform.
And S140, the upper computer system collects action signals in the HIL simulation platform and determines a test result of the ESC system according to the action signals.
The upper computer system collects the action signals of the electromagnetic valve stored in the HIL simulation platform, can determine the test result of the ESC system according to the action signals, and can comprehensively test the ESC system by testing the ESC system under different working condition parameters, so that the safety of the whole vehicle is improved.
The technical scheme provided by this embodiment includes that firstly, an upper computer system controls the working state of a 3D motion platform, determines the simulation mode of a corner YAW sensor and generates a test signal, and sends the test signal to an HIL simulation platform, then the HIL simulation platform performs simulation processing according to the test signal and the simulation mode so that an ESC system can acquire corresponding working condition parameters, then the ESC system executes corresponding control actions according to the received working condition parameters, and sends action signals generated after the control actions are executed to the HIL simulation platform, and finally, the upper computer system collects action signals in the HIL simulation platform and determines the test result of the ESC system according to the action signals, through the scheme, a 3D motion platform capable of driving the YAW sensor in the ESC system to move to simulate the motion of a vehicle is introduced, and through controlling the working state of the 3D motion platform, the method can improve the existing simulation test mode, and is beneficial to improving the accuracy of the test result of the ESC system.
In some embodiments, the determining, by the upper computer system, the simulation mode of the YAW sensor may specifically include: the upper computer system acquires the integration mode of the YAW sensor and an electronic control unit in the ESC system; if the integration mode acquired by the upper computer system is that the YAW sensor is integrated in the electronic control unit, or the YAW sensor is integrated outside the electronic control unit and the communication protocol between the YAW sensor and the ESC system cannot be acquired, determining that the simulation mode of the YAW sensor is a 3D motion platform simulation mode; if the integration mode acquired by the upper computer system is that the YAW sensor is integrated outside the electronic control unit and the communication protocol between the YAW sensor and the ESC system can be acquired, determining that the simulation mode of the YAW sensor is a bus simulation mode.
The 3D motion platform simulation mode may be understood as a simulation mode in which the 3D motion platform is required to control the motion of the YAW sensor, so as to obtain parameters of the corresponding YAW sensor. The bus simulation mode can be understood as a simulation mode of directly simulating all working condition parameters through an HIL (hardware in the loop) simulation platform without a 3D (three-dimensional) motion platform.
In the embodiment of the invention, the upper computer system acquires the integration mode of the YAW sensor and the electronic control unit in the ESC system to determine whether the simulation mode of the YAW sensor is the 3D motion platform simulation mode or the bus simulation mode, so that the subsequent HIL simulation platform can perform simulation processing according to different simulation modes, and the ESC system can acquire the corresponding working condition parameters.
In some embodiments, a vehicle dynamics simulation module is included in the HIL simulation platform; correspondingly, when the upper computer system determines that the simulation mode of the YAW sensor is the 3D motion platform simulation mode, the HIL simulation platform carries out simulation processing according to the test signal and the simulation mode so as to enable the ESC system to acquire corresponding working condition parameters, and the method can specifically comprise the following steps: the HIL simulation platform generates a first working condition parameter through the vehicle dynamics simulation module according to the test signal, and sends the first working condition parameter to the 3D motion platform, so that the 3D motion platform controls the YAW sensor to move according to the first working condition parameter, and the ESC system can acquire the corresponding parameter of the YAW sensor.
The vehicle dynamics simulation module may be configured to simulate dynamic conditions of the vehicle to generate a number of condition parameters. The parameters of the YAW sensor are not included in the first operating condition parameters.
When the upper computer system determines that the simulation mode of the YAW sensor is the 3D motion platform simulation mode, the HIL simulation platform can generate a first working condition parameter through the vehicle dynamics simulation module according to a test signal sent by the upper computer system, and sends the first working condition parameter to the 3D motion platform. The first operating condition parameters may include vehicle operating parameters simulated by the vehicle dynamics simulation module, such as: wheel speed parameters, vehicle speed hard line signal parameters, motor rotating speed parameters and the like. After the 3D motion platform receives the first working condition parameters, the YAW sensor is controlled to move according to the first working condition parameters, and therefore the ESC system can acquire the parameters of the corresponding YAW sensor.
In the embodiment of the invention, the 3D motion platform is used for controlling the motion of the YAW sensor, so that the ESC system can acquire the corresponding parameters of the YAW sensor, and the problem that in the prior art, if the YAW sensor is integrated outside the electronic control unit and cannot acquire a communication protocol between the YAW sensor and the ESC system or the YAW sensor is integrated outside the electronic control unit, the parameters of the YAW sensor cannot be simulated through the HIL simulation platform, and further the ESC system cannot be subjected to simulation test is solved.
In some embodiments, a vehicle dynamics simulation module is included in the HIL simulation platform; correspondingly, when the upper computer system determines that the simulation mode of the YAW sensor is the bus simulation mode, the HIL simulation platform performs simulation processing according to the test signal and the simulation mode to enable the ESC system to acquire corresponding working condition parameters, which may specifically include: and the HIL simulation platform generates a second working condition parameter through the vehicle dynamics simulation module according to the test signal, and sends the second working condition parameter to the ESC system, wherein the parameter of the YAW sensor is obtained by simulating the HIL simulation platform through a communication protocol between the YAW sensor and the ESC system.
The second operating condition parameter may include parameters of the YAW sensor and other vehicle operating parameters.
When the upper computer system determines that the simulation mode of the YAW sensor is the bus simulation mode, the YAW sensor is integrated outside the electronic control unit, and a communication protocol between the YAW sensor and the ESC system can be acquired, the HIL simulation platform can directly generate a second working condition parameter comprising the YAW sensor through the vehicle dynamics simulation module according to a test signal sent by the upper computer system, and sends the second working condition parameter to the ESC system, so that the ESC system executes corresponding control action according to the received second working condition parameter.
In the embodiment of the invention, the second working condition parameter is directly generated through the HIL simulation platform, so that the method is simple, quick, time-saving and labor-saving.
In some embodiments, the controlling the working state of the 3D motion platform by the upper computer system may specifically include: the upper computer system determines whether to control the 3D motion platform to start or not according to the integration mode of the YAW sensor and an electronic control unit in the ESC system; and if so, calibrating the motion parameters of the 3D motion platform by the upper computer system.
Specifically, the integration mode of the YAW sensor and the electronic control unit in the ESC system includes: the YAW sensor is integrated in the electronic control unit, and the YAW sensor is integrated outside the electronic control unit, wherein the YAW sensor is integrated outside the electronic control unit and is divided into a communication protocol which cannot acquire the YAW sensor and the ESC system and a communication protocol which can acquire the YAW sensor and the ESC system. And then the upper computer system can determine whether to control the 3D motion platform to start or not according to the integration mode of the YAW sensor and the electronic control unit in the ESC system. If the upper computer system determines that the 3D motion platform is to be controlled to start, the upper computer system calibrates the motion parameters of the 3D motion platform, for example, the 3D motion platform is started, and the motion parameters of the 3D motion platform are initialized. And if the upper computer system determines that the 3D motion platform does not need to be controlled to start, the upper computer system does not calibrate the motion parameters of the 3D motion platform.
In the embodiment of the invention, the upper computer system determines whether to control the 3D motion platform to start or not according to the integration mode of the YAW sensor and the electronic control unit in the ESC system, so that the working state of the 3D motion platform is controlled, a preset condition can be set for the subsequent ESC system test, and compared with the condition that the 3D motion platform is started when the 3D motion platform is required in the subsequent discovery, a large amount of time can be saved.
Example two
Fig. 2A is a flowchart of a testing method of an electronic stability control system according to a second embodiment of the present invention. The embodiment of the invention is optimized on the basis of the embodiment. Optionally, this embodiment explains in detail the process of determining the simulation mode of the YAW sensor by the upper computer system, performing simulation processing by the HIL simulation platform according to the test signal and the simulation mode, and determining the test result of the ESC system by the upper computer system.
Referring to fig. 2A, the method of the present embodiment includes, but is not limited to, the following steps:
s2001, start.
S2002, the upper computer system determines whether the YAW sensor is integrated inside the electronic control unit.
If yes, executing S2003; if not, go to S2004.
And S2003, controlling the working state of the 3D motion platform to be starting by the upper computer system, and determining the simulation mode of the YAW sensor to be the 3D motion platform simulation mode.
And S2004, whether the upper computer system can acquire the communication protocol of the YAW sensor and the ESC system.
If yes, executing S2005; if not, S2003 is executed.
And S2005, the upper computer system controls the working state of the 3D motion platform to be closed, and determines that the simulation mode of the YAW sensor is a bus simulation mode.
And S2006, generating a test signal by the upper computer system, and sending the test signal and the simulation mode of the YAW sensor to the HIL simulation platform.
After the upper computer system generates the test signal, the test signal and the simulation mode of the YAW sensor are sent to the HIL simulation platform, so that the subsequent HIL simulation platform can conveniently perform corresponding simulation processing according to the test signal and different simulation modes of the YAW sensor.
S2007, the HIL simulation platform determines whether the simulation mode of the YAW sensor is the 3D motion platform simulation mode.
If yes, go to S2008; if not, go to S2009.
And S2008, the HIL simulation platform generates a first working condition parameter through the vehicle dynamics simulation module according to the test signal, and sends the first working condition parameter to the 3D motion platform, so that the 3D motion platform controls the YAW sensor to move according to the first working condition parameter, and the ESC system can acquire the corresponding parameter of the YAW sensor.
The HIL simulation platform comprises a vehicle dynamics simulation module, and the vehicle dynamics simulation module can be used for simulating dynamic working conditions of a vehicle to generate working condition parameters.
And S2009, the HIL simulation platform generates a second working condition parameter through the vehicle dynamics simulation module according to the test signal, and sends the second working condition parameter to the ESC system.
The parameters of the YAW sensor are obtained by simulating the HIL simulation platform through a communication protocol of the YAW sensor and the ESC system.
The upper computer system can acquire the integration mode of the YAW sensor and the electronic control unit in the ESC system, so that the upper computer system can be determined to determine whether the simulation mode of the YAW sensor is a 3D motion platform simulation mode or a bus simulation mode, and the HIL simulation platform can perform simulation processing according to different simulation modes, so that the ESC system can acquire corresponding working condition parameters.
And S2010, the ESC system executes corresponding control actions according to the received working condition parameters, and sends action signals generated after the control actions are executed to the HIL simulation platform.
And S2011, the upper computer system collects the action signals in the HIL simulation platform, compares the action signals with expected action signals to obtain a comparison result, and generates a test report of the ESC system according to the comparison result, wherein the test report comprises the test result of the ESC system.
After the upper computer system collects the action signals in the HIL simulation platform, the action signals are compared with expected action signals through an automatic test module in the upper computer system to obtain a comparison result, wherein the expected action signals can be determined in advance according to test cases and working condition parameters. And an automatic test module in the upper computer system can generate a test report of the ESC system comprising the test result of the ESC system according to the comparison result, so that subsequent workers can check and analyze the test report conveniently.
Optionally, the method may further specifically include: the upper computer system sets a numerical value of a target parameter and injects a signal fault into the HIL simulation platform according to the numerical value; and when the HIL simulation platform determines that the 3D motion platform is in a motion state at present, changing the motion mode of the 3D motion platform according to the signal fault.
The target parameter can be understood as a parameter of which the value can be set manually in the working condition parameters.
Specifically, the upper computer system may set a value of the target parameter, for example, set a rotation speed value that is not within a reasonable range, and inject a signal fault into the HIL simulation platform according to the value. When the HIL simulation platform determines that the 3D motion platform is in a motion state currently, the motion mode of the 3D motion platform can be changed according to signal faults, so that specific parameter values of the YAW sensor under the condition that the signal faults exist are obtained, and the specific parameter values of the YAW sensor are transmitted to the ESC system to test the reaction of the ESC system under the condition that the signal faults exist. When the HIL simulation platform determines that the 3D motion platform is not in a motion state currently, the specific working condition parameters under the condition of signal fault can be directly simulated, and the specific working condition parameters are transmitted to the ESC system so as to test the reaction of the ESC system under the condition of signal fault.
In the embodiment of the invention, the upper computer system sets the value of the target parameter and injects the signal fault to the HIL simulation platform according to the value, so that the signal fault test of the ESC system can be realized, and the test of the ESC system is more comprehensive and wider in range.
Fig. 2B is an architectural design diagram of an HIL simulation platform, an ESC system, and a 3D motion platform in the method according to the second embodiment of the present invention, which exemplarily shows a manner. As shown in fig. 2B:
the HIL simulation platform comprises a vehicle dynamics simulation module, an Input/Output (IO) board card, a Controller Area Network (CAN) communication board card, a signal conditioning board card, a fault injection board card 1, a fault injection board card 2 and a current acquisition simulation board card. The vehicle dynamics simulation module comprises a driver model, a road environment simulation model and an IO simulation unit, wherein the driver model is used for simulating working condition parameters generated when a driver actually drives a vehicle; the road environment simulation model is used for simulating working condition parameters generated when the vehicle runs corresponding to the road conditions; the IO simulation unit is used for simulating input and/or output of corresponding working condition parameters.
The vehicle dynamics simulation module runs in the processor, CAN simulate driver's operating mode and road traffic condition thereby generate the required various operating mode signals of ESC system, and transmit operating mode signal to the signal conditioning integrated circuit board through CAN communication integrated circuit board and IO integrated circuit board and take care of, the signal after will conditioning gets into the integrated YAW sensor of ESC electronic control unit through the trouble injection integrated circuit board, YAW sensor relevant parameter CAN be according to tester's selection, directly get into ESC system through CAN communication integrated circuit board or transmit ESC electronic control unit through the Yaw sensor.
The current acquisition simulation board card and the CAN communication board card CAN acquire electromagnetic valve output pin signals and communication messages of the ESC system in real time. The collection of vehicle parameters (such as wheel speed, vehicle speed hard line signals and electromagnetic valve current) CAN be realized through the IO board card, the CAN communication board card and the current collection simulation board card.
Fault injection CAN be divided into electrical fault injection and signal fault injection, the electrical fault injection CAN be realized through a fault injection board card 1 and a fault injection board card 2, wherein the fault injection board card 1 mainly realizes the short circuit of a sensor to a power supply, the short circuit to the ground, the open circuit, the short circuit of a CAN bus, the open circuit of the CAN bus and the like; the fault injection board card 1 mainly realizes the short circuit to the power supply, the short circuit to the ground, the open circuit of the pin and the like of the electromagnetic valve. And the signal fault injection is realized by setting the numerical value of the target parameter by the upper computer system.
It should be noted that: in the embodiment of the invention, the YAW sensor and the ESC electronic control unit are integrated into a whole for the convenience of testing.
According to the technical scheme provided by the embodiment, firstly, if the upper computer system determines that the YAW sensor is integrated in the electronic control unit or the YAW sensor is integrated outside the electronic control unit and cannot acquire a communication protocol between the YAW sensor and the ESC system, the upper computer system controls the working state of the 3D motion platform to be started and determines that the simulation mode of the YAW sensor is a 3D motion platform simulation mode; if the upper computer system determines that the YAW sensor is integrated outside the electronic control unit and can acquire a communication protocol between the YAW sensor and the ESC system, the upper computer system controls the working state of the 3D motion platform to be closed and determines that the simulation mode of the YAW sensor is a bus simulation mode; secondly, generating a test signal by an upper computer system, and sending the test signal and the simulation mode of the YAW sensor to an HIL simulation platform, wherein the HIL simulation platform determines whether the simulation mode of the YAW sensor is a 3D motion platform simulation mode, if so, the HIL simulation platform generates a first working condition parameter through a vehicle dynamics simulation module according to the test signal, and sends the first working condition parameter to the 3D motion platform, so that the 3D motion platform controls the motion of the YAW sensor according to the first working condition parameter, and an ESC system obtains the corresponding parameter of the YAW sensor; if not, the HIL simulation platform generates a second working condition parameter through the vehicle dynamics simulation module according to the test signal, and sends the second working condition parameter to the ESC system, so that the HIL simulation platform can adopt a corresponding simulation processing mode according to different simulation modes of the YAW sensor; then the ESC system executes corresponding control actions according to the received working condition parameters, and sends action signals generated after the control actions are executed to the HIL simulation platform; finally, the upper computer system collects action signals in the HIL simulation platform, compares the action signals with expected action signals to obtain comparison results, and generates a test report of the ESC system according to the comparison results, wherein the test report comprises the test results of the ESC system, the integration mode of the YAW sensor is firstly determined through the scheme, then the upper computer system controls the working state of the 3D motion platform and determines the simulation mode of the corner YAW sensor according to the integration mode of the YAW sensor, the 3D motion platform which can drive the YAW sensor in the ESC system to move to simulate the motion of the vehicle is introduced, the existing simulation test mode can be improved by controlling the working state of the 3D motion platform, the accuracy of the test results of the ESC system is improved, and corresponding simulation processing is adopted according to different simulation modes of the YAW sensor, the ESC system is ensured to obtain the corresponding working condition parameters, and a test report of the ESC system can be obtained, so that the ESC system is convenient for relevant workers to check and analyze.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a testing apparatus for an electronic stability control system according to a third embodiment of the present invention, as shown in fig. 3, the testing apparatus may include:
the sending module 310 is configured in the upper computer system and is used for controlling the working state of the 3D motion platform, determining the simulation mode of the corner YAW sensor, generating a test signal and sending the test signal to the HIL simulation platform, wherein the 3D motion platform is used for driving the YAW sensor to move so as to simulate the motion of a vehicle, and the YAW sensor is configured in the ESC system;
the processing module 320 is configured in the HIL simulation platform and is configured to perform simulation processing according to the test signal and the simulation mode so that the ESC system can obtain corresponding working condition parameters, wherein the working condition parameters include parameters of the YAW sensor;
the execution module 330 configured in the ESC system is configured to execute a corresponding control action according to the received working condition parameter, and send an action signal generated after the control action is executed to the HIL simulation platform;
and the determining module 340 is configured in the upper computer system and is used for acquiring action signals in the HIL simulation platform and determining a test result of the ESC system according to the action signals.
The technical scheme provided by this embodiment includes that firstly, an upper computer system controls the working state of a 3D motion platform, determines the simulation mode of a corner YAW sensor and generates a test signal, and sends the test signal to an HIL simulation platform, then the HIL simulation platform performs simulation processing according to the test signal and the simulation mode so that an ESC system can acquire corresponding working condition parameters, then the ESC system executes corresponding control actions according to the received working condition parameters, and sends action signals generated after the control actions are executed to the HIL simulation platform, and finally, the upper computer system collects action signals in the HIL simulation platform and determines the test result of the ESC system according to the action signals, through the scheme, a 3D motion platform capable of driving the YAW sensor in the ESC system to move to simulate the motion of a vehicle is introduced, and through controlling the working state of the 3D motion platform, the method can improve the existing simulation test mode, and is beneficial to improving the accuracy of the test result of the ESC system.
Further, the sending module 310 may be specifically configured to: acquiring an integration mode of a YAW sensor and an electronic control unit in an ESC system; if the acquired integration mode is that the YAW sensor is integrated in the electronic control unit, or the YAW sensor is integrated outside the electronic control unit and the communication protocol between the YAW sensor and the ESC system cannot be acquired, determining that the simulation mode of the YAW sensor is a 3D motion platform simulation mode; if the acquired integration mode is that the YAW sensor is integrated outside the electronic control unit and the communication protocol of the YAW sensor and the ESC system can be acquired, determining that the simulation mode of the YAW sensor is a bus simulation mode.
Further, the HIL simulation platform comprises a vehicle dynamics simulation module; correspondingly, when the upper computer system determines that the simulation mode of the YAW sensor is the 3D motion platform simulation mode, the processing module 320 may be specifically configured to: according to the test signal, a first working condition parameter is generated through the vehicle dynamics simulation module, and the first working condition parameter is sent to the 3D motion platform, so that the 3D motion platform controls the YAW sensor to move according to the first working condition parameter, and the ESC system can obtain the corresponding parameter of the YAW sensor.
Further, the HIL simulation platform comprises a vehicle dynamics simulation module; correspondingly, when the upper computer system determines that the simulation mode of the YAW sensor is the bus simulation mode, the processing module 320 may be specifically configured to: and the HIL simulation platform generates a second working condition parameter through the vehicle dynamics simulation module according to the test signal, and sends the second working condition parameter to the ESC system, wherein the parameter of the YAW sensor is obtained by simulating the HIL simulation platform through a communication protocol between the YAW sensor and the ESC system.
Further, the sending module 310 may be further specifically configured to: determining whether to control the 3D motion platform to start or not according to the integration mode of the YAW sensor and an electronic control unit in the ESC system; and if so, calibrating the motion parameters of the 3D motion platform by the upper computer system.
Further, the testing apparatus for an electronic stability control system may further include: the fault injection module is configured in the upper computer system and used for setting the numerical value of the target parameter and injecting a signal fault into the HIL simulation platform according to the numerical value; and the motion mode changing module is configured in the HIL simulation platform and used for changing the motion mode of the 3D motion platform according to the signal fault when the 3D motion platform is determined to be in the motion state currently.
Further, the determining module 340 may be specifically configured to: and comparing the action signal with an expected action signal to obtain a comparison result, and generating a test report of the ESC system according to the comparison result, wherein the test report comprises the test result of the ESC system.
The testing device for the electronic stability control system provided by the embodiment can be applied to the testing method for the electronic stability control system provided by any embodiment, and has corresponding functions and beneficial effects.
Example four
Fig. 4 is a schematic structural diagram of an electronic stability control system test device according to a fourth embodiment of the present invention, and as shown in fig. 4, the ESC system test device includes an upper computer system 410, an HIL simulation platform 420, an ESC system 430, and a 3D motion platform 440; the ESC system 430 is installed and fixed on the 3D motion platform 440, the upper computer system 410 is in communication connection with the HIL simulation platform 420, the HIL simulation platform 420 is in communication connection with the ESC system 430, the HIL simulation platform 420 is in communication connection with the 3D motion platform 440, and the upper computer system 410 is connected with the 3D motion platform 440, for example, the upper computer system 410 and the 3D motion platform 440 may be connected through a network cable.
The electronic stability control system test equipment provided by the embodiment can be used for executing the electronic stability control system test method provided by any embodiment, and has corresponding functions and beneficial effects.
EXAMPLE five
An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the method for testing an electronic stability control system in any embodiment of the present invention is implemented, where the method specifically includes:
the upper computer system controls the working state of the 3D motion platform, determines the simulation mode of the corner YAW sensor, generates a test signal and sends the test signal to the HIL simulation platform, wherein the 3D motion platform is used for driving the YAW sensor to move so as to simulate the motion of a vehicle, and the YAW sensor is configured in the ESC system;
the HIL simulation platform carries out simulation processing according to the test signal and the simulation mode so that the ESC system can obtain corresponding working condition parameters, wherein the working condition parameters comprise parameters of the YAW sensor;
the ESC system executes corresponding control actions according to the received working condition parameters, and sends action signals generated after the control actions are executed to the HIL simulation platform;
and the upper computer system collects action signals in the HIL simulation platform and determines a test result of the ESC system according to the action signals.
Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the method operations described above, and may also perform related operations in the electronic stability control system test method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the testing apparatus for an electronic stability control system, the included units and modules are only divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides an electronic stability control system test method, its characterized in that is applied to electronic stability control ESC system test equipment, ESC system test equipment includes host computer system, hardware at ring HIL simulation platform, ESC system and 3D motion platform, ESC system installation is fixed on the 3D motion platform, host computer system with HIL simulation platform communication connection, HIL simulation platform with ESC system communication connection, HIL simulation platform with 3D motion platform communication connection, host computer system with 3D motion platform links to each other, the method includes:
the upper computer system controls the working state of the 3D motion platform, determines the simulation mode of a corner YAW sensor, generates a test signal and sends the test signal to the HIL simulation platform, wherein the 3D motion platform is used for driving the YAW sensor to move so as to simulate the motion of a vehicle, and the YAW sensor is configured in the ESC system;
the HIL simulation platform carries out simulation processing according to the test signal and the simulation mode so that the ESC system can obtain corresponding working condition parameters, wherein the working condition parameters comprise parameters of the YAW sensor;
the ESC system executes corresponding control actions according to the received working condition parameters, and sends action signals generated after the control actions are executed to the HIL simulation platform;
and the upper computer system collects action signals in the HIL simulation platform and determines a test result of the ESC system according to the action signals.
2. The method of claim 1 wherein said host computer system determines the manner in which YAW sensors are simulated, comprising:
the upper computer system acquires the integration mode of the YAW sensor and an electronic control unit in the ESC system;
if the integration mode acquired by the upper computer system is that the YAW sensor is integrated in the electronic control unit, or the YAW sensor is integrated outside the electronic control unit and cannot acquire a communication protocol between the YAW sensor and the ESC system, determining that the simulation mode of the YAW sensor is a 3D motion platform simulation mode;
if the integration mode acquired by the upper computer system is that the YAW sensor is integrated outside the electronic control unit and the communication protocol between the YAW sensor and the ESC system can be acquired, determining that the simulation mode of the YAW sensor is a bus simulation mode.
3. The method of claim 2, wherein the HIL simulation platform includes a vehicle dynamics simulation module therein;
correspondingly, when the upper computer system determines that the simulation mode of the YAW sensor is a 3D motion platform simulation mode, the HIL simulation platform performs simulation processing according to the test signal and the simulation mode, so that the ESC system obtains corresponding working condition parameters, including:
the HIL simulation platform generates a first working condition parameter through the vehicle dynamics simulation module according to the test signal, and sends the first working condition parameter to the 3D motion platform, so that the 3D motion platform controls the YAW sensor to move according to the first working condition parameter, and the ESC system can acquire the parameter of the corresponding YAW sensor.
4. The method of claim 2, wherein the HIL simulation platform includes a vehicle dynamics simulation module therein;
correspondingly, when the upper computer system determines that the simulation mode of the YAW sensor is a bus simulation mode, the HIL simulation platform performs simulation processing according to the test signal and the simulation mode, so that the ESC system obtains corresponding working condition parameters, including:
and the HIL simulation platform generates a second working condition parameter through the vehicle dynamics simulation module according to the test signal, and sends the second working condition parameter to the ESC system, wherein the parameter of the YAW sensor is obtained by simulating the HIL simulation platform through a communication protocol between the YAW sensor and the ESC system.
5. The method of claim 1, wherein the upper computer system controls the working state of the 3D motion platform, comprising:
the upper computer system determines whether to control the 3D motion platform to start or not according to the integration mode of the YAW sensor and an electronic control unit in the ESC system;
and if so, calibrating the motion parameters of the 3D motion platform by the upper computer system.
6. The method of claim 1, further comprising:
the upper computer system sets a numerical value of a target parameter and injects a signal fault into the HIL simulation platform according to the numerical value;
and when the HIL simulation platform determines that the 3D motion platform is in a motion state currently, changing the motion mode of the 3D motion platform according to the signal fault.
7. The method of any of claims 1-6, wherein the determining, by the upper computer system, the test result of the ESC system based on the action signal comprises:
and the upper computer system compares the action signal with an expected action signal to obtain a comparison result, and generates a test report of the ESC system according to the comparison result, wherein the test report comprises the test result of the ESC system.
8. The utility model provides an electronic stability control system testing arrangement, its characterized in that, integrated in electronic stability control ESC system test equipment, ESC system test equipment includes host computer system, hardware at ring HIL simulation platform, ESC system and 3D motion platform, ESC system installation is fixed 3D motion platform is last, host computer system with HIL simulation platform communication connection, HIL simulation platform with ESC system communication connection, HIL simulation platform with 3D motion platform communication connection, host computer system with 3D motion platform links to each other, the device includes:
the sending module is configured in the upper computer system and used for controlling the working state of the 3D motion platform, determining the simulation mode of a corner YAW sensor, generating a test signal and sending the test signal to the HIL simulation platform, wherein the 3D motion platform is used for driving the YAW sensor to move so as to simulate the motion of a vehicle, and the YAW sensor is configured in the ESC system;
the processing module is configured in the HIL simulation platform and is used for performing simulation processing according to the test signal and the simulation mode so that the ESC system can acquire corresponding working condition parameters, wherein the working condition parameters comprise parameters of the YAW sensor;
the execution module is configured in the ESC system and used for executing corresponding control actions according to the received working condition parameters and sending action signals generated after the control actions are executed to the HIL simulation platform;
and the determining module is configured in the upper computer system and is used for acquiring action signals in the HIL simulation platform and determining a test result of the ESC system according to the action signals.
9. An electronic stability control system test apparatus, wherein the electronic stability control ESC system test apparatus comprises:
the system comprises an upper computer system, a hardware-in-loop HIL (hardware in loop) simulation platform, an ESC (electronic stability control) system and a 3D (three-dimensional) motion platform, wherein the ESC system is fixedly installed on the 3D motion platform, the upper computer system is in communication connection with the HIL simulation platform, the HIL simulation platform is in communication connection with the ESC system, the HIL simulation platform is in communication connection with the 3D motion platform, and the upper computer system is connected with the 3D motion platform;
the ESC system test equipment is used for executing the method of any one of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-7.
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