CN113341937B - Signal injection method for hardware-in-loop test of electronic gear shifting system - Google Patents
Signal injection method for hardware-in-loop test of electronic gear shifting system Download PDFInfo
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- CN113341937B CN113341937B CN202110723544.0A CN202110723544A CN113341937B CN 113341937 B CN113341937 B CN 113341937B CN 202110723544 A CN202110723544 A CN 202110723544A CN 113341937 B CN113341937 B CN 113341937B
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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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Abstract
The invention discloses a signal injection method for hardware-in-the-loop test of an electronic gear shifting system, which has the design concept that a virtual signal control platform is added in a simulation test environment to realize signal assignment intervention on a related controller in the electronic gear shifting system, so that a real node can stop sending network messages, and the virtual control platform replaces the real node to send a self-defined signal; or the real node can be instructed to execute the assignment controlled mode, namely the real node sends the assignment controlled mode according to a custom signal contained in a diagnosis command of the virtual signal control platform. The invention effectively solves the problem that the injection of some abnormal signal values is difficult, and particularly for the nodes of the electronic gear shifting system under the specific working condition, when the off-line request is difficult to respond and the nodes are directly replaced by the virtual signal control platform, the injection of the self-defined signal can be completed by an on-line intervention mechanism.
Description
Technical Field
The invention relates to the field of hardware-in-loop tests, in particular to a signal injection method for hardware-in-loop tests of an electronic gear shifting system.
Background
With the rapid development of automobile electrification intellectualization and the research and application of intelligent driving assistance technology becoming more and more extensive, the electronic gear shifting system based on the whole automobile bus communication gradually replaces the traditional mechanical wire drawing gear shifting mechanism with the advantages of the electronic gear shifting system in the aspects of improving the scientific and technological feeling and the luxury feeling of the automobile, improving the NVH performance of the whole automobile and the like.
The hardware-in-the-loop test is a semi-physical simulation test technology widely adopted by the automobile industry at present, the technology takes a function as a center, a virtual whole automobile system for automatically testing a controller based on various whole automobile running conditions has unique advantages in the aspects of limit test, failure test and development period shortening, and therefore the technology can be used for carrying out function and diagnosis related tests on an electronic gear shifting system, and verifying the complex of the electronic gear shifting system to development requirements and the reliability under special conditions.
The existing automatic test mode for the electronic gear shifting system mainly comprises an upper computer system, an HIL simulation platform, the electronic gear shifting system and the like. The electronic gear shifting system is composed of a real controller and comprises a ball head electric control system (Knob), an Electronic Gear Shifter (EGSM) and an electronic gear shifting actuator (comprising an execution control module ACM and a gear shifting execution motor ARC). Generally, a CGM switch is required to be arranged on the HIL simulation platform, and the switch realizes the switching between the real ACM and ARC and the virtual controller model.
In the actual test process, a fault injection test needs to be performed on a tested controller or system under a special working condition, for example, some signals of a module with CAN communication interaction are set to be invalid or set to be error values, and the EGSM and the ACM are injected through a fault injection board card to realize communication fault repair and injection. However, the fault injection in this way generally only includes faults of the bus lines, such as short-circuit and open-circuit faults, and has certain limitations; some conventional methods perform fault injection on a controller through a fault injection board card of a simulation platform to enable a CAN signal of the controller to send an abnormal value or a failure value, but the method is complicated, is limited by fault diagnosis time, wastes time and labor, and cannot perform fault injection of the abnormal value on the signal sent by the electronic gear shifter quickly and comprehensively.
Disclosure of Invention
In view of the above, the present invention aims to provide a signal injection method for hardware-in-loop test of an electronic shift system to solve the above problems.
The technical scheme adopted by the invention is as follows:
a signal injection method for an electronic shift system hardware-in-loop test, comprising:
establishing communication between a virtual signal control platform and an electronic gear shifting system and a hardware-in-the-loop test platform through a bus in advance;
after the test is started, when a virtual signal sending request is monitored, sending a first diagnosis command for stopping message transmission or sending a second diagnosis command containing a message intervention request to a real node of an electronic gear shifting system through the virtual signal control platform;
judging whether a confirmation response of a real node of the electronic gear shifting system to the first diagnosis command or the second diagnosis command is received;
and if so, completing the injection operation of the self-defined signal according to the first diagnosis command or the second diagnosis command.
In at least one possible implementation manner, the completing the injection operation of the custom signal according to the first diagnostic command includes: and the virtual signal simulation platform replaces the real node stopping message transmission and sends a custom signal related to the real node stopping message transmission.
In at least one possible implementation manner, the completing the injection operation of the custom signal according to the second diagnostic command includes: and the virtual signal simulation platform initiates a custom assignment request to a real node of the online electronic gear shifting system, and the real node of the electronic gear shifting system sends a custom signal according to the custom assignment request.
In at least one possible implementation manner, the signal injection method further includes: a handshake protocol between a real node of an electronic gear shifting system and a virtual signal control platform is constructed on a hardware-in-the-loop test platform in advance.
In at least one possible implementation manner, the handshake protocol includes: stopping the communication request, recovering the communication request and corresponding response mechanism; or, a message intervention request, a message modification command, a message intervention stop request, and a corresponding response mechanism.
The design concept of the invention is that a virtual signal control platform (a corresponding virtual signal self-defining module can be constructed by a program) is added in a simulation test environment, so that when signal assignment intervention is required to be carried out on a related controller in an electronic gear shifting system in a test process, at least two self-defining assignment strategies are executed: the real node stops sending network messages, and the virtual control platform replaces the real node to send a user-defined signal; or instructing the real node to execute the assignment controlled mode, and sending the assignment controlled mode by the real node according to a custom signal contained in the diagnostic command of the virtual signal control platform. The invention can solve the problem that some abnormal signal values are difficult to inject when the hardware-in-the-loop test is carried out on the electronic gear shifting system, especially considering that for the node of the electronic gear shifting system under a specific working condition (for safety, some controllers of the electronic gear shifting system cannot respond to the request for stopping sending signals under the specific working condition, namely the node cannot execute offline operation based on the instruction of the virtual signal control platform), when the node is difficult to respond to the offline request and is directly replaced by the virtual signal control platform, the injection of the self-defined signal can be completed by an online intervention mechanism.
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To make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described with reference to the accompanying drawings, in which:
fig. 1 is a flowchart of a signal injection method for a hardware-in-the-loop test of an electronic shift system according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention and are not to be construed as limiting the present invention.
The invention provides an embodiment of a signal injection method for hardware-in-the-loop testing of an electronic gear shifting system, and particularly, as shown in fig. 1, the method may include:
step S1, establishing communication between the virtual signal control platform and the electronic gear shifting system and the hardware-in-the-loop test platform through the bus in advance;
step S2, after the test is started, when a virtual signal sending request is monitored, sending a first diagnosis command for stopping message transmission or sending a second diagnosis command containing a message intervention request to a real node of the electronic gear shifting system through the virtual signal control platform;
step S3, judging whether a confirmation response of the real node of the electronic gear shifting system to the first diagnosis command or the second diagnosis command is received;
if yes, executing step S4, and completing the injection operation of the custom signal according to the first diagnostic command or the second diagnostic command.
The two different diagnostic commands have corresponding custom signal assignment policies, which are exemplified as follows:
(1) completing the injection operation of the custom signal according to the first diagnostic command may refer to: and the virtual signal simulation platform replaces the real node stopping message transmission and sends a custom signal related to the real node stopping message transmission.
(2) The step of completing the injection operation of the custom signal according to the second diagnostic command may be: and the virtual signal simulation platform initiates a custom assignment request to a real node of the online electronic gear shifting system, and the real node of the electronic gear shifting system sends a custom signal according to the custom assignment request.
In addition, it can be added that, in actual operation, in addition to the virtual signal control platform, the hardware-in-loop test architecture for the electronic shift system may further include the following components: the system comprises an upper computer, a real-time processor, a board card, ACM, EGSM, ARC and the like of an electronic gear shifting system. On a software level, a handshake protocol between a real node and a virtual signal control platform of an electronic shift system may be constructed in advance on a hardware-in-the-loop test platform, and as a reference example, the handshake protocol may include the following for different aforementioned custom signal assignment intervention strategies: stopping the communication request, recovering the communication request and corresponding response mechanism; or, a message intervention request, a message modification command, a message intervention stop request, and a corresponding response mechanism.
In summary, the design concept of the present invention is that, by adding a virtual signal control platform (a corresponding virtual signal custom module can be constructed by a program) in a simulation test environment, when signal assignment intervention needs to be performed on a related controller in an electronic shift system during a test process, at least two custom assignment strategies are implemented: the real node stops sending network messages, and the virtual control platform replaces the real node to send a user-defined signal; or instructing the real node to execute the assignment controlled mode, and sending the assignment controlled mode by the real node according to a custom signal contained in the diagnosis command of the virtual signal control platform. The invention can solve the problem that the injection of some abnormal signal values is difficult when the hardware-in-the-loop test is carried out on the electronic gear shifting system, especially considering that for the node of the electronic gear shifting system under a specific working condition (for safety, some controllers of the electronic gear shifting system cannot respond to the request for stopping sending signals under certain working conditions, namely the node cannot execute off-line operation based on the instruction of the virtual signal control platform), when the off-line request is difficult to respond and the node is directly replaced by the virtual signal control platform, the injection of the self-defined signal can be completed by an on-line intervention mechanism.
In the embodiments of the present invention, "at least one" means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, and indicates that three relationships may exist, for example, a and/or B, and may indicate that a exists alone, a and B exist simultaneously, and B exists alone. Wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" and similar expressions refer to any combination of these items, including any combination of singular or plural items. For example, at least one of a, b, and c may represent: a, b, c, a and b, a and c, b and c or a and b and c, wherein a, b and c can be single or multiple.
The structure, features and effects of the present invention have been described in detail with reference to the embodiments shown in the drawings, but the above embodiments are only preferred embodiments of the present invention, and it should be understood that the technical features related to the above embodiments and the preferred modes thereof can be reasonably combined and configured into various equivalent schemes by those skilled in the art without departing from and changing the design idea and technical effects of the present invention; therefore, the invention is not limited to the embodiments shown in the drawings, and all the modifications and equivalent embodiments that can be made according to the idea of the invention are within the scope of the invention as long as they are not beyond the spirit of the description and the drawings.
Claims (3)
1. A signal injection method for an electronic shift system hardware-in-loop test, comprising:
establishing communication between a virtual signal control platform and an electronic gear shifting system and a hardware-in-the-loop test platform through a bus in advance;
after the test is started, when a virtual signal sending request is monitored, sending a first diagnosis command for stopping message transmission or sending a second diagnosis command containing a message intervention request to a real node of the electronic gear shifting system through the virtual signal control platform;
judging whether a confirmation response of a real node of the electronic gear shifting system to the first diagnosis command or the second diagnosis command is received;
if yes, completing injection operation of a user-defined signal according to the first diagnosis command or the second diagnosis command:
wherein, the step of completing the injection operation of the user-defined signal according to the first diagnosis command comprises the following steps: replacing the real node stopping message transmission by the virtual signal control platform, and sending a self-defined signal related to the real node stopping message transmission;
wherein, the step of completing the injection operation of the user-defined signal according to the second diagnostic command comprises the following steps: and the virtual signal control platform initiates a custom assignment request to a real node of the online electronic gear shifting system, and the real node of the electronic gear shifting system sends a custom signal according to the custom assignment request.
2. The signal injection method for an electronic shift system hardware-in-the-loop test of claim 1, further comprising: a handshake protocol between a real node of an electronic gear shifting system and a virtual signal control platform is established in a hardware-in-the-loop test platform in advance.
3. The signal injection method for an electronic shift system hardware-in-the-loop test of claim 2, wherein the handshake protocol comprises: stopping the communication request, recovering the communication request and corresponding response mechanism; or, the message intervention request, the message modification command, the message intervention stop request and the corresponding response mechanism.
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| CN114035558A (en) * | 2021-11-19 | 2022-02-11 | 安徽江淮汽车集团股份有限公司 | Signal injection method and system for hardware-in-loop test of knob type gear shifter |
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| CN101916087B (en) * | 2009-12-24 | 2012-11-28 | 浙江吉利汽车研究院有限公司 | Diagnostic testing system based on CANoe |
| CN105652688A (en) * | 2015-12-25 | 2016-06-08 | 合肥工业大学 | Steering system real-time hardware in-the-loop simulation platform and test method thereof |
| CN107943004B (en) * | 2017-12-06 | 2019-12-06 | 北京交通大学 | test system of tractor power gear shifting controller |
| CN108121326A (en) * | 2017-12-11 | 2018-06-05 | 北京经纬恒润科技有限公司 | A kind of fault diagnosis method and system |
| DE102019111953A1 (en) * | 2019-05-08 | 2020-11-12 | Dspace Digital Signal Processing And Control Engineering Gmbh | Virtual ECU |
| CN111580501A (en) * | 2020-05-15 | 2020-08-25 | 中国第一汽车股份有限公司 | Test equipment and method for vehicle electronic stability system |
| CN111781910A (en) * | 2020-06-16 | 2020-10-16 | 中国第一汽车股份有限公司 | Automatic testing arrangement based on automotive electronics shift system |
| CN111650925B (en) * | 2020-06-18 | 2022-01-28 | 中车青岛四方车辆研究所有限公司 | dSPACE-based hybrid electric vehicle hardware-in-loop simulation system construction method |
| CN111865704B (en) * | 2020-09-24 | 2021-05-28 | 南京中兴软件有限责任公司 | Data transmission method, system and network equipment |
| CN112651124B (en) * | 2020-12-24 | 2024-07-23 | 合众新能源汽车股份有限公司 | Simulation test method and system for automobile compressor |
| CN112731907B (en) * | 2020-12-30 | 2022-04-26 | 东风汽车有限公司 | Vehicle-mounted controller fault parallel injection testing method, electronic equipment and system |
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