CN114460925B - Automatic test method for CAN interface HIL of electric automobile controller - Google Patents
Automatic test method for CAN interface HIL of electric automobile controller Download PDFInfo
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Abstract
The invention discloses an automatic test method for an electric vehicle controller CAN interface HIL, which comprises the following steps: selecting a controlled controller, and automatically generating a CAN signal transmission interface model and CAN signal-CAN transmission interface model mapping according to DBC files of the controlled controller; reading an Excel format CAN protocol of a tested controller, and automatically generating three CAN interface test cases and CAN interface test case-variable mapping of the Excel format based on a written script; the obtained CAN signal transmission interface model and CAN signal-CAN transmission interface model mapping are imported in HIL engineering; and configuring test software, converting the three CAN interface test cases and the CAN interface test case-variable mapping into format files which CAN be executed by the test software, and then automatically executing the test by using the test software. By the automatic test method for the CAN interface HIL of the electric automobile controller, the automation of the CAN interface HIL test CAN be realized, and the test efficiency of the controller CAN interface HIL is improved.
Description
Technical Field
The invention relates to the technical field of electric automobile testing, in particular to an electric automobile controller CAN interface HIL automatic testing method.
Background
With the rise of intelligent network connection surge of electric automobiles, functions of automobile electronic systems are gradually enriched, and automobile software becomes an important component of automobiles. While automotive electronics systems are rapidly abundant, automotive controllers and controller wiring harnesses are rapidly growing. In order to reduce the use of communication harnesses and reduce the complexity of electronic systems, domain controllers with higher computation capability are becoming mainstream by integrating distributed controllers according to functional domains. The domain controller integrates the functions of more controllers, so the number of signals of the CAN interface increases by tens of times, and thus how to rapidly design and execute the CAN interface HIL test becomes a problem that must be solved.
Disclosure of Invention
The invention aims to provide an automatic test method for the CAN interface HIL of an electric automobile controller, which realizes the automation of the CAN interface HIL test and improves the test efficiency of the controller CAN interface HIL.
In order to achieve the above purpose, the invention provides an automatic test method for an electric vehicle controller CAN interface HIL, comprising the following steps:
selecting a to-be-tested controller, automatically generating a CAN signal transmission interface model and a CAN signal-CAN transmission interface model mapping according to a DBC file of the to-be-tested controller, wherein the CAN signal-CAN transmission interface model mapping is obtained by associating model paths of all CAN signal transmission interfaces in the CAN signal transmission interface model with paths of corresponding CAN signals in HIL rack upper computer engineering one by one;
reading an Excel format CAN protocol of a tested controller, and automatically generating three CAN interface test cases and CAN interface test case-variable mapping of the Excel format based on a written script; the three CAN interface test cases are respectively an input interface test case, an output interface test case and a gateway test case, and the CAN interface test case-variable mapping represents the mapping between the input and output of the CAN interface test case and the corresponding input and output signals in the internal variables of the test software;
the obtained CAN signal transmission interface model and CAN signal-CAN transmission interface model mapping are imported in HIL engineering;
and configuring test software, converting the three CAN interface test cases and the CAN interface test case-variable mapping into format files which CAN be executed by the test software, and then automatically executing the test by using the test software.
Further, the controller automatically generates a CAN signal transmission interface model and a CAN signal-CAN signal transmission interface model map according to the DBC file of the controller to be tested, and specifically executes the following steps:
(S1) creating an empty CAN signal transmission interface model, opening the model and setting simulation parameters;
(S2) reading the DBC information of the CAN channel, and storing information of all signals in the DBC in the form of a structure of "transmitting node/frame/signal";
creating a CAN channel subsystem in the CAN signal transmission interface model, and naming the CAN channel subsystem by DBC names;
under the CAN channel subsystem, an input interface subsystem is established;
under the input interface subsystem, creating a system model of a 'transmitting node/frame/input signal name' structure;
under the CAN channel subsystem, an output interface subsystem is created
Under the output interface subsystem, creating a system model of a 'transmitting node/frame/input signal name' structure;
(S3) judging whether next CAN channel DBC information exists; if yes, go to execute step (S2); otherwise, extracting model paths of all CAN signal transmission interfaces in the created CAN signal transmission interface model, and creating a CAN signal-CAN transmission interface model map in a txt format, wherein the model paths correspond to paths of corresponding CAN signals in an HIL rack upper computer process one by one.
Further, the reading of the Excel format CAN protocol of the tested controller automatically generates three types of CAN interface test cases and CAN interface test case-variable mapping of the Excel format based on the written script, and specifically executes the following steps:
reading an Excel format CAN protocol of the controlled controller;
extracting names, channels, nodes, frames, ranges, precision and offset information of all signals of a CAN protocol;
dividing signals into input signals and output signals according to whether the sending node is a tested controller or not, and respectively counting the number and signal names of the input signals and the output signals;
judging whether the output signal is also in the input signal set or not; if yes, the signal is a gateway signal; otherwise, the signal is an output signal; respectively counting the number and signal names of gateway signals and output signals;
removing gateway signals from the first-time screened input signals to obtain the number and names of the input signals;
aiming at an input signal, an output signal and a gateway signal, three CAN interface test cases are respectively filled in and obtained;
extracting corresponding variable paths of corresponding CAN signals in test software aiming at CAN signals in each CAN interface test case to generate each CAN interface test case-variable path mapping;
and extracting paths of corresponding variables of the internal variables of the corresponding controllers in test software aiming at the internal standard quantity or the display quantity of the controllers in each CAN interface test case to generate each CAN interface test case-variable mapping.
Further, the TEST software is ECU-TEST.
Further, the three CAN interface test cases and the CAN interface test case-variable mapping are converted into format files which CAN be executed by test software, and the following steps are specifically executed: and running a Python script, and respectively converting the three CAN interface TEST cases and the CAN interface TEST case-variable mapping into a TEST case in a.pkg format and a CAN interface TEST case-variable mapping in a. xam format, which CAN be executed by the ECU-TEST.
Further, the CAN signal transmission interface model is a Simulink model of the CAN signal transmission interface.
Compared with the prior art, the invention has the following advantages:
according to the automatic test method for the CAN interface HIL of the electric automobile controller, all signals in the CAN protocol are classified firstly, then the test cases and the automatic creation of the mapping are carried out by the classification, the automation of the CAN interface HIL test is realized, and the test efficiency of the controller CAN interface HIL is improved; the traditional TEST software such as the TEST cases of the ECU-TEST are complicated to write and edit, and the automatic execution of the TEST cases is realized by the ECU-TEST in the automatic TEST process of the CAN interface HIL through the automatic creation of the TEST cases and the mapping.
Drawings
FIG. 1 is a flow chart of an automated test method for an electric vehicle controller CAN interface HIL;
FIG. 2 is a flow chart of the present invention for creating a CAN signal transmission interface model and a CAN signal-CAN signal transmission interface model map;
FIG. 3 is a flow chart of creating three CAN interface test cases and a CAN interface test case-variable mapping in accordance with the present invention;
fig. 4 is a UI operation interface for creating an automated test of the CAN interface HIL of the electric vehicle controller according to the present invention;
FIG. 5 is a schematic diagram of the transfer relationship of signal flow between the ECU-TesT, the HIL rack upper computer, the controller and the HIL rack lower computer during testing.
Detailed Description
The following describes the embodiments of the present invention further with reference to the drawings.
Referring to fig. 1 to 5, the embodiment discloses an automatic test method for a CAN interface HIL of an electric vehicle controller, which includes the steps of:
selecting a to-be-tested controller, and automatically generating a CAN signal transmission interface model and a CAN signal-CAN transmission interface model mapping (mapping) according to a DBC file of the to-be-tested controller, wherein the CAN signal-CAN transmission interface model mapping is obtained by associating model paths of all CAN signal transmission interfaces in the CAN signal transmission interface model with paths of corresponding CAN signals in HIL rack upper computer engineering one by one;
reading an Excel format CAN protocol of a tested controller, and automatically generating three CAN interface test cases and CAN interface test case-variable mapping of the Excel format based on a written script; the three CAN interface test cases are respectively an input interface test case, an output interface test case and a gateway test case, and the CAN interface test case-variable mapping represents the mapping between the input and output of the CAN interface test case and the corresponding input and output signals in the internal variables of the test software;
the obtained CAN signal transmission interface model and CAN signal-CAN transmission interface model mapping are imported in HIL engineering;
and configuring test software, converting the three CAN interface test cases and the CAN interface test case-variable mapping into format files which CAN be executed by the test software, and then automatically executing the test by using the test software.
The invention CAN realize the signal transmission between the measured real controller CAN signal and the bench simulation environment, and CAN change the signal value transmitted between the CAN signal and the bench simulation environment by controlling the variable in the CAN signal transmission interface model. Because the CAN interface test process does not involve the simulation environment of the rack other than the CAN transmission interface model, the description thereof will be omitted. Inputs and outputs CAN be categorized into CAN signals and controller internal variables. The invention automatically completes the design writing work by writing M language.
In this embodiment, the TEST software is an ECU-TEST. In some embodiments, the test software may also be other types of software, not limited herein. The CAN interface TEST case-variable mapping is specifically that the input and output of the CAN interface TEST case are mapped to corresponding variables in the ECU-TEST.
In this embodiment, the three CAN interface test cases and the CAN interface test case-variable mapping are converted into format files that CAN be executed by test software, and specifically execute the following steps: and running a Python script, and respectively converting the three CAN interface TEST cases and the CAN interface TEST case-variable mapping into a TEST case in a.pkg format and a CAN interface TEST case-variable mapping in a. xam format, which CAN be executed by the ECU-TEST.
In this embodiment, the CAN signal transmission interface model is a Simulink model of a CAN signal transmission interface.
Referring to fig. 2, the method automatically generates a CAN signal transmission interface model and a CAN signal-CAN signal transmission interface model map according to the DBC file of the measured controller, and specifically performs the following steps:
(S1) creating an empty CAN signal transmission interface model, opening the model and setting simulation parameters; the CAN signal transmission interface model is a hardware-in-the-loop test model.
(S2) reading the DBC information of the CAN channel, and storing information of all signals in the DBC in the form of a structure of "transmitting node/frame/signal";
creating a CAN channel subsystem in the CAN signal transmission interface model, and naming the CAN channel subsystem by DBC names;
under the CAN channel subsystem, an input interface subsystem is created, named as input;
under the input interface subsystem, creating a system model of a 'transmitting node/frame/input signal name' structure;
under the CAN channel subsystem, an output interface subsystem is created, named as output;
under the output interface subsystem, creating a system model of a 'transmitting node/frame/input signal name' structure;
(S3) judging whether next CAN channel DBC information exists; if yes, go to execute step (S2); otherwise, extracting model paths of all CAN signal transmission interfaces in the created CAN signal transmission interface model, and creating a CAN signal-CAN transmission interface model map in a txt format, wherein the model paths correspond to paths of corresponding CAN signals in an HIL rack upper computer process one by one. For the CAN signal, the mapping of the corresponding variable in the test software is converted through the model path of the corresponding CAN transmission interface in the HILTest model.
Referring to fig. 3, the method reads an Excel format CAN protocol of the measured controller, automatically generates three types of CAN interface test cases and CAN interface test case-variable mapping of the Excel format based on the written script, and specifically executes the following steps:
reading an Excel format CAN protocol of the controlled controller;
extracting names, channels, nodes, frames, ranges, precision and offset information of all signals of a CAN protocol;
dividing signals into input signals and output signals according to whether the sending node is a tested controller or not, and respectively counting the number and signal names of the input signals and the output signals;
judging whether the output signal is also in the input signal set or not; if yes, the signal is a gateway signal; otherwise, the signal is an output signal; respectively counting the number and signal names of gateway signals and output signals;
removing gateway signals from the first-time screened input signals to obtain the number and names of the input signals;
aiming at an input signal, an output signal and a gateway signal, three CAN interface test cases are respectively filled in and obtained;
extracting corresponding variable paths of corresponding CAN signals in test software aiming at CAN signals in each CAN interface test case to generate each CAN interface test case-variable path mapping;
and extracting paths of corresponding variables of the internal variables of the corresponding controllers in test software aiming at the internal standard quantity or the display quantity of the controllers in each CAN interface test case to generate each CAN interface test case-variable mapping. For the controller internal variables, the upper level path of the corresponding variable in the test software is fixed, so that the variable path can be uniformly expressed as a 'fixed upper level path/variable name' in the test software.
The CAN interface signals of the controller are divided into three types.
The first type is received by the controller, and the controller participates in operation in the software, and for the signals, the input of the test case is a CAN message sent by the bench simulation, and the output is the display quantity in the software.
And the second type is that the controller is internally operated and then is sent to other controllers, the CAN interface test cases of the signals are input into software internal standard quantity, and the signals are output into CAN messages.
And the third class is received by the controller and then directly forwarded to other CAN channels, and the interface test cases of the signals are input into a CAN message and output into another CAN message.
Referring to fig. 4, at the drop-down menu at the top of the UI, the name of the controller under test is selected. Then, the DBC files of the respective channels are sequentially selected. Clicking the GenHILModel and Genmapping CAN automatically generate the CAN signal transmission interface model and the CAN signal-CAN transmission interface model map.
Clicking the "select CAN protocol", then clicking the "generate input interface test case", "generate output interface test case", "generate gateway test case", and then CAN generate three types of cases in a classified manner. And selecting the generated test cases, clicking a corresponding test case Mapping button, and respectively generating CAN interface test case-variable mappings of three types of cases.
And importing the interface model and Mapping created by the process in HIL engineering. Other options of the project are configured according to the software using method.
And the configuration ECU-TEST is connected with the HIL rack upper computer. And running a Python script, converting the input interface TEST cases generated in the process, the output interface TEST cases, the gateway TEST cases and Mapping of the three types of cases, and generating. Pkg and. Xam files executable by the ECU-TEST. Based on the. Pkg and. Xam documents, the TEST was performed automatically using ECU-TEST software.
Referring to fig. 5, the link and role played by the automatically created interface model, model Mapping, test cases, and case Mapping in the automated test are illustrated.
According to the automatic test method for the CAN interface HIL of the electric automobile controller, all signals in the CAN protocol are classified firstly, then the test cases and the automatic creation of the mapping are carried out by the classification, the automation of the CAN interface HIL test is realized, and the test efficiency of the controller CAN interface HIL is improved; the traditional TEST software such as the TEST cases of the ECU-TEST are complicated to write and edit, and the automatic execution of the TEST cases is realized by the ECU-TEST in the automatic TEST process of the CAN interface HIL through the automatic creation of the TEST cases and the mapping.
The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention by one of ordinary skill in the art without undue burden. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.
Claims (4)
1. The automatic test method for the CAN interface HIL of the electric automobile controller is characterized by comprising the following steps:
selecting a to-be-tested controller, automatically generating a CAN signal transmission interface model and a CAN signal-CAN transmission interface model mapping according to a DBC file of the to-be-tested controller, wherein the CAN signal-CAN transmission interface model mapping is obtained by associating model paths of all CAN signal transmission interfaces in the CAN signal transmission interface model with paths of corresponding CAN signals in HIL rack upper computer engineering one by one;
reading an Excel format CAN protocol of a tested controller, and automatically generating three CAN interface test cases and CAN interface test case-variable mapping of the Excel format based on a written script; the three CAN interface test cases are respectively an input interface test case, an output interface test case and a gateway test case, and the CAN interface test case-variable mapping represents the mapping between the input and output of the CAN interface test case and the corresponding input and output signals in the internal variables of the test software;
leading in the obtained CAN signal transmission interface model and CAN signal-CAN transmission interface model mapping in HIL engineering;
configuring test software, converting three CAN interface test cases and the CAN interface test case-variable mapping into format files which CAN be executed by the test software, and then automatically executing the test by using the test software;
the method comprises the following steps of automatically generating a CAN signal transmission interface model and a CAN signal-CAN signal transmission interface model map according to DBC files of a measured controller, and specifically executing the following steps:
(S1) creating an empty CAN signal transmission interface model, opening the model and setting simulation parameters;
(S2) reading the DBC information of the CAN channel, and storing information of all signals in the DBC in the form of a structure of "transmitting node/frame/signal";
creating a CAN channel subsystem in the CAN signal transmission interface model, and naming the CAN channel subsystem by DBC names;
under the CAN channel subsystem, an input interface subsystem is established;
under the input interface subsystem, creating a system model of a 'transmitting node/frame/input signal name' structure;
creating an output interface subsystem under the CAN channel subsystem;
under the output interface subsystem, creating a system model of a 'transmitting node/frame/input signal name' structure;
(S3) judging whether next CAN channel DBC information exists; if yes, go to execute step (S2); otherwise, extracting model paths of all CAN signal transmission interfaces in the created CAN signal transmission interface model, and creating a CAN signal-CAN transmission interface model map in a txt format, wherein the model paths correspond to paths of corresponding CAN signals in an HIL rack upper computer process one by one;
the method comprises the steps of reading an Excel format CAN protocol of a measured controller, automatically generating three CAN interface test cases and CAN interface test case-variable mapping of the Excel format based on a written script, and specifically executing the following steps:
reading an Excel format CAN protocol of the controlled controller;
extracting names, channels, nodes, frames, ranges, precision and offset information of all signals of a CAN protocol;
dividing signals into input signals and output signals according to whether the sending node is a tested controller or not, and respectively counting the number and signal names of the input signals and the output signals;
judging whether the output signal is also in the input signal set or not; if yes, the signal is a gateway signal; otherwise, the signal is an output signal; respectively counting the number and signal names of gateway signals and output signals;
removing gateway signals from the first-time screened input signals to obtain the number and names of the input signals;
aiming at an input signal, an output signal and a gateway signal, three CAN interface test cases are respectively filled in and obtained;
extracting corresponding variable paths of corresponding CAN signals in test software aiming at CAN signals in each CAN interface test case to generate each CAN interface test case-variable path mapping;
and extracting paths of corresponding variables of the internal variables of the corresponding controllers in test software aiming at the internal standard quantity or the display quantity of the controllers in each CAN interface test case to generate each CAN interface test case-variable mapping.
2. The automated testing method of the CAN interface HIL of the electric vehicle controller according to claim 1, wherein the testing software is ECU-TEST.
3. The automated testing method of the CAN interface HIL of the electric automobile controller according to claim 2, wherein the three CAN interface test cases and the CAN interface test case-variable mapping are converted into format files which CAN be executed by test software, and specifically comprises the following steps: and running a Python script, and respectively converting the three CAN interface TEST cases and the CAN interface TEST case-variable mapping into a TEST case in a.pkg format and a CAN interface TEST case-variable mapping in a. xam format, which CAN be executed by the ECU-TEST.
4. The automated testing method of the CAN interface HIL of the electric automobile controller according to claim 1, 2 or 3, wherein the CAN signal transmission interface model is a Simulink model of the CAN signal transmission interface.
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