CN114661023A

CN114661023A - Multi-electronic-controller combined test method, device and system

Info

Publication number: CN114661023A
Application number: CN202110447429.5A
Authority: CN
Inventors: 于涛
Original assignee: Beijing Electric Vehicle Co Ltd
Current assignee: Beijing Electric Vehicle Co Ltd
Priority date: 2021-04-25
Filing date: 2021-04-25
Publication date: 2022-06-24

Abstract

The invention provides a multi-electronic-controller combined test method, a multi-electronic-controller combined test device and a multi-electronic-controller combined test system, wherein the method comprises the following steps: receiving a real message transmitted by a first interface or a simulation message transmitted by a second interface, wherein the real message and the simulation message are both messages of a first electronic controller; when the controller determines that the CAN network is not enabled, the controller sends the simulation message to a shared CAN network; and when determining to enable, the controller sends the real message to the sharing network, wherein the first electronic controller communicates with other electronic controllers through the sharing network. When the controller determines that the first ECU is not enabled or enabled, the real message or the simulation message of the first ECU is sent to the shared network, so that the real message or the simulation message can be selectively sent. By selectively sending the real message or the simulation message, the key troubleshooting can be carried out on any electronic controller, so that the troubleshooting time is saved.

Description

Multi-electronic-controller combined test method, device and system

Technical Field

The invention relates to the field of vehicle-mounted electronic controller testing, in particular to a multi-electronic controller combined testing method, device and system.

Background

For the test of vehicle-mounted electronic controller software, many manufacturers have own test schemes. Hardware-in-the-loop test (HIL) is a test for hardware, and in recent years, the development is relatively fast in the field of vehicle controller software testing. The HIL test system simulates the running state of the tested electronic controller by running a simulation model by a real-time processor of the HIL rack, and is connected with the tested electronic controller through an I/O interface to test the tested electronic controller.

The multi-controller combined HIL test is a test scheme which is characterized in that a plurality of tested electronic controllers are connected to one or more HIL racks and all the tested electronic controllers are regarded as tested objects relative to a single-controller HIL test. For single controller HIL testing, the rack needs to simulate the entire vehicle environment and the simulation messages of all the other virtual electronic controllers except the tested electronic controller, which are in communication with the tested electronic controller. Since other electronic controllers are simulated, the abnormal injection of the CAN signal into the tested electronic controller is very simple and convenient. The method is very convenient for problem troubleshooting and testing of the tested electronic controller. However, for the multi-control combined HIL test platform, since many electronic controllers are real devices rather than virtual simulation devices, real messages are sent according to the functions of the software of the electronic controllers, and if a user wants to mainly investigate a certain electronic controller during testing and troubleshooting, for example, abnormal signal injection can be performed on the electronic controller. In this case, how to control other electronic controllers to send real messages or virtual messages is a technical problem to be solved.

Disclosure of Invention

The invention aims to provide a multi-electronic-controller combined test method, device and system to control whether an electronic controller sends a real message or a virtual message.

In order to achieve the above object, the present invention provides a multi-electronic controller combined test method, including: receiving a real message transmitted by a first interface or a simulation message transmitted by a second interface, wherein the real message and the simulation message are both messages of a first electronic controller; when the simulation test function is determined to be not enabled, the real message is sent to a shared network; and when the simulation test function is determined to be enabled, sending the simulation message to the sharing network, wherein the first electronic controller communicates with other electronic controllers through the sharing network.

Optionally, the real packet and the simulation packet need to be checked before being sent to the shared network, where checking algorithms used for the real packet and the simulation packet are the same.

Optionally, the check algorithm includes a cyclic redundancy check and/or a counter check.

Another embodiment of the present invention provides a test apparatus with a combination of multiple electronic controllers, the apparatus including: the receiving module is used for receiving a real message transmitted by a first interface or a simulation message transmitted by a second interface, wherein the real message and the simulation message are both messages of a first electronic controller; the sending module is used for sending the real message to a shared network when the simulation test function is determined not to be enabled; and when the simulation test function is determined to be enabled, sending the simulation message to the sharing network, wherein the first electronic controller communicates with other electronic controllers through the sharing network.

Optionally, the real packet and the simulation packet need to be checked before being sent to the shared network, where the checking algorithms adopted by the real packet and the simulation packet are the same.

Optionally, the check algorithm includes a cyclic redundancy check code and/or a counter check.

Another embodiment of the present invention provides a transceiver apparatus comprising the test device as described above.

Yet another embodiment of the present invention provides a test system with multiple electronic controllers combined, which includes the transceiver device as described above.

Optionally, the test system further includes: a plurality of interfaces, each interface for connecting to an electronic controller; a plurality of first Controller Area Network (CAN) transceiver modules, one first CAN transceiver module being connected to one of the interfaces and the transceiver device; a plurality of second controller area network CAN transceiver modules, wherein one second CAN transceiver module is connected with the transceiver equipment, and the plurality of second CAN transceiver modules are connected through CAN lines to form a shared CAN network; and one second CAN transceiver module is correspondingly in communication connection with one first CAN transceiver module.

Another embodiment of the invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the testing method as described above.

The technical scheme of the invention has the following beneficial effects:

according to the test method provided by the embodiment of the invention, when the controller determines that the real message or the simulation message is not enabled or enabled, the real message or the simulation message of the first ECU is sent to the shared network, so that the real message or the simulation message can be selectively sent. By selectively sending the real message or the simulation message, the key troubleshooting can be carried out on any electronic controller, so that the troubleshooting time is saved.

Drawings

Fig. 1 is a schematic flow chart of a multi-electronic controller combined test method according to an embodiment of the present invention;

FIG. 2 is a block diagram of a system architecture according to an embodiment of the present invention;

FIG. 3 is a second schematic diagram of a system architecture according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a test apparatus with multiple electronic controllers combined according to an embodiment of the present invention.

Detailed Description

In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help the full understanding of the embodiments of the present invention. It will therefore be apparent to those skilled in the art that various changes and modifications can be made in the embodiments described herein without departing from the scope and spirit of the invention. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

In various embodiments of the present invention, it should be understood that the sequence numbers of the following processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

It should be understood that the term "and/or" herein is merely one type of association relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

In the embodiments provided herein, it should be understood that "B corresponding to a" means that B is associated with a from which B can be determined. It should also be understood that determining B from a does not mean determining B from a alone, but may also be determined from a and/or other information.

Referring to fig. 1, an embodiment of the present invention provides a test method of multi-electronic controller combination, which can be applied to a controller, and the method includes the following steps:

step 11: receiving a real message transmitted by a first interface or a simulation message transmitted by a second interface, wherein the real message and the simulation message are both messages of a first Electronic Control Unit (ECU).

It should be noted that the second interface may also be referred to as an emulation message emulation interface. In the HIL test environment, simulation message simulation interfaces are established for all real ECUs connected to a test bench, wherein the simulation message simulation interfaces can be connected with computer equipment, virtual IDs corresponding to real Identity (ID) of each ECU can be established on the computer equipment, and an enabling interface is established for each virtual ID. The controller may determine to enable or disable depending on the state of the enable interface.

Step 12: when the simulation test function is determined to be not enabled, the real message is sent to a shared network; and when the simulation test function is determined to be enabled, the simulation message is sent to the shared network, wherein the first electronic controller is communicated with other electronic controllers through the shared network.

It should be noted that, when the abnormality signal injection to the first ECU is not required, the controller may acquire a parameter of the enable interface corresponding to the first ECU, for example, if the parameter is 0, the controller may determine that the simulation test function is not enabled. When signal injection is required to be performed on the first ECU, if the parameter of the enabling interface corresponding to the first ECU, which is acquired by the controller, is 1, for example, the controller determines that the simulation test function is enabled.

When the controller determines that the first ECU is not enabled or enabled, the real message or the simulation message of the first ECU is sent to the shared network, so that the real message or the simulation message can be selectively sent. By selectively sending the real message or the simulation message, the key troubleshooting can be carried out on any electronic controller, so that the troubleshooting time is saved.

Furthermore, different faults of the first ECU in actual work can be simulated by injecting abnormal signals into the first ECU, and further the possible states of the first ECU and other ECUs with information interaction with the first ECU can be determined when the first ECU breaks down, so that different measures can be made according to different situations, and the risk caused by the fact that the ECU breaks down in the real driving process of the vehicle is reduced. The first ECU may be any ECU in the vehicle.

According to the test method provided by the embodiment of the invention, the real message and the simulation message need to be checked before being sent to the shared network, wherein the real message and the simulation message adopt the same checking algorithm.

It should be noted that, in the message transmission process, in order to ensure the accuracy of the data in the message transmission process and determine whether the transmitted data is lost, the transmitted message needs to be checked. No matter the message is a real message or a simulation message, the testing method provided by the invention can carry out real-time check calculation. The real message and the simulation message adopt the same check algorithm, so that when the simulation message is sent, the simulation message is not determined to be a check failure and is further determined to be an abnormal message, and the validity of switching the real message into the simulation message is ensured.

In the testing method of the embodiment of the invention, the checking algorithm comprises Cyclic Redundancy Check (CRC) and/or counter checking.

Referring next to fig. 2, a scheme for switching a real message into an emulated message will be discussed.

Specifically, (1) simulation message simulation interfaces of all ECUs carried on a rack are simultaneously established in the HIL test environment, and a virtual ID enabling interface is established for each virtual ID. It should be noted that each ID of the real ECU may correspondingly establish a virtual ID, where all the virtual ID enabled interfaces are set to be in the disabled state by default, and when the virtual ID enabled interfaces are in the disabled state, the information of the virtual ID and the simulation message cannot be sent to the shared network. The shared Network is composed of a plurality of Controller Area Network (CAN) transceiver modules, and may also be referred to as a shared CAN Network. At this time, all messages received on the shared CAN network are real message signals sent by each real ECU.

(2) The CAN channels of the rack connected with the CAN-I/O interface of each real ECU are not directly connected to the shared CAN network. For example, the ECU1 is connected to the CAN1 transceiver module through a CAN1-IO connection line, that is, the CAN channel allocated by the ECU1 on the rack is the CAN1, the CAN channel CAN1 'of the CAN1 is established on the rack, and all IDs on the CAN1 pass through the corresponding virtual ID enabled interface in (1) before being sent to the CAN 1'. Optionally, the virtual ID enabled interface may also be referred to as a virtual CAN-ID enabled control interface.

(3) When the virtual CAN-ID1 enable control interface defaults to 0, that is, the enable control interface is in an disabled state, the ID1 real message signal value of the real ECU1 is directly forwarded to the CAN 1' transceiver module through the CAN1 transceiver module.

(4) When the virtual CAN-ID1 enabled control interface is changed to 1, namely the enabled control interface is in an enabled state, ID1 message signals of the real ECU1 are filtered out through a selector module, and the virtual CAN-ID1 message simulation interface signal values are transmitted to a CAN 1' transceiver module instead. That is, when the virtual ID enable interface is in the enable state, the controller sends the emulation message of the ECU1 to the CAN 1' transceiver module, and then transmits the emulation message on the shared CAN network.

(5) All CAN1 ' transceiver modules, CAN2 ' transceiver modules, CAN3 ' transceiver modules and the like are connected by CAN lines to form a shared CAN network;

(6) the real CAN transceiving modules of the ECUs such as the CAN1 transceiving module, the CAN2 transceiving module, the CAN3 transceiving module and the like are configured to be capable of sending message IDs of the nodes of the ECUs and receiving all IDs of all other ECU nodes, each real CAN transceiving module and the mirror image CAN 'transceiving module are not physically connected through a CAN line, and only all mirror image CAN' are physically connected through the CAN line.

It should be noted that the real message of the ECU is transmitted in the real CAN channel, and the simulation message of the ECU transmitted in the mirror CAN channel. Next, the test procedure will be discussed by taking 3 ECUs as an example. For example, 3 ECUs are ECU1, ECU2 and ECU3, and all three ECUs can exchange information with each other. When only the ECU1 is tested, the virtual ID enable interface of the ECU1 may be set to 1, and the virtual ID enable interfaces of the ECU2 and the ECU3 may be set to 0, so that the simulation message of the ECU1, the real message of the ECU2, and the real message of the ECU3 are transmitted to the shared CAN network. After the ECU2 and the ECU3 receive the simulation message of the ECU1, since the simulation signal is generated by abnormal signal injection, the ECU2 and the ECU3 may prompt the fault information of the ECU1, so that the fault information of each ECU in a real environment can be simulated, and the authenticity of the ECU test is improved.

Further, the real message may also include control command information, and the ECU1 may also make feedback after receiving the real message from the ECU2 or the ECU 3. ECU2 or ECU3 may also determine whether there is a fault with ECU1 based on information fed back from ECU 1. For example, the ECU1 is a drive motor controller, the ECU2 is a vehicle controller, and the ECU3 is a vehicle body controller. Optionally, the ECU1 is a vehicle controller, the ECU2 is a vehicle body controller, and the ECU3 is a drive motor controller. However, the present invention is not limited thereto, and is not illustrated herein.

For another example, when testing the ECU1 and the ECU2, the virtual ID enable interface of the ECU1 and the virtual ID enable interface of the ECU2 may be set to 1, and the virtual ID enable interface of the ECU3 may be set to 0, so that the emulation message of the ECU1, the emulation message of the ECU2, and the real message of the ECU3 are all transmitted to the shared CAN network. After ECU3 receives the emulation messages of ECU1 and/or the emulation messages of ECU2, ECU3 may prompt ECU1 and/or ECU2 for fault information. By testing two or more controllers simultaneously, the testing efficiency can be improved, and the time can be saved.

Referring to fig. 3, in the embodiment of the present invention, normally, the ECU sends real messages, and after sending the simulation message, in order to ensure the validity of the sent simulation message in the shared CAN network, the following method is adopted:

1) "CRC detection": if the ID of the CRC in the simulation message ID needs to calculate the checksum in real time according to a CRC algorithm when the CAN configuration module exists, when the virtual ID control interface is 0, the virtual CRC is also calculated in real time but cannot be sent to the shared CAN network, and at the moment, the real message CAN send the message to the shared CAN network in real time according to the CRC principle.

2) When the virtual ID control interface is '1', the virtual CRC is calculated in real time and is sent to the shared CAN network, at the moment, the real message CAN be calculated in real time according to the CRC check principle but is filtered out and CAN not be sent to the shared CAN network, and therefore the message is not considered to be failed in CRC check after the virtual ID is switched;

3) "counter check": since the ECU performs counter check on a message with a certain ID on the shared CAN network, the counter counting variable of the ID is certainly arranged in the ECU software, and the counter variable value CAN be read back to the HIL environment model in real time through the CAN tool;

4) when the simulation message ID control interface is set to be 1, the counter signal value on the message ID is controlled to send 'readback count value + 1', and subsequent updating and cyclic simulation sending are carried out according to a counter algorithm.

In fig. 3, for example, the real ID1 of the ECU1 sends a real message carrying real correct CRC check calculation information and counter check information to the shared CAN network through the CAN1 transceiver module, and the virtual ID1 of the ECU1 sends a simulation message carrying correct simulated CRC check calculation information and counter check information to the shared CAN network through the environment simulation module. Before the real message and the simulation message are sent to the shared CAN network, the virtual ID enabling control interface is needed. And when the virtual ID enabling control interface is enabled, the simulation message is sent to the shared CAN network.

In addition, the technical scheme of the invention also has the following beneficial effects:

1) the switching of the simulation messages can be realized without changing the tested ECU software.

2) The technical problem that the ID message is invalid after the simulation message is switched is solved. The purpose of sharing a common platform of the multi-controller combined HIL test bench and the single-controller HIL test bench is achieved, and convenience is brought to troubleshooting and manufacturing test scenes of the multi-controller combined HIL test bench.

3) The device can shorten the debugging and testing period of the multi-controller combined HIL test, help to quickly check and locate problems, and also can realize the quick switching between the multi-controller combined HIL test platform and the single-controller HIL test platform, thereby realizing the purpose of one platform with multiple purposes.

Next, referring to fig. 4, another embodiment of the present invention provides a test apparatus with a combination of multiple electronic controllers based on the same technical concept as the above test method. The testing device achieves the same technical effects as the testing method, and the details are not repeated here.

The test device comprises: a receiving module 41, configured to receive a real message transmitted by a first interface or a simulation message transmitted by a second interface, where the real message and the simulation message are both messages of a first electronic controller; a sending module 42, configured to send the real packet to a shared network when it is determined that the simulation test function is not enabled; and the sending module 42 is further configured to send the simulation message to the shared network when it is determined that the simulation test function is enabled, where the first electronic controller communicates with other electronic controllers through the shared network.

In the testing device of the embodiment of the present invention, the real packet and the simulation packet need to be verified before being sent to the shared network, wherein the real packet and the simulation packet use the same verification algorithm.

In the testing device of the embodiment of the invention, the checking algorithm comprises cyclic redundancy check code and/or counter checking.

In the test system of the embodiment of the present invention, the test system further includes: a plurality of interfaces, each interface for connecting to an electronic controller; a plurality of first Controller Area Network (CAN) transceiver modules, one first CAN transceiver module being connected to one of the interfaces and the transceiver device; a plurality of second controller area network CAN transceiver modules, wherein one second CAN transceiver module is connected with the transceiver equipment, and the plurality of second CAN transceiver modules are connected through CAN lines to form a shared CAN network; and one second CAN transceiver module is correspondingly in communication connection with one first CAN transceiver module.

It should be noted that a plurality of electronic controllers are connected in the system, and when the controller determines that the electronic controllers are not enabled or enabled, the controller sends the real messages or the simulation messages of the corresponding electronic controllers to the shared network, so that the real messages or the simulation messages can be selectively sent. By selectively sending the real message or the simulation message, the key troubleshooting can be carried out on any electronic controller, so that the troubleshooting time is saved. Alternatively, a schematic diagram of the test system is shown in fig. 2.

Yet another embodiment of the invention provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the testing method as described above.

Furthermore, the present invention may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed.

It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A multi-electronic controller joint test method, comprising:

receiving a real message transmitted by a first interface or a simulation message transmitted by a second interface, wherein the real message and the simulation message are both messages of a first electronic controller;

when the simulation test function is determined to be not enabled, the real message is sent to a shared network; and when the simulation test function is determined to be enabled, sending the simulation message to the sharing network, wherein the first electronic controller communicates with other electronic controllers through the sharing network.

2. The testing method according to claim 1, wherein the real packet and the simulation packet need to be verified before being sent to the shared network, and wherein the real packet and the simulation packet use the same verification algorithm.

3. The test method according to claim 2, wherein the check algorithm comprises a cyclic redundancy check and/or a counter check.

4. A multi-electronic controller joint test apparatus, comprising:

the receiving module is used for receiving a real message transmitted by a first interface or a simulation message transmitted by a second interface, wherein the real message and the simulation message are both messages of a first electronic controller;

the sending module is used for sending the real message to a shared network when the simulation test function is determined not to be enabled; and the number of the first and second groups,

and when the simulation test function is determined to be enabled, sending the simulation message to the sharing network, wherein the first electronic controller communicates with other electronic controllers through the sharing network.

5. The testing device according to claim 4, wherein the real packet and the simulation packet need to be verified before being sent to the shared network, and wherein the real packet and the simulation packet use the same verification algorithm.

6. A test device as claimed in claim 5, characterized in that the check algorithm comprises a cyclic redundancy check code and/or a counter check.

7. Transceiver device, characterized in that it comprises a test apparatus according to any one of claims 4 to 6.

8. A multi-electronic controller joint test system comprising the transceiver apparatus of claim 7.

9. The test system of claim 8, further comprising:

a plurality of interfaces, each interface for connecting to an electronic controller;

a plurality of first Controller Area Network (CAN) transceiver modules, one first CAN transceiver module being connected to one of the interfaces and the transceiver device;

a plurality of second Controller Area Network (CAN) transceiver modules, wherein one second CAN transceiver module is connected with the transceiver equipment, and the plurality of second CAN transceiver modules are connected through CAN lines to form a shared CAN network;

and one second CAN transceiver module is correspondingly in communication connection with one first CAN transceiver module.

10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the test method according to one of claims 1 to 3.