CN115096617A

CN115096617A - On-line closed-loop test system and method for test object and related device

Info

Publication number: CN115096617A
Application number: CN202210598669.XA
Authority: CN
Inventors: 陈鹏; 王睿
Original assignee: Weilai Automobile Technology Anhui Co Ltd
Current assignee: Weilai Automobile Technology Anhui Co Ltd
Priority date: 2022-05-30
Filing date: 2022-05-30
Publication date: 2022-09-23

Abstract

The invention provides a test object online closed-loop test system, a method and a related device, wherein the test object comprises a brake and a steering controller with a power-assisted motor which are in communication connection with each other, and the test object online closed-loop test system comprises: a simulation operation unit provided with a vehicle scene and a vehicle model in communication connection with the vehicle scene, the vehicle model being connected with the test object and operating in real time according to an input signal to output a first signal to the test object so that the steering controller and the brake operate in correspondence to the first signal; and the signal processing unit is in communication connection with the test object and the simulation operation unit respectively, is set to obtain a current operation signal of the test object, then forms a second signal and transmits the second signal to the simulation operation unit so as to adjust the virtual vehicle posture and the vehicle model in the vehicle scene.

Description

On-line closed-loop test system and method for test object and related device

Technical Field

The invention relates to the technical field of equipment testing, in particular to a system and a method for testing an online closed loop of a test object and a related device.

Background

The steering compensation function of the vehicle is to calculate whether the steering compensation is needed and how much steering compensation is needed by the brake controller, and to make corresponding adjustment when the steering controller is requested to perform power-assisted control. In order to ensure the stability and steering safety of the vehicle, it is a necessary link to test the basic steering compensation function and the functional safety of the vehicle before the vehicle is put into production.

Existing tests for steering compensation are typically based on real-vehicle testing. In the invention patent with publication number CN113917853A, an online closed-loop test system and method for a test object of an electromagnetic brake of a vehicle are disclosed, but only testing of a single electromagnetic brake is realized in the system, only detection of braking performance of the vehicle is involved, and a steering compensation function of the vehicle is not involved. Further, the failure condition set at the time of detecting the braking performance is also different from the failure condition set at the time of detecting the steering compensation function.

Disclosure of Invention

The invention aims to solve the technical problem of how to adopt a test platform to detect the steering compensation function realized by the steering controller and the brake controller.

In addition, other aspects of the present invention are also directed to solving or alleviating other technical problems in the prior art.

The invention provides a system, a method and a related device for online closed-loop test of a test object, in particular, according to one aspect of the invention, the invention provides:

an online closed-loop test system for a test object, wherein the test object comprises a brake and a steering controller with a power-assisted motor, which are communicatively connected with each other, the online closed-loop test system for the test object comprises:

a simulation operation unit provided with a vehicle scene and a vehicle model in communication connection with the vehicle scene, the vehicle model being connected with the test object and operating in real time according to an input signal to output a first signal to the test object so that the steering controller and the brake operate in correspondence to the first signal;

a signal processing unit which is respectively connected with the test object and the simulation operation unit in a communication way and is arranged to form a second signal after acquiring a current operation signal of the test object and transmit the second signal to the simulation operation unit so as to adjust the virtual vehicle posture and the vehicle model in the vehicle scene,

the operation signal comprises an operation signal of the power-assisted motor, the input signal comprises a second signal and a fault test signal, and the fault test signal comprises a driver hand torque sensor parameter, an oil pressure sensor parameter, a pedal stroke sensor parameter, a three-way acceleration sensor parameter and a wheel speed sensor parameter.

Optionally, according to an embodiment of the present invention, the online closed-loop test system for a test object further includes:

the load motor unit is connected with the power-assisted motor through a coupler, provides load force and a counter-dragging corner for the power-assisted motor so as to enable the power-assisted motor to output a preset load moment during operation, and is in communication connection with the simulation operation unit; and

and the torque acquisition unit is arranged on the coupler, acquires the current output torque signal of the power-assisted motor and transmits the current output torque signal to the signal processing unit, and the operation signal comprises the output torque signal.

Optionally, according to an embodiment of the present invention, the simulation running unit includes:

the real-time operation module comprises the vehicle model, and the vehicle model is connected with the signal processing unit and the test object and receives a second signal; and

the upper computer is connected with the real-time operation module to input instruction signals and the fault test signals and receives operation signals from the vehicle model, the upper computer is provided with the vehicle scene to adjust the virtual vehicle posture according to the operation signals of the vehicle model, the input signals comprise the instruction signals, and a fault input interface connected with the vehicle model is further arranged in the upper computer and used for inputting the fault test signals.

Optionally, in accordance with an embodiment of the present invention, the instruction signal includes

And the signal list is used for enabling the vehicle model to run corresponding real-time scenes, and comprises road surface environment parameters, external environment parameters and driver operation information.

Alternatively, according to an embodiment of the present invention, the vehicle model includes a vehicle dynamics model, a wheel speed model, and a three-directional acceleration model connected to each other, and the vehicle dynamics model, the wheel speed model, and the three-directional acceleration model are synchronously operated in the simulation operation unit.

Optionally, according to an embodiment of the invention, the vehicle dynamics model includes a road environment, a test condition vehicle operating environment, vehicle parameters, a hydraulic model, a transmission model and a driver model.

According to another aspect of the present invention, the present invention provides an online closed-loop test method for a test object, wherein the method comprises the following steps:

building a vehicle scene and a vehicle model, connecting the vehicle scene and the vehicle model with a test object, and inputting input signals to the vehicle scene and the vehicle model to enable the vehicle scene and the vehicle model to operate in real time so as to output a first signal to the test object, so that the test object operates corresponding to the first signal;

acquiring a current operation signal of the test object, performing signal processing on the operation signal to obtain a second signal, and transmitting the second signal to the vehicle scene and the vehicle model to adjust the virtual vehicle attitude in the vehicle scene and the vehicle model;

judging whether the test performance of the test object meets the expectation or not according to the virtual vehicle posture in the vehicle scene;

the test object comprises a brake and a steering controller with a power-assisted motor, the brake and the steering controller are in communication connection with each other, the operation signals comprise operation signals of the power-assisted motor, the input signals comprise second signals and fault test signals, and the fault test signals comprise driver hand torque sensor parameters, oil pressure sensor parameters, pedal stroke sensor parameters, three-way acceleration sensor parameters and wheel speed sensor parameters.

Optionally, according to an embodiment of another aspect of the present invention, a load force and a drag angle are provided to the assist motor, so that the assist motor outputs a preset load torque when operating, an output torque signal of the assist motor is collected and subjected to signal processing, and the operation signal includes the output torque signal.

Optionally, according to an embodiment of another aspect of the present invention, the input signal further includes a command signal input into the vehicle model, and the fault test signal is input into the vehicle model through a fault input interface connected to the vehicle model.

Optionally, according to an embodiment of another aspect of the present invention, the instruction signal includes

Optionally, according to an embodiment of another aspect of the present invention, the vehicle model includes a vehicle dynamics model, a wheel speed model, and a three-way acceleration model connected to each other, and the vehicle dynamics model, the wheel speed model, and the three-way acceleration model are operated in synchronization.

Optionally, according to an embodiment of another aspect of the invention, the vehicle dynamics model includes a road environment, a test condition vehicle operating environment, a vehicle parameter, a hydraulic model, a transmission model, and a driver model.

According to yet another aspect of the present invention, there is provided a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the above-mentioned online closed-loop test method for a test object.

The invention has the advantages that: the invention can realize effective tests on the working performance, the safety performance and the like of the steering controller and the combined brake controller through a semi-physical semi-simulation closed-loop real-time detection method, in particular, during the test, the method can carry out the targeted test on the fault behaviors such as a driver hand torque sensor, an oil pressure sensor, a three-way acceleration sensor, a pedal travel sensor, a wheel speed sensor and the like, detect the steering compensation working condition of the vehicle at the fault behaviors, thereby comprehensively evaluating the steering compensation and braking effect of the vehicle, and being capable of respectively carrying out the steering compensation test aiming at the scene of insufficient steering or excessive steering, thereby not only shortening the testing time consumption and saving the cost, but also providing a comprehensive testing environment, improving the testing efficiency and the testing precision, the method has positive and important significance for improving the product quality of a vehicle steering and braking system and enhancing the safety performance of the vehicle.

Drawings

The above and other features of the present invention will become apparent with reference to the accompanying drawings, in which,

FIG. 1 is a schematic structural diagram of an on-line closed-loop test system for a test object according to an embodiment of the present invention;

fig. 2 is a schematic flow chart illustrating an on-line closed-loop testing method for a test object according to an embodiment of the present invention.

Detailed Description

It is easily understood that, according to the technical solution of the present invention, a person skilled in the art can propose various alternative structural modes and implementation modes without changing the essential spirit of the present invention. Therefore, the following detailed description and the accompanying drawings are merely illustrative of the technical aspects of the present invention, and should not be construed as all of the present invention or as limitations or limitations on the technical aspects of the present invention.

The terms of orientation of up, down, left, right, front, back, top, bottom, and the like referred to or may be referred to in this specification are defined relative to the configuration shown in the drawings, and are relative terms, and thus may be changed correspondingly according to different positions and different use states. Therefore, these and other directional terms should not be construed as limiting terms either. Furthermore, the terms "first," "second," "third," and the like are used for descriptive and descriptive purposes only and not for purposes of indication or implication as to the relative importance of the respective components.

Referring to fig. 1, a schematic structural diagram of an online closed-loop test system for a test object according to an embodiment of the present invention is shown. Since the specific shape and internal structure of each component are not the subject of the present invention, all these components are schematically shown in the form of structural modules for the sake of clarity and conciseness, and those skilled in the art can select the appropriate module shape and structural form by themselves in the light of the structural schematic diagrams. In addition, the structural diagram is given as an embodiment of the invention, and those skilled in the art can make various modifications without departing from the spirit of the invention after referring to the diagram, and the modifications are also within the scope of the invention.

The on-line closed-loop test system of the test object is used for testing a real test object. In one embodiment of the present invention, the test object 13 is a brake and a steering controller with an assist motor that are communicatively connected to each other, and the test object 13 may also be any possible device, mechanism, or equipment or the like that includes such a brake and steering controller, i.e., the brake and steering controller in such a device, mechanism, or equipment can be tested by the test object online closed-loop test system of the present invention.

It is known that a steering system and a brake system of a vehicle are coordinated with each other, so when performing steering compensation on the steering system, relevant parameters of the brake system, such as brake pedal depth, pedal speed, wheel speed, three-way acceleration, etc., are also taken into consideration, and a steering compensation value is calculated by a brake controller and then transmitted to a steering controller for performing a steering compensation operation. Therefore, in testing the steering compensation function of the vehicle, only the steering controller cannot be tested alone, but the brake of the vehicle should be comprehensively considered. In addition, the steering compensation function is mainly realized by a power-assisted motor connected with a steering controller, and the torque and the rotation angle of the power-assisted motor quantitatively reflect the realization condition of the steering compensation function. Therefore, the power assist motor connected to the steering controller should be taken into account when testing the steering compensation function of the vehicle. The power motor of the steering controller is quite different from the motor in the brake, which is usually required to provide torque under load, and is generally required to provide a towing angle and load force to the towing motor to assist the towing motor in its operation.

As shown in fig. 1, in this given example of the test system, there are provided two main parts, namely, a simulation execution unit 11 and a signal processing unit 12, which are connected to a test object 13 to perform corresponding processing such as data information transfer to perform a test operation.

Specifically, the simulation operation unit 11 may set a corresponding vehicle scenario and a corresponding vehicle model according to actual test requirements, so that the vehicle model operates in real time according to the input signal, and then output a first signal to the test object in real time based on the operation condition, so that the brake controller and the steering controller of the brake in the test object respond after receiving the first signal, thereby controlling the operation of the power-assisted motor connected to the steering controller accordingly. In the above process, a feedback signal (such as an operation signal of a power assist motor connected to a steering controller) formed by the test object 13 in the closed-loop test process, which is referred to as a second signal herein, is provided to the simulation operation unit 11 through the signal processing unit 12, and the second signal can be used to adjust a virtual vehicle attitude and a vehicle model in a vehicle scene, so that whether the test items of the steering compensation function hardware (the brake controller and the steering controller) reach standards or not can be analyzed and judged accordingly.

The input signals include a second signal and a fault test signal, and applying the second signal to the input signals implements closed loop control of the test system. In one embodiment of the invention, the fault test signal includes a driver hand torque sensor parameter, an oil pressure sensor parameter, a pedal travel sensor parameter, a three-way acceleration sensor parameter, and a wheel speed sensor parameter.

In the embodiment shown in fig. 1, the simulation execution unit 11 may be alternatively configured to include two parts, i.e., the real-time execution module 111 and the upper computer 112. The corresponding vehicle models required for the test are provided in the real-time running module 111, and can be constructed according to the test requirements by using any available existing technology, for example, software Simulink, Matlab, etc. available on the market can be used, and then the C code is generated by compiling and downloaded to the real-time running module 111. The real-time operation module 111 is an operation carrier as a vehicle model, and the vehicle model is connected with the signal processing unit and the test object.

In one embodiment of the present invention, the vehicle model includes a vehicle dynamics model, a wheel speed model, and a three-way acceleration model, which are connected to each other and run synchronously in the real-time running module 111. The vehicle dynamics model is used to provide the overall hard-line environment required by the periphery of the test object and may include, but is not limited to, for example, road environment, test mode vehicle operating environment, vehicle parameters, hydraulic models, transmission models, driver models, and the like. The wheel speed model is used for converting vehicle speed information calculated by the vehicle dynamics model in the real test object in the loop state into any protocol form (such as AK protocol signal) acceptable to the test object, and transmitting the vehicle speed information to the test object through the real-time operation module for receiving. The three-way acceleration model is used for converting the lateral acceleration, the longitudinal acceleration and the yaw angular acceleration information, which are calculated by the vehicle dynamics model in the loop state of the test object, into a protocol form (such as a CAN protocol value) which CAN be accepted by any test object, and transmitting the information to the test object 13 through the real-time running module 111 for receiving. The three-way acceleration model is particularly important for testing the steering compensation function, because different from the braking situation, parameter information of the lateral acceleration and the yaw acceleration of the vehicle needs to be provided in the steering situation, so that the steering situation of the vehicle can be simulated and judged, and the parameters can be accurately obtained and simulated through the three-way acceleration model.

Alternatively, the vehicle models in the real-time operation module 111 may be synchronously operated in real time in appropriate steps (e.g., 1ms, 1.5ms, or 2 ms) as needed, and they may receive data information incoming from the outside through the mapping relationship, and may also transmit bus messages obtained by simulation calculation thereof to the outside through the mapping relationship, for example, to the test object 13.

The upper computer 112 is connected to the real-time execution module 111, and may be communicatively connected using a high-speed bus-based network medium, for example. The upper computer 112 is a carrier for operating as a virtual vehicle scene and an operating environment, for example, parameters such as a road environment (e.g., a low-attachment or high-attachment split road environment), a driver operation (e.g., an acceleration condition, an emergency braking condition, and a steering condition) can be provided as instruction signals input to the vehicle model in the real-time operation module 111 through the vehicle scene operating therein, the vehicle scene interacts with the vehicle model in the real-time operation module 111 in real time through a local area network, and the vehicle scene can also receive virtual vehicle attitude information transmitted from the vehicle model in real time. In addition, for the operation and braking effect of the vehicle under different road environments and different test working conditions, an optional mode of performing combined calculation on the vehicle model and the test object 13 can be adopted, and then the calculation result is fed back to the vehicle model and the vehicle scene in real time.

The command signals transmitted by the upper computer 112 to the real-time operation module 111 may also form part of the input signals for the vehicle dynamics model described above. By way of example, such command signals may include a list of signals (e.g., road environment parameters, ambient environment parameters, driver operating information, etc.) for use in causing the vehicle dynamics model to operate in a corresponding real-time scenario. In addition, a fault input interface is provided in the upper computer 112, and the fault input interface is mapped with the vehicle model in the real-time operation module 111 and is used for inputting fault information of the driver hand torque sensor, the oil pressure sensor, the pedal stroke sensor, the three-way acceleration sensor and the wheel speed sensor, namely fault test signals. The fault input interface can be configured in the form of a user interaction interface, a user can input a fault test signal from the outside in a manual or automatic input manner through the fault input interface in the upper computer 112, the fault input interface transmits the fault test signal to the vehicle model in the real-time operation module 111, and then the vehicle model simulates the fault condition of the corresponding component according to the received fault test signal. It should be understood that when the user does not input the failure test signal through the failure input interface, i.e., does not generate the failure information of the driver's hand torque sensor, the oil pressure sensor, the pedal stroke sensor, the three-way acceleration sensor, and the wheel speed sensor, it may be considered that the failure test interface still exists, but does not inject the failure, i.e., the failure test signal provided by it is a null value. In this case, the test system tests the performance of the steering compensation function hardware in a state where the sensor normally operates.

In addition, the upper computer 112 is further configured to receive an operation signal of the vehicle model in the real-time operation module 111, and then through the vehicle scene set in the upper computer 112, the virtual vehicle posture in the vehicle scene can be adjusted according to the operation signal of the vehicle model.

As an alternative embodiment, the upper computer 112 may conveniently use a PC directly, and more specifically, the PC may be installed with model building software Simulink/Matlab, vehicle model and vehicle scene building software ModelBase, and operating environment software VeriStand to implement the above-mentioned corresponding functions. For example, with the aid of VeriStand or similar operating environment software, real-time bus information observation, recording and other operations (such as vehicle acceleration and wheel speed information) can be directly performed on the upper computer 112, and corresponding parameter data is transmitted to the corresponding vehicle model in the real-time running module 111 according to the requirements of the fault test. By acquiring the data information, the performance condition of the vehicle braking attitude adjustment of the current test object under the condition of certain fault can be judged and analyzed, so that the performance condition can be used as a reliable basis for optimizing and improving the test object, the function and the working performance of the test object can be effectively improved by performing comparative analysis before and after improvement, and the product quality and the competitiveness are enhanced.

Continuing with the example, as shown in fig. 1, the real-time operation module 111 may optionally be connected with the test object 13 through the IO part 16 and the communication part 17, respectively. In this way, on the one hand, corresponding hard-wired signals can be transmitted via the IO unit 16 between the vehicle dynamics model and the test object 13, and the first signal mentioned above can be communicated as one of the hard-wired signals via the IO unit 16, and on the other hand, corresponding bus signals can be transmitted via the communication unit 17 between the vehicle dynamics model and the test object 13. As for the IO part 16 and the communication part 17, they may both be in the form of boards on which various electronic components meeting application requirements are mounted, and the specific configuration of the boards may be set in the upper computer 112 accordingly. It should also be noted that the communication section 17 may employ any communication protocol bus such as CAN (Controller Area Network). It should be noted that when the real-time operation module 112 is connected to the test object 13 through the IO component 16 and the communication component 17, respectively, the parameter information of the vehicle three-way acceleration sensor is transmitted to the test object 13 through the communication component 17, and the parameter information of the driver hand torque sensor, the oil pressure sensor, the pedal stroke sensor, and the wheel speed sensor is transmitted to the test object 13 through the IO component 16.

The communication link between the different parts of the overall test system should be understood to be implemented in any feasible wired and/or wireless manner, as long as the required data information transmission processing can be achieved. For example, the PCIe (peripheral component interconnect Express) or CPCIe (Compact PCI Express) protocol may be used for wired communication connection among the signal processing unit 12, the real-time operation module 111, and the test object 13 in a serial manner, and a wireless communication connection may also be allowed to be used in the form of a wireless network card or the like.

Referring to fig. 1, a signal processing unit 12, which is connected to both the test object 13 and the simulation operating unit 11, is configured to acquire a current operating signal (e.g., an operating signal of a booster motor) of the test object 13, process the acquired operating signal to form a second signal, and provide the second signal to the simulation operating unit 11. It will be appreciated that the second signal described above may be provided as part of the input signal forming the model for vehicle dynamics as described hereinbefore. It should be appreciated that the signal processing unit 12 allows for processing of various types of received signals in any feasible manner, e.g., signal conditioning may be used to convert some signals to standard signals, and one or more processing methods such as debouncing, filtering, isolation, protection, level shifting may be used in particular, and will not be discussed herein, depending on the requirements of the application.

In one embodiment of the invention, a load motor unit 14 and a torque detection unit 15 are provided. The load motor unit 14 is mainly used for being connected with the power-assisted motor through a coupler so that the load motor unit and the power-assisted motor form opposite dragging. Under the condition of connecting the load motor unit 14, the load motor unit 14 can provide a load force and a drag angle for the power-assisted motor and enable the power-assisted motor to output a preset load force during operation, so that the normal operation of a steering controller is ensured, and the power-assisted motor can more accurately simulate the steering compensation working condition during the steering of a real vehicle. The load motor unit 14 can be communicatively connected to the simulation operating unit 11, for example, via a communication connection 18 (e.g., a plug-in communication network card, in particular a communication network card based on the EtherCAT protocol), for example, via a communication connection 18 to the real-time operating module 111 and via another communication connection to the upper computer 112. In an alternative embodiment, a torque detection unit 15 can also be mounted on the coupling of the load motor unit 14 to the booster motor, which detects the current output torque signal of the booster motor, i.e. the torque of the pair of booster motor and load motor unit, and transmits it to the signal processing unit 12. The operation signal of the power assisting motor comprises the output torque signal. The torque acquisition unit 15 can employ various types of torque sensors.

The basic situation of the on-line closed-loop test system of the test object is roughly described only by way of example discussion, compared with the prior art which generally adopts a real vehicle test scheme, the invention can remarkably shorten the product design improvement and verification period of the steering compensation function hardware under the condition of faults of a driver hand torque sensor, an oil pressure sensor, a pedal stroke sensor, a three-way acceleration sensor and a wheel speed sensor by providing a semi-simulation semi-physical closed-loop real-time test system, not only effectively save the real vehicle test cost, but also improve the test safety under extreme conditions compared with the real vehicle test, and also provide perfect and reliable comprehensive test environment for the high-difficulty steering scene test, the steering compensation scheme improvement verification after the combined sensor fails, the steering and braking effect judgment and the like.

Referring to fig. 2, a schematic flow chart of an online closed-loop test method for a test object according to an embodiment of the invention is shown. As shown in FIG. 2, online closed-loop testing of a test object may be accomplished by performing the exemplary steps discussed below, and the method embodiment may include the steps of:

It should be understood that, as described above, the test object may be a brake and a steering controller with an assist motor, which are communicatively connected to each other, or may be any possible device, mechanism, or apparatus, etc., including the brake and the steering controller.

Specifically, a failure test signal may be included in the input signal, such a failure test signal corresponding to a failure of a corresponding component in the vehicle model, and then a virtual vehicle attitude adjustment operation in the vehicle scene is correspondingly made by the simulation running unit after a corresponding response is made by the test object to the input operation due to the above failure test signal, whereby it is possible to analyze and judge whether the test performance of the test object in the case where the above failure of the component occurs meets the expectation. For the above fault testing operation, the fault testing operation can be performed on different components in different vehicle models, the whole fault testing process is basically the same or similar, the whole operation is very convenient and reliable, and time and labor are saved.

Since the technical contents of various signal types, corresponding processing, and the like have been described in great detail in the foregoing for the respective functions, configurations, applications, and the like of the simulation operation unit, the vehicle scene, the vehicle model, the signal processing unit, and the like in the test object online closed-loop test system, more possible operation steps that can be added, modified, or replaced in the test object online closed-loop test method according to the present invention can be implemented by directly referring to the specific description of the aforementioned corresponding parts, and will not be described again here.

According to another aspect of the present invention, there is also provided a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of the above-mentioned test object online closed-loop test method.

The computer-readable storage medium may include: a U-disk, a portable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, an optical disk, or other various media capable of storing program codes.

For the introduction of the computer-readable storage medium provided by the present invention, please refer to the above method embodiments, which are not described herein again.

It should be understood that all of the above preferred embodiments are illustrative and not restrictive, and that various modifications and changes may be made in the above specific embodiments by those skilled in the art without departing from the spirit of the invention.

Claims

1. An on-line closed-loop test system for a test object, the test object (13) comprising a brake and a steering controller with a power-assisted motor, the brake and the steering controller being communicatively connected to each other, the on-line closed-loop test system for the test object comprising:

a simulation operation unit (11) provided with a vehicle scene and a vehicle model in communication connection with the vehicle scene, the vehicle model being connected with the test object (13) and operating in real time according to an input signal to output a first signal to the test object (13) so that the steering controller and the brake operate in correspondence to the first signal;

a signal processing unit (12) which is in communication connection with the test object (13) and the simulation operation unit (11) respectively and is arranged to obtain a current operation signal of the test object (13), form a second signal and transmit the second signal to the simulation operation unit (11) to adjust the virtual vehicle posture and the vehicle model in the vehicle scene,

2. The test object on-line closed-loop test system of claim 1, further comprising:

the load motor unit (14) is connected with the power-assisted motor through a coupler, provides load force and a drag rotation angle for the power-assisted motor so as to enable the power-assisted motor to output a preset load moment during operation, and is in communication connection with the simulation operation unit (11); and

and the torque acquisition unit (15) is arranged on the coupler, acquires the current output torque signal of the power-assisted motor and transmits the current output torque signal to the signal processing unit (11), and the operation signal comprises the output torque signal.

3. The on-line closed-loop test system of test object as claimed in claim 1, wherein said simulation run unit (11) comprises:

a real-time operation module (111) which comprises the vehicle model, is connected with the signal processing unit (12) and the test object (13) and receives a second signal; and

the upper computer (112) is connected with the real-time operation module (111) to input command signals and the fault test signals and receives operation signals from the vehicle model, the upper computer (112) is provided with the vehicle scene to adjust the virtual vehicle posture according to the operation signals of the vehicle model, the input signals comprise the command signals, and a fault input interface connected with the vehicle model is further arranged in the upper computer (112) and used for inputting the fault test signals.

4. The on-line closed-loop test system of claim 3, wherein the command signal comprises

5. The test object online closed-loop test system according to any one of claims 1 to 4, wherein the vehicle model includes a vehicle dynamics model, a wheel speed model, and a three-way acceleration model connected to each other, the vehicle dynamics model, the wheel speed model, and the three-way acceleration model being synchronously operated in the simulation operation unit (11).

6. The on-line closed-loop test system of claim 5, wherein the vehicle dynamics model comprises a road environment, a test regime vehicle operating environment, vehicle parameters, a hydraulic model, a transmission model, and a driver model.

7. An online closed-loop test method for a test object is characterized by comprising the following steps:

building a vehicle scene and a vehicle model, connecting the vehicle scene and the vehicle model with a test object, inputting input signals to the vehicle scene and the vehicle model to enable the vehicle scene and the vehicle model to operate in real time so as to output a first signal to the test object, and enabling the test object to operate corresponding to the first signal;

acquiring a current running signal of the test object, performing signal processing on the running signal to obtain a second signal, and transmitting the second signal to the vehicle scene and the vehicle model to adjust a virtual vehicle posture and the vehicle model in the vehicle scene;

8. The on-line closed-loop test method of the test object as claimed in claim 7, wherein a load force and a drag angle are provided to the power-assisted motor so that the power-assisted motor outputs a preset load torque when running, an output torque signal of the power-assisted motor is collected and processed, and the running signal includes the output torque signal.

9. The on-line closed-loop test method for test objects according to claim 7, wherein the input signal further comprises a command signal inputted into the vehicle model, and the failure test signal is inputted into the vehicle model through a failure input interface connected to the vehicle model.

10. The on-line closed-loop test method of claim 9, wherein the command signal comprises

11. The online closed-loop test method for test objects according to any one of claims 7 to 10, wherein the vehicle model comprises a vehicle dynamics model, a wheel speed model and a three-way acceleration model connected to each other, and the vehicle dynamics model, the wheel speed model and the three-way acceleration model are operated synchronously.

12. The on-line closed-loop test method of claim 11, wherein the vehicle dynamics model comprises a road environment, a test condition vehicle operating environment, vehicle parameters, a hydraulic model, a transmission model, and a driver model.

13. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a test object online closed-loop testing method according to any one of claims 7 to 12.