CN115266137A - Test system and test method applied to integrated brake system - Google Patents
Test system and test method applied to integrated brake system Download PDFInfo
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- CN115266137A CN115266137A CN202210896670.0A CN202210896670A CN115266137A CN 115266137 A CN115266137 A CN 115266137A CN 202210896670 A CN202210896670 A CN 202210896670A CN 115266137 A CN115266137 A CN 115266137A
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Abstract
The invention discloses a test system and a test method applied to an integrated brake system. The test system includes: the brake system comprises an upper computer, an IO output interface, an integrated brake system and an IO input interface which are connected in a closed loop manner; the upper computer is provided with a test environment module and generates test information according to the test instruction; the IO output interface transmits the test information generated by the upper computer to the integrated brake system; the integrated braking system performs braking operation according to the test information and generates controlled object information; the IO input interface transmits the information of the controlled object back to the upper computer, and the test environment module in the upper computer obtains a control effect according to the information of the controlled object. The embodiment of the invention realizes the test analysis of the function completion degree, the performance index completion degree and the like of the system of the integrated brake system, simulates various fault conditions, realizes the safety processing of the fault, tests and analyzes the safety of the vehicle and verifies the control logic and the control result of the integrated brake system.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a test system and a test method applied to an integrated brake system.
Background
At present, integration and intellectualization are an important development trend of automobile technology, and along with the rapid development of the integration technology, the control mode and the mechanical structure of an integrated brake system gradually replace the mode of a traditional electronic stabilizing system and a booster.
The existing technical scheme is generally directed at the control mode or performance test of the traditional electronic stability system or ABS anti-lock braking system, or only directed at the performance test and analysis of the hardware of the integrated braking system, such as hydraulic pipelines, valves, etc., which is not favorable for deeply and detailedly analyzing the function completion degree, performance index completion degree, and fault treatment of the integrated braking system, and is unable to verify the control logic and control effect of the integrated braking system.
Disclosure of Invention
The invention provides a test system and a test method applied to an integrated brake system, and aims to solve the problems that the function completion degree, the performance index completion degree, the fault processing and the like of the integrated brake system cannot be deeply and specifically analyzed, and the control logic and the control effect of the integrated brake system cannot be verified.
In order to realize the technical problem, the invention adopts the following technical scheme:
in a first aspect, the present invention provides a test system for an integrated brake system, comprising:
the brake system comprises an upper computer, an IO output interface, an integrated brake system and an IO input interface which are connected in a closed loop manner;
the upper computer is provided with a test environment module and generates test information according to the test instruction;
the IO output interface transmits the test information generated by the upper computer to the integrated brake system; the integrated braking system performs braking operation according to the test information and generates controlled object information;
the IO input interface transmits the controlled object information back to the upper computer, and the test environment module in the upper computer obtains a control effect according to the controlled object information.
Optionally, the test environment module includes: a vehicle dynamics model and a real-time simulation system;
and the whole vehicle dynamics model is called and executed by the real-time simulation system.
Optionally, the test environment module further comprises: automatic test software, the automatic test software and the real-time simulation system are independently arranged; the automatic test software is configured with at least one test case, and the automatic test software changes the state of the IO output interface according to the test case.
Optionally, the test environment module further includes: the fault simulation board card is used for simulating the fault of the IO interface; the number of the fault simulation points in the fault simulation board card corresponds to the IO interfaces one by one; the IO interface comprises the IO output interface and the IO input interface.
Optionally, the test environment module further includes: the IO processing board card is connected with the IO output interface and connected with the IO input interface; the IO processing board card is used for performing signal processing on the test information and the controlled object information.
Optionally, the integrated braking system comprises: the device comprises a pedal, a motor, an actuating cylinder, a valve component, a hydraulic pipeline, wheels and a sensor;
the motor is mechanically connected with the actuating cylinder and used for receiving test information of an upper computer to control the stroke of the actuating cylinder; so that the pedal and the cylinder are respectively used as two input modes of the integrated brake system;
the hydraulic pipeline is connected between the valve assembly and the wheel, the valve assembly is used as a measured object of the integrated brake system, the calipers of the wheel are used as a controlled object of the integrated brake system, and the sensor acquires the pressure of the hydraulic pipeline and the wheel end.
Optionally, the integrated braking system further comprises: fault simulation hardware configured on the valve assembly and/or the hydraulic line for simulating a condition of valve assembly failure.
In a second aspect, the present invention provides a testing method applied to an integrated braking system, which adopts the testing system of the integrated braking system described in any of the above embodiments; the test method comprises the following steps:
operating the test environment module according to the test instruction and generating the test information;
the test information is transmitted to the integrated brake system through the IO output interface;
the integrated braking system carries out braking operation according to the test information and generates the controlled object information;
the information of the controlled object is transmitted back to the upper computer through the IO input interface;
and the test environment module obtains a control effect according to the controlled object information.
Optionally, the step of operating the test environment module according to the test instruction and generating the test information specifically includes:
reading in a test case by automatic test software;
the real-time simulation system generates corresponding brake system input information according to the whole vehicle dynamics model and the test case;
the automatic test software controls the fault simulation board card to configure a fault simulation node according to the test case;
the step of performing a braking operation by the integrated braking system according to the test information and generating the controlled object information specifically includes:
the motor receives the input information of the brake system and controls the action of the actuating cylinder;
the valve assembly receives the system input information and adjusts control logic according to the action of the actuating cylinder and the fault state of the fault simulation node;
and acquiring the pressure of a hydraulic pipeline and the pressure of a wheel end by a sensor to generate the information of the controlled object.
Optionally, after the test environment module obtains the control effect according to the controlled object information, the method further includes:
and the test environment module adjusts the test information and carries out cycle test on the integrated brake system.
According to the technical scheme of the embodiment of the invention, the test environment module outputs test information and the like to the integrated brake system through the IO output interface, the integrated brake system performs brake operation according to the test information and the like and generates controlled object information, the IO input interface transmits the controlled object information back to the test environment module, and the test environment module obtains a control effect according to the controlled object information; the method and the device realize the test analysis of the function completion degree, the performance index completion degree and the like of the system of the integrated brake system, simulate various fault conditions, realize the safety processing of the faults, carry out the test analysis on the safety of the vehicle and verify the control logic and the control result of the integrated brake system.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a test system applied to an integrated brake system according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of another testing system applied to an integrated braking system according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a testing system for an integrated braking system according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of another testing system applied to an integrated braking system according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a testing system applied to an integrated braking system according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of another testing system applied to an integrated braking system according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of an integrated braking system according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a testing system applied to an integrated braking system according to an embodiment of the present invention;
FIG. 9 is a flowchart of a testing method applied to an integrated braking system according to an embodiment of the present invention;
FIG. 10 is a flow chart of another testing method applied to an integrated braking system according to an embodiment of the present invention;
FIG. 11 is a flowchart of another testing method applied to an integrated braking system according to an embodiment of the present invention;
fig. 12 is a flowchart of another testing method applied to an integrated braking system according to an embodiment of the present invention.
In the figure:
the device comprises an upper computer 1, a testing environment module 11, a whole vehicle dynamic model 12, a real-time simulation system 13, automatic testing software 14, a fault simulation board card 15, an IO processing board card 16, an IO output interface 2, an integrated braking system 3, a pedal 31, a motor 32, an actuating cylinder 33, a valve component 34, a hydraulic pipeline 35, wheels 36, a sensor 37, an IO input interface 4 and fault simulation hardware 5 which are connected in a closed loop.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a schematic structural diagram of a test system applied to an integrated braking system according to an embodiment of the present invention, which is applicable to a vehicle model using the integrated braking system. Referring to fig. 1, the test system includes:
the brake system comprises an upper computer 1, an IO output interface 2, an integrated brake system 3 and an IO input interface 4 which are connected in a closed loop manner; the upper computer 1 is provided with a test environment module 11 and generates test information according to the test instruction; the IO output interface 2 transmits the test information generated by the upper computer 1 to the integrated brake system 3; the integrated braking system 3 performs braking operation according to the test information and generates controlled object information; the IO input interface 4 transmits the controlled object information back to the upper computer 1, and the test environment module 11 in the upper computer 1 obtains a control effect according to the controlled object information.
Specifically, the upper computer 1 may be a computer that controls the test environment module 11, and the upper computer 1 is connected in a closed loop to the whole test system. The IO output interface 2 CAN also comprise a CAN interface, and the IO output interface 2 is used for outputting test information generated by the upper computer 1 to the integrated brake system 3. The integrated brake system 3 is used for performing brake operation according to the test information, controlling the state of the controlled object and generating controlled object information. The IO input interface 4 is used for transmitting the collected information of the controlled object back to the upper computer 1. The testing environment module 11 may be software, hardware, or the like configured in the upper computer 1, and the testing environment module 11 is configured to generate testing information, which may include vehicle information, fault information, or the like, and integrate and process information of a controlled object returned to the upper computer 1 to obtain a control effect.
Specifically, test environment module 11 in host computer 1 generates test information according to the test instruction to through IO output interface 2 to integrated form braking system 3 output test information, integrated form braking system 3 carries out braking operation according to test information such as vehicle information, fault information etc. controls the state of controlled object, and generates controlled object information, IO input interface 4 gathers controlled object information and passes back in host computer 1, test environment module 11 integrates and handles controlled object information that passes back in host computer 1 and obtains the control effect.
According to the technical scheme of the embodiment of the invention, the test environment module outputs test information and the like to the integrated brake system through the IO output interface, the integrated brake system performs brake operation according to the test information and the like and generates controlled object information, the IO input interface transmits the controlled object information back to the test environment module, and the test environment module obtains a control effect according to the controlled object information; the method and the device have the advantages that the test analysis of the function completion degree, the performance index completion degree and the like of the system of the integrated brake system is realized, various fault conditions are simulated, the safety processing of faults is realized, the test analysis is also carried out on the safety of the vehicle, and the control logic and the control result of the integrated brake system are verified.
Fig. 2 is a schematic structural diagram of another testing system applied to an integrated braking system according to an embodiment of the present invention. Referring to fig. 2, optionally, the test environment module 11 includes: a whole vehicle dynamics model 12 and a real-time simulation system 13; wherein, the whole vehicle dynamics model 12 is called and executed by the real-time simulation system 13.
Specifically, the entire vehicle dynamics model 12 is used for simulating the vehicle state to output vehicle information, such as a vehicle speed, an acceleration, and the like, and integrating the controlled object information collected by the receiving IO input interface 4 to obtain the current state information of the vehicle. The real-time simulation system 13 is used for simulating real scenes, such as modeling and simulation of scenes of traffic environment, road conditions, obstacles, and the like. The vehicle dynamics model 12 is arranged in the real-time simulation system 13 and is invoked and executed by the real-time simulation system 13.
Fig. 3 is a schematic structural diagram of another testing system applied to an integrated braking system according to an embodiment of the present invention. Referring to fig. 3, optionally, the test environment module 11 further includes: the automatic test software 14, the automatic test software 14 and the real-time simulation system 13 are independently arranged; the automatic test software 14 is configured with at least one test case, and the automatic test software 14 changes the state of the IO output interface 2 according to the test case.
Specifically, the automatic test software 14 is configured to execute a test by configuring at least one test case, and changing the state of the IO output interface 2 and changing the input information of the integrated brake system 2 according to the test case; the test case may include information about what vehicle parameters are configured and what faults are generated under what road conditions. When multiple test cases are configured, the automatic test software 14 may execute the multiple test cases in sequence.
Fig. 4 is a schematic structural diagram of another testing system applied to an integrated braking system according to an embodiment of the present invention. Referring to fig. 4, optionally, the test environment module 11 further includes: the fault simulation board card 15 is used for simulating faults of the IO interface, and the fault simulation board card 15 is used for simulating faults of the IO interface; the number of fault simulation points in the fault simulation board card 15 corresponds to the number of IO interfaces one by one; the IO interface includes an IO output interface 2 and an IO input interface 4.
Specifically, the fault simulation board 15 is configured to simulate a fault of the IO interface, where the number of fault simulation points in the fault simulation board 15 corresponds to the IO interface one to one, which indicates how many fault simulation points are set in the system, how many IO interfaces are correspondingly set, and the set fault simulation points may be communicated with the IO interfaces. The types of faults that can be simulated by the fault simulation point for simulating the fault of the IO interface may include: short circuit, open circuit, excessive pressure, under-voltage, pipeline disconnection, weeping etc. can set up as required.
Fig. 5 is a schematic structural diagram of another testing system applied to an integrated braking system according to an embodiment of the present invention. Referring to fig. 5, optionally, the test environment module 11 further includes: the IO processing board card 16, the IO processing board card 16 and the IO output interface 2 are connected, and the IO processing board card 16 and the IO input interface 4 are connected; the IO processing board 16 is configured to perform signal processing on the test information and the controlled object information.
Specifically, the IO processing board 16 is configured to perform signal processing on the test information and the controlled object information, for example, perform calculation or signal type conversion on the acquired information, and control the IO output interface 2 and the O input interface 4 to transfer the information.
Fig. 6 is a schematic structural diagram of another testing system applied to an integrated braking system according to an embodiment of the present invention. Referring to fig. 6, optionally, the integrated braking system 3 comprises: a pedal 31, a motor 32, a cylinder 33, a valve assembly 34, a hydraulic line 35, wheels 36, and a sensor 37; the motor 32 is mechanically connected with the actuating cylinder 33, and the motor 32 is used for receiving test information of the upper computer and controlling the stroke of the actuating cylinder 33; so that the pedal 31 and the cylinder 33 are respectively used as two input modes of the integrated brake system 3; the hydraulic pipeline 35 is connected between the valve assembly 34 and the wheel 36, the valve assembly 34 is used as a measured object of the integrated brake system 3, the caliper of the wheel 36 is used as a controlled object of the integrated brake system 3, and the sensor 37 acquires the pressure of the hydraulic pipeline 35 and the wheel end.
Specifically, the pedal 31 is used to generate corresponding displacement information according to the actions of the motor 32 and the cylinder 33 or man-made stepping. The motor 32 is used to receive test information from the IO output interface 2, such as whether braking is required, how much force is required to be applied to the pedal 31, how long the pedal 31 is pushed, and the like, and to control the operation of the cylinder 33 according to the test information. The cylinder 33 is controlled by the motor 32 to operate the push pedal 31. The manual stepping on the pedal 31 and the control of the motor 32 to drive the cylinder 33 to push the pedal 31 can be respectively used as two input modes of the integrated brake system 3, the manual stepping on the pedal 31 can intuitively sense the brake effect of the whole system, and the subjective evaluation can be conveniently made; the motor 32 can control the pedal 31 more accurately, and can be used for automatically executing a plurality of test cases in sequence. The valve assembly 34 is used for controlling the opening and closing of each valve inside the integrated brake system 3, such as a liquid inlet valve, a liquid outlet valve, and the like, and for receiving the information collected by the sensor 37 and the fault information output by the IO output interface 2, processing and transmitting the information, and setting a fault state at a corresponding fault simulation point according to the fault information. The hydraulic line 35 is used to communicate various components for hydraulic transmission, and generates hydraulic pressure according to the displacement of the pedal 31, and fault simulation can also be performed for the hydraulic line 35. The wheels 36 include wheel cylinders and calipers for forming corresponding braking forces according to hydraulic pressure transmitted from the hydraulic line 35. The sensor 37 may include a pressure sensor for collecting the pressure at the wheel end of the hydraulic line 35 and the wheel 36 and transmitting the pressure to the upper computer 1 through the IO input interface 4, and may further include a displacement sensor for collecting the displacement information of the pedal 31 and transmitting the displacement information to the valve assembly 34.
Exemplarily, fig. 7 is a schematic structural diagram of an integrated brake system according to an embodiment of the present invention, where the integrated brake system includes a pedal 31, a hydraulic pipeline 35, a master cylinder, a brake fluid oil can, a servo cylinder motor, a servo cylinder, 4 wheel cylinders, an isolation valve 1 and an isolation valve 2, a servo valve 1 and a servo valve 2, 4 fluid inlet valves, 4 fluid outlet valves, a check valve, a simulation valve, a pedal feel simulator, and the like.
The servo cylinder motor is used for receiving displacement information of the pedal 31 through the valve assembly 34 and controlling the servo cylinder to act. The servo cylinder corresponds to a master cylinder for generating pressure to build up pressure in the 4 wheel cylinders. The isolation valve 1 and the isolation valve 2 are used for opening the isolation valve 1 and the isolation valve 2 when the servo cylinder motor and the servo cylinder are not electrified, manually stepping on the pedal 31, and building pressure through the brake main cylinder, the isolation valve 1, the isolation valve 2 and the 4 liquid inlet valves; the isolation valves 1 and 2 are closed after the servo cylinder motor and the servo cylinder are electrified, and the integrated brake system 3 builds pressure through the servo valve. The servo valve 1 and the servo valve 2 are used for closing when the servo cylinder motor and the servo cylinder are not electrified, and blocking a hydraulic pipeline 35 below the servo cylinder motor and the servo cylinder motor; after the servo cylinder motor and the servo cylinder are electrified, the servo valve 1 and the servo valve 2 are opened, and pressure is built through the servo cylinder, the servo valve 1, the servo valve 2 and 4 liquid inlet valves. The 4 liquid inlet valves are opened in the pressure building process and closed in the pressure reducing process and are used for injecting liquid into the 4 wheel cylinders. And the 4 liquid outlet valves are closed in the pressure building process and opened in the pressure reducing process, and are used for enabling the 4 wheel cylinder liquids to flow back. The one-way valve is closed when the servo cylinder motor and the servo cylinder are not electrified, is also closed in the pressure building process after the servo cylinder motor and the servo cylinder are electrified, and is opened in the pressure reducing process to enable the liquid in the wheel cylinder to flow back to the brake fluid oil can. The simulation valve is used for communicating the pedal feel simulator and the brake master cylinder, and the pedal feel simulator is used for releasing the pressure generated by the brake master cylinder under the condition that the isolation valve is closed.
See fig. 6 and 7. The IO output interface 2 outputs information of 50% of treading of the pedal 31, the lasting 2s to the motor 32, the IO output interface 2 outputs fault information of a valve or a hydraulic pipeline 35 and vehicle information simulated by the whole vehicle dynamic model 12 to the valve assembly 34, the valve assembly 34 carries out fault setting on the valve or the hydraulic pipeline 35 according to the received fault information and adjusts control logic of a brake system according to the received vehicle information and fault states, the motor 32 controls the actuating cylinder 33 to push the pedal 31 according to the received test information, after the pedal 31 acts, displacement information generated by the pedal 31 is transmitted to the valve assembly 34 through a displacement sensor, the valve assembly 34 processes the displacement information and transmits the displacement information to the servo cylinder motor, the servo cylinder motor controls the servo cylinder to move forwards or backwards according to the displacement information of the pedal 31, the action of the servo cylinder controls hydraulic pressure output by the hydraulic pipeline 35, the hydraulic pipeline 35 outputs hydraulic pressure to a wheel cylinder of a wheel 36, the caliper is controlled by the hydraulic pressure to generate braking force, and the sensor 37 acquires pressure at wheel ends of the hydraulic pipeline 35 and the wheel 36 and transmits the pressure to the upper computer 1 through the IO input interface 4.
Fig. 8 is a schematic structural diagram of another testing system applied to an integrated braking system according to an embodiment of the present invention. Referring to fig. 8, optionally, the integrated braking system 3 further comprises: fault simulation hardware 5, the fault simulation hardware 5 being configured on the valve assembly 34 and/or said hydraulic line 35 for simulating a fault situation of the valve assembly 34.
Specifically, the fault simulation hardware 5 is used to simulate a fault condition based on fault information communicated by the valve assembly 34.
The embodiment of the invention also provides a test method applied to the integrated brake system, and the test method adopts the test system of the integrated brake system in any embodiment. Fig. 9 is a flowchart of a testing method applied to an integrated braking system according to an embodiment of the present invention, and referring to fig. 9, the testing method includes:
and S101, operating the test environment module 11 according to the test instruction, and generating test information.
Specifically, the test environment module 11 in the upper computer 1 generates test information according to the test instruction, where the test information may include vehicle parameter information, environment information, fault information, and the like.
And S102, transmitting the test information to the integrated brake system 3 through the IO output interface 2.
Specifically, the test information is processed by the IO processing board 16 and then transmitted to the integrated brake system 3 through the IO output interface 2.
And S103, the integrated braking system 3 performs braking operation according to the test information and generates controlled object information.
Specifically, the integrated brake system 3 performs a braking operation according to the test information, controls the state of the controlled object, and collects the generated controlled object information through the sensor 37.
And S104, transmitting the information of the controlled object back to the upper computer 1 through the IO input interface 4.
Specifically, the collected information of the controlled object is transmitted back to the upper computer 1 through the IO input interface 4.
And S105, the test environment module 11 obtains a control effect according to the controlled object information.
Specifically, the test environment module 11 integrates and processes the controlled object information to obtain a control effect.
According to the technical scheme of the embodiment of the invention, the test environment module outputs test information and the like to the integrated brake system through the IO output interface, the integrated brake system performs brake operation according to the test information and the like and generates controlled object information, the IO input interface transmits the controlled object information back to the test environment module, and the test environment module obtains a control effect according to the controlled object information; the method and the device realize the test analysis of the function completion degree, the performance index completion degree and the like of the system of the integrated brake system, simulate various fault conditions, realize the safety processing of the faults, carry out the test analysis on the safety of the vehicle and verify the control logic and the control result of the integrated brake system.
Optionally, fig. 10 is a flowchart of another testing method applied to the integrated braking system according to the embodiment of the present invention. Referring to fig. 10, the test method provided in this embodiment includes:
the step of operating the test environment module according to the test instruction and generating the test information specifically comprises the following steps:
s201, the automatic test software 14 reads in a test case.
Specifically, the automatic test software 14 reads in test cases, which may include what vehicle parameters are configured under what road conditions, what faults occur, and the like.
S202, the real-time simulation system 13 generates corresponding brake system input information according to the vehicle dynamics model 12 and the test case.
Specifically, the vehicle dynamics model 12 simulates vehicle state information, vehicle parameters, and the like, and the real-time simulation system 13 generates a corresponding simulation scenario according to the vehicle information and the test case simulated by the vehicle dynamics model 12, and generates corresponding brake system input information.
And S203, controlling the fault simulation board card 15 to configure the fault simulation node by the automatic test software 14 according to the test case.
Specifically, the automatic test software 14 controls the fault simulation board card 15 to configure fault simulation nodes according to fault information in the test case, and the fault state of each fault node can be set independently.
And S204, transmitting the test information to the integrated brake system 3 through the IO output interface 2.
S205, the motor 32 receives the brake system input information and controls the operation of the brake cylinder 33.
Specifically, the motor 32 receives brake system input information, which may include whether braking is required, how much force is required to be applied to the pedal 31, how long the pedal 31 is pushed, and the like, for example, information about the pedal 31 is depressed 50% for 2 seconds, and controls the actuation of the actuating cylinder 33 according to the brake system input information.
S206, the valve assembly 34 receives the system input information, and adjusts the control logic according to the operation of the cylinder 33 and the failure state of the failure simulation node.
Specifically, the valve assembly 34 receives system input information, which may include fault information of each fault simulation node, vehicle information such as vehicle speed, acceleration, etc., and adjusts control logic, which may include opening and closing of valves, etc., according to the actions of the cylinders 33, the fault state of the fault simulation node, etc.
And S207, acquiring the pressure of the hydraulic pipeline 35 and the wheel end by the sensor 37, and generating controlled object information. Specifically, the sensor 37 collects the pressure of the hydraulic line 35 and the wheel end, generates controlled object information,
and S208, transmitting the controlled object information back to the upper computer 1 through the IO input interface 4.
S209, the test environment module 11 obtains the control effect according to the controlled object information.
Optionally, fig. 11 is a flowchart of another testing method applied to the integrated braking system according to the embodiment of the present invention. Referring to fig. 11, the test method provided in this embodiment includes:
s301, operating the test environment module 11 according to the test instruction, and generating test information.
And S302, transmitting the test information to the integrated brake system 3 through the IO output interface 2.
And S303, the integrated braking system 3 performs braking operation according to the test information and generates controlled object information.
And S304, transmitting the controlled object information back to the upper computer 1 through the IO input interface 4.
S305, the test environment module 11 obtains a control effect according to the controlled object information.
S306, the test environment module 11 adjusts the test information and carries out cycle test on the integrated brake system 3.
Specifically, the test environment module 11 obtains the control result and outputs the vehicle parameters, and the test environment module 11 adjusts the test information according to the next test case, transmits the new test information to the integrated brake system 3, and starts to test the next test case.
Alternatively, fig. 12 is a flowchart of another testing method applied to the integrated braking system according to the embodiment of the present invention. Referring to fig. 12, the testing method provided in this embodiment includes:
s401, starting to execute the test.
S402, the automatic test software 14 reads in test cases.
And S403, simulating the required input by the real-time simulation system 13.
S404, the automatic test software 14 sets an IO output interface 2.
And S405, outputting information by the IO interface and the CAN interface.
S406, the automatic test software 14 configures the fault simulation node.
S407, the motor 32 and the cylinder 33 receive information and operate.
S408, the valve component 34 adjusts logic according to the actuating cylinder 33, the IO output interface 2 and the fault state.
S409, the sensor 37 acquires information of the hydraulic pipeline 35 and the wheel end.
And S410, information is collected and then transmitted back to the IO input interface 4.
And S411, receiving the information and outputting vehicle parameters by the vehicle dynamics model 12.
And S412, outputting the parameters of the whole vehicle through interfaces such as CAN and the like.
And S413, obtaining the control effect.
And S414, ending the test.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A test system for use with an integrated brake system, comprising: the brake system comprises an upper computer, an IO output interface, an integrated brake system and an IO input interface which are connected in a closed loop manner;
the upper computer is provided with a test environment module and generates test information according to the test instruction;
the IO output interface transmits the test information generated by the upper computer to the integrated brake system; the integrated braking system carries out braking operation according to the test information and generates controlled object information;
the IO input interface transmits the controlled object information back to the upper computer, and the test environment module in the upper computer obtains a control effect according to the controlled object information.
2. The integrated brake system testing system of claim 1, wherein the test environment module comprises: a complete vehicle dynamic model and a real-time simulation system;
and the whole vehicle dynamics model is called and executed by the real-time simulation system.
3. The integrated brake system testing system of claim 2, wherein the test environment module further comprises: automatic test software, the automatic test software and the real-time simulation system are independently arranged; the automatic test software is configured with at least one test case, and the automatic test software changes the state of the IO output interface according to the test case.
4. The integrated brake system testing system of claim 1, wherein the test environment module further comprises: the fault simulation board card is used for simulating the fault of the IO interface; the number of the fault simulation points in the fault simulation board card corresponds to the number of the IO interfaces one by one; the IO interface comprises the IO output interface and the IO input interface.
5. The integrated brake system testing system of claim 1, wherein the test environment module further comprises: the IO processing board card is connected with the IO output interface and connected with the IO input interface; and the IO processing board card is used for carrying out signal processing on the test information and the controlled object information.
6. The integrated brake system testing system of claim 1, wherein the integrated brake system comprises: the device comprises a pedal, a motor, an actuating cylinder, a valve component, a hydraulic pipeline, wheels and a sensor;
the motor is mechanically connected with the actuating cylinder and used for receiving test information of an upper computer to control the stroke of the actuating cylinder; so that the pedal and the cylinder are respectively used as two input modes of the integrated brake system;
the hydraulic pipeline is connected between the valve assembly and the wheel, the valve assembly is used as a measured object of the integrated brake system, the calipers of the wheel are used as a controlled object of the integrated brake system, and the sensor acquires the pressure of the hydraulic pipeline and the wheel end.
7. The integrated brake system testing system of claim 6, further comprising: fault simulation hardware configured on the valve assembly and/or the hydraulic line for simulating a condition of valve assembly failure.
8. A test method applied to an integrated brake system, characterized in that the test system of the integrated brake system according to any one of claims 1 to 7 is adopted; the test method comprises the following steps:
operating the test environment module according to the test instruction and generating the test information;
the test information is transmitted to the integrated brake system through the IO output interface;
the integrated braking system carries out braking operation according to the test information and generates the controlled object information;
the information of the controlled object is transmitted back to the upper computer through the IO input interface;
and the test environment module obtains a control effect according to the controlled object information.
9. The integrated brake system testing method of claim 8, wherein the step of operating the test environment module according to the test instructions and generating the test information comprises:
reading in a test case by automatic test software;
the real-time simulation system generates corresponding brake system input information according to the whole vehicle dynamics model and the test case;
the automatic test software controls the fault simulation board card to configure a fault simulation node according to the test case;
the step of the integrated braking system performing braking operation according to the test information and generating the controlled object information specifically includes:
the motor receives the input information of the brake system and controls the action of the actuating cylinder;
the valve assembly receives the system input information and adjusts control logic according to the action of the actuating cylinder and the fault state of the fault simulation node;
and acquiring the pressure of a hydraulic pipeline and the pressure of a wheel end by a sensor to generate the information of the controlled object.
10. The integrated brake system testing method according to claim 8, further comprising, after the testing environment module obtains the control effect according to the controlled object information:
and the test environment module adjusts the test information and carries out cycle test on the integrated brake system.
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