CN115266138A - Brake performance in-loop test system, method, device and readable medium - Google Patents
Brake performance in-loop test system, method, device and readable medium Download PDFInfo
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- G01M17/00—Testing of vehicles
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Abstract
The invention discloses a brake performance in-loop test system, a brake performance in-loop test method, brake performance in-loop test equipment and a readable medium. The system comprises: the system comprises a simulation device, a braking device, an environment simulation device and a first communication board card; the simulation device is used for receiving the input driving operation information and carrying out driving simulation on the vehicle according to the driving operation information; the first communication board card is used for sending bus information generated by the simulation device in driving simulation to the braking device; the environment simulation device is used for receiving influence factors input from the outside and obtaining environment simulation information according to the influence factors; the braking device is used for braking according to the environment simulation information and the bus information when receiving the braking signal to obtain braking torque; and sending the braking torque to a simulation device to simulate a braking result, and obtaining an in-loop test result. The technical scheme of the embodiment of the invention solves the problem that the simulation of the real environment of the vehicle during the ring test on the braking performance of the vehicle is insufficient at present.
Description
Technical Field
The invention relates to the technical field of simulation test, in particular to a brake performance in-loop test system, method, equipment and readable medium.
Background
The hardware-in-loop test is a necessary link in a software development stage, and the full in-loop test can help reduce a large amount of bugs of software or controller hardware and can simulate dangerous driving conditions which cannot be realized in a real vehicle test link.
In the existing in-loop test for the brake system, the brake master cylinder pressure or the wheel cylinder pressure is connected to a vehicle dynamic model, and the brake system is tested through the feedback of the vehicle dynamic model.
However, this method does not introduce into the vehicle dynamics model the influence on the vehicle braking in actual driving, such as the friction torque between the actual brake disc and the caliper, and thus there is a deficiency in the simulation of the actual environment in which the vehicle is located during the loop test of the actual vehicle braking.
Disclosure of Invention
The invention provides a brake performance in-loop test system, a brake performance in-loop test method, brake performance in-loop test equipment and a readable medium, which are used for solving the problem that the simulation of the brake performance of a vehicle on the real environment of the vehicle is insufficient in the prior art.
According to an aspect of the present invention, there is provided a brake performance in-loop test system, comprising:
the system comprises a simulation device, a brake device, an environment simulation device and a first communication board card;
the simulation device is used for receiving the input driving operation information and carrying out driving simulation on the vehicle according to the driving operation information;
the first communication board card is used for sending bus information generated by the simulation device in the driving simulation to the braking device;
the environment simulation device is used for receiving influence factors input from the outside and obtaining environment simulation information according to the influence factors;
the braking device is used for braking according to the environment simulation information and the bus information when receiving a braking signal to obtain braking torque; and sending the braking torque to the simulation device to simulate a braking result, so as to obtain an in-loop test result.
Optionally, the braking device includes: the braking control unit, the braking execution unit, the torque sensor and the rotating speed control motor;
the brake control unit is used for receiving the brake operation and controlling the brake execution unit according to the brake operation;
the brake execution unit is used for executing brake operation under the control of the brake control unit;
the torque sensor is used for acquiring torque generated when the brake execution unit executes the brake operation and transmitting the torque to the simulation device;
the simulation device is used for controlling the rotating speed control motor according to the driving operation information; when the torque is received, controlling the rotating speed control motor according to the torque;
and the rotating speed control motor is used for simulating the wheel speed under the control of the simulation device.
Optionally, the system further comprises: a second communication board card;
and the second communication board card is used for receiving a braking signal of an external driving simulation device and sending the braking signal to the braking control unit.
Optionally, the braking device further includes: an electromagnetic hydraulic valve;
the electromagnetic hydraulic valve is connected between the brake control unit and the brake execution unit;
the environment simulation apparatus includes: a hydraulic valve control unit;
and when the influence factor is a pipeline leakage fault, the hydraulic valve control unit is used for controlling the opening degree of the electromagnetic hydraulic valve so as to simulate the pipeline leakage fault.
Optionally, the system further includes: a power source;
the power supply is used for supplying power to the braking device;
the environment simulation apparatus includes: a power supply control unit;
and when the influencing factor is power supply fault, the power supply control unit is used for controlling the power supply voltage of the power supply so as to simulate the power supply fault.
Optionally, the environment simulation apparatus includes a signal shielding unit;
and when the influence factor is a communication fault, the signal shielding unit is used for shielding transmission signals of the first communication board card and the second communication board card so as to simulate the communication fault.
Optionally, the environment simulation apparatus includes: the device comprises a temperature simulation unit, a humidity simulation unit and a heat control unit;
the temperature simulation unit is used for adjusting the ambient temperature of the braking device when the influence factor is temperature interference;
the humidity simulation unit is used for adjusting the humidity of the braking device when the influence factor is humidity interference;
and the temperature simulation unit is used for adjusting the working temperature of the intelligent device when the influence factor is braking thermal attenuation.
Optionally, the simulation apparatus includes: the third communication board card, the vehicle dynamic model and the image display unit;
the third communication board card is used for receiving the driving operation information and sending the driving operation information to the vehicle dynamics model;
the vehicle dynamic model is used for carrying out running simulation on the vehicle according to the driving operation information; receiving the braking torque sent by the braking device, and performing braking simulation during vehicle running according to the braking torque to obtain an in-loop test result;
and the display unit is used for displaying the in-loop test result.
According to another aspect of the present invention, there is provided a brake performance in-loop test method of a brake performance in-loop test system provided based on any one of the above embodiments, including:
the simulation device receives input driving operation information and carries out driving simulation on the vehicle according to the driving operation information;
the first communication board card sends bus information generated by the simulation device in the driving simulation to the braking device;
the environment simulation device receives influence factors input from outside and obtains environment simulation information according to the influence factors;
when the braking device receives a braking signal, braking is carried out according to the environment simulation information and the bus information to obtain braking torque; and sending the braking torque to the simulation device to simulate a braking result, so as to obtain an in-loop test result.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform a brake performance in-loop test method according to any embodiment of the invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to implement the brake performance in-loop test method according to any one of the embodiments of the present invention when executed.
According to the technical scheme of the embodiment of the invention, the dynamic test is carried out on the braking device, the motion relation of a real vehicle braking system is simulated through the simulation device, the real braking torque is transmitted into the simulation by the braking device, and the environment simulation is carried out through the influence factors through the environment simulation device, so that the real vehicle using environment is simulated for the braking performance test, and the problem that the simulation of the real environment of the vehicle in the ring test of the vehicle braking performance is insufficient at present is solved.
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 required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a braking performance in-loop test system according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of another braking performance in-loop test system according to a first embodiment of the present invention;
fig. 3 is a schematic structural diagram of a braking device according to a second embodiment of the present invention;
fig. 4 is a schematic diagram of an environment simulation apparatus according to a second embodiment of the present invention;
fig. 5 is a schematic structural diagram of a simulation apparatus according to a second embodiment of the present invention;
fig. 6 is a schematic structural diagram of a brake performance in-loop test system according to a third embodiment of the present invention;
fig. 7 is a flowchart of a brake performance in-loop test method according to a fourth embodiment of the present invention;
fig. 8 is a schematic structural diagram of an electronic device implementing the brake performance in-loop test method according to the embodiment of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solutions of the present invention, 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 obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, 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. Moreover, 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.
Example one
Fig. 1 is a schematic structural diagram of a brake performance in-loop test system according to an embodiment of the present invention, where this embodiment is applicable to a situation where an in-loop test is performed on brake performance of a vehicle, and the brake performance in-loop test system may be implemented in a form of hardware and/or software. As shown in fig. 1, the system includes:
the simulation device 110, the braking device 120, the environment simulation device 130 and the first communication board card 140;
the simulation device 110 is configured to receive input driving operation information, and perform driving simulation of a vehicle according to the driving operation information;
the driving operation information is used for determining a driving state of the vehicle during vehicle driving simulation, and the driving operation information may include a steering wheel angle, a driving pedal opening degree, a gear position, and the like. The simulation device is used for actually simulating the state of the vehicle in running according to the driving operation information. The input of the driving operation information can be realized through a driving simulator, a real vehicle cab is simulated, and the steering wheel rotating angle, the driving pedal opening degree and the gear can be operated through a steering wheel, a driving pedal and a gearbox gear lever of the driving simulator.
The first communication board 140 is configured to send bus information generated by the simulation apparatus 110 in the driving simulation to the braking apparatus 120;
the first communication board card CAN be a CAN communication board card, and the reason is that information interaction of common vehicles is completed by CAN communication, and a CAN bus is a standard bus of an automobile computer control system and an embedded industrial control local area network, so that the CAN communication board card is selected as the communication board card in order to simulate a real vehicle communication environment as much as possible in a test system.
The simulation device sends the bus information generated in the form simulation to the braking device, so that the simulation of the actual vehicle braking can be better carried out. In different working conditions of a vehicle, braking force required for completing braking is different, in brief, for example, the faster the speed is, the larger the required braking force is, for a part of manual transmission vehicles, when the vehicle speed is higher, the gear is higher, the clutch may not be operated under the condition that the engine keeps a certain rotating speed, but when the vehicle is about to be braked and stopped, the clutch needs to be operated and the gear is adjusted to keep the vehicle not to be braked and stopped and not to be flamed out when the vehicle is subsequently started, therefore, when a simulation of braking is performed, the braking device needs to know the current running state of the vehicle through bus information, including but not limited to: wheel angle, engine speed, transmission gear, longitudinal acceleration, lateral acceleration, and yaw rate.
The environment simulation device 130 is configured to receive an influence factor input from the outside and obtain environment simulation information according to the influence factor;
the environment simulation device can simulate environment simulation information in the running process of various real vehicles in a software or hardware mode. The influencing factors are conditions required for simulating a specific scene when a braking performance test is carried out on the specific scene. The influencing factors can be divided into two types, one is an external factor, and the other is an internal factor; the external factors are independent of the state of the vehicle itself, and are usually factors that influence the braking of the vehicle by the external environment, such as weather, road conditions, and the like. The internal factors are factors inside the vehicle, such as damage to equipment, degree of wear, etc., which are generated by the vehicle itself. When the environment simulation device obtains the environment simulation information according to the external factors, other equipment for manufacturing the external environment, such as equipment for adjusting the temperature, can be used for testing the braking performance of the vehicle in different environments; the environment simulation apparatus can simulate different failures by controlling different components of the vehicle when obtaining the environment simulation information according to the internal factors, thereby determining the braking performance of the vehicle when the failure occurs.
The braking device 120 is configured to brake according to the environment simulation information and the bus information when receiving a braking signal, so as to obtain a braking torque; and sending the braking torque to the simulation device 110 for braking result simulation to obtain an in-loop test result.
The system comprises a simulation device, a bus information bus, a brake device, a real vehicle and a real vehicle, wherein the brake device is realized through brake hardware in the real vehicle, the brake device can determine the current running state of the vehicle through the bus information, the vehicle is braked through the brake hardware under the influence of environment simulation information, the real brake hardware can generate brake torque in the braking process, the brake torque is fed back to the simulation device, the simulation device simulates braking in the current running state according to the brake torque, and an in-loop test result is obtained according to the braking result.
According to the technical scheme of the embodiment of the invention, the dynamic test is carried out on the braking device, the motion relation of a real vehicle braking system is simulated through the simulation device, the real braking torque is transmitted into the simulation by the braking device, and the environment simulation is carried out through the influence factors through the environment simulation device, so that the real vehicle using environment is simulated for the braking performance test, and the problem that the simulation of the real environment of the vehicle in the ring test of the vehicle braking performance is insufficient at present is solved.
In one embodiment of the present invention, as shown in fig. 2, the system further includes: a second communications board card 210;
the second communication board 210 is configured to receive a braking signal of an external driving simulation apparatus, and send the braking signal to the braking control unit.
More comprehensive braking software functions and performance are covered by adding interaction with a driving simulation device for realizing automatic driving in consideration of interaction and testing between the braking device and the braking driving. The external driving simulation device calculates when the vehicle needs to be braked and how much braking force is needed according to the corresponding driving mode algorithm, and when the braking force needed by the vehicle is calculated, a braking signal is sent to the braking control unit so that the braking device executes corresponding braking operation, and simulation is carried out on the simulation device to determine the braking effect. The quality of the braking effect can be used as the basis for adjusting the automatic driving algorithm. In addition, in order to meet the requirement of an upper-layer automatic driving CAN bus information interface required by the braking device, the information of the upper-layer automatic driving CAN bus information interface is required to be transmitted to the braking device by using the same CAN communication board card.
Example two
Fig. 3 is a schematic structural diagram of a braking device according to a second embodiment of the present invention, and as shown in fig. 3, the braking device includes: the method comprises the following steps: a brake control unit 121, a brake execution unit 122, a torque sensor 123, and a rotational speed control motor 124;
the brake control unit 121 is configured to receive the brake operation and control the brake execution unit 122 according to the brake operation;
the brake execution unit 122, configured to execute a braking operation under the control of the brake control unit 121;
the torque sensor 123 is configured to collect a torque generated when the brake execution unit 122 executes the braking operation, and transmit the torque to the simulation apparatus 110;
the simulation device 110 is configured to control the rotating speed control motor according to the driving operation information; when the torque is received, controlling the rotating speed control motor according to the torque;
the rotational speed control motor 124 is used for simulating the wheel speed under the control of the simulation device.
The brake control unit is used for transmitting brake operation and triggering the brake execution unit to brake; the brake control unit is used for analyzing the operation amplitude of the brake operation, such as the opening degree of a brake pedal, and controlling the brake execution unit to execute the brake operation with corresponding brake force according to the determined brake force. The brake controller and the actuator mainly refer to a brake control unit (not limited to a traditional brake master cylinder + ESP electronic control unit, a novel IBC integrated electronic brake control unit) for generating hydraulic pressure, and an attached hydraulic oil pot and the like. The brake execution unit comprises four-wheel brake calipers and a brake disc, and brake fluid in the hydraulic swimming lake flows into brake branch pumps at all wheels through brake oil pipes after being pressurized by a brake master cylinder to push pistons in the branch pumps and the movable calipers. Each wheel brake pad consists of an inner piece and an outer piece which are connected by two telescopic rod pieces, and the two brake pads hold the brake disc under the pushing of the piston in the brake cylinder during braking to finish braking. The four rotating speed control motors receive the wheel speed information of the four wheels transmitted by the simulation device and respectively control the motors to perform closed-loop following control of the speeds according to the corresponding rotating speeds. When the brake execution unit generates clamping force, the four torque sensors connected in series between the four rotation speed control motors and the brake disc are capable of collecting four wheel braking torques and transmitting the four wheel braking torques to the simulation device for simulation, so that the dynamic process of a real brake system on a real vehicle is simulated, and the traditional method that only the wheel cylinder pressure is transmitted to a vehicle dynamic model is abandoned.
In the second embodiment of the present invention, as shown in fig. 3, the braking device further includes: an electromagnetic hydraulic valve 125; the electromagnetic hydraulic valve is connected between the brake control unit 121 and the brake execution unit 122;
fig. 4 is a schematic diagram of an environment simulation apparatus according to a second embodiment of the present invention, as shown in fig. 4, the environment simulation apparatus 130 includes: a hydraulic valve control unit 131;
and when the influence factor is a pipeline leakage fault, the hydraulic valve control unit 131 is used for controlling the opening degree of the electromagnetic hydraulic valve so as to simulate the pipeline leakage fault.
In order to simulate the leakage fault of the pipeline, an electromagnetic hydraulic valve capable of controlling opening and closing is connected in series in the middle of the pipeline. When the pipeline leakage fault is simulated, the hydraulic valve control unit changes the opening degree of the electromagnetic hydraulic valve to influence the braking force actually obtained by the braking execution unit, and then the actual braking condition of the vehicle when the pipeline leakage fault occurs is determined.
In the second embodiment of the present invention, the system further includes: a power source;
the power supply is used for supplying power to the braking device;
as shown in fig. 4, the environment simulation apparatus 130 includes: a power supply control unit 132;
when the influencing factor is a power failure, the power control unit 132 is configured to control a power supply voltage of the power supply to simulate the power failure.
The brake control unit is controlled to be changed into a power supply to supply power, and the power supply voltage can be changed at will according to requirements. The power supply control unit simulates the phenomenon of insufficient power supply of the braking device by changing the power supply voltage of the power supply, thereby influencing the transmission of braking signals and braking control, simulating the finally generated braking effect through the simulation device, and determining the actual braking condition of the vehicle when the power supply fails.
In the second embodiment of the present invention, as shown in fig. 4, the environment simulation apparatus 130 includes: the signal shielding unit 133;
when the influence factor is a communication fault, the signal shielding unit 133 is configured to shield transmission signals of the first communication board and the second communication board, so as to simulate the communication fault.
When the signal shielding unit shields the signal of the first communication board card, bus information which cannot represent the vehicle running state of the simulation device is sent to the brake control unit, and the brake control unit cannot accurately determine the brake force; when the signal shielding unit shields the signal of the second communication board card, the brake control unit cannot receive the brake request of the automatic driving control, so that the running condition of the vehicle when the automatic driving control signal cannot be received is simulated.
In the second embodiment of the present invention, as shown in fig. 4, the environment simulation apparatus 130 includes: a temperature simulation unit 134, a humidity simulation unit 135, and a heat control unit 136;
the temperature simulation unit, the humidity simulation unit and the heat control unit are externally connected control equipment and are used for carrying out long-slope heating, high-temperature and low-temperature simulation and wet-slip wading working condition simulation on the brake disc. The temperature simulation unit is used for simulating the braking effect of the vehicle in high-temperature, low-temperature and other weather by changing the ambient temperature. The humidity simulation unit is used for simulating the braking effect of the braking device under wading, for example, spraying water to the braking execution unit through the water spraying device, simulating the actual wading scene of the vehicle, and determining the braking performance of the vehicle in wading through the simulation device.
Fig. 5 is a schematic structural diagram of a simulation apparatus according to a second embodiment of the present invention, and as shown in fig. 5, the simulation apparatus 110 includes: a third communication board card 111, a vehicle dynamics model 112, and an image display unit 113;
the third communication board 111 is configured to receive the driving operation information and send the driving operation information to the vehicle dynamics model 112;
the vehicle dynamics model 112 is used for performing running simulation of the vehicle according to the driving operation information; receiving the braking torque sent by the braking device, and performing braking simulation during vehicle running according to the braking torque to obtain an in-loop test result;
the display unit 113 is configured to display the in-loop test result.
The third communication board card needs to perform digital-to-analog conversion, so that the AD/DA communication board card is selected, and interaction between the vehicle model and analog quantities such as driving operation input, four-wheel speed information, four-wheel braking torque and the like can be realized. The vehicle dynamic model comprises an engine model, a transmission model, a suspension model, a road model and the like, can calculate the current state of the vehicle in real time according to the input of the system, and feeds the current state back to the display unit. The display unit is further used for displaying the in-loop test result, so that a tester can obtain the test result more intuitively.
EXAMPLE III
Fig. 6 is a schematic structural diagram of a brake performance in-loop test system according to a third embodiment of the present invention, as shown in fig. 6, the system includes: the brake control unit 610, the electromagnetic hydraulic valve 620, the brake execution unit 630, the torque sensor 640, the rotation speed control motor 650, the first communication board card 660, the second communication board card 670, the third communication board card 680, the vehicle dynamics model 690, the image display 6100, the environment simulator 6110, and the controllable programming power supply 6120.
The real-time simulation cabinet comprises an AD/DA communication board card, and interaction of a vehicle model and analog quantities such as driving operation input, four-wheel speed information, four-wheel braking torque and the like can be realized. The vehicle dynamic model comprises an engine model, a transmission model, a suspension model, a road model and the like, can calculate the current state of the vehicle in real time according to the input of the system, and feeds the current state back to the image display. In addition, the CAN communication board card CAN be used for sending the whole vehicle CAN bus information required by the braking system to the braking controller so as to simulate the real electric environment of the real vehicle. The brake controller and the actuator mainly refer to a brake control unit (not limited to a traditional brake master cylinder + ESP electronic control unit and a novel IBC integrated electronic brake control unit) for generating hydraulic pressure and an attached hydraulic oil pot thereof, and the rear part of the brake controller and the actuator is connected with a hydraulic pipeline, a brake caliper and a brake disc. In order to simulate the leakage fault of the pipeline, an electromagnetic hydraulic valve which can be controlled to open and close is connected in series in the middle of the pipeline. The brake controller and the actuator are powered by a controllable programming power supply, and the power supply voltage can be changed at will according to requirements. Meanwhile, in order to meet the requirement of an upper-layer automatic driving CAN bus information interface required by the brake controller, the same CAN communication board card is required to be used for transmitting the information to the brake controller.
The four rotating speed control motors receive the wheel speed information of the four wheels transmitted by the vehicle dynamics model and respectively control the motors to carry out closed-loop speed following control according to the corresponding rotating speeds. Because the four speed control motors are rigidly connected with the brake disc, once the brake system generates clamping force, the four torque sensors connected in series between the four speed control motors can acquire the braking torque of the four wheels, and then transmit the braking torque to a vehicle dynamic model. The method has the advantages that the dynamic process of a real brake system on a real vehicle can be simulated, the traditional method that only wheel cylinder pressure is transmitted to a vehicle dynamic model is abandoned, the brake disc is convenient to be subjected to heating on a long slope, high-temperature and low-temperature simulation and wet-skid wading working condition simulation by using the environment simulator, the real vehicle working condition of the brake system can be comprehensively subjected to repeated test in a HIL (high-level intelligence) environment of a laboratory, and the test coverage is greatly improved.
The dynamic test system can dynamically test the calipers and the brake disc of the brake system, simulate the motion relation of a real vehicle brake system, transmit the friction torque between the real brake disc and the calipers into a vehicle dynamic model, and also realize the environmental simulation of the adhesion, the temperature and other conditions of the brake disc;
the invention considers the interaction and test with the automatic driving, and can cover the comprehensive braking software function and performance;
the invention considers the relatively comprehensive fault injection process of the brake system on the real vehicle, covers communication faults, power supply faults, pipeline leakage faults, temperature and humidity environmental interference and the like, and creates a more real vehicle use environment for the test of the brake system software.
Example four
Fig. 7 is a flowchart of a brake performance in-loop test method according to a fourth embodiment of the present invention.
As shown in fig. 7, the method includes:
and S710, the simulation device receives the input driving operation information and carries out running simulation on the vehicle according to the driving operation information.
And S720, the first communication board card sends bus information generated by the simulation device in the driving simulation to the braking device.
And S730, the environment simulation device receives influence factors input from the outside and obtains environment simulation information according to the influence factors.
S740, when the braking device receives a braking signal, braking is carried out according to the environment simulation information and the bus information to obtain braking torque; and sending the braking torque to the simulation device to simulate a braking result, so as to obtain an in-loop test result.
EXAMPLE five
FIG. 8 illustrates a block diagram of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 8, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
In some embodiments, the brake performance on-loop testing method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the brake performance in-loop test method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the brake performance on-loop test method by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user may provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the Internet.
The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.
It should be understood that various forms of the flows shown above, reordering, adding or deleting steps, may be used. 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 in accordance with 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 (11)
1. Brake performance is at ring test system, characterized by, includes:
the system comprises a simulation device, a brake device, an environment simulation device and a first communication board card;
the simulation device is used for receiving the input driving operation information and carrying out driving simulation on the vehicle according to the driving operation information;
the first communication board card is used for sending bus information generated by the simulation device in the driving simulation to the braking device;
the environment simulation device is used for receiving influence factors input from the outside and obtaining environment simulation information according to the influence factors;
the braking device is used for braking according to the environment simulation information and the bus information when receiving a braking signal to obtain braking torque; and sending the braking torque to the simulation device to simulate a braking result, so as to obtain an in-loop test result.
2. The system of claim 1, wherein the braking device comprises: the braking control unit, the braking execution unit, the torque sensor and the rotating speed control motor;
the brake control unit is used for receiving the brake operation and controlling the brake execution unit according to the brake operation;
the brake execution unit is used for executing brake operation under the control of the brake control unit;
the torque sensor is used for acquiring torque generated when the brake execution unit executes the brake operation and transmitting the torque to the simulation device;
the simulation device is used for controlling the rotating speed control motor according to the driving operation information; when the torque is received, controlling the rotating speed control motor according to the torque;
and the rotating speed control motor is used for simulating the wheel speed under the control of the simulation device.
3. The system of claim 2, further comprising: a second communication board card;
and the second communication board card is used for receiving a braking signal of an external driving simulation device and sending the braking signal to the braking control unit.
4. The system of claim 2, wherein the braking device further comprises: an electromagnetic hydraulic valve;
the electromagnetic hydraulic valve is connected between the brake control unit and the brake execution unit;
the environment simulation apparatus includes: a hydraulic valve control unit;
and when the influence factor is a pipeline leakage fault, the hydraulic valve control unit is used for controlling the opening degree of the electromagnetic hydraulic valve so as to simulate the pipeline leakage fault.
5. The system of claim 1, further comprising: a power source;
the power supply is used for supplying power to the braking device;
the environment simulation apparatus includes: a power supply control unit;
and when the influence factor is power supply failure, the power supply control unit is used for controlling the power supply voltage of the power supply so as to simulate the power supply failure.
6. The system according to claim 3, wherein the environment simulation apparatus comprises a signal shielding unit;
and when the influence factor is a communication fault, the signal shielding unit is used for shielding the transmission signals of the first communication board card and the second communication board card so as to simulate the communication fault.
7. The system of claim 3, wherein the environmental simulation means comprises: the device comprises a temperature simulation unit, a humidity simulation unit and a heat control unit;
the temperature simulation unit is used for adjusting the environmental temperature of the braking device when the influence factor is temperature interference;
the humidity simulation unit is used for adjusting the humidity of the braking device when the influence factor is humidity interference;
and the temperature simulation unit is used for adjusting the working temperature of the intelligent device when the influence factor is braking thermal attenuation.
8. The system of claim 1, wherein the simulation device comprises: the third communication board card, the vehicle dynamic model and the image display unit;
the third communication board card is used for receiving the driving operation information and sending the driving operation information to the vehicle dynamics model;
the vehicle dynamics model is used for carrying out running simulation on the vehicle according to the driving operation information; receiving the braking torque sent by the braking device, and performing braking simulation during vehicle running according to the braking torque to obtain an in-loop test result;
and the display unit is used for displaying the in-loop test result.
9. The brake performance in-loop test method of the brake performance in-loop test system according to any one of claims 1 to 8, comprising:
the simulation device receives input driving operation information and carries out driving simulation on the vehicle according to the driving operation information;
the first communication board card sends bus information generated by the simulation device in the driving simulation to the braking device;
the environment simulation device receives influence factors input from outside and obtains environment simulation information according to the influence factors;
when the braking device receives a braking signal, braking is carried out according to the environment simulation information and the bus information to obtain braking torque; and sending the braking torque to the simulation device to simulate a braking result, so as to obtain an in-loop test result.
10. An electronic device, characterized in that the electronic device comprises:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the brake performance in-loop test method of claim 9.
11. A computer readable storage medium having stored thereon computer instructions for causing a processor to execute the brake performance in-loop testing method of claim 9.
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| CN202210896913.0A CN115266138A (en) | 2022-07-28 | 2022-07-28 | Brake performance in-loop test system, method, device and readable medium |
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| CN202210896913.0A CN115266138A (en) | 2022-07-28 | 2022-07-28 | Brake performance in-loop test system, method, device and readable medium |
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