CN115933432B - Simulation test system based on controller area network - Google Patents
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Abstract
A controller area network based simulation test system, the system comprising: the analysis program is used for acquiring a controller area network data file, generating a first file comprising all signal level information and generating a second file comprising three-level information based on the controller area network data file; a simulation program, which generates a plurality of first variable interfaces interacted with an external program based on the first file; the controller area network communication program is in driving connection with a controller area network board, the controller area network communication program generates a plurality of second variable interfaces interacted with external programs based on the second file and a preset controller area network channel configuration file, and the controller area network channel configuration file comprises mapping relations of the channel, the bus network and the controller area network board types. The test system has strong adaptability, and saves time and cost of manual configuration.
Description
Technical Field
The invention relates to the technical field of simulation test, in particular to a simulation test system based on a controller area network.
Background
The controller area network (Controller Area Network, CAN) is a serial communication bus with good real-time performance and reliability, and is widely applied to the automobile electronic industry.
The controller area network data file (DBC file) is a data file for organizing the controller area network messages, and may describe the structure of a controller area network.
Electric vertical take-off and landing automobiles (Electric Vertical Takeoff and Landing, eVOTL) are a novel solution for future urban traffic.
Hardware-in-the-Loop (HIL) is a simulation test method, and the building of the Hardware-in-the-Loop (HIL) is divided into Hardware environment building and software environment building. The construction of a hardware environment generally needs to determine a wiring relation according to wiring definition of hardware equipment in an electrical interface control file (EICD file), and then carries out related design; the software environment is built to identify the input and output data of each real equipment according to a signal interface control file (SICD file), then map the input and output data into external interface variables of simulation programs, and perform data interaction between different simulation programs by means of the external interface variables.
In a traditional aircraft simulation system, different airborne devices perform data communication by adopting various bus protocols, and specific device input and output data definitions are given in the form of SICD files, so that a unified data organization form is lacked. In the process of mapping the input and output data of the equipment into external interface variables of the simulation program, the input and output data of the equipment are often identified, defined and butted manually, so that the workload is large, the reliability is poor and the equipment is not easy to change.
Electric vehicles generally use a controller area network bus as a main communication mode, and organize a controller area network by using a controller area network data file. The controller area network data file format is fixed, and all data information in the controller area network is contained, so that feasibility is provided for programming identification and definition of program external interface variables in the eVOTL automobile HIL integrated test.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides a simulation test system based on a controller area network.
The invention provides a simulation test system based on a controller area network, which comprises:
the method comprises the steps of analyzing a program, wherein the analyzing program acquires a controller area network data file, generates a first file comprising all signal level information based on the controller area network data file, and generates a second file comprising all signal level information, message level information and bus level information;
a simulation program, which generates a plurality of first variable interfaces interacted with an external program based on the first file;
the controller area network communication program is in driving connection with a controller area network board, the controller area network board comprises a plurality of channels, the channels are configured and connected in corresponding bus networks, the controller area network communication program generates a plurality of second variable interfaces interacted with external programs based on the second files and preset controller area network channel configuration files, and the controller area network channel configuration files comprise mapping relations of the types of the channels, the bus networks and the controller area network board;
the first variable interfaces and the second variable interfaces are in one-to-one correspondence.
According to the simulation test system based on the controller area network, which is provided by the invention, the system further comprises:
a data sharing network (Share Data Network, SDN) comprising data sharing variables that store variable values of the first variable interface or the second variable interface.
According to the simulation test system based on the controller area network, the data sharing variable comprises a unique identifier, and the simulation program and the controller area network communication program publish or subscribe the data sharing variable based on the unique identifier.
According to the simulation test system based on the controller area network, which is provided by the invention, the system further comprises:
and the monitoring debugging program is used for monitoring and/or assigning the data sharing variable in real time, so that development and debugging are facilitated.
According to the simulation test system based on the controller area network, the simulation program comprises a flight simulation program, and meanwhile, the simulation program can further comprise one or more of the following:
and (5) a navigation gesture simulation program and a quality characteristic simulation program.
According to the simulation test system based on the controller area network, the simulation program comprises a general system simulation program.
According to the simulation test system based on the controller area network, the controller area network communication program obtains the driver corresponding to the type of the controller area network board card based on the controller area network channel configuration file when initializing.
According to the simulation test system based on the controller area network, the second file adopts an XML file format.
The invention also provides a simulation test system of the electric vertical take-off and landing automobile, which comprises the simulation test system based on the controller area network.
According to the simulation test system of the electric vertical take-off and landing automobile, provided by the invention, a plurality of real equipment are connected in the bus network, and the system also comprises:
and the third variable interfaces and the second variable interfaces corresponding to the virtual piece equipment programs are gathered and correspond to the first variable interfaces one by one.
According to the simulation test system based on the controller area network, the variable acquisition of the simulation program and the controller area network communication program is automatically realized through the controller area network data file, so that when the structure of the controller area network is changed, the whole simulation test system automatically generates a new corresponding variable, the test system has strong adaptability, and the time and the cost of manual configuration are saved.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following brief description will be given of the drawings used in the embodiments or the description of the prior art, it being obvious that the drawings in the following description are some embodiments of the invention and that other drawings can be obtained from them without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a simulation test system based on a controller area network according to the present invention.
Detailed Description
Advantages of the invention are further illustrated in the following description, taken in conjunction with the accompanying drawings and detailed description.
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.
The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context.
In the description of the present invention, it should be understood that the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
In the description of the present invention, unless otherwise specified and defined, it should be noted that the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, mechanical or electrical, or may be in communication with each other between two elements, directly or indirectly through intermediaries, as would be understood by those skilled in the art, in view of the specific meaning of the terms described above.
In the following description, suffixes such as "module", "component", or "unit" for representing elements are used only for facilitating the description of the present invention, and are not of specific significance per se. Thus, "module" and "component" may be used in combination.
The simulation test system based on the controller area network provided in the embodiment of the application is described in detail below through specific embodiments and application scenarios thereof with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a simulation test system based on a controller area network, where, as shown in fig. 1, the simulation test system based on the controller area network provided by the invention includes:
the analysis program acquires the controller area network data file, generates a first file comprising all signal level information based on the controller area network data file, and generates a second file comprising all signal level information, message level information and bus level information;
the simulation program is used for generating a plurality of first variable interfaces which interact with the external program based on the first file;
the controller area network communication program is in driving connection with a controller area network board, the controller area network board comprises a plurality of channels, the channels are configured and connected in corresponding bus networks (one bus network comprises a plurality of real equipment, such as equipment 1 and equipment 2 in fig. 1, which are connected on a bus busn), the controller area network communication program generates a plurality of second variable interfaces interacted with external programs based on a second file and a preset controller area network channel configuration file, and the controller area network channel configuration file comprises mapping relations of the types of the channels, the bus network and the controller area network board; it should be noted that, for the adjustment of the connection relation of the channel level (for example, the bus network originally adapted to the channel one is changed into another bus network) or the type change of the controller area network board (for example, the a board card is replaced by the B board card), the adaptation can be completed only by changing the channel configuration file of the controller area network.
The first variable interfaces and the second variable interfaces are in one-to-one correspondence.
Preferably, the analysis program is an experiment management software, and the experiment management software reads and analyzes the controller area network data file and outputs a second file for the controller area network communication program. The second file needs to have a 3-level structure, namely a controller area network bus level, a controller area network message level and a controller area network signal level, so that the controller area network structure can be completely described. The bus level content of the controller area network is the bus name of the current bus; the message level content of the controller area network is a message item contained in the current bus, and information such as input and output type, message name, message identification, frame type, DLC, trigger type, trigger period and the like of each message; the signal level content of the controller area network is the signal item contained in the current message, and the variable subject name, variable name, signal meaning, variable unit, the area of the variable, the start bit, bit length, data type, scaling factor, offset, initial value, maximum value, minimum value and other information of each signal. The format of the variable header name is "bus name, message identification".
Further, the experiment management software reads and analyzes the controller area network data file, and outputs a first file for the simulation program. The first file only has the related content of the signal level of the controller domain network, and specifically comprises a data sharing variable input/output type, a variable subject name, a variable name, a signal meaning, a variable unit, a domain to which a variable belongs and a variable data type.
Preferably, the controller area network channel configuration file content contains the controller area network bus name, the controller area network communication board card type, the channel number and the baud rate information. The bus names of the controller area network and the bus names of the bus level information in the second file are in one-to-one correspondence, and the specific correspondence is determined according to the wiring relationship of the equipment (namely the wiring relationship of the board card channel and the bus).
According to the embodiment, the variable acquisition of the simulation program and the controller area network communication program is automatically realized through the controller area network data file, so that when the controller area network structure is changed, the whole simulation test system automatically generates a new corresponding variable, the test system has strong adaptability, and the time and the cost of manual configuration are saved.
Optionally, the system further comprises:
and the data sharing network comprises a data sharing variable which stores variable values of the first variable interface or the second variable interface.
Optionally, the data sharing variable includes a unique identifier, and the simulation program and the controller area network communication program publish or subscribe to the data sharing variable based on the unique identifier.
It should be noted that, the data sharing variables are stored in the data sharing network, and each data sharing variable has a unique identifier, where the unique identifier is composed of a variable subject name, a variable unit and a domain to which the variable belongs. The multiple programs can lock the same data sharing variable according to the unique identification of the data sharing variable, so that data sharing data communication among the multiple programs is realized.
Optionally, the system further comprises:
and the monitoring debugging program is used for monitoring and/or assigning the data sharing variable in real time, so that development and debugging are facilitated.
Optionally, the simulation program comprises a flight simulation program, and the simulation program can further comprise one or more of the following:
and (5) a navigation gesture simulation program and a quality characteristic simulation program.
Optionally, the simulation program comprises a general-purpose system simulation program.
Optionally, when the controller area network communication program is initialized, the driver corresponding to the type of the controller area network card (such as type a and type B in fig. 1) is obtained based on the controller area network channel configuration file.
Preferably, program operations related to the controller area network communication board card are encapsulated in the form of a c++ class, and each model of controller area network board card corresponds to a subclass derived from a parent class of the controller area network device. The controller area network communication program reads the controller area network channel configuration file, generates corresponding controller area network board card sub-class objects according to the type of the controller area network communication board card therein, converts bus names, channel numbers and baud rate information into internal data of the class, and initializes the board card channel accordingly.
Optionally, the second file is in an XML file format.
Preferably, the first file is in the ECXEL file format.
Preferably, the controller area network communication program reads the XML data file, converts the 3-level structure of the XML data file into the 3-level structure inside the program, and realizes the XML data file in the form of 3 C++ classes (controller area network bus class, controller area network message class, controller area network signal class), and all information in the XML data file is stored in the 3 classes. The controller area network communication program matches the bus names in the controller area network card subclasses according to the bus names in the controller area network bus class, and establishes the corresponding relation between the data on the controller area network communication board card line and the external interface variables of the controller area network communication program. And the data sharing member variable is defined in the controller area network signal class, and the data sharing variable is an external interface variable of the controller area network communication program.
Preferably, the simulation program reads the EXCEL data file, and converts the data item entries in the file into data sharing variables, which are external interface variables of the simulation program related to the automobile system.
Further, on the one hand, the controller area network communication board channels collect on-line data corresponding to buses in the bus network, and data analysis is performed according to the corresponding relation between the established on-line data of the controller area network board channels and external interface variables of the controller area network communication program, when analysis is performed, a certain signal of a certain frame of information under a certain bus is firstly locked according to the name of the bus, the identification of the information and the name of the signal, and then specific numerical values of the signal are analyzed according to the initial position, the bit length, the data type, the scaling factor, the offset, the initial value, the maximum value and the minimum value of the signal. The analyzed signals are released to the data sharing network in the form of data sharing variables, and the simulation program subscribes the variables according to the unique identification of the data sharing variables to acquire data. On the other hand, the controller area network communication program subscribes to the data sharing variable issued by the simulation program, and sends data to the corresponding bus through the controller area network communication board card channel, and the specific process is reciprocal to the process of collecting the bus data, and will not be described again.
Establishing a mapping relation between the on-line data (namely, electrical analog signals) of the communication board card of the controller area network and the external interface variables of the communication program of the controller area network by means of the XML data file and the XML channel configuration file; and establishing a mapping relation between the internal variables of the controller area network communication program and the internal variables of other simulation programs by means of the XML data file, the EXCEL data file and the data sharing network. Therefore, the mapping relation between the data on the bus line of the controller area network and the external interface variables of the related simulation program is established. The establishment of the mapping relation is automatically completed by means of a program, and the butt joint of external interface variables of the program is not needed to be manually performed.
The invention also provides a simulation test system of the electric vertical take-off and landing automobile, which comprises the simulation test system based on the controller area network.
Optionally, a plurality of real-part devices are connected in the bus network, and correspondingly, the system further comprises:
and the third variable interfaces and the second variable interfaces corresponding to the virtual piece equipment programs are in one-to-one correspondence with the first variable interfaces.
It should be noted that, in the embodiment of the present invention, the XML data file and the EXCEL data file are automatically generated by means of the controller area network data file. The XML data file is used for defining external interface variables of the controller area network communication program, analyzing data and packaging data, and the EXCEL data file is used for defining external interface variables of the eVOTL automobile related simulation system.
The external interface variables of the program are stored in the data sharing network in the form of data sharing variables, each data sharing variable has a unique identifier composed of a variable subject name, a variable unit and a domain to which the variable belongs, and different programs can lock the same data sharing variable through the unique identifier, so that data interaction is realized.
The corresponding relation between the communication board card channel of the controller area network and the bus of the controller area network is given by the configuration file of the channel of the controller area network, and after the channel-level wiring relation is adjusted, the adaptation can be completed by only changing the name of the bus in the file.
By means of debugging monitoring tool software, the locking assignment of the data sharing variable can be monitored in real time, and the monitoring of parameters and online debugging of experimental staff are facilitated.
It should be noted that the embodiments of the present invention are preferred and not limited in any way, and any person skilled in the art may make use of the above-disclosed technical content to change or modify the same into equivalent effective embodiments without departing from the technical scope of the present invention, and any modification or equivalent change and modification of the above-described embodiments according to the technical substance of the present invention still falls within the scope of the technical scope of the present invention.
Claims (10)
1. A controller area network-based simulation test system, the system comprising:
the method comprises the steps of analyzing a program, wherein the analyzing program acquires a controller area network data file, generates a first file comprising all signal level information based on the controller area network data file, and generates a second file comprising all signal level information, message level information and bus level information;
a simulation program, which generates a plurality of first variable interfaces interacted with an external program based on the first file;
the controller area network communication program is in driving connection with a controller area network board, the controller area network board comprises a plurality of channels, the channels are configured and connected in corresponding bus networks, the controller area network communication program generates a plurality of second variable interfaces interacted with external programs based on the second files and preset controller area network channel configuration files, and the controller area network channel configuration files comprise mapping relations of the types of the channels, the bus networks and the controller area network board;
the first variable interfaces and the second variable interfaces are in one-to-one correspondence;
the controller domain network board channels collect on-line data corresponding to buses in a bus network, data analysis is carried out according to the corresponding relation between the on-line data of the controller domain network board channels and external interface variables of a controller domain network communication program, when analysis is carried out, a certain signal of a certain frame of message under a certain bus is firstly locked according to a bus name, a message identifier and a signal name, then a specific value of the signal is analyzed according to a starting bit, a bit length, a data type, a scaling factor, an offset, an initial value, a maximum value and a minimum value of the signal, the analyzed signal is released into the data sharing network in the form of a data sharing variable, and a simulation program subscribes to the variable according to a unique identifier of the data sharing variable to obtain data; the controller domain network communication program subscribes to the data sharing variable published by the simulation program, and sends data to the corresponding bus through the controller domain network card channel.
2. The controller area network based simulation test system of claim 1 further comprising:
the data sharing network comprises a data sharing variable which stores variable values of the first variable interface or the second variable interface.
3. The controller area network based simulation test system of claim 2 wherein the data sharing variable comprises a unique identifier, the simulation program and the controller area network communication program publishing or subscribing to the data sharing variable based on the unique identifier.
4. The controller area network based simulation test system of claim 2 further comprising:
and the monitoring debugging program is used for monitoring and/or assigning the data sharing variable in real time, so that development and debugging are facilitated.
5. The controller area network based simulation test system of claim 1 wherein the simulation program comprises a flight simulation program, and wherein the simulation program is further capable of comprising one or more of the following:
and (5) a navigation gesture simulation program and a quality characteristic simulation program.
6. The controller area network based simulation test system of claim 1 wherein the simulation program comprises a generic system simulation program.
7. The simulation test system based on the controller area network according to claim 1, wherein the controller area network communication program obtains the driver corresponding to the controller area network card type based on the controller area network channel configuration file when initializing.
8. The controller area network based simulation test system of claim 1 wherein the second file is in an XML file format.
9. A simulation test system of an electric vertical take-off and landing car, characterized by comprising a simulation test system based on a controller area network according to any of claims 1-8.
10. The simulation test system of an electric vertical take-off and landing car according to claim 9, wherein a plurality of real-part devices are connected in the bus network, and the system further comprises:
and the third variable interfaces and the second variable interfaces corresponding to the virtual piece equipment programs are gathered and correspond to the first variable interfaces one by one.
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