CN117724449A

CN117724449A - Simulation device and test system

Info

Publication number: CN117724449A
Application number: CN202311734737.1A
Authority: CN
Inventors: 请求不公布姓名; 白日光; 陈忠明; 陈奇
Original assignee: Kunyi Electronic Technology Shanghai Co Ltd
Current assignee: Kunyi Electronic Technology Shanghai Co Ltd
Priority date: 2023-12-15
Filing date: 2023-12-15
Publication date: 2024-03-19

Abstract

The embodiment of the invention provides a simulation device and a test system, and relates to the technical field of simulation. A simulation apparatus comprising: the control module and data transmission channel, every data transmission channel includes: a signal detection circuit and a signal output circuit; the control module obtains a first type of electric parameter or a second type of electric parameter fed back by a signal detection circuit of at least one data transmission channel as a current receiving signal based on the node type of the target data transmission channel in the bus; generating a target signal representing information to be sent, and sending the target signal to a signal output circuit of a designated data transmission channel in at least one data transmission channel; the signal output circuit for designating the data transmission channel is used for: based on the target signal, a specified electrical parameter of the electrical signal on the bus is controlled to send out information to be sent out through the change of the specified electrical parameter, and the type of the specified electrical parameter is related to the node type of the specified data transmission channel on the bus.

Description

Simulation device and test system

Technical Field

The invention relates to the technical field of simulation, in particular to a simulation device and a test system.

Background

In a vehicle, an electronic control unit (Electronic Control Unit, ECU) and an on-board sensor (such as a laser radar and a camera) are subjected to test simulation, for example, in the process of developing the ECU and an algorithm thereof, a simulation board is generally required to simulate the simulation sensor, and when the simulation board is in communication with the ECU, a real sensor can be simulated to communicate with the ECU, so that the ECU and the algorithm thereof can be verified, tested or trained.

However, the existing simulation board card can only simulate the simulation sensor to test and simulate the ECU, and a plurality of devices are needed to cooperate to build a simulation debugging environment, so that the function is single.

Disclosure of Invention

The invention aims to provide a simulation device and a test system, wherein a single data transmission channel in the simulation device can complete detection of two electric parameters, and the single data transmission channel can also control the two electric parameters on a bus to generate corresponding changes, so that simulation of the simulation device is not limited to simulation of a sensor serving as a slave node, and the simulation device is beneficial to enriching more simulation possibilities, thereby enriching functions of the simulation device.

To achieve the above object, the present invention provides an emulation apparatus comprising: the control module and at least one data transmission channel, each data transmission channel includes: a signal detection circuit and a signal output circuit for connection to the bus; the signal detection circuit is used for: detecting an electrical parameter of an electrical signal on the bus, and feeding the detected electrical parameter back to the control module; the control module is used for: based on the node type of a target data transmission channel in the at least one data transmission channel in the bus, acquiring a first type of electric parameter or a second type of electric parameter fed back by a signal detection circuit of the target data transmission channel as a current receiving signal; generating a target signal representing information to be sent, and sending the target signal to a signal output circuit of a designated data transmission channel in the at least one data transmission channel; the signal output circuit of the specified data transmission channel is used for: and controlling a specified electrical parameter of the electrical signal on the bus based on the target signal to send out the information to be sent out through the change of the specified electrical parameter, wherein the type of the specified electrical parameter is related to the node type of the specified data transmission channel on the bus.

The invention also provides a test system, comprising: the above-described simulation device, and a bus connected to the simulation device; the simulation device is used for: detecting an electrical parameter of an electrical signal on the bus by a signal detection circuit in at least one data transmission channel comprised by the emulation device; based on the node type of the target data transmission channel in the bus, selectively acquiring a first type of electric parameter or a second type of electric parameter on the bus detected by a signal detection circuit of the target data transmission channel in the at least one data transmission channel as a current receiving signal; and controlling a specified electrical parameter of the electrical signal on the bus by using a signal output circuit of a specified data transmission channel in the at least one data transmission channel based on the generation of a target signal representing the information to be sent, so as to send the information to be sent through the change of the specified electrical parameter, wherein the type of the specified electrical parameter is related to the node type of the specified data transmission channel on the bus.

In one embodiment, the control module is specifically configured to, when selectively acquiring, based on a node type of a target data transmission channel in the at least one data transmission channel on the bus, a first type of electrical parameter or a second type of electrical parameter fed back by a signal detection circuit of the target data transmission channel as a current received signal:

If the target data transmission channel is used as a first type node on the bus, determining a current received signal based on a first type electrical parameter detected by a signal detection circuit of the target data transmission channel;

if the target data transmission channel is used as a second class node on the bus, determining a current received signal based on a second class electrical parameter detected by a signal detection circuit of the target data transmission channel;

wherein the first class node comprises a master device node and the second class node comprises a slave device node; the first type of electrical parameter is current and the second type of electrical parameter is voltage.

if the target data transmission channel is used as a third class node on the bus, then:

determining a current received signal representing information transmitted from a slave node to a master node on the bus based on the first type of electrical parameter detected by the signal detection circuit of the target data transmission channel; determining a current received signal representing information sent by a master device node to a slave device node on the bus based on the second type of electrical parameter detected by the signal detection circuit of the target data transmission channel;

The third class of nodes comprise monitoring nodes; the first type of electrical parameter is current and the second type of electrical parameter is voltage.

In one embodiment, the signal output circuit of the specified data transmission channel is specifically configured to, when controlling a specified electrical parameter of the electrical signal on the bus based on the target signal to send the information to be sent through a change of the specified electrical parameter:

if the designated data transmission channel is used as the fourth type node, controlling a second type of electrical parameter of the electrical signal on the bus based on the target signal so as to send the information to be sent through the change of the second type of electrical parameter;

if the designated data transmission channel is used as the fifth type node, controlling a first type of electrical parameter of the electrical signal on the bus based on the target signal so as to send the information to be sent through the change of the first type of electrical parameter;

wherein the fourth class node comprises a master device node and the fifth class node comprises a slave device node; the first type of electrical parameter is current and the second type of electrical parameter is voltage.

In one embodiment, the fourth class node further includes a first debug node, and the fifth class node further includes a second debug node;

When the designated data transmission channel is used as the first debugging node, the information to be sent is information to be sent to one or more slave equipment nodes on the bus;

when the designated data transmission channel is used as the second debugging node, the information to be sent is information to be sent to one or more master equipment nodes on the bus.

In one embodiment, the target data transmission channel is configured to characterize, when acting as the master node, information sent from a slave node to the master node on the bus by the current received signal;

when the designated data transmission channel is used as the master equipment node, the information to be sent is information sent to the slave equipment node by the master equipment node on the bus;

the target data transmission channel is used for representing information sent to the slave device node by the master device node on the bus by the current received signal when the target data transmission channel is used as the slave device node;

and when the designated data transmission channel is used as the slave equipment node, the information to be sent is information sent from the slave equipment node to the master equipment node on the bus.

In one embodiment, the bus is a DSI3 bus.

In one embodiment, the signal detection circuit includes: an analog-to-digital converter, a current detection circuit and a voltage detection circuit;

the current detection circuit is used for detecting a current signal in the bus and sending the detected first current signal to the analog-to-digital converter;

the analog-to-digital converter is used for performing analog-to-digital conversion on the first current signal and feeding back the obtained first type of electric parameters to the control module;

the voltage detection circuit is used for detecting a voltage signal in the bus and sending the detected first voltage signal to the analog-to-digital converter;

the analog-to-digital converter is used for performing analog-to-digital conversion on the first voltage signal and feeding back the obtained second type of electrical parameters to the control module.

In one embodiment, the signal output circuit in the designated data transmission channel includes: a digital-to-analog converter, a voltage output circuit and a current control circuit;

the digital-to-analog converter is used for:

converting the target signal representing the information sent by the master equipment node to the slave equipment node on the bus to obtain a first analog signal, and sending the first analog signal to the voltage output circuit;

Converting the target signal representing the information sent from the slave device node to the master device node on the bus to obtain a second analog signal, and sending the second analog signal to the current control circuit;

the voltage output circuit is used for controlling second type electric parameters of the electric signals on the bus based on the first analog signals so as to send out the information to be sent out through the change of the second type electric parameters;

the current control circuit is used for controlling first type electric parameters of the electric signals on the bus based on the second analog signals so as to send out the information to be sent out through the change of the first type electric parameters;

the first type of electrical parameter is current and the second type of electrical parameter is voltage.

Drawings

FIG. 1 is a schematic diagram of a simulation apparatus in a first embodiment according to the present invention;

FIG. 2 is a schematic diagram of different data transmission channels of the simulation apparatus according to the first embodiment of the present invention connected to a master node and a slave node, respectively;

FIG. 3 is a specific block diagram of a data transmission channel of the simulation apparatus in accordance with the first embodiment of the present invention;

FIG. 4 is a schematic diagram of the simulation apparatus of FIG. 3 connected to a slave node when simulating a master node;

FIG. 5 is a schematic diagram of the simulation apparatus of FIG. 3 connected to a master node while simulating a slave node;

fig. 6 is a schematic block diagram of a simulation apparatus according to a second embodiment of the present invention.

Detailed Description

The following detailed description of various embodiments of the present invention will be provided in connection with the accompanying drawings to provide a clearer understanding of the objects, features and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the invention, but rather are merely illustrative of the true spirit of the invention.

In the following description, for the purposes of explanation of various disclosed embodiments, certain specific details are set forth in order to provide a thorough understanding of the various disclosed embodiments. One skilled in the relevant art will recognize, however, that an embodiment may be practiced without one or more of the specific details. In other instances, well-known devices, structures, and techniques associated with this application may not be shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

Throughout the specification and claims, unless the context requires otherwise, the word "comprise" and variations such as "comprises" and "comprising" will be understood to be open-ended, meaning of inclusion, i.e. to be interpreted to mean "including, but not limited to.

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

As used in this specification and the appended claims, the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. It should be noted that the term "or" is generally employed in its sense including "or/and" unless the context clearly dictates otherwise.

In the following description, for the purposes of clarity of presentation of the structure and manner of operation of the present invention, the description will be made with the aid of directional terms, but such terms as "forward," "rearward," "left," "right," "outward," "inner," "outward," "inward," "upper," "lower," etc. are to be construed as convenience, and are not to be limiting.

The first embodiment of the invention relates to a simulation device which can simulate a slave device node to communicate with a master device node through a bus, can simulate the master device node to communicate with the slave device node through the bus, is connected to a communication bus between the master device node and the slave device node to monitor data, and is used for debugging the master device node or the slave device node. The simulation device can be a device based on a DIS3 protocol and a PSI5 protocol, and can be in various forms of a board card, a circuit board, equipment and the like, and a bus connected with the simulation device is a DIS3 bus or a PSI5 bus.

Referring to fig. 1, the simulation apparatus includes: the control module 1 and at least one data transmission channel 2, each data transmission channel 2 comprising: a signal detection circuit 21 and a signal output circuit 22 connected to the control module 1, respectively, and the signal detection circuit 21 and the signal output circuit 22 are connected to a bus. The control module 1 and the data transmission channel 2 can be respectively arranged on different circuit boards or on the same circuit board; the simulation device in fig. 1 includes N data transmission channels 2, CH1 to CHN, respectively, where N is an integer greater than or equal to 1.

In the data transmission channel 2, the signal detection circuit 21 is configured to detect an electrical parameter of an electrical signal on the bus, and feed back the detected electrical parameter to the control module 1. Wherein the electrical parameters fed back to the control module 1 by the signal detection circuit 21 include: current and voltage.

The control module 1 is used for:

based on the node type of the target data transmission channel in the at least one data transmission channel 2 on the bus, the first type of electrical parameter or the second type of electrical parameter fed back by the signal detection circuit 21 of the target data transmission channel is acquired as the current received signal.

A target signal representing information to be transmitted is generated and transmitted to the signal output circuit 22 of a designated one of the at least one data transmission channels.

The signal output circuit for designating the data transmission channel is used for:

based on the target signal, a specified electrical parameter of the electrical signal on the bus is controlled to send out information to be sent out through the change of the specified electrical parameter, and the type of the specified electrical parameter is related to the node type of the specified data transmission channel on the bus.

Specifically, the target data transmission channel is a data transmission channel currently configured for detecting an electrical parameter of an electrical signal on the bus, and feeds back the detected first type of electrical parameter and/or second type of electrical parameter to the control module 1, and when receiving the first type of electrical parameter or the second type of electrical parameter fed back by the target data transmission channel, the control module 1 selects the first type of electrical parameter or the second type of electrical parameter as a current received signal based on a node type of the target data transmission channel configured on the bus.

For example, if the target data transmission channel is used as the first type node on the bus, determining the current received signal based on the first type electrical parameter detected by the signal detection circuit of the target data transmission channel; the first type node comprises a master device node, and the first type electrical parameter is current, namely when the target data transmission channel is configured to be used as a simulation master device node, the control module 1 selects the current fed back by the signal detection circuit in the target data transmission channel as a current receiving signal.

If the target data transmission channel is used as a second type node on the bus, determining a current received signal based on the second type electrical parameter detected by the signal detection circuit of the target data transmission channel; the second type node comprises a slave node, and the second type electrical parameter is voltage, namely when the target data transmission channel is configured to simulate the slave node, the control module 1 selects the feedback voltage of the signal detection circuit in the target data transmission channel as the current receiving signal.

If the target data transmission channel is used as a third type node on the bus, determining a current receiving signal representing information sent from the slave device node to the master device node on the bus based on the first type electrical parameter detected by the signal detection circuit of the target data transmission channel; if the target data transmission channel is used as a third type node on the bus, determining a current receiving signal representing information sent by a master device node to a slave device node on the bus based on the second type electrical parameter detected by the signal detection circuit of the target data transmission channel; the third class of nodes comprises monitoring nodes; the first type of electrical parameter is current and the second type of electrical parameter is voltage. When the target data transmission channel is configured to be used as a monitoring node, a bus connected with a signal detection circuit of the target data transmission channel is respectively connected with a master device node and a slave device node, and the master device node and the slave device node perform information interaction based on the bus; the target data transmission channel simultaneously detects current and voltage on the bus and feeds the current and voltage back to the control module 1, and the control module 1 takes the current on the bus as information sent from the equipment node to the main equipment node on the bus; the voltage on the bus is used as information sent to the slave device node by the master device node on the bus, and then the information can be stored and used for display or analysis and the like, so that the bus data monitoring function is realized.

The designated data transmission channel is a data transmission channel which is currently configured to send information to a bus, and the control module 1 sends a target signal to the signal output circuit of the designated data transmission channel after generating the target signal representing the information to be sent; the node type of the appointed data transmission channel on the bus determines the appointed electrical parameter of the bus electrical signal controlled by the signal output circuit of the appointed data transmission channel, and the signal output circuit of the appointed data transmission channel controls the appointed electrical parameter of the bus electrical signal based on the target signal, so that the appointed electrical parameter of the bus electrical signal changes, and the information to be sent is realized.

For example, if the data transmission channel is designated to be used as the fourth class node, the second class electrical parameter of the electrical signal on the bus is controlled based on the target signal, so as to send information to be sent through the change of the second class electrical parameter. The fourth type node comprises a main equipment node, and the second type electrical parameter is voltage; the designated data transmission channel is configured as a simulation master node, the information to be sent, which is represented by the target signal and generated by the control module 1, is information that the simulation master node needs to send to a real slave node, and the signal output circuit is used for controlling the voltage on the bus based on the target signal, so that the real slave node (or other simulation slave nodes) can obtain the information sent by the simulation master node based on the detected change of the voltage on the bus.

If the data transmission channel is designated to be used as a fifth type node, based on the target signal, controlling a first type of electrical parameter of the electrical signal on the bus to send out information to be sent out through the change of the first type of electrical parameter. The fifth type node comprises a slave node, and the first type electrical parameter is current; the designated data transmission channel is configured as a simulated slave node, and the information to be sent, which is represented by the target signal and generated by the control module 1, is the information to be sent by the simulated slave node to the real master node, and the signal output circuit is used for controlling the current on the bus based on the target signal, so that the real master node (or other simulated master nodes) can obtain the information sent by the simulated slave node based on the detected change of the current on the bus.

Further, the fourth class node further comprises a first debug node, and the fifth class node further comprises a second debug node; when the data transmission channel is designated to be used as a first debug node, information needs to be sent to one or more slave nodes on the bus (for example, an instruction for debugging); when the data transmission channel is designated for use as a second debug node, the information needs to be sent as information (e.g. instructions for debugging) to be sent to one or more master nodes on the bus.

It should be noted that, the target data transmission channel and the designated data transmission channel may be the same data transmission channel or different data transmission channels.

In the single data transmission channel of the simulation device of the embodiment, the signal detection circuit for detecting the electrical parameters of the electrical signals in the bus and the electrical parameter signal output circuit for controlling the electrical signals in the bus are integrated, namely, the single data transmission channel can complete the electrical parameter detection of the electrical signals of voltage and current, and the single data transmission channel can also control the electrical parameters of the electrical signals of current and voltage on the bus to generate corresponding changes, so that the simulation device can be used for simultaneously simulating the master equipment node and the slave equipment node, and the simulation device can also be controlled by setting the number of the data transmission channels to simultaneously simulate the number of the master equipment node and the slave equipment node, so that the single simulation device can be used for simultaneously building a plurality of simulation environments, and the simulation efficiency is greatly improved.

Referring to fig. 2, the simulation apparatus can be used to implement four functions, and the following description will be given respectively:

in a first function, the simulation device is used as a slave node, taking the example that the target data transmission channel and the designated data transmission channel are the same data transmission channel CHx as an example, that is, the node type of the data transmission channel CHx on the bus is a slave node, and the signal detection circuit and the signal output circuit of the data transmission channel CHx are both connected to the bus and perform signal interaction with a real master node (or other simulated master nodes) through the bus. The real master node (or other simulated master nodes) controls the voltage change on the bus to send out information to be sent to the slave nodes, wherein the information is, for example, a control instruction of the master node to the slave nodes, or a request instruction of the master node for requesting the slave nodes to report the information; the simulation device is used for simulating the slave node, the control module 1 selects the voltage fed back by the signal detection circuit of the data transmission channel CHx as a current received signal, and the current received signal represents the information sent to the slave node by the master node on the bus; the information to be sent, which is represented by the target signal and is generated by the control module 1, is information sent to the master device node by the slave device node on the bus, the information can be feedback information generated by the slave device node based on the received information sent by the master device node, or information to be reported to the master device node by the slave device node, a signal output circuit of the data transmission channel CHx controls current on the bus based on the target signal, and the master device node detects the current on the bus to obtain the information sent by the simulated slave device node.

For example, the simulation device may be used as a simulation sensor that is communicatively coupled to an external ECU via a bus, and the sensor may reinject stored or generated sensor data information into the ECU via the bus to test or algorithmically verify the ECU or to test the bus after it has been sent to the bus. Furthermore, the simulation device can also be used as an I/O board card in the HIL test system and is used for being directly or indirectly connected between the RTPC and a tested piece (such as an ECU) so as to perform signal interaction between the RTPC and the tested piece and complete the test of the tested piece.

The second function, the simulation device is used as a simulation master node, taking the example that the target data transmission channel and the designated data transmission channel are the same data transmission channel CHy, that is, the node type of the data transmission channel CHy on the bus is the master node, the signal detection circuit and the signal output circuit of the data transmission channel CHy are both connected to the bus, and perform signal interaction with the real slave node (or other simulated slave nodes) through the bus. When the simulation device is used as a simulated master device node, the information to be sent, which is represented by the target signal and is generated by the control module 1, is information which is transmitted to the slave device node by the master device node on the bus, for example, a control instruction of the master device node to the slave device node, or a request instruction of the master device node for requesting the slave device node to report information, a signal output circuit of the data transmission channel Chy controls the voltage change on the bus based on the target signal so as to send the information which is required to be transmitted to the slave device node, and the slave device node detects the voltage on the bus to obtain the information transmitted by the master device node; the signal detection circuit of the data transmission channel Chy detects the current on the bus as a current received signal, and the current received signal characterizes the information sent from the slave device node to the master device node on the bus, and the information can be feedback information generated by the slave device node based on the received information sent by the master device node or information which needs to be reported to the master device node by the slave device node.

For example, the simulation device is used as a simulation ECU, the simulation device is connected to an external sensor through a bus, the external sensor reports the collected data information to the simulation device of the simulation ECU through the bus, the simulation device of the simulation ECU can collect the data information collected by the sensor, and the collected sensor data can be subjected to disc-falling storage for use in other scenes (for example, for reinjection to the ECU); further, the simulation device may be connected between the PC for data acquisition and the sensor, and the simulation device may directly upload the collected sensor data to the PC.

The third function is that the emulation device is used as a listening node, and taking a bus between a master device node and a slave device node as an example, where a signal detection circuit of one data transmission channel CHz of the emulation device is connected to the bus, and a node type of the data transmission channel CHz on the bus is a listening node. The master device node may control the voltage on the bus to send information to be sent to the slave device node, where the information is, for example, a control instruction of the master device node to the slave device node, or a request instruction of the master device node for requesting the slave device node to report information; the signal detection circuit of the data transmission channel CHz detects the voltage on the bus to obtain the information sent by the master equipment node to the slave equipment node as a current receiving signal; the slave node may control the current on the bus to send information to be sent to the master node, where the information may be feedback information generated by the slave node based on the received information sent by the master node, or may be information that needs to be reported to the master node by the slave node, and the signal detection circuit of the data transmission channel CHz detects the current on the bus, so as to obtain the information sent to the master node by the slave node as the current receiving signal. The simulation device can detect the information interacted between the master device node and the slave device node on the bus, so as to realize the data monitoring function; furthermore, the monitored information can be bypassed to other devices, such as a PC connected with the simulation device, for storage, display or analysis.

And fourthly, the simulation device is used for debugging the master device node or the slave device node. Specifically, the simulation device may also be used as a debug node to debug one or more real slave nodes (or other simulated slave nodes) on the bus, where one data transmission channel is configured such that the node type on the bus is the first debug node, and the information to be sent, which is represented by the target signal generated by the control module 1, is a debug instruction for debugging the one or more real slave nodes (or other simulated slave nodes); the simulation apparatus may also be used as a slave node to debug one or more real master nodes (or other simulated master nodes) on the bus, where one data transmission channel is configured such that the node type on the bus is a second debug node, and the information to be sent, which is represented by the target signal generated by the control module 1, is a debug instruction for debugging the one or more real master nodes (or other simulated master nodes).

For example, in a debug scenario, a data transmission channel configured as a debug node in an emulation apparatus is connected between a master node and a slave node as a debug intermediate device, and is used to exchange various pieces of information for debugging between the master node and the slave node, for example, the data transmission channel is connected between an ECU and a sensor as a debug intermediate device, the data transmission channel may be connected to one or more sensors, and when a sensor is developed, the ECU issues various debug commands to a specified sensor through the data transmission channel and observes the response of the sensor. In another debugging scenario, the control module in the simulation device is connected to the PC, and the data transmission channel configured as the debugging node is connected to the master device node and/or the slave device node, for example, the ECU and/or the sensor, and may issue various debugging commands to the ECU and/or the sensor under the control of the PC, so as to debug the ECU and/or the sensor under development.

In addition, the simulation device in the implementation can also realize a fault injection function in the test process, namely, when simulating a master equipment node or a slave equipment node, possible faults, such as a resistance capacitance fault, an electrical fault and the like, are simulated.

The simulation device of the present embodiment will be described in further detail with reference to fig. 3, in which only any one data transmission channel 2 in the simulation device is schematically taken as an example.

The control module 1 may comprise at least one of: a processor, a microcontroller, and an FPGA circuit; in fig. 2, the control module 1 includes an FPGA circuit, which includes: the FPGA circuit CAN be connected to the PC and the RTPC through the CAN bus or the CAN FD bus, the Ethernet module, the protocol realization module, the EEPROM memory and the protocol coding module, and the FPGA circuit is also connected to the signal detection circuit 21 and the signal output circuit 22 in each data transmission channel 2. In fig. 3 and the following figures of the present embodiment, the control module 1 is taken as an FPGA circuit as an example, but not limited thereto.

The signal detection circuit 21 includes: an analog-to-digital converter 211 connected to the control module 1, and a current detection circuit 212 and a voltage detection circuit 213 connected to the analog-to-digital converter 211. It should be noted that any existing circuit capable of implementing current detection and voltage detection may be used to implement detection of current signals and voltage signals in the present application.

The current detection circuit 212 is configured to detect a current signal in the bus and send the detected first current signal to the analog-to-digital converter 211.

The analog-to-digital converter 211 is configured to perform analog-to-digital conversion on the first current signal, and feed back the obtained first type of electrical parameter to the control module 1. Wherein the first type of electrical parameter is current.

The voltage detection circuit 213 is configured to detect a voltage signal in the bus and send the detected first voltage signal to the analog-to-digital converter 211.

The analog-to-digital converter 211 is configured to perform analog-to-digital conversion on the first voltage signal, and feed back the obtained second type of electrical parameter to the control module 1. Wherein the second type of electrical parameter is voltage.

The voltage signal detected and fed back by the voltage detection circuit 213 is detected by the analog-to-digital converter 211, so that the bus voltage values of different main device nodes can be automatically adapted, and then decoded by the control module 1, thereby realizing the analysis of different bus voltage signals.

In one example, the current detection circuit 212 includes: the first amplifying module 2121 and the current detecting module 2122, the input end of the first amplifying module 2121 is connected to the output end of the current detecting module 2122, and the output end of the first amplifying module 2121 is connected to one input end of the analog-to-digital converter 211.

The current detection module 2122 is configured to detect a current signal in the bus and feed back a detected second current signal or information characterizing the second current signal to the first amplification module 2121.

The first amplifying module 2121 is configured to amplify the second current signal to obtain a first current signal, and output the first current signal to the analog-to-digital converter 211.

In one example, the voltage detection circuit 213 includes: the voltage detection module 2131 and the voltage division module 2132, wherein an output terminal of the voltage detection module 2131 is connected to the voltage division module, and an output terminal of the voltage division module 2132 is connected to another input terminal of the analog-to-digital converter 211.

The voltage detection module 2131 is configured to detect a voltage signal of the bus, and send the detected second voltage signal to the voltage division module 2132.

The voltage division module 2132 is configured to divide the second voltage signal to obtain a first voltage signal and output the first voltage signal to the analog-to-digital converter 1.

In fig. 3, two detection paths are formed in the signal detection circuit 21, one is a current detection path, which includes an analog-to-digital converter 211, a first amplifying module 2121, and a current detection module 2122; the second is a voltage detection path, which includes an analog-to-digital converter 211, a voltage division module 2132, and a voltage detection module 2131.

In one example, the signal output circuit 22 includes: a digital-to-analog converter 221 connected to the control module, and a voltage output circuit 222 and a current control circuit 223 respectively connected to the digital-to-analog converter 221. It should be noted that any existing circuit capable of implementing current control and voltage output may be used to implement signal output in the present application.

The digital-to-analog converter 221 is for:

the target signal representing the information sent by the master node to the slave node on the bus is converted to a first analog signal and sent to the voltage output circuit 222.

The target signal representing the information sent from the slave node to the master node on the bus is converted to a second analog signal which is sent to the current control circuit 223.

The voltage output circuit 222 is configured to control a second type of electrical parameter of the electrical signal on the bus based on the first analog signal, so as to send information to be sent through a change of the second type of electrical parameter; wherein the second type of electrical parameter is voltage.

The current control circuit 223 is configured to control a first type of electrical parameter of the electrical signal on the bus based on the second analog signal, so as to send information to be sent through a change of the first type of electrical parameter. Wherein the first type of electrical parameter is current.

In one example, the voltage output circuit 222 includes: the second amplification module 2221 and the voltage output module 2222, wherein an input end of the second amplification module 2221 is connected to a first output end of the digital-to-analog converter 221, and an output end of the second amplification module 2221 is connected to the voltage output module 2222.

The second amplifying module 2221 is configured to amplify the received first analog signal and output the amplified first analog signal to the voltage output module 2222.

The voltage output module 2222 is configured to control a second type of electrical parameter of the electrical signal on the bus based on the amplified first analog signal.

In one example, the current control circuit 223 includes: a third amplification module 2231 and a current control module 2232. An input of the third amplification module 2231 is connected to the second output of the digital-to-analog converter 221, and an output of the third amplification module 2231 is connected to the current control module 2232.

The third amplifying module 2231 is configured to amplify the received second analog signal and output the amplified second analog signal to the current control module 2232.

The current control module 2232 is configured to control a first type of electrical parameter of the electrical signal on the bus based on the amplified second analog signal.

Two output paths are formed in the signal output circuit 22, one is a current control path, including the digital-to-analog converter 221, the third amplifying module 2231, and the current control module 2232; and second, a voltage output path, which includes the digital-to-analog converter 221, the second amplifying module 2221, and the voltage output module 2222.

Referring to fig. 4, the simulation apparatus is used to simulate a master node, wherein the node type of the data transmission channel on the bus is the master node, and the current detection module 2122 and the voltage output module 2222 in the data transmission channel are both connected to the slave node through the bus.

The simulation device controls the voltage on the bus by using the voltage output path, and the specific process is as follows: the control module 1 generates a corresponding target signal based on the information to be sent, the target signal is a digital signal, the target signal is sent to the digital-analog converter 221, the digital-analog converter 221 converts the target signal from the digital signal into a first analog signal, the first analog signal is then transmitted to the second amplification module 2221, the second analog signal is amplified by the second amplification module 2221 to form a set multiple, the voltage output module 2222 is then used for controlling the voltage on the bus based on the amplified first analog signal, the slave node can detect the voltage from the bus, and the information sent by the master node simulated by the simulation device can be obtained through the detected change of the voltage.

The simulation device can detect the current in the bus by using the current detection path, and the specific process is as follows: the current detection module 2122 detects the current signal on the bus to obtain a second current signal sent from the device node, the second current signal is transmitted to the first amplification module 2121 to be amplified to obtain a first current signal, the first current signal is transmitted to the analog-to-digital converter 211, the first current signal is an analog signal, the analog-to-digital converter 211 converts the first current signal into a corresponding digital signal and feeds the corresponding digital signal back to the control module 1, and the control module 1 can obtain information sent from the device node on the bus according to the digital signal sent by the analog-to-digital converter 211.

Referring to fig. 5, the simulation apparatus is used to simulate a slave node, wherein the node type of the data transmission channel on the bus is the slave node, and the voltage detection module 2131 and the current control module 2232 in the data transmission channel are both connected to the master node through the bus.

The simulation device controls the current on the bus by using the current control path so as to send information to be sent to the slave node; the specific process is as follows: the control module 1 generates a corresponding target signal based on the information to be sent, the target signal is a digital signal, the target signal is sent to the digital-analog converter 221, the digital-analog converter 221 converts the target signal from the digital signal to a second analog signal and sends the second analog signal to the third amplification module 2231, the second analog signal is amplified by the third amplification module 2231 and then is input to the current control module 2232, the current control module 2232 controls the current on the bus based on the second analog signal, the master device node can detect the current on the bus, and the information sent from the device node and simulated by the simulation device is obtained based on the detected current change on the bus.

The simulation device detects the voltage in the bus by using the voltage detection path, and the specific process is as follows: the voltage detection module 2131 detects a voltage signal on the bus, obtains a second voltage signal sent by the main equipment node, transmits the second voltage signal to the voltage division module 2132, obtains a first voltage signal suitable for being input into the analog-to-digital converter 211 after being divided by the voltage division module 2132 and inputs the first voltage signal into the analog-to-digital converter 211, the first voltage signal is an analog signal, the analog-to-digital converter 211 converts the first voltage signal into a corresponding digital signal, the corresponding digital signal is fed back to the control module 1, and the control module 1 can obtain information sent by the main equipment node on the bus according to the digital signal sent by the analog-to-digital converter 211.

A second embodiment of the present invention relates to a simulation apparatus, and the main improvement of the present embodiment compared to the first embodiment is that: the simulation means is capable of simulating the signal interaction of one or more slave nodes with the master node.

Among all data transmission channels included in the simulation device, one or more first data transmission channels are connected to a bus, the first data transmission channels are configured to be slave device nodes in node types on the bus, the first data transmission channels are connected to a master device node through the bus, the simulation device simulates a set number of slave device nodes through the first data transmission channels, different first data transmission channels can be respectively connected to different master device nodes, and testing of a plurality of master device nodes can be achieved; any one of the first data transmission channels will be described as an example.

In the simulation device, the control module 1 can receive the simulation configuration signal from the connected upper computer or PC, analyze the simulation configuration signal to obtain simulation configuration information, and store the simulation configuration information, and take the control module 1 as an FPGA circuit in the first embodiment as an example, the analyzed simulation configuration information is stored in the EEPROM, where the simulation configuration information includes the number of slave device nodes simulated by the first data transmission channel, the types of the slave device nodes, and the connection mode of the slave device nodes.

From the above, the control module 1 is configured to simulate, based on the received simulation configuration signal and the first data transmission channel, signal interaction between a set number of slave device nodes and a master device node connected to the bus.

The signal interaction between the master device node and the simulation device simulating the slave device node can be mainly divided into the following three types:

first, the master node performs slave node discovery.

The control module 1 is used for acquiring first digital signals representing current waveforms corresponding to a set number of slave nodes when receiving a third voltage signal representing a discovery command from the signal detection circuit in the first data transmission channel, and transmitting the first digital signals to the signal output circuit;

the signal output circuit 22 is configured to control a current on the bus to generate a current waveform corresponding to a set number of slave nodes based on the first digital signal.

In the prior art, for a master node, it may be connected to one or more slave nodes (multiple slave nodes may be connected in series or in parallel) through a bus, and when determining information of the connected slave nodes, it performs device discovery first, the master node sends a voltage signal representing a discovery command to the bus, each slave node, when receiving the voltage signal representing the discovery command, will raise the current in the bus to a set threshold, and if it detects that the bus current reaches the set threshold during raising the current in the bus, it stops raising the current, and returns the current to the initial current; if the number of slave nodes is a plurality, the slave nodes in different orders stop turning up the current at different times, so that corresponding current waveforms can be formed by superposition on the bus, the waveforms regulated by the slave nodes are formed into final current waveforms by superposition on the bus, and the master node can determine the number of the slave nodes currently connected based on the detected current waveforms.

In this embodiment, the current waveforms obtained by stacking the required number of slave nodes may be preset in the simulation apparatus, or the current waveforms obtained by stacking a plurality of slave nodes representing different numbers of slave nodes may be preset, then the required current waveforms are selected based on the number of the configured required simulated slave nodes, then the simulation apparatus sends the signal representing the current waveforms obtained by stacking the required number of slave nodes to the signal output circuit in the first data transmission channel, and the signal output circuit controls the bus to generate the currents of the current waveforms corresponding to the set number of slave nodes, so that the master node may determine the number of slave nodes simulated by the simulation apparatus according to the detected current waveforms, for example, determine the number of the simulated slave nodes based on the slope of the current rise and the number of current inflection points in the current waveforms. Based on the above process, the current waveforms after the superposition of the set number of slave nodes can be formed on the bus by using a single first data transmission channel without simulating the whole superposition process, that is, without using a plurality of data transmission channels, the response result of the plurality of slave nodes to the device discovery command can be realized, that is, the plurality of slave nodes are simulated by using the single first data transmission channel.

In addition, the simulation configuration information stored in the simulation device comprises a slave device node list to be simulated, so that the response sequence of each slave device node in the list can be configured; the response sequence of each slave node also determines the address of each slave node on the bus (also can be understood as the identification of the slave node), that is, the address of each slave node on the bus can be preset in advance, the preset information can be recorded in the slave node list, or each slave node is bound with the corresponding preset information, and the slave nodes with different addresses also determine the response sequence.

And secondly, command interaction is carried out between the master equipment node and the slave equipment node simulated by the simulation device.

The control module 1 is configured to, when receiving a control command characterizing a specific slave node from the signal detection circuit in the first data transmission channel, acquire a second digital signal characterizing that the specific slave node responds to the control command, and send the second digital signal to the signal output circuit. Wherein the designated slave nodes may be one or more of the slave nodes emulated by the emulation means.

The signal output circuit 22 is configured to generate a current on the control bus responsive to the control command based on the second digital signal.

The command interaction between the master equipment node and the slave equipment node is two, one is that the master equipment node sends a preset command, and the slave equipment node gives a fixed response; the simulation configuration signals received by the simulation device comprise responses of the simulated slave equipment nodes corresponding to different preset instructions; when receiving a control command for a designated slave node, the control module 1 acquires a response corresponding to the control command, generates a second digital signal representing the response, and sends the second digital signal to the signal output circuit 22, and the signal output circuit 22 controls the bus current to generate a change corresponding to the response, so that the master node obtains the response of the designated slave node based on the detected current signal. For example, the device is designated as the slave device node a, the simulation device receives the instruction x sent by the master device node and needed to open the function 1 of the slave device node a, and the simulation device directly obtains the response y corresponding to the instruction x without executing the instruction x and sends the response y to the master device node through the bus, where the response y may be success or failure of opening the function 1, or may be a state where the function 1 is located.

The other is a control command which is sent by the master device node and can be executed by the simulation device, the simulation device directly executes the control command, the execution result can be a state after the designated slave device node executes the control command, the execution result of the control command is used as a response, a second digital signal representing the response is generated, the second digital signal is sent to the signal output circuit 22, the signal output circuit 22 controls the bus current to generate a change corresponding to the response, and the master device node obtains the execution result of the designated slave device node for executing the control command based on the detected current signal. For example, the slave node B is designated as the slave node B, the slave node B simulated by the simulation apparatus reports data according to the first state (the state defines the frequency, the period, etc. of reporting the data), the master node sends a control command for controlling the slave node B to report the data according to the second state, the control module 1 adjusts the simulated state of reporting the data by the slave node B to the second state, and reports the data according to the adjusted second state, and the response may be the state of reporting the data currently by the slave node B, that is, the second state.

Thirdly, the simulation device simulates the slave device node to report data to the master device node.

The control module 1 is further configured to send, based on the reporting time information of each slave node, a third digital signal representing data to be reported by each slave node to the signal output circuit 22.

The signal output circuit 22 is configured to generate a current on the control bus indicating that each slave node needs to report data based on the third digital signal.

The simulation device receives a data source sent by the upper computer, wherein the data source comprises data required to be reported by each slave node simulated by the simulation device; each slave node simulated by the simulation device has corresponding reporting time information, and the reporting time information limits the time point and the time period at which corresponding data are reported; the reporting time information may be the time when the data is collected, or may be the time interval of reporting the data, for example, the time interval of two adjacent data packets in the process of reporting the data from a certain slave node; thus, for each slave node that is simulated, the control module 1 may send, at a predetermined point in time, a third digital signal representing the required reporting data to the signal output circuit 22 according to the reporting time information of the slave node, and the signal output circuit 22 controls the bus current to generate a change corresponding to the required reporting data, so that the master node obtains the data reported by the slave node based on the detected current signal.

The above-mentioned reporting time information may be preset when the upper computer issues the data source of each slave node, that is, the reporting time information of each data is configured by the upper computer in advance and then issued to the simulation device together with the data.

Or, the simulation device only stores the data to be reported by each simulated slave node, and the master node transmits the reporting time information of each slave node to each simulation device through the bus, wherein the reporting time information is, for example, the time interval for reporting the data, so that the simulation device can simulate each slave node to report the data according to the corresponding time interval, and the data reporting can be understood as data reinjection and can be used for a reinjection system, an HIL system and the like.

The data source issued by the upper computer to each slave node of the simulation device can be data actually collected by a plurality of real slave nodes in the test process, and the slave nodes simulated by the simulation device can be the same as or similar to the real slave nodes used in the test.

In some embodiments, the data reported by the slave nodes is data collected by a target slave node corresponding to the slave node in a set number of target slave nodes connected to the same bus, and the reporting time information of each slave node is the time of collecting the data by the corresponding target slave node. The simulation device can simulate the slave nodes to report data based on the reporting time information, so that the time information of the reporting data of the slave nodes is prevented from collision; however, the present invention is not limited thereto, and each real slave node may be connected to a different bus, and the reporting time information of each slave node may be configured in a subsequent reassignment.

The following provides a schematic block diagram of the simulation device in the present application, which is specifically as follows:

referring to fig. 6, the simulation device receives data and control flow of an own protocol (for example, a low-speed IO card interface communication protocol of a HIL platform) based on ethernet sent by the upper computer through the PHY chip, so that the simulation device can implement functions of simulating a master device node, simulating a slave device node and monitoring bus data based on configuration of the upper computer; fig. 6 illustrates an example in which the emulation device is in a listening mode, and is connected to a bus between a master node and a slave node.

The self-protocol module is used for analyzing DATA and control flow to obtain self-protocol DATA, the self-protocol DATA is transmitted to the self-protocol analysis module by the recorder output module REC, the self-protocol analysis module analyzes the self-protocol DATA, the self-protocol analysis module distinguishes DATA flow and control flow from the self-protocol DATA, the DATA flow is distributed to the DATA distinguishing module DATA_DISTRIT, and the DATA flow is stored to the EEPROM memory by the EEPROM control module EEPROM CTR; the control flow is sent to the MODE control module mode_ctr so that the SYSTEM control module system_ctr is enabled. The MODE_CTR module can perform three MODE judgment of simulating a master device node, simulating a slave device node and monitoring bus data, changes the initial setting of the SYSTEM_CTR module, and takes the SYSTEM_CTR module as a controller to send a control signal to control the related modules of the data flow to acquire or output so as to realize the functions of simulating the master device node, simulating the slave device node and monitoring the bus data; the discovery MODE module disc_mode is used for sequentially simulating response according to a simulated slave node list (configured by an upper computer) when receiving a discover invention command sent by a master device node when the slave device node is simulated by the simulation device, so that the master device node considers that the slave device node configured by the upper computer is already mounted on the bus; the DATA PATH module DATA_PATH is used for arranging corresponding PATHs for different input DATA; the SYS_PT module is used for receiving a register command and enabling the EEPROM to initialize basic data or directly controlling the lower module to output a bus, collect and report.

The simulation device may be used to implement at least two of the following functions.

First, the data sources are generated, either by generating the data sources using software algorithms or by collecting the real data sources. In the following, taking an example of collecting a real DATA source of a vehicle as an example, the simulation device is connected to a bus between a master device node (for example, an ECU) and a slave device node (for example, a sensor, including but not limited to a camera, a laser radar sensor, etc.), DATA is monitored, in the running process of the vehicle, signals on the bus are converted by an ADC and a DAC, and then are decoded by a TRI character decoding module tri_symbl_rec and a manchester decoding module MACNCHEST _rec, so as to generate a DATA stream, and a DATA management module data_tr performs preprocessing and transmits the DATA stream to an encoding module TR, and environmental DATA is stored on the simulation device or transmitted to an upper computer for storage via a PHY chip.

Secondly, DATA is reinjected, simulation reduction is achieved, a host computer is configured to simulate a master device node or a slave device node, a DATA source is transmitted to an REC module through a PHY chip, the DATA source is analyzed by an own protocol_ANLY module, a DATA stream is transmitted to a Manchester decoding encoding module MANCHEST_TR and a TRI character encoding module TRI_SYMBL_TR through a DATA_DISTRIM module to encode signals, a DAC is controlled to output simulation bus signals and transmit the simulation bus signals to a bus, and the running condition of a real vehicle is simulated.

A third embodiment of the present invention relates to a test system including the simulation apparatus in the first or second embodiment, and a bus connected to the simulation apparatus; the simulation device is used for:

detecting an electrical parameter of an electrical signal on a bus by a signal detection circuit in at least one data transmission channel contained in the simulation device;

based on the node type of the target data transmission channel in the bus, selectively acquiring a first type of electric parameter or a second type of electric parameter on the bus detected by a signal detection circuit of the target data transmission channel in at least one data transmission channel as a current receiving signal;

and controlling a specified electrical parameter of the electrical signal on the bus by using a signal output circuit of the specified data transmission channel in the at least one data transmission channel based on the generated target signal representing the information to be sent so as to send the information to be sent through the change of the specified electrical parameter, wherein the type of the specified electrical parameter is related to the node type of the specified data transmission channel on the bus.

In one example, a target slave node of the slave nodes connected on the bus may control the bus to generate an electrical signal corresponding to a first type of electrical parameter;

a target master node of the master nodes connected on the bus may control the bus to generate an electrical signal corresponding to the second type of electrical parameter;

The simulation device is specifically used for:

when the target data transmission channel is used as a first type node on the bus, determining a current received signal based on the first type electrical parameter detected by the signal detection circuit of the target data transmission channel;

when the target data transmission channel is used as a second type node on the bus, determining a current received signal based on the second type electrical parameter detected by the signal detection circuit of the target data transmission channel;

the first class node comprises a master device node, and the second class node comprises a slave device node; the first type of electrical parameter is current and the second type of electrical parameter is voltage.

In another example, the simulation apparatus is specifically configured to:

when the target data transmission channel is used as a third type node on the bus, determining a current receiving signal representing information sent from the slave device node to the master device node connected on the bus based on the first type electric parameter detected by the signal detection circuit of the target data transmission channel;

when the target data transmission channel is used as a third class node on the bus, determining a current receiving signal representing information sent to the slave node by the master node connected on the bus based on the second class electrical parameter detected by the signal detection circuit of the target data transmission channel;

The third class of nodes comprises monitoring nodes; the first type of electrical parameter is current and the second type of electrical parameter is voltage.

In yet another example, the simulation apparatus is specifically configured to:

when the data transmission channel is designated as a fourth type node, controlling a second type of electrical parameter of an electrical signal on the bus based on the target signal so as to send information to be sent to at least one designated slave node in slave nodes connected on the bus through the change of the second type of electrical parameter;

when the designated data transmission channel is used as a fifth type node, based on the target signal, controlling a first type of electrical parameter of an electrical signal on the bus to send information to be sent to at least one designated master device node in the master device nodes connected on the bus through the change of the first type of electrical parameter;

the fourth class of nodes comprises master equipment nodes, and the fifth class of nodes comprises slave equipment nodes; the first type of electrical parameter is current and the second type of electrical parameter is voltage.

Further, the fourth class node further comprises a first debug node, and the fifth class node further comprises a second debug node;

in the simulation apparatus:

when the data transmission channel is designated to be used as a first debugging node, information to be sent is information to be sent to one or more slave nodes on the bus;

When the data transmission channel is designated to be used as the second debug node, the information to be sent is the information to be sent to one or more master nodes on the bus.

Since the first and second embodiments correspond to each other, the present embodiment can be implemented in cooperation with the first and second embodiments. The related technical details mentioned in the first and second embodiments are still valid in this embodiment, and the technical effects that can be achieved in the first and second embodiments may also be achieved in this embodiment, so that the repetition is reduced, and the description is omitted here. Accordingly, the related technical details mentioned in the present embodiment can also be applied to the first and second embodiments.

While the preferred embodiments of the present invention have been described in detail above, it should be understood that aspects of the embodiments can be modified, if necessary, to employ aspects, features and concepts of the various patents, applications and publications to provide yet further embodiments.

These and other changes can be made to the embodiments in light of the above detailed description. In general, in the claims, the terms used should not be construed to be limited to the specific embodiments disclosed in the specification and the claims, but should be construed to include all possible embodiments along with the full scope of equivalents to which such claims are entitled.

Claims

1. A simulation apparatus, comprising: the control module and at least one data transmission channel, each data transmission channel includes: a signal detection circuit and a signal output circuit for connection to the bus;

the signal detection circuit is used for:

detecting an electrical parameter of an electrical signal on the bus, and feeding the detected electrical parameter back to the control module;

the control module is used for:

based on the node type of a target data transmission channel in the at least one data transmission channel in the bus, acquiring a first type of electric parameter or a second type of electric parameter fed back by a signal detection circuit of the target data transmission channel as a current receiving signal;

generating a target signal representing information to be sent, and sending the target signal to a signal output circuit of a designated data transmission channel in the at least one data transmission channel;

the signal output circuit of the specified data transmission channel is used for:

and controlling a specified electrical parameter of the electrical signal on the bus based on the target signal to send out the information to be sent out through the change of the specified electrical parameter, wherein the type of the specified electrical parameter is related to the node type of the specified data transmission channel on the bus.

2. The emulation device of claim 1, wherein the control module is configured to, when selectively acquiring, based on a node type of a target data transmission channel of the at least one data transmission channel at the bus, a first type of electrical parameter or a second type of electrical parameter fed back by a signal detection circuit of the target data transmission channel as a currently received signal, specifically:

3. The emulation device of claim 1, wherein the control module is configured to, when selectively acquiring, based on a node type of a target data transmission channel of the at least one data transmission channel at the bus, a first type of electrical parameter or a second type of electrical parameter fed back by a signal detection circuit of the target data transmission channel as a currently received signal, specifically:

determining a current received signal representing information transmitted from a slave node to a master node on the bus based on the first type of electrical parameter detected by the signal detection circuit of the target data transmission channel;

if the target data transmission channel is used as a third class node on the bus, determining a current receiving signal representing information sent from a master device node to a slave device node on the bus based on the second class electrical parameter detected by a signal detection circuit of the target data transmission channel;

4. The emulation device of claim 1, wherein the signal output circuit of the specified data transmission channel is configured to, when controlling a specified electrical parameter of the electrical signal on the bus based on the target signal to issue the information to be issued by a change in the specified electrical parameter:

if the designated data transmission channel is used as a fourth type node, controlling a second type of electrical parameter of the electrical signal on the bus based on the target signal so as to send out the information to be sent out through the change of the second type of electrical parameter;

If the designated data transmission channel is used as a fifth type node, controlling a first type of electrical parameter of an electrical signal on the bus based on the target signal so as to send out the information to be sent out through the change of the first type of electrical parameter;

5. The emulation apparatus of claim 4, wherein the fourth class of nodes further comprises a first debug node and the fifth class of nodes further comprises a second debug node;

6. The emulation apparatus of any one of claims 2 to 5 wherein the current received signal characterizes information sent from a slave node to the master node on the bus when the target data transmission channel is used as the master node;

7. The emulation device of any one of claims 1 to 5, wherein the bus is a DSI3 bus.

8. A test system, comprising: the simulation device of any one of claims 1 to 7, and a bus connected to the simulation device;

the simulation device is used for:

detecting an electrical parameter of an electrical signal on the bus by a signal detection circuit in at least one data transmission channel comprised by the emulation device;

based on the node type of the target data transmission channel in the bus, selectively acquiring a first type of electric parameter or a second type of electric parameter on the bus detected by a signal detection circuit of the target data transmission channel in the at least one data transmission channel as a current receiving signal;

And controlling a specified electrical parameter of the electrical signal on the bus by using a signal output circuit of a specified data transmission channel in the at least one data transmission channel based on the generation of a target signal representing the information to be sent, so as to send the information to be sent through the change of the specified electrical parameter, wherein the type of the specified electrical parameter is related to the node type of the specified data transmission channel on the bus.

9. The test system of claim 8, wherein the simulation device is specifically configured to:

when the target data transmission channel is used as a first type node on the bus, determining a current received signal based on the first type electrical parameter detected by a signal detection circuit of the target data transmission channel, wherein a target slave node in slave nodes connected on the bus controls the bus to generate an electrical signal corresponding to the first type electrical parameter;

when the target data transmission channel is used as a second class node on the bus, determining a current received signal based on the second class electrical parameter detected by the signal detection circuit of the target data transmission channel, wherein a target master device node in connected master device nodes connected on the bus controls the bus to generate an electrical signal corresponding to the second class electrical parameter;

10. The test system of claim 8, wherein the simulation device is specifically configured to:

when the target data transmission channel is used as a third type node on the bus, determining a current receiving signal representing information sent from a slave device node to a master device node connected on the bus based on the first type electrical parameter detected by a signal detection circuit of the target data transmission channel;

when the target data transmission channel is used as a third class node on the bus, determining a current receiving signal representing information sent to the slave device node by the master device node connected on the bus based on the second class electrical parameter detected by the signal detection circuit of the target data transmission channel;

11. The test system of claim 8, wherein the simulation device is specifically configured to:

When the appointed data transmission channel is used as a fourth type node, controlling a second type of electrical parameter of an electrical signal on the bus based on the target signal so as to send the information to be sent to at least one appointed slave device node in slave device nodes connected on the bus through the change of the second type of electrical parameter;

when the designated data transmission channel is used as a fifth type node, controlling a first type of electrical parameter of an electrical signal on the bus based on the target signal, so as to send the information to be sent to at least one designated master device node in the master device nodes connected on the bus through the change of the first type of electrical parameter;

12. The test system of claim 11, wherein the fourth class of nodes further comprises a first debug node and the fifth class of nodes further comprises a second debug node;

in the simulation apparatus:

And when the designated data transmission channel is used as the second debugging node, the information to be sent is information to be sent to one or more master equipment nodes on the bus.