CN117930794A - Test method and test system for steering system by using corner request - Google Patents

Abstract

The invention discloses a test method and a test system for a steering system applying a corner request, wherein the test method is applied to the test system, the test system comprises an upper controller, an EPS controller and a functional decision module, and the test method comprises the following steps: the upper layer controller sends a target function corner request of a target function to the EPS controller; the EPS controller obtains a first rotation angle execution parameter according to the target function rotation angle request and rotation angle execution parameters of the current function executed by the EPS controller; the EPS controller respectively sends the first rotation angle execution parameters to an upper controller and a function decision module of the current function; and analyzing the upper layer controller and/or a functional decision module of the current function according to the first rotation angle execution parameter and obtaining a test result. According to the embodiment of the invention, the results of the tests of the upper layer controller, the EPS controller and the functional decision module are analyzed and adjusted, so that the function switching test of the steering system adopting the corner request in the development stage is realized, the test efficiency is improved, and the test cost is saved.

Description

Test method and test system for steering system by using corner request

Technical Field

The invention relates to the technical field of driving auxiliary function testing, in particular to a testing method and a testing system for a steering system by using a steering angle request.

Background

With increasing levels of intellectualization and networking of automobiles, electric power steering (ELECTRICAL POWER STEERING, abbreviated as EPS) systems are widely used, and more vehicles begin to carry related functions of driving assistance and automatic driving. Further, as a major class of driving assistance functions, a driving assistance function using a corner request needs to be tested in a development stage. The existing test method can only be carried out in a laboratory or specific test equipment, is limited by time, space, budget and the like, cannot completely simulate the complex situation in the actual driving environment, cannot verify the performance of the hardware of the steering gear under the working condition of the steering angle request, and cannot comprehensively evaluate advanced functions such as the steering angle request.

Disclosure of Invention

The invention aims to at least solve one of the technical problems in the prior art, and provides a test method and a test system for a steering system by using a steering angle request, which can effectively reduce the cost of testing the steering system of an automobile and improve the efficiency of testing the steering system of the automobile.

In a first aspect, an embodiment of the present invention provides a steering system testing method using a steering angle request, where the steering system testing method is applied to a testing system, the testing system includes an upper layer controller, an EPS controller, and a functional decision module, and the steering system testing method includes:

The upper layer controller sends a target function corner request of a target function to the EPS controller;

the EPS controller obtains a first rotation angle execution parameter according to the target function rotation angle request and rotation angle execution parameters of the current function executed by the EPS controller, wherein the first rotation angle execution parameter characterizes rotation angle execution parameters to be switched to the target function by the EPS controller;

the EPS controller sends the first rotation angle execution parameters to the upper layer controller and the function decision module of the current function respectively;

And the upper layer controller and/or the function decision module of the current function analyze according to the first rotation angle execution parameter and obtain a test result.

In an embodiment, the analyzing the upper layer controller and/or the function decision module of the current function according to the first rotation angle execution parameter and obtaining a test result includes:

the upper layer controller and/or the function decision module of the current function compares the first acquisition time for acquiring the first rotation angle execution parameter with a first time threshold value, and if the first acquisition time is smaller than the first time threshold value, the EPS controller is judged to pass a function switching test;

or the upper layer controller and/or the function decision module of the current function compares the first rotation angle execution parameter with the target function rotation angle request, and if the first rotation angle execution parameter is normal, the EPS controller is judged to pass a function switching test;

the target function corner request at least comprises a target corner value, a target corner direction and a target function state, and the first corner execution parameter at least comprises a current corner value, a current corner direction and a current function state.

In an embodiment, the comparing, by the upper layer controller and/or the function decision module of the current function, the target function corner request according to the first corner execution parameter comprises:

the upper layer controller and/or the function decision module of the current function compare the current rotation angle value with the target rotation angle value, the current rotation angle direction with the target rotation angle direction, judge whether the current rotation angle value is equal to the target rotation angle value, and judge whether the current rotation angle direction is equal to the target rotation angle direction;

The upper layer controller and/or the function decision module of the current function compares the current function state with the target function state, judges whether the current function state is an activated state or not, and judges whether the target function state is a ready-to-activate state or not;

and if the current rotation angle value is equal to the target rotation angle value, the current rotation angle direction is equal to the target rotation angle direction, the current function state is an activated state, the target function state is a ready-to-activate state, and the first rotation angle execution parameter is normal.

In one embodiment, after determining that the EPS controller passes the function switching test, the method includes:

the function decision module of the current function sends a reset parameter to the EPS controller;

the EPS controller resets to the current function according to the reset parameter;

The upper layer controller sends the target corner request of the target function to the EPS controller, so that the EPS controller is switched to the target function;

and the EPS controller sends a second corner execution parameter of the target function to the upper layer controller.

In an embodiment, the EPS controller resets to the current function according to the reset parameter, including:

And comparing the second acquisition time for acquiring the reset parameter with a second time threshold by the EPS controller, and resetting the EPS controller to the current function according to the reset parameter if the second acquisition time is smaller than the second time threshold.

In an embodiment, the sending, by the EPS controller, the second corner execution parameter of the target function to the upper layer controller includes:

the EPS controller sends a second corner execution parameter of the target function to the upper controller after obtaining the second corner execution parameter according to the target function corner request and the corner execution parameter of the current function executed by the EPS controller, and the second corner execution parameter characterizes the corner execution parameter to be switched to the target function after the EPS controller completes the function switching test.

In an embodiment, after the EPS controller sends the second rotation angle execution parameter of the target function to the upper layer controller, the method includes:

The upper controller compares a third acquisition time for acquiring the second rotation angle execution parameter with a third time threshold, and if the third acquisition time is smaller than the third time threshold, the EPS controller is judged to be switched to the target function;

Or the upper layer controller compares the second corner execution parameter with the target function corner request, and if the second corner execution parameter is normal, the EPS controller is judged to be switched to the target function.

In an embodiment, the upper layer controller is configured with a target function set, the target function set includes a plurality of target functions to be tested, after the EPS controller switches to the target function of the last test, the upper layer controller acquires a next target function from the target function set, and sends a new target function corner request to the EPS controller according to the next target function, so as to test whether the EPS controller can switch from one target function in the target function set to any other target function.

In an embodiment, before the upper layer controller sends a new target function corner request to the EPS controller according to the next target function, the method includes:

The upper layer controller sends the target function corner request of the last target function to the EPS controller;

the EPS controller obtains a third corner execution parameter according to the corner request of the last target function and the corner execution parameter of the current execution function of the EPS controller;

the EPS controller sends the third rotation angle execution parameter to the upper controller, wherein the third rotation angle execution parameter characterizes the rotation angle execution parameter of the power-assisted motor.

In a second aspect, an embodiment of the present invention provides a test system for applying a steering angle request steering system, the test system including:

the upper layer controller is used for sending a target function corner request of a target function to the EPS controller;

The EPS controller is used for obtaining a first corner execution parameter according to the target function corner request and the corner execution parameter of the current function executed by the EPS controller, and respectively sending the first corner execution parameter to the upper layer controller and the function decision module of the current function;

and the functional decision module is used for analyzing according to the first rotation angle execution parameter and obtaining a test result.

In a third aspect, an embodiment of the present invention provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the steering system testing method according to any one of the embodiments of the present invention when the processor executes the program.

In a fourth aspect, an embodiment of the present invention provides a computer readable storage medium storing a computer program, where the computer program when executed by a processor implements the steering system testing method of any one of the above embodiments.

In a fifth aspect, embodiments of the present invention also provide a computer program product comprising a computer program stored in a computer readable storage medium. The processor of the computer device reads the computer program from the computer-readable storage medium, and the processor executes the computer program so that the computer device executes the steering system testing method implementing any one of the above embodiments.

According to the steering system testing method and the steering system testing system using the steering angle request, the steering system testing method is applied to the testing system, the testing system comprises an upper layer controller, an EPS controller and a function decision module, the steering system testing method sends a target function steering angle request of a target function to the EPS controller through the upper layer controller, and the EPS controller obtains a first steering angle execution parameter according to the target function steering angle request and the steering angle execution parameter of the current function executed by the EPS controller. Then, the EPS controller respectively sends the first rotation angle execution parameters to the upper layer controller and the function decision module of the current function, and the upper layer controller and/or the function decision module of the current function analyze according to the first rotation angle execution parameters and obtain a test result. According to the embodiment of the invention, the test results of the upper layer controller, the EPS controller and the functional decision module are analyzed and adjusted, so that the more severe driving auxiliary function switching test adopting the corner request in the development stage is realized, the test efficiency of the steering system is improved, and the test cost is saved.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of a test method for a steering system using a steering angle request according to an embodiment of the present invention;

fig. 2 is a detailed step flow chart of step S400 in fig. 1;

FIG. 3 is a flowchart of a reset function and a function switch according to an embodiment of the present invention;

FIG. 4 is a flow chart of a different target function switching test provided by an embodiment of the present invention;

FIG. 5 is a schematic diagram of a test system using a steering angle request steering system according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of an execution scenario of a function switching test according to an embodiment of the present invention;

fig. 7 is a schematic diagram of an execution scenario of performing function switching after the function switching test provided by the embodiment of the present invention;

Fig. 8 is a schematic diagram of an execution scenario before a function switching test according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

Reference will now be made in detail to the present embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the accompanying drawings are used to supplement the description of the written description so that one can intuitively and intuitively understand each technical feature and overall technical scheme of the present invention, but not to limit the scope of the present invention.

In the description of the present invention, the description of the first and second is only for the purpose of distinguishing technical features, and should not be construed as indicating or implying relative importance or implying the number of technical features indicated or the precedence of the technical features indicated.

In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.

At present, with increasing levels of intellectualization and networking of automobiles, an electric power steering system (ELECTRICAL POWER STEERING, abbreviated as EPS) is widely used, and more vehicles begin to carry related functions of driving assistance and automatic driving. Further, as a major class of driving assistance functions, a driving assistance function using a corner request needs to be tested in a development stage. The existing test method can only be carried out in a laboratory or specific test equipment, is limited by time, space, budget and the like, cannot completely simulate the complex situation in the actual driving environment, cannot verify the performance of the hardware of the steering gear under the working condition of the steering angle request, and cannot comprehensively evaluate advanced functions such as the steering angle request.

In order to solve the problems, the test method and the test system for the steering system using the steering angle request provided by the embodiment of the invention can analyze and adjust the test results of the upper layer controller, the EPS controller and the function decision module, realize the more severe driving auxiliary function switching test using the steering angle request in the development stage, improve the test efficiency of the steering system and save the test cost.

Embodiments of the present invention will be further described below with reference to the accompanying drawings.

Referring to fig. 1, fig. 1 is a schematic flow chart of a method for testing a steering system by using a steering angle request according to a first aspect of the present invention, where the method according to the embodiment of the present invention may be applied to a testing system, the testing system includes an upper layer controller, an EPS controller, and a functional decision module, and the method for testing a steering system includes, but is not limited to, the following steps S100 to S400:

In step S100, the upper layer controller sends a target function corner request of the target function to the EPS controller.

In this step, the upper controller may simulate the running state of the vehicle and simulate the driver turning the steering wheel to generate a target function turning request, so as to send the target function turning request of the target function to the EPS controller. The target function corner request is a steering instruction sent to the EPS controller by the upper controller according to the target function, and is used for controlling the action of the power-assisted motor to realize steering power, and it is to be noted that the upper controller and the EPS controller in the embodiment of the invention are both vehicle-mounted controllers.

Step S200, the EPS controller obtains a first rotation angle execution parameter according to the target function rotation angle request and the rotation angle execution parameter of the current function executed by the EPS controller.

In this embodiment, after receiving a target function corner request sent by an upper layer controller, the EPS controller may obtain a first corner execution parameter according to the received target function corner request and a corner execution parameter for executing a current function by the EPS controller, where after the EPS controller switches from the current function to the target function, the EPS controller may control an action of the EPS assist motor according to the first corner execution parameter, so as to implement power steering with different function corner requests. Further, after receiving these requests, the EPS controller calculates and controls the action of the EPS assist motor according to the current state of the vehicle and these target function rotation angle requests to achieve steering assist. Meanwhile, the EPS controller can monitor and simulate the running state of the test vehicle and the operation of a driver through the equipment such as the rotation angle sensor, the torque sensor and the like, the upper-layer controller can calculate the rotation angle value of the rotation angle sensor by combining the vehicle model, the driver model and the road scene and forward the rotation angle value to the EPS controller, and the upper-layer controller can also send the real-time vehicle speed, the engine rotation speed, the gear signal and the high-voltage battery state to the EPS controller so as to timely adjust the action of the motor and ensure the stability and the safety of the vehicle.

It should be noted that, in the embodiment of the present invention, the target function corner request includes at least a target corner value, a target corner direction, and a target function state, and the first corner execution parameter includes at least a current corner value, a current corner direction, and a current function state.

Step S300, the EPS controller respectively sends the first rotation angle execution parameters to an upper layer controller and a function decision module of the current function.

In this embodiment, the EPS controller may send the first rotation angle execution parameter to the function decision module of the upper layer controller and the current function, respectively, and may send feedback to the function decision module of the upper layer controller and the current function from the current rotation angle value, the current rotation angle direction, and the current function state when the EPS controller executes the current function, so as to confirm whether the test EPS controller has been switched to the target function through the function decision modules of the upper layer controller and the current function.

In step S400, the upper controller and/or the functional decision module of the current function performs analysis according to the first rotation angle execution parameter and obtains a test result.

According to the technical scheme, the upper layer controller sends the target function corner request of the target function to the EPS controller, and the EPS controller obtains the first corner execution parameter according to the target function corner request and the corner execution parameter of the current function executed by the EPS controller. Then, the EPS controller respectively sends the first rotation angle execution parameters to the upper layer controller and the function decision module of the current function, and the upper layer controller and/or the function decision module of the current function analyze according to the first rotation angle execution parameters and obtain a test result. According to the embodiment of the invention, the test results of the upper layer controller, the EPS controller and the functional decision module are analyzed and adjusted, so that the more severe driving auxiliary function switching test adopting the corner request in the development stage is realized, the test efficiency of the steering system is improved, and the test cost is saved.

Referring to fig. 2, in the steering system testing method according to some embodiments of the present invention, the upper layer controller and/or the functional decision module of the current function in step S400 in fig. 1 performs analysis according to the first rotation angle execution parameter and obtains a testing result, including but not limited to the following steps S410 and S420:

In step S410, the upper layer controller and/or the function decision module of the current function compares the first acquisition time for acquiring the first rotation angle execution parameter with the first time threshold, and determines that the EPS controller passes the function switching test if the first acquisition time is smaller than the first time threshold.

Step S420, or the upper layer controller and/or the function decision module of the current function compares the first rotation angle execution parameter with the target function rotation angle request, and if the first rotation angle execution parameter is normal, the EPS controller is judged to pass the function switching test.

In some embodiments, the EPS controller may switch from the current function to the test of the target function by executing step S410, the upper layer controller and/or the function decision module of the current function may compare the first acquisition time for acquiring the first rotation angle execution parameter with the first time threshold, and if the first acquisition time is less than the first time threshold, determine that the EPS controller passes the function switch test, or continue to execute step S420. Specifically, the first time threshold may be set according to an actual test requirement, for example, the first time threshold is set to 10ms or 30ms, that is, the test requirement EPS controller immediately feeds back the first corner execution parameter to the upper layer controller and/or the function decision module of the current function after receiving the target function corner request, if the function switching test is overtime, that is, the first acquisition time is greater than the first time threshold, which indicates that the function switching test of the EPS controller is not qualified, the step S300 is executed again, and the EPS controller sends the first corner execution parameter to the upper layer controller and the function decision module of the current function respectively.

In addition, in an embodiment, the function switching test of the EPS controller may specifically further be performed by executing the step S420 to compare the upper layer controller and/or the function decision module of the current function with the target function corner request according to the first corner execution parameter, if the first corner execution parameter is normal, determining that the EPS controller passes the function switching test, further, if the upper layer controller and/or the function decision module of the current function detects that the first corner execution parameter does not match with the target function corner request, for example, the value of the first corner execution parameter is incorrect, that is, the EPS controller does not switch the currently executed function according to the target function corner request, thereby determining that the function switching test of the EPS controller is not qualified, returning to execute the step S300, and sending the first corner execution parameter to the function decision module of the upper layer controller and the current function respectively through the EPS controller again, and by verifying the corner request feedback time and/or the corner request value in the function switching, implementing the more severe driving auxiliary function switching test using the corner request in the development stage, thereby improving the test efficiency of the steering system and saving the test cost.

In an embodiment, if it is determined in the above step S420 that the first rotation angle execution parameter is not normal, the above step S100 may be further executed again, and the target function rotation angle request of the target function is sent to the EPS controller again through the upper layer controller.

In one embodiment of the present invention, the upper layer controller and/or the function decision module of the current function in step S420 in fig. 2 compares the target function corner request according to the first corner execution parameter, and includes the following steps S421 to S422:

in step S421, the upper controller and/or the functional decision module of the current function compares the current rotation angle value with the target rotation angle value, the current rotation angle direction with the target rotation angle direction, determines whether the current rotation angle value is equal to the target rotation angle value, and determines whether the current rotation angle direction is equal to the target rotation angle direction.

In step S422, the upper layer controller and/or the function decision module of the current function compares the current function state with the target function state, determines whether the current function state is an activated state, and determines whether the target function state is a ready-to-activate state.

In an embodiment, the function decision module of the upper controller and/or the current function obtains a target rotation angle value, a target rotation angle direction, and a target function state from the target function rotation angle request, and then obtains a current rotation angle value, a current rotation angle direction, and a current function state from the received first rotation angle execution parameter, where the target rotation angle value and the target rotation angle direction are a rotation angle and a rotation direction of a steering wheel forwarded by the upper controller to the EPS controller, respectively, and the EPS controller outputs the current rotation angle value and the current rotation angle direction to the power-assisted motor to control the rotation angle and the rotation direction, and the function decision module of the upper controller and/or the current function may compare the current rotation angle value with the target rotation angle value, determine whether the current rotation angle value is equal to the target rotation angle value, and compare the current rotation angle direction with the target rotation angle direction, and determine whether the current rotation angle direction is the same as the target rotation angle direction. Further, the upper layer controller and/or the function decision module of the current function compares the current function state with the target function state to determine whether the current function state is an activated state, the EPS and whether the target function state is a ready-to-activate state, and if the current function state is in the activated state and the target function state is the ready-to-activate state, the EPS controller controls the assist motor according to the rotation angle execution parameter of the current function and can prepare to switch to the target function according to the target function rotation angle request. In the embodiment of the invention, if the current rotation angle value is equal to the target rotation angle value, the current rotation angle direction is equal to the target rotation angle direction, the current function state is the activated state, and the target function state is the ready-to-activate state, the first rotation angle execution parameter is normal.

It may be understood that the target function corner request further includes a target function type, and the first corner execution parameter further includes a current function type, and the upper layer controller and/or the function decision module of the current function may determine whether to perform a function switching test according to comparing the current function type sent by the EPS controller with the target function type, and if the current function type is the same as the target function type, execute step S100 again, and send other target function requests through the upper layer controller and/or the function decision module of the current function.

Referring to fig. 3, in the steering system testing method according to some embodiments of the present invention, after determining that the EPS controller passes the function switching test, step S410 and step S420 in fig. 2 include the following steps S401 to S404:

Step S401, the function decision module of the current function sends a reset parameter to the EPS controller.

In step S402, the EPS controller resets to the current function according to the reset parameter.

Step S403, the upper layer controller sends a target corner request of the target function to the EPS controller, so that the EPS controller is switched to the target function.

In step S404, the EPS controller transmits the second rotation angle execution parameter of the target function to the upper layer controller.

In this embodiment, the function decision module of the current function sends the reset parameter to the EPS controller, so that the EPS controller resets the current function before the function switching according to the reset parameter, so as to perform the normal function switching subsequently. Further, the upper layer controller sends a target corner request of the target function to the EPS controller, so that the EPS controller is switched to the target function, and then the EPS controller sends a second corner execution parameter of the target function to the upper layer controller. It should be noted that, in the embodiment of the present invention, the reset parameter at least includes a default rotation angle value, a default rotation angle direction, a default function state and a default function type of the current function, after the EPS controller completes the function switching test, the normal function is switched to the target function, and the operation of the assist motor is controlled according to the second rotation angle execution parameter.

In the steering system testing method provided by some embodiments of the present invention, the EPS controller in step S402 in fig. 3 resets to the current function according to the reset parameter, and further includes the following step S4021:

In step S4021, the EPS controller compares the second acquisition time for acquiring the reset parameter with the second time threshold, and resets the EPS controller to the current function according to the reset parameter if the second acquisition time is smaller than the second time threshold.

In this embodiment, after the EPS controller receives the reset parameter, step S410 may be executed to compare the second acquisition time for acquiring the reset parameter with the second time threshold, and if the second acquisition time is smaller than the second time threshold, the EPS controller resets the current function according to the reset parameter. Specifically, the second time threshold may be set according to an actual test requirement, for example, the first time threshold is set to 30ms or 50ms, that is, the test requirement EPS controller resets the current function executed before performing the function switching test immediately after receiving the reset parameter, if the function reset is overtime, that is, the second acquisition time is greater than the second time threshold, it is indicated that the function switching test of the EPS controller is not qualified, the above step S401 is executed again, and the reset parameter is resent to the EPS controller through the function decision module of the current function, which can provide the test efficiency and save the test cost.

In the steering system testing method provided by some embodiments of the present invention, the EPS controller in step S404 in fig. 3 sends the second rotation angle execution parameter of the target function to the upper layer controller, and further includes the following step S4041:

In step S4041, the EPS controller sends the second corner execution parameter of the target function to the upper layer controller after obtaining the second corner execution parameter according to the target function corner request and the corner execution parameter of the current function executed by the EPS controller.

It can be appreciated that in this embodiment, the EPS controller may send the second rotation angle execution parameter to the upper layer controller, and may send feedback to the upper layer controller and the function decision module of the current function from the rotation angle value, the rotation angle direction, and the function status executed after the EPS controller is switched to the target function, so as to confirm whether the test EPS controller has been switched to the target function through the upper layer controller.

In some embodiments of the present invention, after the EPS controller sends the second rotation angle execution parameter of the target function to the upper layer controller, the method further includes the following steps S4042 to S40423:

in step S4042, the upper controller compares the third acquisition time for acquiring the second rotation angle execution parameter with the third time threshold, and determines that the EPS controller is switched to the target function if the third acquisition time is less than the third time threshold.

In step S4043, the upper controller compares the second corner execution parameter with the target function corner request, and determines that the EPS controller is switched to the target function if the second corner execution parameter is normal.

In some embodiments, when the EPS controller switches from the current function to the target function, the upper controller may determine that the EPS controller switches to the target function by executing step S4042 by comparing the third acquisition time for acquiring the second rotation angle execution parameter with the third time threshold if the third acquisition time is smaller than the third time threshold. Specifically, the third time threshold may be set according to an actual test requirement, for example, the third time threshold is set to 130ms or 150ms, that is, the test requirement EPS controller immediately feeds back the first corner execution parameter to the upper layer controller after receiving the target function corner request, if the function switching is overtime, that is, the third acquisition time is greater than the third time threshold, which indicates that the EPS controller does not switch to the target function, the step S403 is executed again, and the target corner request of the target function is sent to the EPS controller through the upper layer controller, so that the EPS controller switches to the target function.

In addition, in an embodiment, the function switching test of the EPS controller may specifically further be performed by executing step S4043 to compare the upper layer controller with the target function corner request according to the second corner execution parameter, if the second corner execution parameter is normal, determining that the EPS controller switches to the target function, further, if the upper layer controller detects that the second corner execution parameter does not match with the target function corner request, for example, the value of the second corner execution parameter is incorrect, that is, the EPS controller does not switch the currently executed function according to the target function corner request, thereby determining that the function switching of the EPS controller is not qualified, returning to execute step S403 described above, and then sending the target corner request of the target function to the EPS controller through the upper layer controller, so that the EPS controller switches to the target function.

In the steering system testing method provided by some embodiments of the present invention, the upper layer controller is configured with a target function set, the target function set includes a plurality of target functions to be tested, after the EPS controller switches to the target function of the last test, the upper layer controller acquires the next target function from the target function set, and sends a new target function corner request to the EPS controller according to the next target function, so as to test whether the EPS controller can switch from one target function in the target function set to any other target function.

Referring to fig. 4, in some embodiments of the present invention, before the upper layer controller sends a new target function corner request to the EPS controller according to the next target function, the following steps S510 to S530 are included:

In step S510, the upper layer controller sends a target function corner request of the last target function to the EPS controller.

In step S520, the EPS controller obtains a third corner execution parameter according to the target function corner request of the previous target function and the corner execution parameter of the current execution function of the EPS controller.

In step S530, the EPS controller sends a third rotation angle execution parameter to the upper controller, where the third rotation angle execution parameter characterizes the rotation angle execution parameter of the EPS controller for controlling the power-assisted motor.

In this embodiment, the upper controller sends the target function corner request of the previous target function to the EPS controller, and the EPS controller obtains the third corner execution parameter according to the target function corner request of the previous target function and the corner execution parameter of the current execution function of the EPS controller, and sends the third corner execution parameter to the upper controller, and at the same time, the EPS controller may control the operation of the booster motor according to the third corner execution parameter. It should be understood that the third rotation angle execution parameter may include a rotation angle value, a rotation angle direction, a function status, and a function type when the EPS controller executes the last target function.

In an embodiment, the upper layer controller is configured to send a target corner request to the EPS controller to test whether the EPS controller can switch from one target function in the target function set to any other target function, thereby testing switching between any two target functions.

Referring to fig. 5, fig. 5 is a schematic structural diagram of a test system for applying a steering angle request steering system according to an embodiment of the present invention, where the test system is suitable for executing the test method for a steering system according to the embodiment of the present invention. As shown in fig. 5, the test system may specifically include:

The upper layer controller 501 is configured to send a target function corner request of a target function to the EPS controller 502;

The EPS controller 502 is configured to obtain a first corner execution parameter according to the target function corner request and a corner execution parameter of the current function executed by the EPS controller 502, and send the first corner execution parameter to the upper layer controller 501 and the function decision module 503 of the current function respectively;

The functional decision module 503 is configured to perform analysis according to the first rotation angle execution parameter and obtain a test result.

The test system of the steering system provided by the embodiment of the invention can execute the test method of the steering system provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method. Reference is made to the description of any method embodiment of the invention for details not described in this embodiment.

Referring to fig. 6, fig. 6 is a schematic diagram of an execution scenario of a test method for an application steering system with corner request according to an embodiment of the present invention, including the following steps:

the upper layer controller 501 transmits a target function corner request of a target function to the EPS controller 502.

The EPS controller 502 obtains a first rotation angle execution parameter according to the target function rotation angle request and the rotation angle execution parameter of the current function executed by the EPS controller 502.

The EPS controller 502 transmits the first rotation angle execution parameter to the upper layer controller 501 and the function decision module 503 of the current function, respectively.

The upper controller 501 and/or the functional decision module 503 of the current function analyze the first rotation angle execution parameter and obtain a test result.

The function decision block 503 of the current function sends a reset parameter to the EPS controller 502.

The EPS controller 502 resets to the current function according to the reset parameter.

Referring to fig. 7, fig. 7 is a schematic diagram of an execution scenario after the function switching test in fig. 6, which includes the following steps:

the upper layer controller 501 sends a target rotation angle request of the target function to the EPS controller 502 again, so that the EPS controller 502 switches to the target function.

The EPS controller 502 transmits the second rotation angle execution parameter of the target function to the upper layer controller 501.

Referring to fig. 8, fig. 8 is a schematic diagram of an execution scenario before the function switching test is executed in fig. 6, which includes the following steps:

the upper layer controller 501 transmits a target function corner request of the last target function to the EPS controller 502.

The EPS controller 502 obtains a third corner execution parameter according to the target function corner request of the last target function and the corner execution parameter of the current execution function of the EPS controller 502.

The EPS controller 502 transmits the third rotation angle execution parameter to the upper layer controller 501.

Fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. Referring to FIG. 7, a schematic diagram of a computer system 12 suitable for use in implementing an electronic device of an embodiment of the present invention is shown. The electronic device shown in fig. 7 is only an example and should not be construed as limiting the functionality and scope of use of the embodiments of the invention. Components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, a bus 18 that connects the various system components, including the system memory 28 and the processing units 16.

Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, and a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include Industry Standard Architecture (ISA) bus, micro channel architecture (MAC) bus, enhanced ISA bus, video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

Electronic device 12 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by electronic device 12 and includes both volatile and nonvolatile media, removable and non-removable media.

The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 30 and/or cache memory 32. The electronic device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from or write to non-removable, nonvolatile magnetic media (not shown in FIG. 7, commonly referred to as a "hard disk drive"). Although not shown in fig. 7, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be coupled to bus 18 through one or more data medium interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of embodiments of the invention.

A program/utility 40 having a set (at least one) of program modules 42 may be stored in, for example, memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 42 generally perform the functions and/or methods of the embodiments described herein.

The electronic device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), one or more devices that enable a user to interact with the electronic device 12, and/or any devices (e.g., network card, modem, etc.) that enable the electronic device 12 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 22. In the electronic device 12 of the present embodiment, the display 24 is not provided as a separate body but is embedded in the mirror surface, and the display surface of the display 24 and the mirror surface are visually integrated when the display surface of the display 24 is not displayed. Also, the electronic device 12 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, through a network adapter 20. As shown, the network adapter 20 communicates with other modules of the electronic device 12 over the bus 18. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with electronic device 12, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.

The processing unit 16 executes various functional applications and steering system tests by running programs stored in the system memory 28, for example, implementing a steering system test method using steering angle requests provided by embodiments of the present invention.

In a fourth aspect, embodiments of the present invention provide a computer readable storage medium having a computer program stored thereon, where the program when executed by a processor implements a method for testing an application steering system according to all embodiments of the present invention, where any combination of one or more computer readable media may be used. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

In a fifth aspect, embodiments of the present invention also provide a computer program product comprising a computer program stored in a computer readable storage medium. The processor of the computer device reads the computer program from the computer-readable storage medium, and the processor executes the computer program so that the computer device executes the steering system testing method that implements any one of the above-described embodiments.

Computer program code for carrying out operations of the present invention may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).

Those of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media or non-transitory media and communication media or transitory media. The term computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as known to those skilled in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disk DVD or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by the computer. Furthermore, as is well known to those of ordinary skill in the art, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present invention.

Claims (10)

1. The utility model provides an application corner request steering system test method which characterized in that, steering system test method is applied to test system, test system includes upper controller, EPS controller and function decision module, steering system test method includes:

The upper layer controller sends a target function corner request of a target function to the EPS controller;

the EPS controller obtains a first rotation angle execution parameter according to the target function rotation angle request and rotation angle execution parameters of the current function executed by the EPS controller, wherein the first rotation angle execution parameter characterizes rotation angle execution parameters to be switched to the target function by the EPS controller;

the EPS controller sends the first rotation angle execution parameters to the upper layer controller and the function decision module of the current function respectively;

And the upper layer controller and/or the function decision module of the current function analyze according to the first rotation angle execution parameter and obtain a test result.

2. The steering system testing method according to claim 1, wherein the upper layer controller and/or the function decision module of the current function performs analysis according to the first rotation angle execution parameter and obtains a test result, including:

the upper layer controller and/or the function decision module of the current function compares the first acquisition time for acquiring the first rotation angle execution parameter with a first time threshold value, and if the first acquisition time is smaller than the first time threshold value, the EPS controller is judged to pass a function switching test;

The upper layer controller and/or the function decision module of the current function compares the first rotation angle execution parameter with the target function rotation angle request, and if the first rotation angle execution parameter is normal, the EPS controller is judged to pass a function switching test;

the target function corner request at least comprises a target corner value, a target corner direction and a target function state, and the first corner execution parameter at least comprises a current corner value, a current corner direction and a current function state.

3. The steering system testing method according to claim 2, wherein the upper layer controller and/or the function decision module of the current function compares the target function corner request with the first corner execution parameter, comprising:

the upper layer controller and/or the function decision module of the current function compare the current rotation angle value with the target rotation angle value, the current rotation angle direction with the target rotation angle direction, judge whether the current rotation angle value is equal to the target rotation angle value, and judge whether the current rotation angle direction is equal to the target rotation angle direction;

The upper layer controller and/or the function decision module of the current function compares the current function state with the target function state, judges whether the current function state is an activated state or not, and judges whether the target function state is a ready-to-activate state or not;

and if the current rotation angle value is equal to the target rotation angle value, the current rotation angle direction is equal to the target rotation angle direction, the current function state is an activated state, the target function state is a ready-to-activate state, and the first rotation angle execution parameter is normal.

4. The steering system testing method according to claim 2, characterized by comprising, after determining that the EPS controller passes a function switching test:

the function decision module of the current function sends a reset parameter to the EPS controller;

the EPS controller resets to the current function according to the reset parameter;

The upper layer controller sends the target corner request of the target function to the EPS controller, so that the EPS controller is switched to the target function;

and the EPS controller sends a second corner execution parameter of the target function to the upper layer controller.

5. The steering system testing method according to claim 4, wherein the EPS controller resets to the current function according to the reset parameter, comprising:

And comparing the second acquisition time for acquiring the reset parameter with a second time threshold by the EPS controller, and resetting the EPS controller to the current function according to the reset parameter if the second acquisition time is smaller than the second time threshold.

6. The steering system testing method according to claim 4, wherein the EPS controller transmitting a second rotation angle execution parameter of the target function to the upper layer controller includes:

the EPS controller sends a second corner execution parameter of the target function to the upper controller after obtaining the second corner execution parameter according to the target function corner request and the corner execution parameter of the current function executed by the EPS controller, and the second corner execution parameter characterizes the corner execution parameter to be switched to the target function after the EPS controller completes the function switching test.

7. The steering system testing method according to claim 4 or 6, characterized by comprising, after the EPS controller transmits the second rotation angle execution parameter of the target function to the upper layer controller:

The upper controller compares a third acquisition time for acquiring the second rotation angle execution parameter with a third time threshold, and if the third acquisition time is smaller than the third time threshold, the EPS controller is judged to be switched to the target function;

And comparing the second corner execution parameter with the target function corner request by the upper layer controller, and judging that the EPS controller is switched to the target function if the second corner execution parameter is normal.

8. The steering system testing method according to claim 1, wherein the upper layer controller is configured with a target function set including a plurality of the target functions to be tested, and after the EPS controller switches to the target function of the last test, the upper layer controller acquires the next target function from the target function set, and sends a new target function corner request to the EPS controller according to the next target function to test whether the EPS controller can switch from one of the target functions to any other of the target functions.

9. The steering system testing method according to claim 8, wherein before the upper layer controller sends a new target function corner request to an EPS controller according to a next target function, comprising:

The upper layer controller sends the target function corner request of the last target function to the EPS controller;

the EPS controller obtains a third corner execution parameter according to the corner request of the last target function and the corner execution parameter of the current execution function of the EPS controller;

the EPS controller sends the third rotation angle execution parameter to the upper controller, wherein the third rotation angle execution parameter characterizes the rotation angle execution parameter of the power-assisted motor.

10. A test system for an application steering system, the test system comprising:

the upper layer controller is used for sending a target function corner request of a target function to the EPS controller;

The EPS controller is used for obtaining a first corner execution parameter according to the target function corner request and the corner execution parameter of the current function executed by the EPS controller, and respectively sending the first corner execution parameter to the upper layer controller and the function decision module of the current function;

and the functional decision module is used for analyzing according to the first rotation angle execution parameter and obtaining a test result.