CN118012012A - HIL simulation test system and test method - Google Patents
HIL simulation test system and test method Download PDFInfo
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Abstract
The embodiment of the invention discloses an HIL simulation test system and a test method, wherein the HIL simulation test system comprises an HIL hardware simulation platform, an upper computer and a CAN bus, the HIL hardware simulation platform comprises a vehicle controlled object module and a vehicle controller module, the upper computer is used for building the vehicle controlled object module and the vehicle controller module, compiling the vehicle controlled object module and the vehicle controller module to the vehicle controlled object module and the vehicle controller module respectively and correspondingly, collecting test data of the HIL simulation test system, and the CAN bus is connected with the vehicle controlled object module and the vehicle controller module respectively and used for building a communication relation between the vehicle controlled object module and the vehicle controller module. The HIL simulation test system and the test method in the embodiment of the invention can simplify the structure of the existing HIL simulation test system, and the test process does not need to be equipped with vehicle controller hardware, thereby reducing the test cost.
Description
Technical Field
The invention belongs to the technical field of automobile testing, and particularly relates to an HIL simulation testing system and an HIL simulation testing method.
Background
The automobile software development V flow is the most widely used development flow in the automobile industry, and comprises the following steps: system modeling, control design, rapid control prototyping, automatic code generation, software testing and hardware-in-the-loop testing constitute an integrated solution for automobile software system development from functional design, software programming to reliability testing.
At present, a hardware-in-loop simulation test system (HIL) is commonly adopted in an automobile software development V flow, and the existing HIL simulation test system consists of a real vehicle controller and an HIL hardware simulation platform. The vehicle controlled object is operated by the HIL hardware simulation platform, the control algorithm is operated by the vehicle controller, communication is realized between the vehicle controlled object and the vehicle controller through the CAN bus, and even if the vehicle controller has a problem in the test process, the test personnel and the test equipment cannot be endangered. However, the existing HIL simulation test system has a complex structure, and corresponding vehicle controllers need to be equipped and replaced when different vehicle controllers are tested, so that the development flow of embedded software of the vehicle is seriously affected.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person of ordinary skill in the art.
Disclosure of Invention
The invention aims to provide an HIL simulation test system which can simplify the structure of the existing HIL simulation test system and reduce the test cost.
In order to achieve the above object, the technical scheme provided by the specific embodiment of the present invention is as follows:
The HIL simulation test system comprises an HIL hardware simulation platform, an upper computer and a CAN bus, wherein the HIL hardware simulation platform comprises a vehicle controlled object module and a vehicle controller module, the upper computer is used for building the vehicle controlled object module and the vehicle controller module, compiling the vehicle controlled object module and the vehicle controller module to the vehicle controlled object module and the vehicle controller module respectively and correspondingly, collecting test data of the HIL simulation test system, and the CAN bus is connected with the vehicle controlled object module and the vehicle controller module respectively and is used for building a communication relation between the vehicle controlled object module and the vehicle controller module.
In one or more embodiments of the present invention, the host computer includes a model building module for building a vehicle controlled object model and a vehicle controller model.
In one or more embodiments of the present invention, the host computer further includes a HIL test environment configuration module, where the HIL test environment configuration module has a vehicle controlled object configuration file and a vehicle controller configuration file, and the HIL test environment configuration module is configured to import the vehicle controlled object model and the vehicle controller model into the corresponding vehicle controlled object configuration file and vehicle controller configuration file, respectively.
In one or more embodiments of the present invention, the HIL test environment configuration module is configured to import DBC files that establish a communication relationship into a vehicle controlled object configuration file and a vehicle controller configuration file.
In one or more embodiments of the present invention, the HIL test environment configuration module is configured to compile a vehicle controlled object configuration file and a vehicle controller configuration file into operation files that can be identified by the HIL hardware simulation platform, and import the operation files into the vehicle controlled object module and the vehicle controller module, respectively.
In one or more embodiments of the present invention, the host computer further includes an HIL test data observation module for collecting and storing test data of the HIL simulation test system.
In one or more embodiments of the invention, the HIL test data observation module comprises a user-operated interface.
In one or more embodiments of the present invention, the vehicle controlled object model includes a battery model, a BMS model, a motor model, an MCU model, a DCDC model, a vehicle dynamics model, a driver model, and the like.
In one or more embodiments of the invention, the vehicle controller model includes a VCU model or the like.
The HIL simulation test method applies the HIL simulation test system, and comprises the following steps: building a corresponding vehicle controlled object model and a vehicle controller model through a model building module; respectively importing a vehicle controlled object model and a vehicle controller model into the vehicle controlled object module and the vehicle controller module through an HIL test environment configuration module; the vehicle controller module sends a control signal to the vehicle controlled object module, the vehicle controlled object module gives a feedback signal, the feedback signal is input into the vehicle controller module, and the vehicle controller module adjusts the control signal according to the feedback signal.
Compared with the prior art, the HIL simulation test system and the test method of the embodiment of the invention can simplify the structure of the existing HIL simulation test system, and the test process does not need to be provided with vehicle controller hardware, thereby reducing the test cost and taking into account the RCP (Rapod Control Prototype, rapid control prototype) simulation and HIL test in the automobile software development V flow.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings may be obtained according to the drawings without inventive effort to a person of ordinary skill in the art.
FIG. 1 is a schematic diagram of an HIL simulation test system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a conventional HIL simulation test system;
FIG. 3 is a flow chart of a HIL simulation test method according to an embodiment of the invention;
Fig. 4 is a flowchart of the automobile software development V flow.
The main reference numerals illustrate: 1. the system comprises an upper computer, a model building module, a12, an HIL test environment configuration module, a 13, an HIL test data observation module, a 2, an HIL hardware simulation platform, a 21, a vehicle controlled object module, a 22, a vehicle controller module, a 3 and a CAN bus.
Detailed Description
In order to make the technical solution of the present invention better understood by those skilled in the art, the technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
As shown in fig. 1 to 3, an HIL simulation test system according to an embodiment of the present invention includes an HIL hardware simulation platform 2, an upper computer 1 and a CAN bus 3, where the HIL hardware simulation platform 2 includes a vehicle controlled object module 21 and a vehicle controller module 22, the upper computer 1 is configured to build a vehicle controlled object model and a vehicle controller model, compile the vehicle controlled object model and the vehicle controller model into the vehicle controlled object module 21 and the vehicle controller module 22 respectively, and collect test data of the HIL simulation test system, and the CAN bus 3 is connected with the vehicle controlled object module 21 and the vehicle controller module 22 respectively, so as to build a communication relationship between the vehicle controlled object module 21 and the vehicle controller module 22.
In the above embodiment, the vehicle controlled object module 21 and the vehicle controller module 22 each have a processor independent of each other, and when the vehicle controller algorithm verification is required, the vehicle controller model is built according to the project requirements. And the tester builds a corresponding vehicle controlled object model, such as a controlled object of a gearbox, a motor or an engine and the like, according to the vehicle controller to be tested. And compiling the built vehicle controlled object model and the built vehicle controller model to the vehicle controlled object module 21 and the vehicle controller module 22 respectively, transmitting control signals to the vehicle controlled object module 21 by the vehicle controller module 22 through the CAN bus 3, executing corresponding vehicle functions by the vehicle controlled object module 21, and testing the vehicle controller. The HIL simulation test system does not need to be equipped with various types of vehicle controller hardware, and only needs to build various vehicle controller models and vehicle controlled object models according to test requirements to realize the test of a vehicle controller algorithm, so that the structure of the existing HIL simulation test system is greatly simplified, the complexity is reduced, and the cost for purchasing the vehicle controller is saved.
It should be noted that, the HIL hardware simulation platform 2 may be provided with a plurality of independent vehicle controlled object modules 21, vehicle controller modules 22 and multiple CAN buses 3 to test different types of vehicle controllers and corresponding vehicle components at the same time, and the test process may be performed at the same time.
In an embodiment, the host computer 1 includes a model building module 11 for building a vehicle controlled object model and a vehicle controller model. The model building module 11 can build a controlled object model of the vehicle and a controller model of the vehicle by using Matlab Simulink software.
In an embodiment, the host computer 1 further includes a HIL test environment configuration module 12, where the HIL test environment configuration module 12 has a vehicle controlled object configuration file and a vehicle controller configuration file, and the HIL test environment configuration module 12 is configured to import a vehicle controlled object model and a vehicle controller model into the corresponding vehicle controlled object configuration file and vehicle controller configuration file, respectively. The vehicle controlled object profile and the vehicle controller profile may be loaded to the vehicle controlled object module 21 and the vehicle controller module 22, respectively.
Further, the HIL test environment configuration module 12 CAN also import the DBC file with the communication relationship established into the vehicle controlled object configuration file and the vehicle controller configuration file, so that the vehicle controlled object module 21 and the vehicle controller module 22 CAN implement CAN communication, and the DBC file CAN be specifically created according to the interface signal between the vehicle controlled object model and the vehicle controller model.
Further, the HIL test environment configuration module 12 can also compile the configuration files of the controlled object of the vehicle and the configuration files of the controller of the vehicle into operation files that can be identified by the HIL hardware simulation platform 2, and import the operation files into the controlled object module 21 of the vehicle and the controller module 22 of the vehicle respectively, so that the controller module 22 of the vehicle can send corresponding control signals to the controlled object module 21 of the vehicle, and the controlled object module 21 of the vehicle simulates corresponding operations.
In an embodiment, the upper computer 1 further includes an HIL test data observation module 13 for collecting and storing test data of the HIL simulation test system. The HIL test data observation module 13 can monitor and record test data in real time, can play back and store the test data, and is convenient for a tester to retrieve and analyze the test data.
Further, the HIL test data observation module 13 includes a user operation interface, where the operation interface can be set by a user according to a requirement of a tester, and the operation interface specifically may include a test case switch key and the like.
The vehicle controlled object model includes a Battery model, a BMS (Battery MANAGEMENT SYSTEM) model, a motor model, an MCU (Motor Control Unit, a motor controller) model, a DCDC (Direct Current To Direct Current Converter, a direct current converter) model, a vehicle dynamics model, a driver model, and the like, the vehicle controller model includes a VCU model and the like, and the VCU model has a gear management function, an up-down electricity management function, a torque management function, a thermal management function, and the like. The model can be built according to the requirements of testers. Of course, the selection of the vehicle controlled object model and the vehicle controller model is not limited to the above-listed models, and all vehicle components controlled by the vehicle controller and corresponding vehicle controllers can be used as objects for constructing the models.
Fig. 4 shows a HIL simulation test method according to an embodiment of the present invention, which uses the above-mentioned HIL simulation test system, and the HIL simulation test method includes the following steps.
First, a corresponding vehicle controlled object model and a vehicle controller model are built through a model building module 11.
Specifically, in the step, the vehicle controlled object model and the vehicle controller model can be built through Matlab Simulink software, and the vehicle controlled object model and the vehicle controller model can be built according to the test requirements of testers.
Second, the vehicle controlled object model and the vehicle controller model are respectively imported to the vehicle controlled object module 21 and the vehicle controller module 22 by the HIL test environment configuration module 12.
Specifically, in the above steps, the vehicle controlled object configuration file may be newly built in the HIL test environment configuration module 12, then the vehicle controlled object model is imported into the vehicle controlled object configuration file, then the corresponding CAN channel 3 is allocated to the vehicle controlled object module 21, and the corresponding DBC file is imported. Then, a vehicle controller configuration file is newly built in the HIL test environment configuration module 12, and then the vehicle controller model is imported into the corresponding vehicle controller configuration file, and then the corresponding CAN channel 3 is allocated to the vehicle controller module 22, and the corresponding DBC file is imported. And finally compiling the configuration file of the controlled object of the vehicle and the configuration file of the controller of the vehicle to generate a file which can be identified and operated by the HIL hardware simulation platform 2. In this step, since the modules of the HIL hardware simulation platform 2 are already allocated in the HIL test environment configuration module 12, the HIL hardware simulation platform 2 can automatically identify two configuration files and import them into the corresponding modules of the HIL hardware simulation platform 2. Finally, the physical interfaces of the vehicle controlled object module 21 and the physical interfaces of the vehicle controller module 22 are connected through the CAN bus 3, so that the communication between the vehicle controlled object module 21 and the vehicle controller module 22 is established, and the physical interfaces of the HIL hardware simulation platform 2 comprise a plurality of CAN channels and a plurality of LIN channels.
In the third step, the vehicle controller module 22 sends a control signal to the vehicle controlled object module 21, the vehicle controlled object module 21 gives a feedback signal, the feedback signal is input to the vehicle controller module 22, and the vehicle controller module 22 adjusts the control signal according to the feedback signal.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the skilled artisan should recognize that the embodiments may be combined as appropriate to form other embodiments that will be understood by those skilled in the art.
Claims (10)
1. A HIL simulation test system, comprising:
The HIL hardware simulation platform (2) comprises a vehicle controlled object module (21) and a vehicle controller module (22);
The upper computer (1) is used for building a vehicle controlled object model and a vehicle controller model, compiling the vehicle controlled object model and the vehicle controller model to the vehicle controlled object module (21) and the vehicle controller module (22) correspondingly respectively, and collecting test data of the HIL simulation test system; and
And the CAN bus (3) is respectively connected with the vehicle controlled object module (21) and the vehicle controller module (22) and is used for establishing a communication relationship between the vehicle controlled object module (21) and the vehicle controller module (22).
2. The HIL simulation test system according to claim 1, wherein the host computer (1) comprises a model building module (11) for building the vehicle controlled object model and the vehicle controller model.
3. The HIL simulation test system according to claim 1, wherein the host computer (1) further comprises a HIL test environment configuration module (12), the HIL test environment configuration module (12) having a vehicle controlled object configuration file and a vehicle controller configuration file, the HIL test environment configuration module (12) being configured to import the vehicle controlled object model and the vehicle controller model into the corresponding vehicle controlled object configuration file and the vehicle controller configuration file, respectively.
4. The HIL simulation test system according to claim 3, wherein the HIL test environment configuration module (12) is configured to import DBC files establishing communication relations into the vehicle controlled object configuration file and the vehicle controller configuration file.
5. The HIL simulation test system according to claim 4, wherein the HIL test environment configuration module (12) is configured to compile the vehicle controlled object configuration file and the vehicle controller configuration file into operation files that can be identified by the HIL hardware simulation platform (2), and import the operation files into the vehicle controlled object module (21) and the vehicle controller module (22), respectively.
6. The HIL simulation test system according to claim 1, wherein the host computer (1) further comprises a HIL test data observation module (13) for collecting and storing test data of the HIL simulation test system.
7. The HIL simulation test system according to claim 6, wherein the HIL test data observation module (13) comprises a user operation interface.
8. The HIL simulation test system according to claim 1, wherein the vehicle controlled object model comprises a battery model, a BMS model, a motor model, an MCU model, a DCDC model, a vehicle dynamics model, and a driver model.
9. The HIL simulation test system of claim 1, wherein the vehicle controller model comprises a VCU model.
10. A HIL simulation test method applying the HIL simulation test system according to any one of claims 1 to 9, the HIL simulation test method comprising:
building a corresponding vehicle controlled object model and a corresponding vehicle controller model through the model building module (11);
Importing a vehicle controlled object model and a vehicle controller model into the vehicle controlled object module (21) and the vehicle controller module (22) respectively through the HIL test environment configuration module (12);
The vehicle controller module (22) sends a control signal to the vehicle controlled object module (21), the vehicle controlled object module (21) gives a feedback signal, the feedback signal is input into the vehicle controller module (22), and the vehicle controller module (22) adjusts the control signal according to the feedback signal.
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