CN112306033A - Vehicle-mounted controller joint test control method, device and system - Google Patents
Vehicle-mounted controller joint test control method, device and system Download PDFInfo
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- CN112306033A CN112306033A CN201910690233.1A CN201910690233A CN112306033A CN 112306033 A CN112306033 A CN 112306033A CN 201910690233 A CN201910690233 A CN 201910690233A CN 112306033 A CN112306033 A CN 112306033A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention provides a vehicle-mounted controller combined test control method, device and system. The method comprises the following steps: in a joint test system with M controller units integrated on a hardware-in-loop test bench, controlling virtual controller units corresponding to N controller units to send first test messages to a bus of the joint test system, and controlling controller units except the N controller units in the M controller units to send second test messages to the bus of the joint test system; performing abnormal troubleshooting detection on the M controller units according to the first test message and the second test message; wherein M is more than or equal to 2, N is less than M and more than or equal to 1, and M, N are all positive integers. The invention can facilitate the problem troubleshooting and detection of the multi-controller in the combined HIL test, thereby effectively shortening the debugging and testing period.
Description
Technical Field
The invention relates to the technical field of automobile testing, in particular to a combined test control method, a combined test control device and a combined test control system for an on-board controller.
Background
In recent years, Hardware-in-the-Loop (HIL) testing is developed rapidly in the field of vehicle-mounted controller software testing, and is a software and Hardware testing scheme on a controller system level. The HIL test system operates a simulation model with a real-time processor of an HIL rack to simulate the operating state of a controlled object, and is connected with an Electronic Control Unit (ECU) to be tested through an Input/Output Interface (I/O Interface) to perform comprehensive and systematic test on the ECU to be tested. The HIL test comprises a single-controller HIL test and a multi-controller combined HIL test. The multi-controller combined HIL test is a combined test scheme which integrates a plurality of controller units in a control system on one or more HIL racks, replaces a virtual controller node of model simulation in a controlled object with a real controller node and carries out information interaction with other controlled controllers.
Due to the real existence of the real controller nodes in the combined HIL test system, the requirement of the combined HIL test system on environment model simulation is lower than that of the single controller HIL test system on environment model simulation. For example: a single controller, such as an HIL test environment of a Vehicle Control Unit (VCU), needs a Vehicle dynamics model, and also needs to establish controller models such as an On Board Charger (OBC)/Battery Management System (BMS)/Motor Controller (MCU) so as to perform closed-loop interaction with the VCU during testing. However, if a combined HIL test system of VCU/OBC/BMS/MCU is established, the environmental model can be completed only by a whole vehicle dynamics model, and the models of VCU, OBC, BMS and MCU nodes are replaced by a real controller. However, such environment models are very inconvenient in joint test troubleshooting, resulting in long debugging and testing periods and difficult progress.
Disclosure of Invention
The invention aims to provide a vehicle-mounted controller joint test control method, device and system, so that the problem that debugging and testing periods are long due to the fact that a plurality of controllers are inconvenient to carry out joint HIL test troubleshooting in the prior art can be solved.
In order to achieve the above object, an embodiment of the present invention provides a combined test control method for a vehicle-mounted controller, including:
in a joint test system with M controller units integrated on a hardware-in-loop test bench, controlling virtual controller units corresponding to N controller units to send first test messages to a bus of the joint test system, and controlling controller units except the N controller units in the M controller units to send second test messages to the bus of the joint test system;
performing abnormal troubleshooting detection on the M controller units according to the first test message and the second test message;
wherein M is more than or equal to 2, N is less than M and more than or equal to 1, and M, N are all positive integers.
Wherein the method further comprises:
controlling M controller units to send joint test messages to a bus of the joint test system;
and if the first test result of the joint test system according to the joint test message is abnormal, controlling the virtual controller units corresponding to the N controller units to send the first test message to the bus of the joint test system, and controlling the controller units except the N controller units in the M controller units to send the second test message to the bus of the joint test system.
The controlling the virtual controller units corresponding to the N controller units to send the first test packet to the bus of the joint test system includes:
disconnecting the message transmission corresponding to the N controller units through first control signals respectively corresponding to the N controller units;
and starting message sending of the N virtual controller units in the environment model through second control signals respectively corresponding to the N virtual controller units, and controlling the N virtual controller units to send first test messages to a bus of the joint test system.
Wherein, the performing the abnormal troubleshooting and detection of the M controller units according to the first test packet and the second test packet includes:
based on the first test message and the second test message, simultaneously operating N virtual controller units and controller units except the N controller units in the M controller units to obtain a second test result; and the second test result is used for abnormal investigation detection.
Wherein the method further comprises:
and if the first test result of the combined test system according to the combined test message is normal, recording the test data of each controller unit.
The embodiment of the invention also provides a combined test control device for the vehicle-mounted controller, which comprises:
the system comprises a first control module, a second control module and a third control module, wherein the first control module is used for controlling virtual controller units corresponding to N controller units to send first test messages to a bus of a joint test system and controlling controller units except N controller units in the M controller units to send second test messages to the bus of the joint test system in the joint test system with the M controller units integrated on an HIL rack;
the detection module is used for carrying out abnormal troubleshooting detection on the M controller units according to the first test message and the second test message;
wherein M is more than or equal to 2, N is less than M and more than or equal to 1, and M, N are all positive integers.
Wherein the apparatus further comprises:
the second control module is used for controlling the M controller units to send the joint test message to the bus of the joint test system;
the first control module is specifically configured to:
and when a first test result of the joint test system for testing according to the joint test message is abnormal test, controlling the virtual controller units corresponding to the N controller units to send the first test message to a bus of the joint test system, and controlling the controller units except the N controller units in the M controller units to send second test messages to the bus of the joint test system.
The first control module is specifically configured to:
disconnecting the message transmission corresponding to the N controller units through first control signals respectively corresponding to the N controller units;
and starting message sending of the N virtual controller units in the environment model through second control signals respectively corresponding to the N virtual controller units, and controlling the N virtual controller units to send first test messages to a bus of the joint test system.
Wherein, the detection module is specifically configured to:
based on the first test message and the second test message, simultaneously operating N virtual controller units and controller units except the N controller units in the M controller units to obtain a second test result; and the second test result is used for abnormal investigation detection.
Wherein the apparatus further comprises:
and the recording module is used for recording the test data of each controller unit when the first test result of the test performed by the joint test system according to the joint test message is normal.
The embodiment of the invention also provides a vehicle-mounted controller combined test system, which comprises:
at least one hardware-in-the-loop test rig;
the M controller units are arranged on the hardware-in-loop test bench;
with the host computer that hardware is connected at ring test bench, the host computer includes: the vehicle-mounted control combined test control device is as described above.
The technical scheme of the invention has the following beneficial effects:
in the above solution of the embodiment of the present invention, M controller units are integrated into a joint test system with hardware on a ring test bench, and the virtual controller units corresponding to N controller units are controlled to send a first test packet to a bus of the joint test system, and the controller units except the N controller units in the M controller units are controlled to send a second test packet to the bus of the joint test system; performing abnormal troubleshooting detection on the M controller units according to the first test message and the second test message; wherein M is more than or equal to 2, N is less than M and more than or equal to 1, and M, N are all positive integers. Therefore, the problem troubleshooting and detection of the multiple controllers in the combined HIL test can be facilitated, and the debugging and testing period is effectively shortened.
Drawings
Fig. 1 is a schematic flow chart of a combined test control method for an on-board controller according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a joint test system architecture of an on-board controller according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a vehicle-mounted controller joint test control device according to an embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a schematic flow chart of a combined test control method for an on-board controller according to an embodiment of the present invention. The implementation of the method is described in detail below with reference to this figure.
Before specifically describing the implementation steps of the present invention, it should be noted that the method of the embodiment of the present invention is applied to a joint test system of an on-board controller, where the test system is a joint test system of hardware on a ring test bench, that is, a joint HIL test system, and as shown in fig. 2, the test system may include: at least one HIL stage, such as an HIL stage 1 and an HIL stage 2, the HIL stage 1 and the HIL stage 2 being connected by a data transmission line for data transmission between the stages.
A plurality of controller units are integrated on the at least one HIL rack, for example, a VCU and an MCU are integrated on the HIL rack 1, and an OBC and a BMS are integrated on the HIL rack 2.
And the upper computer stores environment models of the virtual controller units corresponding to the controller units.
And the network switch is respectively connected with the upper computer, the HIL rack 1 and the HIL rack 2.
It should be noted that the controller unit in the joint HIL test system refers to a controller unit that actually exists in the joint test system, and the virtual controller unit is a virtual simulation model of each controller unit that is established in the joint test environment model.
In addition, a general combined HIL test system is a supplementary verification test with a higher systematization level performed after the single-controller HIL test, and is to verify the capability of matching and coordinating work of multiple controller units in the combined HIL test system, and if the single-controller HIL test environment model is quickly integrated into the combined test environment model, the implementation is as follows:
and respectively modifying the HIL test environment model of each single controller unit (such as VCU/OBC/BMS/MCU). The sending of other Controller Area Network (CAN) nodes in each single Controller unit HIL test environment model is configured to be sending nodes, and as the single Controller unit HIL test environment is used, the sending interfaces of the CAN sending nodes of other Controller units in the environment model are not cancelled.
Specifically, the method may comprise:
In this step, the N controller units are N controller units of the M controller units.
Here, the M controller units have a preset connection relationship therebetween. The M controller units can be communicated and interacted with each other.
It should be noted that the M controller units are all connected to the bus of the joint test system.
Here, preferably, the bus of the joint test system is a CAN bus.
It should be noted that the virtual controller units corresponding to the N controller units are controlled to send the first test packet to the bus of the joint test system, and the virtual controller units in the virtual simulation model in the controlled object, that is, the virtual controller units corresponding to the N controller units are used to replace the N real controller units, so that the behavior of each controller unit is controllable, and a specific signal input CAN be performed on a certain controller unit or certain controller units, that is, the virtual controller units send the first test packet to the CAN bus of the joint test system. Therefore, subsequent problems of the controller units which are communicated and interacted with each other can be conveniently and quickly checked according to the first test message and the second test message, and the debugging and testing period is shortened.
Here, the virtual controller units corresponding to the N controller units are controlled to send the first test packet to the bus of the joint test system, and specifically, the input interface of the virtual controller unit corresponding to one or more controller units that need to be checked may be assigned with a value. Therefore, debugging and troubleshooting are facilitated.
102, performing abnormal troubleshooting and detection on the M controller units according to the first test message and the second test message; wherein M is more than or equal to 2, N is less than M and more than or equal to 1, and M, N are all positive integers.
The step may specifically include:
based on the first test message and the second test message, simultaneously operating N virtual controller units and controller units except the N controller units in the M controller units to obtain a second test result; and the second test result is used for abnormal investigation detection.
Here, the first test packet specifically refers to CAN and I/O output signals controllable within a CAN protocol range.
The second test packet specifically refers to a program of a node corresponding to each of the M-N controller units.
In the joint test control method for the vehicle-mounted controllers, which is provided by the embodiment of the invention, through integrating M controller units into a joint test system with hardware on a ring test bench, virtual controller units corresponding to N controller units are controlled to send first test messages to a bus of the joint test system, and controller units except the N controller units in the M controller units are controlled to send second test messages to the bus of the joint test system; performing abnormal troubleshooting detection on the M controller units according to the first test message and the second test message; wherein M is more than or equal to 2, N is less than M and more than or equal to 1, and M, N are all positive integers. Therefore, the problem troubleshooting and detection of the multiple controllers in the combined HIL test can be facilitated, and the debugging and testing period is effectively shortened.
Based on the embodiment shown in fig. 1, as a preferred implementation manner, the method of the present invention may further include:
controlling M controller units to send joint test messages to a bus of the joint test system;
in this step, the joint test message is used to perform joint condition tests of the M controller units.
It should be noted that the joint test packet includes programs of respective corresponding nodes of the M controller units when performing the joint condition test.
And if the first test result of the joint test system according to the joint test message is abnormal, controlling the virtual controller units corresponding to the N controller units to send the first test message to the bus of the joint test system, and controlling the controller units except the N controller units in the M controller units to send the second test message to the bus of the joint test system.
Here, preferably, the step 101 is executed when a preset condition is satisfied, that is, a first test result of the joint test system performing the test according to the joint test packet is a test exception.
In the debugging process of the joint test system, the virtual controller unit replaces a real controller unit, CAN and I/O output signals of the replaced controller unit CAN be controlled at any time within the range of a CAN protocol, so that the CAN and I/O output signals of the replaced controller are quickly simulated, the problem of the controllers which are communicated and interacted with each other is quickly solved, and the debugging and testing period is shortened.
Based on the embodiment shown in fig. 1, as an optional implementation manner, the controlling, in step 101, the virtual controller units corresponding to the N controller units to send the first test packet to the bus of the joint test system may include:
disconnecting the message transmission corresponding to the N controller units through first control signals respectively corresponding to the N controller units;
in this step, specifically, the disconnection of the message transmission corresponding to the N controller units, that is, the message transmission of the N controller units is stopped, may be achieved by sending a control signal of 0 or 1 to the CAN output interface and/or the IO output interface of the N controller units.
In other words, a virtual switch is arranged on a path through which the N controller units send messages to the bus of the joint test system, and the disconnection of the message sending corresponding to the N controller units is realized by closing the virtual switch, for example, setting 0 on a path through which the N controller units send messages to the bus of the joint test system.
Specifically, referring to fig. 2, each controller unit (VCU/OBC/BMS/MCU) reserves a switching value signal on the CAN bus, which CAN control whether its own node transmits a program, as a virtual switch. For example, if it is detected that the switching value signal of the program sent by the VCU is 0, the message sending corresponding to the VCU is disconnected.
And starting message sending of the N virtual controller units in the environment model through second control signals respectively corresponding to the N virtual controller units, and controlling the N virtual controller units to send first test messages to a bus of the joint test system.
In this step, specifically, the start of the message transmission corresponding to the N virtual controller units, that is, the start of the message transmission of the N virtual controller units, may be realized by sending a control signal of 0 or 1 to the CAN output interface and/or the IO output interface of the N virtual controller units.
In other words, a virtual switch is arranged on a path for sending messages of the N virtual controller units, and the sending of the messages corresponding to the N virtual controller units is turned on by turning off the virtual switch, for example, setting 0 on a path for sending messages to a bus of the joint test system by the N virtual controller units.
Specifically, referring to fig. 2, a user configures CAN transmission switches of other nodes in each single controller unit (VCU/OBC/BMS/MCU) HIL test environment model based on an upper computer.
For example, the VCU environment model may be configured by the CAN tool configuration method, such that the OBC, BMS, and MCU node-sent master switches and each message-sent switch of each node are configured, so that the controller unit is controllable in the environment model (i.e., virtual system).
As an optional implementation manner, after controlling the M controller units to send the joint test packet to the bus of the joint test system, the method of the present invention may further include:
and if the first test result of the combined test system according to the combined test message is normal, recording the test data of each controller unit.
In this step, the test data of each controller unit is recorded, and the purpose is to perfect the high-precision environmental model simulation of the HIL test of a certain controller unit in the combined test system.
That is to say, when a single controller simulation environment model is researched and established, how the signals of the controller unit interacting with the measured controller unit respond and how the signals work in the system can be conveniently researched through the combined test system under certain scenes, so that how the messages of other controller units in the single controller unit environment model work can be really and accurately simulated, and the messages are used as feedback data of an optimized environment model, so that the optimization of the high-precision environment model simulation of the HIL test of a certain single controller unit can be realized.
In summary, in the joint test control method for vehicle-mounted controllers provided in the embodiment of the present invention, M controller units are integrated into a joint test system with hardware on a ring test bench, and the virtual controller units corresponding to N controller units are controlled to send first test packets to a bus of the joint test system, and the controller units except the N controller units in the M controller units are controlled to send second test packets to the bus of the joint test system; performing abnormal troubleshooting detection on the M controller units according to the first test message and the second test message; wherein M is more than or equal to 2, N is less than M and more than or equal to 1, and M, N are all positive integers. Therefore, the problem troubleshooting and detection of the multiple controllers in the combined HIL test can be facilitated, and the debugging and testing period is effectively shortened.
Embodiments of the present invention also provide a computer-readable storage medium having stored thereon a computer program (instructions), which when executed by a processor, implement the steps of:
in a joint test system with M controller units integrated on a hardware-in-loop test bench, controlling virtual controller units corresponding to N controller units to send first test messages to a bus of the joint test system, and controlling controller units except the N controller units in the M controller units to send second test messages to the bus of the joint test system;
performing abnormal troubleshooting detection on the M controller units according to the first test message and the second test message; wherein M is more than or equal to 2, N is less than M and more than or equal to 1, and M, N are all positive integers.
Optionally, the program (instructions), when executed by the processor, may further implement the steps of:
controlling M controller units to send joint test messages to a bus of the joint test system;
and if the first test result of the joint test system according to the joint test message is abnormal, controlling the virtual controller units corresponding to the N controller units to send the first test message to the bus of the joint test system, and controlling the controller units except the N controller units in the M controller units to send the second test message to the bus of the joint test system.
Optionally, the program (instructions), when executed by the processor, may further implement the steps of:
disconnecting the message transmission corresponding to the N controller units through first control signals respectively corresponding to the N controller units;
and starting message sending of the N virtual controller units in the environment model through second control signals respectively corresponding to the N virtual controller units, and controlling the N virtual controller units to send first test messages to a bus of the joint test system.
Optionally, the program (instructions), when executed by the processor, may further implement the steps of:
based on the first test message and the second test message, simultaneously operating N virtual controller units and controller units except the N controller units in the M controller units to obtain a second test result; and the second test result is used for abnormal investigation detection.
Optionally, the program (instructions), when executed by the processor, may further implement the steps of:
and if the first test result of the combined test system according to the combined test message is normal, recording the test data of each controller unit.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
As shown in fig. 3, an embodiment of the present invention further provides a combined test control apparatus for a vehicle-mounted controller, including:
a first control module 301, configured to, in a joint test system in which M controller units are integrated on an HIL rack, control virtual controller units corresponding to N controller units to send a first test packet to a bus of the joint test system, and control controller units, except the N controller units, of the M controller units to send a second test packet to the bus of the joint test system;
a detection module 302, configured to perform exception troubleshooting detection on the M controller units according to the first test packet and the second test packet; wherein M is more than or equal to 2, N is less than M and more than or equal to 1, and M, N are all positive integers.
Specifically, the apparatus further comprises:
the second control module is used for controlling the M controller units to send the joint test message to the bus of the joint test system;
the first control module 301 is specifically configured to:
and when a first test result of the joint test system for testing according to the joint test message is abnormal test, controlling the virtual controller units corresponding to the N controller units to send the first test message to a bus of the joint test system, and controlling the controller units except the N controller units in the M controller units to send second test messages to the bus of the joint test system.
Specifically, the first control module 301 is specifically configured to:
disconnecting the message transmission corresponding to the N controller units through first control signals respectively corresponding to the N controller units;
and starting message sending of the N virtual controller units in the environment model through second control signals respectively corresponding to the N virtual controller units, and controlling the N virtual controller units to send first test messages to a bus of the joint test system.
Specifically, the detection module 302 is specifically configured to:
based on the first test message and the second test message, simultaneously operating N virtual controller units and controller units except the N controller units in the M controller units to obtain a second test result; and the second test result is used for abnormal investigation detection.
Specifically, the apparatus further comprises:
and the recording module is used for recording the test data of each controller unit when the first test result of the test performed by the joint test system according to the joint test message is normal.
In the combined test control device for the vehicle-mounted controllers, which is provided by the embodiment of the invention, the M controller units are integrated into a combined test system with hardware on a ring test bench through a first control module, the virtual controller units corresponding to the N controller units are controlled to send first test messages to a bus of the combined test system, and the controller units except the N controller units in the M controller units are controlled to send second test messages to the bus of the combined test system; the detection module performs abnormal troubleshooting detection on the M controller units according to the first test message and the second test message; wherein M is more than or equal to 2, N is less than M and more than or equal to 1, and M, N are all positive integers. Therefore, the problem troubleshooting and detection of the multiple controllers in the combined HIL test can be facilitated, and the debugging and testing period is effectively shortened.
The embodiment of the present invention further provides a vehicle-mounted controller joint test system, which can be specifically referred to fig. 2, and includes:
at least one hardware-in-the-loop test rig;
the M controller units are arranged on the hardware-in-loop test bench;
with the host computer that hardware is connected at ring test bench, the host computer includes: the vehicle-mounted control combined test control device is described in the embodiment.
Specifically, in the case that there are two or more HIL test benches, preferably, the on-board controller joint test system may further include: and the network switch is respectively connected with the upper computer and each HIL test bench.
The embodiment of the invention also provides a vehicle-mounted controller combined test system, which comprises: the system comprises a processor, a memory and a computer program which is stored on the memory and can run on the processor, wherein when the computer program is executed by the processor, each process of the vehicle-mounted control joint test control method embodiment can be realized, the same technical effect can be achieved, and the details are not repeated here to avoid repetition.
While there has been described what are believed to be the preferred embodiments of the present invention, it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the principles of the invention and, therefore, it is intended to cover all such changes and modifications as fall within the true scope of the invention.
Claims (11)
1. A vehicle-mounted controller joint test control method is characterized by comprising the following steps:
in a joint test system with M controller units integrated on a hardware-in-loop test bench, controlling virtual controller units corresponding to N controller units to send first test messages to a bus of the joint test system, and controlling controller units except the N controller units in the M controller units to send second test messages to the bus of the joint test system;
performing abnormal troubleshooting detection on the M controller units according to the first test message and the second test message;
wherein M is more than or equal to 2, N is less than M and more than or equal to 1, and M, N are all positive integers.
2. The method of claim 1, further comprising:
controlling M controller units to send joint test messages to a bus of the joint test system;
and if the first test result of the joint test system according to the joint test message is abnormal, controlling the virtual controller units corresponding to the N controller units to send the first test message to the bus of the joint test system, and controlling the controller units except the N controller units in the M controller units to send the second test message to the bus of the joint test system.
3. The method according to claim 1, wherein controlling the virtual controller units corresponding to the N controller units to send the first test packet to the bus of the joint test system comprises:
disconnecting the message transmission corresponding to the N controller units through first control signals respectively corresponding to the N controller units;
and starting message sending of the N virtual controller units in the environment model through second control signals respectively corresponding to the N virtual controller units, and controlling the N virtual controller units to send first test messages to a bus of the joint test system.
4. The method according to claim 1, wherein the performing the exception troubleshooting of the M controller units according to the first test packet and the second test packet comprises:
based on the first test message and the second test message, simultaneously operating N virtual controller units and controller units except the N controller units in the M controller units to obtain a second test result; and the second test result is used for abnormal investigation detection.
5. The method of claim 2, further comprising:
and if the first test result of the combined test system according to the combined test message is normal, recording the test data of each controller unit.
6. An on-vehicle controller joint test controlling means, its characterized in that includes:
the system comprises a first control module, a second control module and a third control module, wherein the first control module is used for controlling virtual controller units corresponding to N controller units to send first test messages to a bus of a joint test system and controlling controller units except N controller units in the M controller units to send second test messages to the bus of the joint test system in the joint test system with the M controller units integrated on an HIL rack;
the detection module is used for carrying out abnormal troubleshooting detection on the M controller units according to the first test message and the second test message;
wherein M is more than or equal to 2, N is less than M and more than or equal to 1, and M, N are all positive integers.
7. The on-board controller joint test control apparatus according to claim 6, further comprising:
the second control module is used for controlling the M controller units to send the joint test message to the bus of the joint test system;
the first control module is specifically configured to:
and when a first test result of the joint test system for testing according to the joint test message is abnormal test, controlling the virtual controller units corresponding to the N controller units to send the first test message to a bus of the joint test system, and controlling the controller units except the N controller units in the M controller units to send second test messages to the bus of the joint test system.
8. The vehicle-mounted controller joint test control device according to claim 6, wherein the first control module is specifically configured to:
disconnecting the message transmission corresponding to the N controller units through first control signals respectively corresponding to the N controller units;
and starting message sending of the N virtual controller units in the environment model through second control signals respectively corresponding to the N virtual controller units, and controlling the N virtual controller units to send first test messages to a bus of the joint test system.
9. The vehicle-mounted controller joint test control device according to claim 6, wherein the detection module is specifically configured to:
based on the first test message and the second test message, simultaneously operating N virtual controller units and controller units except the N controller units in the M controller units to obtain a second test result; and the second test result is used for abnormal investigation detection.
10. The on-board controller joint test control apparatus according to claim 7, further comprising:
and the recording module is used for recording the test data of each controller unit when the first test result of the test performed by the joint test system according to the joint test message is normal.
11. An on-board controller joint test system, comprising:
at least one hardware-in-the-loop test rig;
the M controller units are arranged on the hardware-in-loop test bench;
with the host computer that hardware is connected at ring test bench, the host computer includes: the vehicle-mounted control combined test control device according to any one of claims 6 to 10.
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