CN113467417A - Vehicle test control method, device, equipment and readable storage medium - Google Patents
Vehicle test control method, device, equipment and readable storage medium Download PDFInfo
- Publication number
- CN113467417A CN113467417A CN202110721098.XA CN202110721098A CN113467417A CN 113467417 A CN113467417 A CN 113467417A CN 202110721098 A CN202110721098 A CN 202110721098A CN 113467417 A CN113467417 A CN 113467417A
- Authority
- CN
- China
- Prior art keywords
- message
- vehicle
- test
- whole vehicle
- control method
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
- G01L3/24—Devices for determining the value of power, e.g. by measuring and simultaneously multiplying the values of torque and revolutions per unit of time, by multiplying the values of tractive or propulsive force and velocity
- G01L3/242—Devices for determining the value of power, e.g. by measuring and simultaneously multiplying the values of torque and revolutions per unit of time, by multiplying the values of tractive or propulsive force and velocity by measuring and simultaneously multiplying torque and velocity
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Testing Of Engines (AREA)
Abstract
本申请涉及一种整车试验控制方法、装置、设备及可读存储介质，涉及整车试验技术领域，包括创建整车控制单元的整车CAN报文，整车CAN报文包括控制单元基础信息报文；创建试验台架系统的台架CAN报文，台架CAN报文包括测功机轮边转速和测功机轮边扭矩；将整车CAN报文和台架CAN报文进行整合，形成DBC文件；解析DBC文件，根据解析结果对整车进行各个工况的模拟测试，得到测试结果。通过本发明，将整车试验前移至开发阶段进行虚拟测试，不仅无需实车进行道路验证，缩短了整车开发周期，降低了成本，且无需通过未固化的软件标定控制策略进行整车试验，提高了实车试验的安全性。
The present application relates to a complete vehicle test control method, device, equipment and readable storage medium, and relates to the technical field of complete vehicle test, including the creation of a complete vehicle CAN message of the complete vehicle control unit, and the complete vehicle CAN message includes the basic information of the control unit message; create the bench CAN message of the test bench system, the bench CAN message includes the wheel side speed of the dynamometer and the wheel side torque of the dynamometer; integrate the vehicle CAN message and the bench CAN message, Form a DBC file; parse the DBC file, and carry out a simulation test of each working condition of the vehicle according to the analysis results to obtain the test results. Through the present invention, the whole vehicle test is moved to the development stage for virtual testing, which not only does not require the actual vehicle for road verification, but also shortens the whole vehicle development cycle, reduces the cost, and does not need to conduct the whole vehicle test through the uncured software calibration control strategy. , which improves the safety of the real vehicle test.
Description
Technical Field
The application relates to the technical field of finished automobile tests, in particular to a finished automobile test control method, a finished automobile test control device, finished automobile test control equipment and a readable storage medium.
Background
Nowadays, the economy is rapidly developed, and the living standard of people is continuously improved, the number of automobiles is also continuously increased, and the automobiles become an indispensable vehicle in the work and the life of people. However, because the use conditions of the automobile products are complex and the requirements on the performance of the products are high, in order to ensure the quality and the performance of the automobile products, the whole automobile test becomes an important component of the automobile industry, and is the most important link in the whole automobile development process, namely, the theory of no test is wood-free, the test is an effective method for verifying the theory and solving the problem, and the whole automobile test needs to be verified to ensure the reliability of the product quality and the performance of the whole automobile no matter how fine and careful the theoretical design is, so the whole automobile test is an important means for ensuring the performance of the automobile products.
However, the traditional whole vehicle test needs a large number of real vehicles to verify on the road, and not only needs various calibration engineers to carry out real vehicle calibration on the vehicle, but also needs to consume fuel oil, so that the problem of high cost exists; and because the software calibration control strategy is not solidified, the whole vehicle test of the real vehicle by the uncured software calibration control strategy is easy to cause the risks of out-of-control and the like of the vehicle, and further the danger in the real vehicle test process is aggravated.
Disclosure of Invention
The application provides a whole vehicle test control method, a whole vehicle test control device, a whole vehicle test control equipment and a readable storage medium, and aims to solve the problems of high cost and poor safety in the related technology.
In a first aspect, a vehicle test control method is provided, which includes the following steps:
establishing a whole vehicle CAN message of a whole vehicle control unit, wherein the whole vehicle CAN message comprises a control unit basic information message;
creating a rack CAN message of a test rack system, wherein the rack CAN message comprises the wheel side rotating speed of a dynamometer and the wheel side torque of the dynamometer;
integrating the whole vehicle CAN message and the rack CAN message to form a DBC file;
and analyzing the DBC file, and performing simulation test on each working condition of the whole vehicle according to an analysis result to obtain a test result.
In some embodiments, the control unit basic information message includes a P _ CAN message and an H _ CAN message;
the P _ CAN message comprises a speed signal of each wheel, a brake master cylinder oil pressure signal, a brake pedal switch signal, a gear shifting signal, a vehicle speed signal, an ignition switch signal and an engine starting request signal;
the H _ CAN message comprises a battery signal, a rotating speed signal of a driving motor and a rotating speed signal of an engine.
In some embodiments, the integrating the entire car CAN packet and the rack CAN packet to form a DBC file includes:
integrating the P _ CAN message with the rack CAN message to form a CAN1 message;
integrating the H _ CAN message with the rack CAN message to form a CAN2 message;
and integrating the CAN1 message and the CAN2 message to form a DBC file.
In some embodiments, before the simulation test of each working condition of the whole vehicle according to the analysis result, the method further includes:
determining a connection control strategy of the whole vehicle control unit and the test bed system according to an analysis result;
electrically connecting the whole vehicle low-voltage power supply circuit with the test bench system low-voltage power supply circuit according to the connection control strategy;
electrically connecting the whole vehicle double throttle circuit with the test bed system double throttle circuit according to the connection control strategy;
and according to the connection control strategy, the P _ CAN bus corresponding to the P _ CAN message is connected with a CAN1 line on the test bench system, and the H _ CAN bus corresponding to the H _ CAN message is connected with a CAN2 line on the test bench system.
In some embodiments, the performing the simulation test of each working condition on the entire vehicle according to the analysis result includes:
setting simulation data according to the analysis result, wherein the simulation data comprises input data, output data, a variable calculation formula and vehicle information;
and carrying out simulation test on each working condition of the whole vehicle according to the simulation data and the analysis result.
In some embodiments, the vehicle information includes vehicle mass, tire radius, final reduction ratio, gear ratio, road wind resistance, sliding resistance, road load factor, and braking energy recovery.
In some embodiments, the method further comprises:
and comparing real-time operation data of a dynamometer of the test bed system with a preset alarm threshold value, and alarming according to a comparison result, wherein the real-time operation data comprises rotating speed, torque, temperature, pressure, battery charge state, battery temperature, bus voltage, current and gear.
In a second aspect, a vehicle test control device is provided, which includes:
the system comprises a first establishing module, a second establishing module and a control unit, wherein the first establishing module is used for establishing a whole vehicle CAN message of a whole vehicle control unit, and the whole vehicle CAN message comprises a control unit basic information message;
the second creating module is used for creating a rack CAN message of the test rack system, wherein the rack CAN message comprises the wheel side rotating speed of the dynamometer and the wheel side torque of the dynamometer;
the message integration module is used for integrating the whole vehicle CAN message and the rack CAN message to form a DBC file;
and the simulation test module is used for analyzing the DBC file and carrying out simulation test on each working condition of the whole vehicle according to the analysis result to obtain a test result.
In a third aspect, a finished vehicle verification control device is provided, including: the control system comprises a memory and a processor, wherein at least one instruction is stored in the memory, and the at least one instruction is loaded and executed by the processor so as to realize the whole vehicle test control method.
In a fourth aspect, a computer-readable storage medium is provided, which stores computer instructions that, when executed by a computer, cause the computer to perform the aforementioned full vehicle test control method.
The beneficial effect that technical scheme that this application provided brought includes: the whole vehicle test is moved to the development stage for virtual test, so that the whole vehicle development period is shortened, the cost is reduced, and the safety of the real vehicle test is improved.
The application provides a finished automobile test control method, a device, equipment and a readable storage medium, which comprises a finished automobile CAN message for creating a finished automobile control unit, wherein the finished automobile CAN message comprises a control unit basic information message; creating a rack CAN message of a test rack system, wherein the rack CAN message comprises the wheel side rotating speed of a dynamometer and the wheel side torque of the dynamometer; integrating the whole vehicle CAN message and the rack CAN message to form a DBC file; and analyzing the DBC file, and performing simulation test on each working condition of the whole vehicle according to an analysis result to obtain a test result. By the aid of the method, the whole vehicle test is moved to the development stage for virtual testing, road verification of the real vehicle is not needed, the whole vehicle development period is shortened, cost is reduced, the whole vehicle test is not needed through an uncured software calibration control strategy, and safety of the real vehicle test is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a complete vehicle test control method provided in an embodiment of the present application;
fig. 2 is a schematic structural diagram of a complete vehicle test control device provided in the embodiment of the present application;
fig. 3 is a schematic structural diagram of a finished automobile verification control device provided in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The embodiment of the application provides a finished automobile test control method, a finished automobile test control device, finished automobile test equipment and a readable storage medium, and can solve the problems of high cost and poor safety in the related technology.
Fig. 1 is a schematic flow chart of a complete vehicle test control method provided in an embodiment of the present application, including the following steps:
step S10: creating a Controller Area Network (CAN) message of a vehicle control unit, wherein the CAN message of the vehicle comprises a basic information message of the control unit;
in the present exemplary embodiment, the Vehicle Control units in the hybrid Vehicle System include a VCU (Vehicle Control Unit), an EMS (Engine Management System), an MCU (MicrocontrollerUnit), a TCU (Transmission Control Unit), a BMS (Battery Management System), a GCU (Generator Control Unit), and the like, and each Control Unit is connected to the CAN bus by adding a 120 Ω terminal resistance.
The method comprises the steps that a whole vehicle CAN message of a whole vehicle control unit is established based on basic information of the control unit, wherein the whole vehicle CAN message comprises a control unit basic information message, and the control unit basic information message specifically comprises a P _ CAN message and an H _ CAN message; the P _ CAN message includes a speed signal of each wheel, a brake master cylinder oil pressure signal (ESC _ BrakeOilPress), a brake pedal switch signal (EMS _ BrakePedalSignal), a shift gear signal (SCU _ ActualGear), a vehicle speed signal (ESC _ VehSpd), an ignition switch signal (ibcmigninistronst), and an engine start request signal (EngineStartReq), wherein the speed signal includes a left front wheel speed (ESC _ frontleft wheelspeed spd), a right front wheel speed (ESC _ frontright wheelspeed spd), a left rear wheel speed (ESC _ readwheelspeed spd), and a right rear wheel speed (ESC _ rerriroundwheelspeed spd); the H _ CAN message comprises a battery signal, a rotating speed signal (MCU _ MotorSpd) of a driving motor and a rotating speed signal (EMS _ EngSpd) of an engine, wherein the battery signal comprises a battery state of charge (BMS _ SOC), a battery total Voltage (BMS _ Voltage) and a battery charging and discharging total Current (BMS _ Current).
Step S20: creating a rack CAN message of a test rack system, wherein the rack CAN message comprises the wheel side rotating speed of a dynamometer and the wheel side torque of the dynamometer;
in the present embodiment, the test bed system may be a two-body and four-body powertrain test bed system, or may be other test bed systems capable of performing a hybrid vehicle test, which is not limited herein. In this embodiment, a two-trunk and four-trunk power assembly test bed system is taken as an example: and creating a rack CAN message based on the wheel side rotating Speed and the wheel side torque of the dynamometer in the test rack system, wherein the rack CAN message specifically comprises the wheel side rotating Speed of the dynamometer such as the right front wheel side rotating Speed (Dyno _ FR _ Speed), the left front wheel side rotating Speed (Dyno _ FL _ Speed), the right rear wheel side rotating Speed (Dyno _ RR _ Speed) and the left rear wheel side rotating Speed (Dyno _ RL _ Speed), and the wheel side torques such as the right front wheel side torque (Dyno _ FR _ wheelTorque), the left front wheel side torque (Dyno _ FL _ wheelTorque), the right rear wheel side torque (Dyno _ RR _ wheelTorque) and the left rear wheel side torque (Dyno _ RL _ wheelTorque).
Step S30: integrating the whole vehicle CAN message and the rack CAN message to form a DBC (Database Can, CAN Database file) file;
exemplarily, in the present embodiment, the DBC file is a file for describing data communication between nodes of the CAN network, and includes protocol data in the CAN bus protocol and specific meaning represented by the protocol data, that is, it defines information of CAN communication completely and clearly, and the communication of the CAN network is performed according to the description of the file. Simply speaking, after a complete vehicle CAN message and a rack CAN message are integrated, a DBC file is formed, the DBC file describes that information such as the complete vehicle CAN message and the rack CAN message exists on a CAN network, the complete vehicle CAN message carries signal information such as a brake master cylinder oil pressure signal and a brake pedal switch signal, and the rack CAN message carries signal information such as a dynamometer wheel side rotating speed and a dynamometer wheel side torque; and information describing from which node different messages are sent and received.
Specifically, the P _ CAN message and the rack CAN message are integrated to form a CAN1 message; integrating the H _ CAN message with the rack CAN message to form a CAN2 message; and integrating the CAN1 message and the CAN2 message to form a DBC file.
Exemplarily, in the present embodiment, the test bench system includes a plurality of data transmission CAN modules (for example, CAN1 modules and CAN2 modules, the number of the CAN modules is determined according to specific requirements, and is not limited herein), and the plurality of CAN modules CAN transmit data in parallel, so that the whole vehicle test simulation CAN be performed according to the received parallel data; therefore, the protocol matrix definition in the P _ CAN message and the protocol in the rack CAN message are integrated uniformly to form a CAN1 message, the protocol matrix definition in the H _ CAN message and the protocol in the rack CAN message are integrated uniformly to form a CAN2 message, the CAN1 message and the CAN2 message are integrated corresponding to a CAN matrix network to form a DBC file with CAN protocol control logic, and the DBC file contains information on which CAN module the CAN1 message and the CAN2 message carry out data transmission. For example, the CAN1 message is transmitted in the CAN1 module, and the CAN2 message is transmitted in the CAN2 module, so that the CAN1 message and the CAN2 message CAN be transmitted in parallel and cooperatively used for simulating a vehicle test.
Step S40: and analyzing the DBC file, and performing simulation test on each working condition of the whole vehicle according to an analysis result to obtain a test result.
Exemplarily, in this embodiment, after the DBC file is analyzed, information that a complete vehicle CAN message and a rack CAN message need to be transmitted on a CAN network CAN be obtained, specifically, a CAN1 message obtained by integrating a P _ CAN message and the rack CAN message is transmitted in a CAN1 module, a CAN2 message obtained by integrating an H _ CAN message and the rack CAN message is transmitted in a CAN2 module, and information such as specific sending nodes and receiving nodes of each message and specific signals that need to be transmitted in each module CAN be obtained; and according to the result obtained by the analysis, the whole vehicle can be subjected to simulation test of each working condition to obtain a test result.
Specifically, analog data are set according to the analysis result, and the analog data comprise input data, output data, a variable calculation formula and vehicle information; and carrying out simulation test on each working condition of the whole vehicle according to the simulation data and the analysis result.
Exemplarily, in the present embodiment, after the DBC file is opened and analyzed in the CAN1 module and the CAN2 module, which data needs to be transmitted in the CAN module CAN be determined. For example, the CAN1 message is transmitted in the CAN1 module, the CAN2 message is transmitted in the CAN2 module, and the simulation data such as input data, output data, a variable calculation formula, vehicle information and the like required by the test bench system for vehicle test simulation are determined according to the information recorded in the CAN1 message and the CAN2 message.
Further, analog data is set in each module (including an analog input module (AI module), an analog output module (AO module), a digital input module (DI module), and a digital output module (DO module)) in the test bench system, for example, sampling time, frequency, and precision of variables edited and displayed in the AI module are prompted according to a message, variables to be input to a control unit such as MCU, VCU, TCU, BMS, and EMS for display, such as battery charge state, battery voltage, and battery current, to be output to the BMS for display, and motor controller temperature, motor speed, and engine speed to be displayed in the MCU; setting variables such as MCU, VCU, TCU, BMS, EMS and the like which need to be input into a test bed system for simulation in an AO module according to a message prompt, for example, setting the left front wheel side rotating speed, the right front wheel side rotating speed, the vehicle speed, gear information, a brake signal, an accelerator voltage, an ignition switch signal and the like of the VCU, wherein the variables need to be input into the test bed system for simulation and the corresponding relations, for example, 0.48V corresponding to 0 and 100% of brake master cylinder pressure, 100% corresponding to 0 and 4.5V corresponding to brake vacuum opening, and 100% corresponding to 0 and 4.5V corresponding to atmospheric pressure 0.5V; the FDV calculation formula editor edits calculation formulas for calculating actual vehicle gear, vehicle wheel side rotation speed (transmission speed ratio), vehicle wheel side torque, vehicle speed and the like, for example, a rack gear formula is edited in a formula device, so that a value 4 of a D gear in the formula device corresponds to 7 of the D gear of the rack gear, a value 0 of an N gear corresponds to 0 of the rack gear and the like, and after the editing is completed, a dynamic vehicle speed of the vehicle corresponding to each gear can be calculated through the calculation formula in a test process, that is, the vehicle speed is equal to a gear speed ratio × a main reduction ratio × a dynamometer rotation speed.
The whole vehicle information includes the whole vehicle mass, the tire radius, the main reduction ratio, the gear speed ratio, the maximum vehicle speed, the maximum engine speed, the maximum motor speed, the road wind resistance, the sliding resistance, the road load coefficient, the braking energy recovery and the like, and the whole vehicle information can be set according to specific requirements, and is not limited herein.
According to the analysis result and the set simulation data, the CAN bus joint debugging is carried out on the test bench and the whole vehicle control unit, the signals of the test bench system CAN be debugged statically and dynamically after the test bench system and the whole vehicle control unit CAN send and receive normal CAN messages, and corresponding input and output frequencies, message addresses, control precision and the like are selected, so that the whole vehicle CAN simulate various signals under various working conditions in NEDC (New European Driving Cycle) or WLTC (World light vehicle test procedure) in an automatic Cycle mode.
For example, the motor speed, the motor torque, the motor controller temperature, the transmission gear state of the TCU, the transmission oil pressure, the clutch state, the engine speed of the EMS, the estimated engine torque, the battery voltage of the BMS, the battery current, the SOC (System on Chip) power, etc. input to the MCU; dynamically starting low-voltage electrification of the test bed system according to an electrification safety strategy, and when the test bed system receives VCU whole vehicle key low-voltage electrification and whole vehicle high-voltage electrification information, indicating that the vehicle is in a READY state at the moment; then the test bench system simulates the whole vehicle to start through CAN communication, so that an engine runs, further the whole vehicle CAN simulate the working conditions of stepping on a brake, engaging a D gear, opening of an accelerator, driving intention, full accelerator rapid acceleration, accelerating the vehicle from rest to 80km/h, accelerating the vehicle to 120km/h, braking the vehicle to stop and the like, and the functions of automatic combination and automatic gear shifting of a gearbox clutch, dynamic real-time calculation of vehicle speed, high-speed braking energy recovery and the like are completed; after the test is finished, the actual results of gears, braking energy torque, braking main oil cylinder pressure and the like can be output, dynamic simulation of the whole hybrid power vehicle on a test bench system is completed, development and verification of the whole hybrid power vehicle on the test bench system are further realized, namely, a power assembly development test is moved forward, the whole vehicle calibration development capacity is improved, a whole vehicle test is transferred from a real vehicle road system to the test bench system, the test development manpower and oil cost can be reduced, and the whole vehicle control strategy can be improved.
Therefore, the whole vehicle test is moved forward to the development stage for virtual test, the road verification of the whole vehicle is not needed, the development period of the whole vehicle is shortened, the cost is reduced, the whole vehicle test is not needed through an uncured software calibration control strategy, the safety of the real vehicle test is improved, and a good test means is provided for the forward movement of the whole vehicle test.
Furthermore, in this embodiment, before the performing the simulation test of each operating condition on the entire vehicle according to the analysis result, the method further includes:
determining a connection control strategy of the whole vehicle control unit and the test bed system according to an analysis result;
electrically connecting the whole vehicle low-voltage power supply circuit with the test bench system low-voltage power supply circuit according to the connection control strategy;
electrically connecting the whole vehicle double throttle circuit with the test bed system double throttle circuit according to the connection control strategy;
and respectively connecting a P _ CAN bus corresponding to the P _ CAN message with a CAN1 line on the test bench system and connecting an H _ CAN bus corresponding to the H _ CAN message with a CAN2 line on the test bench system according to the connection control strategy.
Exemplarily, in this embodiment, a power-on safety policy of the test bed system may be obtained by analyzing the DBC file, and a connection control policy of the vehicle control unit and the test bed may be determined according to the power-on safety policy. For example, the DBC file stores the content of the definition of the whole vehicle electrical drawing obtained by modifying the whole vehicle wiring harness and the test bed electrical system according to the present application, so that the connection between the whole vehicle wiring harness and the test bed electrical system can be made according to the definition of the whole vehicle electrical drawing, for example, according to the definition of the whole vehicle wiring harness pin, the power supply of the VCU, the power supply of the MCU, the power supply of the TCU, the power supply of the BMS, and the power supply of the EMS are connected to the agilent low-voltage power supply in the test bed system; connecting a double-throttle circuit of a VCU of the whole vehicle with a double-throttle circuit PPS1 (high) and PPS2 (low) of a test bench system; respectively connecting a P _ CAN bus and an H _ CAN bus of the whole vehicle with a CAN1 line and a CAN2 line of a test bed system through buses (wherein a pin 2 is low, and a pin 7 is high); connecting a brake signal of the TCU, a pressure signal of a brake master cylinder and a brake vacuum opening degree with AO output of the test bed system; the whole vehicle wire harness brake control signal is connected with the DO output on the test bed system, and the like, so that a foundation is provided for the normal communication between the test bed system and the whole vehicle control unit, and the power-on safety of the system is ensured.
Further, in this embodiment, the method further includes: and comparing real-time operation data of a dynamometer of the test bed system with a preset alarm threshold value, and alarming according to a comparison result, wherein the real-time operation data comprises rotating speed, torque, temperature, pressure, battery charge state, battery temperature, bus voltage, current and gear.
For example, in the present embodiment, the rotation speed, torque, temperature, pressure, battery state of charge, battery temperature, bus voltage, current, gear and other alarm thresholds of the dynamometer in the test bench system can be preset. In the whole vehicle test process, real-time operation data is compared with a preset alarm threshold value, and an alarm is started as long as one of the operation data exceeds the alarm threshold value, namely when any fault occurs in operation, the test bed triggers an alarm limit value. For example, when the real-time rotating speed is greater than a preset rotating speed alarm threshold value, the alarm is automatically started, so that a tester can take corresponding measures and statistics, and the fault detection rate of the whole vehicle signal is effectively improved.
Referring to fig. 2, an embodiment of the present application further provides a complete vehicle test control device, including:
the system comprises a first establishing module, a second establishing module and a control unit, wherein the first establishing module is used for establishing a whole vehicle CAN message of a whole vehicle control unit, and the whole vehicle CAN message comprises a control unit basic information message;
the second creating module is used for creating a rack CAN message of the test rack system, wherein the rack CAN message comprises the wheel side rotating speed of the dynamometer and the wheel side torque of the dynamometer;
the message integration module is used for integrating the whole vehicle CAN message and the rack CAN message to form a DBC file;
and the simulation test module is used for analyzing the DBC file and carrying out simulation test on each working condition of the whole vehicle according to the analysis result to obtain a test result.
Therefore, the method and the device can move the whole vehicle test forward to the development stage for virtual testing, not only does not need a real vehicle to carry out road verification, shortens the development period of the whole vehicle, reduces the cost, but also does not need an uncured software calibration control strategy to carry out the whole vehicle test, improves the safety of the real vehicle test, and provides a good testing means for the forward movement of the whole vehicle test.
Furthermore, in this embodiment, the control unit basic information message includes a P _ CAN message and an H _ CAN message;
the P _ CAN message comprises a speed signal of each wheel, a brake master cylinder oil pressure signal, a brake pedal switch signal, a gear shifting signal, a vehicle speed signal, an ignition switch signal and an engine starting request signal;
the H _ CAN message comprises a battery signal, a rotating speed signal of a driving motor and a rotating speed signal of an engine.
Further, in this embodiment, the message integration module is specifically configured to:
integrating the P _ CAN message with the rack CAN message to form a CAN1 message;
integrating the H _ CAN message with the rack CAN message to form a CAN2 message;
and integrating the CAN1 message and the CAN2 message to form a DBC file.
Referring to fig. 2, further, in this embodiment, the apparatus further includes a connection control module, configured to:
determining a connection control strategy of the whole vehicle control unit and the test bed system according to an analysis result;
electrically connecting the whole vehicle low-voltage power supply circuit with the test bench system low-voltage power supply circuit according to the connection control strategy;
electrically connecting the whole vehicle double throttle circuit with the test bed system double throttle circuit according to the connection control strategy;
and respectively connecting a P _ CAN bus corresponding to the P _ CAN message with a CAN1 line on the test bench system and connecting an H _ CAN bus corresponding to the H _ CAN message with a CAN2 line on the test bench system according to the connection control strategy.
Furthermore, in this embodiment, the simulation test module is specifically configured to:
setting simulation data according to the analysis result, wherein the simulation data comprises input data, output data, a variable calculation formula and vehicle information;
and carrying out simulation test on each working condition of the whole vehicle according to the simulation data and the analysis result.
Furthermore, in this embodiment, the vehicle information includes vehicle mass, tire radius, final reduction ratio, gear speed ratio, road wind resistance, sliding resistance, road load coefficient, and braking energy recovery.
Referring to fig. 2, further, in this embodiment, the apparatus further includes an early warning module, configured to:
and comparing real-time operation data of a dynamometer of the test bed system with a preset alarm threshold value, and alarming according to a comparison result, wherein the real-time operation data comprises rotating speed, torque, temperature, pressure, battery charge state, battery temperature, bus voltage, current and gear.
In this embodiment, the using method of the apparatus is as follows: a whole vehicle CAN message of a whole vehicle control unit is created through a first creation module; establishing a rack CAN message of the test rack system through a second establishing module; integrating the whole vehicle CAN message and the rack CAN message through a message integration module to form a DBC file; analyzing the DBC file through a simulation test module to obtain a connection control strategy and a power-on safety strategy; then, the whole vehicle wiring harness is connected with the test bench system through the connection control module based on a connection control strategy, and before the test bench system is started, the connection states of a low-voltage power supply (Agilent) of the test bench system and a low-voltage power supply box line of the whole vehicle wiring harness, the connection states of a P _ CAN bus and an H _ CAN bus of a whole vehicle control unit, a CAN1 line and a CAN2 line of the test bench system, the state of a 120 omega terminal resistor, and the connection states of a high-voltage line and a low-voltage line of a battery of a motor of the MCU and the BMS are respectively checked;
after all the connection states are in normal states, setting a system limit value according to test requirements for alarming; setting the complete vehicle NEDC cycle working conditions such as braking, sliding energy recovery function, climbing slope 20%, climbing slope 40% and the like according to the analysis result; starting the test bed system according to the power-on safety strategy, wherein at the moment, the low-voltage power-on Agilent outputs 12V voltage, the display interface of the test bed system sets an ignition switch signal to be 1, the whole vehicle system is in a READY state, and the test bed system performs CAN message receiving, starting state display and automatic control function verification on all control units of the whole vehicle; then, the test bed system is subjected to automatic condition testing, for example, the test bed system controls the rotation speed operation of the dynamometer according to a vehicle speed comparison table (see table 1), for example, the vehicle speed is 0.377 × 0.33 × dynamometer rotation speed, the engine rotation speed is 3.425 × dynamometer rotation speed, the generator rotation speed is 2.476 × 3.425 × dynamometer rotation speed, and the driving motor rotation speed is 2.82 × 3.425 × dynamometer rotation speed; verifying the automatic control curve of 0-120 km/h and outputting a test result.
Through simulating the complete vehicle NEDC cycle working condition test of hybrid power many times, CAN know that this device CAN satisfy the complete vehicle test verification function, has better verified the ability of complete vehicle CAN message injection fault information relevance ratio, realizes the experimental antedisplacement of hybrid power development, for complete vehicle development practices thrift a large amount of manpowers, material resources cost, has filled domestic realization hybrid power complete vehicle verification blank on test bench system, for complete vehicle development practices thrift a large amount of research and development expenses, promotes complete vehicle research and development ability, reduces the research and development cost, shortens the research and development cycle.
TABLE 1 speed comparison table
It should be noted that, as will be clearly understood by those skilled in the art, for convenience and brevity of description, the specific working processes of the above-described apparatus and each module may refer to the corresponding processes in the foregoing embodiment of the vehicle test control method, and are not described herein again.
The vehicle test control device provided by the above embodiment may be implemented in the form of a computer program, and the computer program may be run on the vehicle verification control device shown in fig. 3.
The embodiment of the application further provides a finished automobile verification control device, which includes: the system comprises a memory, a processor and a network interface which are connected through a system bus, wherein at least one instruction is stored in the memory, and the at least one instruction is loaded and executed by the processor so as to realize all steps or part of steps of the whole vehicle test control method.
The network interface is used for performing network communication, such as sending distributed tasks. Those skilled in the art will appreciate that the architecture shown in fig. 3 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
The Processor may be a CPU, other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable Gate Array (FPGA) or other programmable logic device, discrete Gate or transistor logic device, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor being the control center of the computer device and the various interfaces and lines connecting the various parts of the overall computer device.
The memory may be used to store computer programs and/or modules, and the processor may implement various functions of the computer device by executing or executing the computer programs and/or modules stored in the memory, as well as by invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a video playing function, an image playing function, etc.), and the like; the storage data area may store data (such as video data, image data, etc.) created according to the use of the cellular phone, etc. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
The embodiment of the application also provides a computer readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, all steps or part of steps of the whole vehicle test control method are realized.
The embodiments of the present application may implement all or part of the foregoing processes, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of the foregoing methods. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer memory, Read-only memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunication signals, software distribution medium, etc., capable of carrying computer program code. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, in accordance with legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunications signals.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, server, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers in the embodiments of the present application are for description only and do not represent the merits of the embodiments.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110721098.XA CN113467417B (en) | 2021-06-28 | 2021-06-28 | Finished automobile test control method, device and equipment and readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110721098.XA CN113467417B (en) | 2021-06-28 | 2021-06-28 | Finished automobile test control method, device and equipment and readable storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113467417A true CN113467417A (en) | 2021-10-01 |
| CN113467417B CN113467417B (en) | 2023-03-10 |
Family
ID=77873328
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110721098.XA Active CN113467417B (en) | 2021-06-28 | 2021-06-28 | Finished automobile test control method, device and equipment and readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113467417B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114124611A (en) * | 2021-11-08 | 2022-03-01 | 国汽智控(北京)科技有限公司 | Vehicle data transmission method and device |
| CN114598568A (en) * | 2022-03-15 | 2022-06-07 | 偌轮汽车科技(武汉)有限公司 | Wheel speed signal compression method and android platform indirect tire pressure monitoring application software |
| CN114609459A (en) * | 2022-02-16 | 2022-06-10 | 东风柳州汽车有限公司 | Method, device, equipment and storage medium for testing simulated energy consumption of whole vehicle working condition |
| CN114705454A (en) * | 2022-04-12 | 2022-07-05 | 合众新能源汽车有限公司 | Ring die testing system and method for electric automobile |
| CN115277773A (en) * | 2022-07-28 | 2022-11-01 | 中国第一汽车股份有限公司 | Vehicle message processing method and device, vehicle and storage medium |
| CN115469637A (en) * | 2022-08-26 | 2022-12-13 | 东风汽车集团股份有限公司 | Motor controller insulation detection method and system based on CAN bus control |
| CN115684965A (en) * | 2022-07-12 | 2023-02-03 | 中国第一汽车股份有限公司 | System, method and device for verifying SOC (System on chip) precision in vehicle running process and upper computer |
| CN116481824A (en) * | 2022-12-21 | 2023-07-25 | 陕西法士特齿轮有限责任公司 | A test method, system, equipment and storage medium for an AMT vehicle hub bench |
| CN116818364A (en) * | 2023-06-29 | 2023-09-29 | 重庆长安凯程汽车科技有限公司 | Electric drive axle howling identification method and device, parallel shaft type automobile and storage medium |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206162185U (en) * | 2016-09-08 | 2017-05-10 | 安徽江淮汽车集团股份有限公司 | Vehicle control unit is at ring emulation test system |
| CN106769105A (en) * | 2017-02-24 | 2017-05-31 | 山东大学 | A kind of power system of electric automobile and controller synthesis test-bed and method |
| CN108414244A (en) * | 2018-05-04 | 2018-08-17 | 重庆凯瑞汽车试验设备开发有限公司 | A kind of power assembly of electric automobile real vehicle simulation test bench and its test method |
| CN109375611A (en) * | 2018-11-09 | 2019-02-22 | 中国汽车技术研究中心有限公司 | A hardware-in-the-loop test system for a complete vehicle controller of a new energy vehicle |
| CN110134106A (en) * | 2019-04-24 | 2019-08-16 | 中国第一汽车股份有限公司 | Semi-active suspension road vehicle simulation experiment system and test method |
| CN112362362A (en) * | 2020-11-16 | 2021-02-12 | 东风越野车有限公司 | Offline whole vehicle logic test system and test method |
| CN112714134A (en) * | 2021-01-19 | 2021-04-27 | 广州导远电子科技有限公司 | Analysis method, adaptation method, device, equipment and medium of CAN message |
| CN112816809A (en) * | 2020-12-29 | 2021-05-18 | 中通客车控股股份有限公司 | Power battery simulation system and method for whole vehicle working condition test |
| CN112859821A (en) * | 2021-03-19 | 2021-05-28 | 东风汽车集团股份有限公司 | Method and system for verifying quick charging function of battery management system for electric vehicle carried real vehicle |
-
2021
- 2021-06-28 CN CN202110721098.XA patent/CN113467417B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206162185U (en) * | 2016-09-08 | 2017-05-10 | 安徽江淮汽车集团股份有限公司 | Vehicle control unit is at ring emulation test system |
| CN106769105A (en) * | 2017-02-24 | 2017-05-31 | 山东大学 | A kind of power system of electric automobile and controller synthesis test-bed and method |
| CN108414244A (en) * | 2018-05-04 | 2018-08-17 | 重庆凯瑞汽车试验设备开发有限公司 | A kind of power assembly of electric automobile real vehicle simulation test bench and its test method |
| CN109375611A (en) * | 2018-11-09 | 2019-02-22 | 中国汽车技术研究中心有限公司 | A hardware-in-the-loop test system for a complete vehicle controller of a new energy vehicle |
| CN110134106A (en) * | 2019-04-24 | 2019-08-16 | 中国第一汽车股份有限公司 | Semi-active suspension road vehicle simulation experiment system and test method |
| CN112362362A (en) * | 2020-11-16 | 2021-02-12 | 东风越野车有限公司 | Offline whole vehicle logic test system and test method |
| CN112816809A (en) * | 2020-12-29 | 2021-05-18 | 中通客车控股股份有限公司 | Power battery simulation system and method for whole vehicle working condition test |
| CN112714134A (en) * | 2021-01-19 | 2021-04-27 | 广州导远电子科技有限公司 | Analysis method, adaptation method, device, equipment and medium of CAN message |
| CN112859821A (en) * | 2021-03-19 | 2021-05-28 | 东风汽车集团股份有限公司 | Method and system for verifying quick charging function of battery management system for electric vehicle carried real vehicle |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114124611A (en) * | 2021-11-08 | 2022-03-01 | 国汽智控(北京)科技有限公司 | Vehicle data transmission method and device |
| CN114609459A (en) * | 2022-02-16 | 2022-06-10 | 东风柳州汽车有限公司 | Method, device, equipment and storage medium for testing simulated energy consumption of whole vehicle working condition |
| CN114598568A (en) * | 2022-03-15 | 2022-06-07 | 偌轮汽车科技(武汉)有限公司 | Wheel speed signal compression method and android platform indirect tire pressure monitoring application software |
| CN114705454A (en) * | 2022-04-12 | 2022-07-05 | 合众新能源汽车有限公司 | Ring die testing system and method for electric automobile |
| CN115684965A (en) * | 2022-07-12 | 2023-02-03 | 中国第一汽车股份有限公司 | System, method and device for verifying SOC (System on chip) precision in vehicle running process and upper computer |
| CN115277773A (en) * | 2022-07-28 | 2022-11-01 | 中国第一汽车股份有限公司 | Vehicle message processing method and device, vehicle and storage medium |
| CN115277773B (en) * | 2022-07-28 | 2023-09-26 | 中国第一汽车股份有限公司 | Whole vehicle message processing method and device, vehicle and storage medium |
| CN115469637A (en) * | 2022-08-26 | 2022-12-13 | 东风汽车集团股份有限公司 | Motor controller insulation detection method and system based on CAN bus control |
| CN116481824A (en) * | 2022-12-21 | 2023-07-25 | 陕西法士特齿轮有限责任公司 | A test method, system, equipment and storage medium for an AMT vehicle hub bench |
| CN116818364A (en) * | 2023-06-29 | 2023-09-29 | 重庆长安凯程汽车科技有限公司 | Electric drive axle howling identification method and device, parallel shaft type automobile and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113467417B (en) | 2023-03-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113467417A (en) | Vehicle test control method, device, equipment and readable storage medium | |
| CN110927573B (en) | Hybrid power engine debugging method, device, equipment and storage medium | |
| Zhang et al. | Internet-distributed vehicle-in-the-loop simulation for HEVs | |
| CN105446316A (en) | Pure electric vehicle control unit model in-loop test device and test method thereof | |
| CN104677645A (en) | Test stand for power systems of automobiles, and automatic test method of working conditions | |
| CN115081118A (en) | A vehicle performance simulation method for a dual-motor series-parallel hybrid powertrain | |
| CN110780605A (en) | A hardware-in-the-loop simulation test platform for a hybrid electric vehicle closed-loop system | |
| Zhu et al. | NCSU year three final technical report | |
| CN117806927A (en) | Automobile virtual calibration method, device, electronic equipment and storage medium | |
| Zhu et al. | Hardware-in-the-loop simulation of pure electric vehicle control system | |
| CN116800656B (en) | CAN communication test method, system, device, electronic equipment and storage medium | |
| CN117288483A (en) | Test methods, devices, equipment, storage media and program products for simulating the entire vehicle | |
| CN121143301A (en) | A hardware-in-the-loop simulation test system and method for vehicle powertrain under a P2.5+P4 hybrid architecture | |
| CN116749978A (en) | Control methods, devices, electronic equipment and storage media for limp driving of vehicles | |
| Ukaew | Model Based System Design for Electric Vehicle | |
| Vora et al. | Development of a SIL, HIL and vehicle test-bench for model-based design and validation of hybrid powertrain control strategies | |
| CN115857463A (en) | Control method, device and equipment for vehicle hybrid power assembly performance test | |
| CN116300792A (en) | Test method for energy recovery function of vehicle and vehicle | |
| Ukaew et al. | Electric Vehicle Conversion Software Safety Study by Mean of Model Based System Design (MBSD) Approach | |
| CN117806179A (en) | Automobile virtual calibration method, device, electronic equipment and storage medium | |
| Leach et al. | Powersplit HEV performance simulation capability | |
| Ferrara et al. | Hardware-in-the-loop simulation for functional verification of multiple control units in hybrid electric vehicles | |
| Crain | Hybrid Vehicle Supervisory Controller Development Process to Minimize Emissions and Fuel Consumption in EcoCAR 2 | |
| CN118347737A (en) | Method and device for testing control function of vehicle, storage medium and processor | |
| Kaup et al. | Systematic Development of Hybrid Systems for Commercial Vehicles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |