CN117784759A - Test equipment and method for vehicle controller - Google Patents
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- CN117784759A CN117784759A CN202311802652.2A CN202311802652A CN117784759A CN 117784759 A CN117784759 A CN 117784759A CN 202311802652 A CN202311802652 A CN 202311802652A CN 117784759 A CN117784759 A CN 117784759A
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Abstract
The invention discloses a test device and a test method for a vehicle controller. The method relates to the field of intelligent automobiles, and the equipment comprises the following steps: the first simulation device is connected with the vehicle controller, and an Ethernet model is deployed on the first simulation device and is used for simulating and generating Ethernet signals required by the vehicle controller; the second simulation device is connected with the vehicle controller, a plurality of sensor models are deployed on the second simulation device, and different sensor models are used for simulating and generating different sensor data; and the synchronization device is connected with the first simulation device and the second simulation device and is used for time synchronization of the first simulation device, the second simulation device and the vehicle controller. The invention solves the technical problem of lower data accuracy in the vehicle controller.
Description
Technical Field
The invention relates to the field of intelligent vehicles, in particular to a device and a method for testing a vehicle controller.
Background
The vehicle controller is the core of the vehicle, and the vehicle controller analyzes and decides through the data acquired by a plurality of sensors so as to control various functions of the vehicle, and the vehicle controller accurately controls the vehicle according to the data acquired by the sensors, so that the accuracy of the data in the vehicle controller is required to be higher.
In view of the above problems, no effective solution has been proposed at present.
Disclosure of Invention
The embodiment of the invention provides a test device and a test method for a vehicle controller, which are used for at least solving the technical problem of lower data accuracy in the vehicle controller.
According to an aspect of an embodiment of the present invention, there is provided a test apparatus of a vehicle controller, including: the first simulation device is connected with the vehicle controller, and an Ethernet model is deployed on the first simulation device and is used for simulating and generating Ethernet signals required by the vehicle controller; the second simulation device is connected with the vehicle controller, a plurality of sensor models are deployed on the second simulation device, and different sensor models are used for simulating and generating different sensor data; and the synchronization device is connected with the first simulation device and the second simulation device and is used for time synchronization of the first simulation device, the second simulation device and the vehicle controller.
Optionally, the synchronization device includes: the first switch is connected with a first network port of the first simulation device and a first network port of the second simulation device and is used for time synchronization of the first simulation device, the vehicle controller and the second simulation device; and the second switch is connected with the second network port of the first simulation device and the second network port of the second simulation device and is used for time synchronization of the Ethernet model and the plurality of sensor models.
Optionally, the first simulation device is configured to generate a reference time based on the hard clock and the network clock, and send the reference time to the vehicle controller; the vehicle controller is used for forwarding the reference moment to the second simulation device; the second simulation device is used for forwarding the reference moment to the first simulation device through the first switch.
Optionally, the first analog device is configured to send the time synchronization signal to the second analog device through the second switch.
Optionally, the second simulation device includes: at least two workstations in which the plurality of sensor models are distributed.
Optionally, the test apparatus of the vehicle controller further includes: the Ethernet simulation board card is connected between the first simulation device and the vehicle controller and is used for transmitting Ethernet signals to the vehicle controller according to an Ethernet transmission protocol; and the sensor simulation boards are in one-to-one correspondence with the sensor models and are connected between the second simulation device and the vehicle controller, and the sensor simulation boards are used for transmitting different sensor data to the vehicle controller according to the transmission protocol of the real sensor.
Optionally, the plurality of sensor models comprises: high-precision map simulation model, camera simulation model, millimeter wave radar simulation model, inertial navigation sensor simulation model and laser radar simulation model.
Optionally, in the case that the second simulation device includes a first workstation and a second workstation, the first workstation is deployed with a high-precision map simulation model, a camera simulation model and a millimeter wave radar simulation model, and the second workstation is deployed with an inertial navigation sensor simulation model and a laser radar simulation model.
Optionally, the first simulation device further has a vehicle model and an input-output model disposed thereon.
According to another aspect of the embodiment of the present invention, there is also provided a method for testing a vehicle controller, including: time synchronization is carried out on the first simulation device, the second simulation device and the vehicle controller; in response to the completion of the time synchronization, controlling an Ethernet model deployed on the first simulation device to simulate and generate an Ethernet signal required by the vehicle controller, and transmitting the Ethernet signal to the vehicle controller; and controlling the plurality of sensor models deployed on the second simulation device to simulate and generate different sensor data, and sending the different sensor data to the vehicle controller.
In the embodiment of the invention, the first simulation device, the second simulation device and the vehicle controller are time-synchronized; in response to the completion of the time synchronization, controlling an Ethernet model deployed on the first simulation device to simulate and generate an Ethernet signal required by the vehicle controller, and transmitting the Ethernet signal to the vehicle controller; and controlling the plurality of sensor models deployed on the second simulation device to simulate and generate different sensor data, and sending the different sensor data to the vehicle controller. It should be noted that after the time synchronization of the first simulation device, the second simulation device and the vehicle controller, the data transmitted to the vehicle controller by the first simulation device and the second simulation device are the same time, so that timeliness and accuracy of the data are ensured, the asynchronous virtual simulation test data are avoided, the inaccuracy of the data in the vehicle controller is further achieved, the accuracy of the data in the vehicle controller is improved, the technical effect that the sensor data acquired by the vehicle controller are the same time is achieved, and the technical problem that the accuracy of the data in the vehicle controller is lower is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
fig. 1 is a schematic structural view of a test apparatus of a vehicle controller according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an alternative test apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the structure of an alternative plurality of sensor models according to an embodiment of the present invention;
fig. 4 is a flowchart of a test method of a vehicle controller according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Referring to fig. 1 to 3, according to an aspect of an embodiment of the present invention, there is provided a test apparatus for a vehicle controller.
Fig. 1 is a schematic structural view of a test apparatus of a vehicle controller according to an embodiment of the present invention, as in fig. 1, the apparatus including: the first simulation device 1 is connected with the vehicle controller 4, and an Ethernet model is deployed on the first simulation device 1 and is used for simulating and generating Ethernet signals required by the vehicle controller 4; the second simulation device 2 is connected with the vehicle controller 4, a plurality of sensor models are deployed on the second simulation device 2, and different sensor models are used for simulating and generating different sensor data; and a synchronization device 3 connected to the first simulation device 1 and the second simulation device 2 for time-synchronizing the first simulation device 1, the second simulation device 2, and the vehicle controller 4.
The first simulation apparatus 1 may be a hardware device for simulating a real-time system or a control system, and may be, but is not limited to: hardware-in-Loop real-time processor (HIL real-time processor for short).
The vehicle controller 4 described above may be a device for controlling and managing various functions and systems of the vehicle, and may be, but is not limited to: an autopilot domain controller. The autopilot controller may be a device for controlling an autopilot vehicle, and may receive data from various sensors and make decisions and control the travel of the vehicle according to preset algorithms and rules.
The second simulation device 2 may be two or more workstations, and the plurality of sensor models may be deployed on different workstations, respectively.
The main idea of the invention is that the first simulation device 1 and the second simulation device 2 are respectively connected with the vehicle controller 4 for timely feeding back the acquired signals or data to the vehicle controller 4, and that the first simulation device 1 and the second simulation device 2 achieve time synchronization by means of the synchronization device 3, the first simulation device 1 synchronizes the reference time T1 to the vehicle controller 4 by means of a network synchronization protocol (General Purpose Time Protocol, abbreviated as gPTP) and the vehicle controller 4 is time synchronized with the first simulation device 1 at this time, and that the vehicle controller 4 synchronizes the reference time T1 to the second simulation device 2 by means of the network synchronization protocol, wherein, since at least two workstations are included in the second simulation device 2, the reference time T1 needs to be synchronized to the synchronization device 3 by means of one of the workstations, and that the synchronization device 3 is time synchronized with the vehicle controller 4, the first simulation device 1 and one of the workstations. And the synchronization device 3 is connected with each workstation in the second simulation device 2, so that the time synchronization of the first simulation device 1, the second simulation device 2 and the vehicle controller 4 is realized, the signal data of all simulation sensors received by the vehicle controller 4 are all data at the same moment, and the accuracy of simulation test data is ensured.
Alternatively, as shown in fig. 2, the synchronizing device 3 includes: a first switch 301 connected to the first network port 10 of the first simulation device 1 and the first network port 10 of the second simulation device 2, for time-synchronizing the first simulation device 1, the vehicle controller 4, and the second simulation device 2; the second switch 302 is connected to the second network port 12 of the first analog device 1 and the second network port 12 of the second analog device 2, and is configured to time synchronize the ethernet model and the plurality of sensor models.
The first network port 10 may be a port through which the first analog device 1 and the second analog device 2 perform signal transmission with the first switch 301. The second network port 12 may be a port through which the first analog machine and the second analog device 2 perform signal transmission with the second switch 302.
In an alternative embodiment, the first simulator synchronizes the reference time to the vehicle controller 4, and the vehicle controller 4 synchronizes the reference time to one of the workstations of the second simulator 2, wherein the one of the workstations of the second simulator 2 is time synchronized with the first switch 301 via the first portal 10, and the first switch 301 is time synchronized with the remaining workstations of the second simulator 2. The second switch 302 is time-synchronized with the ethernet model in the first analog device 1 and the plurality of sensor models in the second analog device 2 via the respective second network ports 12 of the first analog device 1 and the second analog device 2.
Alternatively, the first simulation apparatus 1 is configured to generate a reference time based on the hard clock and the network clock, and transmit the reference time to the vehicle controller 4; the vehicle controller 4 is configured to forward the reference time to the second simulation apparatus 2; the second simulation device 2 is arranged to forward the reference moment to the first simulation device 1 via the first switch 301.
The hard clock can be a clock system with high precision and good stability. The internal of the clock is clocked by a crystal oscillator or other relatively stable clock source, and the clock can independently work without an external reference clock.
The network clock can be a device connected through a network, and can synchronously display accurate time. It is typically connected to the global timing system via the internet to ensure accurate time synchronization.
In an alternative embodiment, the first simulation device 1 acquires a reference time T1 through its own hard clock and network clock, and the first simulation device 11 synchronously transmits the reference time T1 to the vehicle controller 4 as a Master (Master) node of the network synchronization protocol, where the vehicle controller 4 is a slave (s lave) node of the network synchronization protocol, so as to realize time synchronization between the first simulation device 1 and the vehicle controller 4. The vehicle controller 4 sends the reference time T1 to the second simulation device 2 through the network synchronization protocol, and at this time, the vehicle controller 4 serves as a master node of the network synchronization protocol, and the second simulation device 2 serves as a slave node of the network synchronization protocol, so as to realize time synchronization between the vehicle controller 4 and the second simulation device 2. The second analog device 2 is forwarded to the first analog device 1 through the first switch 301, and at this time, the first switch 301 is used as a master node of the network synchronization protocol, and both the second analog device 2 and the first analog device 1 are used as slave nodes of the network synchronization protocol, so as to realize time synchronization of the first switch 301, the first analog device 1 and the second analog device 2.
Alternatively, the first analog device 1 is configured to send a time synchronization signal to the second analog device 2 through the second switch 302.
The time synchronization signal may be a start signal for prompting the second analog device 2 to perform time synchronization with the first analog device 1.
In an alternative embodiment, when the first analog device 1 generates the reference time by its own hard clock and network clock, a time synchronization signal may be sent to the second analog device 2 through the second switch 302, which indicates that the second analog device 2 needs to perform time synchronization, and the stored time for synchronization may be updated.
Optionally, the second simulation device 2 comprises: at least two workstations in which the plurality of sensor models are distributed.
In an alternative embodiment, since a plurality of sensors are mounted on a vehicle, a corresponding plurality of sensor models cannot be efficiently operated in one workstation, and thus, the plurality of sensor models are distributed in at least two workstations. If a new sensor model needs to be added and can be placed in a new workstation, the novel sensor model has stronger expansion, and a plurality of workstations can balance loads, optimize performance and ensure normal operation of equipment.
Optionally, as shown in fig. 2, the test apparatus of the vehicle controller further includes: the ethernet emulation board 101 is connected between the first analog device 1 and the vehicle controller 4, and the ethernet emulation board 101 is used for transmitting ethernet signals to the vehicle controller 4 according to an ethernet transmission protocol; and the sensor simulation boards are in one-to-one correspondence with the sensor models and are connected between the second simulation device 2 and the vehicle controller 4, and the sensor simulation boards are used for transmitting different sensor data to the vehicle controller 4 according to a transmission protocol of a real sensor.
In an alternative embodiment, the ethernet emulation board 101 can directly acquire the reference time T1 of the first analog device 1 and transmit an ethernet signal to the vehicle controller 4. Wherein the ethernet emulation board 101 is configured to carry ethernet signals required by the vehicle controller 4 sent by the first analog device 1. The plurality of sensor models in the second simulation device 2 correspond to a plurality of sensor simulation boards that transmit outgoing protocols of the real sensors to the vehicle controller 4.
Optionally, as shown in fig. 3, the plurality of sensor models includes: a high-precision map simulation model 201-1, a camera simulation model 201-2, a millimeter wave radar simulation model 201-3, an inertial navigation sensor simulation model 202-1 and a laser radar simulation model 202-2.
In an alternative embodiment, the plurality of sensor simulation boards are in one-to-one correspondence with the plurality of sensor models (as shown in FIG. 2, the plurality of sensor simulation boards include a high-precision map simulation board 102, a camera sensor video signal simulation board 103, a millimeter wave radar sensor simulation board 104, an inertial sensor signal simulation board 105, and a lidar sensor signal simulation board 106). The high-precision map signal simulation board card is used for bearing all signals of the high-precision map sent by the high-precision map simulation model 201-1 and transmitting the signals to the vehicle controller 4; the camera sensor video signal simulation board card is used for bearing video signals sent by the camera simulation model 201-2 and sending the video signals to the vehicle controller 4 according to a real camera protocol; the millimeter wave radar sensor signal simulation board card is used for bearing the signals of the millimeter wave radar sensor sent by the millimeter wave radar simulation model 201-3 and transmitting the signals to the vehicle controller 4 according to the same protocol of the real millimeter wave radar; the inertial navigation sensor signal simulation board card is used for bearing the inertial navigation signal sent by the inertial navigation sensor simulation model 202-1 and sending the inertial navigation signal to the vehicle controller 4; the lidar sensor signal simulation board card is used for carrying the lidar sensor signals sent by the lidar simulation model 202-2 and sending some of the lidar sensor signals to the vehicle controller 4 according to the transmission of the real lidar.
Alternatively, as shown in fig. 3, in the case where the second simulation apparatus 2 includes the first workstation 201 and the second workstation 202, the first workstation 201 is provided with the high-precision map simulation model 201-1, the camera simulation model 201-2, and the millimeter wave radar simulation model 201-3, and the second workstation 202 is provided with the inertial sensor simulation model 202-1 and the lidar simulation model 202-2.
In an alternative embodiment, the second simulation device 2 may be configured by two workstations, where the high-precision map simulation model 201-1, the camera simulation model 201-2, and the millimeter wave radar simulation model 201-3 are deployed on the first workstation 201. Inertial sensor simulation model 202-1 and lidar simulation model 202-2 are deployed on a second workstation 202. Thus, the signals of the high-precision map, the signals of the camera and the signals of the millimeter wave radar are directly output by the first workstation 201, so that the high-precision map simulation model 201-1, the camera simulation model 201-2, the millimeter wave radar simulation model 201-3 and the first workstation 201 are at the same time; inertial navigation signals and lidar signals are directly output by the second workstation 202, so the inertial navigation sensor simulation model 202-1 and lidar simulation model 202-2 are at the same time as the second workstation 202. The second switch 302 is connected to the first simulation device 1, the first workstation 201 and the second workstation 202, so that time synchronization of the second switch 302, the first simulation device 1, the first workstation 201 and the second workstation 202 is achieved, wherein the first simulation device 1 comprises an ethernet model 1-1.
Optionally, the first simulation apparatus 1 is further provided with a vehicle model and an input-output model.
The vehicle model described above may be a model that simulates the running state and behavior of the vehicle in order to test the performance of the sensor under different conditions.
The input/output model may be a model of input/output signals for data exchange, including but not limited to: an ethernet model 1-1 and an IO model.
In an alternative embodiment, the vehicle model in the first simulation device 1 simulates the running states and behaviors of various vehicles, acquires the signal data of each sensor simulation model, and ensures the synchronization of all simulated sensor signals, thereby realizing virtual simulation test, improving test efficiency, test safety and repeatability.
Example 2
According to an embodiment of the present invention, there is provided an embodiment of a method of testing a vehicle controller, it being noted that the steps shown in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and that although a logical sequence is shown in the flowchart, in some cases the steps shown or described may be performed in a different order than what is shown or described herein.
Fig. 4 is a flowchart of a test method of a vehicle controller according to an embodiment of the present invention, as shown in fig. 4, the method including the steps of:
in step S402, time synchronization is performed for the first simulation device, the second simulation device, and the vehicle controller.
In an alternative embodiment, the first simulation device generates the reference time through a hard clock and a network clock of the first simulation device, and the first simulation device transmits the reference time to the vehicle controller through a network synchronization protocol to realize time synchronization of the first simulation device and the vehicle controller. The vehicle controller realizes time synchronization with the synchronization device through one workstation in the second simulation device, and the synchronization device sends reference time to all remaining workstations in the second simulation device to realize time synchronization of the first simulation device, the second simulation device and the vehicle controller.
In step S404, in response to the completion of the time synchronization, the ethernet model deployed on the first simulation device is controlled to simulate and generate an ethernet signal required by the vehicle controller, and the ethernet signal is sent to the vehicle controller.
In an alternative embodiment, if the time synchronization of the first simulation device, the second simulation device and the vehicle controller is completed, the ethernet model deployed on the first simulation device is controlled to simulate and generate an ethernet signal, and the ethernet signal is sent to the vehicle controller through the ethernet simulation board card.
In step S406, a plurality of sensor models deployed on the second simulation device are controlled to simulate and generate different sensor data, and the different sensor data are sent to the vehicle controller.
In an alternative embodiment, a plurality of sensor models deployed on the second simulation device simulate to generate different sensor data, and the plurality of sensor models correspond to a plurality of sensor simulation boards, and the corresponding sensor data are transmitted to the vehicle controller through the plurality of sensor simulation boards.
Through the steps, the time synchronization of the first simulation device, the second simulation device and the vehicle controller can be realized; in response to the completion of the time synchronization, controlling an Ethernet model deployed on the first simulation device to simulate and generate an Ethernet signal required by the vehicle controller, and transmitting the Ethernet signal to the vehicle controller; and controlling the plurality of sensor models deployed on the second simulation device to simulate and generate different sensor data, and sending the different sensor data to the vehicle controller. It should be noted that after the time synchronization of the first simulation device, the second simulation device and the vehicle controller, the data transmitted to the vehicle controller by the first simulation device and the second simulation device are the same time, so that timeliness and accuracy of the data are ensured, the asynchronous virtual simulation test data are avoided, the inaccuracy of the data in the vehicle controller is further achieved, the accuracy of the data in the vehicle controller is improved, the technical effect that the sensor data acquired by the vehicle controller are the same time is achieved, and the technical problem that the accuracy of the data in the vehicle controller is lower is solved.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology content may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (10)
1. A test apparatus for a vehicle controller, comprising:
the first simulation device is connected with the vehicle controller, and an Ethernet model is deployed on the first simulation device and is used for simulating and generating Ethernet signals required by the vehicle controller;
the second simulation device is connected with the vehicle controller, a plurality of sensor models are deployed on the second simulation device, and different sensor models are used for simulating and generating different sensor data;
and the synchronization device is connected with the first simulation device and the second simulation device and is used for time synchronization of the first simulation device, the second simulation device and the vehicle controller.
2. The test apparatus of a vehicle controller according to claim 1, wherein the synchronization means includes:
the first switch is connected with a first network port of the first simulation device and a first network port of the second simulation device and is used for time synchronization of the first simulation device, the vehicle controller and the second simulation device;
and the second switch is connected with the second network port of the first simulation device and the second network port of the second simulation device and is used for time synchronization of the Ethernet model and the plurality of sensor models.
3. The test apparatus for a vehicle controller according to claim 2, wherein,
the first simulation device is used for generating a reference moment based on a hard clock and a network clock and sending the reference moment to the vehicle controller;
the vehicle controller is configured to forward the reference time to the second simulation device;
the second simulation device is used for forwarding the reference moment to the first simulation device through the first switch.
4. The test apparatus for a vehicle controller according to claim 2, wherein,
the first analog device is configured to send a time synchronization signal to the second analog device through the second switch.
5. The test apparatus of a vehicle controller according to claim 1, wherein the second simulation means includes:
at least two workstations in which the plurality of sensor models are distributed.
6. The test apparatus of a vehicle controller according to claim 1, characterized in that the test apparatus of a vehicle controller further comprises:
the Ethernet simulation board card is connected between the first simulation device and the vehicle controller and is used for transmitting the Ethernet signals to the vehicle controller according to an Ethernet transmission protocol;
and the sensor simulation boards are in one-to-one correspondence with the sensor models and are connected between the second simulation device and the vehicle controller, and the sensor simulation boards are used for transmitting different sensor data to the vehicle controller according to a transmission protocol of a real sensor.
7. The test apparatus of a vehicle controller according to claim 1, wherein the plurality of sensor models includes: high-precision map simulation model, camera simulation model, millimeter wave radar simulation model, inertial navigation sensor simulation model and laser radar simulation model.
8. The test apparatus of a vehicle controller according to claim 7, wherein in a case where the second simulation device includes a first workstation on which the high-precision map simulation model, the camera simulation model, and the millimeter wave radar simulation model are disposed, and a second workstation on which the inertial sensor simulation model and the lidar simulation model are disposed.
9. The test apparatus of a vehicle controller according to claim 1, wherein the first simulation device further has a vehicle model and an input-output model disposed thereon.
10. A test method of a vehicle controller, characterized by being applied to the test apparatus of a vehicle controller according to any one of claims 1 to 9, the method comprising:
time synchronizing the first analog device, the second analog device, and the vehicle controller;
in response to completion of time synchronization, controlling the ethernet model deployed on the first simulation device to simulate generation of an ethernet signal required by the vehicle controller, and transmitting the ethernet signal to the vehicle controller;
and controlling the plurality of sensor models deployed on the second simulation device to simulate and generate different sensor data, and sending the different sensor data to the vehicle controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202311802652.2A CN117784759A (en) | 2023-12-25 | 2023-12-25 | Test equipment and method for vehicle controller |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311802652.2A CN117784759A (en) | 2023-12-25 | 2023-12-25 | Test equipment and method for vehicle controller |
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| CN117784759A true CN117784759A (en) | 2024-03-29 |
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| CN202311802652.2A Pending CN117784759A (en) | 2023-12-25 | 2023-12-25 | Test equipment and method for vehicle controller |
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- 2023-12-25 CN CN202311802652.2A patent/CN117784759A/en active Pending
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