CN114415637B - Consistency test method, device and system for CAN communication - Google Patents
Consistency test method, device and system for CAN communication Download PDFInfo
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- CN114415637B CN114415637B CN202210072326.XA CN202210072326A CN114415637B CN 114415637 B CN114415637 B CN 114415637B CN 202210072326 A CN202210072326 A CN 202210072326A CN 114415637 B CN114415637 B CN 114415637B
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Abstract
The application provides a consistency test method, a device and a system for CAN communication, wherein the method is applied to a real-time machine provided with a real-time operating system in an HIL simulation platform; the method comprises the following steps: configuring a test sequence corresponding to a controller to be tested; according to each group of test parameters in the test sequence, the CAN communication board card is controlled to send first CAN signal data to the controller to be tested under the target baud rate, and the I/O board card is controlled to output target voltage to the controller to be tested; or the fault injection unit is controlled by the I/O board card to input a target voltage fault to the controller to be tested; receiving second CAN signal data returned by the controller to be tested under the current test parameters; and determining a consistency detection result of CAN communication under the current test parameters according to the first CAN signal data and the second CAN signal data. According to the application, full-automatic testing is performed through the real-time machine provided with the real-time operating system in the HIL simulation platform, the real-vehicle environment is simulated, and the consistency testing quality and efficiency of CAN communication are improved.
Description
Technical Field
The application relates to the technical field of intelligent driving, in particular to a method, a device and a system for testing consistency of CAN communication.
Background
At present, a CAN network (Controller Area Network ) is widely applied to the field of automobile communication, has become a central nerve for controlling vehicle functions, and the reliability of the automobile CAN network determines the running safety of a vehicle, so that the requirement on the communication quality of the whole automobile CAN network is higher and higher. In the related art, there are a plurality of different CAN bus quality detection modes, but the following problems exist: the manual control of the test process has great influence on the artificial factors, and the test quality cannot be ensured; the CAN signal data content has a larger difference from the real vehicle environment; strong real-time operation cannot be achieved, and the transceiving response speed of the controller to be tested to the CAN signal cannot be guaranteed; the HIL simulation platform is separated from the control unit, so that CAN signal transmission response delay is easily caused, and the test result is influenced; the control unit is an upper computer host or a singlechip, and the operating system is a non-real-time operating system, so that real-time response to CAN signals in a real vehicle environment cannot be simulated.
Disclosure of Invention
The application aims to provide a consistency test method, device and system for CAN communication, which are used for controlling the processes of CAN communication transmission, CAN communication acquisition, I/O signal fault injection, automatic test and the like through the real time of installing a real-time operating system in an HIL simulation platform, reducing the artificial interference in the test process, simulating the real vehicle environment, and improving the consistency test quality and efficiency of the CAN communication.
In a first aspect, an embodiment of the present application provides a method for testing consistency of CAN communications, where the method is applied to a real-time machine installed with a real-time operating system in an HIL simulation platform; the real-time machine is respectively connected with a CAN communication board card and an I/O board card in the HIL simulation platform; the I/O board card is connected with a fault injection unit; the CAN communication board card and the fault injection unit are respectively connected with the controller to be tested; the method comprises the following steps: configuring a test sequence corresponding to a controller to be tested; the test sequence comprises a plurality of groups of test parameters; each set of test parameters includes: target vehicle speed, target baud rate, and target voltage; each set of test parameters optionally further comprises: a target voltage fault; taking each group of test parameters as current test parameters in sequence, and executing the following test steps: according to the current test parameters, the CAN communication board card is controlled to send first CAN signal data to the controller to be tested under the target baud rate, and the I/O board card is controlled to output target voltage to the controller to be tested; or further comprising: the fault injection unit is controlled by the I/O board card to input a target voltage fault to the controller to be tested; the first CAN signal data are generated based on a target vehicle speed output by a preset vehicle dynamics model; receiving second CAN signal data returned by the controller to be tested under the current test parameters through the CAN communication board card; and determining a consistency detection result of CAN communication under the current test parameters according to the first CAN signal data and the second CAN signal data.
Further, the step of configuring the test sequence corresponding to the controller to be tested includes: obtaining a parameter range and a step length corresponding to the target parameters respectively; the target parameters include: the output speed of the vehicle dynamics model, the baud rate corresponding to the CAN communication board card and the output voltage of the I/O board card, or further comprises: fault injection type; determining a parameter sequence according to the parameter range and the step length respectively corresponding to the target parameters; and (3) arranging and combining different parameter sequences to generate a test sequence corresponding to the controller to be tested.
Further, the step of controlling the CAN communication board card to send the first CAN signal data to the to-be-tested controller according to the current test parameter includes: inputting the appointed CAN frame into a vehicle dynamics model so that the vehicle dynamics model outputs a target vehicle speed; generating first CAN signal data according to a target vehicle speed; and controlling the communication baud rate of the CAN communication board card to reach a target baud rate, and sending first CAN signal data to the controller to be tested under the target baud rate.
Further, the fault injection type includes one of the following: open circuit, short circuit to power supply, short circuit to ground; the step of inputting the target voltage fault to the controller to be tested through the I/O board card control fault injection unit comprises the following steps: and sending a working instruction carrying a fault injection type to the fault injection unit through the I/O board card so that the fault injection unit carries out line modification according to the fault injection type to input a target voltage fault corresponding to the fault injection type to the controller to be tested.
Further, the step of determining the consistency detection result of the CAN communication under the current test parameters according to the first CAN signal data and the second CAN signal data includes: judging whether a second parameter value carried in second CAN signal data is consistent with or matched with the first parameter value according to the first parameter value carried in the first CAN signal data; the second parameter includes at least one of: baud rate, vehicle speed, alarm level, error frame transmission period, response delay time; and if the consistency detection results are consistent or matched, determining that the consistency detection results of CAN communication under the current test parameters are qualified.
Further, the real time is also connected with an upper computer; before the step of configuring the test sequence corresponding to the controller to be tested, the method further comprises the following steps: hardware configuration information of a CAN communication board card and an I/O board card configured by an upper computer for a real-time machine is received; the hardware configuration information of the CAN communication board card comprises: the access number and the communication standard of the CAN communication board card; the hardware configuration information of the I/O board card includes: the number of accesses and input/output properties of the I/O board card; and controlling communication between the CAN communication board card and the I/O board card and the controller to be tested respectively according to the hardware configuration information.
In a second aspect, an embodiment of the present application provides a consistency testing device for CAN communications, where the device is applied to a real-time machine installed with a real-time operating system in an HIL simulation platform; the real-time machine is respectively connected with a CAN communication board card and an I/O board card in the HIL simulation platform; the I/O board card is connected with a fault injection unit; the CAN communication board card and the fault injection unit are respectively connected with the controller to be tested; the device comprises: the test sequence configuration module is used for configuring a test sequence corresponding to the controller to be tested; the test sequence comprises a plurality of groups of test parameters; each set of test parameters includes: target vehicle speed, target baud rate, and target voltage; each set of test parameters optionally further comprises: a target voltage fault; the test module is used for sequentially taking each group of test parameters as current test parameters and executing the following test steps: according to the current test parameters, the CAN communication board card is controlled to send first CAN signal data to the controller to be tested under the target baud rate, and the I/O board card is controlled to output target voltage to the controller to be tested; or further comprising: the fault injection unit is controlled by the I/O board card to input a target voltage fault to the controller to be tested; the first CAN signal data are generated based on a target vehicle speed output by a preset vehicle dynamics model; receiving second CAN signal data returned by the controller to be tested under the current test parameters through the CAN communication board card; and determining a consistency detection result of CAN communication under the current test parameters according to the first CAN signal data and the second CAN signal data.
In a third aspect, an embodiment of the present application further provides a system for testing consistency of CAN communications, where the system includes: the system comprises an HIL simulation platform, a fault injection unit and a controller to be tested; the HIL simulation platform comprises a real-time machine provided with a real-time operating system, a CAN communication board card and an I/O board card which are respectively connected with the real-time machine; the I/O board card is connected with the fault injection unit; the CAN communication board card and the fault injection unit are respectively connected with the controller to be tested; the real-time machine is configured to perform the method according to the first aspect.
Further, the system further comprises: the upper computer is connected with the real-time machine; the real-time machine is configured to perform the method according to the sixth aspect.
In a fourth aspect, embodiments of the present application also provide a computer-readable storage medium storing computer-executable instructions that, when invoked and executed by a processor, cause the processor to implement the method of the first aspect.
The method, the device and the system for testing the consistency of CAN communication are applied to a real-time machine provided with a real-time operating system in an HIL simulation platform; the real-time machine is respectively connected with a CAN communication board card and an I/O board card in the HIL simulation platform; the I/O board card is connected with a fault injection unit; the CAN communication board card and the fault injection unit are respectively connected with the controller to be tested; the method comprises the following steps: configuring a test sequence corresponding to a controller to be tested; the test sequence comprises a plurality of groups of test parameters; each set of test parameters includes: target vehicle speed, target baud rate, and target voltage; each set of test parameters optionally further comprises: a target voltage fault; taking each group of test parameters as current test parameters in sequence, and executing the following test steps: according to the current test parameters, the CAN communication board card is controlled to send first CAN signal data to the controller to be tested under the target baud rate, and the I/O board card is controlled to output target voltage to the controller to be tested; or further comprising: the fault injection unit is controlled by the I/O board card to input a target voltage fault to the controller to be tested; the first CAN signal data are generated based on a target vehicle speed output by a preset vehicle dynamics model; receiving second CAN signal data returned by the controller to be tested under the current test parameters through the CAN communication board card; and determining a consistency detection result of CAN communication under the current test parameters according to the first CAN signal data and the second CAN signal data. According to the embodiment of the application, the real-time of installing the real-time operating system in the HIL simulation platform is used for controlling the processes of CAN communication transmission, CAN communication acquisition, I/O signal fault injection, automatic test and the like, so that the artificial interference in the test process is reduced, the real-time environment is simulated, and the consistency test quality and efficiency of the CAN communication are improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a block diagram of a system for testing the consistency of CAN communication according to an embodiment of the application;
FIG. 2 is a flowchart of a method for testing consistency of CAN communication according to an embodiment of the application;
FIG. 3 is a flowchart of another method for testing the consistency of CAN communication according to an embodiment of the application;
FIG. 4 is a schematic diagram of a test content provided in an embodiment of the present application;
fig. 5 is a structural block diagram of a CAN communication consistency test device according to an embodiment of the present application.
Detailed Description
The technical solutions of the present application will be clearly and completely described in connection with the embodiments, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
At present, the following test modes for the automobile CAN network bus are available:
the first, the testing device includes the comprehensive test box of the bus, CANoe operating device, power, CAN bus controller, this scheme carries on the transmission of two-way control CAN message, two-way acquisition CAN message through CANoe operating device and comprehensive test box of the bus, use the computer to control the work such as test start, test action execution, test result output, etc. in the CANoe operating device, this kind of method separates CAN acquisition unit and CAN control unit, so CAN communication test process separation, CAN't imitate the working environment of an integral CAN communication network in the real car completely, in addition the whole test process is controlled by PC computer, CAN't guarantee the sending, acquisition, detection, real-time of storage of CAN signal.
The second kind of test system includes MCU module, function key module, LCD, SCM, CAN bus test interface and power module, and the purpose is to use a SCM to connect CAN bus and execute test program, connect MCU control module through serial port outside SCM to receive user interaction function selection and display test process and result, in this method SCM is connected with CAN bus and SCM and MCU serial port communication, has reduced the real-time of CAN bus test process, has increased the process delay of gathering, detecting, result display, has used manual input to select test process, has injected artificial interference into test process, and CAN't carry on the automatic test of many operating modes.
Thirdly, the whole vehicle CAN network automatic test platform comprises a controller to be tested, an indication instrument, a simulation device and a host, wherein a CANoe unit is used as the simulation device, CAN network signals are received from the controller to be tested, converted and sent to the host for analysis and display of test results, the method uses the CANoe to carry out CAN network modeling, simulate each node controller on the vehicle, cannot achieve a real-time simulation model based on vehicle dynamics, and cannot simulate the real-time vehicle network communication process.
In summary, the existing CAN communication test method has the following disadvantages: the manual control of the test process has great influence on the artificial factors, and the test quality cannot be ensured; the CAN signal data content has a larger difference from the real vehicle environment; strong real-time operation cannot be achieved, and the transceiving response speed of the controller to be tested to the CAN signal cannot be guaranteed; the HIL simulation platform is separated from the control unit, so that CAN signal transmission response delay is easily caused, and the test result is influenced; the control unit is an upper computer host or a singlechip, and the operating system is a non-real-time operating system, so that real-time response to CAN signals in a real vehicle environment cannot be simulated.
Based on the above, the embodiments of the present application provide a method, an apparatus, and a system for testing consistency of CAN communications, which control the processes of CAN communication transmission, CAN communication acquisition, I/O signal fault injection, and automatic testing, etc., by using real time of installing a real-time operating system in an HIL simulation platform, so as to reduce artificial interference in the testing process, improve the environment of a high-simulation real vehicle, and improve the consistency testing quality and efficiency of CAN communications. For the convenience of understanding the present embodiment, a detailed description will be given of a CAN communication consistency test system disclosed in the present embodiment.
Fig. 1 is a structural block diagram of a CAN communication consistency test system according to an embodiment of the present application, where the system includes: the HIL simulation platform 11, the fault injection unit 12 and the controller 13 to be tested; the HIL simulation platform 11 comprises a real-time machine 111 provided with a real-time operating system, a CAN communication board 112 and an I/O board 113 which are respectively connected with the real-time machine 111; the I/O board 113 is connected to the fault injection unit 12; the CAN communication board card 112 and the fault injection unit 12 are respectively connected with the controller 13 to be tested; the real-time machine 111 is used to perform a consistency test method of CAN communication, and a specific test process CAN be seen in the following method embodiments.
The real-time machine 111 may be a current real-time machine, and the real-time operating system may be an iHawk real-time operating system. In a preferred embodiment, the above system further comprises: an upper computer 14 connected to the real-time device 111; the upper computer configures hardware configuration information of the CAN communication board card and the I/O board card for the real-time machine; the hardware configuration information of the CAN communication board card comprises: the access number and the communication standard of the CAN communication board card, such as CAN or CANFD; the hardware configuration information of the I/O board card includes: the number of accesses to the I/O card and input/output attributes such as whether the input/output format is analog or digital.
After the hardware configuration is finished, the real-time machine CAN control communication between the CAN communication board card and the I/O board card and the controller to be tested respectively according to the hardware configuration information; the HIL simulation platform CAN control the processes of CAN communication sending, CAN communication acquisition, I/O signal fault injection, automatic test and the like through a real-time machine on which a real-time operating system is installed, so that the artificial interference in the test process is reduced, the real-vehicle environment is simulated highly, and the consistency test quality and efficiency of the CAN communication are improved.
Based on the system embodiment, the embodiment of the application also provides a consistency test method of CAN communication, which is applied to a real-time machine provided with a real-time operating system in an HIL simulation platform; the real-time machine is respectively connected with a CAN communication board card and an I/O board card in the HIL simulation platform; the I/O board card is connected with a fault injection unit; the CAN communication board card and the fault injection unit are respectively connected with the controller to be tested; referring to fig. 2, the method specifically includes the following steps:
step S202, configuring a test sequence corresponding to a controller to be tested; the test sequence comprises a plurality of groups of test parameters; each set of test parameters includes: target vehicle speed, target baud rate, and target voltage; each set of test parameters optionally further comprises: the target voltage fails.
The test sequence can be automatically generated according to the parameter range and the step length respectively corresponding to the test parameters, wherein the test parameters comprise: the output speed of the vehicle dynamics model, the baud rate corresponding to the CAN communication board card and the output voltage of the I/O board card, or further comprises: fault injection type.
For example, the first set of test parameters includes: target vehicle speed 10km/h, target baud rate 495k and target voltage 1V; the second set of test parameters includes: target vehicle speed 15km/h, target baud rate 500k and target voltage 2V; the third set of test parameters includes: target vehicle speed 20km/h, target baud rate 500k and target voltage 2V, target voltage failure is 24V short-circuited to power supply, etc.
Step S204, taking each group of test parameters as current test parameters, and executing the following test steps:
step S2042, according to the current test parameters, controlling the CAN communication board card to send first CAN signal data to the controller to be tested under the target baud rate, and controlling the I/O board card to output target voltage to the controller to be tested; or further comprising: the fault injection unit is controlled by the I/O board card to input a target voltage fault to the controller to be tested; the first CAN signal data are generated based on a target vehicle speed output by a preset vehicle dynamics model.
A preset vehicle dynamics model is stored in a real-time operation system at real time, the vehicle dynamics model is used for simulating the running of a vehicle, the output speed of the vehicle dynamics model is controlled to reach the target speed, first CAN signal data are generated according to the output speed of the vehicle dynamics model, a CAN communication board card is controlled to send the first CAN signal data to a controller to be tested under the target baud rate, and an I/O board card is controlled to output target voltage to the controller to be tested; when the test parameters contain the target voltage faults, the I/O board card controls the fault injection unit to input the target voltage faults to the controller to be tested, so that the controller to be tested works under the target speed, the target voltage and the target baud rate, and the controller to be tested returns second CAN signal data to the real-time machine through the CAN communication board card.
And step S2044, receiving second CAN signal data returned by the controller to be tested under the current test parameters through the CAN communication board card. The second CAN signal data may carry various data, such as a target baud rate, a target vehicle speed, a target voltage, etc., for subsequent detection of CAN communication consistency.
Step S2046, according to the first CAN signal data and the second CAN signal data, determining the consistency detection result of CAN communication under the current test parameters.
The first CAN signal data and the second CAN signal data CAN respectively carry various parameter values, and consistency CAN be judged by comparing whether the first CAN signal data and the second CAN signal data are consistent or matched.
According to the embodiment of the application, the real-time machine sends CAN signal data to the to-be-measured controller through the CAN communication board card according to the calculation result of the vehicle dynamics model, receives the CAN signal data returned by the to-be-measured controller in real time, checks the consistency of communication data of the CAN signal data after passing through the to-be-measured controller according to the rule defined by the test sequence (such as whether two parameters are consistent or not and whether the two parameters are matched or not), and the calculation result of the vehicle dynamics model is changed in real time, and the sending, receiving and collecting of the CAN signal are managed by the iHawk real-time operation system in real time, so that the communication process completes the real-time simulation test of the CAN communication consistency, wherein the real-time performance of the calculation result of the vehicle dynamics model is ensured by the scheduling algorithm of the iHawk real-time operation system, and the real-time requirement of the 1KHZ frequency of the algorithm operation of the vehicle dynamics model CAN be met, namely, the vehicle dynamics model algorithm CAN be operated for one time in one period of 0.001s, and the real-time simulation of the vehicle dynamics is ensured by matching with the CAN communication board card and the I/O board card.
The fault injection process is initiated by the real-time machine according to a fault injection test sequence, the fault injection unit is controlled to carry out fault injection of the types of circuit breaking, power short circuit, ground short circuit and the like on an I/O circuit of the controller to be tested in an Ethernet mode through the I/O board card, and because the CAN communication board card and the I/O board card work in the iHawk real-time operation system at the same time, the response of the controller to be tested to the fault injection through the I/O circuit CAN be reflected in a CAN communication transmitting end of the controller to be tested in real time and collected by the real-time machine.
In the consistency test method of CAN communication provided by the embodiment of the application, the method is applied to a real-time machine provided with a real-time operating system in an HIL simulation platform; the real-time machine is respectively connected with a CAN communication board card and an I/O board card in the HIL simulation platform; the I/O board card is connected with a fault injection unit; the CAN communication board card and the fault injection unit are respectively connected with the controller to be tested; according to the embodiment of the application, the real-time of installing the real-time operating system in the HIL simulation platform is used for controlling the processes of CAN communication transmission, CAN communication acquisition, I/O signal fault injection, automatic test and the like, so that the artificial interference in the test process is reduced, the real-time environment is simulated, and the consistency test quality and efficiency of the CAN communication are improved.
The embodiment of the application also provides another consistency test method of CAN communication, which is realized on the basis of the embodiment; the present embodiment focuses on the test sequence generation process and the test process.
Referring to fig. 3, the steps of configuring a test sequence corresponding to the controller to be tested include:
step S302, obtaining a parameter range and a step length corresponding to the target parameters respectively; the target parameters include: presetting an output speed of a vehicle dynamics model, a baud rate corresponding to a CAN communication board card and an output voltage of an I/O board card, or further comprising: fault injection type.
For example, the output speed of the vehicle dynamics model is controlled between 10km/h and 80km/h, and the step length is 5km/h; the communication baud rate of the CAN communication board card is controlled to be 495k-505k, and the step length is 1k; the output voltage value of the I/O board card is controlled between 1V and 10V, and the step size is 0.5V; the fault injection type of the fault injection unit is, for example, open circuit (floating), short circuit to power supply (24V) and short circuit to ground (0V).
Step S304, determining a parameter sequence according to a parameter range and a step length respectively corresponding to the target parameters;
the parameter sequence can be determined according to the parameter range and the step length, for example, the output speed sequence of the vehicle dynamics model is as follows: 10km/h, 15km/h, 20km/h, 25km/h … … km/h; the communication baud rate sequence of the CAN communication board card is as follows: 495k, 496k, 497k … … k; the output voltage value sequence of the I/O board card is as follows: 1V, 1.5V, 2V … … V; the fault injection type sequence is as follows: open circuit (suspended), short circuit to power supply (24V), short circuit to ground (0V).
And step S306, arranging and combining different parameter sequences to generate a test sequence corresponding to the controller to be tested.
The test sequence includes a plurality of sets of test parameters, some of which are test parameters that do not include injection failure under normal conditions, such as a first set of test parameters including: target vehicle speed 10km/h, target baud rate 495k and target voltage 1V; the second set of test parameters includes: target vehicle speed 15km/h, target baud rate 500k and target voltage 2V; another part is the abnormal case of test parameters including injection failure, such as the third set of test parameters includes: target vehicle speed 20km/h, target baud rate 500k and target voltage 2V, target voltage failure is 24V short-circuited to power supply, etc.
The specific test procedure is described below taking the above-described first set of test parameters (target vehicle speed 10km/h, target baud rate 495k and target voltage 1V) as an example:
(1) The CAN communication board card is controlled to send first CAN signal data to the controller to be tested;
inputting a specified CAN frame into the vehicle dynamics model for the first group of test parameters so that the vehicle dynamics model outputs a target vehicle speed of 10km/h; generating first CAN signal data according to a target vehicle speed of 10km/h; and controlling the communication baud rate of the CAN communication board card to reach a target baud rate 495k, and sending first CAN signal data to the controller to be tested under the target baud rate 495 k.
(2) The I/O board card is controlled to output target voltage 1V to the controller to be tested;
(3) Receiving second CAN signal data returned by the controller to be tested under the first group of test parameters through the CAN communication board card;
(4) And determining a consistency detection result of CAN communication under the current test parameters according to the first CAN signal data and the second CAN signal data. Specifically, according to a first parameter value carried in the first CAN signal data, judging whether a second parameter value carried in the second CAN signal data is consistent with or matched with the first parameter value; the second parameter includes at least one of: baud rate, vehicle speed, alarm level, error frame transmission period, response delay time; and if the consistency detection results are consistent or matched, determining that the consistency detection results of CAN communication under the current test parameters are qualified.
For example, whether the baud rate carried in the second CAN signal data is 495k or not is judged, whether the vehicle speed is 10km/h or not is judged, and whether the voltage is 1V or not is judged, if so, the consistency of CAN communication is good.
The following describes a specific test procedure taking the third set of test parameters described above (target vehicle speed 20km/h, target baud rate 500k and target voltage 2V, target voltage failure being 24V short-circuited to power supply):
(1) The CAN communication board card is controlled to send first CAN signal data to the controller to be tested;
For the third group of test parameters, inputting a specified CAN frame into the vehicle dynamics model so that the vehicle dynamics model outputs a target vehicle speed of 20km/h; generating first CAN signal data according to a target vehicle speed of 20km/h; and controlling the communication baud rate of the CAN communication board card to reach a target baud rate 500k, and sending first CAN signal data to the controller to be tested under the target baud rate 500 k.
(2) The I/O board card is controlled to output target voltage 2V to the controller to be tested;
(3) And inputting a target voltage fault to the to-be-tested controller through the I/O board card control fault injection unit, namely, shorting the power supply by 24V.
Specifically, a working instruction carrying a fault injection type is sent to the fault injection unit through the I/O board card, so that the fault injection unit carries out line modification according to the fault injection type, and a target voltage fault corresponding to the fault injection type is input to the controller to be tested.
(4) Receiving second CAN signal data returned by the controller to be tested under the first group of test parameters through the CAN communication board card;
(5) And determining a consistency detection result of CAN communication under the current test parameters according to the first CAN signal data and the second CAN signal data.
Such as whether the transmission period of the error frame is consistent with expectations.
That is, in the case that various working states (the above-mentioned test parameters) have been input to the controller to be tested, the real-time machine CAN board card receives the second CAN signal data sent by the controller to be tested, and the following detection CAN be performed:
1, detecting whether the baud rate of second CAN signal data is consistent with that of the prior transmission;
2, detecting whether the speed information in the second CAN signal data is consistent with the previously set speed information;
3, detecting whether the warning level in the fault CAN frame is matched with the current vehicle speed;
4, when the fault occurs, whether the sending period of the error frame is consistent with the expected period;
and 5, detecting whether the response delay of the controller to be detected to the CAN signal meets the real-time requirement or not under the normal working environment.
The foregoing are just examples, and in practical applications, there are many types of content that can be tested, and fig. 4 shows 25 types of test content, including three general types, one is a physical layer test, one is a network layer test, and the other is an application layer test.
The following is a specific example, where the output voltage is used to characterize the level of the vehicle oil, for example, the current vehicle speed information is calculated by real-time control of the vehicle dynamics model simulation; according to the current vehicle speed information group, a CAN data frame is packaged; the CAN communication board card is controlled to send CAN data frames to the controller to be tested; the control I/O board card outputs the current voltage to an I/O port of the controller to be tested.
The controller to be tested detects the voltage of the I/O port (the voltage is high and low to indicate the oil level), if the voltage is in a normal range (namely the fault injection unit does not work, the current voltage output by the I/O board card is directly output to the I/O of the controller to be tested), the received CAN data frame is output to the real-time machine; at this time, after the real-time machine CAN board card receives the CAN frame, it CAN test the communication delay, whether the baud rate is normal, whether the signal value in the frame is normal, etc.
If the power supply is short-circuited to the I/O port of the controller to be tested through the fault injection unit, the vehicle-mounted power supply is 24V and exceeds the normal range, the controller to be tested outputs a fault CAN data frame, the higher the vehicle speed is, the higher the fault grade field value in the fault CAN data frame is, the more dangerous is indicated, the accuracy of CAN frame data CAN be tested after the CAN frame is received by the CAN board card of the real-time machine, the error frame sending period is consistent with the definition, and the like.
In the embodiment of the application, a Concurrent strong real-time machine is used as vehicle dynamics real-time simulation operation equipment; using a Concurrent iHawk real-time operating system as a test running environment; using an iHawk real-time operating system to control a CAN communication board card to transmit, receive and collect CAN communication data; using an iHawk real-time operating system to control the I/O board card to communicate digital quantity/analog quantity with the controller to be tested; providing a real-time operation environment for a vehicle dynamics model by using an iHawk real-time operation system; and (3) starting a test, executing the test, injecting faults and generating test results based on an automatic test process of the real-time operating system.
In the embodiment of the application, a Concurrent real-time and an iHawk real-time operation system are used as an HIL simulation platform, and the simulation platform is responsible for control management and test management, so that the real-time performance of CAN signal transmission, acquisition, detection and storage is ensured, the delay and interference of manual operation are avoided by automatic test and fault injection, the CAN communication content is determined by combining the real-time calculation result of a vehicle dynamics model, and the real-time simulation of the real-time vehicle network communication process is achieved.
In the method for testing the consistency of the CAN communication provided by the embodiment of the application, the CAN communication board card of the Concurrent strong real-time testing equipment CAN be placed into another non-strong real-time testing equipment, the Concurrent real-time equipment is controlled to communicate with the controller to be tested through the Ethernet or the optical fiber by the CAN communication board card on the Concurrent strong real-time testing equipment, so that a real-time vehicle dynamics scene is operated in the Concurrent real-time equipment, and the non-strong real-time testing equipment and the CAN bus communication board card are controlled to carry out a consistency test experiment. Through simulation experiment tests, the method CAN complete CAN communication consistency tests based on a real-time vehicle dynamics model by matching a CAN bus communication board card, an I/O simulation board card and a fault injection unit in a ring simulation platform environment of Concurrent real-time and hardware of an iHawk real-time operation system.
Based on the method embodiment, the embodiment of the application also provides a consistency testing device of CAN communication, which is applied to a real-time machine provided with a real-time operating system in an HIL simulation platform; the real-time machine is respectively connected with a CAN communication board card and an I/O board card in the HIL simulation platform; the I/O board card is connected with a fault injection unit; the CAN communication board card and the fault injection unit are respectively connected with the controller to be tested; referring to fig. 5, the apparatus includes:
the test sequence configuration module 52 is configured to configure a test sequence corresponding to the controller to be tested; the test sequence comprises a plurality of groups of test parameters; each set of test parameters includes: target vehicle speed, target baud rate, and target voltage; each set of test parameters optionally further comprises: a target voltage fault;
the test module 54 is configured to sequentially take each set of test parameters as current test parameters, and perform the following test steps: according to the current test parameters, the CAN communication board card is controlled to send first CAN signal data to the controller to be tested under the target baud rate, and the I/O board card is controlled to output target voltage to the controller to be tested; or further comprising: the fault injection unit is controlled by the I/O board card to input a target voltage fault to the controller to be tested; the first CAN signal data are generated based on a target vehicle speed output by a preset vehicle dynamics model; receiving second CAN signal data returned by the controller to be tested under the current test parameters through the CAN communication board card; and determining a consistency detection result of CAN communication under the current test parameters according to the first CAN signal data and the second CAN signal data.
The test module 54 is further configured to obtain a parameter range and a step size corresponding to the target parameters respectively; the target parameters include: the output speed of the preset vehicle dynamics model, the baud rate corresponding to the CAN communication board card and the output voltage of the I/O board card, or further comprises: fault injection type; determining a parameter sequence according to the parameter range and the step length respectively corresponding to the target parameters; and (3) arranging and combining different parameter sequences to generate a test sequence corresponding to the controller to be tested.
The test module 54 is further configured to input a specified CAN frame into the vehicle dynamics model, so that the vehicle dynamics model outputs a target vehicle speed; generating first CAN signal data according to a target vehicle speed; and controlling the communication baud rate of the CAN communication board card to reach a target baud rate, and sending first CAN signal data to the controller to be tested under the target baud rate.
The fault injection type includes one of the following: open circuit, short circuit to power supply, short circuit to ground; the test module 54 is further configured to send a working instruction carrying a fault injection type to the fault injection unit through the I/O board card, so that the fault injection unit performs line modification according to the fault injection type, so as to input a target voltage fault corresponding to the fault injection type to the controller to be tested.
The test module 54 is further configured to determine, according to the first parameter value carried in the first CAN signal data, whether the second parameter value carried in the second CAN signal data is consistent with or matched with the first parameter value; the second parameter includes at least one of: baud rate, vehicle speed, alarm level, error frame transmission period, response delay time; and if the consistency detection results are consistent or matched, determining that the consistency detection results of CAN communication under the current test parameters are qualified.
The real-time machine is also connected with an upper computer; the device also comprises a configuration information receiving module, a configuration information processing module and a configuration information processing module, wherein the configuration information receiving module is used for receiving hardware configuration information of the CAN communication board card and the I/O board card configured by the upper computer for the real-time machine; the hardware configuration information of the CAN communication board card comprises: the access number and the communication standard of the CAN communication board card; the hardware configuration information of the I/O board card includes: the number of accesses and input/output properties of the I/O board card; and controlling communication between the CAN communication board card and the I/O board card and the controller to be tested respectively according to the hardware configuration information.
The device provided by the embodiment of the present application has the same implementation principle and technical effects as those of the foregoing method embodiment, and for the sake of brief description, reference may be made to the corresponding content in the foregoing method embodiment where the device embodiment is not mentioned.
The embodiment of the application also provides a computer readable storage medium, which stores computer executable instructions that, when being called and executed by a processor, cause the processor to implement the above method, and the specific implementation can refer to the foregoing method embodiment and will not be described herein.
The method, the apparatus and the computer program product of the electronic device provided in the embodiments of the present application include a computer readable storage medium storing program codes, where the instructions included in the program codes may be used to execute the method described in the foregoing method embodiment, and specific implementation may refer to the method embodiment and will not be described herein.
The relative steps, numerical expressions and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present application unless it is specifically stated otherwise.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer readable storage medium executable by a processor. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In the description of the present application, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above examples are only specific embodiments of the present application, and are not intended to limit the scope of the present application, but it should be understood by those skilled in the art that the present application is not limited thereto, and that the present application is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. The consistency test method of CAN communication is characterized in that the method is applied to a real-time machine provided with a real-time operating system in an HIL simulation platform; the real-time machine is respectively connected with a CAN communication board card and an I/O board card in the HIL simulation platform; the I/O board card is connected with a fault injection unit; the CAN communication board card and the fault injection unit are respectively connected with a controller to be tested; the method comprises the following steps:
configuring a test sequence corresponding to the controller to be tested; the test sequence comprises a plurality of groups of test parameters; each set of test parameters includes: target vehicle speed, target baud rate, and target voltage; each set of test parameters optionally further comprises: a target voltage fault;
taking each group of test parameters as current test parameters in sequence, and executing the following test steps:
according to the current test parameters, the CAN communication board card is controlled to send first CAN signal data to the controller to be tested under the target baud rate, and the I/O board card is controlled to output the target voltage to the controller to be tested; or further comprising: the fault injection unit is controlled to input a target voltage fault to the to-be-tested controller through the I/O board card; the first CAN signal data are generated based on the target vehicle speed output by a preset vehicle dynamics model;
Receiving second CAN signal data returned by the controller to be tested under the current test parameters through the CAN communication board card;
and determining a consistency detection result of CAN communication under the current test parameters according to the first CAN signal data and the second CAN signal data.
2. The method of claim 1, wherein the step of configuring the test sequence corresponding to the controller under test comprises:
obtaining a parameter range and a step length corresponding to the target parameters respectively; the target parameters include: the output speed of the vehicle dynamics model, the baud rate corresponding to the CAN communication board card, the output voltage of the I/O board card, or the vehicle dynamics model further comprises: fault injection type;
determining a parameter sequence according to the parameter range and the step length respectively corresponding to the target parameters;
and (3) arranging and combining different parameter sequences to generate a test sequence corresponding to the controller to be tested.
3. The method of claim 1, wherein the step of controlling the CAN communication board card to transmit first CAN signal data to the controller under test according to the current test parameters comprises:
inputting a specified CAN frame into the vehicle dynamics model to enable the vehicle dynamics model to output the target vehicle speed;
Generating the first CAN signal data according to the target vehicle speed;
and controlling the communication baud rate of the CAN communication board card to reach the target baud rate, and sending the first CAN signal data to the controller to be tested under the target baud rate.
4. The method of claim 2, wherein the fault injection type comprises one of: open circuit, short circuit to power supply, short circuit to ground; the step of controlling the fault injection unit to input a target voltage fault to the controller to be tested through the I/O board card comprises the following steps:
and sending a working instruction carrying a fault injection type to the fault injection unit through the I/O board card so that the fault injection unit carries out line modification according to the fault injection type to input a target voltage fault corresponding to the fault injection type to the controller to be tested.
5. The method of claim 1, wherein determining a consistency detection result of CAN communication under the current test parameters from the first CAN signal data and the second CAN signal data comprises:
judging whether a second parameter value carried in the second CAN signal data is consistent with or matched with the first parameter value according to the first parameter value carried in the first CAN signal data; the second parameter includes at least one of: baud rate, vehicle speed, alarm level, error frame transmission period, response delay time;
And if the consistency detection results are consistent or matched, determining that the consistency detection results of CAN communication under the current test parameters are qualified.
6. The method of claim 1, wherein the real-time machine is further connected with an upper computer; before the step of configuring the test sequence corresponding to the controller to be tested, the method further comprises the following steps:
receiving hardware configuration information of the CAN communication board card and the I/O board card configured by the upper computer for the real-time machine; the hardware configuration information of the CAN communication board card comprises: the access number and the communication standard of the CAN communication board card; the hardware configuration information of the I/O board card comprises: the access number and the input/output attribute of the I/O board card;
and controlling communication between the CAN communication board card and the I/O board card and the controller to be tested respectively according to the hardware configuration information.
7. The consistency testing device for CAN communication is characterized in that the device is applied to a real-time machine provided with a real-time operating system in an HIL simulation platform; the real-time machine is respectively connected with a CAN communication board card and an I/O board card in the HIL simulation platform; the I/O board card is connected with a fault injection unit; the CAN communication board card and the fault injection unit are respectively connected with a controller to be tested; the device comprises:
The test sequence configuration module is used for configuring a test sequence corresponding to the controller to be tested; the test sequence comprises a plurality of groups of test parameters; each set of test parameters includes: target vehicle speed, target baud rate, and target voltage; each set of test parameters optionally further comprises: a target voltage fault;
the test module is used for sequentially taking each group of test parameters as current test parameters and executing the following test steps: according to the current test parameters, the CAN communication board card is controlled to send first CAN signal data to the controller to be tested under the target baud rate, and the I/O board card is controlled to output the target voltage to the controller to be tested; or further comprising: the fault injection unit is controlled to input a target voltage fault to the to-be-tested controller through the I/O board card; the first CAN signal data are generated based on the target vehicle speed output by a preset vehicle dynamics model; receiving second CAN signal data returned by the controller to be tested under the current test parameters through the CAN communication board card; and determining a consistency detection result of CAN communication under the current test parameters according to the first CAN signal data and the second CAN signal data.
8. A consistency test system for CAN communication, the system comprising: the system comprises an HIL simulation platform, a fault injection unit and a controller to be tested; the HIL simulation platform comprises real time when a real-time operating system is installed, a CAN communication board card and an I/O board card which are respectively connected with the real time machine; the I/O board card is connected with the fault injection unit; the CAN communication board card and the fault injection unit are respectively connected with a controller to be tested; the real-time machine is adapted to perform the method of any of claims 1-5.
9. The system of claim 8, wherein the system further comprises: the upper computer is connected with the real-time machine; the real-time machine is configured to perform the method of claim 6.
10. A computer readable storage medium storing computer executable instructions which, when invoked and executed by a processor, cause the processor to implement the method of any one of claims 1 to 6.
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