CN116166008A - A constant speed cruise test method, device, equipment and system - Google Patents

Abstract

The present invention provides a constant speed cruise test method, device, equipment and system, which includes: obtaining the set vehicle basic operating environment parameters; controlling the vehicle controller and the vehicle based on the input acceleration signal and the vehicle basic operating environment parameters The motor system enters the ready state where cruise control can be started; according to the input cruise trigger signal, control the vehicle controller and the motor system to perform constant speed cruise; obtain the set vehicle test operating environment parameters, and control the vehicle controller The motor system performs constant-speed cruise based on the vehicle test operating environment parameters; when the verification of the fixed-number cruise is required, it can be successfully realized through the vehicle basic operating environment parameters and the vehicle test operating environment parameters, regardless of the actual vehicle and test environment. As well as the impact of the site, the verification requirements, costs, risks, and cycles are greatly reduced, and the verification efficiency is effectively improved.

Description

A constant speed cruise test method, device, equipment and system

technical field

The invention relates to the technical field of vehicle driving verification, in particular to a constant speed cruise test method, device, equipment and system.

Background technique

The cruise control system (Cruise Control System, CCS) refers to the control system that can keep the car running at the set speed without controlling the accelerator pedal within a certain speed range. After the cruise control system is turned on, the car can automatically maintain a constant speed, which can not only reduce driver fatigue, but also reduce unnecessary speed changes, save fuel, and improve driving convenience, comfort and safety.

In the existing related test technology, the constant speed cruise test is usually tested and verified on the real car, the speed of the vehicle is controlled by the accelerator, and then according to the state of the vehicle, press different cruise buttons and cooperate with the accelerator and brake pedals to make the real car enter the cruise state and Identification and control of vehicle speed, acceleration and deceleration, so as to carry out related constant speed cruise control logic test. However, the actual vehicle test is greatly affected by the actual vehicle, test environment and site, and because of the high speed conditions, it has high requirements for the driver and vehicle status, and there are problems of high verification cost, high risk, long cycle and low efficiency. .

Contents of the invention

The main purpose of the present invention is to provide a constant speed cruise test method, device, equipment and readable storage medium, aiming to solve the problem that the actual vehicle test in the related art is greatly affected by the actual vehicle, test environment and site, and the driver and vehicle The status requirements are high, and there are problems of high verification costs, high risks, long cycles and low efficiency.

In a first aspect, the present invention provides a constant speed cruise test method, which adopts the following technical solutions:

A kind of cruise control test method, it may further comprise the steps:

Obtain the set vehicle basic operating environment parameters;

According to the input acceleration signal and the basic operating environment parameters of the vehicle, control the vehicle controller and the motor system to enter the ready state where the constant speed cruise can be started;

According to the input cruise control trigger signal, control the vehicle controller and motor system to perform constant speed cruise;

Obtain the set vehicle test operation environment parameters, and control the vehicle controller and motor system to perform constant speed cruise based on the vehicle test operation environment parameters;

Record the operating status and feedback signals of the vehicle controller and motor system in real time.

In some embodiments, after controlling the vehicle controller and the motor system to execute the cruise control according to the input cruise control trigger signal, the method further includes:

According to the input constant speed cruise speed adjustment signal, the current constant speed cruise execution parameters of the vehicle controller and the motor system are adjusted.

In some embodiments, the constant speed cruise adjustment signal includes a constant speed cruise speed acceleration signal or a constant speed cruise speed deceleration signal.

In some implementations, after controlling the vehicle controller and the motor system to execute the cruise control according to the input cruise control trigger signal, the method further includes:

According to the input vehicle speed adjustment signal, control the vehicle controller and the motor system to end the constant speed cruise.

In some embodiments, according to the input vehicle speed adjustment signal, control the vehicle controller and the motor system to end the constant speed cruise, and according to the input vehicle speed acceleration signal, control the vehicle controller and the motor system to enter the constant speed cruise override state , or, according to the input vehicle speed deceleration signal, control the vehicle controller and the motor system to enter the constant speed cruise exit state.

In some embodiments, the acquisition of the set vehicle test operating environment parameters, and controlling the vehicle controller and the motor system to perform constant speed cruise based on the vehicle test operating environment parameters, the vehicle test operating environment parameters correspond to the vehicle in Environmental parameters in the load dump state.

In some embodiments, during the acquisition of the set vehicle test operating environment parameters, and controlling the vehicle controller and the motor system to perform constant speed cruise based on the vehicle test operating environment parameters, the vehicle test operating environment parameters correspond to the entire vehicle The control object of the controller is in an abnormal state, and the abnormal state includes one or more of the remaining power of the battery management system is insufficient, the micro control unit or the battery management system is faulty, and the vehicle electronic stability control system limits the maximum torque of the vehicle.

In the second aspect, the present invention also provides a constant speed cruise test device, which adopts the following technical solution:

A constant speed cruise test device, said constant speed cruise test device comprises:

An acquisition module configured to acquire the set vehicle basic operating environment parameters and the set vehicle test operating environment parameters;

The control module is configured to, according to the input acceleration signal and the set vehicle basic operating environment parameters, control the vehicle controller and the motor system to enter a ready state where the cruise control can be started; according to the input cruise trigger signal, control The vehicle controller and the motor system enter the cruise control state; and, control the vehicle controller and the motor system to execute the cruise control based on the vehicle test operating environment parameters;

The recording module is configured to record the operating status and feedback signals of the vehicle controller and the motor system in real time.

In the third aspect, the present invention also provides a constant speed cruise test device, which adopts the following technical solution:

A constant speed cruise test device, the constant speed cruise test device includes a processor, a memory, and a constant speed cruise test program stored on the memory and executable by the processor, wherein the constant speed cruise test When the program is executed by the processor, the above-mentioned steps of the cruise control test method are realized.

In the fourth aspect, the present invention also provides a cruise control test system, which adopts the following technical solutions:

With reference to Fig. 4, a kind of constant speed cruise test system, it is used to realize the step of above constant speed cruise test method, it comprises:

power supply device;

a motor testing device configured to collect changes in the operating state of the motor system;

The driver's operating device, which is configured to simulate the acceleration and deceleration state of the vehicle, and can activate, deactivate or adjust the constant speed cruise state;

a real-time simulation device configured to provide parameters of the vehicle's underlying operating environment for simulating vehicle operation;

The host computer is electrically connected to the real-time simulation device, the vehicle controller and the motor testing device, and is further configured to record the running status and feedback signals of the vehicle controller and the motor system.

The present invention provides a constant speed cruise test method, device, equipment and system, which can control the operation of the vehicle controller and the motor system through the basic operating environment parameters of the vehicle set in advance, and enter the ready state where the constant speed cruise can be started And perform constant-speed cruise according to the follow-up signals, so as to get rid of the limitation of real vehicle verification, and only need to simulate the vehicle operating environment to obtain the basic operating environment parameters of the vehicle to achieve verification. At the same time, when it is necessary to verify the impact of different operating conditions on constant-speed cruise, It can also be achieved smoothly only by obtaining the vehicle test operating environment parameters that are different from the basic operating environment parameters of the vehicle. It is not affected by the actual vehicle, test environment and site, greatly reducing verification requirements, costs, risks, and cycles, and effectively improving verification efficiency.

Description of drawings

Fig. 1 is a schematic diagram of the hardware structure of the cruise control test equipment involved in the embodiment of the present invention;

FIG. 2 is a schematic flow chart of the first embodiment of the cruise control testing method of the present invention;

3 is a schematic diagram of functional modules of the first embodiment of the cruise control testing device of the present invention;

Fig. 4 is a schematic diagram of a constant speed cruise test system involved in the solution of the embodiment of the present invention.

The realization of the purpose, function and advantages of the present invention will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

Detailed ways

It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

The cruise control system (Cruise Control System, CCS) refers to the control system that can keep the car running at the set speed without controlling the accelerator pedal within a certain speed range. After the cruise control system is turned on, the car can automatically maintain a constant speed, which can not only reduce driver fatigue, but also reduce unnecessary speed changes, save fuel, and improve driving convenience, comfort and safety. In the existing related test technology, the constant speed cruise test is usually tested and verified on the real car, the speed of the vehicle is controlled by the accelerator, and then according to the state of the vehicle, press different cruise buttons and cooperate with the accelerator and brake pedals to make the real car enter the cruise state and Identify and control the vehicle speed, acceleration and deceleration, so as to carry out the cruise control logic test of the vehicle controller and motor system. However, the actual vehicle test is greatly affected by the actual vehicle, test environment and site, and because of the high speed conditions, it has high requirements for the driver and vehicle status, and there are problems of high verification cost, high risk, long cycle and low efficiency. .

Based on the above problems, the present invention provides a constant speed cruise test method, device, equipment and system. The gist of the invention is that the operation of the vehicle controller and the motor system can be controlled by setting the vehicle basic operating environment parameters in advance. Enter the ready state where the cruise control can be started and execute the cruise control according to the follow-up signals, so as to get rid of the limitation of the real vehicle verification. It only needs to simulate the vehicle operating environment and obtain the basic operating environment parameters of the vehicle to realize the verification. At the same time, when it is necessary to verify different running The impact of working conditions on constant cruise can be realized smoothly only by obtaining the vehicle test operating environment parameters different from the basic operating environment parameters of the vehicle, which is not affected by the actual vehicle, test environment and site, greatly reducing verification requirements, costs, Risk, period, effectively improve verification efficiency.

In a first aspect, an embodiment of the present invention provides a constant speed cruise test device, and the constant speed cruise test device may be a personal computer (personal computer, PC), a notebook computer, a server and other devices with data processing functions.

Referring to FIG. 1 , FIG. 1 is a schematic diagram of the hardware structure of the cruise control test equipment involved in the solution of the embodiment of the present invention. In the embodiment of the present invention, the constant speed cruise testing device may include a processor 1001 (such as a Central Processing Unit, CPU), a communication bus 1002 , a user interface 1003 , a network interface 1004 and a memory 1005 . Wherein, the communication bus 1002 is used to realize the connection and communication between these components; the user interface 1003 can include a display screen (Display), an input unit such as a keyboard (Keyboard); the network interface 1004 can optionally include a standard wired interface and a wireless interface (such as wireless fidelity WIreless-FIdelity, WI-FI interface); Memory 1005 can be high-speed random access memory (random access memory, RAM), also can be stable memory (non-volatile memory), such as disk memory, memory Optionally, 1005 may also be a storage device independent of the foregoing processor 1001 . Those skilled in the art can understand that the hardware structure shown in FIG. 1 does not limit the present invention, and may include more or less components than shown in the figure, or combine some components, or arrange different components.

Continuing to refer to FIG. 1 , the memory 1005 as a computer storage medium in FIG. 1 may include an operating system, a network communication module, a user interface module, and a cruise control test program. Wherein, the processor 1001 can call the constant speed cruise test program stored in the memory 1005, and execute the constant speed cruise test method provided by the embodiment of the present invention.

In a second aspect, an embodiment of the present invention provides a constant speed cruise test method.

With reference to Fig. 2, a kind of cruise control test method, it may further comprise the steps:

S100. Obtain the set vehicle basic operating environment parameters;

S200. According to the input acceleration signal and the basic operating environment parameters of the vehicle, control the vehicle controller and the motor system to enter a ready state where the cruise control can be started;

S300. Control the vehicle controller and the motor system to execute the cruise control according to the input cruise control trigger signal;

S400. Obtain the set vehicle test operation environment parameters, and control the vehicle controller and the motor system to perform constant speed cruise based on the vehicle test operation environment parameters;

S500. Record the operating status and feedback signals of the vehicle controller and motor system in real time.

Wherein, step S500 is continuously carried out during the entire execution process of the constant speed cruise test method, so as to realize real-time recording of the running status and feedback signals of the vehicle controller and the motor system, so that the technicians can obtain the test results.

With this setting, through the basic operating environment parameters of the vehicle set in advance, the operation of the vehicle controller and the motor system can be controlled, and it can enter the preparation state for starting the cruise control and execute the cruise control according to the follow-up signal, thus breaking away from the actual vehicle verification limit , the verification can be realized only by simulating the vehicle operating environment and obtaining the basic operating environment parameters of the vehicle. The operating environment parameters can be successfully realized without being affected by the actual vehicle, test environment and site, greatly reducing verification requirements, costs, risks, and cycles, and effectively improving verification efficiency.

In some preferred embodiments, step S300, after controlling the vehicle controller and the motor system to execute the cruise control according to the input cruise control trigger signal, further includes:

S410. According to the input constant speed cruise speed adjustment signal, adjust the current constant speed cruise execution parameters of the vehicle controller and the motor system.

Specifically, the constant speed cruise adjustment signal includes a constant speed cruise speed acceleration signal or a constant speed cruise speed deceleration signal.

With this setting, the vehicle controller and the motor system are directly adjusted through the input constant speed cruise speed adjustment signal, and then tested to obtain the vehicle control speed when the vehicle is performing constant speed cruise at different speeds or the speed of the constant speed cruise is changed. The operating status and feedback signals of the inverter and motor system.

In some preferred embodiments, step S300, after controlling the vehicle controller and the motor system to execute the cruise control according to the input cruise control trigger signal, further includes:

S420. According to the input vehicle speed adjustment signal, control the vehicle controller and the motor system to end the cruise control.

Specifically, according to the input vehicle speed acceleration signal, control the vehicle controller and the motor system to enter the constant speed cruise override state, or, according to the input vehicle speed deceleration signal, control the vehicle controller and the motor system to enter the constant speed cruise exit state .

In this way, after the vehicle enters the constant speed cruise state, the vehicle speed acceleration signal can be used to simulate the cruise overtaking state in actual driving, and to detect the torque control of the vehicle controller to the motor system and the torque response of the motor system in this state, or The cruise exit state in actual driving is simulated by the vehicle speed deceleration signal, and the torque control of the vehicle controller to the motor system and the torque response of the motor system are detected in this state.

In some preferred embodiments, during the acquisition of the set vehicle test operating environment parameters, and controlling the vehicle controller and the motor system to perform constant-speed cruise based on the vehicle test operating environment parameters, the vehicle test operating environment parameters Corresponding to the environmental parameters of the vehicle in the load dump state.

Such setting enables the test to obtain the operating status and feedback signals of the vehicle controller and the motor system during the cruise at a constant speed when the vehicle is in the load-dumping state.

In some preferred embodiments, during the acquisition of the set vehicle test operating environment parameters, and controlling the vehicle controller and the motor system to perform constant-speed cruise based on the vehicle test operating environment parameters, the vehicle test operating environment parameters The control object corresponding to the vehicle controller is in an abnormal state, and the abnormal state includes one or more of the remaining power of the battery management system is insufficient, the micro control unit or the battery management system is faulty, and the vehicle electronic stability control system limits the maximum torque of the vehicle.

With this setting, the test can obtain the operating status and feedback signals of the vehicle controller and the motor system when the vehicle is performing constant speed cruise in different abnormal states.

In the third aspect, the embodiment of the present invention also provides a cruise control testing device.

Referring to FIG. 3 , it is a schematic diagram of the functional modules of the first embodiment of the cruise control testing device.

In this embodiment, the cruise control testing device includes:

An acquisition module configured to acquire the set vehicle basic operating environment parameters and the set vehicle test operating environment parameters;

The control module is configured to, according to the input acceleration signal and the set vehicle basic operating environment parameters, control the vehicle controller and the motor system to enter a ready state where the cruise control can be started; according to the input cruise trigger signal, control The vehicle controller and the motor system enter the cruise control state; and, control the vehicle controller and the motor system to execute the cruise control based on the vehicle test operating environment parameters;

The recording module is configured to record the operating status and feedback signals of the vehicle controller and the motor system in real time.

Wherein, the function realization of each module in the above-mentioned cruise control test device corresponds to each step in the above-mentioned constant speed cruise test method embodiment, and its functions and realization processes will not be repeated here.

In a fourth aspect, the embodiment of the present invention further provides a cruise control test system.

With reference to Fig. 4, a kind of constant speed cruise test system, it is used to realize the step of above constant speed cruise test method, it comprises:

power supply device;

a motor testing device configured to collect changes in the operating state of the motor system;

The driver's operating device, which is configured to simulate the acceleration and deceleration state of the vehicle, and can activate, deactivate or adjust the constant speed cruise state;

The real-time simulation device is electrically connected to the vehicle controller and the motor testing device, and is configured to provide basic vehicle operating environment parameters for simulating vehicle operation, and to record the operating status and Feedback signal.

Specifically, a cruise control test system includes:

Power supply device, motor testing device, driver's operating device, real-time simulation device; Wherein, described motor testing device includes power analyzer, temperature control system, data acquisition module, torque sensor; Described driver's operating device includes accelerator pedal, deceleration Pedals, combined switches; the real-time simulation device includes an IO board, a real-time processor and a host computer, wherein the host computer has a simulation model system of a vehicle controller control object that is not assembled on a platform.

The motor test device can collect and record the torque changes during the operation of the vehicle motor; the driver's operating device can simulate the acceleration and deceleration state of the vehicle during the constant speed cruise through the pedal, and the combined switch part can activate or close the constant speed cruise state by operating the switch The real-time simulation device provides an operating environment for simulating constant-speed cruise through the operation simulation module, and the operation simulation module includes: a power transmission system model, a vehicle dynamics model and a vehicle environment model; The upper computer of the module is connected with the vehicle controller and the motor test device, and controls the vehicle operating environment by running the man-machine interface and outputting operation commands, combined with the pedal control of the driver's operating device, it can be used in a non-real vehicle environment Simulate constant-speed cruise tests under various working conditions.

When performing the cruise control test, the host computer simulates the running environment of the whole vehicle. When the vehicle state meets the conditions for the cruise control to be turned on, the driver operates the device to turn on the cruise control switch in the combination switch, and the vehicle enters the cruise control state. In this state, by adjusting the parameters of the simulation module, the environmental changes in the constant speed cruise are simulated, and the torque control of the vehicle controller to the motor system and the actual torque response of the motor system are detected and recorded in this state.

Optionally, after the vehicle enters the constant speed cruise state, the accelerator pedal can be controlled to simulate the cruise overriding state in actual driving, and the torque control of the motor system by the vehicle controller and the torque of the motor system can be detected in this state response.

Optionally, after the vehicle enters the cruise control state, the deceleration pedal can be controlled to simulate the cruise exit state in actual driving, and the torque control of the motor system by the vehicle controller and the torque of the motor system can be detected in this state. response.

Optionally, the motor system can control the torque and speed of the variable frequency motor through the set tester and frequency converter to perform open-loop and closed-loop tests.

In this way, the tested parts used in the constant speed cruise test system are the physical equipment used in the actual loading of the vehicle. When the host computer is used to model the test environment, the parameter settings can be modified according to the changes of the actual vehicle, and various parameters can be simulated. Similar to the real vehicle operating conditions, so that the test equipment can perform various tests under non-real vehicle conditions, the test effect is closer to the real vehicle test and the test results are more intuitive, ensuring the accuracy of the test results, and it is difficult to test under real vehicle conditions The test can also be performed under certain working conditions to ensure the safety of the test. Therefore, the structure design of this design is reasonable, it can imitate the operating state of the real vehicle, and the test cost is low;

At the same time, it is suitable for a variety of different types of motor systems and vehicle controllers. According to different models, the connection of the signal port on the docking device and the tooling of the motor test system are adjusted to complete the test. The modification is difficult to minimize the test cost and speed up. The speed of testing; therefore, this design effectively reduces the test cost and time cost of cruise control, greatly improves safety, and shortens the product development cycle of the motor system and vehicle controller;

In addition, according to different test requirements, a certain function related to the cruise control of the motor system and the vehicle controller can be tested, and fault injection can also be performed according to the test requirements to test the fault diagnosis and fault diagnosis of the motor system and the vehicle controller. feedback ability;

It can be seen that the constant-speed cruise test system provided by the present invention uses a three-electric joint debugging physical platform composed of a motor test device, a driver's operating device, a vehicle controller, and a real-time simulation device to simulate the required speed of the constant-speed cruise system. The input signal of the constant speed cruise is collected, and the feedback signal of the constant speed cruise is collected, and the function test of the constant speed cruise is carried out under different test conditions by running the simulation module. It solves the problems of high cost, high risk and low test efficiency in the existing fixed-speed cruise test using actual vehicle verification, which can reduce the cost of vehicle test and improve test efficiency and safety.

The constant speed cruise test method, device, equipment and system provided by the present invention have the beneficial effects of:

Through the basic operating environment parameters of the vehicle set in advance, the operation of the vehicle controller and motor system can be controlled, the vehicle can enter the ready state to start the cruise control, and the cruise control can be executed according to the subsequent signals, so as to break away from the actual vehicle verification limit. The verification can be realized by obtaining the basic operating environment parameters of the vehicle after simulating the operating environment of the vehicle. At the same time, when it is necessary to verify the influence of different operating conditions on the constant cruise, it is only necessary to obtain the operating environment parameters of the vehicle test that are different from the basic operating environment parameters of the vehicle. It can be realized smoothly without being affected by the actual vehicle, test environment and site, greatly reducing verification requirements, costs, risks, and cycles, and effectively improving verification efficiency. Moreover, it is suitable for many different types of motor systems and vehicle controllers. According to the different models, the connection of the signal port on the docking device and the tooling of the motor test system are adjusted to complete the test. The modification is difficult to minimize the test cost and speed up. The speed of the test; therefore, this design effectively reduces the test cost and time cost of cruise control, greatly improves the safety, and shortens the product development cycle of the motor system and the vehicle controller.

It should be noted that, as used herein, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or system comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or system. Without further limitations, an element defined by the phrase "comprising a..." does not preclude the presence of additional identical elements in the process, method, article or system comprising that element.

The serial numbers of the above embodiments of the present invention are for description only, and do not represent the advantages and disadvantages of the embodiments.

Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation. Based on such an understanding, the technical solution of the present invention can be embodied in the form of a software product in essence or in other words, the part that contributes to the prior art, and the computer software product is stored in a storage medium (such as ROM/RAM) as described above. , magnetic disk, optical disk), several instructions are included to make a terminal device execute the method described in each embodiment of the present invention.

The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process conversion made by using the description of the present invention and the contents of the accompanying drawings, or directly or indirectly used in other related technical fields , are all included in the scope of patent protection of the present invention in the same way.

Claims (10)

1. The constant-speed cruising test method is characterized by comprising the following steps of:

acquiring set basic running environment parameters of the vehicle;

controlling the whole vehicle controller and the motor system to enter a ready state capable of starting constant-speed cruising according to the input acceleration signal and the basic running environment parameters of the vehicle;

controlling the whole vehicle controller and the motor system to execute constant-speed cruising according to the input constant-speed cruising trigger signal;

acquiring set vehicle test operation environment parameters, and controlling a whole vehicle controller and a motor system to execute constant-speed cruising based on the vehicle test operation environment parameters;

and recording the running states and feedback signals of the whole vehicle controller and the motor system in real time.

2. The method for testing the constant speed cruising according to claim 1, wherein after the vehicle controller and the motor system are controlled to execute the constant speed cruising according to the input constant speed cruising trigger signal, the method further comprises:

and adjusting the constant-speed cruising execution parameters of the current vehicle controller and the motor system according to the input constant-speed cruising speed adjusting signal.

3. The cruise control test method according to claim 2, wherein the cruise control signal includes a cruise control speed acceleration signal or a cruise control speed deceleration signal.

4. The method for testing the constant speed cruising according to claim 1, wherein after the vehicle controller and the motor system are controlled to execute the constant speed cruising according to the input constant speed cruising trigger signal, the method further comprises:

and controlling the whole vehicle controller and the motor system to finish constant-speed cruising according to the input vehicle speed adjusting signal.

5. The method for testing the constant speed cruising according to claim 4, wherein the vehicle controller and the motor system are controlled to finish the constant speed cruising according to the input vehicle speed adjusting signal, the vehicle controller and the motor system are controlled to enter a constant speed cruising overrun state according to the input vehicle speed accelerating signal, or the vehicle controller and the motor system are controlled to enter a constant speed cruising exit state according to the input vehicle speed decelerating signal.

6. The method according to claim 1, wherein the set vehicle test operation environment parameter is obtained, and the vehicle controller and the motor system are controlled to execute the constant speed cruising based on the vehicle test operation environment parameter, the vehicle test operation environment parameter corresponding to an environment parameter of the vehicle in a load rejection state.

7. The method for testing the cruise control according to claim 1, wherein the set vehicle test operation environment parameters are obtained, and the vehicle test operation environment parameters are in an abnormal state corresponding to a control object of the vehicle controller during the execution of the cruise control based on the vehicle test operation environment parameters, wherein the abnormal state includes one or more of insufficient remaining power of the battery management system, malfunction of the micro control unit or the battery management system, and limitation of maximum torque of the vehicle by the vehicle electronic stability control system.

8. A constant speed cruise test device, characterized in that the constant speed cruise test device comprises:

an acquisition module configured to acquire a set vehicle base operating environment parameter and acquire a set vehicle test operating environment parameter;

the control module is configured to control the whole vehicle controller and the motor system to enter a ready state capable of starting constant-speed cruising according to the input acceleration signal and the set basic running environment parameters of the vehicle; controlling the whole vehicle controller and the motor system to enter a constant-speed cruising state according to the input constant-speed cruising trigger signal; and controlling the whole vehicle controller and the motor system to execute constant-speed cruising based on the vehicle test running environment parameters;

and the recording module is configured to record the running states and feedback signals of the whole vehicle controller and the motor system in real time.

9. A cruise control test device, characterized in that it comprises a processor, a memory, and a cruise control test program stored on the memory and executable by the processor, wherein the cruise control test program, when executed by the processor, implements the steps of the cruise control method according to any one of claims 1 to 7.

10. A constant speed cruise test system, characterized in that it is adapted to implement the steps of the constant speed cruise test method according to any one of claims 1 to 7, comprising:

a power supply device;

the motor testing device is configured to collect the change of the running state of the motor system;

a driver operating device configured to simulate an acceleration/deceleration state of the vehicle and to start, shut down, or adjust a constant-speed cruise state;

the real-time simulation device is electrically connected with the whole vehicle controller and the motor testing device and is configured to provide basic running environment parameters of the vehicle when the vehicle is simulated, and record running states and feedback signals of the whole vehicle controller and the motor system.

Images