CN113189971A - Chassis embedded control panel test platform for automatic driving control - Google Patents
Chassis embedded control panel test platform for automatic driving control Download PDFInfo
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Abstract
The invention discloses a chassis embedded control panel test platform for automatic driving control.A signal end of a microcontroller module is connected with a signal end of a control panel interface module so as to output a test signal corresponding to a function to be tested to the control panel interface module in the test process, so that the control panel interface module transmits the test signal to a chassis embedded control panel; the signal end of the control panel interface module is connected with the signal end of the function execution module and is used for transmitting a received control signal of the chassis embedded control panel to be tested to the corresponding function execution module under the action of the test signal; the signal end of the signal acquisition module is connected with the signal end of the microcontroller module and used for acquiring and sending execution process data of the function execution module under the action of the control signal to the microcontroller module, and the microcontroller module is used for receiving and judging whether the to-be-tested function of the chassis embedded control board to be tested is normal according to the execution process data.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a chassis embedded control board test platform for automatic driving control.
Background
The existing low-speed electric sightseeing bus can be automatically driven on a fixed route in a specific area after being transformed by an automatic driving function, such as open non-urban roads in tourist parks, factories and the like, the conflict that the existing regulations prohibit unmanned vehicles from getting on the road is effectively solved, and a carrier is provided for the research and landing of an automatic driving technology. The automatic driving control system is generally composed of an upper computer, a positioning system, an obstacle avoidance system, a chassis control system and the like, wherein a chassis embedded control panel is an important component in the automatic driving automobile control system and is an execution part for realizing braking, accelerator and gear control on a vehicle chassis by the automatic driving control upper computer. In the existing scheme for improving the automatic driving function of the low-speed electric sightseeing bus by using the chassis control system, the chassis control system which is produced is not tested and debugged in the earlier stage, and is directly installed on the bus and is tested and debugged through a real bus. The method for improving the chassis control function of the automatic driving vehicle mainly has the following defects:
1. the chassis control system which is not tested is directly additionally arranged on an electric control system of a vehicle, certain faults can be inevitably generated due to the reasons of component quality, welding process, assembly process and the like, if the electric control system after production is completed has short-circuit faults, the electric control system is directly additionally arranged on an automobile electric control system, the power supply and other circuits of the original electric control system of the automobile can be damaged, and thus great difficulty is increased during later-stage system debugging. In addition, when the original vehicle electric control system which is damaged by people is replaced to remove the fault, extra cost expenditure is increased, the factory consistency of the original vehicle electric control system is influenced, and certain potential safety hazards exist.
2. Because the operating space of vehicle is less, be not convenient for carry out chassis control system's detection and debugging on the car, chassis control system itself is the middle actuating mechanism who carries out host computer control command in addition, need the host computer to send some orders when testing its function, just can verify that it is normal to the vehicle braking, the throttle, the control function of gear, and the host computer needs positioning system again, keep away barrier system's whole participation and just can normally work, consequently, this kind of mode is not convenient for the repacking and the debugging in later stage, can influence the engineering progress, corresponding production cycle has been prolonged.
At present, a special detection and debugging platform does not exist, and the performance and parameters of the chassis control system after production are tested and calibrated, so that how to design the test platform of the chassis embedded control board to complete the test and calibration of the chassis embedded control board becomes a technical problem to be solved urgently by technical personnel in the field.
Disclosure of Invention
The invention provides a chassis embedded control board test platform for automatic driving control, which is used for solving the technical problem that the performance of a chassis embedded control board cannot be accurately evaluated because no special test platform tests the functions of the chassis embedded control board at present.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a chassis-embedded control panel test platform for autopilot control, comprising: the system comprises a microcontroller module, a function execution module, a signal acquisition module and a control panel interface module for accessing a chassis embedded control panel to be tested;
the signal end of the microcontroller module is connected with the signal end of the control panel interface module so as to transmit a test signal corresponding to a function to be tested to the control panel interface module in the test process, so that the control panel interface module transmits the test signal to the chassis embedded control panel;
the signal end of the control panel interface module is connected with the signal end of the function execution module and is used for transmitting a received control signal of the chassis embedded control panel to be tested to the corresponding function execution module under the action of the test signal;
the signal end of the signal acquisition module is connected with the signal end of the microcontroller module and is used for acquiring the execution process data of the function execution module under the action of the control signal and sending the execution process data to the microcontroller module;
the microcontroller module is also used for receiving and judging whether the to-be-tested function of the to-be-tested chassis embedded control board is normal or not according to the execution process data.
Preferably, the function to be tested comprises a brake control function test, the function execution module comprises a push rod motor corresponding to the brake control function test, and the signal acquisition module comprises a stroke sensor for acquiring the stroke of the push rod motor; the test signal comprises brake force signals of different grades, the control signal comprises brake force control signals of the chassis embedded control panel under the action of the brake force signals of different grades, the execution process data comprises the extension length of a push rod motor push rod under the action of the brake force control signals collected by a stroke sensor, the microcontroller module is used for comparing the collected extension length of the push rod motor push rod with a corresponding extension length normal interval, and when the collected extension length of the push rod motor push rod is within the corresponding extension length normal interval, the brake control function of the disk embedded control panel is judged to be normal; and when the acquired extension length of the push rod motor is not within the corresponding extension length normal interval, judging that the brake control function of the disc embedded control panel is abnormal.
Preferably, the function to be tested comprises a gear control function test, the function execution module comprises a vehicle gear selector switch which is used for the gear control function test, and the signal acquisition module comprises a gear signal acquisition module which is used for acquiring a vehicle gear switching signal; the test signal comprises a gear switching signal; the microcontroller module is also connected with a vehicle gear shifting switch, the microcontroller module is also used for sending a gear shifting signal to the vehicle gear shifting switch, the vehicle gear shifting switch is also used for executing the gear shifting signal and transmitting a first gear state signal after the gear shifting signal is executed to the chassis embedded control panel through the control panel interface module, and the control panel interface module is also used for receiving the first gear state signal forwarded by the chassis embedded control panel and sending the first gear state signal to the microcontroller module; the gear signal acquisition module is also used for acquiring a second gear state signal of the vehicle gear change-over switch after executing the gear change-over signal, and the acquired second gear state signal is transmitted to the microcontroller module, the microcontroller module is also used for receiving the first gear state signal and the second gear state signal, and the first gear state signal is matched with the second gear state signal, if the first gear state signal and the second gear state signal are matched, the embedded control panel of the chassis is judged to be normal, and if the first gear state signal is not received or the first gear state signal is not matched with the second gear state signal, the embedded control panel of the chassis is judged to be abnormal.
Preferably, the function to be tested comprises an accelerator control function test, the function execution module comprises an accelerator pedal assembly corresponding to the accelerator control function test, and the signal acquisition module comprises an accelerator pedal position sensor for acquiring a position signal of an accelerator pedal; the microcontroller module is also used for sending a manual control signal to the chassis embedded control panel through the control panel interface module; when an accelerator pedal of the accelerator pedal assembly is trampled in the manual control process, the accelerator opening value corresponding to the trampling position is sent to the chassis embedded control panel through the control panel interface module, the control panel interface module is used for transmitting the accelerator opening value transmitted by the chassis embedded control panel to the microcontroller module, the accelerator pedal position sensor is used for collecting the trampling position signal of the accelerator pedal assembly when the accelerator pedal is trampled in the manual control process to the microcontroller module, the microcontroller module is used for receiving the trampling position signal and the accelerator opening value and judging whether the accelerator opening value is matched with the trampling position signal or not, if so, judging that the accelerator control function of the chassis embedded control board test platform in the manual driving mode is normal, if the accelerator opening value is not received or the accelerator opening value is not matched with the trampling position signal, and judging that the accelerator control function of the chassis embedded control board test platform in the manual driving mode is abnormal.
Preferably, the microcontroller module is further configured to send an automatic control signal to the chassis embedded control board, during an automatic driving process test, the vehicle control host simulating an automatic driving state sends an accelerator opening control command to the chassis embedded control board through the control board interface module, the control board interface module is configured to receive an accelerator virtual signal from the chassis embedded control board and send the accelerator virtual signal to the microcontroller module, the microcontroller module is further configured to match the received accelerator opening control command with the accelerator virtual signal, and when the accelerator opening control command is matched with the accelerator virtual signal, it is determined that an accelerator control function of the chassis embedded control board test platform in the automatic driving mode is normal; and if the accelerator virtual signal is not received or the accelerator opening control command is not matched with the accelerator virtual signal, judging that the accelerator control function of the chassis embedded control board test platform in the manual driving mode is abnormal.
Preferably, the signal end of the control panel interface module is connected with the signal end of the microcontroller module through a CAN bus driver.
Preferably, the test platform further comprises a key input module, wherein a signal end of the key input module is connected with a signal end of the microcontroller module, and the key input module is used for converting an operation command of a tester into an electric signal and sending the electric signal to the microcontroller module so as to control the type and the progress of the test function of the chassis embedded control board test platform through the microcontroller module.
Preferably, still include status indicator lamp module, status indicator lamp module's signal end is connected with microcontroller module's signal end, and status indicator lamp module includes: the automatic brake control device comprises one or a combination of any of an indicator light for displaying a brake state, an indicator light for displaying a gear state, an indicator light for displaying an accelerator state, an indicator light for displaying an automatic mode and an indicator light for displaying a manual mode.
Preferably, the device further comprises a liquid crystal display module connected with the microcontroller module, a signal end of the liquid crystal display module is connected with a signal end of the microcontroller module, and the liquid crystal display module is used for displaying the driving mode, the accelerator opening value, the gear state, the braking force and the braking state which are sent by the control mode and are simulated by the test platform.
Preferably, the control panel interface module is further connected with an external signal measurement interface of the test platform through the signal measurement interface module, and the signal measurement interface includes: one or the combination of any several of the brake control function testing interface, the gear control function testing interface and the accelerator control function testing interface.
The invention has the following beneficial effects:
1. according to the chassis embedded control board test platform for automatic driving control, the signal end of the microcontroller module is connected with the signal end of the control board interface module, so that a test signal corresponding to a function to be tested is output to the control board interface module in the test process, and the control board interface module transmits the test signal to the chassis embedded control board; the signal end of the control panel interface module is connected with the signal end of the function execution module and is used for transmitting a received control signal of the chassis embedded control panel to be tested to the corresponding function execution module under the action of the test signal; the signal end of the signal acquisition module is connected with the signal end of the microcontroller module and used for acquiring the execution process data of the function execution module under the action of the control signal and sending the execution process data to the microcontroller module, and the microcontroller module is also used for receiving and judging whether the to-be-tested function of the chassis embedded control panel to be tested is normal or not according to the execution process data. Through the test platform, the function of the chassis embedded control panel can be accurately tested, so that the problem that the performance of the chassis embedded control panel cannot be accurately evaluated because no special test platform tests the function of the chassis embedded control panel at present is solved.
2. In a preferred scheme, the test platform can accurately test the gear, the accelerator and the brake performance of the chassis embedded control panel through the gear control function test, the accelerator control function test and the brake control function test, so as to accurately evaluate the overall performance of the chassis embedded control panel, and the parameters and the output performance of each circuit of the tested chassis embedded control panel are calibrated, so that the test platform is not required to be additionally arranged on an automobile electric control system, the production cycle of a product can be effectively shortened, and the production economic benefit can be improved; due to the simplification of the refitting process, the labor intensity of workers is effectively reduced.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a block diagram of a chassis embedded control board test platform for autopilot control in a preferred embodiment of the invention;
FIG. 2 is a schematic diagram of a chassis embedded control board test platform for autopilot control in a preferred embodiment of the invention;
FIG. 3 is a circuit diagram of a microcontroller module of a chassis embedded control board test platform for autopilot control in a preferred embodiment of the invention;
FIG. 4 is a circuit diagram of a key input module of a chassis embedded control board test platform for autopilot control in a preferred embodiment of the invention;
FIG. 5 is a circuit diagram of a liquid crystal display module of a chassis embedded control board test platform for autopilot control in a preferred embodiment of the invention;
FIG. 6 is a circuit diagram of a status indicating module of a chassis embedded control board test platform for autopilot control in a preferred embodiment of the present invention;
FIG. 7 is a CAN bus driver circuit diagram of a chassis embedded control board test platform for autopilot control in a preferred embodiment of the invention;
FIG. 8 is a circuit diagram of a control board interface module of the chassis embedded control board test platform for autopilot control in a preferred embodiment of the present invention;
FIG. 9 is a circuit diagram of a signal measurement interface of a chassis embedded control board test platform for autopilot control in a preferred embodiment of the invention;
FIG. 10 is a power module circuit diagram of a chassis embedded control board test platform for autopilot control in a preferred embodiment of the invention;
fig. 11 is a flowchart of the main program executed by the microcontroller module of the chassis embedded control board test platform for autopilot control in the preferred embodiment of the present invention.
The figure is marked with:
1-chassis embedded control panel; 2-control the power interface of the board; 3-control panel CAN interface; 4-control the push rod motor interface of the panel; 5-control the accelerator pedal interface of the board; 6-control the panel gear switch interface; 7-liquid crystal displays; 8-a push rod motor; 9-simulating a brake pedal; 10-a return spring; 11-manual mode indicator light; 12-automatic mode indicator light; 13-forward gear indicator light; 14-neutral indicator light; 15-reverse gear indicator light; 16-mode switching button; 17-release the brake button; 18-emergency brake button; 19-forward gear button; 20-neutral button; 21-reverse gear button; 22-brake force upward adjustment button; 23-first confirm button; 24-brake force downward adjustment button; 25-upward regulating button of accelerator opening degree; 26-a second confirmation button; 27-throttle opening downward regulating button; 28-throttle signal APP1 measurement interface; 29-reverse gear signal measurement interface; 30-throttle ground signal measurement interface; 31-gear common signal measurement interface; 32-forward gear signal measurement interface; 33-throttle signal APP2 measurement interface; 34-a push rod motor positive electrode measuring interface; 35-a push rod motor negative electrode measuring interface; 36-vehicle gear shift switch; 37-power interface; 38-power switch; 39-accelerator pedal.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.
The first embodiment is as follows:
this implementation discloses a chassis embedded control panel 1 test platform for autopilot control, includes: the system comprises a microcontroller module, a function execution module, a signal acquisition module and a control panel interface module for accessing a chassis embedded control panel 1 to be tested;
the signal end of the microcontroller module is connected with the signal end of the control panel interface module so as to output a test signal corresponding to a function to be tested to the control panel interface module in the test process, so that the control panel interface module can transmit the test signal to the chassis embedded control panel 1;
the signal end of the control panel interface module is connected with the signal end of the function execution module and is used for transmitting a received control signal of the chassis embedded control panel 1 to be tested to the corresponding function execution module under the action of the test signal;
the signal end of the signal acquisition module is connected with the signal end of the microcontroller module and is used for acquiring the execution process data of the function execution module under the action of the control signal and sending the execution process data to the microcontroller module;
the microcontroller module is also used for receiving and judging whether the to-be-tested function of the chassis embedded control board 1 to be tested is normal according to the execution process data.
According to the chassis embedded control board test platform for automatic driving control, the signal end of the microcontroller module is connected with the signal end of the control board interface module, so that a test signal corresponding to a function to be tested is output to the control board interface module in the test process, and the control board interface module transmits the test signal to the chassis embedded control board 1; the signal end of the control panel interface module is connected with the signal end of the function execution module and is used for transmitting a received control signal of the chassis embedded control panel 1 to be tested to the corresponding function execution module under the action of the test signal; the signal end of the signal acquisition module is connected with the signal end of the microcontroller module and is used for acquiring the execution process data of the function execution module under the action of the control signal and sending the execution process data to the microcontroller module, and the microcontroller module is also used for receiving and judging whether the to-be-tested function of the chassis embedded control board 1 to be tested is normal or not according to the execution process data. Through the test platform, the function of the chassis embedded control panel 1 can be accurately tested, so that the problem that the performance of the chassis embedded control panel 1 cannot be accurately evaluated because no special test platform tests the function of the chassis embedded control panel 1 is solved.
Example two:
the second embodiment is the preferred embodiment of the first embodiment, and the difference between the first embodiment and the second embodiment is that the specific structure of the chassis embedded control board 1 test platform for automatic driving control is detailed:
in this embodiment, a chassis embedded control board test platform (hereinafter referred to as a test platform) for automatic driving control is disclosed, which includes: the device comprises a power module, a microcontroller module, a function execution module, a signal acquisition module, a control panel interface module, a CAN bus driver, a signal conditioning module, a signal measurement interface, a key input module, a state indicator lamp module and a liquid crystal display module. The function execution module includes: an accelerator pedal 39 corresponding to the accelerator control function test of the chassis embedded control panel 1, a vehicle gear shift switch 36 corresponding to the gear control function test of the chassis embedded control panel 1, and a push rod motor 8 corresponding to the brake control function test of the chassis embedded control panel 1; the signal acquisition module includes: an accelerator pedal position sensor for acquiring a position signal of an accelerator pedal 39, a gear signal acquisition module for acquiring the vehicle gear switching signal and a stroke sensor for acquiring the stroke of the push rod motor 8.
As shown in fig. 1, the test platform is provided with: a chassis embedded control panel 1, a control panel power interface 2, a control panel CAN interface 3, a control panel push rod motor interface 4, a control panel accelerator pedal interface 5, a control panel shift switch interface 6, a liquid crystal display 7, a push rod motor 8, a simulated brake pedal 9, a return spring 10, a manual mode indicator 11, an automatic mode indicator 12, a forward gear indicator 13, a neutral indicator 14, a reverse gear indicator 15, a mode switching button 16, a release brake button 17, an emergency brake button 18, a forward gear button 19, a neutral button 20, a reverse gear button 21, a brake force upward adjustment button 22, a first confirmation button 23, a brake force downward adjustment button 24, an accelerator opening upward adjustment button 25, a second confirmation button 26, an accelerator opening downward adjustment button 27, an accelerator signal 1 measurement interface 28, a reverse gear signal measurement interface 29, an accelerator opening downward adjustment button 27, an APP signal 1, and an APP signal measurement interface 28, The accelerator ground signal measuring interface 30, the gear common signal measuring interface 31, the forward gear signal measuring interface 32, the accelerator signal APP2 measuring interface 33, the push rod motor positive electrode measuring interface 34, the push rod motor negative electrode measuring interface 35, the vehicle gear selector switch 36, the power interface 37, the power switch 38 and the accelerator pedal 39.
The operation method and the working principle of the test platform are as follows:
after the power supply is switched on through the power supply interface 37, the power supply switch 38 is turned on, and the system is powered on; by operating the mode switching button 16, a control command is sent to the chassis embedded control board 1 through the control board CAN interface 3 under the control of the internal circuit, the chassis embedded control board 1 enters a manual driving mode, the corresponding area of the liquid crystal display 7 is displayed as manual, and meanwhile, the manual mode indication 11 is lightened.
1. Test method for related functions in manual driving mode
The accelerator, the gear and the brake of the vehicle are all controlled manually in a manual driving mode, wherein the accelerator control function test in the manual driving mode is as follows: the accelerator pedal 39 can be stepped on, and a multimeter is used for measuring whether the voltage between the accelerator signal APP1 measuring interface 28, the accelerator signal APP2 measuring interface 33 and the accelerator ground signal measuring interface 30 changes along with the stepping depth so as to verify whether the accelerator signal switching function of the chassis embedded control board 1 is normal; if the voltage changes along with the tread depth, the judgment is normal, otherwise, the judgment is abnormal.
The gear control function test of the manual driving mode specifically comprises the following steps: operating a vehicle gear shifting switch 36 to be respectively in a forward position, a backward position and a neutral position, and then measuring whether voltage values among the backward gear signal measuring interface 29, the forward gear signal measuring interface 32 and the gear public signal measuring interface 31 meet the relationship shown in the table 1 by using a universal meter so as to verify whether the gear shifting function of the chassis embedded control board 1 is normal; if the relation shown in the table 1 is satisfied, the judgment is normal, otherwise, the judgment is abnormal.
TABLE 1 relationship table between gear signal measuring interface and gear switch
The test of the brake control function of the manual driving mode specifically comprises the following steps: under the manual driving mode, a universal meter is used for measuring the voltage value between the push rod motor positive electrode measuring interface 34 and the push rod motor negative electrode measuring interface 35 to be 0V so as to verify whether the brake control function of the chassis embedded control board 1 is normal or not; if the voltage is 0V, the judgment is normal, otherwise, the judgment is abnormal.
2. Method for testing related functions in automatic driving mode
By operating the mode switching button 16, sending a control command to the chassis embedded control panel 1 through the control panel CAN interface 3 under the control of an internal circuit, enabling the chassis embedded control panel 1 to enter an automatic driving mode, displaying the corresponding area of the liquid crystal display 7 as 'automatic', and simultaneously lightening the automatic mode indication 12; under the automatic driving mode, the accelerator, the gear and the brake of the vehicle are all automatically controlled by the chassis embedded control panel 1.
Under the automatic driving mode, the test of the accelerator control function specifically comprises the following steps: stepping on the accelerator pedal 39, and then using a multimeter to measure the voltage between the accelerator signal APP1 measurement interface 28, the accelerator signal APP2 measurement interface 33 and the accelerator ground signal measurement interface 30, wherein the voltage cannot change, and the signal of the accelerator pedal 39 is proved to be cut off; and operating an accelerator opening upward adjusting button 25, a second confirming button 26 and an accelerator opening downward adjusting button 27 to change an accelerator opening value, displaying the accelerator opening value in a percentage form in a corresponding area of the liquid crystal display 7, and measuring the voltage among an accelerator signal APP1 measuring interface 28, an accelerator signal APP2 measuring interface 33 and an accelerator ground signal measuring interface 30 by using a multimeter to ensure that the accelerator signal switching and accelerator signal generating functions of the chassis embedded control board 1 are normal or not. If the relation shown in the table 2 is met, the judgment is normal, otherwise, the judgment is abnormal.
TABLE 2 relationship table between throttle signal measurement interface and throttle opening
Under the automatic driving mode, the gear control function test specifically comprises the following steps: operating the vehicle gear shift switch 36, and measuring the voltages among the backward gear signal measuring interface 29, the forward gear signal measuring interface 32 and the gear common signal measuring interface 31 to be 5V by using a universal meter, so as to prove that the vehicle gear shift switch signal is cut off; the forward gear button 19, the neutral button 20 and the reverse gear button 21 can be operated to change the gear state in the automatic driving mode, the corresponding areas of the liquid crystal display 7 display three gear states, meanwhile, the corresponding forward gear indicator lamp 13, the neutral indicator lamp 14 and the reverse gear indicator lamp 15 are lightened, and then a universal meter is used for measuring whether the voltage values among the reverse gear signal measuring interface 29, the forward gear signal measuring interface 32 and the gear common signal measuring interface 31 meet the relationship shown in the table 3 or not so as to verify whether the gear control function of the chassis embedded control board 1 is normal or not; if the relation shown in the table 3 is satisfied, the judgment is normal, otherwise, the judgment is abnormal.
TABLE 3 relationship table between gear signal measuring interface and gear button
In an automatic driving mode, the emergency brake button 18 can be operated, at the moment, a universal meter is utilized to measure the voltage value between the push rod motor anode measuring interface 34 and the push rod motor cathode measuring interface 35 to be about 12V, and the push rod motor 8 runs at full speed to realize the rapid braking function; the brake force upward adjusting button 22, the first confirming button 23 and the brake force downward adjusting button 24 can be operated to change the brake force, the brake force is displayed in a percentage form in a corresponding area of the liquid crystal display 7, the brake force, the motor speed and the voltage value are in direct proportion when a brake function test is carried out, and the brake button 17 can be operated and released when the push rod motor 8 needs to return.
As an alternative to the above, when the microcontroller module is used for automatic testing, the following steps are specifically performed:
when the brake control function test is carried out, the microcontroller module sends brake force signals of different grades to the chassis embedded control panel 1 through the control panel interface module, so that the chassis embedded control board 1 generates different braking force control signals to the push rod motor 8 under the action of the braking force signals of different grades, and controls the stroke sensor to collect the extension length of the push rod motor 8 under the action of the braking force control signal, and the collected extension length of the push rod motor 8 under the action of the braking power control signal is sent to the microcontroller module, and finally, the microcontroller module compares the acquired extension length of the push rod motor 8 with the corresponding extension length normal interval, when the collected extension length of the push rod motor 8 is within the corresponding extension length normal interval, judging that the brake control function of the disc embedded control panel is normal; and when the acquired extension length of the push rod motor 8 is not within the corresponding extension length normal interval, judging that the brake control function of the disc embedded control panel is abnormal.
When the gear control function test is carried out, the microcontroller module also sends a gear switching signal to the vehicle gear switching switch 36, the vehicle gear switching switch 36 executes the gear switching signal sent by the microcontroller module and transmits a first gear state signal after the gear switching signal is executed to the chassis embedded control board 1 through the control board interface module, and the control board interface module receives the first gear state signal forwarded by the chassis embedded control board 1 and sends the first gear state signal to the microcontroller module; the gear signal acquisition module acquires a second gear state signal of the vehicle gear selector switch 36 after executing the gear switching signal, and transmits the acquired second gear state signal to the microcontroller module, the microcontroller module receives the first gear state signal and the second gear state signal, and matches the first gear state signal with the second gear state signal, if the first gear state signal and the second gear state signal are matched, the chassis embedded control panel 1 is judged to be normal, and when the first gear state signal or the first gear state signal is not received or the second gear state signal is not matched, the chassis embedded control panel 1 is judged to be abnormal.
When the accelerator control function test in the manual driving mode is carried out, the microcontroller module sends a manual control signal to the chassis embedded control panel 1 through the control panel interface module; when the accelerator pedal 39 is trampled in the manual control process, the accelerator opening value corresponding to the trampling position is sent to the chassis embedded control panel 1 through the control panel interface module, the accelerator opening value forwarded by the chassis embedded control panel 1 is transmitted to the microcontroller module through the control panel interface module, the accelerator pedal position sensor collects the trampling position signal of the accelerator pedal 39 when being trampled in the manual control process and sends the trampling position signal to the microcontroller module, the microcontroller module receives the trampling position signal and the accelerator opening value and judges whether the accelerator opening value is matched with the trampling position signal or not, if the accelerator opening value is matched with the trampling position signal, judging that the accelerator control function of the test platform of the chassis embedded control board 1 in the manual driving mode is normal, if the accelerator opening value is not received or the accelerator opening value is not matched with the trampling position signal, the accelerator control function of the chassis embedded control board 1 test platform in the manual driving mode is judged to be abnormal.
When the accelerator control function test in the automatic driving mode is carried out, the microcontroller module sends an automatic control signal to the chassis embedded control panel 1, in the automatic driving process test, a vehicle control host simulating the automatic driving state sends an accelerator opening control command to the chassis embedded control panel 1 through the control panel interface module, the control panel interface module sends a received accelerator virtual signal from the chassis embedded control panel 1 to the microcontroller module, the microcontroller module matches the received accelerator opening control command with the accelerator virtual signal, and when the accelerator opening control command is matched with the accelerator virtual signal, the accelerator control function of the chassis embedded control panel 1 test platform in the automatic driving mode is judged to be normal; and if the accelerator virtual signal is not received or the accelerator opening control command is not matched with the accelerator virtual signal, judging that the accelerator control function of the chassis embedded control board 1 test platform in the manual driving mode is abnormal.
Circuit of (II) test platform
1. Test platform circuit structure
As shown in fig. 2, the test platform of the present invention includes: the device comprises a power module, a microcontroller module, a function execution module, a signal acquisition module, a control panel interface module, a CAN bus driver, a signal conditioning module, a signal measurement interface, a key input module, a state indicator lamp module and a liquid crystal display module.
The function execution module includes: an accelerator pedal 39 corresponding to the accelerator control function test of the chassis embedded control panel 1, a vehicle gear shift switch 36 corresponding to the gear control function test of the chassis embedded control panel 1, and a push rod motor 8 corresponding to the brake control function test of the chassis embedded control panel 1.
The signal acquisition module includes: an accelerator pedal position sensor for acquiring a position signal of an accelerator pedal 39, a gear signal acquisition module for acquiring the vehicle gear switching signal and a stroke sensor for acquiring the stroke of the push rod motor 8.
The signal end of microcontroller module respectively with the signal end connection of key input module, status indicator lamp module and liquid crystal display module, the signal end of microcontroller module still through CAN bus driver with the signal end connection of control panel interface module, the signal end of CAN bus driver still with the signal end connection of control panel interface module, the signal end of control panel interface module still is connected with push rod motor 8, vehicle gear change over switch 36 and push rod motor 8 respectively, accelerator pedal position sensor, gear signal acquisition module and stroke sensor's signal end respectively through signal conditioning module with the microcontroller module is connected, control panel interface module still through signal measurement interface module and the external signal measurement interface connection of test platform.
The key input module converts an operation command of a debugging person into an electric signal and sends the electric signal to the microcontroller module, the liquid crystal display module finishes displaying related parameters and state information, and the state indication module finishes indicating a driving mode and gear information; the power supply module provides power supply for the whole circuit;
the state indicator lamp module comprises a manual mode indicator lamp 11, an automatic mode indicator lamp 12, a forward gear indicator lamp 13, a neutral position indicator lamp 14 and a backward gear indicator lamp 15;
the key input module includes: a mode switching button 16 (specifically, switching between a means driving mode and an automatic driving mode), an accelerator opening button (including an accelerator opening upward adjustment button 25 and an accelerator opening downward adjustment button 27), a gear state button (including a forward gear button 19, a neutral button 20 and a reverse gear button 21), a brake button (including a release brake button 17, an emergency brake button 18, a brake force upward adjustment button 22 and a brake force downward adjustment button 24), and a true button.
Wherein, the signal measurement interface includes: the system comprises a brake control function test interface (a push rod motor positive electrode measurement interface 34 and a push rod motor negative electrode measurement interface 35), a gear control function test interface (a backward gear signal measurement interface 29, a gear common signal measurement interface 31 and a forward gear signal measurement interface 32) and an accelerator control function test interface (comprising an accelerator signal APP1 measurement interface 28, an accelerator signal APP2 measurement interface 33 and an accelerator ground signal measurement interface 30).
2. Test platform circuit
As shown in fig. 3, the microcontroller module includes a single chip microcomputer U3, a filter inductor L1, a filter capacitor C5, a decoupling capacitor C6, a short-circuit resistor R31, a short-circuit resistor R26, a filter capacitor C8, a decoupling capacitor C7, a filter capacitor C10, a decoupling capacitor C9, a filter capacitor C12, a decoupling capacitor C11, a crystal oscillator YS1, a correction capacitor C13, a correction capacitor C14, an impedance matching resistor R27, a reset charging resistor R28, a reset charging capacitor C22, a reset button SB12, a pull-up resistor R18, a current-limiting resistor R19, a program download interface P10, a decoupling capacitor C15, a decoupling capacitor C16, a decoupling capacitor C17, and a decoupling capacitor C18; the model of the single chip microcomputer U3 is MC9S12XS128 MAA; the 15 th pin of the singlechip U3 is connected with one end of a current limiting resistor R30, and the other end of the resistor is connected with the 3 rd pin of a program downloading interface P10; the reset charging resistor R28 and the reset charging capacitor C22 are connected between the power supply and the ground end to end, the middle point of the connection is connected with the 30 th pin of the reset pin of the singlechip U3, and the reset key SB12 is connected at the two ends of the reset charging capacitor C22 in parallel; the PB port and the PT port of the singlechip U3 are connected with the liquid crystal display module; the PA port of the singlechip U3 is connected with the key input module; and a PS port of the singlechip U3 is connected with the status indicator lamp module.
As shown in fig. 4, the key input module includes pull-up resistors R14, R15, R25, R16, R17, R18, R19, R20, R21, R22, R23, R24, R25, a mode selection switch S1, a release brake key SB10, an emergency brake key SB11, a throttle up adjustment key SB1, a throttle down adjustment key SB2, a throttle confirmation adjustment key SB3, a brake force up adjustment key SB4, a brake force down adjustment key SB5, a brake force confirmation adjustment key SB6, a forward key SB7, a reverse key SB8, and a neutral key SB 9; the pull-up resistor is connected between a power supply and the ground after being connected with the keys or the switch end to end, and the connection center of the pull-up resistor is connected with an IO port of the single chip microcomputer to form a key detection circuit.
As shown in fig. 5, the lcd module includes an lcd U1, a decoupling capacitor C1, a contrast adjusting potentiometer Rw1, a backlight adjusting transistor Q1, and a current limiting resistor R1; the liquid crystal display U1 is LCD 12864; the 7 th pin to the 14 th pin of a data port of the liquid crystal display U1 are respectively connected with a PB port of a single chip microcomputer U3 in the microcontroller module; the control port of the liquid crystal display U1 is respectively connected with the PT port of the single chip microcomputer U3 in the microcontroller module; the positive pole of the backlight power supply of the liquid crystal display U1 is connected with the power supply, the negative pole thereof is connected with the emitter of the backlight adjusting triode Q1, the collector of the backlight adjusting triode Q1 is connected with the ground, and the base thereof is connected with the PP0 port of the singlechip U3 in the microcontroller module through the current limiting resistor R1; one end of the contrast adjusting potentiometer Rw1 is connected with a power supply, the other end of the contrast adjusting potentiometer is connected with the 18 th pin of the liquid crystal display U1, and the center adjusting point of the contrast adjusting potentiometer is connected with the 3 rd pin of the liquid crystal display U1;
as shown in fig. 6, the status indicator lamp module includes a diode current-limiting resistor R10, a status indicating diode D1, a driving transistor Q2, a base current-limiting resistor R6, a diode current-limiting resistor R11, a status indicating diode D2, a driving transistor Q3, a base current-limiting resistor R7, a diode current-limiting resistor R12, a status indicating diode D3, a driving transistor Q4, a base current-limiting resistor R8, a diode current-limiting resistor R13, a status indicating diode D4, a driving transistor Q5, a base current-limiting resistor R9, a diode current-limiting resistor R33, a status indicating diode D7, a driving transistor Q6, and a base current-limiting resistor R34; the diode current-limiting resistor and the anode of the state indicating diode are connected in series between the power supply and the emitter of the driving triode, the collector of the driving triode is connected with the ground, and the base of the driving triode is connected with the PS port of the single chip microcomputer U3 in the microcontroller module through the base current-limiting resistor.
As shown in fig. 7, the CAN bus driver includes a driver chip U2, a bus termination resistor R2, a bus termination resistor R3, a bus termination resistor R4, a bus termination resistor R5, a decoupling capacitor C2, a bypass capacitor C3, and a bypass capacitor C4; the driver chip U2 is model number TJA 1050; the 1 st pin and the 4 th pin of the driver chip U2 are respectively connected with the PM1 and the PM0 of the single chip microcomputer U3 in the microcontroller module; the 7 th pin and the 6 th pin of the bus driver U2 are respectively connected with a P3 in an automatic driving accelerator control system interface module; the bus termination resistors R11 and R8 are connected in series end to end between the 7 th and 6 th pins of the bus driver U2, the midpoint of which is connected to ground through a bypass capacitor C2; bus termination resistors R9 and R10 are connected in series end-to-end between pins 7 and 6 of bus driver U2, the midpoint of which is connected to ground through a bypass capacitor C3.
As shown in fig. 8, the interface module of the chassis embedded control board 1 includes a power interface P2, a CAN bus interface P3, a push rod motor interface P4, an accelerator pedal signal interface P5, and a gear control switch interface P6; each interface is connected with a corresponding port of an externally connected chassis embedded control board to be tested 1; the power interface P2 is connected with an external direct current 12V power supply; the 1 st pin and the 2 nd pin of the CAN bus interface P3 are respectively connected with the 7 th pin and the 6 th pin of a driver chip U2 in a CAN bus driver; the push rod motor interface P4 is externally connected with the push rod motor 8 and is connected with P7 in the signal measurement interface module; the accelerator pedal signal interface P5 is externally connected with an accelerator pedal 39 and is connected with P8 in the signal measurement interface module; the gear control switch interface P6 interfaces the vehicle gear selector switch 36 and is connected to the signal measurement interface module P9.
As shown in fig. 9, the signal measurement interface module includes a push rod motor measurement interface P7, a throttle signal measurement interface P8, and a gear signal measurement interface P9; the push rod motor measurement interface P7 is connected with a corresponding pin of a push rod motor interface P4 in the chassis embedded control panel interface module; the accelerator signal measurement interface P8 is connected with a corresponding pin of an accelerator pedal signal interface P5 in the chassis embedded control panel interface module; the gear signal measurement interface P9 is connected with the corresponding pin of the gear control switch interface P6 in the chassis embedded control panel interface module.
As shown in fig. 10, the power supply module includes a dc input interface P11, a filter capacitor C19, a switching integrated regulator U4, a freewheeling diode D5, an energy storage inductor L2, a filter capacitor C20, a decoupling capacitor C21, a current limiting resistor R32, and a power indicator diode D6; the model of the switching integrated voltage stabilizer U4 is LM 2576S-5.0; the direct current input interface P11 is externally connected with a 12V direct current power supply.
Control flow and method of (III) test platform
As shown in fig. 11, the flow of the main program of the microcontroller module in the test platform is as follows:
step 100: after the system is powered on, initializing operation of the liquid crystal display 7 and configuring a related register of the CAN network, and turning to step 101;
step 101: judging the state of the driving mode selection switch S1, and when the state of S1 is 1, proceeding to step 105, and when the state of S1 is 0, proceeding to step 102;
step 102: when the vehicle is in the automatic driving mode, the driving mode variable is assigned to be 0, the automatic driving mode indicator lamp D1 is lightened, the manual driving mode indicator lamp D2 is extinguished, so that a tester can know the driving mode sent by the test platform and the chassis embedded control board 1, and the step 103 is carried out;
step 103: reading the states of accelerator opening value adjusting keys SB1, SB2 and SB3 in the automatic driving mode, judging whether the keys are pressed, adjusting the accelerator target opening value according to the states of the keys, assigning an accelerator opening value variable value, and turning to the step 104;
step 104: under the automatic driving mode, reading the states of gear state adjusting keys SB7, SB8 and SB9, judging whether the keys are pressed, adjusting the gear state according to the states of the keys, assigning a gear state variable, and turning to step 105;
step 105: reading the states of braking state adjusting keys SB4, SB5, SB6, SB10 and SB11 in an automatic driving mode, judging whether the keys are pressed, setting and adjusting the braking states according to the states of the keys, wherein the states comprise states of emergency braking, brake release, brake force increase, brake force decrease and the like, assigning values to a braking force variable and a braking state variable, and turning to step 107;
step 106: when the vehicle is in the manual driving mode, the driving mode variable is assigned to be 1, the manual driving mode indicator lamp D2 is lightened, the automatic driving mode indicator lamp D1 is extinguished, so that a tester can know the driving mode sent by the test platform and the chassis embedded control board 1, and the step 107 is carried out;
step 107: calling a liquid crystal display function, performing display driving operation of 12864 character liquid crystal, displaying a driving mode (manual/automatic), an accelerator opening value (0% -100%), a gear state (forward/neutral/backward), brake force (LV 1-LV 5) and a brake state (emergency brake/release brake) on a liquid crystal display screen, and turning to step 108;
step 108: judging a time mark for sending a command by the lower computer (the time mark is set to be 1 in the interrupt of the 500 millisecond timer), when the time mark is equal to 0, turning to the step 101 to realize circulation, and when the time mark is equal to 1, turning to the step 109;
step 109: the lower computer sends a command time mark to be cleared, a control command data packet is written into the CAN data temporary storage buffer area, a CAN control register is started to send data to the lower computer through a CAN communication interface of the microcontroller, and the program is switched to the step 101 to realize circulation without exception.
Adopting a dynamic data length mode for a data packet sent to a lower computer; the data length is divided into two conditions, firstly, a data packet under the manual driving mode consists of 7 bytes of a frame head of 2 bytes, an ID code of 2 bytes, a driving mode of 1 byte, a check code of 1 byte and a frame tail of 1 byte in sequence, and the format is shown in the following table 4;
table 4 lower computer sending command packet definition
Secondly, the data packet in the automatic driving mode consists of a frame header of 2 bytes, an ID code of 2 bytes, a driving mode of 1 byte, an accelerator opening value of 1 byte, a gear state of 1 byte, a brake state of 1 byte, a check code of 1 byte, and a frame tail of 1 byte, which are 10 bytes in sequence, and the format and meaning of the data packet are shown in the following table 5:
TABLE 5 lower computer Send Command packet Definitions
In summary, the chassis embedded control panel test platform for automatic driving control in the invention is used for performing function and performance tests on the test platform after the chassis embedded control panel 1 of an automatic driving automobile is produced, and the test platform can be directly applied and additionally installed on an automatic modification project of a low-speed electric sightseeing bus after the test is completed, so that the circuit of the original bus cannot be damaged due to system faults, the production cost of products can be effectively saved, and the safety and stability of the modified bus can be effectively improved.
In addition, the parameters and the output performance of each circuit of the chassis embedded control panel 1 after the test is finished are calibrated, and no extra debugging operation is needed after the chassis embedded control panel is additionally arranged on an automobile electric control system, so that the production period of a product can be effectively shortened, and the production economic benefit can be improved; due to the simplification of the refitting process, the labor intensity of workers is effectively reduced.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A chassis embedded control panel test platform for autopilot control, comprising: the system comprises a microcontroller module, a function execution module, a signal acquisition module and a control panel interface module for accessing a chassis embedded control panel to be tested;
the signal end of the microcontroller module is connected with the signal end of the control panel interface module so as to transmit a test signal corresponding to a function to be tested to the control panel interface module in the test process, so that the control panel interface module transmits the test signal to the chassis embedded control panel;
the signal end of the control panel interface module is connected with the signal end of the function execution module and is used for transmitting the received control signal of the chassis embedded control panel to be tested to the corresponding function execution module under the action of the test signal;
the signal end of the signal acquisition module is connected with the signal end of the microcontroller module and is used for acquiring the execution process data of the function execution module under the action of the control signal and sending the execution process data to the microcontroller module;
the microcontroller module is also used for receiving and judging whether the to-be-tested function of the to-be-tested chassis embedded control board is normal or not according to the execution process data.
2. The chassis embedded control panel test platform for automatic driving control according to claim 1, wherein the function to be tested comprises a brake control function test, the function execution module comprises a push rod motor corresponding to the brake control function test, and the signal acquisition module comprises a stroke sensor for acquiring the stroke of the push rod motor; the test signal comprises brake force signals of different grades, the control signal comprises brake force control signals of the chassis embedded control panel under the action of the brake force signals of different grades, the execution process data comprises the extension length of a push rod motor push rod under the action of the brake force control signals collected by a stroke sensor, the microcontroller module is used for comparing the collected extension length of the push rod motor push rod with a corresponding extension length normal interval, and when the collected extension length of the push rod motor push rod is within the corresponding extension length normal interval, the brake control function of the chassis embedded control panel is judged to be normal; and when the acquired extension length of the push rod motor is not within the corresponding extension length normal interval, judging that the brake control function of the disc embedded control panel is abnormal.
3. The chassis embedded control panel test platform for automatic driving control according to claim 1, wherein the function to be tested comprises a gear control function test, the function execution module comprises a vehicle gear shift switch in connection with the gear control function test, and the signal acquisition module comprises a gear signal acquisition module for acquiring the vehicle gear shift signal; the test signal comprises a gear switching signal; the microcontroller module is further connected with the vehicle gear shifting switch, and is further configured to send a gear shifting signal to the vehicle gear shifting switch, the vehicle gear shifting switch is further configured to execute the gear shifting signal, and transmit a first gear state signal after the gear shifting signal is executed to the chassis embedded control board through a control board interface module, and the control board interface module is further configured to receive the first gear state signal forwarded by the chassis embedded control board, and send the first gear state signal to the microcontroller module; gear signal acquisition module still is used for gathering vehicle gear change over switch is in the execution second gear state signal behind the gear change over signal to second gear state signal with gathering is given microcontroller module, microcontroller module still is used for receiving first gear state signal and second gear state signal, and will first gear state signal with second gear state signal matches, if the two matches, then judges the embedded control panel of chassis is normal, does not receive first gear state signal or first gear state signal with second gear state signal does not match, then judges the embedded control panel of chassis is abnormal.
4. The chassis embedded control panel test platform for automatic driving control of claim 1, wherein the function to be tested comprises a throttle control function test, the function execution module comprises a throttle pedal assembly corresponding to the throttle control function test, and the signal acquisition module comprises a throttle pedal position sensor for acquiring a position signal of a throttle pedal; the microcontroller module is also used for sending a manual control signal to the chassis embedded control panel through the control panel interface module; when an accelerator pedal of the accelerator pedal assembly is trampled in the manual control process, an accelerator opening value corresponding to a trampling position is sent to the chassis embedded control panel through a control panel interface module, the control panel interface module is used for transmitting the accelerator opening value forwarded by the chassis embedded control panel to the microcontroller module, the accelerator pedal position sensor is used for collecting a trampling position signal of the accelerator pedal assembly when the accelerator pedal is trampled in the manual control process to the microcontroller module, the microcontroller module is used for receiving the trampling position signal and the accelerator opening value and judging whether the accelerator opening value is matched with the trampling position signal, if the accelerator opening value is matched with the trampling position signal, the accelerator control function of the chassis embedded control panel test platform in a manual driving mode is judged to be normal, and if the accelerator opening value is not received or the accelerator opening value is not matched with the trampling position signal, and judging that the accelerator control function of the chassis embedded control board test platform in the manual driving mode is abnormal.
5. The chassis embedded control board test platform for autopilot control of claim 4, it is characterized in that the microcontroller module is also used for sending an automatic control signal to the chassis embedded control board, in the test of the automatic driving process, the vehicle control host computer which simulates the automatic driving state sends an accelerator opening control command to the chassis embedded control panel through the control panel interface module, the control panel interface module is used for receiving throttle virtual signals from the chassis embedded control panel, and the accelerator virtual signal is transmitted to the microcontroller module, the microcontroller module is also used for matching the received accelerator opening control command with the accelerator virtual signal, when the accelerator opening control command is matched with the accelerator virtual signal, judging that the accelerator control function of the chassis embedded control board test platform in the automatic driving mode is normal; and if the accelerator virtual signal is not received or the accelerator opening control command is not matched with the accelerator virtual signal, judging that the accelerator control function of the chassis embedded control board test platform in the manual driving mode is abnormal.
6. The chassis embedded control board test platform for autopilot control of claim 1 wherein the signal terminal of the control board interface module is connected to the signal terminal of the microcontroller module through a CAN bus driver.
7. The chassis embedded control panel test platform for automatic driving control according to claim 1, further comprising a key input module, wherein a signal terminal of the key input module is connected with a signal terminal of the microcontroller module, and is used for converting an operation command of a tester into an electrical signal and sending the electrical signal to the microcontroller module, so as to control the type and progress of a test function of the chassis embedded control panel test platform through the microcontroller module.
8. The chassis embedded control board test platform for autopilot control of claim 1 further comprising a status indicator light module, a signal terminal of the status indicator light module being connected to a signal terminal of the microcontroller module, the status indicator light module comprising: the automatic brake control device comprises one or a combination of any of an indicator light for displaying a brake state, an indicator light for displaying a gear state, an indicator light for displaying an accelerator state, an indicator light for displaying an automatic mode and an indicator light for displaying a manual mode.
9. The chassis embedded control panel test platform for automatic driving control according to claim 1, further comprising a liquid crystal display module connected to the microcontroller module, wherein a signal end of the liquid crystal display module is connected to a signal end of the microcontroller module, and the liquid crystal display module is configured to display a driving mode, an accelerator opening value, a gear state, a braking force level, and a braking state simulated by the test platform and sent from the control mode.
10. The chassis embedded control board test platform for automatic driving control according to claim 1, wherein the control board interface module is further connected to a signal measurement interface external to the test platform through a signal measurement interface module, and the signal measurement interface comprises: one or the combination of any several of the brake control function testing interface, the gear control function testing interface and the accelerator control function testing interface.
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Application publication date: 20210730 |
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