DE102004053264A1 - Method for testing ECU software for a controller - Google Patents

Abstract

The invention relates to a method for testing control unit software for a control unit (201), which has a computing unit (203) and at least one hardware component. To carry out this method, the arithmetic unit (203) is connected to a device (229) for the simulation of hardware, in carrying out this method it is provided that at least one hardware component of the control device (209) is replaced by simulation. By means of the measures according to the invention, a control unit software test with a consequent simulation of hardware of the control unit (201) is now possible.

Description

The The invention relates to a method for testing ECU software for a Controller, a test system, a computer program and a computer program product.

For one ECU software testing, especially for Engine control units, Three methods are common today. Such a software test is, for example, directly on a vehicle or on an engine test bench perform, however, in this case the software test is not early and not available in all equipment variants and also only to a very limited extent automates and reproducible. An early one execution most of the tests to be performed would only be at risk for testing staff and vehicle possible, so these software tests only in a late Stage of development after implementation other tests can be. Determined test results are also copy-dependent, test options depend on Boundary conditions such as the weather or road conditions, which only in small Measure approximately reproducible are.

software testing are also realized with so-called hardware-in-the-loop test systems. Here serves a significant portion of expensive hardware to the electrical To simulate behavior of sensors and actuators of the vehicle, in particular, the simulation of possible misconduct of these components associated with high costs.

moreover is a complex project, so an adaptation to a respective ECU project required. For Effective use of such software tests is extensive Test system know-how necessary. Typically, an original ECU is tested with original software, all other vehicle components including other control devices simulated in real time. A data exchange between the controller and a Vehicle simulator is via Terminals of the control unit, just as it is in the vehicle. In this procedure insist for the control unit therefore no differences to a later real use in the vehicle.

Of Another is a software test on a simple hardware test system at. However, these are only reconfigurable by hardware change, i. adaptable to another ECU project, so the longer-term Use associated with significant maintenance costs. control loops Usually here, if at all, only rudimentary closed, with a change of the Behavior of the corresponding components in the context of the project planning usually associated with considerable effort.

In the DE 103 03 489 A1 It is proposed to realize a ECU software test via an application interface of the controller. The ECU software is changed over its standard training. Some functions, such as monitoring functions, control unit inputs and outputs, and open sensor or actuator pins are cut-free, and some functions, such as simulation data handling, are added. Thus, certain software parts are testable. A runtime behavior of the controller changes, for which resources of the controller are provided. An exchange of simulation data takes place via the application interface. This exchange takes place on a bandwidth of the interface, whereby a simulation and test scope is clearly defined.

The ECU software runs here in a slightly modified form in the original control unit. A Modification of the software allows a data exchange between the controller software and a vehicle model (Test system) for almost all signals over the application interface. Thus, the software test is done by a big one Part of the original software in a nearly realistic environment. The no over The application interface communicable signals are here via ECU terminals under hardware input / output.

In front This background is a method with the features of the claim 1, a test system with the features of claim 8, a computer program with the features of claim 10 and a computer program product proposed with the features of claim 11.

Advantages of invention

The The invention relates to a method for testing ECU software for a Control unit that at least one arithmetic unit and at least one hardware component having. To carry out This method is the at least one arithmetic unit with a Device connected to the simulation of hardware. When performing this Method is provided that at least one hardware component of the control unit replaced by simulation.

The inventive measures now a ECU software test with a consistent simulation of hardware of the controller is possible. The device for the simulation of Hardware may, for example, be designed as programmable logic.

In Embodiment of the invention can be provided that the at least a computing unit and one or more simulation computers via an interface and at least one hardware component by one or more peripheral components of the simulation computer or the simulation computer is simulated. The controller software is on the at least one arithmetic unit or the controller executed.

Thus, according to the invention for example, between the at least one arithmetic unit and at least a plug of the controller free cutting of hardware components within the controller done. Such cut-free hardware components are simulated. moreover can by the measures according to the invention a new interface between the controller and the at least one Simulation computer to be created.

The Hardware components can so far from the at least one arithmetic unit or the controller be cut free, that a commercial simulation computer with corresponding peripheral components for providing a Development environment is easily connectable. It is possible to do this Output pin of the arithmetic unit directly with an input pin of the simulation computer or simply connect to its peripheral components, without having to work with high voltages and currents. As the Hardware components and an attached target system for Representation of a motor and an environment according to the invention simulated are, hangs of concrete applications from.

All in all With the invention, an expensive simulated target system for display be avoided by engine and environment. Furthermore, it is not necessary, the controller software for one according to the inventive method feasible test to change.

In Embodiment of the invention may be at least in the control unit a trained as Anpasschaltung hardware component, usually is used to drive an actuator and / or to evaluate a sensor, be replaced by simulation.

It is possible, too, connect to the at least one arithmetic unit at least one card, wherein by a simulation computer located on the at least one card a model can be modeled. Starting from the hardware of the control unit is the possibility with the invention given to cut almost all Anpasschaltungen so that if possible is easy, to the controller and in particular the at least one arithmetic unit another development environment to join.

The Inventive test system with a simulation computer is designed to control software for a Controller, the at least one computing unit and at least one hardware component has to test, wherein the simulation computer with the at least to connect a computing unit and the at least one hardware component is to be replaced by simulation.

The inventive method can with this test system according to the invention, having the at least one simulation computer and a computer, carried out become. With this computer, e.g. a function or a process monitored by the ECU software or checked. With the at least one simulation computer can external conditions, in particular a vehicle into which the control unit at a future Application is used, and / or simulated environmental conditions become.

• – mindestens einen Prozessor, der als Simulationsrechner das Verhalten des Fahrzeugs einschließlich der Sensoren und Aktoren durch Simulationsrechnung nachbildet. Hierzu kann ein Simulationsprogramm wie z.B. Matlab/Simulink oder ASCET zum Einsatz kommen.
• – eine oder mehrere Einrichtungen oder Komponenten mit programmierbarer Logik, die das elektrische Verhalten einer oder mehrerer Hardwarekomponenten des Steuergeräts gegenüber dem mindestens einen Steuergeräte-Prozessor (Recheneinheit) simulieren, die im Original-Steuergerät zum Treiben eines oder mehrerer Aktoren und/oder zum Auswerten eines oder mehrerer Sensoren dienen.
• – einen oder mehrere Digital-Analog-Wandler zur Bedienung der üblicherweise in den mindestens einen Steuergeräte-Prozessor (Recheneinheit) integrierten Analog-Digital-Wandler.
• – optional einen oder mehrere Analog-Digital-Wandler, falls Analogsignale in das Testsystem integrierten Original-Peripheriekomponenten auszuwerten sind.
• – eine oder mehrere Komponenten zur Bedienung fahrzeugtypischer Kommunikationsbusschnittstellen des Steuergerätes, wie z.B. CAN, USB, LIN usw.

A development environment for the control unit can be provided with the test system according to the invention and have the following components:

• - At least one processor that simulates the behavior of the vehicle including the sensors and actuators by simulation calculation as a simulation computer. For this purpose, a simulation program such as Matlab / Simulink or ASCET can be used.
• - One or more devices or components with programmable logic that simulate the electrical behavior of one or more hardware components of the controller relative to the at least one control processor (arithmetic unit) in the original control unit for driving one or more actuators and / or for evaluating a or multiple sensors.
• - One or more digital-to-analog converter for operating the usually in the at least one control unit processor (arithmetic unit) integrated analog-to-digital converter.
• - Optionally one or more analog-to-digital converters, if analog signals are to be evaluated in the test system integrated original peripheral components.
• - One or more components for operating vehicle-typical communication bus interfaces of the control unit, such as CAN, USB, LIN, etc.

To Different versions of the ECU software may have different Models are created. A change The hardware is usually not necessary, outputs and inputs of at least one arithmetic unit possibly be changed by software, Thus, an otherwise required project-specific design of the wiring harness are dispensed with. A connecting cable between the controller processor module and the test system according to the invention depends only on these components and is project-independent. at a possible Embodiment of the invention, a hardware-based structure realized by two cards become. A card represents a derivative of the controller, where interfaces such as USB, CAN and JTEG as well as the Power supply and other components such as the memory remain unchanged can. The other card is realized as a conventional plug-in card.

For a software implementation can the unchanged ECU software to be used. An additional Card can include the following components: Simulation of transfer functions of the hardware components, simulation of engine and environment as they are For example, even in conventional Hardware-in-the-loop test systems are used.

In Another embodiment of the invention, several cards in one united single card. Alternatively, several cards can be used to divide functions of the engine and the environment. A card for the at least one arithmetic unit of the control unit can with an interface be provided to them in a slide-in system or test system to be able to operate. This allows a common power supply for the at least a controller computing unit and the test system can be used. Also the insensitivity across from ESD and EMC is improved by integration into a housing. The models can with and without the involvement of hardware or the environment as flexible as you like be interpreted.

Under greatly simplified viewing of the controller can with the invention Side of the ECU hardware a conditioning of sensor signals and a driver for actuators eliminated. On the side of the test system, the components for the actuator simulation, Sensor simulation, simulation of actuator errors and sensor errors including the one on the side of the ECU hardware omitted Components through the programmable logic or device to simulate hardware (e.g., FPGAs). By such Savings on hardware can Cost of the Software test of the control unit software be reduced.

According to the invention can in the software test of the controller the hardware of the controller at least partially or completely be simulated. In a possible Design can be an original driving software, as at one concrete application of the control unit is used, in translated Shape over run an evaluation board that contains only one core. Peripheral circuits, in the control unit conventionally are included along with actuators and sensors through programmable Circuits (including FPGAs) replaced the components of the Test system according to the invention could be. Other vehicle components including other control devices and their Communication with the ECU to be tested or on the evaluation board executed Driving software are used in real time by components of the test system, For example, the at least one simulation computer, modeled.

With The invention can reduce the number of hardware-in-the-loop test systems required reduced or even completely replaced.

The Invention for testing ECU software can also be used for ECUs or Engine control units used on vehicles. Thus, ECU software early testable, as much of it of the control unit is simulated. It can many equipment variants by changing the control unit software will be realized. Tests are now automatable and reproducible. There is no risk for testing staff and the test the vehicle. Due to the simulation of hardware components can cost and space requirements are kept low. It's a simple, flexible configuration, ie adaptation to ECU projects, by change the controller software possible. All Closed control loops can simulated with a vehicle model and at points such as ECU software, hardware, Engine and environment software changes be made. The ECU software must be opposite to the Series status not changed become. There is no additional Load through interfaces. In addition, a scope of a simulation and the test greatly expandable, with results of the test real-time are.

In addition, in a resulting closed system on both sides of the control unit as well as on the engine side different hardware components and their transfer function and thus also disturbing influences the hardware can be simulated.

The computer program according to the invention with program code means is designed to carry out all steps of the method according to the invention, when this computer program is performed on a computer or a corresponding arithmetic unit.

The Computer program product according to the invention with program code means which are stored on a computer-readable data carrier, is to carry the method according to the invention provided when the computer program on a computer or a corresponding arithmetic unit is performed.

drawing

The Invention will be further described with reference to the drawing Figures closer shown. It shows

1 a schematic representation of a control unit with connected test system according to the prior art,

2 a diagram for carrying out a control device software test according to the prior art,

3 a diagram of a first embodiment of the method according to the invention,

4 a diagram of a second embodiment of the method according to the invention, and

5 a preferred embodiment of a test system according to the invention with a control device in a schematic representation.

description the embodiments

1 shows a schematic representation of an arrangement for performing a software test for a control unit 101 according to the prior art. This is the control unit 101 with a test system 117 connected. Inside the controller 101 there is a microcontroller 103 that usually comes with a power supply 111 , a store 115 as well as other circuits 113 connected is. Typically, the microcontroller 103 with hardware components, such as a device 107 for processing sensor signals, a driver 109 for actuators and other peripherals 105 connected. These hardware components 105 . 107 . 109 are in turn with the test system 117 which simulates all components of the vehicle, including the electrical behavior of all actuators and sensors.

In a test with the present test systems thus no target system, eg engine, more used. All components of the target system, including the engine, are used by the simulation computer (s) of the test system 117 simulated by simulation calculation.

In this prior art is a preparation of the sensor signals 107 necessary to match the high output voltages of sensors to an input voltage of the microcontroller 103 adapt. The drivers 109 for the actuators are required to supply actuators within the motor with very high currents, the microcontroller 103 can not provide on its own. The test system 117 is on a plug 102 of the control unit 101 connected. Therefore, the test system must 117 be able to cope with real, electrical currents & voltages, which in turn results in the high cost of testing with such test systems 117 result.

In principle, two interfaces to the control unit 101 needed. At the plug 102 of the control unit 101 becomes appropriate equipment of the test system 117 connected, the other is the microcontroller 103 equipped with additional software interfaces.

2 shows a diagram of the structure of a hardware-in-the-loop test system according to the prior art. Here are the control unit 101 in a lower part of the diagram and the test system 117 in the upper part of the diagram separated by dashed lines. The microcontroller 103 of the control unit 101 is intended to run the ECU software. The drivers 109 for actuators include hardware for controlling the actuators and for diagnosing actuator errors. An actuator control 104 and a return 106 Diagnostic results occur between the microcontroller 103 and the drivers 109 for the actors. The drivers 109 for the actuators are via control pins and a project-specific wiring harness with the test system 117 and there with the hardware 125 , the simulation of actuators connected. Optionally, a separation adapter can be inserted in the wiring harness.

The test system 117 includes a PC 121 for controlling the testing of the ECU software and displaying test results. This PC 121 is with a simulation calculator 119 connected to the simulation of a vehicle, a driver and the environment. Between the simulation computer 119 and the hardware for simulating the actuators become signals or data for fault simulation 122 as well as measurement results 124 replaced. The simulation computer 119 sends signals or data to a hardware 123 to simulate the sensors further, this is with a hardware 107 for evaluation of the sensor signals within the control unit 101 optionally connected with electrical separation adapters. The hardware 107 to evaluate the sensor signals sends signals or data to the microcontroller 103 further. Thus, within the software test for the controller 101 a closed loop 127 provided.

3 shows a diagram of a first embodiment of the inventive method for testing ECU software for a controller 201 shown in the diagram by dashed lines from a test system 217 is disconnected. From the control unit 201 will only be the core of the computer 203 (Controller, memory, voltage device, ...), for example on an evaluation board, used, which is immediately required to run the ECU software. The test system 217 includes a computer 221 to control the test and display test results. This computer 221 is with a simulation calculator 219 connected to the simulation of vehicle, driver and environment. The simulation computer 219 is with a facility 229 connected to the simulation of hardware. This device 229 can be designed as programmable logic.

In carrying out the method according to the invention are only between the device 229 of the test system and the arithmetic unit 203 of the control unit 201 Data signals and the like exchanged. The arithmetic unit 203 can do this via an interface with the device 229 of the test system 217 be directly connected, so through this interface between the test system 217 and the arithmetic unit a closed loop 227 is realized. Since according to the invention to the otherwise within the control unit 201 Existing hardware components can be omitted, for example, sensor signals 204 at the facility 229 be transferred directly to the arithmetic unit. Furthermore, there is an exchange of Aktoransteuerungen 206 between the arithmetic unit 203 and the facility 229 as well as diagnostic results 208 between the device 229 and the arithmetic unit 203 instead of.

A second embodiment of the invention is shown in the diagram of 4 shown. A control unit 301 is by dashed lines from a test system 317 separated. The control unit 301 has an arithmetic unit 303 or a controller that executes the controller software. The test system 317 in this embodiment has only one computer 321 to control the test and display test results and a simulation calculator 319 for the simulation of vehicle, driver and environmental conditions as well as the hardware or hardware components. The computer 321 is here with the simulation computer 319 connected. In this case, the arithmetic unit 303 via an interface directly with the simulation computer 319 connected, so that between the arithmetic unit 303 and the simulation computer 319 a closed loop 327 is realized. Thus, there is a simulation of hardware components that are traditionally within the controller 301 are located. sensor signals 304 be from the simulation calculator 319 to the arithmetic unit 303 to hand over. Similarly, diagnostic results from the simulation computer 319 to the arithmetic unit 303 directed. An actuator control 306 takes place between the arithmetic unit 303 and the simulation computer 319 ,

5 shows a schematic representation of a preferred embodiment of a test system according to the invention 417 and a controller 401 in a possible embodiment of the method according to the invention. The test system 417 has a simulation computer 419 and a connected computer 421 on. The control unit 401 has an arithmetic unit 403 and hardware components 404 . 406 however, which are not required for carrying out the method according to the invention and therefore in the 5 only shown by dashed lines.

To carry out the method according to the invention for testing control unit software for the control unit 401 are the arithmetic unit 403 and the simulation calculator 419 eg via an interface 429 to connect with each other. During a performance of the method, the hardware components become 404 . 406 through the simulation computer 419 simulated and thus replaced. This will be the hardware components 404 . 406 from the arithmetic unit 403 cut free. It is thus possible to carry out tests for ECU software with less effort and less space and at a lower cost.

Claims (11)

Method for testing control unit software for a control unit ( 201 . 301 . 401 ), the at least one computing unit ( 203 . 303 . 403 ) and at least one hardware component ( 404 . 406 ), in which the at least one arithmetic unit ( 203 . 303 . 403 ) with a device ( 229 ) is connected to simulate hardware and at least one hardware component ( 404 . 406 ) of the control unit ( 201 . 301 . 401 ) is replaced by simulation. Method according to Claim 1, in which it is provided that the at least one arithmetic unit ( 203 . 303 . 403 ) and at least one simulation computer ( 219 . 319 . 419 ) via an interface ( 429 ). Method according to Claim 1 or 2, in which the at least one hardware component ( 404 . 406 ) by the at least one simulation computer ( 219 . 319 . 419 ) and / or by means, for example, designed as a programmable logic device ( 229 ) is simulated to simulate hardware. Method according to one of the preceding claims, in which the control unit software on the at least one arithmetic unit ( 203 . 303 . 403 ) is performed. Method according to one of the preceding claims, in which in the control unit ( 201 . 301 . 401 ) at least one hardware component designed as a matching circuit ( 404 . 406 ) is replaced by simulation. Method according to one of the preceding claims, in which the control unit software is connected to a computer ( 221 . 321 . 421 ) and external conditions with the at least one simulation computer ( 219 . 319 . 419 ) are simulated. Method according to one of the preceding claims, in which it is provided that to the arithmetic unit ( 221 . 321 . 421 ) at least one card is connected to at least one processor, wherein a model is simulated by the processor located on the at least one card. Test system with a device ( 229 ) for simulating hardware designed to control ECU software for a controller ( 201 . 301 . 401 ), the at least one computing unit ( 203 . 303 . 403 ) and at least one hardware component ( 404 . 406 ), the device ( 229 ) with the arithmetic unit ( 203 . 303 . 403 ) and the at least one hardware component ( 404 . 406 ) is to be replaced by simulation. Test system according to Claim 8, in which at least one simulation computer ( 219 . 319 . 419 ) or a facility ( 229 ) for simulating hardware for simulating the at least one hardware component ( 404 . 406 ) is trained. Computer program with program code means to all Steps of a method according to one of claims 1 to 7 perform when the computer program on a computer or equivalent Computing device, in particular in a test system according to one of claims 8 or 9, performed becomes. Computer program product with program code means, which are stored on a computer-readable medium to a Method according to one of the claims 1 to 7, if the computer program is on a computer or equivalent Computing device, in particular in a test system according to one of claims 8 or 9, performed becomes.