摘 要

随着汽车大量涌入人们的生活中，人们对汽车的安全性、舒适性、经济性等各个方面性能的要求不断提高，使得电子控制单元（ECU）的控制功能越来越复杂。传统的测试必须等汽车样机开发出来之后才能进行实车测试，这样的流程容错率低、流程繁琐，且极端测试非常危险，给 ECU 的开发测试带来了困难。而

HIL 仿真测试可重现与 ECU 交互的物理系统，为 ECU 软件算法及硬件功能的测试和验证提供了良好的环境，提高测试效率，增加测试覆盖率和灵活性，以及降低测试成本。本文以硬件在环测试的思想为基础，自主研发硬件在环仿真测试系统，并进行了 ECU 的功能测试。

本文设计并实现了一个硬件在环仿真测试系统。系统的主要功能是实现对现有的 ECU 的功能和控制算法进行测试。系统主要包括三个核心部分：上位机监控软件、下位机实时仿真平台以及 IO 接口。其中上位机监控软件基于 Qt 实现，主要功能在于为用户提供监控和测试命令的可视化界面。下位机实时仿真平台分为内核空间和用户空间，内核空间用于模型任务的调度，IO 板卡的驱动实现，用于保证实时性；用户空间主要是运行模型任务，与上位机进行数据通信，以及以

IO 接口之间进行数据交换。IO 接口部分介于 ECU 与模型之间，提供与被测部件交互的模拟、数字和总线信号。

本文详细介绍了本硬件在环仿真测试系统的概要设计、详细设计与实现以及系统测试。目前，本系统的各个环节均已打通，整个系统的三大核心部分均已实现。测试人员可以在上位机监控软件对待测 ECU 进行基本的功能测试。为后续持续的开发打下坚实的基础。

关键词：电子控制单元；HIL 测试；实时性；IO 接口

ABSTRACT

With the influx of automobiles into people's lives, people's requirements for the safety, comfort, economy and other aspects of automobiles are constantly increasing, making the control functions of the electronic control unit (ECU) more and more complicated. The traditional test must wait for the development of the car prototype before the actual vehicle test can be carried out. Such a process has a low fault tolerance rate, a cumbersome process, and extreme testing is very dangerous, which brings difficulties to the development and  testing of ECU. The HIL simulation test can reproduce the physical system that interacts with the ECU, providing a good environment for the testing and verification of ECU software algorithms and hardware functions, improving test efficiency, increasing test coverage and flexibility, and reducing test costs. Based on the idea of hardware-in-the-loop testing, this paper independently develops a hardware-in-the-loop simulation test system and conducts ECU functional testing.

This paper designs and implements a hardware-in-the-loop simulation test system. The main function of the system is to test the functions and control algorithms of the existing ECU. The system mainly includes three core parts: upper computer monitoring software, lower computer real-time simulation platform and IO interface. The host computer monitoring software is implemented based on Qt, and its main function is to provide users with a visual interface for monitoring and testing commands. The real-time simulation platform of the lower computer is divided into kernel space and user space. The kernel space is used for the scheduling of model tasks, and the driver implementation of the IO board is used to ensure real-time performance; the user space is mainly for running model tasks and communicating data with the upper computer. And to exchange data between IO interfaces. The IO interface part is between the ECU and the model, providing analog, digital and bus signals that interact with the component under test.

This article introduces in detail the outline design, detailed design and implementation, and system testing of the hardware-in-the-loop simulation test system. At present, all links of the system have been opened up, and the three

core parts of the entire system have been realized. Testers can perform basic functional tests on the ECU to be tested in the host computer monitoring software. Lay a solid foundation for subsequent continuous development.

Key Words: electronic control unit; HIL test; real-time; IO interface

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