{"id":121627,"date":"2026-11-03T07:09:08","date_gmt":"2026-11-02T23:09:08","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/121627.html"},"modified":"2026-11-03T07:09:08","modified_gmt":"2026-11-02T23:09:08","slug":"iso-26262-%e5%8f%98%e6%9b%b4%e9%aa%8c%e8%af%81%ef%bc%9aparasoft-%e5%8a%a9%e5%8a%9b%e6%8e%92%e6%9f%a5%e6%b5%8b%e8%af%95%e7%9b%b2%e5%8c%ba","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/121627.html","title":{"rendered":"ISO 26262 \u53d8\u66f4\u9a8c\u8bc1\uff1aParasoft \u52a9\u529b\u6392\u67e5\u6d4b\u8bd5\u76f2\u533a"},"content":{"rendered":"

\u00a0\u5b89\u5168\u76f8\u5173\u4ee3\u7801\u6539\u5b8c，\u539f\u6709\u6d4b\u8bd5\u5168\u90e8\u901a\u8fc7，\u4ecd\u4e0d\u80fd\u636e\u6b64\u5224\u65ad\u672c\u6b21\u53d8\u66f4\u5df2\u5f97\u5230\u5145\u5206\u9a8c\u8bc1\u3002\u65b0\u589e\u7684\u5f02\u5e38\u5904\u7406\u6761\u4ef6\u53ef\u80fd\u6ca1\u6709\u8fdb\u5165\u6d4b\u8bd5\u8f93\u5165，\u65ad\u8a00\u4e5f\u53ef\u80fd\u4ecd\u6cbf\u7528\u53d8\u66f4\u524d\u7684\u9884\u671f\u7ed3\u679c\u3002<\/p>\n

\u5728\u6309 ISO 26262 \u5f00\u5c55\u5f00\u53d1\u7684\u9879\u76ee\u4e2d，\u5b89\u5168\u76f8\u5173\u53d8\u66f4\u9700\u8981\u7ed3\u5408\u5f71\u54cd\u5206\u6790，\u91cd\u65b0\u6838\u67e5\u9a8c\u8bc1\u8303\u56f4\u3002Parasoft C\/C++test \u4e0e DTP \u7684\u4ef7\u503c，\u5728\u4e8e\u5e2e\u52a9\u56e2\u961f\u5173\u8054\u9700\u6c42\u3001\u6d4b\u8bd5\u7ed3\u679c\u548c\u7ed3\u6784\u8986\u76d6\u4fe1\u606f，\u5b9a\u4f4d\u9700\u8981\u8865\u5145\u6216\u590d\u67e5\u7684\u9a8c\u8bc1\u4f9d\u636e\u3002<\/p>\n

\u4e00\u3001\u65e7\u7528\u4f8b\u901a\u8fc7，\u4e0d\u4ee3\u8868\u65b0\u589e\u4fdd\u62a4\u6761\u4ef6\u5df2\u9a8c\u8bc1<\/h3>\n

\u4ee5\u63a7\u5236\u5668\u4e2d\u7684\u8f6c\u77e9\u8f93\u51fa\u8bb8\u53ef\u4e3a\u4f8b：\u539f\u6709\u903b\u8f91\u68c0\u67e5\u201c\u5b58\u5728\u8f93\u51fa\u8bf7\u6c42\u3001\u53cd\u9988\u6709\u6548\u201d，\u672c\u6b21\u53d8\u66f4\u589e\u52a0\u4e00\u6761\u8981\u6c42：<\/p>\n

REQ-TQ-017：\u53cd\u9988\u6570\u636e\u5e74\u9f84\u8d85\u8fc7 100 ms \u65f6，\u7981\u6b62\u8f93\u51fa\u8f6c\u77e9，\u5e76\u5c06\u8f93\u51fa\u503c\u7f6e\u96f6\u3002<\/p>\n

\u4e0b\u9762\u4f7f\u7528 C++14 \u8868\u8fbe\u8fd9\u4e00\u53d8\u66f4\u3002\u4ee3\u7801\u4e3a\u6559\u5b66\u793a\u4f8b，\u4e0d\u6765\u81ea\u5ba2\u6237\u9879\u76ee；100 ms \u4e3a\u793a\u4f8b\u9608\u503c，\u5b9e\u9645\u6570\u503c\u5e94\u7531\u9879\u76ee\u5b89\u5168\u8981\u6c42\u786e\u5b9a\u3002<\/p>\n

#include <cstdint><\/p>\n

struct TorqueInput {
\n bool requested;
\n bool feedback_valid;
\n std::uint32_t feedback_tick_ms;
\n std::int16_t requested_torque;
\n};<\/p>\n

struct TorqueOutput {
\n bool enabled;
\n std::int16_t torque;
\n};<\/p>\n

TorqueOutput evaluate_torque(const TorqueInput& input,
\n std::uint32_t now_ms) noexcept
\n{
\n constexpr std::uint32_t kMaxFeedbackAgeMs = 100U;<\/p>\n

\/\/ \u524d\u63d0：\u4f7f\u7528\u540c\u4e00\u5355\u8c03\u9012\u589e\u7684 uint32_t \u6beb\u79d2\u8ba1\u6570\u5668，
\n \/\/ \u4e14\u5b9e\u9645\u7ecf\u8fc7\u65f6\u95f4\u5c0f\u4e8e\u4e00\u4e2a\u5b8c\u6574\u8ba1\u6570\u5468\u671f\u3002
\n const std::uint32_t age_ms =
\n static_cast<std::uint32_t>(now_ms – input.feedback_tick_ms);<\/p>\n

const bool allowed =
\n input.requested &&
\n input.feedback_valid &&
\n (age_ms <= kMaxFeedbackAgeMs);<\/p>\n

return TorqueOutput{
\n allowed,
\n allowed ? input.requested_torque : std::int16_t{0}
\n };
\n}<\/p>\n

\u5982\u679c\u539f\u6709\u7528\u4f8b\u53ea\u6d4b\u8bd5\u201c\u6709\u6548\u53cd\u9988\u4e0b\u6b63\u5e38\u8f93\u51fa\u201d\u548c\u201c\u65e0\u8bf7\u6c42\u65f6\u7981\u6b62\u8f93\u51fa\u201d，\u4e14\u53cd\u9988\u5e74\u9f84\u59cb\u7ec8\u4e3a 10 ms，\u90a3\u4e48\u65b0\u589e\u8d85\u65f6\u5224\u65ad\u540e，\u8fd9\u4e9b\u6d4b\u8bd5\u4ecd\u4f1a\u901a\u8fc7\u3002<\/p>\n

\u8fd9\u53ea\u80fd\u8bf4\u660e\u5df2\u6709\u8f93\u5165\u4ecd\u7b26\u5408\u9884\u671f，\u4e0d\u80fd\u8bf4\u660e\u201c\u8d85\u8fc7 100 ms \u7981\u6b62\u8f93\u51fa\u201d\u5df2\u7ecf\u5f97\u5230\u9a8c\u8bc1\u3002<\/p>\n

\u9488\u5bf9\u672c\u6b21\u53d8\u66f4，\u5e94\u8865\u5145\u80fd\u591f\u533a\u5206\u65b0\u65e7\u884c\u4e3a\u7684\u6d4b\u8bd5\u3002\u4e0b\u9762\u4f7f\u7528 GoogleTest \u53c2\u6570\u5316\u6d4b\u8bd5\u8868\u8fbe\u6d4b\u8bd5\u8bbe\u8ba1，\u65ad\u8a00\u540c\u65f6\u68c0\u67e5\u8f93\u51fa\u8bb8\u53ef\u548c\u8f6c\u77e9\u503c：<\/p>\n

#include <gtest\/gtest.h>
\n\/\/ \u5047\u5b9a\u5df2\u5305\u542b\u4e0a\u8ff0\u7ed3\u6784\u4f53\u53ca evaluate_torque \u7684\u58f0\u660e\u3002<\/p>\n

struct TorqueCase {
\n const char* name;
\n TorqueInput input;
\n std::uint32_t now_ms;
\n bool expected_enabled;
\n std::int16_t expected_torque;
\n};<\/p>\n

class TorqueGateTest
\n : public ::testing::TestWithParam<TorqueCase> {};<\/p>\n

TEST_P(TorqueGateTest, MatchesSafetyRequirement)
\n{
\n const auto& tc = GetParam();
\n SCOPED_TRACE(tc.name);<\/p>\n

const auto actual = evaluate_torque(tc.input, tc.now_ms);<\/p>\n

EXPECT_EQ(tc.expected_enabled, actual.enabled);
\n EXPECT_EQ(tc.expected_torque, actual.torque);
\n}<\/p>\n

INSTANTIATE_TEST_SUITE_P(
\n RequirementCases,
\n TorqueGateTest,
\n ::testing::Values(
\n TorqueCase{"fresh", {true, true, 1000U, 120}, 1010U, true, 120},
\n TorqueCase{"no_request", {false, true, 1000U, 120}, 1010U, false, 0},
\n TorqueCase{"invalid", {true, false, 1000U, 120}, 1010U, false, 0},
\n TorqueCase{"at_limit", {true, true, 1000U, 120}, 1100U, true, 120},
\n TorqueCase{"expired", {true, true, 1000U, 120}, 1101U, false, 0},
\n TorqueCase{"tick_wrap", {true, true, 0xFFFFFFF0U, 120},
\n 0x00000020U, true, 120}
\n )
\n);<\/p>\n

\u5176\u4e2d，`at_limit` \u4e0e expired \u6838\u67e5\u8d85\u65f6\u8fb9\u754c；`tick_wrap` \u68c0\u67e5\u65e0\u7b26\u53f7\u8ba1\u6570\u5668\u8de8\u96f6\u540e\u7684\u65f6\u95f4\u5dee，\u672c\u4f8b\u4e3a 48 ms\u3002\u82e5\u7cfb\u7edf\u4e0d\u80fd\u4fdd\u8bc1\u4e0a\u8ff0\u8ba1\u65f6\u524d\u63d0，\u8fd8\u9700\u53e6\u884c\u5904\u7406\u65f6\u95f4\u6233\u5f02\u5e38\u3002<\/p>\n

**\u9700\u6c42\u5173\u8054\u7740\u6d4b\u8bd5，\u4e0d\u7b49\u4e8e\u6d4b\u8bd5\u5185\u5bb9\u5df2\u7ecf\u8ddf\u968f\u9700\u6c42\u66f4\u65b0\u3002**\u5b8c\u6210\u76f8\u5e94\u96c6\u6210\u4e0e\u914d\u7f6e\u540e，Parasoft DTP \u53ef\u5448\u73b0\u9700\u6c42\u5173\u8054\u7684\u6d4b\u8bd5\u53ca\u7ed3\u679c，\u4e3a\u5de5\u7a0b\u5e08\u5ba1\u67e5\u8f93\u5165\u3001\u8fb9\u754c\u548c\u65ad\u8a00\u63d0\u4f9b\u8ffd\u6eaf\u5165\u53e3\u3002\u5173\u8054\u5173\u7cfb\u5e2e\u52a9\u627e\u5230\u5bf9\u8c61，\u9a8c\u8bc1\u662f\u5426\u5145\u5206\u4ecd\u9700\u7ed3\u5408\u9700\u6c42\u5224\u65ad\u3002<\/p>\n

\"\"<\/p>\n

\u4e8c\u3001\u5206\u652f\u8986\u76d6\u5145\u5206，\u4ecd\u9700\u68c0\u67e5\u6761\u4ef6\u662f\u5426\u88ab\u72ec\u7acb\u9a8c\u8bc1<\/h3>\n

\u4e0a\u8ff0\u8bb8\u53ef\u5224\u5b9a\u53ef\u4ee5\u5199\u6210：<\/p>\n

allowed = A && B && C<\/p>\n

A：\u5b58\u5728\u8f93\u51fa\u8bf7\u6c42
\nB：\u53cd\u9988\u6709\u6548
\nC：\u53cd\u9988\u5e74\u9f84\u4e0d\u8d85\u8fc7 100 ms<\/p>\n

\u5982\u679c\u53ea\u6267\u884c fresh \u548c no_request，\u5224\u5b9a\u5df2\u7ecf\u51fa\u73b0\u771f\u3001\u5047\u4e24\u79cd\u7ed3\u679c\u3002\u4f46\u53cd\u9988\u6709\u6548\u6027\u548c\u8d85\u65f6\u6761\u4ef6\u90fd\u6ca1\u6709\u5206\u522b\u5bfc\u81f4\u5224\u5b9a\u7ffb\u8f6c，\u4e0d\u80fd\u636e\u6b64\u8bf4\u660e\u5404\u6761\u4ef6\u7684\u72ec\u7acb\u4f5c\u7528\u5df2\u9a8c\u8bc1\u3002<\/p>\n\n\u5bf9\u7167\u7528\u4f8b\u6539\u53d8\u7684\u6761\u4ef6\u4fdd\u6301\u4e0d\u53d8\u7684\u5176\u4ed6\u6761\u4ef6\u5224\u5b9a\u53d8\u5316<\/tr>\n\n\n\n\n
fresh \/ no_request<\/td>\nA：\u8f93\u51fa\u8bf7\u6c42<\/td>\nB\u3001C \u5747\u4e3a\u771f<\/td>\n\u771f \u2192 \u5047<\/td>\n<\/tr>\n
fresh \/ invalid<\/td>\nB：\u53cd\u9988\u6709\u6548<\/td>\nA\u3001C \u5747\u4e3a\u771f<\/td>\n\u771f \u2192 \u5047<\/td>\n<\/tr>\n
fresh \/ expired<\/td>\nC：\u53cd\u9988\u672a\u8d85\u65f6<\/td>\nA\u3001B \u5747\u4e3a\u771f<\/td>\n\u771f \u2192 \u5047<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\u8fd9\u7ec4\u5bf9\u7167\u4f53\u73b0\u4e86 MC\/DC \u6240\u5173\u6ce8\u7684\u6761\u4ef6\u72ec\u7acb\u5f71\u54cd\u3002\u5b9e\u9645\u62a5\u544a\u8fd8\u9700\u7ed3\u5408\u77ed\u8def\u6c42\u503c\u3001\u5de5\u5177\u7684\u8986\u76d6\u5b9a\u4e49\u53ca\u63d2\u6869\u914d\u7f6e\u89e3\u8bfb，\u4e0d\u80fd\u4ec5\u51ed\u6d4b\u8bd5\u8868\u5ba3\u79f0\u5df2\u6ee1\u8db3\u5168\u90e8\u8986\u76d6\u76ee\u6807\u3002<\/p>\n

Parasoft C\/C++test \u5b98\u65b9\u6587\u6863\u4ecb\u7ecd\u4e86\u5206\u652f\u3001MC\/DC \u7b49\u8986\u76d6\u5ea6\u91cf，\u5e76\u652f\u6301\u4ece\u8986\u76d6\u5143\u7d20\u53cd\u67e5\u5173\u8054\u7528\u4f8b，\u4ee5\u53ca\u5355\u72ec\u67e5\u770b\u9009\u5b9a\u7528\u4f8b\u7684\u8986\u76d6\u60c5\u51b5\u3002\u5bf9\u4e8e\u672c\u4f8b，\u5de5\u7a0b\u5e08\u53ef\u4ee5\u636e\u6b64\u6838\u67e5：\u8d85\u65f6\u6761\u4ef6\u662f\u5426\u88ab\u6709\u6548\u89e6\u53d1\u3001\u54ea\u4e9b\u6d4b\u8bd5\u8d21\u732e\u4e86\u76f8\u5173\u8986\u76d6，\u4ee5\u53ca\u4ecd\u7f3a\u5c11\u54ea\u4e9b\u8f93\u5165\u3002<\/p>\n

\u4f46\u8986\u76d6\u5145\u5206\u4ecd\u4e0d\u7b49\u4e8e\u884c\u4e3a\u68c0\u67e5\u5145\u5206\u3002\u4f8b\u5982，\u8d85\u65f6\u6d4b\u8bd5\u53ea\u65ad\u8a00 enabled == false，\u5374\u6ca1\u6709\u68c0\u67e5 torque == 0，\u5c31\u53ef\u80fd\u9057\u6f0f\u9700\u6c42\u4e2d\u7684\u8f93\u51fa\u6e05\u96f6\u8981\u6c42\u3002<\/p>\n

**\u8986\u76d6\u7ed3\u679c\u63ed\u793a\u6267\u884c\u8303\u56f4，\u65ad\u8a00\u68c0\u67e5\u9884\u671f\u884c\u4e3a，\u4e24\u8005\u9700\u8981\u4e00\u8d77\u5ba1\u67e5\u3002**\u8986\u76d6\u6307\u6807\u5219\u5e94\u4f9d\u636e\u9879\u76ee\u9002\u7528\u8981\u6c42\u4e0e\u9a8c\u8bc1\u8ba1\u5212\u9009\u62e9，\u4e0d\u80fd\u5c06 MC\/DC \u5f53\u4f5c\u6240\u6709\u9879\u76ee\u7684\u7edf\u4e00\u95e8\u69db\u3002<\/p>\n

\u771f\u5b9e\u5b9e\u8df5\u65b9\u9762，Parasoft \u4e2d\u56fd\u5b98\u7f51\u62ab\u9732，\u4e2d\u79fb\u667a\u884c\u4e8e 2023 \u5e74\u83b7\u5f97 ISO 26262 \u529f\u80fd\u5b89\u5168\u4ea7\u54c1 ASIL B \u8ba4\u8bc1，\u5e76\u4f7f\u7528 C\/C++test \u5f00\u5c55\u9759\u6001\u5206\u6790\u3001\u5355\u5143\u6d4b\u8bd5\u3001\u96c6\u6210\u6d4b\u8bd5\u53ca\u8986\u76d6\u6307\u6807\u5ea6\u91cf\u3002\u8be5\u6848\u4f8b\u80fd\u591f\u652f\u6491\u6d4b\u8bd5\u4e0e\u8986\u76d6\u5206\u6790\u7684\u5de5\u7a0b\u5e94\u7528，\u4f46\u672a\u516c\u5f00\u4e0a\u8ff0\u8f6c\u77e9\u903b\u8f91\u6216\u5177\u4f53\u53d8\u66f4\u8865\u6d4b\u8fc7\u7a0b\u3002<\/p>\n

\"\"<\/p>\n

\u4e09\u3001\u8865\u6d4b\u5b8c\u6210\u540e，\u8fd8\u8981\u786e\u8ba4\u7ed3\u679c\u5c5e\u4e8e\u672c\u6b21\u6784\u5efa<\/h3>\n

\u8865\u5145\u7528\u4f8b\u540e，\u9700\u8981\u91cd\u65b0\u6267\u884c\u6d4b\u8bd5，\u590d\u67e5\u65ad\u8a00\u4e0e\u9002\u7528\u8986\u76d6\u76ee\u6807\u3002\u672a\u8986\u76d6\u9879\u5219\u5e94\u8c03\u67e5\u539f\u56e0：\u662f\u8f93\u5165\u4e0d\u8db3\u3001\u73af\u5883\u9650\u5236，\u8fd8\u662f\u4e0d\u53ef\u8fbe\u4ee3\u7801，\u5e76\u4fdd\u7559\u5904\u7406\u4f9d\u636e\u3002\u82e5\u53d8\u66f4\u5f71\u54cd\u901a\u4fe1\u3001\u4efb\u52a1\u8c03\u5ea6\u6216\u6267\u884c\u5668\u63a5\u53e3，\u8fd8\u9700\u5b89\u6392\u76f8\u5e94\u7684\u96c6\u6210\u6216\u7cfb\u7edf\u6d4b\u8bd5\u3002<\/p>\n

\u9a8c\u8bc1\u7ed3\u679c\u4e5f\u5fc5\u987b\u5bf9\u5e94\u6b63\u786e\u7248\u672c\u3002DTP \u4f7f\u7528\u6784\u5efa\u6807\u8bc6\u7ec4\u7ec7\u7ed3\u679c，\u5de5\u5177\u914d\u7f6e\u4e2d\u7684 build.id \u7528\u4e8e\u6307\u5b9a\u8be5\u6807\u8bc6\u3002\u540c\u4e00\u6784\u5efa\u4e0b\u7684\u591a\u6b21\u6d4b\u8bd5\u4e0e\u8986\u76d6\u6267\u884c\u53ef\u4ee5\u5f52\u96c6\u5206\u6790\u3002<\/p>\n

\u4f8b\u5982，\u53ef\u5728\u9879\u76ee\u5de5\u5177\u914d\u7f6e\u4e2d\u660e\u786e\u8bbe\u7f6e：<\/p>\n

# \u793a\u4f8b：\u7531 CI \u751f\u6210\u5e76\u5199\u5165，\u540d\u79f0\u5305\u542b\u6d41\u6c34\u7ebf\u7f16\u53f7\u548c\u63d0\u4ea4\u77ed\u54c8\u5e0c
\ndtp.project=TorqueController
\nbuild.id=TorqueController-1842-a1b2c3d<\/p>\n

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\u5bf9\u4e8e\u5b89\u5168\u76f8\u5173\u53d8\u66f4，\u9700\u8981\u6838\u67e5\u7684\u59cb\u7ec8\u662f\u56db\u4ef6\u4e8b：\u7528\u4f8b\u662f\u5426\u8ddf\u968f\u9700\u6c42\u66f4\u65b0\u3001\u65ad\u8a00\u662f\u5426\u68c0\u67e5\u65b0\u589e\u884c\u4e3a\u3001\u8986\u76d6\u662f\u5426\u8fbe\u5230\u9002\u7528\u76ee\u6807\u3001\u7ed3\u679c\u662f\u5426\u5c5e\u4e8e\u672c\u6b21\u6784\u5efa\u3002<\/p>\n

Parasoft C\/C++test \u4e0e DTP \u5c06\u6d4b\u8bd5\u6267\u884c\u3001\u8986\u76d6\u5206\u6790\u548c\u9700\u6c42\u8ffd\u6eaf\u8fde\u63a5\u8d77\u6765，\u5e2e\u52a9\u56e2\u961f\u627e\u5230\u5e76\u590d\u67e5\u8fd9\u4e9b\u9a8c\u8bc1\u7f3a\u53e3，\u4e3a ISO 26262 \u5408\u89c4\u8bc4\u4f30\u4fdd\u7559\u53ef\u6838\u67e5\u7684\u4f9d\u636e\u3002<\/p>\n

\n

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\"\"<\/p>\n","protected":false},"excerpt":{"rendered":"

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