The products at this stage are usually defined as B prototypes, that is, prototypes with certain functions, which are used to adjust various parameters to match the performance of the entire vehicle. After completing the HiL test of various functions, the ECU will enter the real vehicle test stage. Commonly used tools at this stage include dSPACE’s ControlDesk software, Simulator and SCALEXIO hardware, ETAS’ LABCAROPERATOR software, LABCAR and ES1000 hardware, etc. In the actual vehicle test stage, the calibration and matching test of all control parameters related to the actual operation of the vehicle in the control algorithm will be completed, and tests under various actual vehicle operating environments, such as high temperature, high cold, and high altitude, will be completed. At the same time, it will also complete the FMEA (Failure Mode and Effects Analysis, potential failure mode and effect analysis) work of ECU products.