Fault processing method and device, equipment and medium

Abstract

The invention relates to a fault processing method and device, equipment and a medium, and the method comprises the steps: carrying out the fault detection of an MAC register value and the receiving and transmitting packet counting information of an MAC in an Ethernet wake-up process; and if the result of the fault detection is that a fault exists, executing a preset fault recovery operation. According to the technical scheme provided by the invention, the Ethernet MAC fault can be quickly and automatically recovered, the availability of the network is ensured, and the reliability of vehicle communication is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and in particular to a fault handling method, device, equipment, and medium. Background Art

[0002] Ethernet is a computer local area network technology. In some scenarios, vehicles exchange information through Ethernet to meet various business needs.

[0003] Currently, the vehicle's MCU (Microcontroller Unit) uses the Ethernet state management module to turn the network on and off. In some scenarios, factors such as electromagnetic or electric current may cause MAC (Media Access Control) register configuration failure or MAC operation failure. When the above situation occurs, the network will be disconnected, affecting the communication between the MCU and the SOC (System on Chip technology), and affecting the function of the entire vehicle. Summary of the Invention

[0004] In order to solve the above technical problems, the present disclosure provides a fault handling method, apparatus, device and medium.

[0005] In a first aspect, an embodiment of the present disclosure provides a fault handling method, including:

[0006] During Ethernet wakeup, fault detection is performed on the MAC register values ​​and MAC packet count information.

[0007] If the result of the fault detection is that a fault exists, a preset fault recovery operation is performed.

[0008] In a second aspect, an embodiment of the present disclosure provides a fault handling device, including:

[0009] A detection module is used to perform fault detection on the MAC register value and the MAC packet sending and receiving count information during the Ethernet wake-up process;

[0010] The recovery module is configured to execute a preset fault recovery operation if the result of the fault detection is that a fault exists.

[0011] In a third aspect, an embodiment of the present disclosure provides an electronic device, comprising: a processor; a memory for storing instructions executable by the processor; the processor for reading the executable instructions from the memory and executing the instructions to implement the fault handling method described in the first aspect above.

[0012] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the fault handling method described in the first aspect is implemented.

[0013] In a fifth aspect, an embodiment of the present disclosure provides a vehicle, comprising the fault handling device as described in the second aspect above, or the electronic device as described in the third aspect above.

[0014] Compared with the prior art, the technical solution provided by the embodiments of the present disclosure has the following advantages: during the Ethernet wake-up process, fault detection is performed on the MAC register value and the MAC packet sending and receiving count information. If the fault detection result indicates that a fault exists, a preset fault recovery operation is executed. Therefore, based on the existing Ethernet state management process and framework, a fault detection and fault recovery mechanism is added to achieve rapid and automatic recovery of Ethernet MAC faults, ensure network availability, and improve the reliability of vehicle communications. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0016] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0017] Figure 1 A flowchart of a fault handling method provided by an embodiment of the present disclosure;

[0018] Figure 2 A flowchart of another fault handling method provided by an embodiment of the present disclosure;

[0019] Figure 3 A schematic diagram of an Ethernet wake-up process provided by an embodiment of the present disclosure;

[0020] Figure 4 A schematic diagram of the structure of a fault handling device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0021] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features therein can be combined with each other in the absence of conflict.

[0022] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0023] Figure 1 This is a flow chart of a fault handling method provided in an embodiment of the present disclosure. The method provided in an embodiment of the present disclosure can be executed by a fault handling device, which can be implemented using software and / or hardware and can be integrated into any electronic device with computing capabilities, such as a vehicle-mounted terminal.

[0024] like Figure 1 As shown, the fault handling method provided by the embodiment of the present disclosure may include:

[0025] Step 101: During the Ethernet wake-up process, fault detection is performed on the MAC register value and the MAC packet sending and receiving count information.

[0026] Step 102: If the result of the fault detection is that a fault exists, a preset fault recovery operation is performed.

[0027] The following describes the fault detection of MAC register values ​​and MAC packet sending and receiving count information.

[0028] In one embodiment of the present disclosure, during the Ethernet wake-up process, a fault detection is performed on the MAC register value, including: when an Ethernet wake-up request is detected, a MAC initialization operation is performed, and then, the first configuration values ​​of the MAC register are read, and the first configuration values ​​are compared with the preset second configuration values. If the result of the fault detection is that a fault exists, a preset fault recovery operation is performed, including: if any of the first configuration values ​​is inconsistent with the second configuration value, a message indicating that the MAC initialization failed is returned, and the current Ethernet wake-up process is terminated. Optionally, if the result of the detection is not that a fault exists, the Ethernet MAC is controlled to enter the running state. In this embodiment, the Ethernet wake-up request is used to request to turn on the Ethernet. When the Ethernet wake-up request is detected, the initialization configuration of the MAC (Media Access Control, Media Access Control sublayer protocol) chip is performed, and the MAC transceiver function is turned on to put the Ethernet MAC into the running state.

[0029] There are multiple ways to wake up the Ethernet. As an example, when the vehicle is powered on, an Ethernet wake-up request is generated to wake up the Ethernet. Alternatively, an Ethernet wake-up request is generated based on user input to wake up the Ethernet. Alternatively, an Ethernet wake-up request is generated when a set condition is met to wake up the Ethernet, such as an operating cycle. In this example, a periodic task is optionally set, and the vehicle's MCU (Microcontroller Unit) detects the Ethernet wake-up request according to the periodic task through the Ethernet status management module. The period of the periodic task can be set as needed, for example, to 20ms.

[0030] In this embodiment, performing MAC initialization operations includes configuring MAC registers, enabling MAC transceiver functions, and reporting to the underlying network to notify it of availability. For example, notifying the network protocol stack that the Ethernet MAC has awakened and is operational. Thus, performing the MAC initialization operation puts the Ethernet MAC into operation. Configuring MAC registers includes configuring port speed and duplex, configuring MAC transceiver interrupts, configuring timing deviation when the MAC chip receives and sends data, and configuring MAC timestamps.

[0031] In one embodiment of the present disclosure, during an Ethernet wakeup process, fault detection is performed on MAC packet count information, including: in response to the Ethernet MAC being in an operating state, obtaining the MAC packet count information, the count information, and a threshold. The fault detection result is a fault, including: determining that a fault exists when detecting that the count information is less than or equal to the threshold.

[0032] In this embodiment, after the Ethernet MAC is in operation, the MAC's packet sending and receiving count information can be obtained. The packet sending and receiving count information includes a packet receiving count and a packet sending count. Based on the MAC's packet sending and receiving count information, it can be determined whether the MAC is operating normally.

[0033] In this embodiment, the packet count information is compared with a threshold. If the count information is less than or equal to the threshold, a MAC operation abnormality is determined, and a preset fault recovery operation is executed. The threshold can be pre-set or a value obtained by collecting Ethernet information, and is not specifically limited here.

[0034] As an example, when counting information is detected to be less than or equal to a threshold, determining that a fault exists includes: if the MAC packet reception count information is less than or equal to the packet loss count information, then determining that the fault detection result is a fault exists. In this example, the MAC packet loss count information is obtained. If the MAC packet reception count information is less than or equal to the packet loss count information, then determining that a MAC operation is abnormal is a request to shut down Ethernet to perform a preset fault recovery operation.

[0035] The following describes the fault recovery operation.

[0036] As an example, after detecting that the count information is less than or equal to a threshold, an abnormal flag is set, and an Ethernet shutdown request is generated to request the shutdown of the Ethernet. When the Ethernet shutdown request is detected, the step of shutting down the Ethernet is executed, and the step of shutting down the Ethernet includes: reporting that the underlying network is unavailable, shutting down the MAC's transceiver function, and deinitializing the MAC configuration to put the Ethernet in a shutdown state. After the step of shutting down the Ethernet is completed, a fault recovery process is performed. In this example, a preset fault recovery operation is executed, including: in response to the Ethernet being in the shutdown state, if the abnormal flag is detected to be set, an Ethernet wake-up request is triggered, and the abnormal flag is deleted, so that a MAC initialization operation is performed according to the triggered Ethernet wake-up request to put the Ethernet MAC into an operating state. Optionally, if the abnormal flag is not detected to be set, the Ethernet state management module detects the Ethernet wake-up request according to a periodic task. When the Ethernet wake-up request is detected, the MAC initialization operation is performed again to put the Ethernet MAC into an operating state.

[0037] According to the technical solution of the embodiment of the present disclosure, during the Ethernet wake-up process, fault detection is performed on the MAC register value and the MAC packet sending and receiving count information. If the result of the fault detection is that a fault exists, a preset fault recovery operation is executed. Therefore, based on the existing Ethernet state management process and framework, a fault detection and fault recovery mechanism is added to achieve rapid and automatic recovery of Ethernet MAC faults, ensuring that the MCU's network is unobstructed and available, and can communicate normally with other domain controllers, thereby ensuring the availability of the entire vehicle function and improving the reliability of vehicle communications.

[0038] Based on the above embodiments, Figure 2 A flowchart of another fault handling method provided by an embodiment of the present disclosure is shown as follows: Figure 2 As shown, the method includes:

[0039] Step 201: When an Ethernet wake-up request is detected, a MAC initialization operation is performed, and after the MAC initialization operation is performed, various first configuration values ​​of the MAC register are read.

[0040] In this embodiment, performing a MAC initialization operation includes configuring a MAC register to enable a MAC transceiver function. The configuration of the MAC register includes port rate and duplex configuration, MAC transceiver interrupt configuration, timing deviation configuration for MAC chip receiving and sending data, and MAC timestamp configuration. Optionally, reading first configuration values ​​of each item in the MAC register includes reading the configured MAC register to obtain register values ​​of the port rate and duplex configuration, the MAC transceiver interrupt configuration, the timing deviation configuration for MAC chip receiving and sending data, and the MAC timestamp configuration as the first configuration values.

[0041] Step 202 : Compare the first configuration value with the preset second configuration values. If any of the first configuration value and the second configuration value are inconsistent, return a message indicating that MAC initialization has failed, and terminate the Ethernet wake-up process.

[0042] In this embodiment, the second configuration value is a register value that the MAC register should satisfy. For example, the second configuration value includes register values ​​for the port rate and duplex configuration, MAC transceiver interrupt configuration, timing deviation configuration when the MAC chip receives and sends data, and MAC timestamp configuration that the MAC register should satisfy. Optionally, the first configuration value of each register value is compared with the corresponding second configuration value to check whether the register values ​​of the port rate and duplex configuration, MAC transceiver interrupt configuration, timing deviation configuration when the MAC chip receives and sends data, and MAC timestamp configuration are normal. If any of the first configuration values ​​is inconsistent with the second configuration value, a MAC initialization failure message is returned, the current Ethernet wake-up process is terminated, and the Ethernet wake-up request in the next cycle is awaited. Reinitialization is then performed in the next cycle to cover the scenario of MAC register configuration failure. If the first configuration value and the second configuration value of all items are consistent, the MAC initialization is determined to be successful, and a notification is sent to notify the underlying network that it is available, so that the MAC is in operation.

[0043] Step 203: In response to the Ethernet MAC being in the running state, obtain the MAC's sent and received packet count information.

[0044] In this embodiment, before performing fault detection on the MAC packet transmission and reception count information, the vehicle's power-on time is obtained, and the difference between the current time and the power-on time is determined. If the difference between the current time and the power-on time is greater than a preset time duration, the steps of obtaining the MAC packet transmission and reception count information and performing fault detection are not performed. The preset time duration is, for example, 10 seconds. That is, 10 seconds after the vehicle is powered on, the fault detection and recovery process is no longer triggered, thus avoiding repeated detection.

[0045] Step 204: When it is detected that the count information is less than or equal to the threshold, a request is made to shut down the Ethernet to perform a preset fault recovery operation.

[0046] In this embodiment, if the detected count information is greater than a threshold, the Ethernet MAC continues to operate, the Ethernet state management module runs idle, and waits for an Ethernet shutdown request at the end of the cycle. At the end of the cycle, the Ethernet shutdown request is triggered. When the vehicle's MCU receives the Ethernet shutdown request, it executes the steps of shutting down the Ethernet. The steps of shutting down the Ethernet include: reporting that the underlying network is unavailable, shutting down the MAC's transceiver functions, and deinitializing the MAC configuration to put the Ethernet in a closed state. Thus, by checking whether the network is already in an open state, reading the MAC transceiver packet statistics to check whether an anomaly has occurred, and requesting the network to be shut down if an anomaly occurs, setting an anomaly flag for fault recovery, the fault recovery mechanism checks whether the network is already in a closed state and whether the anomaly flag is set. If the anomaly flag is set, a request is made to execute the network opening process and the anomaly flag is cleared.

[0047] The following is an example to illustrate the overall operation process of the Ethernet MAC in this embodiment.

[0048] Reference Figure 3 The MAC register checks in the figure include: port speed and duplex configuration, MAC transmit and receive interrupt configuration, MAC chip receive and transmit timing deviation configuration, MAC timestamp configuration, and whether the MAC transmit and receive counts are normal. In this example, 1) when the Ethernet status management module receives an Ethernet wake-up request, it executes step 2). When it receives an Ethernet shutdown request, it executes step 3). If the Ethernet network status does not change, it jumps to step 9).

[0049] 2) Configure the MAC register. After the configuration is completed, read the MAC register to perform a configuration check to determine whether the register configuration meets expectations. If it meets expectations, execute step 4). If it does not meet expectations, return to initialization failure and wait until the next operation cycle to re-execute initialization.

[0050] 3) Notify the upper layer that the network is unavailable, disable the MAC transceiver function, deinitialize the MAC, and jump to step 7).

[0051] 4) Enable the MAC transceiver function to notify the upper layer network that it is available and proceed to step 5).

[0052] 5) If the check time exceeds 10 seconds, jump to step 8). Otherwise, if the current network is already open, read the MAC transceiver count to determine whether a fault occurs during MAC operation based on the MAC transceiver count. If a fault occurs, execute step 6). If no fault occurs, jump to step 1).

[0053] 6) Perform network shutdown operation, set abnormal flag, and jump to step 1).

[0054] 7) Check whether the network is closed. If the network is closed and the abnormal flag is set, open the network, clear the abnormal flag, and jump to step 1).

[0055] 8) End the fault detection mechanism, and no longer trigger the fault detection and recovery process execution, and jump to step 1).

[0056] 9) EthSM runs empty, skip to step 1).

[0057] In the embodiment of the present disclosure, by comparing the first configuration value of each register value with the corresponding second configuration value, if any of the first configuration value and the second configuration value are inconsistent, a message of MAC initialization failure is returned, and the current Ethernet wake-up process is terminated, waiting for the Ethernet wake-up request of the next cycle to cover the scenario of MAC register configuration failure. Therefore, based on the existing Ethernet state management process and framework, a fault detection and fault recovery mechanism is added according to the actual problem occurrence scenario on the whole vehicle, which can effectively identify abnormal scenarios and automatically recover, ensuring normal network operation without affecting the function of the whole vehicle. The user is unaware of the problem and the recovery process, and there is no need to manually power off and then power on the whole vehicle for fault recovery.

[0058] The disclosed embodiment also provides a fault handling device.

[0059] Figure 4 This is a structural diagram of a fault handling device provided by an embodiment of the present disclosure, such as Figure 4 As shown, the fault handling device includes a detection module 41 and a recovery module 42.

[0060] The detection module 41 is used to perform fault detection on the MAC register value and the MAC packet sending and receiving count information during the Ethernet wake-up process;

[0061] The recovery module 42 is configured to execute a preset fault recovery operation if the result of the fault detection is that a fault exists.

[0062] In one embodiment of the present disclosure, the detection module 41 is specifically configured to:

[0063] When an Ethernet wake-up request is detected, MAC initialization is performed;

[0064] Reading each first configuration value of the MAC register, and comparing the first configuration value with each preset second configuration value;

[0065] The recovery module 42 is specifically used for:

[0066] If any of the first configuration values ​​is inconsistent with the second configuration value, a message indicating that MAC initialization has failed is returned, and the Ethernet wake-up process is terminated.

[0067] In one embodiment of the present disclosure, the detection module 41 is specifically configured to:

[0068] In response to the Ethernet MAC being in a running state, obtaining MAC sent and received packet count information, and comparing the count information with a threshold;

[0069] The result of the fault detection is that a fault exists, including:

[0070] When it is detected that the counting information is less than or equal to the threshold, it is determined that the result is a fault.

[0071] In one embodiment of the present disclosure, the apparatus further comprises:

[0072] An abnormal marking module is used to set an abnormal marking and request to shut down the Ethernet;

[0073] The recovery module 42 is specifically used for:

[0074] In response to the Ethernet being in a closed state, if it is detected that the abnormal flag is set, the Ethernet wake-up request is triggered and the abnormal flag is deleted.

[0075] In one embodiment of the present disclosure, when detecting that the counting information is less than or equal to the threshold, determining that the result is a fault includes:

[0076] If the MAC packet reception count information is less than or equal to the packet loss count information, it is determined that the result is a fault.

[0077] In one embodiment of the present disclosure, the apparatus further comprises:

[0078] The judgment module is used to obtain the power-on time of the vehicle; if the difference between the current time and the power-on time is greater than a preset time length, the fault detection step is no longer performed.

[0079] In one embodiment of the present disclosure, the apparatus further comprises:

[0080] The shutdown module is configured to, upon detecting an Ethernet shutdown request, execute the steps of shutting down the Ethernet to place the Ethernet in a shutdown state; wherein the steps of shutting down the Ethernet include: reporting that the underlying network is unavailable, disabling the MAC's transceiver functions, and deinitializing the MAC configuration. The fault handling device provided in the embodiments of the present disclosure can execute any of the fault handling methods provided in the embodiments of the present disclosure, and has the corresponding functional modules and beneficial effects of the execution method. For matters not fully described in the embodiments of the present disclosure, reference can be made to the description of any of the method embodiments of the present disclosure.

[0081] An embodiment of the present disclosure further provides an electronic device, which includes one or more processors and a memory.

[0082] The processor may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device to perform desired functions.

[0083] The memory may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor may execute the program instructions to implement the methods of the embodiments of the present disclosure above and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage medium.

[0084] In one example, the electronic device may further include an input device and an output device, these components being interconnected via a bus system and / or other forms of connection mechanisms. Furthermore, the input device may include, for example, a keyboard, a mouse, etc. The output device may output various information to the outside, including determined distance information, direction information, etc. The output device may include, for example, a display, a speaker, a printer, a communication network, and remote output devices connected thereto.

[0085] Of course, for simplicity, only some of the components in the electronic device related to the present disclosure are shown, omitting components such as buses, input / output interfaces, etc. In addition, the electronic device may further include any other appropriate components according to specific application scenarios.

[0086] In addition to the above methods and devices, the embodiments of the present disclosure may also be a computer program product, which includes computer program instructions. When the computer program instructions are executed by a processor, the processor executes any method provided by the embodiments of the present disclosure.

[0087] The computer program product may be written in any combination of one or more programming languages ​​to implement the operations of the disclosed embodiments, including object-oriented programming languages ​​such as Java, C++, and conventional procedural programming languages ​​such as C or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a stand-alone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0088] In addition, the embodiments of the present disclosure may also be a computer-readable storage medium having computer program instructions stored thereon. When the computer program instructions are executed by a processor, the processor is enabled to perform any method provided by the embodiments of the present disclosure.

[0089] Computer readable storage media can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can, for example, include but is not limited to a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0090] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0091] The foregoing description is intended only to provide specific embodiments of the present disclosure, intended to enable those skilled in the art to understand and implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the embodiments described herein, but rather to be construed in the broadest manner consistent with the principles and novel features disclosed herein.

Claims

1. A fault handling method, characterized in that: include: During Ethernet wakeup, fault detection is performed on the MAC register values ​​and MAC packet count information. If the result of the fault detection is that a fault exists, a preset fault recovery operation is performed.

2. The method according to claim 1, wherein During Ethernet wakeup, the MAC register values ​​are checked for faults, including: When an Ethernet wake-up request is detected, MAC initialization is performed; Reading each first configuration value of the MAC register, and comparing the first configuration value with each preset second configuration value; If the result of the fault detection is that a fault exists, performing a preset fault recovery operation includes: If any of the first configuration values ​​is inconsistent with the second configuration value, a message indicating that MAC initialization has failed is returned, and the Ethernet wake-up process is terminated.

3. The method according to claim 1, wherein During Ethernet wakeup, fault detection is performed on the MAC's sent and received packet counts, including: In response to the Ethernet MAC being in a running state, obtaining MAC sent and received packet count information, and comparing the count information with a threshold; The result of the fault detection is that a fault exists, including: When it is detected that the counting information is less than or equal to the threshold, it is determined that the result is a fault.

4. The method according to claim 3, wherein After determining that the result is a fault, the method further includes: Set the exception flag and request to shut down Ethernet; The performing of the preset fault recovery operation includes: In response to the Ethernet being in a closed state, if it is detected that the abnormal flag is set, the Ethernet wake-up request is triggered and the abnormal flag is deleted.

5. The method according to claim 3, wherein When detecting that the counting information is less than or equal to the threshold, determining that the result is a fault includes: If the MAC packet reception count information is less than or equal to the packet loss count information, it is determined that the result is a fault.

6. The method according to claim 1, wherein Before performing fault detection on the MAC register value and the MAC packet sending and receiving count information, the method further includes: Get the vehicle's power-on time; If the difference between the current time and the power-on time is greater than the preset time length, the fault detection step is no longer performed.

7. A fault handling device, characterized in that: include: A detection module is used to perform fault detection on the MAC register value and the MAC packet sending and receiving count information during the Ethernet wake-up process; The recovery module is configured to execute a preset fault recovery operation if the result of the fault detection is that a fault exists.

8. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to read the executable instructions from the memory and execute the instructions to implement the fault handling method described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The storage medium stores a computer program, and when the computer program is executed by the processor, the fault handling method according to any one of claims 1 to 6 is implemented.

10. A vehicle, characterized in that: include: The apparatus according to claim 7, or the electronic device according to claim 8.

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