Bus communication code error handling device, method, and ultrasonic radar driving device

Abstract

This application provides a bus communication code error processing device, method, and ultrasonic radar driving device. The device includes: a decoding module connected to the bus, used to receive first information from the bus and decode it to obtain second information; wherein the first information includes command information and data code information; an error symbol detection module connected to the bus and the decoding module, used to receive the first information and the second information, detect and judge error symbols in the bus communication code, and generate error flags; an error processing module connected to the error symbol detection module and the decoding module, used to receive the error flags, classify the error flags to generate error flag classification results, and control the decoding module to enter different decoding states according to the classification results; and a circuit system control module connected to the error processing module and the decoding module, used to receive the error flag classification results and control the circuit system according to the error flag classification results. The technical solution of this application detects error communication codes in real time through hardware circuitry, which can greatly improve the system's automation capability and increase detection efficiency and stability.

Description

Technical Field

[0001] This application relates to the field of power electronics technology, and in particular to a bus communication code error handling device, method, and ultrasonic radar driving device. Background Technology

[0002] During the operation of the ultrasonic radar drive circuit, it typically establishes a communication connection with the host ECU (Electronic Control Unit) via an I / O bus interface with a flexible communication protocol. This bus-based communication method is a crucial link in enabling information exchange and collaborative operation of the entire circuit system. The host ECU can send various information such as control commands and configuration parameters to the ultrasonic radar drive circuit through this communication link, while the drive circuit can also feed back its own operating status and detected data to the host ECU, thereby ensuring the normal and efficient operation of the entire system including the ultrasonic radar.

[0003] For ultrasonic radar drive circuits, the accuracy and stability of bus communication are crucial fundamental requirements. If communication errors occur, technicians will find it difficult to accurately determine whether the problem stems from a hardware failure in the drive circuit itself or from an anomaly in the communication link during system maintenance. For example, data loss or incorrect transmission during communication might lead maintenance personnel to mistakenly believe that the radar sensor hardware is damaged, resulting in unnecessary hardware testing and replacement, wasting significant manpower, resources, and time.

[0004] In troubleshooting, unstable or erroneous communication significantly increases the difficulty and complexity of the process. Communication errors can trigger various anomalies, such as inaccurate radar ranging or deviations in the returned distance data. Accurately pinpointing whether a communication failure or another circuit malfunction is the cause requires technicians to meticulously inspect and analyze the entire communication link and related circuit modules. This may involve monitoring signals at each node, verifying the execution of communication protocols, and many other tasks, undoubtedly posing a significant challenge to troubleshooting.

[0005] In existing technologies, the detection and processing of bus communication symbols are mostly achieved through software analysis. Specifically, this involves writing specialized software programs to parse, verify, and handle errors in the symbols transmitted during communication according to a predetermined communication protocol. For example, the software checks whether the format of each symbol conforms to the protocol specifications and whether the checksum is correct. Once an anomaly is detected, it attempts to perform corresponding error correction or error message prompts.

[0006] Software analysis requires meticulous processing of data from each communication, especially in complex communication environments or high-frequency communication scenarios. It necessitates continuous detection, judgment, and subsequent processing of symbols, which undoubtedly consumes significant time and effort. For example, when an ultrasonic radar system needs to rapidly and continuously acquire and transmit data, the software must frequently execute detection logic, potentially impacting the overall system's response speed.

[0007] To achieve comprehensive and accurate communication symbol detection and processing, the software requires certain system resources, including processor processing power and memory space. As the amount of communication data increases and the complexity of the detection logic grows, the software overhead will increase, potentially impacting other system modules running in parallel and leading to a decline in overall system performance.

[0008] Furthermore, the accuracy and reliability of software analysis depend to some extent on the quality of the software code and the algorithmic logic employed. However, in practical applications, unforeseen circumstances may arise, such as sudden electromagnetic interference or other external factors, which can cause the software to misjudge or fail to effectively handle communication symbol errors, leading to an unpredictable system state. For example, the software might misinterpret temporary data anomalies caused by interference as normal, failing to process them correctly, causing subsequent communication to continue on an erroneous basis. This ultimately leads to various unpredictable behaviors within the system, severely impacting the normal operation of the ultrasonic radar drive circuit and the entire related system.

[0009] Therefore, accurate and comprehensive error detection and handling of communication codes are of paramount importance. Summary of the Invention

[0010] This application aims to solve the technical problem that the existing technology cannot efficiently and reliably detect and process communication code errors, which leads to difficulties in the maintenance and troubleshooting of circuit systems.

[0011] In view of this, this application provides a bus communication code error handling device, comprising: a decoding module connected to the bus, configured to receive first information from the bus and decode it to obtain second information; wherein the first information includes: command information and data code information; an error symbol detection module connected to the bus and the decoding module, configured to receive the first information and the second information, detect and judge error symbols in the bus communication code and generate error flags; an error handling module connected to the error symbol detection module and the decoding module, configured to receive the error flags, classify the error flags to generate error flag classification results, and control the decoding module to enter different decoding states according to the classification results; and a circuit system control module connected to the error handling module and the decoding module, configured to receive the error flag classification results and control the circuit system according to the error flag classification results.

[0012] Furthermore, the error symbol detection module detects and judges error symbols in the bus communication code and generates error flags, including: start symbol detection, command symbol detection, data symbol detection and check symbol detection.

[0013] Furthermore, the start symbol detection compares the transmitted and received symbol data and outputs a start symbol error flag when they are inconsistent; the command symbol detection compares the ranges of the transmitted and received symbol data and outputs a command symbol period error flag and a command symbol low-level error flag when they are inconsistent; the data symbol detection compares the ranges of the transmitted and received symbol data and outputs a data symbol period error flag and a data symbol low-level error flag when they are inconsistent.

[0014] The check symbol detection compares the sent and received check values ​​and outputs a check symbol error flag when they are inconsistent.

[0015] Furthermore, the error handling module receives the error flags and classifies them to obtain a first type of error flag, a second type of error flag, or a third type of error flag; the first type of error flag includes the start symbol error flag; the second type of error flag includes the command symbol period error flag and the command symbol low level error flag; the third type of error flag includes the data symbol period error flag, the data symbol low level error flag, and the check symbol error flag.

[0016] Furthermore, the error handling module is used to receive error flags output by the error symbol detection module and classify them into a first type of error flag, a second type of error flag, and a third type of error flag. Based on the classification results, the module is controlled to enter different decoding states, specifically as follows: when a first type of error flag is received, the decoding module is controlled to return to the initial state; when a second type of error flag is received, the decoding module is controlled to enter the command code error state; when a third type of error flag is received, the state of the decoding module remains unchanged until the transmission is completed.

[0017] Furthermore, the circuit system control module receives the error flag classification result and controls the circuit system according to the error flag classification result. Specifically, when the classification result is a first type of error flag or a second type of error flag, the circuit system control module does not receive the first type of error flag or the second type of error flag, and the circuit system remains in its initial state. When a third type of error flag is received, the circuit system is controlled to remain in its original data receiving state. When data reception ends, if a third type of error flag is detected, the received data is discarded, and the circuit system state is restored to its initial state.

[0018] This application also provides a bus communication code error handling method, comprising: using a decoding module to receive first information from the bus and decode it to obtain second information; wherein the first information includes command information and data code information; using an error symbol detection module to receive the first information and the second information, for detecting and judging error symbols in the bus communication code and generating an error flag; using an error handling module to receive the error flag, classify the error flag to generate an error flag classification result, and control the decoding module to enter different decoding states according to the classification result; and using a circuit system control module to receive the error flag classification result and control the state of the control circuit system according to the error flag classification result.

[0019] Furthermore, the error symbol detection module detects and judges error symbols in the bus communication code and generates error flags, including: start symbol detection, command symbol detection, data symbol detection and check symbol detection.

[0020] Furthermore, the start symbol detection compares the transmitted and received symbol data and outputs a start symbol error flag when they are inconsistent; the command symbol detection compares the ranges of the transmitted and received symbol data and outputs a command symbol period error flag and a command symbol low-level error flag when they are inconsistent; the data symbol detection compares the ranges of the transmitted and received symbol data and outputs a data symbol period error flag and a data symbol low-level error flag when they are inconsistent; and the check symbol detection compares the sent and received check values ​​and outputs a check symbol error flag when they are inconsistent.

[0021] Furthermore, the error handling module receives the error flags and classifies them to obtain a first type of error flag, a second type of error flag, and a third type of error flag; the first type of error flag includes the start symbol error flag; the second type of error flag includes the command symbol period error flag and the command symbol low level error flag; the third type of error flag includes the data symbol period error flag, the data symbol low level error flag, and the check symbol error flag.

[0022] Furthermore, the error handling module is used to receive error flags output by the error symbol detection module and classify them into a first type of error flag, a second type of error flag, or a third type of error flag. Based on the classification result, the module is controlled to enter different decoding states, specifically as follows: when a first type of error flag is received, the decoding module is controlled to return to the initial state; when a second type of error flag is received, the decoding module is controlled to enter the command code error state; when a third type of error flag is received, the state of the decoding module remains unchanged until the transmission is completed.

[0023] Furthermore, the circuit system control module receives the error flag classification result and controls the circuit system according to the error flag classification result. Specifically, when the classification result is a first type of error flag or a second type of error flag, the circuit system control module does not receive the first type of error flag or the second type of error flag, and the circuit system remains in its initial state. When a third type of error flag is received, the circuit system is controlled to remain in its original data receiving state. When data reception ends, if a third type of error flag is detected, the received data is discarded, and the circuit system state is restored to its initial state.

[0024] This application also provides an ultrasonic radar driving device, comprising: an electronic controller unit, a bus connected to the electronic controller unit, and any of the bus communication code error handling devices described above connected to the bus.

[0025] In summary, the bus communication code error processing device, method, and ultrasonic radar driving device provided in this application detect erroneous communication codes in real time through hardware circuits. After detecting an erroneous communication code, it classifies and reports it and provides different flag signals. The ultrasonic radar driving circuit can enter different response states according to different flag signals. The method of this application can greatly reduce software overhead. At the same time, this bus communication code error detection and processing method makes the system more automated, improves the efficiency of erroneous communication code detection, and enhances detection stability. Attached Figure Description

[0026] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0027] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a system framework diagram of a bus communication code error handling device provided in an embodiment of this application;

[0029] Figure 2 This is a schematic flowchart of a bus communication code error handling method provided in another embodiment of this application;

[0030] Figure 3 This is a schematic diagram of the error symbol detection module and error handling module judgment and processing flow provided in another embodiment of this application;

[0031] Figure 4 A frame diagram of an ultrasonic radar driving device provided in another embodiment of this application. Detailed Implementation

[0032] In the following description, when referring to the accompanying drawings, the same numbers in different drawings denote the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this application as detailed in the appended claims.

[0033] The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0034] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0035] In existing technologies, the detection and processing of bus communication symbols are mainly achieved through software analysis. This method is not only time-consuming and labor-intensive, but also consumes a large amount of software overhead and has unstable results, which may lead to the system entering an uncertain state.

[0036] This invention proposes a method for detecting and handling errors in bus communication codes. It utilizes hardware circuitry to detect erroneous communication codes in real time and controls the system to process them according to different error types. This method and system for detecting and handling bus communication codes is more automated and efficient, significantly improving detection efficiency and stability.

[0037] In existing technologies, the detection and processing of bus communication symbols are mainly achieved through software analysis. This method is not only time-consuming and labor-intensive, but also consumes a large amount of software overhead and has unstable results, which may lead to the system entering an unstable state.

[0038] Please see Figure 1 The diagram shown is a framework diagram of a bus communication code error handling device provided in an embodiment of this application. In this embodiment,

[0039] The bus communication code error handling device 100 includes: a decoding module 110 connected to a bus 150, used to receive first information from the bus 150 and decode it to obtain second information; wherein the first information includes command information and data code information; an error symbol detection module 120 connected to the bus 150 and the decoding module 110, used to receive the first information and the second information, detect and judge error symbols in the bus communication code and generate error flags; an error handling module 130 connected to the error symbol detection module 120 and the decoding module 110, used to receive the error flags, classify the error flags to generate error flag classification results, and control the decoding module to enter different decoding states according to the classification results; and a circuit system control module 140 connected to the error handling module 130 and the decoding module 110, used to receive the error flag classification results and control the circuit system according to the error flag classification results.

[0040] The bus communication code error handling device provided in this application embodiment is based on hardware circuitry for error communication code detection and processing, which brings many significant advantages.

[0041] In summary, this application uses hardware circuitry to detect erroneous communication codes in real time. After detecting an erroneous communication code, it categorizes and reports it, providing different flag signals. The ultrasonic radar drive circuit can enter different response states according to different flag signals. This method can significantly reduce software overhead. At the same time, this method of detecting and processing bus communication codes makes the system more automated, improves the efficiency of erroneous communication code detection, and enhances detection stability.

[0042] To explain this application more clearly, please refer to... Figure 2 The diagram shown is a flowchart of a bus communication code error processing method based on the bus communication code error processing device of the above embodiment provided in another embodiment of this application, which provides a more detailed description of the technical solution of this application.

[0043] In this embodiment, the bus communication code error handling device provided in the above embodiment specifically includes the following steps in performing the bus communication code error handling method:

[0044] Step S210: Using the decoding module 110, receive the first information from the bus 150 and decode it to obtain the second information; wherein, the first information includes: command information and data code information;

[0045] Step S220: Using the error code element detection module 120, the first information and the second information are received to detect and judge the error code elements in the bus communication code and generate an error flag;

[0046] Step S230: Using the error processing module 130, the error flag is received, the error flag is classified to generate an error flag classification result, and the decoding module 110 is controlled to enter different decoding states according to the classification result;

[0047] Step S240: Using the circuit system control module 140, receive the error flag classification result and control the state of the control circuit system according to the error flag classification result.

[0048] In one embodiment of this application, the error symbol detection module 120 detects and judges error symbols in the bus communication code and generates an error flag, including: start symbol detection, command symbol detection, data symbol detection and check symbol detection.

[0049] The specific method and steps for the error code element detection module 120 to detect and judge include the following steps:

[0050] The start symbol detection compares the transmitted and received symbol data and outputs a start symbol error flag when they are inconsistent.

[0051] The command symbol detection compares the range of transmitted and received symbol data, and outputs a command symbol period error flag and a command symbol low level error flag when they are inconsistent.

[0052] The data symbol detection compares the data ranges of the transmitted and received symbols, and outputs a data symbol period error flag and a data symbol low level error flag when they are inconsistent.

[0053] The check symbol detection compares the sent and received check values ​​and outputs a check symbol error flag when they are inconsistent.

[0054] For example, the error code detection module is used to acquire and determine error codes in the I / O bus communication code. For the error code determination process, please refer to [link to relevant documentation]. Figure 3 The diagram shown is a flowchart of an error symbol detection module and an error handling module provided in another embodiment of this application.

[0055] Error symbol detection methods include start symbol detection, command symbol detection, data symbol detection, and check symbol detection. Start symbol detection compares the transmitted and received symbol data; if they are inconsistent, a start symbol error flag (start_errflag) is issued. Command symbol detection and data symbol detection respectively include symbol period detection and symbol low-level detection. By comparing the specified data range of the transmitted symbol with the received data range, if they are inconsistent, command symbol period error flags (cmd_cycle_errflag), command symbol low-level error flags (cmd_low_errflag), data symbol period error flags (data_cycle_errflag), and data symbol low-level error flags (data_low_errflag) are issued, respectively. Check symbol detection is divided into odd and even parity checks. By comparing the parity values ​​of the transmitted and received data, if they are inconsistent, a check symbol error flag (crc_errflag) is issued. These error flags are output to the error handling module.

[0056] In this embodiment, the error processing module 130 receives the error flags and classifies them to obtain a first type of error flag, a second type of error flag, and a third type of error flag; wherein, the first type of error flag includes the start symbol error flag; the second type of error flag includes the command symbol period error flag and the command symbol low level error flag; and the third type of error flag includes the data symbol period error flag, the data symbol low level error flag, and the check symbol error flag.

[0057] In this embodiment, the error handling module 130 controls the decoding module to enter different decoding states based on the classification results, as follows:

[0058] When a first type of error flag is received, the decoding module 110 is controlled to return to the initial state;

[0059] When a second type of error flag is received, the decoding module 110 is controlled to enter the command code error state;

[0060] When a third type of error flag is received, the state of the decoding module 110 remains unchanged until the transmission is completed.

[0061] For examples, please continue reading. Figure 3The error handling module receives error flags generated by the error symbol detection module and categorizes them into three types: the first type includes the start symbol error flag (start_errflag); the second type includes the command symbol cycle error flags (cmd_cycle_errflag and cmd_low_errflag); and the third type includes the data symbol cycle error flags (data_cycle_errflag, data_low_errflag, and crc_errflag). If the error handling module receives a first-type error flag, it controls the decoding module to return to the initial state (IDLE); if it receives a second-type error flag, it controls the decoding module to enter the command code error state (CODE_ERR); if it receives a third-type error flag, the state of the decoding module remains unchanged until all transmissions are complete.

[0062] In this embodiment, the circuit system control module 140 receives the error flags that the error processing module 130 has completed classifying. The circuit system control module 140 does not receive the first and second type error flags. Therefore, when there are first and second type error symbols, the circuit system maintains the initial state SINT unchanged. When the module receives the third type error flag, the control circuit system remains in the original data receiving state SCMDEXE unchanged. However, if the third type error flag is detected when the data reception ends, the received data is discarded and the system state is restored to the initial state SINT.

[0063] This application also provides an ultrasonic radar driving device that applies the technical solution provided in the above embodiments. Please refer to [link to relevant documentation]. Figure 4 The diagram shows a framework of an ultrasonic radar driving device according to another embodiment of this application. The ultrasonic radar driving device 400 includes: an electronic controller unit 410, a bus 420 connected to the electronic controller unit 410, and a bus communication code error processing device 430 connected to the bus as described in the above embodiments. The bus communication code error processing device 430 is as described in the above embodiments and will not be repeated here.

[0064] In summary, the bus communication code error handling device, method, and ultrasonic radar driving device provided in this application, which are based on hardware circuits for error communication code detection and processing, bring many significant advantages.

[0065] First, from a resource utilization perspective, software overhead is significantly reduced. Because the complex and time-consuming tasks of communication code analysis and error handling, originally handled by software, are efficiently taken over by hardware circuitry, the software is freed from these arduous tasks. This allows more system resources to be allocated to other critical functionalities, such as optimizing radar ranging algorithms and improving the accuracy and speed of data processing, thereby enhancing the overall system performance.

[0066] Secondly, it has led to a qualitative leap in the system's level of automation. The entire error detection and handling process no longer relies on the sequential execution of software programs and complex logical judgments. Instead, the hardware circuits directly and quickly drive the drive circuits to respond, reducing the need for human intervention and the uncertainties that may be introduced by the complexity of software logic. This greatly improves the timeliness and accuracy of the system in responding to communication errors, enabling it to operate more stably and reliably in complex and ever-changing working environments.

[0067] Finally, in terms of detection efficiency and stability, the inherent characteristics of the hardware circuit enable it to process communication codes in parallel at extremely high speeds, far exceeding the efficiency limitations of software serial processing. Simultaneously, the hardware circuit exhibits stronger resistance to environmental interference. Its stable physical structure and specially designed anti-interference mechanisms ensure continuous and stable accurate detection and classification of communication codes under various harsh conditions, providing a solid guarantee for the stable operation of the system. This effectively avoids system failures and performance degradation caused by communication errors, further enhancing the reliability and practicality of the entire ultrasonic radar system in real-world applications. This lays a solid technical foundation for its widespread application in numerous fields such as autonomous driving assistance, industrial inspection, and intelligent security.

[0068] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or modules may be electrical, mechanical, or other forms.

[0069] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope of this application is indicated by the claims.

[0070] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope.

Claims

1. A bus communication code error handling device, characterized in that, include: A decoding module, connected to the bus, is used to receive first information from the bus and decode it to obtain second information; wherein the first information includes: command information and data code information; An error code element detection module, connected to the bus and the decoding module, is used to receive the first information and the second information, detect and judge the error code elements in the bus communication code and generate an error flag. An error handling module, connected to the error symbol detection module and the decoding module, is used to receive the error flag, classify the error flag and generate an error flag classification result, and control the decoding module to enter different decoding states according to the error flag classification result; The circuit system control module, connected to the error handling module and the decoding module, is used to receive the error flag classification result and control the circuit system according to the error flag classification result.

2. The bus communication code error handling device as described in claim 1, characterized in that, The error symbol detection module detects and judges error symbols in the bus communication code and generates error flags, including: start symbol detection, command symbol detection, data symbol detection and check symbol detection.

3. The bus communication code error handling device as described in claim 2, characterized in that, The start symbol detection compares the transmitted and received symbol data and outputs a start symbol error flag when they are inconsistent. The command symbol detection compares the range of transmitted and received symbol data, and outputs a command symbol period error flag and a command symbol low level error flag when they are inconsistent. The data symbol detection compares the data ranges of the transmitted and received symbols, and outputs a data symbol period error flag and a data symbol low level error flag when they are inconsistent. The check symbol detection compares the sent and received check values ​​and outputs a check symbol error flag when they are inconsistent.

4. The bus communication code error handling device as described in claim 3, characterized in that, The error handling module receives the error flag and classifies the error flag to obtain a first type of error flag, a second type of error flag, or a third type of error flag; The first type of error flag includes the start symbol error flag; The second type of error flags includes the command symbol period error flag and the command symbol low level error flag; The third type of error flag includes the data symbol period error flag, the data symbol low level error flag, and the check symbol error flag.

5. The bus communication code error handling device as described in claim 1, characterized in that, The error handling module is used to receive error flags output by the error symbol detection module, classify them into first-type error flags, second-type error flags, or third-type error flags, and control the decoding module to enter different decoding states based on the classification results, including: When a first type of error flag is received, the decoding module is controlled to return to the initial state; When a second type of error flag is received, the decoding module is controlled to enter the command code error state; When a third type of error flag is received, the state of the decoding module remains unchanged until the transmission is complete.

6. The bus communication code error handling device as described in claim 5, characterized in that, The circuit system control module receives the error flag classification result and controls the circuit system according to the error flag classification result, including: When the classification result is a first type of error flag or a second type of error flag, the circuit system control module does not receive the first type of error flag or the second type of error flag, and the circuit system remains unchanged in its initial state; When a third type of error flag is received, the control circuit system remains in the original data receiving state. When data reception ends, if a third type of error flag is detected, the received data is discarded and the circuit system is restored to its initial state.

7. A method for handling errors in bus communication codes, characterized in that, Includes the following steps: The decoding module receives first information from the bus and decodes it to obtain second information; wherein the first information includes command information and data code information. The error code detection module receives the first information and the second information to detect and judge the error code in the bus communication code and generate an error flag. The error handling module receives the error flags, classifies them to generate error flag classification results, and controls the decoding module to enter different decoding states based on the classification results. The circuit system control module receives the error flag classification results and controls the state of the control circuit system based on the error flag classification results.

8. The bus communication code error handling method as described in claim 7, characterized in that, The error symbol detection module detects and judges error symbols in the bus communication code and generates error flags, including: start symbol detection, command symbol detection, data symbol detection and check symbol detection.

9. The bus communication code error handling method as described in claim 8, characterized in that, The start symbol detection compares the transmitted and received symbol data and outputs a start symbol error flag when they are inconsistent. The command symbol detection compares the range of transmitted and received symbol data, and outputs a command symbol period error flag and a command symbol low level error flag when they are inconsistent. The data symbol detection compares the data ranges of the transmitted and received symbols, and outputs a data symbol period error flag and a data symbol low level error flag when they are inconsistent. The check symbol detection compares the sent and received check values ​​and outputs a check symbol error flag when they are inconsistent.

10. The bus communication code error handling method as described in claim 9, characterized in that, The error handling module receives the error flags and classifies them to obtain a first type of error flag, a second type of error flag, and a third type of error flag. The first type of error flag includes the start symbol error flag; The second type of error flags includes the command symbol period error flag and the command symbol low level error flag; The third type of error flag includes the data symbol period error flag, the data symbol low level error flag, and the check symbol error flag.

11. The bus communication code error handling method as described in claim 7, characterized in that, The error handling module is used to receive error flags output by the error symbol detection module, classify them into first-type error flags, second-type error flags, or third-type error flags, and control the decoding module to enter different decoding states based on the classification results, including: When a first type of error flag is received, the decoding module is controlled to return to the initial state; When a second type of error flag is received, the decoding module is controlled to enter the command code error state; When a third type of error flag is received, the state of the decoding module remains unchanged until the transmission is complete.

12. The bus communication code error handling method as described in claim 11, characterized in that, The circuit system control module receives the error flag classification result and controls the circuit system according to the error flag classification result, including: When the classification result is a first type of error flag or a second type of error flag, the circuit system control module does not receive the first type of error flag or the second type of error flag, and the circuit system remains unchanged in its initial state; When a third type of error flag is received, the control circuit system remains in the original data receiving state. When data reception ends, if a third type of error flag is detected, the received data is discarded and the circuit system is restored to its initial state.

13. An ultrasonic radar driving device, characterized in that, include: An electronic controller unit, a bus connected to the electronic controller unit, and a bus communication code error handling device as described in any one of claims 1 to 6 connected to the bus.

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