Bus Port Fault Judgment Method and System

Abstract

This application relates to a method and system for judging bus port faults. The method includes: a CAN analyzer sending first test data in the CAN bus format to the CAN bus port of an autonomous driving processor; the autonomous driving processor generating first feedback data in the CAN bus format in response to the first test data in the CAN bus format, and returning the first feedback data in the CAN bus format to the CAN analyzer through the CAN bus port; the CAN analyzer judging whether the CAN bus port has a fault according to the first test data in the CAN bus format and the first feedback data in the CAN bus format. Using this method can improve the assembly efficiency of the autonomous driving processor.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and particularly to a method and system for judging bus port faults. Background Art

[0002] With the development of autonomous driving technology, an autonomous driving processor receives data sent by various systems such as an engine control system, an anti-lock braking system, an air conditioning system, and a positioning system in an autonomous driving tool through various bus ports, and controls each system according to the received data to enable the autonomous driving tool to drive normally.

[0003] In traditional technology, when an autonomous driving processor is assembled on an autonomous driving tool, it is often found that the bus ports of the autonomous driving processor cannot be used normally, wasting a lot of time to troubleshoot problem points and even possibly resulting in reinstallation, with low assembly efficiency. Summary of the Invention

[0004] Based on this, it is necessary to provide a method and system for judging bus port faults that can improve the assembly efficiency of autonomous driving tools for the above technical problems.

[0005] A method for judging bus port faults, the method includes:

[0006] A CAN analyzer sends first test data in CAN bus format to the CAN bus port of an autonomous driving processor;

[0007] The autonomous driving processor generates first feedback data in CAN bus format in response to the first test data in CAN bus format, and returns the first feedback data in CAN bus format to the CAN analyzer through the CAN bus port;

[0008] The CAN analyzer judges whether the CAN bus port has a fault according to the first test data in CAN bus format and the first feedback data in CAN bus format.

[0009] In one embodiment, the method further includes:

[0010] The CAN analyzer obtains first test data to be converted, and the first test data to be converted is generated by a first test software;

[0011] The CAN analyzer performs format conversion on the first test data to be converted according to the CAN bus protocol to obtain the first test data in CAN bus format.

[0012] In one embodiment, before the CAN analyzer sends the first test data in the CAN bus format to the CAN bus port of the autonomous driving processor, the method further includes:

[0013] The CAN analyzer automatically identifies the bus baud rate matching the CAN bus port and establishes a communication connection with the CAN bus port according to the bus baud rate.

[0014] In one embodiment, the CAN analyzer determines whether the CAN bus port has a fault according to the first test data in the CAN bus format and the first feedback data in the CAN bus format, including:

[0015] The CAN analyzer performs cyclic redundancy check on the first test data in the CAN bus format to obtain a test data check code, and performs cyclic redundancy check on the first feedback data in the CAN bus format to obtain a feedback data check code;

[0016] When the test data check code is different from the feedback data check code, it is determined that the CAN bus port has a fault.

[0017] In one embodiment, the method further includes:

[0018] The communication converter sends the second test data in the serial bus format to the serial bus port of the autonomous driving processor;

[0019] The autonomous driving processor generates the second feedback data in the serial bus format in response to the second test data in the serial bus format and returns the second feedback data in the serial bus format to the communication converter through the serial bus port;

[0020] The communication converter determines whether the serial bus port has a fault according to the second test data in the serial bus format and the second feedback data in the serial bus format.

[0021] In one embodiment, the method further includes:

[0022] The communication converter obtains the second test data to be converted, and the second test data to be converted is generated by the second test software;

[0023] The communication converter performs format conversion on the second test data to be converted according to the serial bus protocol to obtain the second test data in the serial bus format.

[0024] In one embodiment, the serial bus protocol is the RS485 protocol, the RS232 protocol or the RS422 protocol.

[0025] A bus port fault judgment system, the system includes:

[0026] A CAN analyzer, configured to send first test data in CAN bus format to the CAN bus port of an autonomous driving processor;

[0027] The autonomous driving processor is configured to generate first feedback data in CAN bus format in response to the first test data in CAN bus format, and return the first feedback data in CAN bus format to the CAN analyzer through the CAN bus port;

[0028] The CAN analyzer is further configured to determine whether a fault has occurred in the CAN bus port according to the first test data in CAN bus format and the first feedback data in CAN bus format.

[0029] In one embodiment, the system further includes:

[0030] The CAN analyzer is further configured to obtain first test data to be converted, where the first test data to be converted is generated by a first test software;

[0031] The CAN analyzer is further configured to perform format conversion on the first test data to be converted according to the CAN bus protocol to obtain the first test data in CAN bus format.

[0032] In one embodiment, the system further includes:

[0033] The CAN analyzer is configured to automatically identify the bus baud rate matching the CAN bus port, and establish a communication connection with the CAN bus port according to the bus baud rate.

[0034] In one embodiment, the CAN analyzer is further configured to:

[0035] Perform cyclic redundancy check on the first test data in CAN bus format to obtain a test data check code, and perform cyclic redundancy check on the first feedback data in CAN bus format to obtain a feedback data check code;

[0036] When the test data check code is different from the feedback data check code, it is determined that a fault has occurred in the CAN bus port.

[0037] In one embodiment, the system further includes:

[0038] A communication converter, configured to send second test data in serial bus format to the serial bus port of an autonomous driving processor;

[0039] The autonomous driving processor is configured to generate second feedback data in the serial bus format in response to the second test data in the serial bus format, and return the second feedback data in the serial bus format to the communication converter through the serial bus port;

[0040] The communication converter is further configured to determine whether a fault has occurred in the serial bus port according to the second test data in the serial bus format and the second feedback data in the serial bus format.

[0041] In one embodiment, the system further includes:

[0042] The communication converter is further configured to obtain second test data to be converted, where the second test data to be converted is generated by a second test software;

[0043] The communication converter is further configured to perform format conversion on the second test data to be converted according to the serial bus protocol to obtain second test data in the serial bus format.

[0044] In one embodiment, the serial bus protocol is an RS485 protocol, an RS232 protocol, or an RS422 protocol.

[0045] In the above embodiment, the CAN analyzer sends first test data in the CAN bus format to the CAN bus port of the autonomous driving processor; the autonomous driving processor generates first feedback data in the CAN bus format in response to the first test data in the CAN bus format, and returns the first feedback data in the CAN bus format to the CAN analyzer through the CAN bus port; the CAN analyzer determines whether a fault has occurred in the CAN bus port according to the first test data in the CAN bus format and the first feedback data in the CAN bus format. By using test data to test the CAN bus port, it is possible to determine whether there is a fault in the CAN bus port of the autonomous driving processor, and then install the autonomous driving processor that has been determined to be fault-free after testing on the autonomous driving tool, reducing the repair rate during the assembly of the autonomous driving processor and improving the assembly efficiency of the autonomous driving processor. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is an application environment diagram of a bus port fault judgment method in one embodiment;

[0047] Figure 2 It is a schematic flowchart of a bus port fault judgment method in one embodiment;

[0048] Figure 3 It is a schematic diagram of a data transmission process in one embodiment;

[0049] Figure 4Schematic flowchart of the bus port fault judgment method in another embodiment;

[0050] Figure 5 Schematic diagram of the data transmission process in another embodiment;

[0051] Figure 6 Schematic diagram of the data transmission process in another embodiment;

[0052] Figure 7 Schematic flowchart of the bus port fault judgment method in another embodiment;

[0053] Figure 8 Schematic flowchart of the bus port fault judgment method in another embodiment;

[0054] Figure 9 Block diagram of the bus port fault judgment system in one embodiment;

[0055] Figure 10 Block diagram of the bus port fault judgment system in another embodiment. Detailed implementation manners

[0056] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0057] The bus port fault judgment method provided by the present application can be applied to, for example Figure 1In the application environment shown. Among them, the autonomous driving processor 102 communicates with the CAN analyzer 104. The CAN analyzer 104 sends the first test data in CAN bus format to the CAN bus port of the autonomous driving processor 102; the autonomous driving processor 102 generates the first feedback data in CAN bus format in response to the first test data in CAN bus format, and returns the first feedback data in CAN bus format to the CAN analyzer 104 through the CAN bus port; the CAN analyzer 104 determines whether a fault has occurred in the CAN bus port according to the first test data in CAN bus format and the first feedback data in CAN bus format. Among them, the autonomous driving processor is a microprocessor in which an autonomous driving processing system is embedded, and the autonomous driving processing system uniformly controls and manages subsystems such as the engine control subsystem, navigation subsystem, air conditioning subsystem, and anti-lock subsystem on the autonomous driving tool. Among them, the autonomous driving processor supports master-side time synchronization and slave-side time synchronization, has a built-in current and voltage detection module, and has a camera device data transmission port, a radar data port, a gigabit network port, 2 CAN bus ports, supports an external GPS device, and also has 1 232 serial port, one 442 serial port, and one 485 serial port. Each subsystem sends data such as monitoring data and system operation data to the bus port on the autonomous driving processor, and the autonomous driving processor processes the received data to generate a control signal, and sends the control signal to each subsystem through the bus port to achieve the control and management of each subsystem. Among them, the autonomous driving tool is a driving tool that can safely drive on the road through a pre-set control program without any manual operation, including driverless cars, wheeled mobile robots, drones, etc. Among them, the CAN (Controller Area Network) analyzer is a device used for debugging and development of CAN interface devices, fault identification, CAN bus maintenance, etc.

[0058] In one embodiment, as Figure 2 shown, a method for judging a bus port fault is provided, and taking the CAN analyzer and the autonomous driving processor in Figure 1 as an example, the method includes the following steps:

[0059] S202, the CAN analyzer sends the first test data in CAN bus format to the CAN bus port of the autonomous driving processor.

[0060] Among them, the CAN bus is a fieldbus that can be used as the standard bus for automotive computer control systems and embedded industrial control local area networks. The CAN bus connects the cables in a tree structure and can correct data errors caused by electromagnetic interference during data transmission. It can use twisted pair, coaxial cable, or optical fiber to transmit signals, and the maximum transmission rate can reach 1 Mbps. There is no master-slave distinction among the nodes on the CAN bus, and all nodes are equal. When a node sends data, it broadcasts it in the form of a message to all nodes. The CAN bus message consists of CAN data frames, and the CAN data frames include remote frames, error frames, overload frames, etc. The CAN bus format is the data format that conforms to the CAN bus protocol. Among them, the first test data is binary data used to test the CAN bus port. The first test data can be the data generated during the operation of the test program. Among them, the CAN bus port is the port that receives and sends data conforming to the CAN bus protocol.

[0061] S204, the autonomous driving processor generates the first feedback data in the CAN bus format in response to the first test data in the CAN bus format, and returns the first feedback data in the CAN bus format to the CAN analyzer through the CAN bus port.

[0062] Among them, after receiving the first test data in the CAN bus format through the CAN bus port, the autonomous driving processor generates the first feedback data in the CAN bus format according to the first test data in the CAN bus format. In one embodiment, the autonomous driving processor generates the first feedback data that is consistent with the first test data. In another embodiment, the autonomous driving processor verifies the first test data, generates a check code, and then adds the check code after the first test data to obtain the first feedback data.

[0063] S206, the CAN analyzer determines whether the CAN bus port has a fault according to the first test data in the CAN bus format and the first feedback data in the CAN bus format.

[0064] When receiving the first feedback data, the CAN analyzer determines whether the CAN bus port has a fault according to the first test data and the first feedback data. In one embodiment, the CAN analyzer determines whether the first test data is consistent with the first feedback data. If they are consistent, it is determined that the CAN bus port has no fault; if they are inconsistent, it is determined that the CAN bus port has a fault. In another embodiment, the first feedback data includes the check code obtained by verifying the first test data. The CAN analyzer extracts the check code from the first feedback data. If the extracted check code is consistent with the check code directly generated according to the first test data, it is determined that the CAN bus port has no fault; if they are inconsistent, it is determined that the CAN bus port has a fault.

[0065] In one embodiment, the CAN analyzer sends first test data in CAN bus format to the CAN bus port of the autonomous driving processor. In response to the first test data in CAN bus format, the autonomous driving processor generates first feedback data in CAN bus format and returns the first feedback data in CAN bus format to the CAN analyzer through the CAN bus port. The CAN analyzer determines whether the first feedback data in CAN bus format is received. If not, it is determined that a fault has occurred in the CAN bus port.

[0066] In the above embodiment, the CAN analyzer sends first test data in CAN bus format to the CAN bus port of the autonomous driving processor; in response to the first test data in CAN bus format, the autonomous driving processor generates first feedback data in CAN bus format and returns the first feedback data in CAN bus format to the CAN analyzer through the CAN bus port; the CAN analyzer determines whether a fault has occurred in the CAN bus port according to the first test data in CAN bus format and the first feedback data in CAN bus format. By using the test data to test the CAN bus port, it is possible to determine whether there is a fault in the CAN bus port of the autonomous driving processor, and then install the autonomous driving processor determined to be fault-free after testing on the autonomous driving tool, reducing the repair rate during the assembly of the autonomous driving processor and improving the assembly efficiency of the autonomous driving processor.

[0067] In one embodiment, the CAN analyzer sends the first test data in CAN bus format and the first feedback data in CAN bus format to a computer device, and views the first test data and the first feedback data through an analysis tool. Among them, the analysis tool is an application software installed on the computer device, which has a visual interface for setting the parameters of the CAN analyzer to receive and send data, and viewing the data received and sent by the CAN analyzer. For example, through the analysis tool, the data length of the data sent by the CAN analyzer, whether to send cyclically, the number of cyclic sends, the interval time of cyclic sends, timed sends, etc. can be set. Among them, the CAN analyzer can be connected to the computer device through a USB (Universal Serial Bus) interface. The CAN analyzer can convert the first feedback data in CAN bus format into first feedback data in USB bus format, and send the first feedback data in USB bus format to the computer device through the USB interface and display it in the visual interface of the analysis tool.

[0068] In one embodiment, the bus port fault determination method further includes: the CAN analyzer obtains first test data to be converted, which is generated by a first test software; the CAN analyzer performs format conversion on the first test data to be converted according to the CAN bus protocol to obtain first test data in the CAN bus format.

[0069] As Figure 3 shown, the first test software is an application software installed on a computer device, which generates first test data to be converted during operation. The computer device sends the first test data to be converted to the CAN analyzer through a USB interface. The CAN analyzer performs format conversion on the first test data to be converted according to the CAN bus protocol to obtain first test data in the CAN bus format, and sends the first test data in the CAN bus format to the autonomous driving processor through the CAN bus port.

[0070] In one embodiment, the first test software has a visual interface. The computer device obtains a baud rate setting instruction and a CAN channel setting instruction triggered in the visual interface, sets the baud rate at which the CAN analyzer forwards the first test data to the autonomous driving processor according to the baud rate setting instruction, and sets the CAN channel when the CAN analyzer forwards the first test data to the autonomous driving processor according to the CAN channel setting instruction. The visual interface also has a test data editing box. The computer device obtains the test data text input by an input device in the test data editing box, and when receiving a send instruction, sends the first test data to be converted to the CAN analyzer according to the test data text.

[0071] In one embodiment, an FPGA circuit board is connected to the computer device, and a computer program of the first test software is burned in the FPGA circuit board. When the first test software runs in the FPGA circuit board, first test data to be converted is generated. The computer device sends the generated first test data to be converted to the autonomous driving processor through the CAN analyzer, and can receive first feedback data from the autonomous driving processor through the CAN analyzer.

[0072] In the above embodiment, when the first test software runs, it generates first test data to be converted. The CAN analyzer obtains the first test data to be converted and converts it into first test data in the CAN bus format to test the CAN bus port of the autonomous driving processor, which can timely detect whether the CAN bus port has a fault before the autonomous driving processor is assembled on the autonomous driving tool, effectively avoiding the repair during the assembly of the autonomous driving processor and improving the assembly efficiency of the autonomous driving processor.

[0073] In one embodiment, before the CAN analyzer sends the first test data in the CAN bus format to the CAN bus port of the autonomous driving processor, the bus port fault determination method further includes: the CAN analyzer automatically identifies the bus baud rate matching the CAN bus port and establishes a communication connection with the CAN bus port according to the bus baud rate.

[0074] Among them, the bus baud rate is the rate of modulating the carrier on the bus, that is, the number of times the carrier modulation state changes per unit time, and is used to represent the number of symbol elements transmitted per second on the bus. When the CAN analyzer does not know the baud rate of the bus port of the autonomous driving processor, it cannot establish a communication connection with the autonomous driving processor.

[0075] The CAN analyzer automatically identifying the bus baud rate matching the CAN bus port means that the CAN analyzer detects the data currently transmitted on the CAN bus and identifies the bus baud rate matching the CAN bus port. The automatic identification methods include standard baud rate identification and full-range baud rate identification. The CAN analyzer can set the standard baud rate, for example, set the standard baud rate to 1000k, 800k, or 500k, etc. The CAN analyzer can also set the range of the identified baud rate, for example, set the range of the identified baud rate to 10k - 1000k.

[0076] In the above embodiment, the CAN analyzer automatically identifies the bus baud rate matching the CAN bus port, and can quickly establish a communication connection with the CAN bus port of the autonomous driving processor through the automatically identified bus baud rate, solving the problem that the CAN analyzer cannot establish a communication connection with the CAN bus port when it does not know the bus baud rate of the CAN bus port.

[0077] In one embodiment, the CAN analyzer determining whether the CAN bus port has a fault according to the first test data in the CAN bus format and the first feedback data in the CAN bus format includes: the CAN analyzer performs cyclic redundancy check on the first test data in the CAN bus format to obtain a test data check code, and performs cyclic redundancy check on the first feedback data in the CAN bus format to obtain a feedback data check code; when the test data check code and the feedback data check code are different, it is determined that the CAN bus port has a fault.

[0078] Among them, cyclic redundancy check is to calculate a group of check codes based on the data to be checked, and check whether the data to be checked has been changed or in error through the check codes. The CAN analyzer performs cyclic redundancy check on the first test data and the first feedback data respectively. If the obtained test data check code and feedback data check code are different, it means that the first feedback data and the first test data are inconsistent, and it is determined that the CAN bus port has a fault.

[0079] In the above embodiments, the CAN analyzer performs cyclic redundancy check on the first test data and the first feedback data to determine whether a fault has occurred in the CAN bus port. It can timely detect the faulty CAN bus port before the autopilot processor is assembled on the autopilot tool, effectively avoiding the repair during the assembly of the autopilot processor and improving the assembly efficiency of the autopilot processor.

[0080] In one embodiment, as Figure 4 shown, the method for judging the bus port fault includes the following steps:

[0081] S402, the communication converter sends the second test data in serial bus format to the serial bus port of the autopilot processor.

[0082] S404, in response to the second test data in serial bus format, the autopilot processor generates the second feedback data in serial bus format and returns the second feedback data in serial bus format to the communication converter through the serial bus port.

[0083] S406, the communication converter determines whether a fault has occurred in the serial bus port according to the second test data in serial bus format and the second feedback data in serial bus format.

[0084] Among them, the communication converter is a device used to realize the bidirectional data conversion between the USB port and the serial bus port. The communication converter is connected between the computer device and the autopilot processor, and converts the data output by the computer device through the USB interface into data in serial bus format. The serial bus is a bus that transmits data bit by bit, including bus formats such as RS232, RS485, and RS422. The communication converter is connected to the USB port of the computer device, and virtualizes a serial COM (Cluster Communication Port) in the computer system, and communicates with the serial bus port of the autopilot processor through the virtual serial COM port. The serial bus format is a data format that conforms to the serial bus protocol. The serial bus port is a port that receives and sends data transmitted through the serial bus. The serial bus port can be, for example, an RS485 port, an RS232 port, or an RS422 port. In one embodiment, the serial bus port can be a port connecting the navigation system on the autopilot tool and the autopilot processor, and the navigation system can be, for example, a PwrPak7 navigation system.

[0085] Among them, after the autonomous driving processor receives the second test data in the serial bus format through the serial bus port, it generates the second feedback data in the serial bus format based on the second test data in the serial bus format. In one embodiment, the autonomous driving processor generates the second feedback data that is consistent with the second test data. In another embodiment, the autonomous driving processor verifies the second test data to generate a verification code, and then adds the verification code after the second test data to obtain the second feedback data.

[0086] When the communication converter receives the second feedback data, it determines whether a fault has occurred in the serial bus port based on the second test data and the second feedback data. In one embodiment, the communication converter determines whether the second test data is consistent with the second feedback data. If they are consistent, it is determined that no fault has occurred in the serial bus port; if they are inconsistent, it is determined that a fault has occurred in the serial bus port. In another embodiment, the second feedback data includes the verification code obtained by verifying the second test data. The communication converter extracts the verification code from the second feedback data. If the extracted verification code is consistent with the verification code directly generated based on the second test data, it is determined that no fault has occurred in the serial bus port; if they are inconsistent, it is determined that a fault has occurred in the serial bus port.

[0087] In one embodiment, the communication converter sends the second test data in the serial bus format to the serial bus port of the autonomous driving processor. The autonomous driving processor responds to the second test data in the serial bus format, generates the second feedback data in the serial bus format, and returns the second feedback data in the serial bus format to the communication converter through the serial bus port. The communication converter determines whether it has received the second feedback data in the serial bus format. If not, it is determined that a fault has occurred in the serial bus port.

[0088] In the above embodiments, the communication converter sends the second test data in the serial bus format to the serial bus port of the autonomous driving processor; the autonomous driving processor responds to the second test data in the serial bus format, generates the second feedback data in the serial bus format, and returns the second feedback data in the serial bus format to the communication converter through the serial bus port; the communication converter determines whether a fault has occurred in the serial bus port based on the second test data in the serial bus format and the second feedback data in the serial bus format. By using the test data to test the serial bus port, it is possible to determine whether there is a fault in the serial bus port of the autonomous driving processor, and then install the autonomous driving processor that is determined to be fault-free after testing on the autonomous driving tool, reducing the repair rate during the assembly of the autonomous driving processor and improving the assembly efficiency of the autonomous driving processor.

[0089] In one embodiment, the communication converter sends the second test data in serial bus format and the second feedback data in serial bus format to the computer device, and the second test data and the second feedback data are viewed through a serial port assistant. The serial port assistant is an application software installed on the computer device and has a visual interface for setting relevant parameters of the communication converter and viewing the data received and sent by the communication converter.

[0090] In one embodiment, the bus port fault judgment method further includes: the communication converter obtains second test data to be converted, which is generated by a second test software; the communication converter performs format conversion on the second test data to be converted according to the serial bus protocol to obtain the second test data in serial bus format.

[0091] As Figure 5 shown, the second test software is an application software installed on the computer device and generates the second test data to be converted during operation. The computer device sends the second test data to be converted to the communication converter through a USB interface. The communication converter performs format conversion on the second test data to be converted according to the serial bus protocol to obtain the second test data in serial bus format, and sends the second test data in serial bus format to the autonomous driving processor through a serial bus port.

[0092] In one embodiment, the second test software has a visual interface. The computer device obtains the baud rate setting instruction and the serial channel setting instruction triggered in the visual interface, sets the baud rate at which the communication converter forwards the second test data to the autonomous driving processor according to the baud rate setting instruction, and sets the serial channel when the communication converter forwards the second test data to the autonomous driving processor according to the serial channel setting instruction. The visual interface also has a test data editing box. The computer device obtains the test data text input by the input device in the test data editing box, and when receiving the send instruction, sends the second test data to be converted to the communication converter according to the test data text.

[0093] In one embodiment, an FPGA circuit board is connected to the computer device, and the computer program of the second test software is burned in the FPGA circuit board. When the second test software runs in the FPGA circuit board, the second test data to be converted is generated. The computer device sends the generated second test data to be converted to the autonomous driving processor through the communication converter, and can receive the second feedback data from the autonomous driving processor through the communication converter.

[0094] In the above embodiments, when the second test software runs, it generates second test data to be converted. The communication converter acquires the second test data to be converted and converts it into second test data in serial bus format to test the serial bus port of the autonomous driving processor. It can timely detect whether there is a fault in the serial bus port before assembling the autonomous driving processor on the autonomous driving tool, effectively avoiding the repair of the autonomous driving processor during assembly and improving the assembly efficiency of the autonomous driving processor.

[0095] In one embodiment, before the communication converter sends the second test data in serial bus format to the serial bus port of the autonomous driving processor, the bus port fault determination method further includes: the communication converter automatically identifies the bus baud rate matching the serial bus port and establishes a communication connection with the serial bus port according to the bus baud rate.

[0096] Among them, the bus baud rate is the rate of modulating the carrier on the bus, that is, the number of times the carrier modulation state changes per unit time, and is used to represent the number of symbol elements transmitted per second on the bus. When the communication converter does not know the baud rate of the bus port of the autonomous driving processor, it cannot establish a communication connection with the autonomous driving processor.

[0097] The communication converter automatically identifying the bus baud rate matching the serial bus port means that the communication converter detects the data currently transmitted on the serial bus and identifies the bus baud rate matching the serial bus port. The automatic identification methods include standard baud rate identification and full-range baud rate identification. The communication converter can set the standard baud rate, for example, set the standard baud rate to 1000k, 800k or 500k, etc. The communication converter can also set the range of the identified baud rate, for example, set the range of the identified baud rate to 10k - 1000k.

[0098] In the above embodiments, the communication converter automatically identifies the bus baud rate matching the serial bus port, and can quickly establish a communication connection with the serial bus port of the autonomous driving processor through the automatically identified bus baud rate, solving the problem that the communication converter cannot establish a communication connection with the serial bus port when it does not know the bus baud rate of the serial bus port.

[0099] In one embodiment, the communication converter determines whether there is a fault in the serial bus port according to the second test data in serial bus format and the second feedback data in serial bus format, including: the communication converter performs cyclic redundancy check on the second test data in serial bus format to obtain a test data check code, and performs cyclic redundancy check on the second feedback data in serial bus format to obtain a feedback data check code; when the test data check code is different from the feedback data check code, it is determined that there is a fault in the serial bus port.

[0100] Among them, cyclic redundancy check is to calculate a set of check codes based on the data to be checked, and check whether the data to be checked has been changed or in error through the check codes. The communication converter performs cyclic redundancy checks on the second test data and the second feedback data respectively. If the obtained test data check code is different from the feedback data check code, it indicates that the second feedback data and the second test data are inconsistent, and it is determined that a failure has occurred in the serial bus port.

[0101] In the above embodiment, the communication converter judges whether a failure has occurred in the serial bus port by performing cyclic redundancy checks on the second test data and the second feedback data, can timely detect the failed serial bus port before the autopilot processor is assembled on the autopilot tool, effectively avoiding the rework during the assembly of the autopilot processor and improving the assembly efficiency of the autopilot processor.

[0102] In one embodiment, the first test data in the CAN bus format input by the CAN bus port and the first feedback data in the CAN bus format output by the CAN bus port are displayed on an oscilloscope, and it is judged whether a failure has occurred in the CAN bus port by the displayed first test data and first feedback data in the CAN bus format. Also, the second test data in the serial bus format input by the serial bus port and the second feedback data in the serial bus format output by the serial bus port can be displayed on the oscilloscope, and it is judged whether a failure has occurred in the CAN bus port by the displayed first test data and first feedback data in the serial bus format.

[0103] In one embodiment, as Figure 6 shown, the autopilot processor is connected to a power supply, and the power supply supplies power to the autopilot processor. The CAN bus port on the autopilot processor is connected to a CAN analyzer, and the first test data in the CAN bus format sent by the CAN analyzer is received through the CAN bus port. The CAN analyzer is connected to a computer device through a USB interface, receives the first test data to be converted generated by the first test software installed on the computer device through the USB interface, and performs format conversion on the first test data to be converted according to the CAN bus protocol to obtain the first test data in the CAN bus format. The CAN analyzer communicates with the analysis tool installed on the computer device, and the first test data in the CAN bus format and the first feedback data in the CAN bus format are displayed in the visualization interface of the analysis tool.

[0104] The serial bus port on the autonomous driving processor is connected to the communication converter, and the second test data in the serial bus format sent by the communication converter is received through the serial bus port. The communication converter is connected to the computer device through the USB interface, receives the second test data to be converted generated by the second test software installed on the computer device through the USB interface, and performs format conversion on the second test data to be converted according to the serial bus protocol to obtain the second test data in the serial bus format. The communication converter communicates with the serial port assistant installed on the computer device, and displays the second test data in the serial bus format and the second feedback data in the serial bus format in the visual interface of the serial port assistant.

[0105] In one embodiment, as Figure 7 shown, the bus port fault judgment method includes the following steps:

[0106] S702, the first test software generates the first test data to be converted and sends the first test data to be converted to the CAN analyzer.

[0107] S704, the CAN analyzer performs format conversion on the first test data to be converted according to the CAN bus protocol to obtain the first test data in the CAN bus format.

[0108] S706, the CAN analyzer automatically identifies the bus baud rate matching the CAN bus port and establishes a communication connection with the CAN bus port according to the bus baud rate.

[0109] S708, the CAN analyzer sends the first test data in the CAN bus format to the CAN bus port of the autonomous driving processor.

[0110] S710, in response to the first test data in the CAN bus format, the autonomous driving processor generates the first feedback data in the CAN bus format and returns the first feedback data in the CAN bus format to the CAN analyzer through the CAN bus port.

[0111] S712, the CAN analyzer judges whether the CAN bus port has a fault according to the first test data in the CAN bus format and the first feedback data in the CAN bus format.

[0112] The specific content of the above S702 to S712 can refer to the specific implementation process described above.

[0113] In one embodiment, as Figure 8 shown, the bus port fault judgment method includes the following steps:

[0114] S802, the second test software generates the second test data to be converted and sends the second test data to be converted to the communication converter.

[0115] S804, the communication converter converts the format of the second test data to be converted according to the serial bus protocol to obtain the second test data in the serial bus format.

[0116] S806, the communication converter automatically identifies the bus baud rate matching the serial bus port and establishes a communication connection with the serial bus port according to the bus baud rate.

[0117] S808, the communication converter sends the second test data in the serial bus format to the serial bus port of the autonomous driving processor.

[0118] S810, in response to the second test data in the serial bus format, the autonomous driving processor generates the second feedback data in the serial bus format and returns the second feedback data in the serial bus format to the communication converter through the serial bus port.

[0119] S812, the communication converter determines whether the serial bus port has a fault according to the second test data in the serial bus format and the second feedback data in the serial bus format.

[0120] The specific content of the above S802 to S812 can refer to the specific implementation process described above.

[0121] It should be understood that although Figure 2 、 4 、7, 8 in the flowchart of each step is displayed in sequence according to the arrow indication, but these steps do not necessarily have to be executed in the order indicated by the arrow. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, Figure 2 、 4 、7, 8 at least a part of the steps may include multiple steps or multiple stages, and these steps or stages do not necessarily have to be executed at the same moment, but can be executed at different moments, and the execution order of these steps or stages does not necessarily have to be in sequence, but can be executed alternately or in turn with at least a part of other steps or steps or stages in other steps.

[0122] In one embodiment, as Figure 9 shown, a bus port fault judgment system is provided, including: a CAN analyzer and an autonomous driving processor, where:

[0123] The CAN analyzer 902 is used to send the first test data in the CAN bus format to the CAN bus port of the autonomous driving processor;

[0124] An autonomous driving processor 904, which is configured to generate first feedback data in the CAN bus format in response to first test data in the CAN bus format, and return the first feedback data in the CAN bus format to a CAN analyzer through a CAN bus port;

[0125] The CAN analyzer 902 is further configured to determine whether a fault has occurred in the CAN bus port according to the first test data in the CAN bus format and the first feedback data in the CAN bus format.

[0126] In the above embodiment, the CAN analyzer sends the first test data in the CAN bus format to the CAN bus port of the autonomous driving processor; the autonomous driving processor generates the first feedback data in the CAN bus format in response to the first test data in the CAN bus format, and returns the first feedback data in the CAN bus format to the CAN analyzer through the CAN bus port; the CAN analyzer determines whether a fault has occurred in the CAN bus port according to the first test data in the CAN bus format and the first feedback data in the CAN bus format. By using the test data to test the CAN bus port, it is possible to determine whether there is a fault in the CAN bus port of the autonomous driving processor, and then install the autonomous driving processor that is determined to be fault-free after testing on the autonomous driving tool, reducing the repair rate during the assembly of the autonomous driving processor and improving the assembly efficiency of the autonomous driving processor.

[0127] In one embodiment, the system further includes:

[0128] The CAN analyzer 902 is further configured to obtain first test data to be converted, where the first test data to be converted is generated by a first test software;

[0129] The CAN analyzer 902 is further configured to perform format conversion on the first test data to be converted according to the CAN bus protocol to obtain the first test data in the CAN bus format.

[0130] In one embodiment, the system further includes:

[0131] The CAN analyzer 902 is configured to automatically identify a bus baud rate matching the CAN bus port and establish a communication connection with the CAN bus port according to the bus baud rate.

[0132] In one embodiment, the CAN analyzer 902 is further configured to:

[0133] Perform cyclic redundancy check on the first test data in the CAN bus format to obtain a test data check code, and perform cyclic redundancy check on the first feedback data in the CAN bus format to obtain a feedback data check code;

[0134] When the test data check code is different from the feedback data check code, it is determined that a failure has occurred in the CAN bus port.

[0135] In one embodiment, as Figure 10 shown, the system further includes:

[0136] A communication converter 906 for sending the second test data in serial bus format to the serial bus port of the autonomous driving processor;

[0137] An autonomous driving processor 904 for generating the second feedback data in serial bus format in response to the second test data in serial bus format and returning the second feedback data in serial bus format to the communication converter through the serial bus port;

[0138] The communication converter 906 is further configured to determine whether a failure has occurred in the serial bus port according to the second test data in serial bus format and the second feedback data in serial bus format.

[0139] In one embodiment, the system further includes:

[0140] The communication converter 906 is further configured to obtain the second test data to be converted, where the second test data to be converted is generated by the second test software;

[0141] The communication converter 906 is further configured to perform format conversion on the second test data to be converted according to the serial bus protocol to obtain the second test data in serial bus format.

[0142] In one embodiment, the serial bus protocol is an RS485 protocol, an RS232 protocol, or an RS422 protocol.

[0143] For the specific limitations of the bus port failure judgment system, reference can be made to the limitations of the bus port failure judgment method in the above text, which will not be elaborated here. Each module in the above bus port failure judgment system can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor of the computer device in hardware form or be independent of it, or be stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to the above respective modules.

[0144] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above various methods. Among them, any reference to a memory, storage, database, or other medium used in the various embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0145] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification.

[0146] The above-described embodiments merely represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A method for judging a bus port fault, characterized in that The method includes: The CAN analyzer obtains the baud rate setting instruction and the CAN channel setting instruction triggered in the visualization interface, sets the baud rate at which the CAN analyzer forwards the first test data to the autonomous driving processor according to the baud rate setting instruction, and sets the CAN channel when the CAN analyzer forwards the first test data to the autonomous driving processor according to the CAN channel setting instruction; When the bus baud rate of the CAN bus port is unknown, the CAN analyzer obtains the bus baud rate matching the CAN bus port of the autonomous driving processor through standard baud rate identification and full-range baud rate identification, and establishes a communication connection with the CAN bus port of the autonomous driving processor according to the bus baud rate; the CAN analyzer sends the first test data in CAN bus format to the CAN bus port of the autonomous driving processor through the CAN channel; The autonomous driving processor generates first feedback data in CAN bus format in response to the first test data in CAN bus format, and returns the first feedback data in CAN bus format to the CAN analyzer through the CAN bus port; The CAN analyzer determines whether a fault has occurred in the CAN bus port according to the first test data in CAN bus format and the first feedback data in CAN bus format.

2. The method according to claim 1, characterized in that, The method further includes: The CAN analyzer obtains first test data to be converted, and the first test data to be converted is generated by a first test software; The CAN analyzer performs format conversion on the first test data to be converted according to the CAN bus protocol to obtain the first test data in CAN bus format.

3. The method according to claim 1, wherein The CAN analyzer determining whether a fault has occurred in the CAN bus port according to the first test data in CAN bus format and the first feedback data in CAN bus format includes: The CAN analyzer performs cyclic redundancy check on the first test data in CAN bus format to obtain a test data check code, and performs cyclic redundancy check on the first feedback data in CAN bus format to obtain a feedback data check code; When the test data check code is different from the feedback data check code, it is determined that a fault has occurred in the CAN bus port.

4. The method according to claim 1, wherein The method further includes: The communication converter sends second test data in serial bus format to the serial bus port of the autonomous driving processor; The autonomous driving processor generates second feedback data in serial bus format in response to the second test data in serial bus format, and returns the second feedback data in serial bus format to the communication converter through the serial bus port; The communication converter determines whether a fault has occurred in the serial bus port according to the second test data in serial bus format and the second feedback data in serial bus format.

5. The method according to claim 4, characterized in that The method further includes: The communication converter obtains second test data to be converted, and the second test data to be converted is generated by a second test software; The communication converter converts the format of the second test data to be converted according to the serial bus protocol to obtain the second test data in the serial bus format.

6. The method according to claim 5, characterized in that, The serial bus protocol is RS485 protocol, RS232 protocol or RS422 protocol.

7. A bus port fault judgment system, characterized in that, The system includes: The CAN analyzer obtains the baud rate setting instruction and the CAN channel setting instruction triggered in the visualization interface, sets the baud rate at which the CAN analyzer forwards the first test data to the autonomous driving processor according to the baud rate setting instruction, and sets the CAN channel when the CAN analyzer forwards the first test data to the autonomous driving processor according to the CAN channel setting instruction; When the bus baud rate of the CAN bus port is unknown, the CAN analyzer obtains the bus baud rate matching the CAN bus port of the autonomous driving processor through standard baud rate identification and full-range baud rate identification, and establishes a communication connection with the CAN bus port of the autonomous driving processor according to the bus baud rate; The CAN analyzer is configured to send the first test data in the CAN bus format to the CAN bus port of the autonomous driving processor; The autonomous driving processor is configured to generate the first feedback data in the CAN bus format in response to the first test data in the CAN bus format, and return the first feedback data in the CAN bus format to the CAN analyzer through the CAN bus port; The CAN analyzer is further configured to determine whether a fault has occurred in the CAN bus port according to the first test data in the CAN bus format and the first feedback data in the CAN bus format.

8. The system according to claim 7, characterized in that, The system further includes: The CAN analyzer is further configured to obtain the first test data to be converted, and the first test data to be converted is generated by the first test software; The CAN analyzer is further configured to convert the format of the first test data to be converted according to the CAN bus protocol to obtain the first test data in the CAN bus format.

9. The system according to claim 7, wherein The system further includes: The communication converter is configured to send the second test data in the serial bus format to the serial bus port of the autonomous driving processor; The autonomous driving processor is configured to generate the second feedback data in the serial bus format in response to the second test data in the serial bus format, and return the second feedback data in the serial bus format to the communication converter through the serial bus port; The communication converter is further configured to determine whether a fault has occurred in the serial bus port according to the second test data in the serial bus format and the second feedback data in the serial bus format.

10. The system according to claim 7, wherein The CAN analyzer is further configured to perform cyclic redundancy check on the first test data in the CAN bus format to obtain a test data check code, and perform cyclic redundancy check on the first feedback data in the CAN bus format to obtain a feedback data check code; when the test data check code is different from the feedback data check code, it is determined that a fault has occurred in the CAN bus port.

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