Vehicle internal system diagnosis apparatus, method, vehicle, and storage medium

Abstract

The embodiment of the application discloses a vehicle internal system diagnosis device, method, vehicle and storage medium. The device comprises: a message data management module, which is used for collecting CAN message data sent by each control system in the vehicle in real time; a distributed database, which is used for storing the CAN message data and vehicle control protocol data; an automatic diagnosis module, which is used for comparing and analyzing the CAN message data and the vehicle control protocol data to obtain a diagnosis result of the vehicle internal system; and a diagnosis report module, which is used for converting the diagnosis result and the CAN message data into a diagnosis report for associated display. The distributed database arranged in the vehicle internal control system is used for realizing fast reading and writing of data, satisfying real-time performance of the automobile internal system diagnosis, improving diagnosis efficiency, and effectively guaranteeing reliable storage of data under the condition that the diagnosis time is increased and the data amount is increasingly large.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automotive technology, and in particular to a vehicle internal system diagnosis device and method, a vehicle and a storage medium. BACKGROUND

[0002] With the popularity of automobiles, people have higher and higher requirements for the comfort of automobiles, which makes the development of automobile electronics technology rapid. The number of electronic control units in the automobile network is increasing, and the CAN (Controller Area Network) bus load rate is also increasing.

[0003] In the development process of automatic parking assistance systems and automatic driving systems, a large number of real-time tests and diagnoses of automobile internal systems such as automatic parking assistance systems or automatic driving systems, body electronic stability systems, electric power steering systems, body control units, steering wheel angle sensors and vehicle controllers need to be carried out through the CAN bus. The traditional test and diagnosis method uses a host computer to collect CAN message interaction data of the automobile internal system through the CAN bus, compares the data with information in the database to obtain a diagnosis result, and transmits the collected data to a remote background system through the Internet. All computing and processing operations are performed in the background system, and the diagnosis result is transmitted from the background system to the user terminal through the network. The diagnosis process is inefficient, labor-intensive, and the real-time diagnosis and data stability cannot meet the requirements. SUMMARY

[0004] In a first aspect, the present application provides a vehicle internal system diagnosis device, comprising:

[0005] A message data management module is configured to collect CAN message data sent by each control system in the vehicle in real time.

[0006] A distributed database is configured to store vehicle control protocol data, wherein the distributed database is provided with an operation interface.

[0007] An automatic diagnosis module is configured to obtain the vehicle control protocol data through the operation interface, compare and analyze the CAN message data and the vehicle control protocol data, and obtain a diagnosis result of each system in the vehicle.

[0008] A diagnosis report module is configured to convert the diagnosis result and the CAN message data into a diagnosis report for associated display.

[0009] In an optional embodiment, the automatic diagnosis module is further configured to store the diagnosis result and the CAN message data in the distributed database according to diagnosis time.

[0010] The diagnostic report module is further configured to read and display the diagnostic result and the CAN message data corresponding to the query time in the query request from the distributed database through the operation interface when the query request is received.

[0011] In an optional embodiment, the distributed database is a non-relational database.

[0012] In an optional embodiment, the distributed database comprises a master data node and at least one slave data node, and a plurality of database sentinel nodes are respectively deployed in devices corresponding to the master data node and the at least one slave data node.

[0013] The plurality of database sentinel nodes are configured to monitor the working condition of the distributed database through a heartbeat mechanism, and send corresponding prompt information when one or more of the master data node and the at least one slave data node is abnormal.

[0014] The plurality of database sentinel nodes are further configured to perform a failover operation when the master data node is abnormal, and select a normal slave data node as a new master data node through an arbitration mechanism.

[0015] In an optional embodiment, the vehicle control protocol management module is further configured to add vehicle control protocol data of different vehicle models in the distributed database through the operation interface, and perform any one or more of the following operations on the vehicle control protocol data stored in the distributed database: adding, deleting, modifying, and querying.

[0016] In an optional embodiment, the message data management module is further configured to perform any one or more of the following operations on the CAN message data in the distributed database through the operation interface: adding, deleting, modifying, and querying.

[0017] In an optional embodiment, the CAN message data is CAN message sent by any one or more of the following control systems: an automatic parking assistance system or an automatic driving system, a body electronic stability system, an electric power steering system, a body control unit, a steering wheel angle sensor, and a vehicle control unit.

[0018] In an optional embodiment, the CAN message data is CAN message sent by any one or more of the following control systems: an automatic parking assistance system or an automatic driving system, a body electronic stability system, an electric power steering system, a body control unit, a steering wheel angle sensor, and a vehicle control unit.

[0019] In a second aspect, the present application provides a vehicle internal system diagnosis method, comprising:

[0020] collecting CAN message data sent by each control system in the vehicle in real time;

[0021] reading vehicle control protocol data from a distributed database;

[0022] The CAN message data and the vehicle control protocol data are compared and analyzed to obtain a diagnosis result of a vehicle internal system.

[0023] The diagnosis result and the CAN message data are converted into a diagnosis report for associated display.

[0024] In a third aspect, the present application provides a vehicle comprising a memory and at least one processor, the memory storing a computer program, and the processor being configured to execute the computer program to implement the vehicle internal system diagnosis method.

[0025] In a fourth aspect, the present application provides a computer storage medium storing a computer program, the computer program being configured to implement the vehicle internal system diagnosis method when executed.

[0026] The embodiments of the present application have the following beneficial effects:

[0027] On one hand, the CAN message data and the vehicle control protocol data are directly stored in the memory by the self-characteristics of the non-relational database in the vehicle internal system diagnosis device, unnecessary IO operations are reduced, and the data do not need to be parsed through the SQL layer, the read-write speed of tens of thousands of times per second can guarantee the real-time diagnosis required in the automatic parking or automatic driving scenarios, and the diagnosis efficiency is improved; on the other hand, the database adopts a distributed architecture design, which can guarantee high availability of the database and reduce the possibility of data loss in a long-time test and diagnosis, and can still guarantee reliable storage of data as the test or diagnosis time increases and the data volume becomes larger. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the protection scope of the present application. In the various drawings, similar components are denoted by similar reference numerals.

[0029] Figure 1 The connection structure between the vehicle internal system diagnosis device and each system in the vehicle in the embodiments of the present application is shown in the schematic diagram.

[0030] Figure 2 The first embodiment of the vehicle internal system diagnosis device in the embodiments of the present application is shown in the schematic diagram.

[0031] Figure 3 The second embodiment of the vehicle internal system diagnosis device in the embodiments of the present application is shown in the schematic diagram.

[0032] Figure 4An embodiment of a vehicle internal system diagnosis method in the present application. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application.

[0034] The components of the embodiments of the present application generally described and illustrated in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0035] Hereinafter, the terms "include", "have", and their conjugates, used in the various embodiments of the present application, are merely intended to denote a certain characteristic, number, step, operation, element, component, or combination thereof, and should not be construed to exclude the existence or possibility of additional one or more characteristics, numbers, steps, operations, elements, components, or combinations thereof.

[0036] In addition, the terms "first", "second", "third", and the like are used only to distinguish descriptions, and should not be understood as indicating or implying relative importance.

[0037] Unless otherwise defined, all terms used herein (including technical terms and scientific terms) have the same meaning as commonly understood by those skilled in the art to which the various embodiments of the present application belong. The terms (such as those defined in commonly used dictionaries) will be interpreted as having a meaning that is the same as or similar to the meaning in the context of the relevant art and will not be interpreted as having an idealized or overly formal meaning unless clearly defined in the various embodiments of the present application.

[0038] The control system in the vehicle interior includes one or more control systems such as an automatic parking assistance system or an automatic driving system, a vehicle body electronic stability system, an electric power steering system, a vehicle body control unit, a steering wheel angle sensor, and a vehicle controller, etc., to control the vehicle accordingly, and the vehicle terminal connects each control system through a CAN bus.

[0039] In the development process of the vehicle interior control system, it is necessary to test or diagnose the vehicle interior control system in real time. Specifically, CAN message data of the vehicle interior control system, such as automatic parking auxiliary system or automatic driving system, vehicle body electronic stability system, electric power steering system, body control unit, steering wheel angle sensor and vehicle controller, etc. are collected in real time through CAN bus to perform corresponding test or diagnosis.

[0040] Based on this, the embodiment provides a vehicle interior system diagnosis device, as shown in the figure, which connects the vehicle interior control systems through CAN bus to realize real-time test or diagnosis of the vehicle interior control systems. Figure 1

[0041] Embodiment 1

[0042] Please refer to Figure 2 The embodiment provides a vehicle interior system diagnosis device, which comprises: a message data management module 10 for collecting CAN message data sent by vehicle interior control systems in real time; a distributed database 20 for storing CAN message data and vehicle control protocol data, wherein the distributed database 20 is provided with an operation interface 21; an automatic diagnosis module 30 for obtaining CAN message data and vehicle control protocol data in the distributed database 20 through the operation interface 21, and comparing and analyzing CAN message data and vehicle control protocol data to obtain diagnosis results of the vehicle interior system; and a diagnosis report module 40 for converting the diagnosis results and CAN message data into a diagnosis report for associated display.

[0043] Among them, refer to Figure 3 The distributed database 20 (hereinafter referred to as database) is a non-relational database, which comprises a plurality of data nodes 22, specifically including a master data node and at least one slave data node, and is respectively deployed in a plurality of devices. The distributed database is only called by the vehicle interior system diagnosis device, and is used to store CAN message data output by the vehicle interior control system to be tested and vehicle control protocol corresponding to the vehicle model to be tested. The CAN message data includes CAN message sent by each vehicle interior control system, such as automatic parking auxiliary system or automatic driving system, vehicle body electronic stability system, electric power steering system, body control unit, steering wheel angle sensor and vehicle controller, which is collected in real time through CAN bus. The CAN message data includes parameter information related to the state of the vehicle to be tested. The vehicle control protocol is an application layer parameter defined for the vehicle interior control system to be tested to send and receive CAN message data.

[0044] ​The database is characterized by storing data in key-value pairs, and is suitable for storing CAN message frames and vehicle interaction protocols. Generally, network connection itself has a certain delay, and in addition, the network may fluctuate at any time, so it is difficult to guarantee the real-time performance of data reading and writing. In the embodiment, the data can be directly stored in the memory through the distributed database, reducing unnecessary IO operations, and not needing to pass through the SQL layer for parsing. The read-write speed of tens of thousands per second can guarantee the real-time performance required in the automatic parking or automatic driving scenarios. In addition, the database does not directly interact with each system in the vehicle, and the database is only used by the diagnostic device. In the case of high concurrency, the database adopts a distributed architecture design, which guarantees high availability of the database and reduces the possibility of data loss in the case of long-term testing and diagnosis.

[0045] The operation interface 21 of the distributed database 20 is an interface for operating the database. Each module in the vehicle internal system diagnostic device operates the database through the operation interface 21 to realize operations such as adding, deleting, modifying, and querying CAN message data and vehicle control protocol data in the database.

[0046] The automatic diagnostic module 30 is used to read CAN message data and vehicle control protocol data in the database, and compare and analyze the CAN message data and the vehicle control protocol data to obtain a diagnostic result of the vehicle internal system, so as to diagnose the running status of the vehicle internal control system in real time. In the process of comparing and analyzing the CAN message data and the vehicle control protocol data, for example, if the vehicle braking system receives a data "1" through the CAN bus, the vehicle braking system will brake urgently, and the internal interaction protocol (vehicle control protocol) stipulates that sending "1" to the vehicle braking system represents urgent braking. The vehicle braking system sends corresponding CAN message data, and the interaction protocols of different vehicle models are generally different. Therefore, the internal interaction protocol data (vehicle control protocol data) of the vehicle model needs to exist in the database to indicate the interaction behavior of each control system in the vehicle, and the consistency of the vehicle control protocol data and the CAN message data is compared to realize the diagnosis of each control system in the vehicle to be tested.

[0047] Optionally, the vehicle internal system diagnostic device further comprises a database sentinel node 23 and a vehicle interaction protocol management module 50.

[0048] The database sentinel node 23 includes a plurality of database sentinel nodes 23, which are respectively arranged in the devices corresponding to the data nodes 22. The database sentinel node 23 is a special server node and does not store data. The database sentinel node 23 monitors the working conditions of the master data node and the slave data nodes by using a “heartbeat” mechanism. When one or more data nodes 22 have problems, the sentinel node 23 not only sends a prompt information to the user through an interface, but also automatically performs a fault migration operation. When the master data node has a fault, the sentinel node 23 automatically completes the fault discovery and transfer of the master and slave data nodes, notifies a new master data node address, realizes high availability, and does not need manual intervention. This means that even if the master data node has a problem, the sentinel node 23 will select one of the normally working slave data nodes as the master data node through an arbitration mechanism, and the database can still serve the diagnostic device, thereby ensuring the stability of the device. In addition, when a sentinel finds that the master data node is abnormal, it will not be subjectively offline, but will combine the detection results of other sentinels, and only when a certain number of sentinels (configurable) think that the master data node has a fault, the master data node will be offline, and a slave data node will be selected from the normally working slave data nodes as a new master data node.

[0049] The automatic diagnosis module 30 obtains the CAN message data and the vehicle control protocol data in the database through the operation interface. After processing the CAN message data, the processed data is compared with the vehicle control protocol data, and a diagnosis result is output. Finally, the diagnosis result and the CAN message data are stored in the database according to the diagnosis time through the operation interface 21, so as to realize the persistent processing of the data.

[0050] The vehicle interaction protocol management module 50 is used to add vehicle control protocol data of different vehicle models to the distributed database 20 through the operation interface, and maintain the vehicle control protocol data of various vehicle models, so as to realize the addition, deletion, modification and query of the vehicle control protocol data stored in the database.

[0051] The message data management module 10 is used to maintain the CAN message data, and realizes the addition, deletion, modification and query of the CAN message data in the database through the operation interface 21. That is, the message data management module 10 is used to update and manage the CAN message data stored in the database.

[0052] The diagnostic report module 40 is configured to convert the diagnostic result and the CAN message data into intuitive data or a diagnostic report after the automatic diagnosis module 30 outputs the diagnostic result, and directly display the diagnostic result and the CAN message data to the user, so as to realize real-time display of the data. When receiving a query request, the diagnostic report module 40 is configured to read and display the diagnostic result and the CAN message data corresponding to the query time in the query request in the distributed database 20 through the operation interface 21, that is, convert the diagnostic result and the CAN message data into intuitive data, and then display the diagnostic result and the CAN message data to the user through an output device. The output device can be a vehicle-mounted central control screen or a mobile terminal. The vehicle-mounted central control screen can directly display the diagnostic result and the CAN message data. The mobile terminal can be connected to the vehicle internal system diagnosis device through a wireless or wired manner to obtain the diagnostic result and the CAN message data.

[0053] The vehicle internal system diagnosis device provided in the embodiment has the following advantages. First, the vehicle internal system diagnosis device directly stores the CAN message data and the vehicle control protocol data in the memory through the self-characteristics of the non-relational database, reduces unnecessary IO operations, and does not need to pass through the SQL layer for analysis. The read-write speed of tens of thousands of times per second can ensure the real-time diagnosis required in the automatic parking or automatic driving scene, and improve the diagnosis efficiency. Second, the database adopts a distributed architecture design. In the case of long-time testing and diagnosis, the stability of the diagnosis device is ensured. In the case of failure of one database node, the diagnosis device can still operate normally, ensures high availability of the database, reduces the possibility of data loss, and ensures reliable storage of data and improves the safety of data in the case of increasing testing or diagnosis time and increasing data volume. Third, the vehicle control protocol management module can add vehicle control protocols of different vehicle models, so that the vehicle internal system of different vehicle models can be diagnosed, the practicality of the diagnosis device is improved, and the reliability of the diagnosis result is improved.

[0054] Embodiment 2

[0055] Please refer to Figure 4 The embodiment provides a vehicle internal system diagnosis method applied to the vehicle internal system diagnosis device in the above embodiment. The method comprises the following steps.

[0056] S41, collecting CAN message data sent by each control system in the vehicle in real time.

[0057] S42, reading vehicle control protocol data from the distributed database.

[0058] S43, comparing and analyzing the CAN message data and the vehicle control protocol data to obtain a diagnosis result of the vehicle internal system.

[0059] S44, the diagnostic results and CAN message data are converted into diagnostic reports for associated display.

[0060] In the embodiment, the vehicle terminal collects CAN message data sent by various systems in the vehicle through the CAN bus, and sends the CAN message data to the vehicle internal system diagnostic device in the background system. The automatic diagnostic module compares the vehicle control protocol data in the distributed database to realize real-time testing and diagnosis of the vehicle internal system.

[0061] Further, a distributed database is arranged to store CAN message data and vehicle control protocol data. The CAN message data is CAN message data sent by various control systems in the vehicle, such as the automatic parking auxiliary system or the automatic driving system, the body electronic stability system, the electric power steering system, the body control unit, the steering wheel angle sensor, and the vehicle controller. The vehicle control protocol data is the application layer parameter of the CAN message sent and received by the vehicle internal system.

[0062] Specifically, the vehicle control protocol data of the vehicle to be tested is added to the database. If the vehicle control protocol data of the vehicle to be tested already exists in the database, it is not necessary to add it repeatedly. Then, the host computer is used to connect the vehicle internal system diagnostic device to the CAN bus of the vehicle to be tested to collect CAN message data in real time.

[0063] The vehicle internal system diagnostic device obtains the vehicle control protocol data stored in the database and inputs the vehicle control protocol data into the automatic diagnostic module. The automatic diagnostic module is used to calculate and process the CAN message data and the vehicle control protocol data to obtain the diagnostic results of the vehicle internal system. After processing the CAN message data, the processed data is compared with the vehicle control protocol data to obtain the diagnostic results. The diagnostic results and the CAN message data are stored in the database in association to realize persistent processing of the data.

[0064] After outputting the diagnostic results, the diagnostic results and the CAN message data output by the automatic diagnostic module are converted into intuitive data or diagnostic reports by the diagnostic report module in the vehicle internal system diagnostic device, and then the intuitive data or diagnostic reports are displayed to the user in real time through the output device.

[0065] The diagnostic results can be displayed in real time through the diagnostic report module and the database, and the diagnostic results at any time can be queried. That is, the CAN message data and the diagnostic results at any time can be read from the database, and the CAN message data and the diagnostic results at the corresponding time can be displayed through the diagnostic report module.

[0066] Further, the database comprises a master data node and a plurality of slave data nodes, which are respectively deployed in a plurality of devices, to store original data and vehicle control protocol, and the embodiment further utilizes a "heartbeat" mechanism of a database sentinel node to monitor the working conditions of the master data node and each slave data node, when a data node has a problem, the sentinel node not only sends a prompt information to the user through an interface, but also automatically performs a failover operation, when the master data node has a failure, the sentinel node automatically completes the failure discovery and transfer of the master and slave data nodes, and notifies a new master data node address, to realize high availability without manual intervention, which means that even if the master data node has a problem, the sentinel node will select one of the normally working slave data nodes through an arbitration mechanism, and switch it to the master data node, so that the database can still serve the diagnostic device, to ensure the stability of the device. In addition, when a sentinel finds that the master data node is abnormal, it will not be subjectively offline, but will combine the detection results of other sentinels, and only when a certain number of sentinels (configurable) think that the master data node has a failure, the master data node will be offline, and a new master data node will be selected from the normally working slave data nodes.

[0067] Further, the embodiment further utilizes a vehicle interaction protocol management module to maintain vehicle control protocol data of various vehicle models, to realize addition, deletion, modification and query operations of the vehicle control protocol data stored in the database.

[0068] Further, the embodiment further utilizes a message data management module to maintain CAN message data, and realizes updating of the CAN message data in the database through the operation interface, and the updating operation includes addition, deletion, modification and query operations. That is, the CAN message data stored in the database is updated and managed.

[0069] The embodiment of the application further provides a vehicle, which comprises a memory and at least one processor, the memory stores a computer program, and the processor is used to execute the computer program to implement the vehicle internal system diagnosis method.

[0070] The memory can comprise a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required by a function; and the data storage area can store data (such as CAN message data, vehicle control protocol data, diagnosis results, etc.) created according to the use of the computer device. In addition, the memory can comprise a high-speed random access memory, and can further comprise a non-volatile memory, for example, at least one magnetic disk storage device, a flash memory device, or other volatile solid-state memory device.

[0071] The embodiment of the present application further provides a computer readable storage medium, which stores computer executable instructions, and when the computer executable instructions are invoked and executed by a processor, the computer executable instructions cause the processor to execute the steps of the vehicle internal system diagnosis method.

[0072] In several embodiments provided in the present application, it should be understood that the disclosed apparatus and method can also be implemented by other manners. The apparatus embodiments described above are only schematic, for example, the flow charts and structural diagrams in the drawings show the possible implementation architectures, functions and operations of the apparatus, method and computer program product according to the embodiments of the present application. In this regard, each block in the flow charts or structural diagrams can represent a module, a program segment or a part of code, which contains one or more executable instructions for implementing the specified logic function. It should also be noted that, in alternative implementation manners, the functions noted in the blocks can also occur in different orders from those noted in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and sometimes they can also be executed in reverse order, depending on the functions involved. It should also be noted that each block in the structural diagram and / or flow chart, and the combination of blocks in the structural diagram and / or flow chart, can be implemented by a dedicated hardware-based system for executing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0073] In addition, each functional module or unit in the embodiments of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0074] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application can be embodied in the form of a software product, and the computer software product is stored in a storage medium, and includes several instructions for causing a computer device (which can be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the embodiments of the method of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0075] The above merely illustrates the specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A vehicle interior system diagnosis apparatus characterized by comprising: include: The message data management module is used to collect CAN message data sent by various control systems inside the vehicle in real time. A distributed database is used to store vehicle control protocol data, wherein the distributed database is provided with an operation interface; An automatic diagnostic module is used to acquire the vehicle control protocol data through the operation interface, and compare and analyze the CAN message data and the vehicle control protocol data to obtain the diagnostic results of each system inside the vehicle. The diagnostic report module is used to convert the diagnostic results and the CAN message data into a diagnostic report for associated display. The distributed database is a non-relational database. The vehicle internal system diagnostic device also includes multiple database sentinel nodes. The distributed database includes a master data node and at least one slave data node. The multiple database sentinel nodes are respectively deployed in the devices corresponding to the master data node and at least one slave data node. The multiple database sentinel nodes are used to monitor the working status of the distributed database through a heartbeat mechanism, and issue corresponding prompts when one or more data nodes malfunction. The multiple database sentinel nodes are also used to perform a fault migration operation when the master data node is abnormal, and to select a normal slave data node as the new master data node through an arbitration mechanism.

2. The vehicle interior system diagnostic apparatus according to claim 1, characterized by The automatic diagnosis module is also used to store the diagnosis results and the CAN message data in the distributed database according to the diagnosis time; The diagnostic report module is also used to read and display the diagnostic results and CAN message data corresponding to the query time in the query request in the distributed database through the operation interface when a query request is received.

3. The vehicle interior system diagnostic apparatus according to claim 1, characterized by Also includes: The vehicle control protocol management module is used to add vehicle control protocol data for different vehicle models to the distributed database through the operation interface, and to perform any one or more operations such as adding, deleting, modifying, and querying the vehicle control protocol data stored in the distributed database.

4. The vehicle interior system diagnostic apparatus according to claim 2, characterized by The message data management module is also used to perform one or more operations on the CAN message data in the distributed database through the operation interface, including adding, deleting, modifying, and querying.

5. The vehicle interior system diagnostic apparatus of claim 1, wherein The CAN message data is a CAN message issued by any one or more combinations of the following control systems: automatic parking assist system or automatic driving system, electronic stability system, electric power steering system, body control unit, steering wheel angle sensor and vehicle controller.

6. A vehicle interior system diagnosis method characterized by include: Real-time acquisition of CAN message data sent by various control systems inside the vehicle; Vehicle control protocol data is read from a distributed database, which is a non-relational database and includes a master data node and at least one slave data node; multiple database sentinel nodes are respectively deployed in the devices corresponding to the master data node and at least one slave data node; By comparing and analyzing the CAN message data and the vehicle control protocol data, the diagnostic results of the vehicle's internal system are obtained. The diagnostic results and the CAN message data are converted into a diagnostic report for associated display. The vehicle internal system diagnosis method further comprises: The plurality of database sentinel nodes monitor the working condition of the distributed database through a heartbeat mechanism, and send corresponding prompt information when one or more data nodes are abnormal; When the master data node is abnormal, the plurality of database sentinel nodes perform a failover operation, and select a normal slave data node as a new master data node through an arbitration mechanism.

7. A vehicle characterized by comprising: The vehicle comprises a memory and at least one processor, the memory stores a computer program, and the processor is configured to execute the computer program to implement the vehicle internal system diagnosis method in claim 6.

8. A computer storage medium, characterized in that, The computer program is stored in the memory and is executed to implement the vehicle internal system diagnosis method in claim 6.

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