Vehicle diagnostic system, method, storage medium, and vehicle

Abstract

The present disclosure discloses a vehicle diagnosis system, a method, a storage medium and a vehicle. The vehicle diagnosis method implemented by the vehicle diagnosis system based on the present disclosure can be flexibly adapted to various vehicle chip systems, and the rapid deployment of the vehicle diagnosis system is realized in the scenarios of various vehicle chip systems.

Description

Technical Field

[0001] This disclosure generally relates to the field of intelligent driving. More specifically, this disclosure relates to a vehicle diagnostic system, method, storage medium, and vehicle. Background Technology

[0002] Vehicle fault diagnosis technology plays a crucial role in ensuring the normal operation of automobiles, and research on the application of remote vehicle fault diagnosis technology is becoming increasingly in-depth. Traditional vehicle fault diagnosis technologies suffer from many shortcomings, such as poor reusability, difficulty in calling heterogeneous platforms, and poor interoperability. With the continuous improvement of vehicle intelligence and electrification, new requirements are being placed on vehicle fault diagnosis technology.

[0003] In traditional vehicle electronic and electrical architectures, multiple Electronic Control Units (ECUs, also known as "vehicle computers" or "onboard computers") independently control functions such as autonomous driving, active safety, and audio-visual entertainment. During vehicle fault diagnosis, each ECU independently reports abnormal vehicle conditions, forming a system like... Figure 1 The illustrated vertical diagnostic mechanism (i.e., within a single ECU, lower-level diagnostics report the ECU's operating status to higher-level diagnostics) has the following main drawbacks:

[0004] Traditional vehicle fault diagnosis mechanisms are designed for ECUs with the same hardware and software architecture, i.e. Figure 1 The hardware and software architecture of each ECU in a vehicle is consistent, and its diagnostic functions are developed within a specific hardware and software environment. Once the hardware and software architecture of the vehicle chip changes, the original diagnostic functions and mechanisms may become unusable and need to be redeveloped. As the computing power and functional requirements of vehicles increase, vehicle chip systems are often composed of multi-core System-on-Chip (SoC) or multiple heterogeneous SoCs, and different vehicle manufacturers use different chip systems. Therefore, there is an urgent need for a vehicle diagnostic solution that can be quickly deployed in multi-core heterogeneous chip scenarios. Summary of the Invention

[0005] To address at least one or more of the technical issues mentioned above, this disclosure proposes a vehicle diagnostic solution for a system-on-a-chip (SoC) in several aspects. The SoC is divided into at least two levels of diagnostic units, and each level of diagnostic unit is configured with different diagnostic functions and corresponding permissions through configuration files. This enables the vehicle diagnostic solution disclosed herein to be flexibly and quickly deployed in various vehicle chip systems, especially multi-core heterogeneous chip systems.

[0006] In a first aspect, the disclosure provides a vehicle diagnosis system for diagnosing a vehicle chip system, comprising: at least two levels of diagnosis units respectively deployed on different chip levels of the vehicle chip system, each level of diagnosis unit comprising a plurality of diagnosis function modules; wherein the diagnosis function modules are deployed on the corresponding chip levels through a configuration file, the configuration file comprising a function permission parameter and / or a diagnosis permission parameter, the function permission parameter being used for configuring the diagnosis function module with permissions related to function data, the diagnosis permission parameter being used for configuring the diagnosis function module with permissions related to diagnosis data, and the diagnosis function module being used for managing the function data and / or the diagnosis data on the relevant chip levels according to the corresponding configuration file.

[0007] In a second aspect, the disclosure provides a vehicle diagnosis method executed by a vehicle diagnosis system, the vehicle diagnosis system comprising: at least two levels of diagnosis units respectively deployed on different chip levels of a vehicle chip system; the method comprising: a diagnosis function module of a superior diagnosis unit managing function data and / or diagnosis data of an inferior diagnosis unit according to permissions configured by a configuration file; wherein the configuration file comprises a function permission parameter and / or a diagnosis permission parameter, the function permission parameter being used for configuring the diagnosis function module with permissions related to function data, the diagnosis permission parameter being used for configuring the diagnosis function module with permissions related to diagnosis data.

[0008] In a third aspect, the disclosure provides a computer-readable storage medium storing computer program codes of a vehicle diagnosis method, which, when executed, performs the vehicle diagnosis method described above.

[0009] In a fourth aspect, the disclosure provides a vehicle comprising a vehicle chip system and the vehicle diagnosis system described above, the vehicle diagnosis system being deployed on the vehicle chip system.

[0010] Through the vehicle diagnosis scheme provided above, the scheme of the disclosure divides the diagnosis system into at least two levels of diagnosis units respectively deployed on different chip levels of a vehicle chip system. In actual deployment scenarios, a plurality of independent diagnosis function modules can be deployed on different chip levels through standardized configuration files according to actual needs, which can realize a variety of diagnosis functions while flexibly adapting to different multi-core heterogeneous scenarios. Moreover, since the diagnosis function modules are deployed through standardized configuration files, the function permission parameter and the diagnosis permission parameter set in the configuration file can divide different diagnosis permissions, so that each diagnosis function module realizes decoupling and can independently solve the corresponding diagnosis problem, thereby improving the stability of the diagnosis function. BRIEF DESCRIPTION OF DRAWINGS

[0011] The above and other objects, features and advantages of the present disclosure exemplary embodiments will be more apparent from the following detailed description read in conjunction with the accompanying drawings, in which:

[0012] Figure 1 A deployment diagram of a vehicle diagnostic system in the prior art is shown;

[0013] Figure 2 A brief deployment diagram of a vehicle diagnostic system of an embodiment of the present disclosure and the vehicle chip system it diagnoses is shown;

[0014] Figure 3 A deployment diagram of a vehicle chip scenario to which a vehicle diagnostic system of an embodiment of the present disclosure is applied is shown;

[0015] Figure 4 A deployment diagram of another vehicle chip scenario to which a vehicle diagnostic system of an embodiment of the present disclosure is applied is shown;

[0016] Figure 5 A deployment diagram of another vehicle chip scenario to which a vehicle diagnostic system of an embodiment of the present disclosure is applied is shown;

[0017] Figure 6 A deployment diagram of another vehicle chip scenario to which a vehicle diagnostic system of an embodiment of the present disclosure is applied is shown;

[0018] Figure 7 A schematic diagram showing the data subscription and publishing permissions of various units / modules in a vehicle diagnostic system of an embodiment of the present disclosure is shown;

[0019] Figure 8 An exemplary flowchart of a vehicle diagnostic method according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present disclosure will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are part of, rather than all of, the embodiments of the present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present disclosure.

[0021] It should be understood that the terms "first", "second", and "third" and the like used in the description and in the claims of the disclosure can be used to distinguish different objects and not necessarily describe particular sequential or chronological order. The terms "comprises", "comprising", "includes", "including" and the like used in the description and the claims of the disclosure indicate the presence of the described features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0022] It should also be understood that the terms used in the specification of the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure. As used in the specification and claims of the present disclosure, the singular forms "a", "an" and "the" are intended to include the plural forms unless the context clearly indicates otherwise. It should be further understood that the term "and / or" used in the specification and claims of the present disclosure means any combination of one or more of the associated listed items and all possible combinations thereof.

[0023] As used in the specification and claims of this document, the term "if' can be interpreted as meaning "when" or "once" or "in response to a determination" or "in response to detecting" depending on the context. Similarly, the phrase "if determined" or "if detected [the described condition or event]" can be interpreted to mean "once determined" or "in response to a determination" or "once detected [the described condition or event]" or "in response to detecting [the described condition or event]" depending on the context.

[0024] The specific embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0025] As mentioned in the background, from the perspective of system design, the existing vehicle fault diagnosis mechanism based on simple chip architecture is not suitable for the current highly complex SoC. On the one hand, the existing diagnosis mechanism is for a simple chip architecture as shown in FIG. 1, while the future development direction is more towards the scene of multi-core heterogeneous SoC. The complex system function architecture makes the original vehicle fault diagnosis mechanism unable to meet the corresponding fault diagnosis requirements. On the other hand, due to the high complexity of SoC and the large number of abnormal sources, and usually distributed in different subsystems of SoC, the abnormal signals of all subsystems are converged to MCU, which may also make the MCU diagnosis software design complex and the load too high. Figure 1

[0026] ​Therefore, the vehicle diagnostic solution of the embodiments of the present disclosure introduces the design idea of multi-level diagnosis, and distributes the diagnostic behavior to different hardware entities at different levels at the system level.

[0027] The vehicle diagnostic system in the embodiments of the present disclosure is implemented based on a service-oriented architecture (SOA). SOA is a component model that splits different functional units of an application program and connects them through well-defined interfaces and protocols between the services. Since SOA is implemented based on remote procedure call (RPC), and RPC can solve the problem of cross-process or even cross-system communication, the services built in various systems based on SOA can interact in a unified and universal manner.

[0028] Figure 2 A brief deployment relationship diagram of the vehicle diagnostic system and the vehicle chip system to be diagnosed. The vehicle diagnostic system in the embodiments of the present disclosure is deployed in the vehicle chip system based on the SOA described above. As shown in the figure, the vehicle chip system to be diagnosed in the present disclosure includes SoC and MCU (Micro Controller Unit). The SoC chip can have one or more, and a SoC includes a plurality of processing cores, and an operating system runs on the processing core (depending on the actual scenario, one processing core can run one operating system, or multiple operating systems can run on one processing core (for example, through multiple virtual machines to install multiple operating systems)). Based on the vehicle chip system including SoC and MCU described above, at least two chip levels (the chip level is the hierarchical relationship between different chips (or processing cores) defined according to the management authority between the chips) can be divided. In the existing diagnostic architecture of the vehicle chip system, the MCU belongs to the highest chip level outside the SoC. Such MCU is generally called external high-security level MCU, which is used to supervise the running state of each system in the SoC.

[0029] In practical applications, the heterogeneous scene of the vehicle-mounted chip can come from the hardware platform level, the operating system level, the programming language level, or the functional requirement level. The complex heterogeneous scene brings many adaptation problems to the vehicle fault diagnosis scheme. Therefore, the vehicle diagnosis system in the disclosed embodiments is based on the chip level of the vehicle chip system, and at least two levels of diagnosis units are divided and deployed on different chip levels of the vehicle chip system. And according to the actual needs (such as different software and hardware types and different application functions), a plurality of diagnosis function modules can be configured in each level of diagnosis unit. In order to adapt to the multi-core heterogeneous scene, the deployment of the diagnosis function module on different chip levels is realized through a configuration file. And the diagnosis function module is used to manage the function data and / or the diagnosis data on the relevant chip level according to the corresponding configuration file. Wherein "relevant chip level" refers to the chip level involved in the execution of the corresponding diagnosis function module (such as heartbeat monitoring, periodically sending heartbeat packet messages from the lower chip level to the upper chip level, and "relevant chip level" refers to the lower chip level and the upper chip level).

[0030] Specifically, the configuration file includes a function permission parameter and / or a diagnosis permission parameter. The function permission parameter is used to configure the permission related to the function data for the diagnosis function module, and the diagnosis permission parameter is used to configure the permission related to the diagnosis data for the diagnosis function module. Through the setting of the function permission parameter, the function data of a specific application function can be obtained in the operating system, and the diagnosis of the running state of the specific application function can be realized by detecting the function data. Through the setting of the diagnosis permission parameter, the division of the management permission between different diagnosis units (corresponding to different chip levels) can be realized (the upper diagnosis unit can obtain the diagnosis data of the lower diagnosis unit, and vice versa), and the layer-by-layer reporting of the diagnosis information can be realized, so that the vehicle diagnosis system can orderly manage the application functions in the system.

[0031] The deployment of the diagnosis function module in the disclosed embodiments is realized through SOA, and different diagnosis function modules can be regarded as different independent components in SOA. The independent component can be installed into the vehicle diagnosis system through a unified component interface, and after the independent component is registered in the vehicle diagnosis system through the configuration file, the corresponding diagnosis function can be realized. The compatibility and adaptation problems brought by cross-hardware platform and cross-operating system are overcome, and the on-demand deployment and rapid deployment of the diagnosis function are realized.

[0032] In order to further illustrate that the vehicle diagnosis scheme of the disclosed embodiments can adapt to a plurality of different heterogeneous scenes, the following will illustrate a plurality of SoC scenes, Figure 3 A deployment relationship diagram of a vehicle chip scene to which the vehicle diagnosis system of the disclosed embodiments is applied is shown.

[0033] Please refer to Figure 3 The vehicle chip system in the embodiments of the present disclosure includes an MCU and an SoC, the SoC including at least two processing cores, wherein the first processing core has a lockstep mechanism, and the second processing core runs a hypervisor (virtual machine monitor, a software, firmware or hardware used to establish and execute a virtual machine). Correspondingly, one embodiment of the vehicle diagnosis system in the embodiments of the present disclosure includes:

[0034] The vehicle diagnosis system in the embodiments of the present disclosure divides three diagnosis units, from top to bottom, according to the management authority: a vehicle diagnosis unit, an on-chip system diagnosis unit and a function diagnosis unit.

[0035] The function diagnosis unit is configured to diagnose the running state of each application function and driving function in each virtual machine. In the embodiments of the present disclosure, a plurality of virtual machines run in an operating system (for example, Hypervisor). In addition, each virtual machine can also be installed with an independent operating system, and each independent operating system is installed with N (N is an integer greater than zero) application functions (for example, navigation map or video playback, etc.) and N driving functions (for example, driving of audio amplifier or microphone, etc.). A function diagnosis agent module can be deployed in each virtual machine, which is used to diagnose the running state of the deployed virtual machine (including the running state of each application function and driving function), and report the diagnosis data to the function diagnosis unit (since the function diagnosis unit and each virtual machine run in the Hypervisor, the diagnosis data can be reported through the shared memory). The function diagnosis agent module is configured with a corresponding reporting interface for each application function and driving function (i.e., which application function or driving function is abnormal can be distinguished). As an example, the diagnosis function module in the function diagnosis unit includes a rationality detection module, a restriction detection module, a heartbeat monitoring module, a hardware self-checking module and a plurality of function diagnosis agent modules. In actual application, the number and / or type of diagnosis function modules configured in the diagnosis unit can be determined according to actual needs, which is only used as an example for reference. As an example, in the embodiment running the Hypervisor, the function diagnosis unit can be deployed only one, and the function diagnosis agent module has a plurality of (corresponding to the number of virtual machines) and is deployed in each virtual machine.

[0036] The on-chip system diagnosis unit is configured to diagnose the Hypervisor, the software and hardware functions running on the first processing core, and the running state of each function diagnosis unit. The diagnosis of the Hypervisor and the diagnosis of the software and hardware functions can be achieved by subscribing to the corresponding function data, and the diagnosis of the function diagnosis unit is achieved by subscribing to the diagnosis data published by the function diagnosis unit. Since the vehicle diagnosis system in the embodiment of the present disclosure distinguishes the levels of diagnosis units through the right to obtain diagnosis data, the on-chip system diagnosis unit is configured with the right to subscribe to the diagnosis data published by the function diagnosis unit through a configuration file. As an example, the on-chip system diagnosis unit can obtain the diagnosis data published by the function diagnosis unit through a remote procedure call (RPC) / shared memory method. As an example, the diagnosis function modules in the on-chip system diagnosis unit include a question and answer detection module, a heartbeat detection module, a Hypervisor detection module, and a hardware self-checking module. It should be noted that in the scenario where the Hypervisor is running, the on-chip system diagnosis unit is configured with the Hypervisor detection module.

[0037] The vehicle diagnosis unit is configured to diagnose the running state of the vehicle-mounted hardware (such as sensors), the on-chip system diagnosis unit, and the function diagnosis unit. The diagnosis of the vehicle-mounted hardware can be achieved by subscribing to the corresponding function data, and the diagnosis of the on-chip system diagnosis unit and the function diagnosis unit is achieved by subscribing to the diagnosis data published by the on-chip system diagnosis unit and the function diagnosis unit. Since the vehicle diagnosis system in the embodiment of the present disclosure distinguishes the levels of diagnosis units through the right to obtain diagnosis data, the vehicle diagnosis unit is configured with the right to subscribe to the diagnosis data published by the function diagnosis unit and / or the on-chip system diagnosis unit through a configuration file. As an example, the MCU can be loaded with a safety system (such as Safety RTOS (Safety Real Time Operating System)), and the vehicle diagnosis unit can be installed in the Safety OS through a software program. As an example, the vehicle diagnosis unit obtains the diagnosis data published by the function diagnosis unit and / or the on-chip system diagnosis unit through the cross-domain communication method of SOA (such as Ethernet). As an example, the diagnosis function modules in the vehicle diagnosis unit include a voting module, a heartbeat detection module, a monitor diagnosis module, and a hardware self-checking module.

[0038] In the embodiments of the present disclosure, the function diagnosis unit is deployed in the second processing core of the Soc, the system-on-chip diagnosis unit is deployed in the first processing core of the Soc, and the vehicle diagnosis unit is deployed in the MCU. The first processing core is a processing core with a lockstep mechanism, and the second processing core is a processing core without a lockstep mechanism. The lockstep mechanism means that the corresponding processing core has a hardware self-checking module and can periodically execute the same instruction, and by comparing the results after executing the same instruction, if the results are inconsistent, it is determined that a running exception occurs. For the consideration of data security, the upper-level diagnosis unit needs to have a more perfect security mechanism (that is, the deployed processing core has a higher level of hardware security function) than the lower-level diagnosis unit, so the system-on-chip diagnosis unit is selected to be deployed in the processing core with a lockstep mechanism. Further, the first processing core can also have a memory isolation security mechanism. Memory isolation means that critical programs and data are stored in an isolated memory area, so that when other programs are running, the isolated memory area will not be occupied. As an example, the first processing core can be a Lockstep Dual R core, and the second processing core can be an A core, and the Hypervisor runs in the second processing core.

[0039] In the embodiments of the present disclosure, the function diagnosis unit can run as an independent software program in the Hypervisor, so that the function diagnosis unit can be software-isolated with the independent operating system on the virtual machine, ensuring that the function diagnosis unit can run safely and reliably. The function diagnosis unit and the system-on-chip diagnosis unit are hardware-isolated through different processing cores, that is, the hardware corresponding to the function diagnosis unit has a failure, which does not affect the diagnosis function of the system-on-chip diagnosis unit, further ensuring the safety and reliability of the vehicle diagnosis system.

[0040] Compared with the longitudinal diagnosis mechanism in a single ECU in the related art, Figure 1 Compared with the longitudinal diagnosis mechanism in a single ECU in the related art,

[0041] Figure 4 A deployment relationship diagram of another vehicle chip scenario to which the vehicle diagnosis system of the embodiments of the present disclosure is applied is shown. Please refer to Figure 4The vehicle chip system in the embodiments of the present disclosure includes an MCU and a SoC, the SoC includes a first processing core and at least two second processing cores, the first processing core has a lockstep mechanism, and correspondingly, another implementation of the vehicle diagnosis system in the embodiments of the present disclosure includes:

[0042] The vehicle diagnosis system in the embodiments of the present disclosure divides three diagnosis units, and the management authority is from top to bottom: a vehicle diagnosis unit, an on-chip system diagnosis unit, and a function diagnosis unit.

[0043] The function diagnosis unit is configured to diagnose the running state of each application function and the driving function running in the operating system in which the function diagnosis unit is deployed. The operating system 1 in the figure is the operating system corresponding to the on-chip system diagnosis unit. The operating system 1 runs in the first processing core, and the other operating systems run in the plurality of second processing cores. Each operating system except the operating system 1 is respectively deployed with a function diagnosis unit, and N application functions (such as navigation map or video playing, etc.) and N driving functions (such as the driving of a sound box or a microphone, etc.) can be installed in the operating system in which the function diagnosis unit is deployed. The function diagnosis unit is configured with a corresponding reporting interface for each application function and driving function (that is, it can be distinguished which application function or driving function is abnormal). As an example, the diagnosis function modules in the function diagnosis unit include a rationality detection module, a restriction detection module, a heartbeat monitoring module, and a hardware self-checking module.

[0044] The on-chip system diagnosis unit is configured to run the running state of the software and hardware functions on the first processing core and each function diagnosis unit. Among them, the diagnosis of the software and hardware functions can be realized by subscribing to the corresponding function data, and the diagnosis of the function diagnosis unit is realized by subscribing to the diagnosis data published by the function diagnosis unit. As an example, the diagnosis function modules in the on-chip system diagnosis unit include a question and answer detection module, a heartbeat detection module, and a hardware self-checking module. Relative to the embodiment shown in Figure 3 The on-chip system diagnosis unit in the embodiments of the present disclosure does not have a Hypervisor detection module, and other functions are the same as those of the on-chip system diagnosis unit in the embodiments of the present disclosure, which will not be repeated here. Figure 3 The on-chip system diagnosis unit in the embodiments of the present disclosure does not have a Hypervisor detection module, and other functions are the same as those of the on-chip system diagnosis unit in the embodiments of the present disclosure, which will not be repeated here.

[0045] The vehicle diagnosis unit is configured to diagnose the running state of the vehicle hardware (such as a sensor), the on-chip system diagnosis unit, and each function diagnosis unit. The diagnosis function realized by the vehicle diagnosis unit in the embodiments of the present disclosure is the same as that of the vehicle diagnosis unit in the embodiments of the present disclosure, which will not be repeated here. Figure 3 The vehicle diagnosis unit in the embodiments of the present disclosure does not have a Hypervisor detection module, and other functions are the same as those of the vehicle diagnosis unit in the embodiments of the present disclosure, which will not be repeated here.

[0046] In the embodiments of the present disclosure, each operating system except the operating system 1 is respectively deployed with a function diagnosis unit, and can independently report running abnormities, so that the superior diagnosis unit can accurately locate the operating system corresponding to the running abnormity, and then can perform targeted repair operation (such as reset) on the operating system with running abnormity, thereby avoiding the situation that the whole SoC needs to be reset due to the abnormity of an individual operating system.

[0047] Figure 5 A deployment relationship diagram of another vehicle chip scenario to which the vehicle diagnosis system of the embodiments of the present disclosure is applied is shown. Please refer to Figure 5 The vehicle chip system in the embodiments of the present disclosure includes an MCU and an SoC, the SoC includes at least two second processing cores, all the processing cores in the SoC do not have a lockstep mechanism, and correspondingly, another implementation of the vehicle diagnosis system in the embodiments of the present disclosure includes:

[0048] The vehicle diagnosis system in the embodiments of the present disclosure divides two-level diagnosis units, and from top to bottom, the management authority is respectively: the vehicle diagnosis unit and the function diagnosis unit. Since all the processing cores in the SoC do not have a lockstep mechanism, the diagnosis unit for managing all the operating systems cannot be deployed inside the SoC.

[0049] The function diagnosis unit is configured to diagnose the running state of each application function and driving function in the operating system in which the function diagnosis unit is deployed. Each operating system in the embodiments of the present disclosure is respectively deployed with a function diagnosis unit, and N application functions (such as navigation map or video playing, etc.) and N driving functions (such as the driving of a sound box or a microphone, etc.) can be installed in the operating system in which the function diagnosis unit is deployed. The function diagnosis unit is configured with a corresponding reporting interface for each application function and driving function (that is, it can be distinguished which application function or driving function has an abnormity). Compared with the embodiment shown in Figure 4 In the embodiments of the present disclosure, the reporting object of the function diagnosis unit is only the vehicle diagnosis unit, and other functions and Figure 4 The function diagnosis unit in the embodiments of the present disclosure is consistent with the function diagnosis unit in the embodiments of the present disclosure, which will not be described here.

[0050] The vehicle diagnosis unit is configured to diagnose the running state of the vehicle-mounted hardware (such as a sensor), the on-chip system diagnosis unit and each function diagnosis unit. Compared with the embodiment shown in Figure 4 In the embodiments of the present disclosure, the vehicle diagnosis unit does not need to subscribe to the diagnosis data of the on-chip system diagnosis unit, and other diagnosis functions and Figure 4 The vehicle diagnosis unit in the embodiments of the present disclosure is consistent with the vehicle diagnosis unit in the embodiments of the present disclosure, which will not be described here.

[0051] Figure 6A deployment relationship diagram of another vehicle chip scenario to which the vehicle diagnostic system of the embodiments of the present disclosure is applied is shown. Please refer to Figure 6 The vehicle chip system in the embodiments of the present disclosure includes an MCU and at least two SoCs, each of which includes at least a first processing core and a second processing core, wherein the first processing core has a lockstep mechanism, and the second processing core does not have a lockstep mechanism. Correspondingly, another implementation of the vehicle diagnostic system in the embodiments of the present disclosure includes:

[0052] The vehicle diagnostic system in the embodiments of the present disclosure divides three levels of diagnostic units, which are, from top to bottom, a vehicle diagnostic unit, a system-on-chip diagnostic unit, and a function diagnostic unit.

[0053] The function diagnostic unit is configured to diagnose the running state of each application function and driver function running in the operating system in which the function diagnostic unit is deployed.

[0054] The system-on-chip diagnostic unit is configured to run on the first processing core and diagnose the running state of each function diagnostic unit and the software and hardware functions.

[0055] The vehicle diagnostic unit is configured to diagnose the running state of the vehicle hardware (such as sensors), each system-on-chip diagnostic unit, and each function diagnostic unit.

[0056] The diagnostic functions implemented by the function diagnostic unit, the system-on-chip diagnostic unit, and the vehicle diagnostic unit in the embodiments of the present disclosure are consistent with Figure 4 The function diagnostic unit, the system-on-chip diagnostic unit, and the vehicle diagnostic unit in the embodiments are consistent, and will not be described here.

[0057] In the embodiments of the present disclosure, since the vehicle chip system has at least two SoCs, and each SoC has a first processing core, a system-on-chip diagnostic unit can be configured for each SoC, so that each SoC can independently manage the diagnostic functions within the SoC.

[0058] The following will take the vehicle chip system shown in Figure 3 as an example to specifically describe how the diagnostic units at each level set the corresponding function permission parameters and diagnostic permission parameters through configuration files. Please refer to Figure 7 , Figure 7 A schematic diagram of subscribing and publishing data permissions for each unit / module in the vehicle diagnostic system of the present disclosure.

[0059] In the embodiments of the present disclosure, the data information published by each unit / module (including the units / modules in the vehicle diagnostic system, and the functional modules in the virtual machine) carries a topic flag, such as function topics and diagnostic topics, and only the relevant function data and diagnostic data can be acquired (or extracted) by configuring the corresponding subscription authority. In the embodiments of the present disclosure, the function authority parameters and the diagnostic authority parameters in the configuration file are used to configure the corresponding authority for the diagnostic functional modules in the diagnostic unit. The function authority parameters include: the subscription function data authority and the publishing function data authority; and the diagnostic authority parameters include: the subscription diagnostic data authority and the publishing diagnostic data authority. The function data authority further distinguishes different application functions, drive functions, and vehicle hardware functions, and each function data corresponds to a unique subscription / publishing authority.

[0060] Figure 7 The arrows from the units / modules to the topics represent publishing data, and the arrows from the topics to the units / modules represent subscription data, as shown in Figure 7

[0061] The function diagnostic agent module in the function diagnostic unit configures the subscription function data authority and the publishing diagnostic data authority through the configuration file.

[0062] The function diagnostic unit configures the subscription function data authority, the subscription diagnostic data authority, and the publishing diagnostic data authority through the configuration file.

[0063] The system on chip diagnostic unit configures the subscription function data authority, the publishing function data authority, and the publishing diagnostic data authority through the configuration file.

[0064] ​The vehicle diagnostic unit configures the subscribe function data, the publish function data, the subscribe diagnostic data and the publish diagnostic data by a configuration file.

[0065] In the embodiments of the present disclosure, since the function topics and the diagnostic topics are separated, the security of the function data and the diagnostic data is ensured, and the entire diagnostic framework is facilitated to be transplanted to different heterogeneous environments.

[0066] As an example, the following code is given to configure the corresponding permissions in a configuration file:

[0067]

[0068]

[0069]

[0070] In the above code of the configuration file, "L1 function diagnostic" represents a function diagnostic unit, "component rationality detection" represents that the diagnostic function module of the component includes a rationality detection module, "subscribe camera0_data" represents subscribing to the function data of camera 0, and "publish diag0" represents publishing the diagnostic data of label 0 (for example, the label of the function diagnostic unit). "L2 SOC diagnostic" represents a system on chip diagnostic unit, "subscribe data1" represents subscribing to the function data of label 1, and "publish diag1" represents publishing the diagnostic data of label 1 (for example, the label of the system on chip diagnostic unit). "L3 vehicle diagnostic" represents a vehicle diagnostic unit.

[0071] After the diagnostic units at each level configure the corresponding permissions by the configuration file, the diagnostic units at each level can respectively perform the corresponding subscribe / publish operations, and specifically:

[0072] The diagnostic function module of the function diagnosis unit is configured to subscribe to corresponding function data according to the permissions configured in the configuration file, and determine and publish corresponding diagnostic data according to the function data subscribed by the function diagnosis unit. As an example, after obtaining the relevant function data, the function diagnosis unit updates the application function state (i.e., one of the diagnostic data published by the function diagnosis unit) according to the function data, and publishes the application function state through a message carrying a diagnostic topic flag bit, wherein the application function state includes: application function normal or application function abnormal.

[0073] The diagnostic function module of the system-on-chip diagnosis unit is configured to subscribe to corresponding function data and / or diagnostic data published by the function diagnosis unit according to the permissions configured in the configuration file, and determine and publish corresponding diagnostic data according to the function data and / or diagnostic data subscribed by the system-on-chip diagnosis unit. As an example, the system-on-chip diagnosis unit subscribes to the function data corresponding to the virtual machine monitor, updates the monitor state (i.e., one of the diagnostic data published by the system-on-chip diagnosis unit) after the function data corresponding to the virtual machine monitor, and publishes the monitor state through a message carrying a diagnostic topic flag bit, wherein the monitor state includes: monitor normal or monitor abnormal. As an example, the system-on-chip diagnosis unit also subscribes to the diagnostic data published by the function diagnosis unit, updates the diagnostic state of the system-on-chip diagnosis unit according to the diagnostic data published by the function diagnosis unit, and publishes the diagnostic state of the system-on-chip diagnosis unit through a message carrying a diagnostic topic flag bit; wherein the diagnostic state of the system-on-chip diagnosis unit includes: system-on-chip running normally or system-on-chip running abnormally.

[0074] The diagnostic function module of the vehicle diagnosis unit is configured to subscribe to corresponding function data and / or diagnostic data published by the function diagnosis unit and the system-on-chip diagnosis unit according to the permissions configured in the configuration file, and determine and publish corresponding diagnostic data according to the function data and / or diagnostic data subscribed by the vehicle diagnosis unit. As an example, the diagnostic data published by the vehicle diagnosis unit includes a vehicle diagnosis state, which is determined according to the diagnostic state of the function diagnosis unit and / or the diagnostic state of the system-on-chip diagnosis unit (e.g., if either the function diagnosis unit or the system-on-chip diagnosis unit is running abnormally, the vehicle diagnosis state is vehicle running abnormally). Wherein the vehicle diagnosis state includes: vehicle running normally or vehicle running abnormally.

[0075] Further, the on-chip system diagnosis unit and the vehicle diagnosis unit, as the superior diagnosis units, are further provided with abnormal repair strategies for corresponding vehicle faults. Therefore, the on-chip system diagnosis unit is further configured to execute the corresponding abnormal repair strategy in response to the diagnosis state of any functional diagnosis unit being abnormal function operation.

[0076] The vehicle diagnosis method executed by the vehicle diagnosis system is also designed in the embodiments of the present disclosure, wherein the vehicle diagnosis system comprises: at least two levels of diagnosis units respectively deployed on different chip levels of the vehicle chip system; and the method comprises:

[0077] The diagnosis function module of the superior diagnosis unit manages the function data and / or the diagnosis data of the subordinate diagnosis unit according to the permissions configured in the configuration file; wherein the configuration file comprises function permission parameters and / or diagnosis permission parameters, the function permission parameters are used to configure the permissions related to the function data for the diagnosis function module, and the diagnosis permission parameters are used to configure the permissions related to the diagnosis data for the diagnosis function module.

[0078] It should be noted that the superior diagnosis unit and the subordinate diagnosis unit described above are relative concepts. For example, the vehicle diagnosis unit is a superior diagnosis unit relative to the functional diagnosis unit. The on-chip system diagnosis unit is a superior diagnosis unit relative to the functional diagnosis unit; and the vehicle diagnosis unit is a superior diagnosis unit relative to the on-chip system diagnosis unit. Conversely, the on-chip system diagnosis unit is a subordinate diagnosis unit relative to the vehicle diagnosis unit.

[0079] To further illustrate the vehicle diagnosis method in the embodiments of the present disclosure, the vehicle diagnosis method in the embodiments of the present disclosure will be described in detail below taking the vehicle chip system shown in Figure 3

[0080] Figure 8 An exemplary flowchart of the vehicle diagnosis method according to one embodiment of the present disclosure is shown. Please refer to Figure 8 One embodiment of the vehicle diagnosis method in the embodiments of the present disclosure comprises:

[0081] In step S801, the diagnosis function module of the functional diagnosis unit subscribes to the corresponding function data according to the permissions configured in the configuration file.

[0082] The diagnosis data published by the functional diagnosis unit comprises: application function state; wherein the application function state comprises: application function normal or application function abnormal.

[0083] ​When the function diagnosis agent module of the function diagnosis unit acquires the corresponding function data by subscribing function data, and the function data is normal, the application function state maintained by the function diagnosis unit locally should be FUNTION_OK (i.e., the application function is normal), otherwise, the application function state is FUNTION_ERROR (i.e., the application function is abnormal).

[0084] In step S802, the diagnosis function module of the function diagnosis unit determines and publishes the corresponding diagnosis data according to the function data subscribed by the function diagnosis unit.

[0085] As an example, after determining that the application function state is FUNTION_OK, the function diagnosis unit publishes L0_NO_ERROR state (i.e., the diagnosis state of the function diagnosis unit is that the function runs normally) on the diag topics. After determining that the application function state is FUNTION_ERROR, the function diagnosis unit publishes publish L0_FAULT (i.e., the diagnosis state of the function diagnosis unit is that the function runs abnormally) on the diag topics.

[0086] In step S803, the diagnosis function module of the system on chip diagnosis unit subscribes to the corresponding function data and / or the diagnosis data published by the function diagnosis unit according to the permissions configured by the configuration file.

[0087] As an example, when the Hypervisor is normal, the Hypervisor state maintained by the system on chip diagnosis unit is HYPERVISOR_NO_ERROR (i.e., the monitor state is that the monitor is normal); when the Hypervisor is not normal, the Hypervisor state maintained by the system on chip diagnosis unit is HYPERVISOR_FAULT (i.e., the monitor state is that the monitor is abnormal).

[0088] When the diagnosis data published by the function diagnosis unit subscribed by the system on chip diagnosis unit is L0_NO_ERROR (i.e., the diagnosis state of the function diagnosis agent module is normal), it is determined that the function diagnosis unit state maintained by the system on chip diagnosis unit is SOC_L1_NO_ERROR (i.e., the function diagnosis unit state is normal); otherwise, if it is L0_FAULT (i.e., the diagnosis state of the function diagnosis agent module is abnormal), it is determined that the function diagnosis unit state maintained by the system on chip diagnosis unit is SOC_L1_ERROR (i.e., the function diagnosis unit state is abnormal).

[0089] In step S804, the diagnosis function module of the system-on-chip diagnosis unit determines and publishes corresponding diagnosis data according to the function data and / or diagnosis data subscribed by the system-on-chip diagnosis unit.

[0090] The diagnosis data published by the system-on-chip diagnosis unit comprises at least one of the following: a monitor state, a diagnosis state of the function diagnosis unit, and a diagnosis state of the system-on-chip diagnosis unit; wherein the monitor state comprises: monitor normal or monitor abnormal; the diagnosis state of the function diagnosis unit comprises: function running normal or function running abnormal; and the diagnosis state of the system-on-chip diagnosis unit comprises: system-on-chip running normal or system-on-chip running abnormal.

[0091] As an example, when the Hypervisor state maintained by the system-on-chip diagnosis unit is HYPERVISOR_FAULT, HYPERVISOR_SOC_ERROR is published on the diag topics. When the state maintained by the system-on-chip diagnosis unit is HYPERVISOR_SOC_ERROR or SOC_L1_ERROR, the system-on-chip diagnosis unit publishes SOC_ERROR (i.e., the diagnosis state of the system-on-chip diagnosis unit is system-on-chip running abnormal) on the diag topics. Conversely, when the state maintained by the system-on-chip diagnosis unit is HYPERVISOR_NO_ERROR and SOC_L1_NO_ERROR, the system-on-chip diagnosis unit publishes SOC_NO_ERROR state (i.e., the diagnosis state of the system-on-chip diagnosis unit is system-on-chip running normal) on the diag topics.

[0092] Further, in response to the diagnosis state of any function diagnosis unit being function running abnormal, the system-on-chip diagnosis unit executes a corresponding exception repair strategy to repair the corresponding function running abnormal.

[0093] In step S805, the diagnosis function module of the vehicle diagnosis unit subscribes to corresponding function data and / or diagnosis data published by the function diagnosis unit and the system-on-chip diagnosis unit according to the permissions configured in the configuration file.

[0094] As an example, when the diagnosis data published by the function diagnosis unit subscribed by the vehicle diagnosis unit is L0_NO_ERROR and the diagnosis data published by the system-on-chip diagnosis unit is SOC_NO_ERROR, the vehicle diagnosis unit determines that the vehicle diagnosis state is VEHICLE_NO_ERROR (i.e., the vehicle is running normally). Conversely, when the vehicle diagnosis unit subscribes to L0_FAULT or SOC_ERROR, the vehicle diagnosis unit determines that the vehicle diagnosis state is VEHICLE_FAULT (i.e., the vehicle is running abnormally).

[0095] In step S806, the diagnosis function module of the vehicle diagnosis unit determines and publishes corresponding diagnosis data according to the function data and / or diagnosis data to which the vehicle diagnosis unit subscribes.

[0096] The diagnosis data published by the vehicle diagnosis unit includes: a vehicle diagnosis state; wherein the vehicle diagnosis state includes: a vehicle running normally and a vehicle running abnormally.

[0097] As an example, when the vehicle diagnosis unit determines that the vehicle diagnosis state is VEHICLE_NO_ERROR (i.e., the vehicle is running normally), the vehicle diagnosis unit publishes VEHICLE_NO_ERROR on the diag topics. Conversely, when the vehicle diagnosis unit determines that the vehicle diagnosis state is VEHICLE_FAULT, the vehicle diagnosis unit publishes VEHICLE_FAULT on the diag topics.

[0098] Further, in response to the vehicle diagnosis state being a vehicle running abnormally, the vehicle diagnosis unit performs a corresponding abnormality repair strategy to repair the corresponding vehicle fault.

[0099] In the embodiments of the present disclosure, the deployment of the diagnosis function modules of the diagnosis units at different levels is implemented through SOA. The diagnosis function modules can be regarded as independent components in SOA, which can be installed into the vehicle diagnosis system through a unified component interface. After the independent components are registered in the vehicle diagnosis system through a configuration file, the corresponding diagnosis functions can be implemented. The compatibility and adaptation problems caused by cross hardware platforms and cross operating systems are overcome, and on-demand deployment and rapid deployment of diagnosis functions are achieved.

[0100] Correspondingly, the embodiments of the present disclosure also provide a vehicle including a vehicle chip system and the vehicle diagnosis system described above. The specific vehicle diagnosis process can refer to the embodiments of the vehicle diagnosis system and the vehicle diagnosis method described above, and will not be described here again.

[0101] It is to be understood that the present disclosure will be described in terms of a few specific examples entirely within the context of the present disclosure, but those skilled in the art will readily understand that the present disclosure is not limited to those specific examples. Without intent to limit the scope of the disclosure, examples of instruments, apparatus, methods and their combinations are described in detail below.

[0102] Those skilled in the art will recognize that the embodiments of the present application can be implemented in a variety of forms. Therefore, the present application can take the form of a system, method or computer program product on one or more computer-readable storage media having computer-readable program code embodied in the computer-readable storage media.

[0103] Any combination of one or more computer-readable media can be utilized. The computer-readable media can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, the computer-readable storage medium can be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0104] A computer readable signal medium can include a propagated data signal with computer executable code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated signal can take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium can be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate or transport programming code.

[0105] Program code embodied on a computer readable medium can be transmitted using any appropriate medium, including but not limited to wireless, wire line, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0106] Computer program code for carrying out operations for aspects of the present disclosure can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0107] While the present disclosure has been illustrated and described with respect to various embodiments, it is not intended that the disclosure be limited to the embodiments as illustrated and described. Rather, it is intended that the disclosure be construed as including all alternatives, modifications and equivalents falling within the spirit and scope of the present disclosure. It is intended that the appended claims cover all such alternatives, modifications and equivalents.

Claims

1. A vehicle diagnostic system for diagnosing a vehicle chip system, characterized by, The vehicle diagnosis system comprises: at least two levels of diagnosis units respectively arranged on different chip levels of a vehicle chip system, each level of diagnosis unit comprising a plurality of diagnosis function modules; wherein the vehicle chip system comprises a system on chip (SoC), and the SoC comprises a first processing core and a second processing core, and the first processing core has a lockstep mechanism; the at least two levels of diagnosis units comprise a function diagnosis unit and a system on chip diagnosis unit, the system on chip diagnosis unit is arranged in the first processing core of the SoC, and the function diagnosis unit is arranged in at least the second processing core of the SoC; wherein the diagnosis function modules are arranged on the corresponding chip levels through configuration files, the configuration files comprise function permission parameters and / or diagnosis permission parameters, the function permission parameters are used to configure the diagnosis function modules with permissions related to function data, the diagnosis permission parameters are used to configure the diagnosis function modules with permissions related to diagnosis data, and the diagnosis function modules are used to manage the function data and / or diagnosis data on the relevant chip levels according to the corresponding configuration files.

2. The vehicle diagnosis system according to claim 1, wherein: the vehicle chip system further comprises a microcontroller (MCU); and the at least two levels of diagnosis units further comprise a vehicle diagnosis unit; wherein the vehicle diagnosis unit is arranged in the MCU.

3. The vehicle diagnosis system according to claim 2, wherein: the system on chip diagnosis unit is configured by a configuration file to subscribe to diagnosis data published by the function diagnosis unit; the vehicle diagnosis unit is configured by a configuration file to subscribe to diagnosis data published by the function diagnosis unit and / or the system on chip diagnosis unit.

4. The vehicle diagnosis system according to claim 3, wherein: the system on chip diagnosis unit obtains the diagnosis data published by the function diagnosis unit through a remote procedure call (RPC) / shared memory method; and / or the vehicle diagnosis unit obtains the diagnosis data published by the function diagnosis unit and / or the system on chip diagnosis unit through a service-oriented architecture (SOA) cross-domain communication method.

5. The vehicle diagnosis system according to claim 3, wherein: the second processing core runs a virtual machine monitor (VMM), and the VMM runs a plurality of virtual machines (VMs); the function diagnosis unit comprises a function diagnosis agent module, the function diagnosis agent module is arranged on each of the VMs and is configured to diagnose the running state of the VM and report to the function diagnosis unit; the system on chip diagnosis unit is further configured by a configuration file to monitor the running state of the VMM.

6. The vehicle diagnosis system according to claim 3, wherein: the function permission parameters comprise subscription function data permissions and publication function data permissions; the diagnosis permission parameters comprise subscription diagnosis data permissions and publication diagnosis data permissions.

7. The vehicle diagnostic system of claim 6, wherein Each level of diagnosis unit is configured according to at least one of the following: The function diagnosis unit configures the subscription function data permission, the subscription diagnosis data permission and the publishing diagnosis data permission through a configuration file; The system on chip diagnosis unit configures the subscription function data permission, the publishing function data permission and the publishing diagnosis data permission through a configuration file; The vehicle diagnosis unit configures the subscription function data permission, the publishing function data permission, the subscription diagnosis data permission and the publishing diagnosis data permission through a configuration file.

8. The vehicle diagnosis system of claim 3, wherein The diagnosis function module of the function diagnosis unit is configured to subscribe to corresponding function data according to the permission configured by the configuration file, and to determine and publish corresponding diagnosis data according to the function data subscribed by the function diagnosis unit; The diagnosis function module of the system on chip diagnosis unit is configured to subscribe to corresponding function data and / or diagnosis data published by the function diagnosis unit according to the permission configured by the configuration file, and to determine and publish corresponding diagnosis data according to the function data and / or diagnosis data subscribed by the system on chip diagnosis unit; The diagnosis function module of the vehicle diagnosis unit is configured to subscribe to corresponding function data and / or diagnosis data published by the function diagnosis unit and the system on chip diagnosis unit according to the permission configured by the configuration file, and to determine and publish corresponding diagnosis data according to the function data and / or diagnosis data subscribed by the vehicle diagnosis unit.

9. The vehicle diagnostic system of claim 8, wherein, The diagnosis data is configured according to at least one of the following: The diagnosis data published by the function diagnosis unit includes application function status, wherein the application function status includes application function normal or application function abnormal; The diagnosis data published by the system on chip diagnosis unit includes at least one of the following: monitor status, diagnosis status of the function diagnosis unit and diagnosis status of the system on chip diagnosis unit, wherein the monitor status includes monitor normal or monitor abnormal, the diagnosis status of the function diagnosis unit includes function running normal or function running abnormal, and the diagnosis status of the system on chip diagnosis unit includes system on chip running normal or system on chip running abnormal; The diagnosis data published by the vehicle diagnosis unit includes vehicle diagnosis status, wherein the vehicle diagnosis status includes vehicle running normal or vehicle running abnormal.

10. The vehicle diagnosis system of claim 9, wherein The system on chip diagnosis unit is configured to execute corresponding abnormal recovery strategy in response to the diagnosis status of any function diagnosis unit being function running abnormal; and / or The vehicle diagnosis unit is configured to execute corresponding abnormal recovery strategy in response to the vehicle diagnosis status being vehicle running abnormal.

11. The vehicle diagnostic system according to any one of claims 3 to 10, characterized in that, The diagnosis function module is configured according to at least one of the following: The diagnosis function module deployed in the function diagnosis unit includes at least one of the following: rationality detection module, limitation detection module, heartbeat monitoring module and hardware self-checking module; The diagnosis function module deployed in the vehicle diagnosis unit includes at least one of the following: question and answer detection module, heartbeat detection module and hardware self-checking module; The diagnostic function module deployed in the system on chip diagnostic unit comprises at least one of the following: a voting module, a heartbeat detection module, a monitor diagnostic module and a hardware self-check module.

12. A vehicle diagnosis method characterized by, The vehicle diagnostic system comprises at least two levels of diagnostic units respectively deployed on different chip levels of a vehicle chip system; the vehicle chip system comprises a system on chip (Soc) comprising a first processing core and a second processing core; the first processing core has a lockstep mechanism; the at least two levels of diagnostic units comprise a function diagnostic unit and a system on chip diagnostic unit, the system on chip diagnostic unit is deployed in the first processing core of the Soc, and the function diagnostic unit is deployed in at least the second processing core of the Soc; the method comprises: The diagnostic function module of the superior diagnostic unit manages the function data and / or diagnostic data of the subordinate diagnostic unit according to the permissions configured by the configuration file; The configuration file comprises function permission parameters and / or diagnostic permission parameters, the function permission parameters are used to configure the permissions related to the function data for the diagnostic function module, and the diagnostic permission parameters are used to configure the permissions related to the diagnostic data for the diagnostic function module.

13. The vehicle diagnostic method according to claim 12, wherein The vehicle chip system further comprises a microcontroller (MCU); and The at least two levels of diagnostic units further comprise a vehicle diagnostic unit; The vehicle diagnostic unit is deployed in the MCU, and the vehicle diagnostic unit is a superior diagnostic unit relative to the function diagnostic unit.

14. The vehicle diagnostic method according to claim 13, wherein wherein The system on chip diagnostic unit is a superior diagnostic unit relative to the function diagnostic unit, and the vehicle diagnostic unit is a superior diagnostic unit relative to the system on chip diagnostic unit.

15. The vehicle diagnostic method according to claim 14, wherein The function permission parameters comprise subscription function data permissions and publishing function data permissions; The diagnostic permission parameters comprise subscription diagnostic data permissions and publishing diagnostic data permissions.

16. The vehicle diagnostic method of claim 15, wherein, Each level of diagnostic unit is configured in at least one of the following manners: The function diagnostic unit configures the subscription function data permissions, the subscription diagnostic data permissions and the publishing diagnostic data permissions through a configuration file; The system on chip diagnostic unit configures the subscription function data permissions, the publishing function data permissions and the publishing diagnostic data permissions through a configuration file; The vehicle diagnostic unit configures the subscription function data permissions, the publishing function data permissions, the subscription diagnostic data permissions and the publishing diagnostic data permissions through a configuration file.

17. The vehicle diagnostic method of claim 14, wherein, The diagnostic function module of the superior diagnostic unit manages the function data and / or diagnostic data of the subordinate diagnostic unit according to the permissions configured by the configuration file, comprising: The diagnostic function module of the function diagnostic unit subscribes to corresponding function data according to the permissions configured by the configuration file; and determines and publishes corresponding diagnostic data according to the function data subscribed by the function diagnostic unit; The diagnostic function module of the on-chip system diagnosis unit subscribes to corresponding function data and / or diagnosis data published by the function diagnosis unit according to the permission configured by the configuration file, and determines and publishes corresponding diagnosis data according to the function data and / or diagnosis data subscribed by the on-chip system diagnosis unit. The diagnostic function module of the vehicle diagnosis unit subscribes to corresponding function data and / or diagnosis data published by the function diagnosis unit and the on-chip system diagnosis unit according to the permission configured by the configuration file, and determines and publishes corresponding diagnosis data according to the function data and / or diagnosis data subscribed by the vehicle diagnosis unit.

18. The vehicle diagnostic method of claim 17, wherein, The diagnosis data is configured according to at least one of the following: The diagnosis data published by the function diagnosis unit includes application function status, wherein the application function status includes application function normal or application function abnormal. The diagnosis data published by the on-chip system diagnosis unit includes at least one of the following: monitor status, diagnosis status of the function diagnosis unit, and diagnosis status of the on-chip system diagnosis unit; wherein the monitor status includes monitor normal or monitor abnormal; the diagnosis status of the function diagnosis unit includes function running normal or function running abnormal; and the diagnosis status of the on-chip system diagnosis unit includes on-chip system running normal or on-chip system running abnormal. The diagnosis data published by the vehicle diagnosis unit includes vehicle diagnosis status, wherein the vehicle diagnosis status includes vehicle running normal and vehicle running abnormal.

19. The vehicle diagnostic method of claim 18, wherein, The method further includes: The on-chip system diagnosis unit executes corresponding abnormal recovery strategies in response to the diagnosis status of any function diagnosis unit being function running abnormal; and / or The vehicle diagnosis unit executes corresponding abnormal recovery strategies in response to the vehicle diagnosis status being vehicle running abnormal.

20. A computer-readable storage medium, characterized in that, Computer program code of a vehicle diagnosis method is stored, and when the computer program code is executed, the method of any one of claims 12 to 19 is performed.

21. A vehicle characterized by A vehicle diagnosis system as claimed in any one of claims 1 to 11 is deployed in a vehicle chip system.

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