Control method for an electric control unit of a construction vehicle, storage medium and controller

Abstract

Embodiments of the present application provide a control method and device for an engineering vehicle electronic control unit, a processor and a storage medium. The control method is applied to a remote end and includes: obtaining a switch state of an engineering vehicle key; in the case that the switch state is on, obtaining a running state of the electronic control unit; in the case that the running state is stop running, determining the electronic control unit as a target upgrade unit; determining a transmission period of an upgrade file according to a current load rate of a bus; establishing a connection with the target upgrade unit and transmitting the upgrade file to the target upgrade unit according to the transmission period to complete an upgrade operation of the target upgrade unit. The present application effectively improves the upgrade file transmission efficiency of the vehicle electronic control unit, guarantees the normal operation of the vehicle, meets the working condition requirements of the vehicle, and solves the problem that the vehicle system cannot work due to file transmission during upgrade.

Description

Technical Field

[0001] This application relates to the field of automotive OTA upgrade technology, specifically to a control method, control system, storage medium, and controller for an engineering vehicle electronic control unit. Background Technology

[0002] With the continuous development of electrification, intelligence, connectivity, and sharing in the automotive industry, intelligent vehicle processing often requires collaboration between the cloud and the vehicle for information processing. For example, during OTA (Over-The-Air) upgrades of a vehicle system, upgrade files need to be obtained, and the vehicle then performs the upgrade process based on these files. In existing technologies, when an upgrade operation is required on the vehicle side, if the vehicle is operating, to ensure uninterrupted data communication during normal vehicle operation, the prerequisite for upgrade file transmission is generally that the vehicle must be in a stopped state, and the vehicle cannot operate until the file transmission is complete. This OTA upgrade mode cannot meet the needs of crane operations. A single ECU on a crane's onboard unit typically has multiple systems, and the normal operation of these systems during upgrade file reception and system upgrades must not be affected, resulting in underutilization of bus bandwidth. Summary of the Invention

[0003] The purpose of this application is to provide a control method, control system, storage medium, and controller for an electronic control unit of an engineering vehicle.

[0004] To achieve the above objectives, the first aspect of this application provides a control method for an electronic control unit of an engineering vehicle, applied at a remote end, the control method comprising: Obtain the on / off status of the construction vehicle key; When the switch is in the ON state, obtain the operating status of the electronic control unit; When the operating status is stopped, the electronic control unit is identified as the target upgrade unit; The transmission cycle of the upgrade file is determined based on the current load rate of the bus; Establish a connection with the target upgrade unit and transmit the upgrade files to the target upgrade unit according to the transmission cycle to complete the upgrade operation of the target upgrade unit.

[0005] In one embodiment, the electronic control unit includes multiple sub-electronic control units. When the operating state is stopped, determining the electronic control unit as the target upgrade unit includes: obtaining the operating state of each sub-electronic control unit; and determining any sub-electronic control unit whose operating state is stopped as the target electronic control unit.

[0006] In one embodiment, the control method further includes: when multiple sub-electronic control units are all in operation, arbitrarily selecting one sub-electronic control unit as the target upgrade unit, and controlling the target upgrade unit to stop operating.

[0007] In one embodiment, the control method further includes: determining the average network load rate of the bus; and determining the current load rate of the bus based on the average network load rate and a preset maximum load rate.

[0008] In one embodiment, determining the current load rate of the bus based on the network average load rate and the preset maximum load rate includes determining it according to formula (1): (1) Where μ0 refers to the current load rate, α refers to the preset maximum load rate, and μ refers to the average network load rate.

[0009] In one embodiment, determining the average network load rate of the bus includes: determining the bit length of a single message in the upgrade file and the number of messages in the upgrade file per unit time; determining the bandwidth usage of multiple messages per unit time based on the bit length and the number of messages; and determining the average network load rate based on the bandwidth usage and the theoretical maximum bandwidth.

[0010] In one embodiment, the bit length of a single message is determined according to formula (2): (2) Where L is the bit length of a single message, f is the frame fixed format bits (f=47 for standard frames, f=67 for extended frames), s is the compensation value (s=34 for standard frames, s=54 for extended frames), and d is the data length of a single message.

[0011] In one embodiment, the bandwidth usage is determined according to formula (3): (3) Where R0 is the bandwidth usage, n is the number of packets per unit time, and L... i Let N be the bit length of the i-th message. i Let be the number of messages sent per unit time for the i-th message.

[0012] In one embodiment, the average network load rate is determined according to formula (4): (4) Where μ refers to the average network load rate, n is the number of packets per unit time, and L i Let N be the bit length of the i-th message. i Let R be the number of messages sent per unit time for the i-th message, and R be the theoretical maximum bandwidth.

[0013] A second aspect of this application provides a controller configured to perform the control method described above for an electronic control unit of an engineering vehicle.

[0014] A third aspect of this application provides an engineering vehicle, comprising: The aforementioned controller; and The vehicle-mounted terminal is used to monitor the on / off status of the engineering vehicle key and the operating status of the electronic control unit.

[0015] A fourth aspect of this application provides a control system for an electronic control unit of an engineering vehicle, comprising: The remote end includes the controller configured to perform the control method for the engineering vehicle electronic control unit described above; The aforementioned engineering vehicles.

[0016] The fifth aspect of this application provides a machine-readable storage medium storing instructions that, when executed by a processor, configure the processor to perform the aforementioned control method for an engineering vehicle electronic control unit.

[0017] The above technical solution effectively improves the efficiency of file transfer during automotive electronic control unit upgrades, while ensuring normal vehicle operation, meeting the needs of vehicle operation conditions, and solving the problem of vehicle system malfunction caused by file transfer during upgrades.

[0018] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings: Figure 1 A schematic flowchart of a control method for an electronic control unit of an engineering vehicle according to an embodiment of this application is shown. Figure 2 This schematically illustrates a process diagram for upgrading a crane without an A / B zone electrical control unit according to an embodiment of this application; Figure 3 This schematically illustrates a process diagram of upgrading an A / B zone electronic control unit for a crane according to an embodiment of this application; Figure 4 This schematic diagram illustrates a structural block diagram of a control system device for an electronic control unit of an engineering vehicle according to an embodiment of this application; Figure 5 The diagram illustrates the internal structure of a computer device according to an embodiment of this application. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0021] Figure 1 A schematic flowchart illustrating a control method for an electronic control unit of an engineering vehicle according to an embodiment of this application is shown. Figure 1 As shown in one embodiment of this application, a control method for an electronic control unit of an engineering vehicle is provided, comprising the following steps: Step 101: Obtain the on / off status of the engineering vehicle key.

[0022] Step 102: When the switch is in the ON state, obtain the operating status of the electronic control unit.

[0023] Step 103: When the running status is stopped, the electronic control unit is identified as the target upgrade unit.

[0024] Step 104: Determine the transmission cycle of the upgrade file based on the current load rate of the bus.

[0025] Step 105: Establish a connection with the target upgrade unit and transmit the upgrade file to the target upgrade unit according to the transmission cycle to complete the upgrade operation of the target upgrade unit.

[0026] OTA, or Over-The-Air, refers to the technology of remotely managing mobile terminal devices and SIM card data through the air interface of mobile communication. Automotive OTA technology refers to the technology of upgrading in-vehicle systems or applications by downloading upgrade packages from a remote server via a wireless network. An automotive OTA system mainly consists of a cloud-based OTA management platform and an on-vehicle OTA execution layer. These two are connected via a mobile network to jointly complete the OTA upgrade task. The OTA management platform is primarily controlled and operated by the user. Based on the upgrade requirements of the vehicle and information such as vehicle model and software version, the user determines the appropriate upgrade scope through the OTA management platform and then transmits the upgrade files to the vehicle to be upgraded via a mobile network or wireless network such as Wi-Fi to complete the upgrade.

[0027] CAN is short for CAN bus, an ISO internationally standardized serial communication protocol. CAN bus load rate refers to the ratio of the number of bits actually transmitted per unit time to the number of bits that can be transmitted on the CAN bus. This technical solution designs an adaptive control method for CAN communication data transmission on the vehicle side during OTA upgrades of truck cranes. By using a remote terminal (TBOX) as the OTA upgrade controller, it monitors the average bus load rate and crane operating conditions in real time, and adjusts the transmission cycle of upgrade file data frames according to the operating conditions and bus load rate. This maintains the bus load rate within a reasonable range, ensuring normal communication of operational data, meeting the operational requirements of the truck crane, and reducing operational problems caused by file transmission during upgrades.

[0028] Furthermore, the remote end can refer to a remote terminal. The remote terminal obtains the ACC status of the ignition switch in the cab of the engineering vehicle to determine whether the engineering vehicle is currently in standby mode. The ACC status refers to the ignition key's on / off state. When the ACC status is determined to be ACC ON (i.e., the key is on), it can be determined that the engineering vehicle is in operation. At this time, the electronic control unit (ECU) can be in either sleep or running state. Therefore, after confirming that the engineering vehicle is in operation, the remote terminal also needs to confirm the operation status of the ECU. If it is determined that the ECU is currently in a stopped running state (i.e., in sleep mode), an upgrade operation can be directly performed on that ECU. Specifically, the ECU in a stopped running state is identified as the target upgrade unit. The remote terminal can determine the transmission cycle of the upgrade file for the target upgrade unit based on the current bus load rate. After establishing a connection with the target upgrade unit via a wireless network, the upgrade file is transmitted to the target upgrade unit according to the transmission cycle. Once the ECU receives the complete upgrade file, the upgrade operation is completed.

[0029] The above technical solution monitors the average load rate of the bus and the operating status of the vehicle's electronic control unit in real time through a remote terminal. It adjusts the data frame sending cycle of the upgrade file transmission according to the operating status of the electronic control unit and the bus load rate, which effectively improves the efficiency of the vehicle's electronic control unit upgrade file transmission, while ensuring the normal operation of the vehicle, meeting the working conditions requirements of the vehicle's electronic control unit, and solving the problem of inability to work due to file transmission during the upgrade.

[0030] Figure 1 This is a flowchart illustrating a control method for an electronic control unit of an engineering vehicle in one embodiment. It should be understood that, although... Figure 1 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 1At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0031] In one embodiment, the remote terminal obtains the ACC status of the ignition switch in the cab of the engineering vehicle to determine whether the engineering vehicle is currently in standby mode. When the ACC status is determined to be ACC OFF (i.e., the key switch is off), it can be determined that the engineering vehicle is in a stopped state. At this time, the vehicle is not ignited, and all vehicle electronic control units are in a dormant state. The remote terminal can directly select the electronic control unit as the target upgrade unit, establish a connection with it, and transmit the upgrade file to the target upgrade unit using the shortest possible data frame to complete the upgrade operation.

[0032] In one embodiment, a sub-control unit is a characteristic of the control unit when it is an A / B unpartitioned control unit. Unpartitioned A / B can mean that a controller has two systems, A and B, which are mutually redundant and control different operations respectively. Similarly, partitioned A / B means that a controller has only one system, either A or B. In this technical solution, based on the characteristics of the crane, the crane's upper control system and chassis control system are installed in the same vehicle controller and do not interfere with each other; they can be independently controlled to perform upper and chassis operations. Therefore, the sub-control unit can refer to either the upper control unit or the chassis control unit.

[0033] Furthermore, when the electronic control unit (ECU) of an engineering vehicle has multiple sub-ECUs (i.e., the ECU is an A / B unseparated ECU), according to the characteristics of OTA (Over-The-Air) upgrades, the ECU being upgraded cannot operate during the upgrade process. Therefore, if the remote terminal wants to select the target upgrade unit from among the multiple sub-ECUs, it must first detect the current operating status of each sub-ECU. When the remote terminal detects that any sub-ECU is currently in a stopped state, it can select this sub-ECU as the target upgrade unit and transmit the upgrade file to it to complete the upgrade operation.

[0034] Furthermore, when multiple sub-control units are detected to be running, one sub-control unit is arbitrarily selected as the target upgrade unit, and a stop command is sent to the vehicle's on-board unit. Upon receiving the command, the on-board unit controls the target upgrade unit to stop running. After the target upgrade unit stops running, the on-board unit can establish a connection with the target upgrade unit and output the upgrade file to it. After receiving the complete upgrade file, the target upgrade unit can complete the upgrade.

[0035] In one embodiment, such as Figure 2 The diagram illustrates a process for upgrading the electronic control unit (ECU) of a crane without A / B partitions. In this case, the sub-ECUs include the upper-vehicle ECU and the chassis ECU. The remote terminal obtains the ACC status of the ignition switch in the crane cab to determine if the crane is currently in standby mode. When the ACC status is ACC OFF (i.e., the key switch is off), it can be determined that the crane is in a stopped state. At this time, the vehicle is not ignited, and both the upper-vehicle ECU and the chassis ECU are in sleep mode. The remote terminal can directly select the target upgrade unit for both the upper-vehicle ECU and the chassis ECU, establish connections with them sequentially, and transmit the upgrade file to both the upper-vehicle ECU and the chassis ECU using the shortest possible data frame to complete the upgrade operation.

[0036] Furthermore, when the ACC status is determined to be ACC ON (i.e., the key switch is on), it can be confirmed that the crane is in operation. At this time, the upper vehicle electronic control unit (ENC) and the chassis electronic control unit (CCU) can be in sleep or running state. Therefore, after confirming that the crane is in operation, the remote terminal also needs to confirm the operating status of the upper vehicle ENC and the chassis electronic control unit separately. Specifically, the remote terminal determines the current operating status of the chassis electronic control unit and the upper vehicle ENC. If either the chassis electronic control unit or the upper vehicle ENC is stopped (e.g., the chassis electronic control unit is stopped while the upper vehicle ENC is running), the OTA upgrade process for the chassis electronic control unit can be initiated. At this time, the upper vehicle ENC can still continue to operate. After receiving the upgrade file and upgrade command sent from the cloud, the remote terminal establishes a connection with the chassis electronic control unit and determines the transmission cycle of the upgrade file based on the current load rate of the network bus, so as to transmit the upgrade file to the chassis electronic control unit within the transmission cycle. In addition, the vehicle-mounted terminal can use the human-machine interface to provide text symbol reminders to inform users that the chassis driving system is being upgraded and chassis driving operations cannot be performed. Once the upgrade file transfer is complete, it can also use text symbols to remind users that the upgrade is finished.

[0037] Furthermore, when both the chassis electronic control unit (ECU) and the upper vehicle electronic control unit (EMU) are running, the remote terminal can choose either one as the target upgrade unit. For example, if the remote terminal detects that the EMU needs an upgrade, it sends a command to the vehicle-mounted terminal to stop the EMU. The vehicle-mounted terminal can then control the EMU to stop running according to the command, while the chassis ECU remains unaffected and can continue operating normally. After detecting that the EMU has stopped running, the remote terminal can establish a connection with the EMU and determine the upgrade file transmission cycle based on the current load rate of the network bus. The upgrade file is then transmitted to the EMU within the specified transmission cycle. Once the EMU receives the complete upgrade file, it can complete the upgrade operation.

[0038] In one embodiment, such as Figure 3 The diagram illustrates a process for upgrading a crane's A / B zone electronic control unit (ECU). When the ECU is an A / B zone ECU, the remote terminal obtains the ACC status of the ignition switch in the engineering vehicle's cab to determine if the engineering vehicle is currently in standby mode. If the ACC status is ACC OFF (i.e., the key switch is off), it can be determined that the engineering vehicle is in a stopped state. At this time, the vehicle is not ignited, the ECU is in sleep mode, and the remote terminal can directly establish a connection with the ECU and transmit the upgrade file to it using the shortest possible data frame to complete the upgrade operation.

[0039] Furthermore, when the ACC status is determined to be ACC ON (i.e., the key switch is on), it can be determined that the engineering vehicle is in operation. At this time, the electronic control unit (ECU) can be in either sleep or running state. If the current operating state of the ECU is determined to be stopped, the ECU is identified as the target upgrade unit and a connection is established with it. The remote terminal determines the transmission cycle of the upgrade file for the target upgrade unit based on the current load rate of the bus, and transmits the upgrade file to the target upgrade unit according to the transmission cycle to complete the upgrade operation of the ECU.

[0040] In one embodiment, after confirming that the engineering vehicle is in operation and determining that the current operating state of the electronic control unit (ECU) is stopped, the remote terminal identifies the stopped ECU as the target upgrade unit and establishes a connection with it. After establishing the connection, the remote terminal first determines the average network load rate of the bus, then determines the current load rate of the bus based on the average network load rate and a preset maximum load rate. Based on the current load rate, the remote terminal calculates the transmission cycle of the upgrade file and transmits the upgrade file to the target upgrade unit within the specified transmission cycle, thus completing the upgrade operation for the ECU.

[0041] Furthermore, the network average load rate and the preset maximum load rate determine the current load rate of the bus, which is determined according to formula (1): (1) Where μ0 refers to the current load rate, α refers to the preset maximum load rate, and μ refers to the average load rate of the network.

[0042] Furthermore, when ACC ON, the average bus load rate needs to be estimated based on the bit length of the message data frame, the number of messages per unit time, and the theoretical maximum value of the network bandwidth. Specifically, determining the average network load rate of the bus includes: determining the bit length of a single message in the upgrade file, and the number of messages in the upgrade file per unit time; determining the bandwidth usage of multiple messages per unit time based on the bit length and the number of messages; and finally determining the average network load rate based on the bandwidth usage and the theoretical maximum value of the bandwidth. Among these, the bit length of a single message can be determined according to formula (2): (2) Where L is the bit length of a single message, f is the frame fixed format bits (f=47 for standard frames, f=67 for extended frames), s is the compensation value (s=34 for standard frames, s=54 for extended frames), and d is the data length of a single message.

[0043] The bandwidth usage can be determined according to formula (3): (3) Where R0 is the bandwidth usage, n is the number of packets per unit time, and L i Let N be the bit length of the i-th message. i Let be the number of messages sent per unit time for the i-th message.

[0044] The average network load rate can be determined according to formula (4): (4) Where μ refers to the average network load rate, n is the number of packets per unit time, and L i Let N be the bit length of the i-th message. i R represents the number of messages sent per unit time for the i-th message, and R is the theoretical maximum bandwidth.

[0045] The above technical solution utilizes a remote terminal as an OTA upgrade controller to monitor the operating status of the electrical control unit and the data transmission network CAN bus data frames and load rate in real time. Based on the load rate, the solution adjusts the file transmission data frame cycle in real time to maintain the bus load rate within a reasonable range, ensuring normal communication of operational data. This effectively improves the efficiency of file transmission for crane electrical control unit upgrades, while ensuring the normal operation of multiple crane electrical control units, meeting the crane's operational requirements, and resolving the problem of operational inability caused by file transmission during upgrades.

[0046] In one embodiment, a controller is provided, configured to perform the control method described above for an electronic control unit of an engineering vehicle.

[0047] In one embodiment, an engineering vehicle is provided, comprising: The aforementioned controller; and The vehicle-mounted terminal is used to monitor the on / off status of the engineering vehicle key and the operating status of the electronic control unit.

[0048] In one embodiment, such as Figure 4 As shown, a control system for an electronic control unit of an engineering vehicle is provided, comprising: The remote terminal 410 includes the controller configured to perform the control method for the engineering vehicle electronic control unit described above. 420 engineering vehicles.

[0049] This application provides a storage medium storing a program that, when executed by a processor, implements the control method described above for an electronic control unit of an engineering vehicle.

[0050] This application provides a processor for running a program, wherein the program executes the control method described above for an engineering vehicle electronic control unit.

[0051] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 5As shown, the computer device includes a processor A01, a network interface A02, memory (not shown), and a database (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A04. The database stores control method data for an engineering vehicle electronic control unit. The network interface A02 communicates with external terminals via a network connection. When the processor A01 executes the computer program B02, it implements a control method for an engineering vehicle electronic control unit.

[0052] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0053] This application provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs the following steps: obtaining the on / off state of the engineering vehicle key; when the on / off state is "on", obtaining the operating state of the electronic control unit; when the operating state is "stopped", identifying the electronic control unit as the target upgrade unit; determining the transmission cycle of the upgrade file based on the current load rate of the bus; establishing a connection with the target upgrade unit and transmitting the upgrade file to the target upgrade unit according to the transmission cycle, thereby completing the upgrade operation of the target upgrade unit.

[0054] In one embodiment, the electronic control unit includes multiple sub-electronic control units. When the operating state is stopped, determining the electronic control unit as the target upgrade unit includes: obtaining the operating state of each sub-electronic control unit; and determining any sub-electronic control unit whose operating state is stopped as the target electronic control unit.

[0055] In one embodiment, the control method further includes: when multiple sub-electronic control units are all in operation, arbitrarily selecting one sub-electronic control unit as the target upgrade unit, and controlling the target upgrade unit to stop operating.

[0056] In one embodiment, the control method further includes: determining the average network load rate of the bus; and determining the current load rate of the bus based on the average network load rate and a preset maximum load rate.

[0057] In one embodiment, determining the current load rate of the bus based on the network average load rate and the preset maximum load rate includes determining it according to formula (1): (1) Where μ0 refers to the current load rate, α refers to the preset maximum load rate, and μ refers to the average network load rate.

[0058] In one embodiment, determining the average network load rate of the bus includes: determining the bit length of a single message in the upgrade file and the number of messages in the upgrade file per unit time; determining the bandwidth usage of multiple messages per unit time based on the bit length and the number of messages; and determining the average network load rate based on the bandwidth usage and the theoretical maximum bandwidth.

[0059] In one embodiment, the bit length of a single message is determined according to formula (2): (2) Where L is the bit length of a single message, f is the frame fixed format bits (f=47 for standard frames, f=67 for extended frames), s is the compensation value (s=34 for standard frames, s=54 for extended frames), and d is the data length of a single message.

[0060] In one embodiment, the bandwidth usage is determined according to formula (3): (3) Where R0 is the bandwidth usage, n is the number of packets per unit time, and L... i Let N be the bit length of the i-th message. i Let be the number of messages sent per unit time for the i-th message.

[0061] In one embodiment, the average network load rate is determined according to formula (4): (4) Where μ refers to the average network load rate, n is the number of packets per unit time, Li is the bit length of the i-th packet, Ni is the number of times the i-th packet is sent per unit time, and R is the theoretical maximum bandwidth.

[0062] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program with the following method steps: obtaining the switch state of the engineering vehicle key; if the switch state is on, obtaining the operating state of the electronic control unit; if the operating state is off, identifying the electronic control unit as the target upgrade unit; determining the transmission cycle of the upgrade file according to the current load rate of the bus; establishing a connection with the target upgrade unit, and transmitting the upgrade file to the target upgrade unit according to the transmission cycle, so as to complete the upgrade operation of the target upgrade unit.

[0063] In one embodiment, the electronic control unit includes multiple sub-electronic control units. When the operating state is stopped, determining the electronic control unit as the target upgrade unit includes: obtaining the operating state of each sub-electronic control unit; and determining any sub-electronic control unit whose operating state is stopped as the target electronic control unit.

[0064] In one embodiment, the control method further includes: when multiple sub-electronic control units are all in operation, arbitrarily selecting one sub-electronic control unit as the target upgrade unit, and controlling the target upgrade unit to stop operating.

[0065] In one embodiment, the control method further includes: determining the average network load rate of the bus; and determining the current load rate of the bus based on the average network load rate and a preset maximum load rate.

[0066] In one embodiment, determining the current load rate of the bus based on the network average load rate and the preset maximum load rate includes determining it according to formula (1): (1) Where μ0 refers to the current load rate, α refers to the preset maximum load rate, and μ refers to the average network load rate.

[0067] In one embodiment, determining the average network load rate of the bus includes: determining the bit length of a single message in the upgrade file and the number of messages in the upgrade file per unit time; determining the bandwidth usage of multiple messages per unit time based on the bit length and the number of messages; and determining the average network load rate based on the bandwidth usage and the theoretical maximum bandwidth.

[0068] In one embodiment, the bit length of a single message is determined according to formula (2): (2) Where L is the bit length of a single message, f is the frame fixed format bits (f=47 for standard frames, f=67 for extended frames), s is the compensation value (s=34 for standard frames, s=54 for extended frames), and d is the data length of a single message.

[0069] In one embodiment, the bandwidth usage is determined according to formula (3): (3) Where R0 is the bandwidth usage, n is the number of packets per unit time, and L... i Let N be the bit length of the i-th message. i Let be the number of messages sent per unit time for the i-th message.

[0070] In one embodiment, the average network load rate is determined according to formula (4): (4) Where μ refers to the average network load rate, n is the number of packets per unit time, Li is the bit length of the i-th packet, Ni is the number of times the i-th packet is sent per unit time, and R is the theoretical maximum bandwidth.

[0071] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0072] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0073] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0074] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0075] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0076] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0077] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0078] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0079] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A control method for an electronic control unit of an engineering vehicle, characterized in that, Applied to a remote location, the engineering vehicle is a truck crane, and the electronic control unit includes an upper-vehicle electronic control unit and a chassis electronic control unit. The control method includes: Obtain the on / off status of the construction vehicle key; When the switch is in the ON state, the operating status of the upper vehicle electronic control unit and the chassis electronic control unit are obtained respectively; If one of the vehicle electronic control unit and the chassis electronic control unit is in a stopped state and the other is in a running state, the electronic control unit in the stopped state is identified as the target upgrade unit, and the electronic control unit in the running state continues to operate. Determine the average network load rate of the bus; The current load rate of the bus is determined based on the average network load rate and the preset maximum load rate; The transmission cycle of the upgrade file is determined based on the current load rate of the bus; A connection is established with the target upgrade unit, and the upgrade file is transmitted to the target upgrade unit according to the transmission cycle to complete the upgrade operation of the target upgrade unit; When both the upper vehicle electronic control unit and the chassis electronic control unit are running, arbitrarily select one electronic control unit as the target upgrade unit and control the target upgrade unit to stop running.

2. The control method for an electronic control unit of an engineering vehicle according to claim 1, characterized in that, The step of determining the current load rate of the bus based on the average network load rate and the preset maximum load rate includes determining it according to formula (1): （1） Where μ0 refers to the current load rate, α refers to the preset maximum load rate, and μ refers to the average network load rate.

3. The control method for an electronic control unit of an engineering vehicle according to claim 1, characterized in that, Determining the average network load rate of the bus includes: Determine the bit length of a single message in the upgrade file, and the number of messages in the upgrade file per unit time. The bandwidth usage of multiple packets within the unit time period is determined based on the bit length and the number of packets. The average network load rate is determined based on the bandwidth usage and the theoretical maximum bandwidth.

4. The control method for an engineering vehicle electronic control unit according to claim 3, characterized in that, The bit length of a single message is determined according to formula (2): （2） Where L is the bit length of a single message, f is the frame fixed format bits (f=47 for standard frames, f=67 for extended frames), s is the compensation value (s=34 for standard frames, s=54 for extended frames), and d is the data length of a single message.

5. The control method for an electronic control unit of an engineering vehicle according to claim 3, characterized in that, The bandwidth usage is determined according to formula (3): （3） Where R0 is the bandwidth usage, n is the number of packets per unit time, and L i Let N be the bit length of the i-th message. i Let be the number of messages sent per unit time for the i-th message.

6. The control method for an electronic control unit of an engineering vehicle according to claim 3, characterized in that, The average network load rate is determined according to formula (4): （4） Where μ refers to the average network load rate, n is the number of packets per unit time, and L i Let N be the bit length of the i-th message. i R represents the number of messages sent per unit time for the i-th message, and R is the theoretical maximum bandwidth.

7. A controller, characterized in that, It is configured to perform the control method for an engineering vehicle electronic control unit according to any one of claims 1 to 6.

8. An engineering vehicle, characterized in that, include: The controller according to claim 7; as well as The vehicle-mounted terminal is used to monitor the on / off status of the engineering vehicle key and the operating status of the electronic control unit.

9. A control system for an electronic control unit of an engineering vehicle, characterized in that, include: The remote end includes the controller according to claim 7; The engineering vehicle according to claim 8.

10. A machine-readable storage medium storing instructions thereon, characterized in that, When executed by a processor, the instruction causes the processor to be configured to perform the control method for an engineering vehicle electronic control unit according to any one of claims 1 to 6.

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