Bus offline fault processing method, device, electronic device and storage medium

Abstract

The present invention discloses a bus offline fault processing method, device, electronic device and storage medium. The method includes: when the electronic control unit detects that the power bus of the vehicle is offline, processing the electronic control unit based on a predetermined first fault processing process, and processing each vehicle controller connected to the power bus based on a predetermined second fault processing process; when the offline duration of the power bus is not greater than the preset offline duration threshold, determining the fault processing strategy corresponding to the vehicle according to whether the vehicle has an emergency braking condition, so as to process the offline fault of the vehicle based on the fault processing strategy. The technical solution of this embodiment achieves the effect of extending the normal operation time of the whole vehicle under the bus offline condition, and achieves the effect of reducing the whole vehicle parking caused by short-term and recoverable bus offline, thereby ensuring the safety of the whole vehicle under the bus offline condition.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a bus offline fault processing method, device, electronic equipment and storage medium. Background Art

[0002] When a large amount of data is lost or corrupted, the vehicle bus may crash, especially the vehicle's powertrain CAN bus. Due to its high transmission speed, a large number of error frames can accumulate in a very short period of time. When the powertrain CAN bus experiences a disconnection fault, these faults can be eliminated by restarting the bus.

[0003] However, since the bus disconnection may cause the electronic control unit to receive an incorrect signal, resulting in a stop, or other controllers may activate their own protection measures after determining that the electronic control unit is offline, resulting in a stop. As a result, there is a problem of stopping the vehicle regardless of the duration of the bus disconnection condition, affecting driving safety. Summary of the Invention

[0004] The present invention provides a bus disconnection fault processing method, device, electronic device and storage medium, so as to achieve the effect of extending the normal operation time of the whole vehicle under the bus disconnection condition, thereby achieving the effect of reducing the whole vehicle shutdown caused by short-term and recoverable bus disconnection, and further ensuring the safety of the whole vehicle under the bus disconnection condition.

[0005] According to one aspect of the present invention, a method for handling a bus offline fault is provided, the method comprising:

[0006] When an electronic control unit detects that a power bus of a vehicle is offline, the electronic control unit is processed based on a predetermined first fault processing procedure, and each vehicle controller connected to the power bus is processed based on a predetermined second fault processing procedure; wherein the power bus is a controller area network bus;

[0007] When the offline duration of the power bus is not greater than a preset offline duration threshold, a fault handling strategy corresponding to the vehicle is determined according to whether the vehicle has an emergency braking condition, so as to handle the offline fault of the vehicle based on the fault handling strategy.

[0008] According to another aspect of the present invention, a bus offline fault processing device is provided, the device comprising:

[0009] a disconnection detection module, configured to, when an electronic control unit detects that a vehicle power bus is disconnected, process the electronic control unit based on a predetermined first fault processing procedure, and process each vehicle controller connected to the power bus based on a predetermined second fault processing procedure; wherein the power bus is a controller area network bus;

[0010] The offline fault processing module is used to determine a fault processing strategy corresponding to the vehicle according to whether the vehicle has an emergency braking condition when the offline duration of the power bus is not greater than a preset offline duration threshold, so as to perform offline fault processing on the vehicle based on the fault processing strategy.

[0011] According to another aspect of the present invention, an electronic device is provided, comprising:

[0012] at least one processor; and

[0013] a memory communicatively connected to the at least one processor; wherein,

[0014] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the bus offline fault processing method according to any embodiment of the present invention.

[0015] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the bus offline fault processing method according to any embodiment of the present invention when executed.

[0016] The technical solution of the embodiment of the present invention is to process the electronic control unit based on a predetermined first fault handling process when the electronic control unit detects that the power bus of the vehicle is disconnected, and to process each vehicle controller connected to the power bus based on a predetermined second fault handling process. Furthermore, when the disconnection duration of the power bus is not greater than a preset disconnection duration threshold, a fault handling strategy corresponding to the vehicle is determined according to whether the vehicle is in an emergency braking condition, so as to handle the disconnection fault of the vehicle based on the fault handling strategy. This solves the problem in the prior art that the vehicle is stopped regardless of the duration of the bus disconnection condition, thereby affecting driving safety. It achieves the effect of extending the normal operating time of the entire vehicle under the bus disconnection condition, and achieves the effect of reducing the vehicle shutdown caused by a short and recoverable bus disconnection, thereby ensuring the safety of the entire vehicle under the bus disconnection condition.

[0017] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 This is a flowchart of a bus offline fault processing method provided in accordance with the first embodiment of the present invention;

[0020] Figure 2 This is a structural diagram of a bus offline fault processing device provided according to a second embodiment of the present invention;

[0021] Figure 3 The present invention is a schematic structural diagram of an electronic device for implementing the bus offline fault processing method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0023] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0024] Example 1

[0025] Figure 1This is a flow chart of a bus offline fault processing method provided by the first embodiment of the present invention. This embodiment is applicable to the case where the vehicle's power bus is offline and the offline duration does not reach the preset offline duration threshold. The method can be executed by a bus offline fault processing device. The bus offline fault processing device can be implemented in the form of hardware and / or software. The bus offline fault processing device can be configured in a terminal and / or server. Figure 1 As shown, the method includes:

[0026] S110 , when the electronic control unit detects that the power bus of the vehicle is offline, the electronic control unit is processed based on a predetermined first fault processing flow, and each vehicle controller connected to the power bus is processed based on a predetermined second fault processing flow.

[0027] The electronic control unit (ECU) may be a vehicle control unit (VCU), which is the core electronic control unit for making vehicle control decisions. In practical applications, the ECU determines the driver's driving intention by collecting signals from the accelerator pedal, gear position, and brake pedal. By monitoring vehicle status information (such as speed and temperature), the ECU processes and sends vehicle operating status control instructions to the powertrain and power battery system, while also controlling the operating mode of the onboard accessory power system. The power bus belongs to the controller area network bus. Those skilled in the art will understand that the controller area network (CAN) bus can be understood as the vehicle's central nervous system and is a communication protocol in automobiles. The CAN bus is divided into a CAN high line and a CAN low line, consisting of two copper wires. Its function is to connect multiple control units such as vehicle instruments, transmissions, auxiliary braking systems, VCUs, control modules, and various sensors to achieve real-time information synchronization. Compared with other field buses, the CAN bus has many advantages, including high communication speed, ease of implementation, and high cost-effectiveness. In the automotive field, CAN buses are primarily categorized into five types: the power CAN bus, the comfort CAN bus, the infotainment CAN bus, the instrument cluster CAN bus, and the diagnostic CAN bus. In this embodiment, the power bus may be the power CAN bus, which is responsible for vehicle power and has the highest signal priority and transmission rate within the vehicle's CAN network.

[0028] In this embodiment, the first fault handling process can be a pre-defined process for handling the electronic control unit when a power bus disconnection fault occurs in the vehicle. The second fault handling process can be a pre-defined process for handling each vehicle controller connected to the power bus when a power bus disconnection fault occurs in the vehicle. The vehicle controller can be a device that controls the overall performance of the vehicle and can achieve overall control and optimization of the vehicle. Optionally, the vehicle controller can include an engine controller, a motor controller, and a battery management system.

[0029] Generally, the electronic control unit and the vehicle controller connected to the vehicle power bus can communicate by sending and receiving message signals. Specifically, the electronic control unit can determine the current state of the vehicle controller by receiving the message signal sent by each vehicle controller. Then, it can judge and process these message signals, determine the corresponding controller control instructions, and send the controller control instructions to the corresponding vehicle controller via the message signal, so that the vehicle controller can execute the corresponding control instructions when receiving the message signal. In actual applications, the response period of the message signal can be pre-set. When the electronic control unit does not receive a reply message signal within the preset response period after sending a message signal to any vehicle controller connected to the power bus, it can be determined that the vehicle's power bus is offline. Furthermore, the electronic control unit can be processed according to the first fault processing process pre-deployed on the electronic control unit, and the vehicle controller connected to the power bus can be processed according to the second fault processing process pre-deployed on the vehicle controller.

[0030] Optionally, the electronic control unit is processed based on a predetermined first fault handling process, including: shielding the heartbeat signal detection process of the vehicle controller connected to the power bus in the electronic control unit, and filtering each received message received in the electronic control unit before the power bus is disconnected based on preset filtering rules, determining the first target received message and saving it.

[0031] Those skilled in the art should understand that data is not always transmitted between the electronic control unit and the connected vehicle controller. In order to determine whether the data link is still unobstructed when the two parties are not communicating, a heartbeat signal can be used for confirmation. A heartbeat signal refers to one of the two interconnected parties sending a very small data packet to the other party at fixed intervals, and the other party determines whether to reply with a very small data packet after receiving the data packet as needed. The preset screening rules can be pre-set receiving message screening rules. The received message can be a piece of data information consisting of characters or strings, and the data information can be used to characterize the overall status of the vehicle. Accordingly, the first target received message can be a received message in the electronic control unit that meets the user's needs.

[0032] In actual applications, when the electronic control unit detects that the vehicle's power bus is offline, it can be determined that the communication link between the electronic control unit and the vehicle controller connected to the power bus is disconnected. At this time, in order to avoid error messages caused by communication disconnection, the process of detecting the communication link based on the heartbeat signal can be temporarily shielded, and the electronic control unit no longer detects the heartbeat signal of the vehicle controller, thereby avoiding error messages caused by no detection of the heartbeat signal. That is to say, at this time, the abnormal heartbeat signal is no longer used as a basis for judging whether the power bus is offline.

[0033] In practical applications, while shielding the heartbeat signal detection process, the received messages received in the electronic control unit before the power bus is disconnected can also be filtered according to pre-set filtering rules to determine the first target received message that meets the requirements from these received messages.

[0034] Optionally, each received message received in the electronic control unit before the power bus is disconnected is filtered based on preset filtering rules, and the first target received message is determined and saved, including: obtaining the receiving time of each received message received in the electronic control unit before the power bus is disconnected; and taking the received message with the latest receiving time as the first target received message and saving it.

[0035] In practical applications, when filtering received messages in an electronic control unit, the filtering can be performed based on the receiving time of the received messages. Specifically, the receiving time of each received message received in the electronic control unit before the power bus is disconnected can be determined. Furthermore, the receiving time closest to the moment of bus disconnection can be filtered out from these receiving times, and the receiving message corresponding to the receiving time can be used as the first target received message and saved.

[0036] It should be noted that the reception message corresponding to the reception time closest to the moment of bus disconnection is used as the first target reception message in order to record the driving status information of the vehicle corresponding to the moment before the bus disconnection. The driving status information corresponding to this moment can best reflect the driving status information corresponding to the moment of bus disconnection. Therefore, the first target reception message corresponding to this moment can be saved so that the driving process of the vehicle can be controlled according to the first target reception message.

[0037] In this embodiment, while processing the electronic control unit, each vehicle controller connected to the power bus may also be processed according to the second fault processing flow.

[0038] Optionally, each vehicle controller connected to the power bus is processed based on a predetermined second fault handling process, including: for each vehicle controller connected to the power bus, updating the vehicle controller's detection period for the electronic control unit's heartbeat signal to a preset detection period, and filtering each received message received in the vehicle controller before the power bus is disconnected based on a second preset filtering rule, determining a second target received message and saving it.

[0039] In this embodiment, the detection period may be the time interval at which the vehicle controller detects whether the electronic control unit sends a heartbeat signal. The detection period may be any value, and may optionally be 100 milliseconds, 200 milliseconds, or 300 milliseconds. The preset detection period may be greater than the detection period and may also be any value, and may optionally be 500 milliseconds.

[0040] In actual applications, for each vehicle controller connected to the power bus, the detection period of the vehicle controller for the heartbeat signal of the electronic control unit can be extended, the detection period can be updated to a preset detection period, and each received message received in the vehicle controller before the power bus is disconnected can be filtered according to the second preset filtering rule to obtain the second target received message and save it.

[0041] It should be noted that the method of filtering the received messages received by the vehicle controller according to the second preset filtering rule is the same as the method of filtering the received messages received by the electronic controller according to the first preset rule, and this embodiment will not be described in detail here.

[0042] It should also be noted that the purpose of updating the vehicle controller's detection period of the electronic control unit's heartbeat signal to a preset detection period is also to avoid the occurrence of error messages due to failure to detect the heartbeat signal.

[0043] S120. When the offline duration of the power bus is not greater than a preset offline duration threshold, determine a fault handling strategy corresponding to the vehicle according to whether the vehicle has an emergency braking condition, and perform offline fault handling on the vehicle based on the fault handling strategy.

[0044] In this embodiment, the disconnection duration can be the time interval between the moment a power bus disconnection is detected and the moment the power bus is restored. The preset disconnection duration threshold can be a pre-determined threshold used to determine whether a vehicle enters a parking process in the event of a power bus disconnection. It should be noted that the preset disconnection duration threshold can be determined based on various factors, such as the vehicle model, maximum design speed, and vehicle braking capacity. Emergency braking can occur when a vehicle encounters an emergency while driving, requiring the driver to quickly and correctly apply the brakes to stop the vehicle within the shortest possible distance. In practical applications, whether a vehicle is in an emergency braking condition can be determined based on the brake pedal travel rate. The brake pedal travel is the distance between the pedal's normal stop position and its bottom position. Accordingly, the travel rate can be the frequency of at least two brake pedal travel changes. Specifically, when the brake pedal travel rate is detected to be greater than a preset travel rate, it can be determined that the vehicle is currently in an emergency braking condition. It should be noted that the preset travel rate can be correlated with vehicle speed; higher speeds result in lower preset travel rates.

[0045] The fault handling strategy may be a pre-set response strategy for when the vehicle is experiencing a power bus disconnection fault. Optionally, the fault handling strategy may include emergency stop or normal operation.

[0046] In actual applications, when it is detected that the vehicle's power bus is in a disconnected state, the disconnection duration can be timed. When the disconnection duration does not reach the preset disconnection duration threshold, the corresponding fault handling strategy of the vehicle can be determined based on whether the vehicle has an emergency braking condition.

[0047] Optionally, a fault handling strategy corresponding to the vehicle is determined based on whether the vehicle is in an emergency braking condition, including: if the vehicle is in an emergency braking condition, the fault handling strategy is determined to be emergency stop; if the vehicle is not in an emergency braking condition, the fault handling strategy is determined to be normal operation.

[0048] In this embodiment, the emergency stop may be an abnormal stop, that is, the stop is not performed according to a preset normal stop process.

[0049] In actual applications, if the vehicle is detected to have an emergency braking condition when the offline duration does not reach the preset offline duration threshold, the fault handling strategy can be determined as an emergency stop, and then the vehicle offline fault can be handled according to the fault handling strategy.

[0050] Optionally, the vehicle offline fault is handled based on the fault handling strategy, including: sending a power-off command to the vehicle's battery management system based on the electronic control unit, so that the main positive relay is turned off when the battery management system receives the power-off command; and sending a motor stop command to the vehicle's motor controller based on the electronic control unit, so that the motor controller controls the motor to stop rotating when the motor controller receives the motor stop command.

[0051] The Battery Management System (BMS) is a system that monitors and manages the status of the vehicle's power battery. The BMS' primary function is to intelligently manage and maintain each battery cell, prevent overcharging and overdischarging, extend the battery's service life, and monitor the battery's status. The power-off command can be a pre-programmed program code that controls the BMS's power outage. Those skilled in the art will understand that the main positive relay is a commonly used electronically controlled switch that utilizes electromagnetic attraction to control the closing and opening of the switch. Specifically, the main positive relay's operating process can be divided into two phases: closing and opening. In the closing phase, when the coil is energized, the generated magnetic field causes the electromagnet's core to attract the actuator, thereby compressing the spring and closing the contact, thus opening and closing the circuit. In the opening phase, when the coil is energized, the electromagnet's core loses its attractive force, and the spring's reaction force pushes the actuator back into position, opening the contact and disconnecting the circuit.

[0052] The motor controller is a core power electronics unit unique to new energy vehicles. It receives vehicle control commands from the VCU and controls the motor's output of specified torque and speed to propel the vehicle. The motor controller converts the battery's DC power into the required high-voltage AC power and drives the motor to produce mechanical energy. The motor stop command can be a pre-programmed program code that stops the motor.

[0053] In actual applications, if the power bus disconnection duration does not reach the preset disconnection duration threshold, and the vehicle is detected to be in an emergency braking condition, the electronic control unit can send a power-off command to the battery management system, so that when the battery management system receives the power-off command, the main positive relay will be disconnected. At the same time, the electronic control unit can also send a motor stop command to the motor controller, so that when the motor controller receives the motor stop command, it will control the motor to stop rotating and terminate the torque output of the motor.

[0054] In actual applications, if the power bus offline duration does not reach the preset offline duration threshold and it is detected that the vehicle is not in an emergency braking condition, the fault handling strategy can be determined as normal operation, and the vehicle offline fault can be handled based on the fault handling strategy.

[0055] Optionally, the vehicle offline fault is handled based on the fault handling strategy, including: determining the vehicle's working mode before the power bus is offline based on the first target reception message stored in the electronic control unit and the second target reception message stored in each vehicle controller connected to the power bus, and controlling the vehicle to continue operating according to the working mode.

[0056] In actual applications, when the vehicle is not in an emergency braking condition, the first target reception message pre-stored in the electronic control unit and the second target reception message pre-stored in each vehicle controller connected to the power bus can be obtained to judge the driving state of the vehicle based on the first target reception message, the second target reception message, and the reception messages in the controllers connected to other buses, determine the working mode of the vehicle before the power bus is disconnected, and control the vehicle to continue to operate according to the working mode. That is to say, when the vehicle is not in an emergency braking condition, the various components in the vehicle still operate according to the operating state before the power bus is disconnected. For example, the motor still operates according to the motor rotation demand before the power bus is disconnected, and its various parameters do not change.

[0057] In actual applications, when it is detected that the offline duration of the vehicle power bus reaches a preset offline duration threshold, the vehicle can be controlled to perform a normal parking process to park the vehicle.

[0058] On the basis of the above technical solutions, it also includes: when the offline duration of the power bus is greater than a preset offline duration threshold, parking the vehicle based on a preset parking process.

[0059] In this embodiment, the parking process may be a process that is pre-set and deployed in the vehicle controller and corresponds to the normal parking process of the vehicle.

[0060] In actual applications, when the vehicle's power bus is detected to have lost connection for a predetermined duration, the all-in-one controller's drive torque value is reset to zero, the main positive relay is controlled to close, and the vehicle is simultaneously stopped and powered off, completing the vehicle parking process. The all-in-one controller is a critical component in electric vehicles. In actual applications, it can be used to drive the main motor of an electric vehicle, typically receiving signals from the vehicle controller to control the starting, speed regulation, and stopping of the vehicle's main motor. The all-in-one controller is an integrated motor controller.

[0061] The technical solution of the embodiment of the present invention is to process the electronic control unit based on a predetermined first fault handling process when the electronic control unit detects that the power bus of the vehicle is disconnected, and to process each vehicle controller connected to the power bus based on a predetermined second fault handling process. Furthermore, when the disconnection duration of the power bus is not greater than a preset disconnection duration threshold, a fault handling strategy corresponding to the vehicle is determined according to whether the vehicle is in an emergency braking condition, so as to handle the disconnection fault of the vehicle based on the fault handling strategy. This solves the problem in the prior art that the vehicle is stopped regardless of the duration of the bus disconnection condition, thereby affecting driving safety. It achieves the effect of extending the normal operating time of the entire vehicle under the bus disconnection condition, and achieves the effect of reducing the vehicle shutdown caused by a short and recoverable bus disconnection, thereby ensuring the safety of the entire vehicle under the bus disconnection condition.

[0062] Example 2

[0063] Figure 2 This is a schematic diagram of the structure of a bus offline fault processing device provided by the second embodiment of the present invention. Figure 2 As shown, the device includes: an offline detection module 210 and an offline fault processing module 220.

[0064] The offline detection module 210 is configured to, when an electronic control unit detects that a vehicle power bus is offline, process the electronic control unit based on a predetermined first fault processing flow, and process each vehicle controller connected to the power bus based on a predetermined second fault processing flow; wherein the power bus is a controller area network bus;

[0065] The offline fault processing module 220 is used to determine a fault processing strategy corresponding to the vehicle according to whether the vehicle has an emergency braking condition when the offline duration of the power bus is not greater than a preset offline duration threshold, so as to perform offline fault processing on the vehicle based on the fault processing strategy.

[0066] The technical solution of the embodiment of the present invention is to process the electronic control unit based on a predetermined first fault handling process when the electronic control unit detects that the power bus of the vehicle is disconnected, and to process each vehicle controller connected to the power bus based on a predetermined second fault handling process. Furthermore, when the disconnection duration of the power bus is not greater than a preset disconnection duration threshold, a fault handling strategy corresponding to the vehicle is determined according to whether the vehicle is in an emergency braking condition, so as to handle the disconnection fault of the vehicle based on the fault handling strategy. This solves the problem in the prior art that the vehicle is stopped regardless of the duration of the bus disconnection condition, thereby affecting driving safety. It achieves the effect of extending the normal operating time of the entire vehicle under the bus disconnection condition, and achieves the effect of reducing the vehicle shutdown caused by a short and recoverable bus disconnection, thereby ensuring the safety of the entire vehicle under the bus disconnection condition.

[0067] Optionally, the offline detection module includes: an electronic control unit processing unit.

[0068] The electronic control unit processing unit is used to shield the heartbeat signal detection process of the vehicle controller connected to the power bus in the electronic control unit, and filter each received message received by the electronic control unit before the power bus is disconnected based on preset filtering rules, determine the first target received message and save it.

[0069] Optionally, the electronic control unit processing unit includes: a receiving time acquisition subunit and a first target received message determination subunit.

[0070] a receiving time acquisition subunit, configured to acquire a receiving time of each received message received in the electronic control unit before the power bus is disconnected;

[0071] The first target received message determining subunit is configured to take the received message with the latest receiving time as the first target received message and save it.

[0072] Optionally, the offline detection module includes: a vehicle controller processing unit.

[0073] The vehicle controller processing unit is used to update the detection period of the vehicle controller for the heartbeat signal of the electronic control unit to a preset detection period for each vehicle controller connected to the power bus, and to filter each received message received in the vehicle controller before the power bus is disconnected based on preset filtering rules, determine the second target received message and save it.

[0074] Optionally, the offline fault processing module includes: a first fault processing strategy determining unit and a second fault processing strategy determining unit.

[0075] a first fault handling strategy determining unit, configured to determine the fault handling strategy as an emergency stop if the vehicle is in an emergency braking condition;

[0076] The second fault handling strategy determination unit is configured to determine the fault handling strategy as normal operation if the vehicle does not have an emergency braking condition.

[0077] Optionally, the fault handling strategy is emergency stop, and the offline fault handling module includes: a power-off processing unit and a motor suspension processing unit.

[0078] a power-off processing unit, configured to send a power-off instruction to a battery management system of the vehicle based on the electronic control unit, so that the battery management system turns off the main positive relay when receiving the power-off instruction;

[0079] The motor stop processing unit is configured to send a motor stop instruction to a motor controller of the vehicle based on the electronic control unit, so that the motor controller controls the motor to stop rotating when receiving the motor stop instruction.

[0080] Optionally, the offline fault processing module includes: an offline fault processing unit.

[0081] A disconnection fault processing unit is used to determine the working mode of the vehicle before the power bus is disconnected based on the first target reception message stored in the electronic control unit and the second target reception message stored in each vehicle controller connected to the power bus, and control the vehicle to continue operating according to the working mode.

[0082] Optionally, the device further includes: a parking processing module.

[0083] The parking processing module is used to perform parking processing on the vehicle based on a preset parking process when the offline duration of the power bus is greater than a preset offline duration threshold.

[0084] The bus offline fault processing device provided in the embodiment of the present invention can execute the bus offline fault processing method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0085] Example 3

[0086] Figure 3A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0087] like Figure 3 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0088] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0089] The processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the bus disconnection fault handling method.

[0090] In some embodiments, the bus drop fault handling method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the bus drop fault handling method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the bus drop fault handling method in any other appropriate manner (for example, by means of firmware).

[0091] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0092] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0093] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0094] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0095] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0096] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0097] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0098] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A bus offline fault processing method, characterized in that: include: When an electronic control unit detects that a power bus of a vehicle is offline, the electronic control unit is processed based on a predetermined first fault processing procedure, and each vehicle controller connected to the power bus is processed based on a predetermined second fault processing procedure; wherein the power bus is a controller area network bus; When the offline duration of the power bus is not greater than a preset offline duration threshold, a fault handling strategy corresponding to the vehicle is determined according to whether the vehicle has an emergency braking condition, so as to handle the offline fault of the vehicle based on the fault handling strategy.

2. The method according to claim 1, characterized in that The processing of the electronic control unit based on a predetermined first fault processing flow includes: Shield the heartbeat signal detection process of the vehicle controller connected to the power bus in the electronic control unit, and filter each received message received in the electronic control unit before the power bus is disconnected based on preset filtering rules, determine the first target received message and save it.

3. The method according to claim 2, characterized in that The filtering of each received message received in the electronic control unit before the power bus is disconnected based on a preset filtering rule, determining a first target received message and saving the message, includes: Obtaining a reception time of each received message received in the electronic control unit before the power bus is disconnected; The received message with the latest receiving time is taken as the first target received message and saved.

4. The method according to claim 1, wherein The processing of each vehicle controller connected to the power bus based on the predetermined second fault processing process includes: For each vehicle controller connected to the power bus, the detection period of the vehicle controller for the heartbeat signal of the electronic control unit is updated to a preset detection period, and each received message received in the vehicle controller before the power bus is disconnected is filtered based on preset filtering rules, and the second target received message is determined and saved, wherein the preset detection period is greater than the detection period.

5. The method according to claim 1, wherein Determining a fault handling strategy corresponding to the vehicle based on whether the vehicle is in an emergency braking condition includes: If the vehicle is in an emergency braking condition, the fault handling strategy is determined to be an emergency stop; If the vehicle does not have an emergency braking condition, the fault handling strategy is determined to be normal operation.

6. The method according to claim 5, characterized in that The fault handling strategy is emergency stop, and the offline fault handling of the vehicle based on the fault handling strategy includes: sending a power-off instruction to a battery management system of the vehicle based on the electronic control unit, so that when the battery management system receives the power-off instruction, the main positive relay is turned off; and The electronic control unit sends a motor stop instruction to a motor controller of the vehicle, so that the motor controller controls the motor to stop rotating when receiving the motor stop instruction.

7. The method according to claim 5, characterized in that The fault handling strategy is normal operation, and the offline fault handling of the vehicle based on the fault handling strategy includes: Based on the first target reception message stored in the electronic control unit and the second target reception message stored in each vehicle controller connected to the power bus, the working mode of the vehicle before the power bus is disconnected is determined, and the vehicle is controlled to continue operating according to the working mode.

8. The method according to claim 1, characterized in that Also includes: When the offline duration of the power bus is greater than a preset offline duration threshold, the vehicle is parked based on a preset parking process.

9. A bus offline fault processing device, characterized in that: include: a disconnection detection module, configured to, when an electronic control unit detects that a vehicle power bus is disconnected, process the electronic control unit based on a predetermined first fault processing procedure, and process each vehicle controller connected to the power bus based on a predetermined second fault processing procedure; wherein the power bus is a controller area network bus; The offline fault processing module is used to determine a fault processing strategy corresponding to the vehicle according to whether the vehicle has an emergency braking condition when the offline duration of the power bus is not greater than a preset offline duration threshold, so as to perform offline fault processing on the vehicle based on the fault processing strategy.

10. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor. The computer program is executed by the at least one processor to enable the at least one processor to execute the bus offline fault processing method according to any one of claims 1 to 8.

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