Offline simulation verification method and system for controller vehicle CAN bus fault

Abstract

The present application discloses a method and system for offline simulation verification of controller vehicle CAN bus fault, the method comprising the following steps: remotely collect and obtain CAN bus data of the faulty vehicle; obtain offline nodes and online nodes according to the CAN bus data of the faulty vehicle, the online nodes are faulty controller nodes, and the offline nodes are nodes that need to be simulated; according to the CAN bus data of the faulty vehicle and the offline nodes and online nodes, remove the online node data and obtain the processed CAN bus data of the faulty vehicle; build a CAN simulation test bench and a CAN simulation model; use actual nodes to replace online nodes in the CAN simulation test bench, simulate offline nodes, input the processed CAN bus data of the faulty vehicle into the CAN simulation model, and obtain simulation verification results. The present application realizes the analysis and verification of vehicle CAN bus faults through offline simulation, effectively improves the efficiency of solving vehicle CAN bus fault problems, and reduces fault inspection and repair costs.

Description

Technical Field

[0001] The present application relates to the technical field of automotive electronic testing and verification, and specifically to a method and system for offline simulation verification of controller vehicle CAN bus faults. Background Art

[0002] As vehicle network technology has become popular, almost all controllers on cars use network bus communication, and CAN bus technology has become the most commonly used vehicle network communication technology. As the number of CAN controllers increases, CAN bus problems are more and more likely to occur. At present, solving CAN bus problems usually requires professional technicians to go to the faulty vehicle site to analyze the problem, improve the problem, verify the problem, etc. If the problem is more complicated and cannot be solved at the time, the technicians need to come back first and then go to the site for verification after the problem is improved. This results in more service time and service fees, and the problem solving time is also longer. Summary of the invention

[0003] The purpose of this application is to overcome the shortcomings of low efficiency in solving CAN bus fault problems and high maintenance costs in the prior art. This application provides a controller vehicle CAN bus fault offline simulation verification method and system.

[0004] In a first aspect, a controller vehicle CAN bus fault offline simulation verification method is provided, comprising the following steps:

[0005] Remotely collect and obtain CAN bus data of faulty vehicles;

[0006] Obtain offline nodes and online nodes according to the acquired CAN bus data of the faulty vehicle, wherein the online node is a faulty controller node;

[0007] According to the acquired CAN bus data of the faulty vehicle and the acquired offline nodes and online nodes, the processed CAN bus data of the faulty vehicle is acquired;

[0008] Build CAN simulation test bench and CAN simulation model;

[0009] In the CAN simulation test bench, actual nodes are used instead of online nodes, and offline nodes are realized through simulation. The processed CAN bus data of the faulty vehicle is input into the constructed CAN simulation model for data processing to obtain the simulation verification results of the faulty node.

[0010] According to the first aspect, in a first implementation of the first aspect, in the step of remotely collecting and acquiring CAN bus data of the faulty vehicle, the data format is recommended to be ASC format or BLF format.

[0011] According to the first aspect, in a second implementation of the first aspect, the step of acquiring an offline node and an online node according to the acquired CAN bus data of the faulty vehicle, wherein the online node is a faulty controller node, specifically includes the following steps:

[0012] Obtain the fault phenomenon when the faulty vehicle fails;

[0013] A preliminary judgment is made on the acquired CAN bus data of the faulty vehicle according to the acquired fault phenomenon, and an offline node and an online node are acquired, wherein the online node is a faulty controller node.

[0014] According to the first aspect, in a third implementation of the first aspect, in the step of building a CAN simulation test bench and a CAN simulation model, the CAN simulation model is a CANoe simulation model.

[0015] According to the first aspect, in a fourth implementation method of the first aspect, actual nodes are used in the CAN simulation test bench instead of online nodes, offline nodes are realized through simulation, the processed CAN bus data of the faulty vehicle is input into the constructed CAN simulation model for data processing, and in the step of obtaining the simulation verification result of the faulty node, the offline node is realized through CAN tool simulation.

[0016] According to the fourth implementation manner of the first aspect, in the fifth implementation manner of the first aspect, the CAN tool is recommended to be CANoe.

[0017] According to the fourth implementation of the first aspect, in the sixth implementation of the first aspect, the step of implementing the offline node through CAN tool simulation specifically includes the following steps:

[0018] The CAN bus messages of the faulty controller node are simulated, monitored, recorded and replayed through the CAN tool.

[0019] In the second aspect, a controller vehicle CAN bus fault offline simulation verification test bench comprises:

[0020] A host computer, on which a CAN bus tool is running, and the host computer is used to control the CAN bus tool to perform simulation, bus monitoring, bus recording and bus playback on the CAN bus data of the offline node of the faulty vehicle;

[0021] Online nodes, the number is at least 1;

[0022] Among them, both online nodes and offline nodes are connected to the CAN bus.

[0023] In a third aspect, the present application provides a controller vehicle CAN bus fault offline simulation verification system, a faulty vehicle CAN bus data acquisition module, for remotely collecting and acquiring faulty vehicle CAN bus data;

[0024] A node acquisition module is communicatively connected with the faulty vehicle CAN bus data acquisition module, and is used to acquire offline nodes and online nodes according to the acquired faulty vehicle CAN bus data, wherein the online node is a faulty controller node;

[0025] A CAN bus data processing module is communicatively connected with the faulty vehicle CAN bus data acquisition module and the node acquisition module, and is used to acquire processed faulty vehicle CAN bus data according to the acquired faulty vehicle CAN bus data and the acquired offline nodes and online nodes;

[0026] Bench and model building module, used to build CAN simulation test bench and CAN simulation model;

[0027] The fault simulation verification result acquisition module is communicatively connected with the CAN bus data processing module and the adding and model building module, and is used to use actual nodes instead of online nodes in the CAN simulation test bench, realize offline nodes through simulation, input the processed faulty vehicle CAN bus data into the built CAN simulation model for data processing, and obtain the simulation verification result of the faulty node.

[0028] According to the third aspect, in a first implementation manner of the third aspect, the node acquisition module includes:

[0029] A fault phenomenon acquisition unit, used to acquire the fault phenomenon when the faulty vehicle fails according to the acquired CAN bus data of the faulty vehicle;

[0030] The node acquisition unit is communicatively connected with the fault phenomenon acquisition unit and the faulty vehicle CAN bus data acquisition module, and is used to make a preliminary judgment on the acquired faulty vehicle CAN bus data according to the acquired fault phenomenon, and acquire offline nodes and online nodes, wherein the online node is a faulty controller node.

[0031] Compared with the prior art, the advantages of this application are as follows:

[0032] The controller CAN bus fault offline simulation verification method provided in this application realizes the analysis and verification of the vehicle CAN bus fault through offline simulation, effectively improves the fault solving efficiency and reduces the maintenance cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A method flow chart of the controller CAN bus fault offline simulation verification method provided in this application;

[0034] Figure 2 A controller vehicle CAN bus fault offline simulation verification test bench provided in an embodiment of the present application;

[0035] Figure 3 A CAN bus simulation verification model provided in the embodiment of the present application;

[0036] Figure 4 This is a functional module block diagram of the controller CAN bus fault offline simulation verification system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0037] The specific embodiments of the present application will now be described in detail, examples of which are illustrated in the accompanying drawings. Although the present application will be described in conjunction with the specific embodiments, it will be understood that it is not intended to limit the present application to the described embodiments. On the contrary, it is intended to cover the changes, modifications and equivalents included in the spirit and scope of the present application as defined by the appended claims. It should be noted that the method steps described herein can be implemented by any functional block or functional arrangement, and any functional block or functional arrangement can be implemented as a physical entity or a logical entity, or a combination of the two.

[0038] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0039] Note: The example to be introduced below is only a specific example, and is not intended to limit the embodiments of the present application to the following specific steps, values, conditions, data, sequences, etc. Those skilled in the art can apply the concept of the present application to construct more embodiments not mentioned in the present description by reading the present description.

[0040] In the prior art, with the popularization and development of vehicle network technology, almost all controllers on vehicles use network bus communication, and CAN bus technology has become the most commonly used vehicle network communication technology. With the increasing number of CAN controllers, the CAN bus is more and more prone to problems. In the prior art, when a vehicle CAN bus fails, professional technicians are required to go to the site of the faulty vehicle to analyze, improve and verify the problem. If the problem is more complicated and cannot be solved at the time, the technicians need to come back first and then go to the site for verification after the problem is improved. This results in more service time and service fees, and the time to solve the problem is also relatively long, resulting in low efficiency and high cost in troubleshooting.

[0041] In view of this, see Figure 1 As shown, the embodiment of the present application provides a controller vehicle CAN bus fault offline simulation verification method, comprising the following steps:

[0042] Step S1, remotely collect and obtain CAN bus data of the faulty vehicle;

[0043] Step S2, acquiring offline nodes and online nodes according to the acquired CAN bus data of the faulty vehicle, wherein the online node is a faulty controller node;

[0044] Step S3, obtaining processed CAN bus data of the faulty vehicle according to the obtained CAN bus data of the faulty vehicle and the obtained offline nodes and online nodes;

[0045] Step S4, building a CAN simulation test bench and a CAN simulation model;

[0046] Step S5: Use actual nodes to replace online nodes in the CAN simulation test bench, realize offline nodes through simulation, input the processed CAN bus data of the faulty vehicle into the constructed CAN simulation model for data processing, and obtain the simulation verification result of the faulty node.

[0047] The controller vehicle CAN bus fault offline simulation verification method provided in the present application obtains the CAN bus data of the faulty vehicle through remote collection, without the need for technical personnel to go to the faulty vehicle site, and obtains the simulation verification results of the CAN bus of the faulty vehicle based on the constructed CAN simulation test bench and CAN simulation model, thereby effectively improving the efficiency of analyzing and solving CAN bus fault problems, and effectively reducing the repair cost of fault problems.

[0048] In one embodiment, in the step S1, remotely collecting and acquiring CAN bus data of the faulty vehicle, the CAN bus data of the faulty vehicle is remotely collected and acquired by wireless communication.

[0049] In the present application, a faulty vehicle refers to a vehicle that has a fault, specifically, refers to a fault in a controller of the vehicle, and more specifically, refers to a fault in a CAN bus of the controller of the vehicle.

[0050] In one embodiment, in order to perform data processing based on a CAN tool to realize offline simulation verification of a vehicle CAN bus fault, an embodiment of the present application provides a controller vehicle CAN bus fault offline simulation verification method, comprising the following steps:

[0051] Remotely collect and obtain CAN bus data of the faulty vehicle. The data format is recommended to be ASC format or BLF format, so as to be suitable for data processing by different CAN tools;

[0052] Obtain offline nodes and online nodes according to the acquired CAN bus data of the faulty vehicle, wherein the online node is a faulty controller node;

[0053] According to the acquired CAN bus data of the faulty vehicle and the acquired offline nodes and online nodes, the processed CAN bus data of the faulty vehicle is acquired;

[0054] Build CAN simulation test bench and CAN simulation model;

[0055] In the CAN simulation test bench, actual nodes are used instead of online nodes, and offline nodes are realized through simulation. The processed CAN bus data of the faulty vehicle is input into the constructed CAN simulation model for data processing, and the simulation verification result of the faulty controller node is obtained. The simulation verification result includes the fault conclusion of the faulty controller, and / or the fault cause, and / or the fault repair method.

[0056] The controller vehicle CAN bus fault offline simulation verification method provided in the present application obtains the CAN bus data of the faulty vehicle through remote collection, without the need for technical personnel to go to the faulty vehicle site, performs data processing of the CAN bus data based on CAN tools, and obtains the simulation verification results of the CAN bus of the faulty vehicle based on the constructed CAN simulation test bench and CAN simulation model, thereby effectively improving the efficiency of analyzing and solving CAN bus fault problems, while reducing the repair cost of fault problems.

[0057] In one embodiment, in order to increase the amount of data collected and improve the reliability of fault problem solving, it is necessary to extend the collection time of remotely collecting the CAN bus data of the faulty vehicle.

[0058] In a more specific embodiment, the remote acquisition of CAN bus data of the faulty vehicle lasts for more than one minute to balance the data volume and data acquisition efficiency.

[0059] In one embodiment, the step S2, obtaining offline nodes and online nodes according to the acquired CAN bus data of the faulty vehicle, wherein the online node is a faulty controller node, specifically comprises the following steps:

[0060] Obtain the fault phenomenon when the faulty vehicle fails. The fault phenomenon is specifically manifested as functional failure of different controllers. The controllers include engine controller, throttle controller, brake controller, lighting controller, air conditioning controller, audio controller, etc. When the controller CAN bus fails, the CAN bus communication of the controller is abnormal.

[0061] A preliminary judgment is made on the acquired CAN bus data of the faulty vehicle according to the acquired fault phenomenon, and offline nodes and online nodes are acquired. The online nodes are nodes that require physical online testing, usually faulty controller nodes, and the purpose is to perform simulation testing and verification on the faulty controller. By realizing the node distinction between online nodes and offline nodes in the CAN bus data of the faulty vehicle, a data processing basis is provided for the next step of stripping or removing the CAN bus data of the online nodes from the CAN bus data of the faulty vehicle. The offline nodes are fault-free controller nodes.

[0062] In one embodiment, in the step S4, the step of building a CAN simulation test bench and a CAN simulation model, the CAN simulation model is a CANoe simulation model, such as Figure 2 As shown, it is an electrical schematic diagram of the controller vehicle CAN bus fault offline simulation verification test bench provided in an embodiment of the present application. The CANoe simulation model obtains the test results of the CAN simulation test bench, and performs simulation analysis based on this to obtain the fault verification results of the faulty vehicle CAN bus data.

[0063] In one embodiment, actual nodes are used in the CAN simulation test bench instead of online nodes, offline nodes are realized through simulation, the processed CAN bus data of the faulty vehicle is input into the constructed CAN simulation model for data processing, and in the step of obtaining the simulation verification result of the faulty node, the offline node is realized through CAN tool simulation.

[0064] In one embodiment, the CAN tool is recommended to be CANoe.

[0065] In one embodiment, the step of implementing the offline node through CAN tool simulation specifically includes the following steps:

[0066] The CAN bus messages of the faulty controller node are simulated, monitored, recorded and replayed through the CAN tool.

[0067] In one embodiment, the CAN simulation test bench uses actual nodes instead of online nodes, and the offline nodes are simulated by a CAN tool. The processed CAN bus data of the faulty vehicle is input into the constructed CAN simulation model for data processing. In the step of obtaining the simulation verification result of the faulty node, the actual node is the faulty controller node, and the controller before or after the improvement can be connected to the simulation test bench to verify the improved or improved node.

[0068] In one embodiment, the CAN simulation test bench uses actual nodes instead of online nodes, and offline nodes are realized through simulation. The processed CAN bus data of the faulty vehicle is input into the constructed CAN simulation model for data processing. In the step of obtaining the simulation verification result of the faulty node, the test result is obtained by connecting the CAN simulation test bench to the online node and the offline node realized by simulation, and the test result is input into the CANoe simulation model. The fault analysis verification result of the faulty controller is obtained after analysis by a technician.

[0069] Based on the same inventive concept, Figure 3As shown, the present application provides a controller vehicle CAN bus fault offline simulation verification test bench, including a host computer, online nodes and a CAN bus, a CAN bus tool is run on the host computer, and the host computer is used to control the CAN bus tool to simulate, monitor, record and playback the CAN bus data of the offline nodes of the faulty vehicle; the number of online nodes is at least 1, labeled ECU1, ECU2...ECUn; the online nodes and offline nodes are all connected to the CAN bus, and all offline nodes are implemented using CAN bus simulation. Figure 3 CAN-H and CAN-L are part of the vehicle body network transmission method, which are high-level data lines and low-level data lines. The two are twisted together, making the CAN bus highly resistant to common-mode interference.

[0070] The controller vehicle CAN bus fault offline simulation verification test bench provided in this application is simple to use, has high test verification effect and low implementation cost.

[0071] In one embodiment, the number of online nodes may be multiple, depending on the number of nodes of the faulty controller that is initially determined to be likely to fail.

[0072] In one embodiment, the host computer is a computer running a CAN tool.

[0073] In one embodiment, the processed CAN bus data is imported by the host computer, and this data is exactly the same as the offline node data of the CAN bus of the whole vehicle that has failed; the loaded CAN bus data is run, and the CAN tool sends the same offline node bus data as the faulty vehicle, so that the faulty node can be simulated and verified offline without having to go to the faulty vehicle site for testing and verification.

[0074] Based on the same invention concept, please refer to Figure 4The present application also provides a controller vehicle CAN bus fault offline simulation verification system, including a faulty vehicle CAN bus data acquisition module 100, a node acquisition module 200, a CAN bus data processing module 300, a bench and model building module 400 and a fault simulation verification result acquisition module 500, wherein the faulty vehicle CAN bus data acquisition module 100 is used to remotely collect and acquire the faulty vehicle CAN bus data; the node acquisition module 200 is communicated with the faulty vehicle CAN bus data acquisition module 100, and is used to acquire offline nodes and online nodes according to the acquired faulty vehicle CAN bus data, wherein the online node is a faulty controller node; the CAN bus data processing module 400 is communicated with the node acquisition module 100, and is used to acquire offline nodes and online nodes according to the acquired faulty vehicle CAN bus data, wherein the online node is a faulty controller node; Module 200 is communicatively connected with the faulty vehicle CAN bus data acquisition module 300, and is used to obtain the processed faulty vehicle CAN bus data according to the acquired faulty vehicle CAN bus data and the acquired offline nodes and online nodes; the bench and model building module 500 is used to build a CAN simulation test bench and a CAN simulation model; the fault simulation verification result acquisition module is communicatively connected with the CAN bus data processing module and the adding and model building module, and is used to use actual nodes instead of online nodes in the CAN simulation test bench, realize offline nodes through simulation, input the processed faulty vehicle CAN bus data into the built CAN simulation model for data processing, and obtain the simulation verification results of the faulty nodes.

[0075] The controller vehicle CAN bus fault offline simulation verification system provided in the present application only needs to preliminarily determine the online node, that is, the faulty controller node, and remotely collect CAN bus data for offline simulation test verification, saving the manpower, time and cost required to deal with on-site problems.

[0076] In one embodiment, the node acquisition module includes:

[0077] A fault phenomenon acquisition unit, used to acquire the fault phenomenon when the faulty vehicle fails according to the acquired CAN bus data of the faulty vehicle;

[0078] The node acquisition unit is communicatively connected with the fault phenomenon acquisition unit and the faulty vehicle CAN bus data acquisition module, and is used to make a preliminary judgment on the acquired faulty vehicle CAN bus data according to the acquired fault phenomenon, and acquire offline nodes and online nodes, wherein the online node is a faulty controller node.

[0079] Based on the same inventive concept, an embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, all or part of the method steps of the above method are implemented.

[0080] The present application implements all or part of the processes in the above method, and can also be completed by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of each of the above method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

[0081] Based on the same inventive concept, an embodiment of the present application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program running on the processor, and when the processor executes the computer program, all or part of the method steps in the above method are implemented.

[0082] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of a computer device, and uses various interfaces and lines to connect various parts of the entire computer device.

[0083] The memory can be used to store computer programs and / or modules. The processor realizes various functions of the computer device by running or executing the computer programs and / or modules stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required for a function (such as a sound playback function, an image playback function, etc.); the data storage area can store data created according to the use of the mobile phone (such as audio data, video data, etc.). In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0084] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, servers or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) that contain computer-usable program code.

[0085] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), servers, and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0086] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0087] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0088] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A controller vehicle CAN bus fault offline simulation verification method, characterized in that: The steps include: Remotely collect and obtain CAN bus data of faulty vehicles; Acquire offline nodes and online nodes according to the acquired CAN bus data of the faulty vehicle, wherein the online nodes are faulty controller nodes, and the offline nodes are non-faulty controller nodes; According to the acquired CAN bus data of the faulty vehicle and the acquired offline nodes and online nodes, the processed CAN bus data of the faulty vehicle is acquired; Build CAN simulation test bench and CAN simulation model; In the CAN simulation test bench, actual nodes are used instead of online nodes, offline nodes are realized through simulation, and the processed CAN bus data of the faulty vehicle is input into the built CAN simulation model for data processing to obtain the simulation verification results of the faulty node; In the CAN simulation test bench, actual nodes are used instead of online nodes, offline nodes are realized through simulation, and the processed CAN bus data of the faulty vehicle is input into the constructed CAN simulation model for data processing. In the step of obtaining the simulation verification result of the faulty node, the offline node is realized through CAN tool simulation; the step of realizing the offline node through CAN tool simulation specifically includes the following steps: The CAN bus messages of the faulty controller node are simulated, monitored, recorded and replayed through the CAN tool.

2. The controller vehicle CAN bus fault offline simulation verification method according to claim 1 is characterized in that: In the step of remotely collecting and acquiring CAN bus data of the faulty vehicle, the data format is ASC format or BLF format.

3. The controller vehicle CAN bus fault offline simulation verification method according to claim 1 is characterized in that: The step of acquiring offline nodes and online nodes according to the acquired CAN bus data of the faulty vehicle, wherein the online node is a faulty controller node, specifically comprises the following steps: Obtain the fault phenomenon when the faulty vehicle fails; A preliminary judgment is made on the acquired CAN bus data of the faulty vehicle according to the acquired fault phenomenon, and an offline node and an online node are acquired, wherein the online node is a faulty controller node.

4. The controller vehicle CAN bus fault offline simulation verification method according to claim 1 is characterized in that: In the steps of building a CAN simulation test bench and a CAN simulation model, the CAN simulation model is a CANoe simulation model.

5. The controller vehicle CAN bus fault offline simulation verification method according to claim 1, characterized in that: The CAN tool is CANoe.

6. A controller vehicle CAN bus fault offline simulation verification test bench, which implements the steps of a controller vehicle CAN bus fault offline simulation verification method as claimed in claim 1, characterized in that: include: A host computer, on which a CAN bus tool is running, and the host computer is used to control the CAN bus tool to perform simulation, bus monitoring, bus recording and bus playback on the CAN bus data of the offline node of the faulty vehicle; Online nodes, the number is at least 1; Among them, both online nodes and offline nodes are connected to the CAN bus.

7. A controller vehicle CAN bus fault offline simulation verification system, which implements the steps of a controller vehicle CAN bus fault offline simulation verification method as claimed in claim 1, characterized in that: include: The faulty vehicle CAN bus data acquisition module is used to remotely collect and acquire the faulty vehicle CAN bus data; A node acquisition module is communicatively connected with the faulty vehicle CAN bus data acquisition module, and is used to acquire offline nodes and online nodes according to the acquired faulty vehicle CAN bus data, wherein the online nodes are faulty controller nodes, and the offline nodes are non-faulty controller nodes; A CAN bus data processing module is communicatively connected with the faulty vehicle CAN bus data acquisition module and the node acquisition module, and is used to acquire processed faulty vehicle CAN bus data according to the acquired faulty vehicle CAN bus data and the acquired offline nodes and online nodes; Bench and model building module, used to build CAN simulation test bench and CAN simulation model; A fault simulation verification result acquisition module is communicatively connected with the CAN bus data processing module and the adding and model building module, and is used to use actual nodes instead of online nodes in the CAN simulation test bench, realize offline nodes through simulation, input the processed faulty vehicle CAN bus data into the built CAN simulation model for data processing, and obtain the simulation verification result of the faulty node; The node acquisition module includes: A fault phenomenon acquisition unit, used to acquire the fault phenomenon when the faulty vehicle fails according to the acquired CAN bus data of the faulty vehicle; A node acquisition unit is communicatively connected with the fault phenomenon acquisition unit and the faulty vehicle CAN bus data acquisition module, and is used to make a preliminary judgment on the acquired faulty vehicle CAN bus data according to the acquired fault phenomenon, and acquire offline nodes and online nodes, wherein the online nodes are faulty controller nodes; In the CAN simulation test bench, actual nodes are used instead of online nodes, offline nodes are realized through simulation, and the processed CAN bus data of the faulty vehicle is input into the constructed CAN simulation model for data processing. In the step of obtaining the simulation verification result of the faulty node, the offline node is realized through CAN tool simulation; the step of realizing the offline node through CAN tool simulation specifically includes the following steps: The CAN bus messages of the faulty controller node are simulated, monitored, recorded and replayed through the CAN tool.

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