Message loss fault judgment method and device, equipment, storage medium and product

Abstract

The invention discloses a message loss fault judgment method and device, equipment, a storage medium and a product, and relates to the technical field of vehicle communication, and the method comprises the steps: resetting a first timer and a second timer when detecting that a target ECU in a vehicle is powered on; judging whether the counter value is updated for one time or not according to whether a target message sent by other ECUs is received or not within a first time length, wherein the first time length is a preset time length threshold value corresponding to the first timer; if not, the counter value is updated for the first time or the second time according to whether a target message sent by other ECUs is received within a second time length, and the second time length is a preset time length threshold value corresponding to a second timer; and repeatedly executing the steps of carrying out primary updating and secondary updating on the counter value, and judging whether other ECUs have a message loss fault or not based on the updated counter value. According to the invention, whether the ECU has the message loss fault or not can be accurately judged, and the robustness of the vehicle ECU system is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle communication technology, and in particular to a message loss fault determination method, device, equipment, storage medium and product. Background Art

[0002] Nowadays, CAN (Controller Area Network) bus technology is increasingly used in vehicle bus networks. CAN bus technology can realize information sharing between ECUs (Electronic Control Units) and reduce unnecessary wiring harnesses and sensors. However, with the increasing load rate of the CAN bus and the deterioration of the electromagnetic environment of the vehicle caused by high-voltage components in electric and hybrid vehicles, data interaction between ECUs is increasingly susceptible to being affected, and it is common for ECUs to fail to receive the required messages. When some ECUs cannot receive the required bus signals normally, the ECU will enter a fault operation mode, reducing performance, increasing emissions, or even prohibiting the vehicle from driving to ensure safety. It can be seen that it is crucial to diagnose message loss failures in a timely and accurate manner. Summary of the invention

[0003] The main purpose of this application is to provide a message loss fault judgment method, device, equipment, storage medium and product, aiming to solve the technical problem that the prior art cannot timely and accurately judge whether an ECU has a message loss fault.

[0004] To achieve the above object, the present application provides a method for determining a message loss fault, the method comprising the following steps:

[0005] When it is detected that the target ECU in the vehicle is powered on, resetting the first timer and the second timer;

[0006] Determining whether to update the counter value once according to whether a target message sent by other ECUs is received within a first time period, where the first time period is a preset time period threshold corresponding to the first timer;

[0007] If not, updating the counter value once or twice according to whether a target message sent by other ECUs is received within a second time period, where the second time period is a preset time period threshold corresponding to the second timer;

[0008] Repeat the steps of updating the counter value once and twice, and determine whether the other ECU has a message loss fault based on the updated counter value.

[0009] In one embodiment, the step of determining whether to update the counter value once according to whether a target message sent by other ECUs is received within the first time period includes:

[0010] If a target message sent by other ECUs is received within the first time period, the counter value is updated once and the first timer is reset;

[0011] If the target message sent by other ECUs is not received within the first time period, the counter value is not updated.

[0012] In one embodiment, if a target message sent by other ECUs is received within a first time period, the step of updating the counter value and resetting the first timer includes:

[0013] If a target message sent by other ECUs is received within the first time period, the counter value is updated once, and the updating method of the update once is to subtract the first preset value from the counter value;

[0014] The first timer starts timing after being reset, and continuously detects whether a target message sent by other ECUs is received within a first time period.

[0015] In one embodiment, the step of updating the counter value once or twice according to whether a target message sent by other ECUs is received within the second time period includes:

[0016] If a target message sent by other ECUs is received within the second time period, the counter value is updated once and the first timer is reset;

[0017] If the target message sent by other ECUs is not received within the second time period, the counter value is updated for a second time and the first timer is reset.

[0018] In one embodiment, if the target message sent by other ECUs is not received within the second time period, the step of updating the counter value for a second time and resetting the first timer comprises:

[0019] If the target message sent by other ECUs is not received within the second time period, the counter value is updated for the second time, and the updating method of the second update is to increase the counter value by a second preset value;

[0020] The first timer starts timing after being reset, and continuously detects whether a target message sent by other ECUs is received within a first time period.

[0021] In one embodiment, the step of determining whether the other ECU has a message loss fault based on the updated counter value includes:

[0022] If the updated counter value is less than the preset upper limit value, the message loss fault flag bit and the controller fault flag bit of the other ECU are set to a third preset value to determine that the other ECU does not have a message loss fault;

[0023] If the updated counter value is greater than or equal to the preset upper limit value, the message loss fault flag bit and the controller fault flag bit of the other ECU are set to a fourth preset value to determine that the other ECU has a message loss fault.

[0024] In addition, to achieve the above-mentioned purpose, the present application also proposes a message loss fault determination device, the message loss fault determination device comprising:

[0025] A reset detection module, configured to reset the first timer and the second timer when detecting that a target ECU in the vehicle is powered on;

[0026] A first updating module, configured to determine whether to update the counter value once according to whether a target message sent by other ECUs is received within a first time period, wherein the first time period is a preset time period threshold corresponding to the first timer;

[0027] A second updating module, for, if not, updating the counter value once or twice according to whether a target message sent by other ECUs is received within a second time period, wherein the second time period is a preset time period threshold corresponding to the second timer;

[0028] The fault determination module is used to repeatedly execute the steps of updating the counter value once and updating the counter value twice, and determine whether the other ECU has a message loss fault based on the updated counter value.

[0029] In addition, to achieve the above-mentioned purpose, the present application also proposes a message loss fault judgment device, which includes: a memory, a processor, and a message loss fault judgment program stored in the memory and executable on the processor, and the message loss fault judgment program is configured to implement the steps of the message loss fault judgment method described above.

[0030] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a message loss fault judgment program is stored on the storage medium. When the message loss fault judgment program is executed by the processor, the steps of the message loss fault judgment method described above are implemented.

[0031] In addition, to achieve the above-mentioned purpose, the present invention also provides a computer program product, which includes a message loss fault determination program, and when the message loss fault determination program is executed by a processor, the steps of the message loss fault determination method described above are implemented.

[0032] This application resets the first timer and the second timer when it is detected that the target ECU in the vehicle is powered on; determines whether to update the counter value once according to whether the target message sent by other ECUs is received within the first time length, and the first time length is the preset time length threshold corresponding to the first timer; if not, the counter value is updated once or twice according to whether the target message sent by other ECUs is received within the second time length, and the second time length is the preset time length threshold corresponding to the second timer; repeats the steps of updating the counter value once and twice, and determines whether the other ECU has a message loss fault based on the updated counter value. The above method of this application uses two timers for timing, and updates the timer value when the target message sent by the ECU is received within the preset time length, so that it can accurately determine whether the ECU has a message loss fault based on the updated counter value, and the fault light will not be lit arbitrarily, and there will be no fault without alarm, thereby improving the robustness of the vehicle ECU system. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic diagram of the structure of a message loss fault determination device in a hardware operating environment involved in an embodiment of the present application;

[0034] Figure 2 This is a flow chart of the first embodiment of the method for determining message loss failure of the present application;

[0035] Figure 3 This is a flow chart of the second embodiment of the method for determining message loss failure of the present application;

[0036] Figure 4 This is a flow chart of the third embodiment of the method for determining message loss failure of the present application;

[0037] Figure 5 This is a structural block diagram of the first embodiment of the message loss fault judgment device of the present application.

[0038] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0039] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0040] Reference Figure 1 , Figure 1 A schematic diagram of the structure of a message loss fault determination device in a hardware operating environment involved in an embodiment of the present application.

[0041] like Figure 1 As shown, the message loss fault determination device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM), or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk storage. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0042] Those skilled in the art will understand that Figure 1 The structure shown in does not constitute a limitation on the message loss fault determination device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0043] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a message loss fault determination program.

[0044] exist Figure 1 In the message loss fault determination device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the message loss fault determination device of the present application can be set in the message loss fault determination device, and the message loss fault determination device calls the message loss fault determination program stored in the memory 1005 through the processor 1001, and executes the message loss fault determination method provided in the embodiment of the present application.

[0045] The present application provides a method for determining a message loss fault. Figure 2 , Figure 2 This is a flow chart of the first embodiment of the message loss fault determination method of the present application.

[0046] In this embodiment, the message loss fault determination method includes the following steps:

[0047] Step S10: When it is detected that the target ECU in the vehicle is powered on, the first timer and the second timer are reset.

[0048] It should be noted that the execution subject of the method of this embodiment can be a terminal device with data update, data processing and program running functions, such as a smart phone, a computer, etc., or an electronic device with the same or similar functions, such as the above-mentioned message loss fault determination device. The following takes the message loss fault determination device (hereinafter referred to as the determination device) as an example to illustrate this embodiment and the following embodiments.

[0049] It is understandable that the above-mentioned target ECU can exchange data with other ECUs through the CAN bus. The CAN bus ensures that the data frames with high priority can obtain the bus control right first through the arbitration mechanism, thereby ensuring the real-time nature of data transmission. Specifically, during the data transmission process, the CAN bus adopts non-return-to-zero encoding (NRZ) and uses bit filling technology to prevent continuous identical levels from causing misjudgment. When multiple devices send information at the same time, the CAN bus triggers the arbitration mechanism, and the data frame with the highest priority will obtain the bus control right, while the transmission of other devices will be suspended. The data frame of the CAN bus contains a start bit, an arbitration field, a control field, a data field, a CRC check field, and a confirmation field. Among them, the start bit indicates the beginning of the data frame; the arbitration field contains the identifier and priority information of the device; the control field defines the length and type of the data frame; the data field contains the data to be transmitted; the CRC check field is used to detect errors in the data frame; the confirmation field is sent by the receiver to confirm that the data frame has been successfully received.

[0050] It should be understood that since the CAN bus adopts a multi-master mode, that is, any device can become a transmitter or a receiver, and there is no master-slave distinction on the bus. Therefore, the above-mentioned target ECU is not a specific ECU in the vehicle, but can be any ECU in the vehicle, that is, any ECU in the vehicle can exchange data with other ECUs through the CAN bus.

[0051] Step S20: Determine whether to update the counter value once according to whether a target message sent by other ECUs is received within a first time period, where the first time period is a preset time period threshold corresponding to the first timer.

[0052] It should be noted that the above-mentioned target message can be composed of a message ID (used to uniquely identify a message so as to distinguish and process it at the receiving end), a data field (containing the specific content of the message, that is, the information to be sent by the ECU, such as engine status, vehicle speed, steering angle, fuel injection amount, ignition timing, etc.), a network management message (such as AUTOSAR network management message, used to reasonably manage the sleep and wake-up states of the ECU to optimize vehicle energy consumption and response time), a calibration message (used for calibration and calibration of ECU parameters to ensure the stability and consistency of vehicle performance), etc., and this embodiment does not limit this.

[0053] It should be understood that the first duration is a preset duration threshold T1 corresponding to the first timer, and the value of T1 is a period of the target message to be received, which is used to periodically determine whether the target message is received.

[0054] Step S30: If not, the counter value is updated once or twice according to whether a target message sent by other ECUs is received within a second time period, and the second time period is a preset time period threshold corresponding to the second timer.

[0055] It should be understood that the second duration is the preset duration threshold T2 corresponding to the second timer, and the T2 value determines the system's tolerance for the time error of message loss. The greater the system design redundancy, the larger the value of T2 can be. In actual development, the appropriate value is determined based on the design objectives of the entire vehicle and the performance of the ECU. More specifically, T2 can be evaluated from two aspects: the severity of message loss and the frequency of use. The severity refers to the degree of harm to vehicle driving and customers after the message is lost, and is graded from 1 to 5, with 1 representing the greatest degree of harm and 5 representing the least. The frequency of use refers to the frequency of use of the function and whether the customer can immediately perceive the message loss, and is graded from 1 to 5, with 1 representing the highest frequency of use and the easiest to perceive, and 5 representing the lowest frequency of use and the least likely to perceive.

[0056] In a specific implementation, the severity classification principle can refer to the following Table 1.

[0057] Table 1

[0058]

[0059] The classification principles of usage frequency can be referred to in Table 2 below.

[0060] Table 2

[0061]

[0062] Step S40: Repeat the steps of updating the counter value once and twice, and determine whether the other ECU has a message loss fault based on the updated counter value.

[0063] In a specific implementation, the steps of updating the counter value once and twice can be repeated, and after each update, it is determined whether the ECU has a message loss fault based on the updated counter value, thereby ensuring that the fault can be discovered in a timely and accurate manner.

[0064] This embodiment resets the first timer and the second timer when it is detected that the target ECU in the vehicle is powered on; determines whether to update the counter value once according to whether the target message sent by other ECUs is received within the first time length, and the first time length is the preset time length threshold corresponding to the first timer; if not, the counter value is updated once or twice according to whether the target message sent by other ECUs is received within the second time length, and the second time length is the preset time length threshold corresponding to the second timer; repeats the steps of updating the counter value once and twice, and determines whether the other ECU has a message loss fault based on the updated counter value. The above method of this embodiment uses two timers for timing, and updates the timer value when the target message sent by the ECU is received within the preset time length, so that it can accurately determine whether the ECU has a message loss fault based on the updated counter value, and the fault light will not be lit at will, and there will be no fault without alarm, thereby improving the robustness of the vehicle ECU system.

[0065] refer to Figure 3 , Figure 3 This is a flow chart of the second embodiment of the message loss fault determination method of the present application.

[0066] In a feasible implementation manner, the step S20 may include:

[0067] Step S201: If a target message sent by other ECUs is received within a first time period, the counter value is updated once and the first timer is reset.

[0068] Step S202: If no target message sent by other ECUs is received within the first time period, the counter value is not updated.

[0069] In a feasible implementation manner, the step S201 may include:

[0070] Step S2011: If a target message sent by other ECUs is received within the first time period, the counter value is updated once, and the updating method of the update is to subtract the first preset value from the counter value.

[0071] Step S2012: Reset the first timer and start timing, and continue to detect whether a target message sent by other ECUs is received within a first time period.

[0072] It should be noted that, in one implementation, the first preset value may be 2, that is, if a target message sent by other ECUs is received within the first time period, the counter value is subtracted by 2. Of course, the first preset value is not fixed, and in other implementations, it may also be flexibly set by the management personnel based on the actual usage scenario, which will not be elaborated here.

[0073] In this embodiment, if a target message sent by other ECUs is received within the first time period, the counter value is updated once, and the update method of the update is to subtract the first preset value from the counter value; the first timer is reset and then the timing is started, and the target message sent by other ECUs is continuously detected within the first time period; if the target message sent by other ECUs is not received within the first time period, the counter value is not updated once. The above method of this embodiment determines whether to update the counter value once according to whether the target message sent by other ECUs is received within the first time period, so as to preliminarily determine whether the target message is accepted, and updates the counter value once when the target message is received, providing data reference for subsequent fault judgment.

[0074] refer to Figure 4 , Figure 4 This is a flow chart of the third embodiment of the message loss fault determination method of the present application.

[0075] In a feasible implementation manner, the step S30 may include:

[0076] Step S301: If a target message sent by other ECUs is received within the second time period, the counter value is updated once and the first timer is reset.

[0077] Step S302: If no target message is received from other ECUs within the second time period, the counter value is updated for a second time and the first timer is reset.

[0078] In a feasible implementation manner, the step S302 may include:

[0079] Step S3021: If the target message sent by other ECUs is not received within the second time period, the counter value is updated for the second time, and the updating method of the second update is to increase the counter value by a second preset value.

[0080] Step S3022: The first timer is reset and then starts timing, and continuously detects whether a target message sent by other ECUs is received within a first time period.

[0081] It should be noted that, in one implementation, the second preset value may be 4, that is, if the target message sent by other ECUs is not received within the second time period, the counter value is increased by 4. Of course, the second preset value is not fixed, and in other implementations, it can also be flexibly set by the management personnel based on the actual usage scenario, which will not be elaborated here.

[0082] In a feasible implementation manner, the step S40 may include:

[0083] Step S401: If the updated counter value is less than the preset upper limit value, the message loss fault flag bit and the controller fault flag bit of the other ECU are set to a third preset value to determine that the other ECU does not have a message loss fault.

[0084] It should be noted that the counter value (including the updated counter value) can be used to indicate the severity of message loss. Based on this, the above-mentioned preset upper limit value can be used to indicate the conditions for the system to determine that the message is lost. The larger the preset upper limit value, the stronger the condition for the system to determine that the message is lost. The upper limit value of the message loss counter can take different values ​​according to the importance of the ECU. For example, the ECU with a greater impact on emissions, power and safety, such as EMS (Engine Management System), can set this value to a smaller value, and the ECU related to comfort and entertainment, such as the audio entertainment system, can set this value to a larger value.

[0085] In a specific implementation, the recommended value of the preset upper limit value can be referred to the following Table 3.

[0086] Table 3

[0087]

[0088] Step S402: If the updated counter value is greater than or equal to the preset upper limit value, the message loss fault flag bit and the controller fault flag bit of the other ECU are set to a fourth preset value to determine that the other ECU has a message loss fault.

[0089] It should be noted that the third preset value may be 0, and the fourth preset value may be 1.

[0090] In a specific implementation, the value range of the message loss fault flag W is 0-1, which is used to indicate the result of the message loss fault determination, and its initial value is 0, 0 represents no fault, and 1 represents fault. The value range of the controller fault flag X is 0-1, which is used to indicate the result of the controller fault determination. Its initial value is 0, 0 represents no fault in the controller, and 1 represents a fault in the controller.

[0091] In this embodiment, if a target message sent by other ECUs is received within a second time period, the counter value is updated once and the first timer is reset; if the target message sent by other ECUs is not received within the second time period, the counter value is updated twice, and the updating method of the second update is to increase the counter value by a second preset value; the timing starts after the first timer is reset, and it is continuously detected whether a target message sent by other ECUs is received within the first time period; if the updated counter value is less than the preset upper limit value, the message loss fault flag bit and the controller fault flag bit of the other ECU are set to the third preset value to determine that the other ECU does not have a message loss fault; if the updated counter value is greater than or equal to the preset upper limit value, the message loss fault flag bit and the controller fault flag bit of the other ECU are set to the fourth preset value to determine that the other ECU has a message loss fault. The above method of this embodiment updates the counter value once or twice according to whether the target message sent by other ECUs is received within the second time period, so as to further determine whether the target message sent by the ECU is accepted; at the same time, by comparing the numerical relationship between the updated counter value and the preset upper limit value, it is determined whether the ECU has a message loss fault, thereby improving the accuracy of fault judgment.

[0092] In addition, an embodiment of the present application further proposes a storage medium, on which a message loss fault determination program is stored. When the message loss fault determination program is executed by a processor, the steps of the message loss fault determination method described above are implemented.

[0093] Reference Figure 5 , Figure 5 This is a structural block diagram of the first embodiment of the message loss fault judgment device of the present application.

[0094] like Figure 5 As shown, the message loss fault determination device proposed in the embodiment of the present application includes:

[0095] A reset detection module 501 is used to reset the first timer and the second timer when it is detected that the target ECU in the vehicle is powered on;

[0096] A first updating module 502, configured to determine whether to update the counter value once according to whether a target message sent by other ECUs is received within a first time period, wherein the first time period is a preset time period threshold corresponding to the first timer;

[0097] A second updating module 503 is used for, if not, updating the counter value once or twice according to whether a target message sent by other ECUs is received within a second time period, where the second time period is a preset time period threshold corresponding to the second timer;

[0098] The fault determination module 504 is used to repeatedly execute the steps of updating the counter value once and updating the counter value twice, and determine whether the other ECU has a message loss fault based on the updated counter value.

[0099] This embodiment resets the first timer and the second timer when it is detected that the target ECU in the vehicle is powered on; determines whether to update the counter value once according to whether the target message sent by other ECUs is received within the first time length, and the first time length is the preset time length threshold corresponding to the first timer; if not, the counter value is updated once or twice according to whether the target message sent by other ECUs is received within the second time length, and the second time length is the preset time length threshold corresponding to the second timer; repeats the steps of updating the counter value once and twice, and determines whether the other ECU has a message loss fault based on the updated counter value. The above method of this embodiment uses two timers for timing, and updates the timer value when the target message sent by the ECU is received within the preset time length, so that it can accurately determine whether the ECU has a message loss fault based on the updated counter value, and the fault light will not be lit at will, and there will be no fault without alarm, thereby improving the robustness of the vehicle ECU system.

[0100] Based on the first embodiment of the message loss fault determination device of the present application, a second embodiment of the message loss fault determination device of the present application is proposed.

[0101] In this embodiment, the first update module 502 is also used to update the counter value and reset the first timer if a target message is received from other ECUs within the first time period; if no target message is received from other ECUs within the first time period, the counter value is not updated.

[0102] Furthermore, the first update module 502 is also used to update the counter value once if a target message sent by other ECUs is received within a first time period, and the updating method of the update is to subtract the first preset value from the counter value; start timing after resetting the first timer, and continue to detect whether the target message sent by other ECUs is received within the first time period.

[0103] Furthermore, the second update module 503 is also used to update the counter value once and reset the first timer if a target message is received from other ECUs within a second time period; if no target message is received from other ECUs within the second time period, update the counter value for a second time and reset the first timer.

[0104] Furthermore, the second update module 503 is also used to perform a second update on the counter value if no target message is received from other ECUs within a second time period, and the second update is performed by increasing the counter value by a second preset value; the first timer is reset and then starts timing, and continuously detects whether the target message is received from other ECUs within the first time period.

[0105] Furthermore, the fault judgment module 504 is also used to set the message loss fault flag bit and the controller fault flag bit of the other ECU to the third preset value if the updated counter value is less than the preset upper limit value, so as to determine that the other ECU does not have a message loss fault; if the updated counter value is greater than or equal to the preset upper limit value, then set the message loss fault flag bit and the controller fault flag bit of the other ECU to the fourth preset value to determine that the other ECU has a message loss fault.

[0106] Other embodiments or specific implementations of the message loss fault determination device of the present application can refer to the above-mentioned method embodiments and will not be described in detail here.

[0107] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0108] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0109] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory / random access memory, a disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0110] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for determining a message loss fault, characterized in that: The method comprises the following steps: When it is detected that the target ECU in the vehicle is powered on, resetting the first timer and the second timer; Determining whether to update the counter value once according to whether a target message sent by other ECUs is received within a first time period, where the first time period is a preset time period threshold corresponding to the first timer; If not, updating the counter value once or twice according to whether a target message sent by other ECUs is received within a second time period, where the second time period is a preset time period threshold corresponding to the second timer; Repeat the steps of updating the counter value once and twice, and determine whether the other ECU has a message loss fault based on the updated counter value.

2. The message loss fault determination method according to claim 1, characterized in that: The step of determining whether to update the counter value once according to whether a target message sent by other ECUs is received within the first time period includes: If a target message sent by other ECUs is received within the first time period, the counter value is updated once and the first timer is reset; If the target message sent by other ECUs is not received within the first time period, the counter value is not updated.

3. The message loss fault determination method according to claim 2, characterized in that: The step of updating the counter value and resetting the first timer once if a target message sent by other ECUs is received within the first time period includes: If a target message sent by other ECUs is received within the first time period, the counter value is updated once, and the updating method of the update once is to subtract the first preset value from the counter value; The first timer starts timing after being reset, and continuously detects whether a target message sent by other ECUs is received within a first time period.

4. The message loss fault determination method according to claim 1, characterized in that: The step of updating the counter value once or twice according to whether a target message sent by other ECUs is received within the second time period includes: If a target message sent by other ECUs is received within the second time period, the counter value is updated once and the first timer is reset; If the target message sent by other ECUs is not received within the second time period, the counter value is updated for a second time and the first timer is reset.

5. The message loss fault determination method according to claim 4, characterized in that: The step of updating the counter value for a second time and resetting the first timer if no target message sent by other ECUs is received within the second time period includes: If the target message sent by other ECUs is not received within the second time period, the counter value is updated for the second time, and the updating method of the second update is to increase the counter value by a second preset value; The first timer starts timing after being reset, and continuously detects whether a target message sent by other ECUs is received within a first time period.

6. The message loss fault determination method according to claim 1, characterized in that: The step of judging whether the other ECU has a message loss fault based on the updated counter value includes: If the updated counter value is less than the preset upper limit value, the message loss fault flag bit and the controller fault flag bit of the other ECU are set to a third preset value to determine that the other ECU does not have a message loss fault; If the updated counter value is greater than or equal to the preset upper limit value, the message loss fault flag bit and the controller fault flag bit of the other ECU are set to a fourth preset value to determine that the other ECU has a message loss fault.

7. A message loss fault determination device, characterized in that: The message loss fault determination device comprises: A reset detection module, configured to reset the first timer and the second timer when detecting that a target ECU in the vehicle is powered on; A first updating module, configured to determine whether to update the counter value once according to whether a target message sent by other ECUs is received within a first time period, wherein the first time period is a preset time period threshold corresponding to the first timer; A second updating module, for, if not, updating the counter value once or twice according to whether a target message sent by other ECUs is received within a second time period, wherein the second time period is a preset time period threshold corresponding to the second timer; The fault determination module is used to repeatedly execute the steps of updating the counter value once and updating the counter value twice, and determine whether the other ECU has a message loss fault based on the updated counter value.

8. A message loss fault determination device, characterized in that: The device comprises: a memory, a processor, and a message loss fault determination program stored in the memory and executable on the processor, wherein the message loss fault determination program is configured to implement the steps of the message loss fault determination method according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a message loss fault determination program is stored on the storage medium. When the message loss fault determination program is executed by a processor, the steps of the message loss fault determination method according to any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The computer program product comprises a message loss fault determination program, and when the message loss fault determination program is executed by a processor, the steps of the message loss fault determination method according to any one of claims 1 to 6 are implemented.

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