Heavy-duty vehicle remote monitoring NOx emission data diagnosis method and device

Abstract

The present application relates to the field of transportation technology, and in particular to a method and device for diagnosing NOx emission data of a heavy-duty vehicle remotely monitored, wherein the method comprises: identifying target diagnostic data sent by a diagnostic device to a target heavy-duty vehicle to be diagnosed; obtaining output data of the target heavy-duty vehicle in the remote monitoring data based on the target diagnostic data; and determining the diagnostic result of the NOx emission data transmitted by the target heavy-duty vehicle according to the target diagnostic data and the output data. Thus, the problems of difficulty in online identification of abnormal behavior of NOx emission data transmission of vehicle-mounted terminals and time-consuming and labor-intensive on-site diagnosis in the related technologies are solved.

Description

Technical Field

[0001] The present application relates to the field of transportation technology, and in particular to a method and device for diagnosing NOx emission data of a heavy-duty vehicle remotely monitored. Background Art

[0002] At present, heavy-duty vehicles collect, store and transmit NOx (nitrogen oxide) emission data throughout their life cycle through on-board terminals, and monitor NOx emissions of heavy-duty vehicles online through remote monitoring platforms. Relying on monitoring data, heavy-duty vehicles on the road whose NOx emissions exceed regulatory limits can be identified and marked as excessive-emission heavy-duty vehicles, thereby providing clues to excessive-emission heavy-duty vehicles with emission violations and achieving targeted penalties for excessive emissions.

[0003] However, in order to avoid being labeled as heavy-duty vehicles with excessive emissions and to circumvent targeted penalties for excessive emissions, a small number of vehicle owners usually use an on-board terminal abnormality method to customize the NOx emission data collected by the on-board terminal, so that NOx emission data exceeding the regulatory limit is not transmitted, or it is processed to meet the standard to ensure that the transmission data of the on-board terminal meets the regulatory limit requirements. This on-board terminal abnormality method will seriously affect the quality and accuracy of the NOx emission data of heavy-duty vehicle remote monitoring, thereby greatly reducing the expected effect of heavy-duty vehicle remote monitoring.

[0004] In the relevant technologies, on the one hand, the existing remote monitoring methods are difficult to achieve online identification of means, and it is impractical and difficult to implement offline screening of heavy-duty vehicle on-board terminals one by one; on the other hand, the traditional diagnostic approach requires the on-board terminal to be removed from the heavy-duty vehicle and sent to a specialized agency for quality inspection, which is time-consuming and labor-intensive, and will also cause complaints from car owners. Summary of the invention

[0005] The present application provides a method, device, heavy-duty vehicle, medium and program for remotely monitoring NOx emission data of heavy-duty vehicles, so as to solve the problems in the related art of difficulty in online identification of abnormal behavior of NOx emission data transmission of vehicle-mounted terminals and time-consuming and labor-intensive on-site diagnosis.

[0006] A first aspect of the present application provides a method for diagnosing NOx emission data of remotely monitored heavy-duty vehicles, comprising the following steps: identifying target diagnostic data sent by a diagnostic device to a target heavy-duty vehicle to be diagnosed; obtaining output data of the target heavy-duty vehicle in the remote monitoring data based on the target diagnostic data; determining a diagnostic result of the NOx emission data transmitted by the target heavy-duty vehicle according to the target diagnostic data and the output data, wherein, if the target diagnostic data exists in the output data and is consistent with the target diagnostic data sent by the diagnostic device, it is determined that the NOx emission data transmitted by the target heavy-duty vehicle is normal and there is no abnormal behavior in the on-board terminal; if the target diagnostic data does not exist in the output data, or part of the target diagnostic data exists and is inconsistent with the target diagnostic data sent by the diagnostic device, it is determined that the NOx emission data transmitted by the target heavy-duty vehicle is abnormal and there is abnormal behavior in the on-board terminal.

[0007] Optionally, before the identification and diagnosis device sends the target diagnostic data to the target heavy-duty vehicle that needs to be diagnosed, it includes: obtaining remote monitoring data of the target heavy-duty vehicle; determining whether the target heavy-duty vehicle has suspected abnormal behavior based on the remote monitoring data; if the target heavy-duty vehicle has suspected abnormal behavior, locating the current position of the target heavy-duty vehicle.

[0008] Optionally, determining whether the target heavy-duty vehicle has suspected abnormal behavior based on the remote monitoring data includes: obtaining the average NOx emission rate for each speed interval, acceleration interval and torque percentage interval in the remote monitoring data; identifying the data distribution confidence interval centered on the NOx emission rate average value for each speed interval, acceleration interval and torque percentage interval corresponding to the NOx emission characterization database, wherein the NOx emission characterization database includes actual road driving data and NOx emission data of heavy-duty vehicles; determining whether the target heavy-duty vehicle has suspected abnormal behavior based on the NOx emission rate average value and the data distribution confidence interval.

[0009] Optionally, determining whether the target heavy-duty vehicle has suspected abnormal behavior based on the NOx emission rate average value and the data distribution confidence interval includes: if the NOx emission rate average value is within the data distribution confidence interval, determining that the NOx emission rate average value of the target heavy-duty vehicle meets the standard; identifying the number of intervals in which the NOx emission rate average value of the target heavy-duty vehicle meets the standard; and determining whether the target heavy-duty vehicle has suspected abnormal behavior based on the number of intervals that meet the standard.

[0010] Optionally, determining whether the target heavy-duty vehicle has suspected abnormal behavior based on the number of intervals that meet the standards includes: if the number of intervals in which the average value of the NOx emission rate of the target heavy-duty vehicle meets the standards is less than a preset number, determining that the target heavy-duty vehicle has suspected abnormal behavior.

[0011] A second aspect of the present application provides a heavy-duty vehicle remote monitoring NOx emission data diagnostic device, comprising: an identification module, used to identify target diagnostic data sent by a diagnostic device to a target heavy-duty vehicle that needs to be diagnosed; an acquisition module, used to acquire output data of the target heavy-duty vehicle in the remote monitoring data based on the target diagnostic data; a determination module, used to determine the diagnostic result of the NOx emission data transmitted by the target heavy-duty vehicle based on the target diagnostic data and the output data, wherein, if the target diagnostic data exists in the output data and is consistent with the target diagnostic data sent by the diagnostic device, it is determined that the NOx emission data transmitted by the target heavy-duty vehicle is normal and there is no abnormal behavior in the vehicle-mounted terminal; if the target diagnostic data does not exist in the output data, or part of the target diagnostic data exists and is inconsistent with the target diagnostic data sent by the diagnostic device, it is determined that the NOx emission data transmitted by the target heavy-duty vehicle is abnormal and there is abnormal behavior in the vehicle-mounted terminal.

[0012] The third aspect of the present application provides a heavy-duty vehicle, comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to perform the heavy-duty vehicle remote monitoring NOx emission data diagnostic method as described in the above embodiment.

[0013] The fourth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to perform the heavy-duty vehicle remote monitoring NOx emission data diagnostic method as described in the above embodiment.

[0014] The fifth aspect of the present application provides a computer program product, including a computer program or instructions, characterized in that when the computer program or instructions are executed, the method for diagnosing NOx emission data of remotely monitored heavy-duty vehicles as described in the above embodiments is implemented.

[0015] Therefore, this application has at least the following beneficial effects:

[0016] The embodiments of the present application can identify target diagnostic data sent by the diagnostic device to the target heavy-duty vehicle that needs to be diagnosed, obtain the output data of the target heavy-duty vehicle in the remote monitoring data based on the target diagnostic data, and determine the diagnostic result of the NOx emission data transmitted by the target heavy-duty vehicle according to the target diagnostic data and the output data. While realizing online remote identification of abnormal behavior of NOx emission data transmission of the on-board terminal of the heavy-duty vehicle, the heavy-duty vehicle can be diagnosed through an on-site diagnostic solution without removing the on-board terminal. By only connecting to the OBD (On-Board Diagnostics, on-board diagnostic system) port of the heavy-duty vehicle, effective diagnosis of abnormal means of the on-board terminal of the heavy-duty vehicle can be realized, thereby improving processing efficiency and diagnostic accuracy.

[0017] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0019] Figure 1 A flowchart of a method for remotely monitoring NOx emission data of a heavy-duty vehicle provided according to an embodiment of the present application;

[0020] Figure 2 A technical roadmap for a method for transmitting and diagnosing NOx emission data on a heavy-duty vehicle on-board terminal according to an embodiment of the present application;

[0021] Figure 3 A characterization diagram of NOx emissions from a heavy-duty vehicle provided according to an embodiment of the present application;

[0022] Figure 4 A schematic diagram of the average value of the target heavy-duty vehicle NOx emission rate provided according to an embodiment of the present application;

[0023] Figure 5 A schematic diagram of a field diagnosis scheme in a method for transmitting and diagnosing NOx emission data at a vehicle-mounted terminal of a heavy-duty vehicle according to an embodiment of the present application;

[0024] Figure 6 A block diagram of a device for remotely monitoring NOx emission data of a heavy-duty vehicle according to an embodiment of the present application;

[0025] Figure 7 It is a schematic diagram of the structure of a heavy-duty vehicle provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0026] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0027] The following describes the heavy-duty vehicle remote monitoring NOx emission data diagnosis method, device, heavy-duty vehicle, storage medium and program of the embodiment of the present application with reference to the accompanying drawings. In view of the problem that the on-board terminal NOx emission data transmission behavior is difficult to identify online and the on-site diagnosis is time-consuming and laborious mentioned in the above background technology, the present application provides a heavy-duty vehicle remote monitoring NOx emission data diagnosis method, in which the target diagnostic data sent by the identification diagnostic device to the target heavy-duty vehicle to be diagnosed is obtained, and the output data of the target heavy-duty vehicle based on the target diagnostic data in the remote monitoring data is obtained. The diagnostic result of the NOx emission data transmitted by the target heavy-duty vehicle is determined according to the target diagnostic data and the output data, and the abnormal behavior of the NOx emission data transmission of the on-board terminal of the heavy-duty vehicle is realized. At the same time, the heavy-duty vehicle is diagnosed through the on-site diagnosis scheme, without removing the on-board terminal, and only by connecting the heavy-duty vehicle port, the effective diagnosis of the on-board terminal means of the heavy-duty vehicle is realized, the processing efficiency is improved, and the accuracy of the diagnosis is improved. Thus, the problems of the difficulty of online identification of the abnormal behavior of the NOx emission data transmission of the on-board terminal and the time-consuming and laborious on-site diagnosis are solved.

[0028] Specifically, Figure 1 A flowchart of a method for diagnosing NOx emission data of a heavy-duty vehicle remotely monitored provided in an embodiment of the present application.

[0029] like Figure 1 As shown, the heavy-duty vehicle remote monitoring NOx emission data diagnostic method includes the following steps:

[0030] In step S101 , target diagnostic data sent by a diagnostic device to a target heavy-duty vehicle to be diagnosed is identified.

[0031] It is understandable that the present application can identify the target diagnostic data sent by the diagnostic device to the target heavy-duty vehicle to be diagnosed, so as to subsequently determine the diagnostic result of the NOx emission data transmitted by the target heavy-duty vehicle based on the target diagnostic data and the output data.

[0032] It should be noted that the target diagnostic data is a set of customized NOx emission data streams, which are composed of NOx emission data below the regulatory limit and NOx emission data exceeding the regulatory limit. The NOx emission data exceeding the regulatory limit is also called over-emission data.

[0033] In an embodiment of the present application, before the target diagnostic data sent by the identification diagnostic device to the target heavy-duty vehicle to be diagnosed is sent, it includes: obtaining the remote monitoring data of the target heavy-duty vehicle; determining whether the target heavy-duty vehicle has suspected abnormal behavior based on the remote monitoring data; if the target heavy-duty vehicle has suspected abnormal behavior, locating the current position of the target heavy-duty vehicle.

[0034] It can be understood that the embodiment of the present application obtains remote monitoring data of the target heavy-duty vehicle; determines whether the target heavy-duty vehicle has suspected abnormal behavior based on the remote monitoring data; if the target heavy-duty vehicle has suspected abnormal behavior, the current position of the target heavy-duty vehicle is located to facilitate subsequent offline abnormal diagnosis of the target heavy-duty vehicle and improve processing efficiency.

[0035] In an embodiment of the present application, determining whether a target heavy-duty vehicle has suspected behavior is performed based on remote monitoring data, including: obtaining an average value of NOx emission rates for each speed interval, acceleration interval, and torque percentage interval in the remote monitoring data; identifying a data distribution confidence interval centered on the average value of NOx emission rates for each speed interval, acceleration interval, and torque percentage interval corresponding to a NOx emission characterization database, wherein the NOx emission characterization database includes actual road driving data and NOx emission data of heavy-duty vehicles; determining whether the target heavy-duty vehicle has suspected abnormal behavior based on the average value of NOx emission rates and the data distribution confidence intervals.

[0036] It can be understood that the embodiment of the present application can determine whether the target heavy-duty vehicle has suspected abnormal behavior based on the data distribution confidence interval centered on the average value of the NOx emission rate for each vehicle speed range, acceleration range and torque percentage range corresponding to the NOx emission characterization database, so as to facilitate subsequent offline diagnosis of the target heavy-duty vehicle and improve processing efficiency.

[0037] Specifically, based on the heavy-duty vehicle NOx emission characterization database, target heavy-duty vehicles suspected of abnormal NOx emission data transmission behavior at the vehicle terminal are identified online, and the current location of the target heavy-duty vehicle is located.

[0038] (1) Obtain remote monitoring data of the target heavy-duty vehicle. The data contains vehicle speed, acceleration, torque percentage, NOx emission rate, and longitude and latitude information. The data sampling frequency is 1 Hz.

[0039] (2) According to the vehicle speed interval, acceleration interval, and torque percentage interval division method in step (1), the remote monitoring data of the target heavy-duty vehicle is processed to calculate the average NOx emission rate of the target heavy-duty vehicle in each interval.

[0040] (3) According to the heavy-duty vehicle NOx emission characterization database, determine whether the average value of the target heavy-duty vehicle NOx emission rate meets the standard. The specific determination rule is: compare the average value of the target heavy-duty vehicle NOx emission rate in each interval with the data distribution confidence interval centered on the average value of the NOx emission rate in the corresponding interval in the heavy-duty vehicle NOx emission characterization database. If the average value of the target heavy-duty vehicle NOx emission rate is within the data distribution confidence interval centered on the average value of the NOx emission rate, it is considered that the average value of the target heavy-duty vehicle NOx emission rate in this interval meets the standard; otherwise, it does not meet the standard.

[0041] It should be noted that before identifying the data distribution confidence intervals for each vehicle speed interval, acceleration interval and torque percentage interval corresponding to the NOx emission characterization database, the actual road driving and NOx emission data of heavy-duty vehicles are obtained, and a heavy-duty vehicle NOx emission characterization database is established based on the actual road driving and NOx emission data of heavy-duty vehicles.

[0042] (1) Obtain actual road driving and NOx emission data of heavy-duty vehicles. The data contains vehicle speed, acceleration, torque percentage and NOx emission rate. The data sampling frequency is 1 Hz.

[0043] (2) Obtain the NOx emission rate distribution range in different vehicle speed ranges, different acceleration ranges, and different torque percentage ranges, and establish a heavy-duty vehicle NOx emission characterization database.

[0044] The fixed speed interval is 10 km / h, forming 7 speed intervals: [0,10) km / h, [10,20) km / h, [20,30) km / h, [30,40) km / h, [40,50) km / h, [50,60) km / h, and [60, +∞) km / h. The average value of NOx emission rate and the confidence interval of data distribution are obtained in each speed interval.

[0045] Among them, the fixed acceleration interval is 1 m / s 2 , forming (-∞,-1) m / s 2 , [-1,0) m / s 2 , [0,1) m / s 2 , [1,+∞) m / s 2 There are four acceleration intervals, and the average value of NOx emission rate and the confidence interval of data distribution in each acceleration interval are obtained.

[0046] The fixed torque percentage interval is 20%, forming five torque percentage intervals of [0, 20%), [20%, 40%), [40%, 60%), [60%, 80%), and [80%, 100%], and the average value of NOx emission rate and the confidence interval of data distribution in each torque percentage interval are obtained.

[0047] The NOx emission rate average values ​​and data distribution confidence intervals for each vehicle speed range, each acceleration range, and each torque percentage range are integrated to establish a heavy-duty vehicle NOx emission characterization database.

[0048] In an embodiment of the present application, it is determined whether the target heavy-duty vehicle has suspected abnormal behavior based on the NOx emission rate average value and the data distribution confidence interval, including: if the NOx emission rate average value is within the data distribution confidence interval, then it is determined that the NOx emission rate average value of the target heavy-duty vehicle meets the standard; the number of intervals in which the NOx emission rate average value of the target heavy-duty vehicle meets the standard is identified; and based on the number of intervals that meet the standard, it is determined whether the target heavy-duty vehicle has suspected abnormal behavior.

[0049] It can be understood that the embodiment of the present application can identify the number of intervals in which the average value of the NOx emission rate of the target heavy-duty vehicle meets the standards; determine whether the target heavy-duty vehicle has suspected abnormal behavior based on the number of intervals that meet the standards; if the number of intervals that meet the standards is less than a certain number, it is determined that the target heavy-duty vehicle has suspected vehicle-mounted terminal NOx emission data transmission behavior, so as to facilitate the subsequent positioning of the current position of the target heavy-duty vehicle.

[0050] In an embodiment of the present application, whether the target heavy-duty vehicle has suspected abnormal behavior is determined based on the number of intervals that meet the standards, including: if the number of intervals in which the average value of the NOx emission rate of the target heavy-duty vehicle meets the standards is less than a preset number, then it is determined that the target heavy-duty vehicle has suspected abnormal behavior.

[0051] Among them, the preset number can be half of the total number and can be set according to actual needs without specific limitation.

[0052] It can be understood that in the embodiment of the present application, if the number of intervals in which the average value of the NOx emission rate of the target heavy-duty vehicle meets the standard is less than the preset number, it is determined that the target heavy-duty vehicle has suspected abnormal behavior, thereby improving data processing efficiency.

[0053] Specifically, for a total of 16 intervals including vehicle speed intervals, acceleration intervals and torque percentage intervals, if the average NOx emission rate of the target heavy-duty vehicles in more than 50% of the intervals does not meet the standards, it is determined that the target heavy-duty vehicle has suspected abnormal NOx emission data transmission behavior at the on-board terminal, and the current location of the target heavy-duty vehicle is located based on the latitude and longitude information.

[0054] In step S102, output data of the target heavy vehicle based on the target diagnostic data in the remote monitoring data is obtained.

[0055] It can be understood that the embodiments of the present application can obtain the output data of the target heavy-duty vehicle based on the target diagnostic data in the remote monitoring data, so as to subsequently determine the diagnostic results of the NOx emission data transmitted by the target heavy-duty vehicle according to the target diagnostic data and the output data.

[0056] It should be noted that after the on-board terminal of the target heavy-duty vehicle obtains the NOx emission data and target diagnostic data through the CAN bus, it will transmit it to the heavy-duty vehicle remote monitoring platform in real time, thereby forming the remote monitoring data of the target heavy-duty vehicle, and log in to the remote monitoring platform through the communication computer, download the remote monitoring data of the target heavy-duty vehicle, and obtain the output data of the target heavy-duty vehicle based on the target diagnostic data.

[0057] In step S103, a diagnosis result of the NOx emission data transmitted by the target heavy-duty vehicle is determined according to the target diagnosis data and the output data.

[0058] It can be understood that the embodiments of the present application can determine the diagnostic results of the NOx emission data transmitted by the target heavy-duty vehicle based on the target diagnostic data and the output data, and realize the online remote identification of the NOx emission data transmission behavior of the heavy-duty vehicle's on-board terminal. At the same time, the heavy-duty vehicle can be diagnosed abnormally through an on-site diagnostic solution without removing the on-board terminal. Only by connecting the heavy-duty vehicle port, effective diagnosis of abnormal means of the heavy-duty vehicle's on-board terminal can be achieved, thereby improving processing efficiency and diagnostic accuracy.

[0059] In an embodiment of the present application, a diagnostic result of the NOx emission data of the target heavy-duty vehicle is determined based on the target diagnostic data and the output data, including: if the target diagnostic data exists in the output data and is consistent with the target diagnostic data sent by the diagnostic device, then it is determined that the NOx emission data transmitted by the target heavy-duty vehicle is normal, and there is no abnormal behavior in the vehicle-mounted terminal; if the target diagnostic data does not exist in the output data, or, there is part of the target diagnostic data and it is inconsistent with the target diagnostic data sent by the diagnostic device, then it is determined that the NOx emission data transmitted by the target heavy-duty vehicle is abnormal, and there is abnormal behavior in the vehicle-mounted terminal.

[0060] It can be understood that the embodiment of the present application determines whether there is an abnormality in the vehicle terminal and the cause based on the consistency of the target diagnostic data in the output data, thereby achieving effective diagnosis of the vehicle terminal means of heavy vehicles, improving processing efficiency, and improving the accuracy of diagnosis.

[0061] According to the heavy-duty vehicle remote monitoring NOx emission data diagnosis method proposed in the embodiment of the present application, the target diagnostic data sent by the diagnostic equipment to the target heavy-duty vehicle to be diagnosed is identified, the output data of the target heavy-duty vehicle based on the target diagnostic data in the remote monitoring data is obtained, and the diagnosis result of the NOx emission data transmitted by the target heavy-duty vehicle is determined according to the target diagnostic data and the output data. While realizing online remote identification of abnormal behavior of NOx emission data transmission of the on-board terminal of the heavy-duty vehicle, the heavy-duty vehicle is diagnosed abnormally through the on-site diagnosis scheme without dismantling the on-board terminal. Only by connecting the heavy-duty vehicle port, the effective diagnosis of the abnormal means of the on-board terminal of the heavy-duty vehicle can be realized, thereby improving the processing efficiency and the accuracy of the diagnosis.

[0062] The following will be combined Figure 2and Figure 5 The heavy-duty vehicle remote monitoring NOx emission data diagnostic method of the present application is described in detail with a specific embodiment. The present application takes a heavy-duty vehicle as an example, and the specific steps are as follows:

[0063] 1. Obtain actual road driving and NOx emission data of heavy-duty vehicles and establish a NOx emission characterization database for heavy-duty vehicles.

[0064] (1.1) Heavy-duty trucks that use diesel as fuel and meet National VI emission standards were selected as case studies. The actual road driving and NOx emission data of approximately 3,261 heavy-duty trucks were compiled and preprocessed.

[0065] (1.1.1) The source of big data is as follows: establish a fleet across the country, register each vehicle's heavy-duty vehicle type, fuel type, emission standard, technical category and other parameters to describe the characteristics of heavy-duty vehicles in the fleet. At the same time, equip with a portable on-board emission test system PEMS (Portable Emissions Measurement Systems) equipment to collect actual road driving and NOx emission data.

[0066] (1.1.2) The data contains vehicle speed, acceleration, torque percentage and NOx emission rate, and the data sampling frequency is 1 Hz.

[0067] (1.1.3) Data preprocessing includes: (1) Cleaning the actual road driving and NOx emission data and removing abnormal data, where the abnormal data is the vehicle speed less than 0 and the absolute value of acceleration greater than 3.5 m / s 2 , data with NOx emission rate less than 0; (2) the NOx emission data were smoothed using the moving window averaging method with a time window length of 5 s.

[0068] (1.2) Obtain the NOx emission rate distribution range in different vehicle speed ranges, different acceleration ranges, and different torque percentage ranges, and establish a heavy-duty vehicle NOx emission characterization database.

[0069] (1.2.1) The fixed speed interval is 10 km / h, forming 7 speed intervals: [0,10) km / h, [10,20) km / h, [20,30) km / h, [30,40) km / h, [40,50) km / h, [50,60) km / h, [60, +∞) km / h. The average value of NOx emission rate and the confidence interval of data distribution are obtained in each speed interval.

[0070] (1.2.2) Where the fixed acceleration interval is 1 m / s 2, forming (-∞,-2) m / s 2 、[-2,-1) m / s 2 , [-1,0) m / s 2 , [0,1) m / s 2 、[1,2) m / s 2 , [2, +∞) m / s 2 Six acceleration intervals are set to obtain the average value of NOx emission rate and the confidence interval of data distribution in each acceleration interval.

[0071] (1.2.3) The fixed torque percentage interval is 20%, forming five torque percentage intervals: [0, 20%), [20%, 40%), [40%, 60%), [60%, 80%), and [80%, 100%]. The average value of NOx emission rate and the confidence interval of data distribution are obtained in each torque percentage interval.

[0072] (1.2.4) Integrate the average value of NOx emission rate and the confidence interval of data distribution for each speed range, each acceleration range and each torque percentage range to establish a NOx emission characterization database for heavy-duty vehicles, such as Figure 3 As shown, the column represents the average value of NOx emission rate, and the error bar represents the confidence interval of NOx emission rate data distribution. If the NOx emission rate data of a heavy-duty vehicle exceeds the confidence interval of the data distribution centered on the average value of NOx emission rate, it is considered that the heavy-duty vehicle is likely to have abnormal data behavior.

[0073] 2. Based on the heavy-duty vehicle NOx emission characterization database, online identify the target heavy-duty vehicle suspected of transmitting NOx emission data from the vehicle terminal, and locate the current location of the target heavy-duty vehicle.

[0074] (2.1) Obtain remote monitoring data of the target heavy-duty vehicle. The data contains vehicle speed, acceleration, torque percentage, NOx emission rate, and longitude and latitude information. The data sampling frequency is 1 Hz.

[0075] (2.2) According to the speed interval, acceleration interval and torque percentage interval division method in step (1.2), the remote monitoring data of the target heavy-duty vehicle is processed, and the average NOx emission rate of the target heavy-duty vehicle in each interval is calculated, such as Figure 4 shown.

[0076] (2.3) Based on the heavy-duty vehicle NOx emission characterization database, determine whether the average value of the target heavy-duty vehicle NOx emission rate meets the standard. The specific determination rule is: compare the average value of the target heavy-duty vehicle NOx emission rate in each interval with the data distribution confidence interval centered on the average value of the NOx emission rate in the corresponding interval in the heavy-duty vehicle NOx emission characterization database. If the average value of the target heavy-duty vehicle NOx emission rate is within the data distribution confidence interval centered on the average value of the NOx emission rate, it is considered that the average value of the target heavy-duty vehicle NOx emission rate in this interval meets the standard; otherwise, it does not meet the standard.

[0077] (2.4) For a total of 16 intervals including vehicle speed intervals, acceleration intervals and torque percentage intervals, if the average NOx emission rate of the target heavy-duty vehicles in more than 50% of the intervals does not meet the standard, it is determined that the target heavy-duty vehicle has suspected abnormal NOx emission data transmission behavior on the vehicle terminal, and the current location of the target heavy-duty vehicle is located based on the latitude and longitude information.

[0078] By comparison Figure 3 and Figure 4 It can be seen that Figure 4 The average NOx emission rate of all 16 intervals of the target heavy-duty vehicles is not Figure 3 The data distribution of the heavy-duty vehicle NOx emission characterization database centered on the average value of the NOx emission rate is within the confidence interval, so it is determined that the target heavy-duty vehicle has suspected abnormal NOx emission data transmission behavior at the on-board terminal.

[0079] 3. According to the current location of the target heavy-duty vehicle, find the target heavy-duty vehicle offline and conduct on-site diagnosis of abnormal NOx emission data transmission behavior of the target heavy-duty vehicle's on-board terminal, such as Figure 5 As shown, a schematic diagram of the on-site diagnosis scheme in this application is given.

[0080] (3.1) Connect the diagnostic device to the target heavy-duty vehicle through the OBD port to obtain the baud rate of the CAN line of the target heavy-duty vehicle, as well as the message format and reporting frequency of the NOx emission data sent by the NOx sensor of the target heavy-duty vehicle to the CAN bus, where the message format is a standard frame or an extended frame.

[0081] (3.2) According to the baud rate of the target heavy-duty vehicle CAN line, as well as the message format and reporting frequency of the NOx emission data, the target diagnostic data is sent directly to the target heavy-duty vehicle CAN bus using the diagnostic equipment.

[0082] (3.2.1) The target diagnostic data is a set of customized NOx emission data streams, which are composed of NOx emission data below the regulatory limit and NOx emission data exceeding the regulatory limit. The NOx emission data exceeding the regulatory limit is also called excess emission data.

[0083] (3.3) After the on-board terminal of the target heavy-duty vehicle obtains the NOx emission data and target diagnostic data through the CAN bus, it will transmit them to the heavy-duty vehicle remote monitoring platform in real time, thereby forming the remote monitoring data of the target heavy-duty vehicle. The remote monitoring platform will be logged in through the communication computer, and the remote monitoring data of the target heavy-duty vehicle will be downloaded to obtain the output data of the target heavy-duty vehicle based on the target diagnostic data. The target diagnostic data will be tested for data consistency with the target diagnostic data sent by the diagnostic equipment to obtain the data consistency test results.

[0084] (3.4) Based on the data consistency test results, diagnose whether there is any abnormal behavior in the transmission of NOx emission data on the target heavy-duty vehicle’s onboard terminal.

[0085] (3.4.1) Among them, when the data consistency test result is: the target diagnostic data is found in the target heavy-duty vehicle remote monitoring data and is consistent with the original sent data, it is considered that the target heavy-duty vehicle remote monitoring NOx emission data transmission is normal and there is no abnormal behavior in the on-board terminal.

[0086] (3.4.2) Among them, when the data consistency test result is: the target diagnostic data is not found in the remote monitoring data of the target heavy-duty vehicle or part of the target diagnostic data is found, and there is an inconsistency with the original sent data, for example, the excess emission data in the target diagnostic data is not found, then it is considered that the transmission of the remote monitoring NOx emission data of the target heavy-duty vehicle is abnormal and the on-board terminal has abnormal behavior.

[0087] In summary, the present application realizes the online remote identification of the NOx emission data transmission behavior of the heavy-duty vehicle's on-board terminal, and at the same time provides an on-site diagnosis solution. There is no need to dismantle the on-board terminal. By simply connecting to the OBD port of the heavy-duty vehicle, effective diagnosis of abnormal NOx emission data transmission behavior of the heavy-duty vehicle's on-board terminal can be achieved.

[0088] Next, a diagnostic device for remotely monitoring NOx emission data of heavy-duty vehicles proposed in accordance with an embodiment of the present application will be described with reference to the accompanying drawings.

[0089] Figure 6 It is a block diagram of a device for remotely monitoring NOx emission data diagnosis of a heavy-duty vehicle according to an embodiment of the present application.

[0090] like Figure 6 As shown, the heavy-duty vehicle remote monitoring NOx emission data diagnostic device 10 includes: an identification module 100 , an acquisition module 200 and a determination module 300 .

[0091] Among them, the identification module 100 is used to identify the target diagnostic data sent by the diagnostic equipment to the target heavy-duty vehicle that needs to be diagnosed; the acquisition module 200 is used to obtain the output data of the target heavy-duty vehicle based on the target diagnostic data in the remote monitoring data; the determination module 300 is used to determine the diagnostic result of the NOx emission data transmitted by the target heavy-duty vehicle according to the target diagnostic data and the output data, wherein, if the target diagnostic data exists in the output data and is consistent with the target diagnostic data sent by the diagnostic equipment, it is determined that the NOx emission data transmitted by the target heavy-duty vehicle is normal, and there is no abnormal behavior in the vehicle-mounted terminal; if the target diagnostic data does not exist in the output data, or, there is part of the target diagnostic data and it is inconsistent with the target diagnostic data sent by the diagnostic equipment, it is determined that the NOx emission data transmitted by the target heavy-duty vehicle is abnormal, and there is abnormal behavior in the vehicle-mounted terminal.

[0092] It should be noted that the aforementioned explanation of the embodiment of the method for diagnosing the remote monitoring NOx emission data of a heavy-duty vehicle is also applicable to the device for diagnosing the remote monitoring NOx emission data of a heavy-duty vehicle of this embodiment, and will not be repeated here.

[0093] According to the heavy-duty vehicle remote monitoring NOx emission data diagnostic device proposed in the embodiment of the present application, the target diagnostic data sent by the diagnostic equipment to the target heavy-duty vehicle to be diagnosed is identified, the output data of the target heavy-duty vehicle based on the target diagnostic data in the remote monitoring data is obtained, and the diagnostic result of the NOx emission data transmitted by the target heavy-duty vehicle is determined according to the target diagnostic data and the output data. While realizing online remote identification of abnormal behavior of NOx emission data transmission at the on-board terminal of the heavy-duty vehicle, the heavy-duty vehicle is diagnosed through an on-site diagnostic solution without removing the on-board terminal. By only connecting the heavy-duty vehicle port, effective diagnosis of abnormal means of the on-board terminal of the heavy-duty vehicle can be realized, thereby improving processing efficiency and improving the accuracy of diagnosis.

[0094] Figure 7 A schematic diagram of the structure of a heavy-duty vehicle provided in an embodiment of the present application. The heavy-duty vehicle may include:

[0095] A memory 701 , a processor 702 , and a computer program stored in the memory 701 and executable on the processor 702 .

[0096] When the processor 702 executes the program, the heavy-duty vehicle remote monitoring NOx emission data diagnosis method provided in the above embodiment is implemented.

[0097] Furthermore, the heavy vehicle also includes:

[0098] The communication interface 703 is used for communication between the memory 701 and the processor 702 .

[0099] The memory 701 is used to store computer programs that can be executed on the processor 702 .

[0100] The memory 701 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0101] If the memory 701, the processor 702 and the communication interface 703 are implemented independently, the communication interface 703, the memory 701 and the processor 702 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0102] Optionally, in a specific implementation, if the memory 701, the processor 702 and the communication interface 703 are integrated on a chip, the memory 701, the processor 702 and the communication interface 703 can communicate with each other through an internal interface.

[0103] The processor 702 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0104] An embodiment of the present application also provides a computer-readable storage medium having a computer program or instruction stored thereon. When the computer program or instruction is executed by a processor, the above-mentioned heavy-duty vehicle remote monitoring NOx emission data diagnostic method is implemented.

[0105] The embodiment of the present application also provides a computer program product, including a computer program or instructions, characterized in that when the computer program or instructions are executed, the above-mentioned heavy-duty vehicle remote monitoring NOx emission data diagnostic method is implemented.

[0106] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0107] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0108] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0109] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above embodiment, N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one or a combination of multiple of the following technologies known in the art: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0110] A person skilled in the art may understand that all or part of the steps in the above-mentioned embodiment method may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

Claims

1. A method for remotely monitoring NOx emission data of heavy-duty vehicles, characterized in that: The following steps are involved: The target diagnostic data sent by the identification diagnostic device to the target heavy-duty vehicle to be diagnosed is included before the identification diagnostic device sends the target diagnostic data to the target heavy-duty vehicle to be diagnosed, including: obtaining the remote monitoring data of the target heavy-duty vehicle; determining whether the target heavy-duty vehicle has suspected abnormal behavior based on the remote monitoring data; if the target heavy-duty vehicle has suspected abnormal behavior, locating the current position of the target heavy-duty vehicle, wherein the determining whether the target heavy-duty vehicle has suspected abnormal behavior based on the remote monitoring data includes: obtaining the average value of NOx emission rate for each speed interval, acceleration interval and torque percentage interval in the remote monitoring data; identifying the data distribution confidence interval centered on the average value of NOx emission rate for each speed interval, acceleration interval and torque percentage interval corresponding to the NOx emission characterization database, wherein the NOx emission characterization database includes actual road driving data of heavy-duty vehicles and NOx emission data; determining whether the target heavy-duty vehicle has suspected abnormal behavior based on the average value of NOx emission rate and the data distribution confidence interval; Obtaining output data of the target heavy vehicle in the remote monitoring data based on the target diagnostic data; The diagnostic result of the NOx emission data transmitted by the target heavy-duty vehicle is determined according to the target diagnostic data and the output data, wherein, if the target diagnostic data exists in the output data and is consistent with the target diagnostic data sent by the diagnostic device, it is determined that the NOx emission data transmitted by the target heavy-duty vehicle is normal, and there is no abnormal behavior in the vehicle-mounted terminal; if the target diagnostic data does not exist in the output data, or part of the target diagnostic data exists and is inconsistent with the target diagnostic data sent by the diagnostic device, it is determined that the NOx emission data transmitted by the target heavy-duty vehicle is abnormal, and there is abnormal behavior in the vehicle-mounted terminal.

2. The method for remote monitoring of NOx emission data of heavy-duty vehicles according to claim 1 is characterized in that: The determining whether the target heavy-duty vehicle has suspected abnormal behavior according to the NOx emission rate average value and the data distribution confidence interval includes: If the average value of the NOx emission rate is within the confidence interval of the data distribution, it is determined that the average value of the NOx emission rate of the target heavy-duty vehicle meets the standard; Identify the number of intervals in which the average value of the NOx emission rate of the target heavy-duty vehicle meets the standard; It is determined whether the target heavy-duty vehicle has suspected abnormal behavior based on the number of intervals that meet the standards.

3. The method for remote monitoring of NOx emission data of heavy-duty vehicles according to claim 2 is characterized in that: The determining whether the target heavy-duty vehicle has suspected abnormal behavior according to the number of intervals meeting the standard includes: If the number of intervals in which the average value of the NOx emission rate of the target heavy-duty vehicle meets the standard is less than a preset number, it is determined that the target heavy-duty vehicle has suspected abnormal behavior.

4. A heavy-duty vehicle remote monitoring NOx emission data diagnostic device, characterized in that: include: An identification module, used for identifying target diagnostic data sent by a diagnostic device to a target heavy-duty vehicle that needs to be diagnosed, wherein before the identification diagnostic device sends the target diagnostic data to the target heavy-duty vehicle that needs to be diagnosed, it includes: obtaining remote monitoring data of the target heavy-duty vehicle; determining whether the target heavy-duty vehicle has suspected abnormal behavior based on the remote monitoring data; if the target heavy-duty vehicle has suspected abnormal behavior, locating the current position of the target heavy-duty vehicle, wherein the determining whether the target heavy-duty vehicle has suspected abnormal behavior based on the remote monitoring data includes: obtaining the average value of NOx emission rate for each speed interval, acceleration interval and torque percentage interval in the remote monitoring data; identifying the data distribution confidence interval centered on the average value of NOx emission rate for each speed interval, acceleration interval and torque percentage interval corresponding to a NOx emission characterization database, wherein the NOx emission characterization database includes actual road driving data of heavy-duty vehicles and NOx emission data; determining whether the target heavy-duty vehicle has suspected abnormal behavior based on the average value of NOx emission rate and the data distribution confidence interval; An acquisition module, used for acquiring output data of the target heavy-duty vehicle in the remote monitoring data based on the target diagnostic data; A determination module is used to determine a diagnostic result of the NOx emission data transmitted by the target heavy-duty vehicle based on the target diagnostic data and the output data, wherein, if the target diagnostic data exists in the output data and is consistent with the target diagnostic data sent by the diagnostic device, then it is determined that the NOx emission data transmitted by the target heavy-duty vehicle is normal, and there is no abnormal behavior in the vehicle-mounted terminal; if the target diagnostic data does not exist in the output data, or part of the target diagnostic data exists and is inconsistent with the target diagnostic data sent by the diagnostic device, then it is determined that the NOx emission data transmitted by the target heavy-duty vehicle is abnormal, and there is abnormal behavior in the vehicle-mounted terminal.

5. A heavy vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the heavy-duty vehicle remote monitoring NOx emission data diagnostic method as described in any one of claims 1 to 3.

6. A computer-readable storage medium having a computer program or instruction stored thereon, characterized in that: When the computer program or instruction is executed by the processor, it is used to implement the heavy-duty vehicle remote monitoring NOx emission data diagnostic method as described in any one of claims 1-3.

7. A computer program product comprising a computer program or instructions, characterized in that When the computer program or instruction is executed, the method for diagnosing NOx emission data of a heavy-duty vehicle remotely monitored is implemented.

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