Heavy duty vehicle NOx emission data diagnosis system and method based on remote monitoring

Abstract

The invention relates to the technical field of traffic transportation, in particular to a heavy duty vehicle NOx emission data diagnosis system and method based on remote monitoring, and the system comprises access equipment which is used for disconnecting an ECU of a target heavy duty vehicle from a nitrogen oxidation sensor or a vehicle-mounted terminal, and transmitting diagnosis data to the corresponding disconnected ECU or vehicle-mounted terminal; the interaction device is used for sending diagnosis data of the NOx emission data to an ECU or a vehicle-mounted terminal of the target heavy vehicle through the access device; and the control equipment communicates with the remote monitoring platform and the interaction equipment, controls the interaction equipment to send diagnosis data to an ECU or a vehicle-mounted terminal of the target heavy vehicle, downloads diagnosis data-based remote transmission data of the target heavy vehicle issued by the remote monitoring platform, and generates a diagnosis result of the target heavy vehicle according to the diagnosis data and the remote transmission data. Therefore, the problem that the remote transmission data abnormal behavior of the NOx emission data of the heavy vehicle and the reason of the remote transmission data abnormal behavior cannot be effectively judged in the related technology is solved.

Description

Technical Field

[0001] The present application relates to the field of transportation technology, and in particular to a heavy-duty vehicle NOx emission data diagnosis system and method based on remote monitoring. Background Art

[0002] The problem of heavy-duty vehicles illegally driving on the road with excessive emissions seriously affects the urban air quality and people's health. Due to weak emission supervision capabilities and low on-site law enforcement efficiency, it is difficult for supervision and law enforcement departments to verify and enforce the excessive emissions of heavy-duty vehicles in the first place. In order to realize the intelligent and automated supervision of pollutant emissions from heavy-duty vehicles and improve the efficiency of on-site law enforcement, the country has carried out the construction of a remote monitoring platform for heavy-duty vehicles. The vehicle-mounted terminal installed on the heavy-duty vehicle collects the driving information of the heavy-duty vehicle, forms remote transmission data, and uploads it to the remote monitoring platform in real time to realize the online monitoring of the driving status of the heavy-duty vehicle and the emission of pollutants. Relying on the clues of excessive emissions of heavy-duty vehicles monitored online by the remote monitoring platform, the efficiency of law enforcement by law enforcement departments has been greatly improved.

[0003] However, a small number of heavy-duty vehicle owners, worried that their heavy-duty vehicles may have excessive emissions and be detected online or even punished by law enforcement, will privately carry out illegal modifications to the heavy-duty vehicle ECU (Electronic Control Unit) or on-board terminal. There are generally two ways to make such illegal modifications. First, illegally modify the heavy-duty vehicle ECU, specifically: after the NOx sensor collects emission data and feeds it back to the heavy-duty vehicle ECU, the heavy-duty vehicle ECU automatically processes the excessive emission data to meet the regulatory limit requirements; second, illegally modify the on-board terminal, specifically: after the on-board terminal obtains the emission data transmitted by the heavy-duty vehicle ECU, it automatically processes the excessive emission data to meet the regulatory limit requirements. Specifically, the means of automatically processing the excessive emission data in the heavy-duty vehicle ECU or on-board terminal mainly include: (1) scaling the NOx emission data proportionally or reducing it by arithmetic differences to meet the emission regulatory limit requirements; (2) automatically generating NOx data that meets the nitrogen oxide emission limit requirements. Through the above two illegal modification and processing methods, the remote transmission data uploaded by the vehicle terminal finally meets the regulatory limit requirements, thereby avoiding excessive emissions and being monitored online.

[0004] In the related technology, it is impossible to accurately identify whether the NOx data transmitted by heavy-duty vehicles is abnormal only through diagnostic equipment, and it is impossible to know the specific means of illegal modification. Therefore, it is impossible to quickly and effectively determine the abnormal behavior of remote data and its causes. Summary of the invention

[0005] The present application provides a heavy-duty vehicle NOx emission data diagnostic system, method, heavy-duty vehicle and medium based on remote monitoring to solve the problem that the abnormal behavior of remote transmission data of heavy-duty vehicle NOx emission data and its causes cannot be effectively determined in the related art.

[0006] The first aspect of the present application provides a system, including: an access device, wherein the access device is used to access the ECU of a target heavy-duty vehicle, disconnect the ECU of the target heavy-duty vehicle from a NOx sensor or a vehicle-mounted terminal, and send diagnostic data to the corresponding disconnected ECU or vehicle-mounted terminal; an interactive device, used to obtain diagnostic data of NOx emission data, and send the data to the ECU or vehicle-mounted terminal of the target heavy-duty vehicle through the access device; a control device, wherein the control device communicates with a remote monitoring platform and the interactive device, controls the interactive device to send diagnostic data to the ECU or vehicle-mounted terminal of the target heavy-duty vehicle, downloads remote transmission data of the target heavy-duty vehicle based on the diagnostic data issued by the remote monitoring platform, and generates a diagnostic result of the target heavy-duty vehicle according to the diagnostic data and the remote transmission data.

[0007] Optionally, the diagnostic data includes: a start bit, a data bit and a stop bit, wherein the start bit is used to determine the starting position of the diagnostic data; the data bit contains: an emission information data stream that is lower than the NOx emission limit requirement and an emission information data stream that is higher than the NOx emission limit requirement, which is used to determine whether there is abnormal behavior in the remote data of the target heavy-duty vehicle; the stop bit is used to determine the end position of the diagnostic data.

[0008] The second aspect of the present application provides a method for diagnosing NOx emission data of heavy-duty vehicles based on remote monitoring, and the method is applied to the implementation of the heavy-duty vehicle NOx emission data diagnostic system based on remote monitoring described in the above embodiment, wherein the method includes the following steps: identifying the diagnostic data sent by the interactive device to the target heavy-duty vehicle to be diagnosed; obtaining the remote transmission data of the target heavy-duty vehicle based on the diagnostic data in the remote monitoring data; and determining the diagnostic result of the NOx emission data transmitted by the target heavy-duty vehicle based on the diagnostic data and the remote transmission data.

[0009] Optionally, determining the diagnostic result of the NOx emission data transmitted by the target heavy-duty vehicle based on the diagnostic data and the remote transmission data includes: acquiring multiple sets of observation data of the diagnostic data and the remote transmission data; calculating corresponding consistency results based on the multiple sets of observation data of the diagnostic data and the remote transmission data, wherein the consistency result includes relative consistency and absolute consistency; and determining the diagnostic result based on the relative consistency and the absolute consistency.

[0010] Optionally, the calculating corresponding relative consistency and absolute consistency based on multiple groups of observation data of the diagnostic data and the remote transmission data includes: calculating the inter-group variance and the total variance of each group of observation data; calculating the relative consistency and absolute consistency of the multiple groups of observation data of the diagnostic data and the remote transmission data based on the inter-group variance and the total variance of each group of observation data.

[0011] Optionally, a diagnostic result is generated based on the relative consistency and the absolute consistency, including: identifying the connection status of an access device; if the access device disconnects the ECU of a target heavy-duty vehicle from the vehicle-mounted terminal, generating a first judgment conclusion based on a first consistency result; if the first judgment conclusion is that there is no data abnormality in the vehicle-mounted terminal, controlling the access device to disconnect the NOx sensor from the ECU of the target heavy-duty vehicle, and generating a second judgment conclusion based on the first consistency result and the second consistency result.

[0012] Optionally, generating a first judgment conclusion based on the consistency result includes: generating a first judgment conclusion based on the first consistency result includes: if the absolute consistency of the first consistency result is greater than or equal to a first preset threshold, then it is determined that the diagnostic data in the remote data of the target heavy-duty vehicle and the diagnostic data sent by the interactive device are consistent, and there is no data anomaly in the on-board terminal of the target heavy-duty vehicle; if the absolute consistency of the first consistency result is less than the first preset threshold, then it is determined that the diagnostic data in the remote data of the target heavy-duty vehicle and the diagnostic data sent by the interactive device are inconsistent, and the data of the on-board terminal of the target heavy-duty vehicle is abnormal; wherein, if the relative consistency of the first consistency result is greater than or equal to a second preset threshold, then the means for determining the data anomaly of the on-board terminal of the target heavy-duty vehicle is: scaling the NOx emission data proportionally or performing arithmetic reduction processing; if the relative consistency of the first consistency result is less than the second preset threshold, then the means for determining the data anomaly of the on-board terminal of the target heavy-duty vehicle is: not receiving the NOx emission data, and the on-board terminal automatically generates NOx emission data that meets the NOx emission limit requirements.

[0013] Optionally, the second judgment conclusion is generated according to the first consistency result and the second consistency result, including: if the absolute consistency of the second consistency result is greater than or equal to the first preset threshold, it is determined that the diagnostic data in the remote data of the target heavy-duty vehicle is consistent with the diagnostic data sent by the interactive device, and there is no data abnormality in the heavy-duty vehicle ECU or the on-board terminal of the target heavy-duty vehicle; if the absolute consistency of the second consistency result is less than the first preset threshold and the absolute consistency of the first consistency result is greater than or equal to the first preset threshold, it is determined that there is an abnormality in the diagnostic data in the remote data of the target heavy-duty vehicle, and the data of the target heavy-duty vehicle ECU is abnormal; wherein, if the relative consistency of the second consistency result is greater than or equal to the second preset threshold, the data abnormality means of the target heavy-duty vehicle ECU is: scaling the NOx emission data proportionally or performing arithmetic reduction processing; if the relative consistency of the second consistency result is less than the second preset threshold, the data abnormality means of the target heavy-duty vehicle ECU is: not receiving the NOx emission data, and the ECU automatically generates NOx emission data that meets the NOx emission limit requirements.

[0014] 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 NOx emission data diagnostic method based on remote monitoring as described in the above embodiment.

[0015] 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 NOx emission data diagnostic method based on remote monitoring as described in the above embodiment.

[0016] Therefore, this application has at least the following beneficial effects: The embodiment of the present application can identify the connection status of the access device, and control the interactive device to send diagnostic data to the ECU or vehicle-mounted terminal of the target heavy-duty vehicle according to the connection status, download the remote transmission data of the target heavy-duty vehicle based on the diagnostic data issued by the remote monitoring platform, and generate the diagnostic result of the target heavy-duty vehicle according to the diagnostic data and the remote transmission data. By utilizing the access device, i.e., the principle of the CAN bus disconnect box, it realizes the on-site rapid and effective judgment of the abnormal behavior of the heavy-duty vehicle emission remote transmission data and its causes, which can ensure the accuracy and authenticity of the heavy-duty vehicle emission data monitored online by the heavy-duty vehicle remote monitoring platform and improve the processing efficiency.

[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: Figure 1 A block diagram of a heavy-duty vehicle NOx emission data diagnostic system based on remote monitoring according to an embodiment of the present application; Figure 2 A network topology diagram of a device and method for determining on-site emission remote data behavior of a heavy-duty vehicle provided in accordance with an embodiment of the present application; Figure 3 A schematic diagram of diagnostic data in a device and method for determining on-site emission remote data behavior of a heavy-duty vehicle provided in accordance with an embodiment of the present application; Figure 4 A flowchart of a heavy-duty vehicle NOx emission data diagnostic method based on remote monitoring according to an embodiment of the present application; Figure 5 A technical roadmap for a device and method for determining the on-site behavior of heavy-duty vehicle emission remote transmission data provided in accordance with an embodiment of the present application; Figure 6 It is a schematic diagram of the structure of a heavy-duty vehicle provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0019] 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.

[0020] The following describes the heavy-duty vehicle NOx emission data diagnostic system, method, heavy-duty vehicle and medium based on remote monitoring of the embodiment of the present application with reference to the accompanying drawings. In view of the problem that the behavior of remote transmission data and its causes cannot be effectively determined in the related art mentioned in the above background technology, the present application provides a heavy-duty vehicle NOx emission data diagnostic system based on remote monitoring, in which the connection status of the access device is identified, and the interactive device is controlled to send diagnostic data to the ECU or vehicle terminal of the target heavy-duty vehicle according to the connection status, and the remote transmission data of the target heavy-duty vehicle based on the diagnostic data issued by the remote monitoring platform is downloaded, and the diagnostic result of the target heavy-duty vehicle is generated according to the diagnostic data and the remote transmission data. The access device, i.e., the principle of the CAN bus disconnect box, is used to realize the on-site rapid and effective determination of the abnormal behavior of the heavy-duty vehicle emission remote transmission data and its causes, which can ensure the accuracy and authenticity of the heavy-duty vehicle emission data monitored online by the heavy-duty vehicle remote monitoring platform, and improve the processing efficiency. Therefore, the problem that the abnormal behavior of remote transmission data and its causes cannot be effectively determined in the related art is solved.

[0021] Specifically, Figure 1A schematic diagram of a heavy-duty vehicle NOx emission data diagnostic system based on remote monitoring provided in an embodiment of the present application.

[0022] like Figure 1 As shown, the heavy-duty vehicle NOx emission data diagnostic system based on remote monitoring includes: an access device 100, an interactive device 200 and a control device 300.

[0023] Among them, the access device 100 is used to access the ECU of the target heavy-duty vehicle, disconnect the ECU of the target heavy-duty vehicle from the nitrogen oxide sensor or the vehicle-mounted terminal, and send the diagnostic data to the corresponding disconnected ECU or vehicle-mounted terminal; the interactive device 200 is used to obtain the diagnostic data of NOx emission data, and send it to the ECU or vehicle-mounted terminal of the target heavy-duty vehicle through the access device; the control device 300 communicates with the remote monitoring platform and the interactive device 200, controls the interactive device 200 to send the diagnostic data to the ECU or vehicle-mounted terminal of the target heavy-duty vehicle, downloads the remote transmission data of the target heavy-duty vehicle based on the diagnostic data issued by the remote monitoring platform, and generates the diagnostic results of the target heavy-duty vehicle according to the diagnostic data and the remote transmission data.

[0024] Among them, the diagnostic data includes: a start bit, a data bit and an end bit, wherein the start bit is used to determine the starting position of the diagnostic data; the data bit contains: an emission information data stream that is lower than the NOx emission limit requirement and an emission information data stream that is higher than the NOx emission limit requirement, which is used to determine whether the remote transmission data of the target heavy-duty vehicle has abnormal behavior; the end bit is used to determine the end position of the diagnostic data.

[0025] It can be understood that the embodiments of the present application can identify the connection status of the access device, and control the interactive device to send diagnostic data to the ECU or vehicle-mounted terminal of the target heavy-duty vehicle according to the connection status, download the remote transmission data of the target heavy-duty vehicle based on the diagnostic data issued by the remote monitoring platform, and generate the diagnostic results of the target heavy-duty vehicle according to the diagnostic data and the remote transmission data. By utilizing the principle of the access device, it realizes the on-site rapid and effective judgment of the abnormal behavior of the heavy-duty vehicle emission remote transmission data and its causes, which can ensure the accuracy and authenticity of the heavy-duty vehicle emission data monitored online by the heavy-duty vehicle remote monitoring platform and improve the processing efficiency.

[0026] It should be noted that the access device of this application is Figure 2 The CAN bus disconnect box is used in the following description. The interactive device is the data interactive device, and the control device is the judgment communication device. Figure 2 The equipment shown is described.

[0027] Specifically, (1) the on-site judgment device for abnormal behavior of heavy-duty vehicle emission remote transmission data includes: data interaction equipment, judgment communication equipment, etc. Figure 2As shown, the CAN bus disconnect box is used to disconnect the target heavy-duty vehicle ECU from the vehicle terminal, and to disconnect the NOx sensor from the target heavy-duty vehicle ECU.

[0028] Among them, the CAN bus disconnect box, referred to as the disconnect box, can be used as a switch for the on and off of all wiring harnesses of the target heavy-duty vehicle ECU after being connected, and can also send data to the CAN bus through the disconnect box.

[0029] Among them, the access method of the CAN bus disconnect box is: disconnect the wiring harness of the target heavy-duty vehicle ECU and the CAN bus, and use the CAN bus disconnect box as a bridge to connect the target heavy-duty vehicle ECU and the wiring harness disconnection part of the CAN bus respectively.

[0030] (2) The data interaction device is connected to the CAN bus disconnect box and sends the diagnostic data to the CAN bus through the CAN bus disconnect box; after the on-board terminal receives the diagnostic data, it will form the remote transmission data of the target heavy-duty vehicle and upload it to the remote monitoring platform of the target heavy-duty vehicle in real time.

[0031] Among them, the diagnostic data consists of three parts: start bit, data bit and end bit, such as Figure 3 As shown. The start bit is a string of unique and exclusive data, which is used to determine the starting position of the diagnostic data; the data bit is the main part of the diagnostic data, which is used to determine whether the remote transmission data of the target heavy-duty vehicle has abnormal behavior. The data bit contains a string of NOx emission information data streams (i.e., low emission data) that are lower than the NOx emission limit requirements of national regulations and a string of NOx emission information data streams (i.e., high emission data) that are higher than the NOx emission limit requirements of national regulations; the end bit is a string of unique and exclusive data, which is used to determine the end position of the diagnostic data.

[0032] (3) Determine whether the communication equipment is used to download the remote data of the target heavy-duty vehicle from the remote monitoring platform of the target heavy-duty vehicle, and use the intra-group correlation coefficient analysis method to calculate the consistency of the diagnostic data in the remote data of the target heavy-duty vehicle and the diagnostic data sent by the interactive equipment to the target heavy-duty vehicle, so as to form a conclusion on the abnormal behavior of the remote data of the target heavy-duty vehicle.

[0033] Among them, according to the start bit and the end bit of the diagnostic data, the corresponding data to be diagnosed is found in the remote transmission data of the target heavy-duty vehicle.

[0034] The intraclass correlation coefficient analysis method is used to calculate the absolute consistency ICCabsolute and relative consistency ICCrelative of the diagnostic data in the remote transmission data of the target heavy-duty vehicle and the diagnostic data sent by the interactive device to the target heavy-duty vehicle. Among them, the intraclass correlation coefficient analysis method is defined as the ratio of the variance between multiple groups of observation data to the total variance, which is used to measure the consistency or reliability of multiple groups of observation data. The two indicators of absolute consistency ICCabsolute and relative consistency ICCrelative are used to quantify the consistency, reliability or difference between the observation data. The so-called absolute consistency refers to the degree of numerical proximity between two or more groups of observation data; relative consistency refers to the degree of similarity between two or more groups of observation data in trend. For example, if the two groups of observation data are (1, 2, 3, 4) and (5, 6, 7, 8), the relative consistency ICCrelative of the two groups of observation data is equal to 1, and the absolute consistency ICCabsolute is only 0.17.

[0035] According to the calculation results of absolute consistency ICCabsolute and relative consistency ICCrelative, the abnormal behavior judgment conclusion of the target heavy-duty vehicle remote transmission data is formed. Specifically: First, the connection status of the access device is identified; if the access device disconnects the ECU of the target heavy-duty vehicle from the vehicle-mounted terminal, a first consistency result is generated according to the absolute consistency ICCabsolute and the relative consistency ICCrelative, and a first determination conclusion is generated according to the first consistency result, specifically: If the absolute consistency ICCabsolute of the first consistency result is greater than or equal to 0.95, it is determined that the diagnostic data in the remote data of the target heavy-duty vehicle and the diagnostic data sent by the interactive device are consistent, and there is no data anomaly in the on-board terminal of the target heavy-duty vehicle; if the absolute consistency ICCabsolute of the first consistency result is less than 0.95, it is determined that the diagnostic data in the remote data of the target heavy-duty vehicle and the diagnostic data sent by the interactive device are inconsistent, and the data of the on-board terminal of the target heavy-duty vehicle is abnormal; among them, if the relative consistency ICCrelative of the first consistency result is greater than or equal to 0.95, the means of determining the on-board terminal of the target heavy-duty vehicle is: proportionally scaling or arithmetic reduction of the NOx emission data; if the relative consistency ICCrelative of the first consistency result is less than 0.95, the means of determining the data anomaly of the on-board terminal of the target heavy-duty vehicle is: not receiving NOx emission data, and the on-board terminal automatically generates NOx emission data that meets the NOx emission limit requirements.

[0036] If the first determination conclusion is that the data of the vehicle terminal is abnormal, the next step is not performed; if the first determination conclusion is that there is no data abnormality in the vehicle terminal, the access device is controlled to disconnect the NOx sensor from the ECU of the target heavy-duty vehicle, and a second consistency result is generated according to the absolute consistency ICCabsolute and the relative consistency ICCrelative, and a second determination conclusion is generated according to the first consistency result and the second consistency result, specifically: If the absolute consistency ICCabsolute result of the second consistency result is greater than or equal to 0.95, it is determined that the diagnostic data in the output data of the target heavy-duty vehicle is consistent with the diagnostic data sent by the interactive device, and there is no data anomaly in the ECU or the on-board terminal of the target heavy-duty vehicle; if the absolute consistency ICCabsolute of the second consistency result is less than 0.95 and the absolute consistency ICCabsolute of the first consistency result is greater than or equal to 0.95, it is determined that there is an anomaly in the diagnostic data in the remote transmission data of the target heavy-duty vehicle, and the data of the target heavy-duty vehicle ECU is abnormal; Among them, if the relative consistency ICCrelative of the second consistency result is greater than or equal to 0.95, the data anomaly means of the target heavy-duty vehicle ECU is: proportionally scaling or arithmetic reduction processing of the NOx emission data; if the relative consistency ICCrelative of the second consistency result is less than 0.95, the data anomaly means of the target heavy-duty vehicle ECU is: not receiving NOx emission data, and the ECU automatically generates NOx emission data that meets the NOx emission limit requirements.

[0037] According to the heavy-duty vehicle NOx emission data diagnostic system based on remote monitoring proposed in the embodiment of the present application, the connection status of the access device is identified, and the interactive device is controlled to send diagnostic data to the ECU or vehicle-mounted terminal of the target heavy-duty vehicle according to the connection status, and the remote transmission data of the target heavy-duty vehicle based on the diagnostic data issued by the remote monitoring platform is downloaded. The diagnostic result of the target heavy-duty vehicle is generated according to the diagnostic data and the remote transmission data, and the CAN bus disconnect box principle is utilized to realize on-site rapid and effective judgment of abnormal behavior of heavy-duty vehicle emission remote transmission data and its causes, which can ensure the accuracy and authenticity of the heavy-duty vehicle emission data monitored online by the heavy-duty vehicle remote monitoring platform and improve processing efficiency.

[0038] Figure 4 A flowchart of a method for diagnosing NOx emission data of heavy vehicles based on remote monitoring is provided in an embodiment of the present application.

[0039] like Figure 4 As shown, the heavy-duty vehicle NOx emission data diagnosis method based on remote monitoring is applied to the heavy-duty vehicle NOx emission data diagnosis system based on remote monitoring of the above embodiment, wherein the method includes the following steps: In step S101, the diagnostic data sent by the interactive device to the target heavy-duty vehicle to be diagnosed is identified.

[0040] It can be understood that the embodiments of the present application can identify the diagnostic data sent by the interactive device to the target heavy-duty vehicle that needs 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 diagnostic data and the remote transmission data.

[0041] Specifically, the data exchange device is connected to the CAN bus disconnect box, and the diagnostic data is sent to the CAN bus through the CAN bus disconnect box. After receiving the diagnostic data, the on-board terminal will form the remote transmission data of the target heavy-duty vehicle and upload it to the heavy-duty vehicle remote monitoring platform in real time.

[0042] In step S102, remote transmission data of the target heavy vehicle based on the diagnostic data in the remote monitoring data is obtained.

[0043] It can be understood that the embodiment of the present application can obtain the remote transmission data of the target heavy-duty vehicle based on the diagnostic data in the remote monitoring data, so as to subsequently determine the diagnostic result of the NOx emission data transmitted by the target heavy-duty vehicle based on the diagnostic data and the remote transmission data.

[0044] Specifically, it is determined that the communication equipment is used to download the remote data of the target heavy-duty vehicle from the heavy-duty vehicle remote monitoring platform, and the intra-group correlation coefficient analysis method is used to calculate the consistency results of the remote data of the target heavy-duty vehicle and the diagnostic data, so as to form a conclusion on the abnormal behavior of the remote data of the target heavy-duty vehicle.

[0045] In step S103, a diagnosis result of the NOx emission data transmitted by the target heavy-duty vehicle is determined according to the diagnosis data and the remote transmission data.

[0046] 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 diagnostic data and remote transmission data, realize on-site rapid and effective diagnosis of the heavy-duty vehicle behavior and its causes, improve processing efficiency, and improve the accuracy of diagnosis.

[0047] In an embodiment of the present application, a diagnostic result of NOx emission data transmitted by a target heavy-duty vehicle is determined based on diagnostic data and remote transmission data, including: acquiring multiple sets of observation data of the diagnostic data and the remote transmission data; calculating corresponding consistency results based on the multiple sets of observation data of the diagnostic data and the remote transmission data, wherein the consistency results include relative consistency and absolute consistency; and determining the diagnostic result based on the relative consistency and the absolute consistency.

[0048] It can be understood that the embodiments of the present application can obtain multiple sets of observation data of diagnostic data and remote transmission data; calculate the corresponding relative consistency and absolute consistency based on the multiple sets of observation data of diagnostic data and remote transmission data; determine the diagnosis result based on the relative consistency and absolute consistency, thereby achieving on-site rapid and effective diagnosis of heavy-duty vehicle behavior and its causes, improving processing efficiency, and improving the accuracy of diagnosis.

[0049] Specifically, the intraclass correlation coefficient analysis method is used to calculate the absolute consistency ICCabsolute and relative consistency ICCrelative of the diagnostic data in the telematic data of the heavy-duty vehicle and the diagnostic data sent by the interactive device to the target heavy-duty vehicle. Among them, the intraclass correlation coefficient analysis method is defined as the ratio of the variance between multiple groups of observation data to the total variance, which is used to measure the consistency or reliability of multiple groups of observation data. The consistency, reliability or difference between the observation data is quantified by the two indicators of absolute consistency ICCabsolute and relative consistency ICCrelative. The so-called absolute consistency refers to the degree of numerical proximity between two or more groups of observation data; relative consistency refers to the degree of similarity between two or more groups of observation data in trend. For example, if the two groups of observation data are (1, 2, 3, 4) and (5, 6, 7, 8), the relative consistency ICCrelative of the two groups of observation data is equal to 1, and the absolute consistency ICCabsolute is only 0.17.

[0050] In an embodiment of the present application, corresponding relative consistency and absolute consistency are calculated based on multiple groups of observation data of diagnostic data and telemetry data, including: calculating the inter-group variance and total variance of each group of observation data; calculating the relative consistency and absolute consistency of multiple groups of observation data of diagnostic data and telemetry data based on the inter-group variance and total variance of each group of observation data.

[0051] It can be understood that the embodiments of the present application can calculate the inter-group variance and total variance of each group of observation data; calculate the relative consistency and absolute consistency of multiple groups of observation data of diagnostic data and telemetry data based on the inter-group variance and total variance of each group of observation data, so as to determine the diagnosis result based on the relative consistency and absolute consistency.

[0052] In an embodiment of the present application, a diagnostic result is generated based on relative consistency and absolute consistency, including: identifying the connection status of the access device; if the access device disconnects the ECU of the target heavy-duty vehicle from the vehicle-mounted terminal, generating a first judgment conclusion based on the first consistency result; if the first judgment conclusion is that there is no data abnormality in the vehicle-mounted terminal, controlling the access device to disconnect the NOx sensor from the ECU of the target heavy-duty vehicle, and generating a second judgment conclusion based on the first consistency result and the second consistency result.

[0053] It can be understood that the embodiments of the present application can identify the connection status of the access device; if the access device disconnects the connection between the ECU of the target heavy-duty vehicle and the vehicle-mounted terminal, a first judgment conclusion is generated based on the first consistency result; if the first judgment conclusion is that there is no data abnormality in the vehicle-mounted terminal, the access device is controlled to disconnect the NOx sensor from the ECU of the target heavy-duty vehicle, and a second judgment conclusion is generated based on the first consistency result and the second consistency result, thereby achieving on-site rapid and effective diagnosis of abnormal behavior of heavy-duty vehicles and their causes, improving processing efficiency, and improving diagnosis accuracy.

[0054] Specifically, first, the CAN bus disconnect box is used to disconnect the connection between the target heavy-duty vehicle ECU and the on-board terminal, and the judgment communication equipment is used to download the target heavy-duty vehicle remote data one, and a judgment conclusion one on the abnormal behavior of the target heavy-duty vehicle remote data is formed; then, the CAN bus disconnect box is used to disconnect the NOx sensor from the target heavy-duty vehicle ECU, and the judgment communication equipment is used to download the target heavy-duty vehicle remote data two, and a judgment conclusion two on the abnormal behavior of the target heavy-duty vehicle remote data is formed.

[0055] In an embodiment of the present application, a first judgment conclusion is generated based on a first consistency result, including: if the absolute consistency result of the first consistency result is greater than or equal to a first preset threshold value, it is determined that the diagnostic data in the output data of the target heavy-duty vehicle and the diagnostic data sent by the interactive device are consistent, and there is no data anomaly in the on-board terminal of the target heavy-duty vehicle; if the absolute consistency result of the first consistency result is less than the first preset threshold value, it is determined that the diagnostic data in the output data of the target heavy-duty vehicle and the diagnostic data sent by the interactive device are inconsistent, and the data of the on-board terminal of the target heavy-duty vehicle is abnormal; wherein, if the relative consistency result of the first consistency result is greater than or equal to a second preset threshold value, the means for determining the data anomaly of the on-board terminal of the target heavy-duty vehicle is: scaling the NOx emission data proportionally or reducing it by an arithmetic difference; if the relative consistency result of the first consistency result is less than the second preset threshold value, the means for determining the data anomaly of the on-board terminal of the target heavy-duty vehicle is: not receiving the NOx emission data, and the on-board terminal automatically generates NOx emission data that meets the NOx emission limit requirements.

[0056] Among them, the first preset threshold and the second preset threshold can both be 0.95, which can be set according to actual needs without specific limitation.

[0057] It can be understood that in the embodiment of the present application, if the absolute consistency of the first consistency result is greater than or equal to the first preset threshold, it is determined that there is no data anomaly in the target heavy-duty vehicle's on-board terminal; if the absolute consistency of the first consistency result is less than the first preset threshold, the cause of the data anomaly in the target heavy-duty vehicle's on-board terminal is determined based on the relative consistency of the first consistency result and the size of the second preset threshold, thereby achieving on-site rapid and effective diagnosis of heavy-duty vehicle behavior and its causes, improving processing efficiency, and improving diagnosis accuracy.

[0058] In an embodiment of the present application, a second judgment conclusion is generated according to the first consistency result and the second consistency result, including: if the absolute consistency result of the second consistency result is greater than or equal to the first preset threshold, it is determined that the diagnostic data in the output data of the target heavy-duty vehicle is consistent with the diagnostic data sent by the interactive device, and there is no data abnormality in the heavy-duty vehicle ECU or the on-board terminal of the target heavy-duty vehicle; if the absolute consistency result of the second consistency result is less than the first preset threshold and the absolute consistency result of the first consistency result is greater than or equal to the first preset threshold, it is determined that there is an abnormality in the diagnostic data in the remote data of the target heavy-duty vehicle, and the data of the target heavy-duty vehicle ECU is abnormal; wherein, if the relative consistency result of the second consistency result is greater than or equal to the second preset threshold, the data abnormality means of the target heavy-duty vehicle ECU is: scaling the NOx emission data proportionally or performing arithmetic reduction processing; if the relative consistency result of the second consistency result is less than the second preset threshold, the data abnormality means of the target heavy-duty vehicle ECU is: not receiving the NOx emission data, and the ECU automatically generates NOx emission data that meets the NOx emission limit requirements.

[0059] It can be understood that in the embodiment of the present application, if the absolute consistency of the second consistency result is greater than or equal to the first preset threshold, there is no data anomaly in the target heavy-duty vehicle ECU; if the absolute consistency of the second consistency result is less than the first preset threshold and the absolute consistency of the first consistency result is greater than or equal to the first preset threshold, the cause of the data anomaly of the target heavy-duty vehicle ECU is determined according to the relative consistency of the second consistency result and the size of the second preset threshold, thereby achieving on-site rapid and effective diagnosis of heavy-duty vehicle behavior and its causes, improving processing efficiency, and improving diagnosis accuracy.

[0060] Specifically, the first and second abnormal behavior determination conclusions of the target heavy-duty vehicle remote data are analyzed in turn to form the final abnormal behavior determination conclusion of the target heavy-duty vehicle remote data; among them, the abnormal behavior determination conclusion of the target heavy-duty vehicle remote data is formed according to the calculation results of absolute consistency ICCabsolute and relative consistency ICCrelative. For example: First, the connection status of the access device is identified; if the access device disconnects the ECU of the target heavy-duty vehicle from the vehicle-mounted terminal, a first consistency result is generated according to the absolute consistency ICCabsolute and the relative consistency ICCrelative, and a first determination conclusion is generated according to the first consistency result, specifically: If the absolute consistency ICCabsolute of the first consistency result is greater than or equal to 0.95, it is determined that the diagnostic data in the remote data of the target heavy-duty vehicle and the diagnostic data sent by the interactive device are consistent, and there is no data anomaly in the on-board terminal of the target heavy-duty vehicle; if the absolute consistency ICCabsolute of the first consistency result is less than 0.95, it is determined that the diagnostic data in the remote data of the target heavy-duty vehicle and the diagnostic data sent by the interactive device are inconsistent, and the data of the on-board terminal of the target heavy-duty vehicle is abnormal; among them, if the relative consistency ICCrelative of the first consistency result is greater than or equal to 0.95, the means for determining the data anomaly of the on-board terminal of the target heavy-duty vehicle is: proportionally scaling or arithmetic reduction of the NOx emission data; if the relative consistency ICCrelative of the first consistency result is less than 0.95, the means for determining the data anomaly of the on-board terminal of the target heavy-duty vehicle is: not receiving NOx emission data, and the on-board terminal automatically generates NOx emission data that meets the NOx emission limit requirements.

[0061] If the first determination conclusion is that the data of the vehicle terminal is abnormal, the next step is not performed; if the first determination conclusion is that there is no data abnormality in the vehicle terminal, the access device is controlled to disconnect the NOx sensor from the ECU of the target heavy-duty vehicle, and a second consistency result is generated according to the absolute consistency ICCabsolute and the relative consistency ICCrelative, and a second determination conclusion is generated according to the first consistency result and the second consistency result, specifically: If the absolute consistency ICCabsolute result of the second consistency result is greater than or equal to 0.95, it is determined that the diagnostic data in the output data of the target heavy-duty vehicle is consistent with the diagnostic data sent by the interactive device, and there is no data anomaly in the heavy-duty vehicle ECU or the on-board terminal of the target heavy-duty vehicle; if the absolute consistency ICCabsolute of the second consistency result is less than 0.95 and the absolute consistency ICCabsolute of the first consistency result is greater than or equal to 0.95, it is determined that there is an anomaly in the diagnostic data in the remote transmission data of the target heavy-duty vehicle, and the data of the target heavy-duty vehicle ECU is abnormal; Among them, if the relative consistency ICCrelative of the second consistency result is greater than or equal to 0.95, the data anomaly means of the target heavy-duty vehicle ECU is: proportionally scaling or arithmetic reduction processing of the NOx emission data; if the relative consistency ICCrelative of the second consistency result is less than 0.95, the data anomaly means of the target heavy-duty vehicle ECU is: not receiving NOx emission data, and the ECU automatically generates NOx emission data that meets the NOx emission limit requirements.

[0062] According to the heavy-duty vehicle NOx emission data diagnosis method based on remote monitoring proposed in the embodiment of the present application, the diagnostic data sent by the interactive device to the target heavy-duty vehicle that needs to be diagnosed is identified, the remote transmission data of the target heavy-duty vehicle based on the diagnostic data is obtained, and the diagnostic result of the NOx emission data transmitted by the target heavy-duty vehicle is determined based on the diagnostic data and the remote transmission data, so as to achieve on-site rapid and effective diagnosis of abnormal behavior of heavy-duty vehicles and their causes, improve processing efficiency, and improve the accuracy of diagnosis.

[0063] The following will be combined Figure 4 and Figure 5 The heavy-duty vehicle NOx emission data diagnostic method based on remote monitoring of the present application is described in detail. The present application selects a target heavy-duty vehicle as the research object of the implementation case, and the heavy-duty vehicle ECU of the target heavy-duty vehicle is self-modified. After the self-modification, the emission data collected by the NOx sensor is fed back to the heavy-duty vehicle ECU. The heavy-duty vehicle ECU will subtract a fixed value of 500 from all NOx emission data to ensure that the emission data transmitted to the vehicle terminal meets the regulatory limit requirements. The specific steps are as follows: Step 1, first use the CAN bus disconnect box to disconnect the heavy-duty vehicle ECU of the target heavy-duty vehicle from the vehicle-mounted terminal, use the judgment communication equipment to download the target heavy-duty vehicle remote data one, and form the target heavy-duty vehicle remote data behavior abnormal judgment conclusion one; then, use the CAN bus disconnect box to disconnect the NOx sensor from the heavy-duty vehicle ECU, use the judgment communication equipment to download the target heavy-duty vehicle remote data two, and form the target heavy-duty vehicle remote data abnormal behavior judgment conclusion two.

[0064] Step 2, analyzing the target heavy-duty vehicle remote data behavior abnormality determination conclusion 1 and the target heavy-duty vehicle remote data behavior determination conclusion 2 in turn, and forming a final determination conclusion that the target heavy-duty vehicle remote data behavior is abnormal.

[0065] The first conclusion on the abnormal behavior of the remote data of the target heavy-duty vehicle is analyzed: if the absolute consistency ICCabsolute of the first consistency result is greater than or equal to 0.95, it is determined that the diagnostic data in the remote data of the target heavy-duty vehicle and the diagnostic data sent by the interactive device are consistent, and there is no data abnormality in the on-board terminal of the target heavy-duty vehicle; if the absolute consistency ICCabsolute of the first consistency result is less than 0.95, it is determined that the diagnostic data in the remote data of the target heavy-duty vehicle and the diagnostic data sent by the interactive device are inconsistent, and the data of the on-board terminal of the target heavy-duty vehicle is abnormal; among them, if the relative consistency ICCrelative of the first consistency result is greater than or equal to 0.95, it is determined that the means of data abnormality of the on-board terminal of the target heavy-duty vehicle is: proportionally scaling or arithmetic reduction of the NOx emission data; if the relative consistency ICCrelative of the first consistency result is less than 0.95, it is determined that the means of data abnormality of the on-board terminal of the target heavy-duty vehicle is: not receiving NOx emission data, and the on-board terminal automatically generates NOx emission data that meets the NOx emission limit requirements.

[0066] Analyze the second conclusion of abnormal behavior judgment of heavy-duty vehicle remote transmission data: if the first judgment conclusion is the vehicle terminal, no further operation is performed; if the first judgment conclusion is that there is no data abnormality in the vehicle terminal, the access device is controlled to disconnect the NOx sensor from the ECU of the target heavy-duty vehicle, and a second consistency result is generated according to the absolute consistency ICCabsolute and the relative consistency ICCrelative, and a second judgment conclusion is generated according to the first consistency result and the second consistency result, specifically: If the absolute consistency ICCabsolute result of the second consistency result is greater than or equal to 0.95, it is determined that the diagnostic data in the output data of the target heavy-duty vehicle is consistent with the diagnostic data sent by the interactive device, and there is no data anomaly in the heavy-duty vehicle ECU or the on-board terminal of the target heavy-duty vehicle; if the absolute consistency ICCabsolute of the second consistency result is less than 0.95 and the absolute consistency ICCabsolute of the first consistency result is greater than or equal to 0.95, it is determined that there is an anomaly in the diagnostic data in the remote transmission data of the target heavy-duty vehicle, and the data of the target heavy-duty vehicle ECU is abnormal; Among them, if the relative consistency ICCrelative of the second consistency result is greater than or equal to 0.95, the data anomaly means of the target heavy-duty vehicle ECU is: proportionally scaling or arithmetic reduction processing of the NOx emission data; if the relative consistency ICCrelative of the second consistency result is less than 0.95, the data anomaly means of the target heavy-duty vehicle ECU is: not receiving NOx emission data, and the ECU automatically generates NOx emission data that meets the NOx emission limit requirements.

[0067] In summary, this application uses the CAN bus disconnect box to disconnect the heavy-duty vehicle ECU from the vehicle-mounted terminal, and the NOx sensor from the heavy-duty vehicle ECU in turn; then, the data interaction device is connected to the CAN bus disconnect box to send the diagnostic data to the CAN bus; finally, the judgment communication device is used to download the heavy-duty vehicle remote data from the heavy-duty vehicle remote monitoring platform, and the heavy-duty vehicle remote data is checked based on the diagnostic data to form a conclusion on the abnormal behavior of the heavy-duty vehicle remote data. This application uses the principle of the CAN bus disconnect box to achieve on-site rapid and effective judgment of the abnormal behavior of the heavy-duty vehicle emission remote data and its causes, which can provide strong support for ensuring the authenticity of the heavy-duty vehicle emission data monitored online by the heavy-duty vehicle remote monitoring platform.

[0068] Figure 6 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: A memory 601 , a processor 602 , and a computer program stored in the memory 601 and executable on the processor 602 .

[0069] When the processor 602 executes the program, the heavy-duty vehicle NOx emission data diagnosis method based on remote monitoring provided in the above embodiment is implemented.

[0070] Furthermore, the heavy vehicle also includes: The communication interface 603 is used for communication between the memory 601 and the processor 602 .

[0071] The memory 601 is used to store computer programs that can be executed on the processor 602 .

[0072] The memory 601 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.

[0073] If the memory 601, the processor 602 and the communication interface 603 are implemented independently, the communication interface 603, the memory 601 and the processor 602 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 6 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.

[0074] Optionally, in a specific implementation, if the memory 601, the processor 602 and the communication interface 603 are integrated on a chip, the memory 601, the processor 602 and the communication interface 603 can communicate with each other through an internal interface.

[0075] The processor 602 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.

[0076] 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 NOx emission data diagnosis method based on remote monitoring is implemented.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment 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 heavy-duty vehicle NOx emission data diagnostic system based on remote monitoring, characterized in that: include: An access device, wherein the access device is used to access the ECU of a target heavy-duty vehicle, disconnect the ECU of the target heavy-duty vehicle from a nitrogen oxide sensor or an on-board terminal, and send diagnostic data to a corresponding disconnected ECU or on-board terminal; An interactive device for acquiring diagnostic data of NOx emission data and sending the data to the ECU or vehicle terminal of the target heavy-duty vehicle through an access device; A control device, wherein the control device communicates with the remote monitoring platform and the interactive device, controls the interactive device to send diagnostic data to the ECU or vehicle-mounted terminal of the target heavy-duty vehicle, downloads the remote transmission data of the target heavy-duty vehicle based on the diagnostic data issued by the remote monitoring platform, and generates a diagnostic result of the target heavy-duty vehicle according to the diagnostic data and the remote transmission data.

2. The heavy-duty vehicle NOx emission data diagnostic system based on remote monitoring according to claim 1 is characterized in that: The diagnostic data includes: a start bit, a data bit and a stop bit, wherein: The start bit is used to determine the starting position of the diagnostic data; The data bits include: an emission information data stream below the NOx emission limit requirement and an emission information data stream above the NOx emission limit requirement, which is used to determine whether the remote transmission data of the target heavy-duty vehicle has abnormal behavior; The termination bit is used to determine the end position of the diagnostic data.

3. A method for diagnosing NOx emission data of heavy-duty vehicles based on remote monitoring, characterized in that: The method is applied to the remote monitoring-based heavy-duty vehicle NOx emission data diagnostic system according to any one of claims 1 to 2, wherein the method comprises the following steps: Recognize diagnostic data sent by the interactive device to a target heavy-duty vehicle that needs to be diagnosed; Acquire remote transmission data of the target heavy-duty vehicle in the remote monitoring data based on the diagnostic data; A diagnosis result of the NOx emission data transmitted by the target heavy-duty vehicle is determined according to the diagnosis data and the remote transmission data.

4. The method for diagnosing heavy-duty vehicle NOx emission data based on remote monitoring according to claim 3 is characterized in that: The step of determining the diagnosis result of the NOx emission data transmitted by the target heavy-duty vehicle according to the diagnosis data and the remote transmission data includes: Acquire multiple groups of observation data of the diagnostic data and the remote transmission data; Calculating corresponding consistency results according to the multiple groups of observation data of the diagnostic data and the remote transmission data, wherein the consistency results include relative consistency and absolute consistency; A diagnosis result is generated according to the relative consistency and the absolute consistency.

5. The method for diagnosing heavy-duty vehicle NOx emission data based on remote monitoring according to claim 4 is characterized in that: The calculating corresponding relative consistency and absolute consistency based on the multiple groups of observation data of the diagnostic data and the remote transmission data includes: Calculate the between-group variance and total variance for each group of observations; The relative consistency and absolute consistency of the multiple groups of observation data of the diagnosis data and the remote transmission data are calculated according to the inter-group variance and the total variance of each group of observation data.

6. The method for diagnosing heavy-duty vehicle NOx emission data based on remote monitoring according to claim 4 is characterized in that: Generating a diagnosis result according to the relative consistency and the absolute consistency includes: Identify the connection status of the access device; If the access device disconnects the ECU of the target heavy-duty vehicle from the vehicle-mounted terminal, a first determination conclusion is generated according to the first consistency result; If the first determination conclusion is that there is no data anomaly in the vehicle terminal, the access device is controlled to disconnect the NOx sensor from the ECU of the target heavy-duty vehicle, and a second determination conclusion is generated according to the first consistency result and the second consistency result.

7. The method for diagnosing heavy-duty vehicle NOx emission data based on remote monitoring according to claim 6 is characterized in that: Generating a first determination conclusion according to the first consistency result includes: If the absolute consistency of the first consistency result is greater than or equal to a first preset threshold, it is determined that the diagnostic data in the remote transmission data of the target heavy-duty vehicle is consistent with the diagnostic data sent by the interactive device, and there is no data anomaly in the on-board terminal of the target heavy-duty vehicle; If the absolute consistency of the first consistency result is less than a first preset threshold, it is determined that the diagnostic data in the remote transmission data of the target heavy-duty vehicle and the diagnostic data sent by the interactive device are inconsistent, and the data of the on-board terminal of the target heavy-duty vehicle is abnormal; Among them, if the relative consistency of the first consistency result is greater than or equal to the second preset threshold, the means for determining the data abnormality of the target heavy-duty vehicle's on-board terminal is: proportionally scaling or arithmetic reduction processing of the NOx emission data; if the relative consistency of the first consistency result is less than the second preset threshold, the means for determining the data abnormality of the target heavy-duty vehicle's on-board terminal is: not receiving NOx emission data, and the on-board terminal automatically generates NOx emission data that meets the NOx emission limit requirements.

8. The method for diagnosing heavy-duty vehicle NOx emission data based on remote monitoring according to claim 7 is characterized in that: Generating a second determination conclusion according to the first consistency result and the second consistency result includes: If the absolute consistency of the second consistency result is greater than or equal to the first preset threshold, it is determined that the diagnostic data in the remote transmission data of the target heavy-duty vehicle is consistent with the diagnostic data sent by the interactive device, and there is no data anomaly in the heavy-duty vehicle ECU or the vehicle terminal of the target heavy-duty vehicle; If the absolute consistency of the second consistency result is less than the first preset threshold and the absolute consistency of the first consistency result is greater than or equal to the first preset threshold, it is determined that the diagnostic data in the telematic data of the target heavy-duty vehicle is abnormal and the data of the ECU of the target heavy-duty vehicle is abnormal; Among them, if the relative consistency of the second consistency result is greater than or equal to the second preset threshold, the data abnormality means of the target heavy-duty vehicle ECU is: proportionally scaling or arithmetic reduction processing of the NOx emission data; if the relative consistency of the second consistency result is less than the second preset threshold, the data abnormality means of the target heavy-duty vehicle ECU is: not receiving NOx emission data, and the ECU automatically generates NOx emission data that meets the NOx emission limit requirements.

9. 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 NOx emission data diagnostic method based on remote monitoring as described in any one of claims 3 to 8.

10. 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 NOx emission data diagnosis method based on remote monitoring as described in any one of claims 3 to 8.

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