Heavy Vehicle NOx Emission Data Diagnosis System and Method Based on Remote Monitoring

Abstract

This application relates to the technical field of transportation, and particularly to a heavy vehicle NOx emission data diagnosis system and method based on remote monitoring. Among them, the system includes: an access device for disconnecting the connection between the ECU of the target heavy vehicle and the nitrogen oxide sensor or vehicle-mounted terminal, and sending diagnostic data to the corresponding disconnected ECU or vehicle-mounted terminal; an interaction device for sending diagnostic data of NOx emission data to the ECU or vehicle-mounted terminal of the target heavy vehicle through the access device; a control device communicates with the remote monitoring platform and the interaction device, controls the interaction device to send diagnostic data to the ECU or vehicle-mounted terminal of the target heavy vehicle, downloads the remote transmission data of the target heavy vehicle based on the diagnostic data sent by the remote monitoring platform, and generates a diagnostic result of the target heavy vehicle according to the diagnostic data and the remote transmission data. Thus, the problems in the related art that it is impossible to effectively determine the abnormal behavior of the remote transmission data of the NOx emission data of heavy vehicles and its reasons are solved.

Description

Technical Field

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

[0002] The problem of heavy vehicles illegally on the road with excessive emissions seriously affects the urban air quality and people's living health. In order to realize the intelligent and automatic supervision of heavy vehicle pollutant emissions and improve the on-site law enforcement efficiency, the country has carried out the construction of a heavy vehicle remote monitoring platform. By collecting the driving information of heavy vehicles through in-vehicle terminals installed on heavy vehicles, remote transmission data is formed and uploaded to the remote monitoring platform in real time to realize the online monitoring of the driving status and pollutant emissions of heavy vehicles. Relying on the clues of excessive emissions of heavy vehicles monitored online by the remote monitoring platform, the law enforcement efficiency of law enforcement departments has been greatly improved.

[0003] However, due to concerns that their heavy vehicles may have problems with excessive emissions and be detected online or even subject to law enforcement penalties, a small number of heavy vehicle owners will privately carry out illegal modifications to the heavy vehicle ECU (Electronic Control Unit) or in-vehicle terminal. There are generally two means of such illegal modifications. First, illegally modify the heavy vehicle ECU. Specifically, after the NOx sensor collects the emission data and feeds it back to the heavy vehicle ECU, the heavy vehicle ECU automatically processes the excessive emission data to meet the standard to ensure that the emission data transmitted to the in-vehicle terminal meets the regulatory limit requirements. Second, illegally modify the in-vehicle terminal. Specifically, after the in-vehicle terminal obtains the emission data transmitted by the heavy vehicle ECU, it automatically processes the excessive emission data to meet the standard. Specifically, the means for the heavy vehicle ECU or in-vehicle terminal to automatically process the excessive emission data mainly include: (1) proportionally scaling or arithmetically reducing the NOx emission data to meet the regulatory limit requirements; (2) automatically generating NOx data that meets the nitrogen oxide emission limit requirements. Through the above two illegal modification and processing means, the remote transmission data finally uploaded by the in-vehicle terminal meets the regulatory limit requirements, thus avoiding being detected online due to excessive emissions.

[0004] In the related art, only through diagnostic equipment, it is impossible to accurately identify whether the data transmitted by the heavy vehicle NOx is abnormal, 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 the remote transmission data and its reasons. Summary of the Invention

[0005] The present application provides a heavy vehicle NOx emission data diagnosis system, method, heavy vehicle and medium based on remote monitoring to solve the problems in the related art that it is impossible to effectively determine the abnormal behavior of the remote transmission data of the heavy vehicle NOx emission data and its reasons, etc.

[0006] An embodiment of the first aspect of the present application provides a system, including: an access device, where the access device is used to access the ECU of the target heavy vehicle, disconnect the connection between the ECU of the target heavy vehicle and the NOx sensor or the vehicle-mounted terminal, and send diagnostic data to the corresponding disconnected ECU or vehicle-mounted terminal; an interaction device, which is used to obtain the diagnostic data of the NOx emission data and send it to the ECU or vehicle-mounted terminal of the target heavy vehicle through the access device; a control device, where the control device communicates with the remote monitoring platform and the interaction device, controls the interaction device to send diagnostic data to the ECU or vehicle-mounted terminal of the target heavy vehicle, downloads the remote transmission data of the target heavy vehicle based on the diagnostic data sent by the remote monitoring platform, and generates a diagnostic result of the target heavy vehicle according to the diagnostic data and the remote transmission data.

[0007] Optionally, the diagnostic data includes: a start bit, a data bit, and an end bit, where the start bit is used to determine the start position of the diagnostic data; the data bit includes: a data stream of emission information below the NOx emission limit requirement and a data stream of emission information above the NOx emission limit requirement, which is used to determine whether there is an abnormal behavior in the remote transmission data of the target heavy vehicle; the end bit is used to determine the end position of the diagnostic data.

[0008] An embodiment of the second aspect of the present application provides a method for diagnosing NOx emission data of a heavy vehicle based on remote monitoring. The method is implemented by using the system for diagnosing NOx emission data of a heavy vehicle based on remote monitoring described in the above embodiment. The method includes the following steps: identifying the diagnostic data sent by the interaction device to the target heavy vehicle to be diagnosed; obtaining the remote transmission data of the target heavy vehicle based on the diagnostic data in the remote monitoring data; determining a diagnostic result of the NOx emission data transmitted by the target heavy vehicle according to the diagnostic data and the remote transmission data.

[0009] Optionally, determining the diagnostic result of the NOx emission data transmitted by the target heavy vehicle according to the diagnostic data and the remote transmission data includes: obtaining 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, where the consistency results include relative consistency and absolute consistency; determining a diagnostic result according to the relative consistency and the absolute consistency.

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

[0011] Optionally, generating a diagnosis result based on the relative consistency and the absolute consistency includes: identifying the connection status of the access device; if the access device disconnects the connection between the ECU of the target heavy vehicle and the vehicle-mounted terminal, generating a first determination conclusion according to the first consistency result; if the first determination conclusion is that there is no data anomaly in the vehicle-mounted terminal, controlling the access device to disconnect the connection between the NOx sensor and the ECU of the target heavy vehicle, and generating a second determination conclusion according to the first consistency result and the second consistency result.

[0012] Optionally, generating the first determination conclusion according to the consistency result includes: if the absolute consistency of the first consistency result is greater than or equal to a first preset threshold, determining that the diagnostic data in the remote transmission data of the target heavy vehicle is consistent with the diagnostic data sent by the interaction device, and there is no data anomaly in the vehicle-mounted terminal of the target heavy vehicle; if the absolute consistency of the first consistency result is less than the first preset threshold, determining that the diagnostic data in the remote transmission data of the target heavy vehicle is inconsistent with the diagnostic data sent by the interaction device, and there is a data anomaly in the vehicle-mounted terminal of the target heavy vehicle; wherein, if the relative consistency of the first consistency result is greater than or equal to a second preset threshold, the means of data anomaly in the vehicle-mounted terminal of the target heavy vehicle is: performing an equal-proportion scaling or arithmetic reduction process on the NOx emission data; if the relative consistency of the first consistency result is less than the second preset threshold, the means of data anomaly in the vehicle-mounted terminal of the target heavy vehicle is: not receiving the NOx emission data, and the vehicle-mounted terminal automatically generating NOx emission data that meets the requirements of the NOx emission limit.

[0013] Optionally, generating the 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, determining that the diagnostic data in the remote transmission data of the target heavy vehicle is consistent with the diagnostic data sent by the interaction device, and there is no data anomaly in the heavy vehicle ECU or the vehicle-mounted terminal of the target heavy 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, determining that there is an anomaly in the diagnostic data in the remote transmission data of the target heavy vehicle, and there is a data anomaly in the heavy vehicle ECU of the target heavy vehicle; wherein, if the relative consistency of the second consistency result is greater than or equal to the second preset threshold, the means of data anomaly in the heavy vehicle ECU of the target heavy vehicle is: performing an equal-proportion scaling or arithmetic reduction process on the NOx emission data; if the relative consistency of the second consistency result is less than the second preset threshold, the means of data anomaly in the heavy vehicle ECU of the target heavy vehicle is: not receiving the NOx emission data, and the ECU automatically generating NOx emission data that meets the requirements of the NOx emission limit.

[0014] A third - aspect embodiment of the present application provides a heavy - duty vehicle, including: a memory, a processor, and a computer program stored on the memory and executable on the processor. The processor executes the program to perform the method for diagnosing NOx emission data of a heavy - duty vehicle based on remote monitoring as described in the above - mentioned embodiment.

[0015] A fourth - aspect embodiment of the present application provides a computer - readable storage medium, on which a computer program is stored. The program is executed by a processor to perform the method for diagnosing NOx emission data of a heavy - duty vehicle based on remote monitoring as described in the above - mentioned embodiment.

[0016] Thus, the present application has at least the following beneficial effects:

[0017] The embodiments of the present application can identify the connection status of an access device, and control an interaction device to send diagnostic data to the ECU or in - vehicle terminal of a 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 sent by a remote - monitoring platform, generate a diagnostic result of the target heavy - duty vehicle according to the diagnostic data and the remote - transmission data, and utilize the principle of the access device, i.e., the CAN - bus disconnection box, to realize the on - site rapid and effective determination of the abnormal behavior of the heavy - duty vehicle's remote - transmission emission data and its causes, which can ensure the accuracy and authenticity of the heavy - duty vehicle's emission data monitored by the remote - monitoring platform and improve the processing efficiency.

[0018] Additional aspects and advantages of the present application will be given in part in the following description, will become apparent in part from the following description, or will be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above - mentioned and / or additional aspects and advantages of the present application will become apparent and easy to understand from the following description of the embodiments in conjunction with the drawings, where:

[0020] Figure 1 FIG. is a block diagram of a system for diagnosing NOx emission data of a heavy - duty vehicle based on remote monitoring according to an embodiment of the present application;

[0021] Figure 2 FIG. is a network topology diagram of a device and method for on - site determination of heavy - duty vehicle emission remote - transmission data behavior according to an embodiment of the present application;

[0022] Figure 3 FIG. is a schematic diagram of diagnostic data in a device and method for on - site determination of heavy - duty vehicle emission remote - transmission data behavior according to an embodiment of the present application;

[0023] Figure 4 FIG. is a flowchart of a method for diagnosing NOx emission data of a heavy - duty vehicle based on remote monitoring according to an embodiment of the present application;

[0024] Figure 5It is a technical roadmap of an on-site determination device and method for heavy vehicle emission remote transmission data behavior according to an embodiment of the present application;

[0025] Figure 6 It is a structural schematic diagram of a heavy vehicle according to an embodiment of the present application. Detailed implementation manners

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

[0027] The heavy vehicle NOx emission data diagnosis system, method, heavy vehicle and medium based on remote monitoring according to the embodiments of the present application will be described below with reference to the accompanying drawings. In view of the problem in the related art mentioned in the above background art that the remote transmission data behavior and its reasons cannot be effectively determined, the present application provides a heavy vehicle NOx emission data diagnosis system based on remote monitoring. In this system, the connection status of the access device is identified, and the interaction device is controlled to send diagnostic data to the ECU or in-vehicle terminal of the target heavy vehicle according to the connection status, the remote transmission data of the target heavy vehicle based on the diagnostic data issued by the remote monitoring platform is downloaded, the diagnostic result of the target heavy vehicle is generated according to the diagnostic data and the remote transmission data, and the principle of the access device, that is, the CAN bus disconnection box, is used to realize the on-site rapid and effective determination of the abnormal behavior of the heavy vehicle emission remote transmission data and its reasons, which can ensure the accuracy and authenticity of the heavy vehicle remote monitoring platform for online monitoring of heavy vehicle emission data and improve the processing efficiency. Thus, the problems in the related art that the abnormal behavior of the remote transmission data and its reasons cannot be effectively determined are solved.

[0028] Specifically, Figure 1 It is a schematic diagram of a heavy vehicle NOx emission data diagnosis system based on remote monitoring provided by an embodiment of the present application.

[0029] As Figure 1 shown, the heavy vehicle NOx emission data diagnosis system based on remote monitoring includes: an access device 100, an interaction device 200, and a control device 300.

[0030] Among them, the access device 100 is used to access the ECU of the target heavy vehicle, disconnect the connection between the ECU of the target heavy vehicle and the nitrogen oxide sensor or vehicle-mounted terminal, and send the diagnostic data to the corresponding disconnected ECU or vehicle-mounted terminal; the interaction device 200 is used to obtain the diagnostic data of the NOx emission data and send it to the ECU or vehicle-mounted terminal of the target heavy vehicle through the access device; the control device 300 communicates with the remote monitoring platform and the interaction device 200, controls the interaction device 200 to send the diagnostic data to the ECU or vehicle-mounted terminal of the target heavy vehicle, downloads the remote transmission data of the target heavy vehicle based on the diagnostic data issued by the remote monitoring platform, and generates the diagnostic result of the target heavy vehicle according to the diagnostic data and the remote transmission data.

[0031] Among them, the diagnostic data includes: a start bit, a data bit, and an end bit. Among them, the start bit is used to determine the start position of the diagnostic data; the data bit includes: a data stream of emission information below the NOx emission limit requirement and a data stream of emission information above the NOx emission limit requirement, which is used to judge whether there are abnormal behaviors in the remote transmission data of the target heavy vehicle; the end bit is used to determine the end position of the diagnostic data.

[0032] It can be understood that the embodiment of the present application can identify the connection status of the access device, and control the interaction device to send the diagnostic data to the ECU or vehicle-mounted terminal of the target heavy vehicle according to the connection status, download the remote transmission data of the target heavy vehicle based on the diagnostic data issued by the remote monitoring platform, generate the diagnostic result of the target heavy vehicle according to the diagnostic data and the remote transmission data, and utilize the principle of the access device to realize the on-site rapid and effective determination of the abnormal behavior and its cause of the remote transmission data of the heavy vehicle emission, which can ensure the accuracy and authenticity of the heavy vehicle remote monitoring platform for online monitoring of the heavy vehicle emission data and improve the processing efficiency.

[0033] It should be noted that the access device of the present application is Figure 2 a CAN bus disconnection box. The following descriptions will be made with the CAN bus disconnection box. The interaction device is a data interaction device, and the control device is a determination communication device. The following descriptions will be made with Figure 2 the devices shown.

[0034] Specifically, (1) the on-site determination device for abnormal behavior of heavy vehicle emission remote transmission data includes: a data interaction device, a determination communication device, etc. As Figure 2 shown, the CAN bus disconnection box is used to disconnect the connection between the ECU of the target heavy vehicle and the vehicle-mounted terminal, and disconnect the connection between the NOx sensor and the ECU of the target heavy vehicle.

[0035] Among them, the CAN bus disconnection box, abbreviated as the disconnection box, can be used as a switch for all wire harness connections and disconnections of the ECU of the target heavy vehicle after being accessed, and can also send data to the CAN bus through the disconnection box.

[0036] Among them, the access method of the CAN bus disconnection box is as follows: disconnect the wire harness between the target heavy vehicle ECU and the CAN bus, and use the CAN bus disconnection box as a bridge to connect the disconnected parts of the wire harnesses of the target heavy vehicle ECU and the CAN bus respectively.

[0037] (2) The data interaction device is connected to the CAN bus disconnection box, and the diagnostic data is sent to the CAN bus through the CAN bus disconnection box; after receiving the diagnostic data, the vehicle-mounted terminal will form the far-transmission data of the target heavy vehicle and upload it to the target heavy vehicle remote monitoring platform in real time.

[0038] Among them, the diagnostic data consists of three parts: a start bit, a data bit, and an end bit, as Figure 3 shown. Among them, the start bit is a unique and exclusive string of data used to determine the start position of the diagnostic data; the data bit is the main part of the diagnostic data, used to judge whether there are abnormal behaviors in the far-transmission data of the target heavy vehicle. The data bit contains a data stream of NOx emission information (i.e., low-emission data) lower than the NOx emission limit requirement of the national regulations and a data stream of NOx emission information (i.e., high-emission data) higher than the NOx emission limit requirement of the national regulations; the end bit is a unique and exclusive string of data used to determine the end position of the diagnostic data.

[0039] (3) The determination communication device is used to download the far-transmission data of the target heavy vehicle from the target heavy vehicle remote monitoring platform, and use the within-group correlation coefficient analysis method to calculate the consistency result of the diagnostic data in the far-transmission data of the target heavy vehicle and the diagnostic data sent by the interaction device to the target heavy vehicle, and form a determination conclusion on the abnormal behavior of the far-transmission data of the target heavy vehicle.

[0040] Among them, according to the start bit and end bit of the diagnostic data, the corresponding data to be diagnosed is searched for in the far-transmission data of the target heavy vehicle.

[0041] Using the intraclass correlation coefficient analysis method, 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 interaction device to the target heavy-duty vehicle. Among them, the intraclass correlation coefficient analysis method is defined as the ratio of the between-group variance to the total variance of multiple groups of observed data, and is used to measure the consistency or reliability of multiple groups of observed data. The consistency, reliability or difference degree between the observed data is quantified through two indicators, the absolute consistency ICCabsolute and the relative consistency ICCrelative. The so-called absolute consistency refers to the degree of proximity of two or more groups of observed data in terms of numerical values; the relative consistency refers to the degree of similarity of two or more groups of observed data in terms of trends. For example, if two groups of observed data are (1, 2, 3, 4) and (5, 6, 7, 8) respectively, then the relative consistency ICCrelative of the two groups of observed data is equal to 1, and the absolute consistency ICCabsolute is only 0.17.

[0042] According to the calculation results of the absolute consistency ICCabsolute and the relative consistency ICCrelative, form a determination conclusion on the abnormal behavior of the remote transmission data of the target heavy-duty vehicle. Specifically:

[0043] First, 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 in-vehicle terminal, generate a first consistency result according to the absolute consistency ICCabsolute and the relative consistency ICCrelative, and generate a first determination conclusion according to the first consistency result. Specifically:

[0044] 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 transmission data of the target heavy-duty vehicle is consistent with the diagnostic data sent by the interaction device, and there is no data abnormality in the in-vehicle 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 transmission data of the target heavy-duty vehicle is inconsistent with the diagnostic data sent by the interaction device, and there is data abnormality in the in-vehicle terminal of the target heavy-duty vehicle; among them, if the relative consistency ICCrelative of the first consistency result is greater than or equal to 0.95, the means for the in-vehicle terminal of the target heavy-duty vehicle is: perform equal-proportion scaling or arithmetic reduction processing on the NOx emission data; if the relative consistency ICCrelative of the first consistency result is less than 0.95, the means for the data abnormality of the in-vehicle terminal of the target heavy-duty vehicle is: do not receive the NOx emission data, and the in-vehicle terminal automatically generates NOx emission data that meets the NOx emission limit requirements.

[0045] If the first determination conclusion is that the data of the vehicle-mounted terminal is abnormal, no further operation is performed; if the first determination conclusion is that there is no data abnormality in the vehicle-mounted terminal, the access device is controlled to disconnect the connection between the NOx sensor and the ECU of the target heavy-duty vehicle, the second consistency result is generated according to the absolute consistency ICCabsolute and the relative consistency ICCrelative, and the second determination conclusion is generated according to the first consistency result and the second consistency result. Specifically:

[0046] 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 interaction device, and there is no data abnormality in the ECU or vehicle-mounted 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 abnormality in the diagnostic data in the remote transmission data of the target heavy-duty vehicle, and the data of the ECU of the target heavy-duty vehicle is abnormal;

[0047] Among them, if the relative consistency ICCrelative of the second consistency result is greater than or equal to 0.95, the means of data abnormality of the ECU of the target heavy-duty vehicle is: performing equal-proportion scaling or arithmetic reduction processing on the NOx emission data; if the relative consistency ICCrelative of the second consistency result is less than 0.95, the means of data abnormality of the ECU of the target heavy-duty vehicle is: not receiving the NOx emission data, and the ECU automatically generates NOx emission data that meets the requirements of the NOx emission limit.

[0048] According to the heavy-duty vehicle NOx emission data diagnosis system based on remote monitoring proposed in the embodiment of the present application, the connection status of the access device is identified, and the interaction 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, the remote transmission data of the target heavy-duty vehicle based on the diagnostic data sent 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 principle of the CAN bus disconnection box is used to realize the on-site rapid and effective determination of the abnormal behavior and its causes of the heavy-duty vehicle emission remote transmission data, which can ensure the accuracy and authenticity of the heavy-duty vehicle remote monitoring platform for online monitoring of heavy-duty vehicle emission data and improve the processing efficiency.

[0049] Figure 4 It is a schematic flow chart of a method for diagnosing heavy-duty vehicle NOx emission data based on remote monitoring provided by an embodiment of the present application.

[0050] As Figure 4 shown, the method for diagnosing heavy-duty vehicle NOx emission data based on remote monitoring is implemented by applying the heavy-duty vehicle NOx emission data diagnosis system in the above embodiment. Among them, the method includes the following steps:

[0051] In step S101, identify the diagnostic data sent by the interaction device to the target heavy-duty vehicle to be diagnosed.

[0052] It can be understood that the embodiments of the present application can identify the diagnostic data sent by the interaction 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 according to the diagnostic data and the remote transmission data.

[0053] Specifically, the data interaction device is connected to the CAN bus disconnection box, and sends the diagnostic data to the CAN bus through the CAN bus disconnection box. After receiving the diagnostic data, the vehicle-mounted 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.

[0054] In step S102, obtain the remote transmission data of the target heavy-duty vehicle based on the diagnostic data in the remote monitoring data.

[0055] It can be understood that the embodiments 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 according to the diagnostic data and the remote transmission data.

[0056] Specifically, the determination communication device is used to download the remote transmission data of the target heavy-duty vehicle from the heavy-duty vehicle remote monitoring platform, and use the intra-group correlation coefficient analysis method to calculate the consistency result of the remote transmission data and the diagnostic data of the target heavy-duty vehicle, and form a determination conclusion on the abnormal behavior of the remote transmission data of the target heavy-duty vehicle.

[0057] In step S103, determine the diagnostic result of the NOx emission data transmitted by the target heavy-duty vehicle according to the diagnostic data and the remote transmission data.

[0058] It can be understood that the embodiments of the present application can determine the diagnostic result of the NOx emission data transmitted by the target heavy-duty vehicle according to the diagnostic data and the remote transmission data, realize the on-site rapid and effective diagnosis of the behavior of the heavy-duty vehicle and its reasons, improve the processing efficiency, and improve the accuracy of the diagnosis.

[0059] In the embodiments of the present application, determining the diagnostic result of the NOx emission data transmitted by the target heavy-duty vehicle according to the diagnostic data and the remote transmission data includes: obtaining multiple groups of observation data of the diagnostic data and the remote transmission data; calculating the corresponding consistency results according to the multiple groups of observation data of the diagnostic data and the remote transmission data, where the consistency results include relative consistency and absolute consistency; determining the diagnostic result according to the relative consistency and the absolute consistency.

[0060] It can be understood that the embodiments of the present application can obtain multiple groups of observation data of diagnostic data and remote transmission data; calculate the corresponding relative consistency and absolute consistency according to the multiple groups of observation data of diagnostic data and remote transmission data; and determine the diagnostic result according to the relative consistency and absolute consistency, so as to realize the on-site rapid and effective diagnosis of the behavior of heavy-duty vehicles and its reasons, improve the processing efficiency, and improve the accuracy of diagnosis.

[0061] 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 remote transmission 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 between-group variance to the total variance of multiple groups of observation data, and is used to measure the consistency or reliability of multiple groups of observation data. The consistency, reliability or difference degree of the observation data is quantified through two indicators, namely the absolute consistency ICCabsolute and the relative consistency ICCrelative. The so-called absolute consistency refers to the degree of closeness of two or more groups of observation data in terms of numerical value; the relative consistency refers to the degree of similarity of two or more groups of observation data in terms of trend. For example, if two groups of observation data are (1, 2, 3, 4) and (5, 6, 7, 8) respectively, then the relative consistency ICCrelative of the two groups of observation data is equal to 1, and the absolute consistency ICCabsolute is only 0.17.

[0062] In the embodiments of the present application, calculating the corresponding relative consistency and absolute consistency according to the multiple groups of observation data of diagnostic data and remote transmission data includes: calculating the between-group variance and total variance of each group of observation data; and calculating the relative consistency and absolute consistency of the multiple groups of observation data of diagnostic data and remote transmission data according to the between-group variance and total variance of each group of observation data.

[0063] It can be understood that the embodiments of the present application can calculate the between-group variance and total variance of each group of observation data; calculate the relative consistency and absolute consistency of the multiple groups of observation data of diagnostic data and remote transmission data according to the between-group variance and total variance of each group of observation data, so as to determine the diagnostic result according to the relative consistency and absolute consistency.

[0064] In the embodiments of the present application, generating a diagnostic result according to the relative consistency and absolute consistency includes: identifying 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, then generating a first determination conclusion according to the first consistency result; if the first determination conclusion is that there is no data abnormality in the vehicle-mounted terminal, then controlling the access device to disconnect the connection between the NOx sensor and the ECU of the target heavy-duty vehicle, and generating a second determination conclusion according to the first consistency result and the second consistency result.

[0065] 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 vehicle and 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-mounted terminal, the access device is controlled to disconnect the connection between the NOx sensor and the ECU of the target heavy vehicle, and a second determination conclusion is generated according to the first consistency result and the second consistency result, so as to realize on-site rapid and effective diagnosis of the abnormal behaviors of the heavy vehicle and their causes, improve the processing efficiency, and enhance the accuracy of diagnosis.

[0066] Specifically, first, use the CAN bus disconnection box to disconnect the connection between the ECU of the target heavy vehicle and the vehicle-mounted terminal, use the determination communication device to download the first remote transmission data of the target heavy vehicle, and form the first determination conclusion on the abnormal behavior of the remote transmission data of the target heavy vehicle; then, use the CAN bus disconnection box to disconnect the connection between the NOx sensor and the ECU of the target heavy vehicle, use the determination communication device to download the second remote transmission data of the target heavy vehicle, and form the second determination conclusion on the abnormal behavior of the remote transmission data of the target heavy vehicle.

[0067] In the embodiments of the present application, generating the first determination conclusion according to the first consistency result includes: if the absolute consistency result of the first 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 vehicle is consistent with the diagnostic data sent by the interaction device, and there is no data anomaly in the vehicle-mounted terminal of the target heavy vehicle; if the absolute consistency result of the first consistency result is less than the first preset threshold, it is determined that the diagnostic data in the output data of the target heavy vehicle is inconsistent with the diagnostic data sent by the interaction device, and there is data anomaly in the vehicle-mounted terminal of the target heavy vehicle; wherein, if the relative consistency result of the first consistency result is greater than or equal to the second preset threshold, the means of data anomaly of the vehicle-mounted terminal of the target heavy vehicle is determined as: performing equal-proportion scaling or arithmetic reduction processing on the NOx emission data; if the relative consistency result of the first consistency result is less than the second preset threshold, the means of data anomaly of the vehicle-mounted terminal of the target heavy vehicle is determined as: not receiving the NOx emission data, and the vehicle-mounted terminal automatically generates NOx emission data that meets the requirements of the NOx emission limit.

[0068] Among them, both the first preset threshold and the second preset threshold can be 0.95, and can be set according to actual needs without specific limitation.

[0069] It can be understood that in the embodiments 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 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 of the target heavy-duty vehicle on-board terminal is determined according to the relative consistency of the first consistency result and the second preset threshold, so as to realize the on-site rapid and effective diagnosis of the behavior of the heavy-duty vehicle and its cause, improve the processing efficiency, and improve the accuracy of the diagnosis.

[0070] In the embodiments of the present application, a second determination 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 interaction device, and there is no data anomaly in the heavy-duty vehicle ECU or 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 anomaly in the diagnostic data in the remote transmission data of the target heavy-duty vehicle, and there is a data anomaly in the heavy-duty vehicle ECU; wherein, if the relative consistency result of the second consistency result is greater than or equal to the second preset threshold, the means of data anomaly of the heavy-duty vehicle ECU is: performing equal-proportion scaling or arithmetic reduction processing on the NOx emission data; if the relative consistency result of the second consistency result is less than the second preset threshold, the means of data anomaly of the 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.

[0071] It can be understood that in the embodiments 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 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 heavy-duty vehicle ECU is determined according to the relative consistency of the second consistency result and the second preset threshold, so as to realize the on-site rapid and effective diagnosis of the behavior of the heavy-duty vehicle and its cause, improve the processing efficiency, and improve the accuracy of the diagnosis.

[0072] Specifically, the determination conclusion one of the remote transmission data anomaly behavior of the target heavy-duty vehicle and the determination conclusion two of the remote transmission data behavior anomaly of the target heavy-duty vehicle are analyzed in sequence to form the final determination conclusion of the remote transmission data anomaly behavior of the target heavy-duty vehicle; among them, according to the calculation results of the absolute consistency ICCabsolute and the relative consistency ICCrelative, the determination conclusion of the remote transmission data anomaly behavior of the target heavy-duty vehicle is formed. For example:

[0073] First, identify the connection status of the access device; if the access device disconnects the connection between the ECU of the target heavy vehicle and the vehicle-mounted terminal, generate a first consistency result according to the absolute consistency ICCabsolute and the relative consistency ICCrelative, and generate a first determination conclusion according to the first consistency result. Specifically:

[0074] 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 transmission data of the target heavy vehicle is consistent with the diagnostic data sent by the interactive device, and there is no data anomaly in the vehicle-mounted terminal of the target heavy 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 transmission data of the target heavy vehicle is inconsistent with the diagnostic data sent by the interactive device, and there is a data anomaly in the vehicle-mounted terminal of the target heavy vehicle; among them, if the relative consistency ICCrelative of the first consistency result is greater than or equal to 0.95, the means of data anomaly of the vehicle-mounted terminal of the target heavy vehicle is: perform equal-proportion scaling or arithmetic reduction processing on the NOx emission data; if the relative consistency ICCrelative of the first consistency result is less than 0.95, the means of data anomaly of the vehicle-mounted terminal of the target heavy vehicle is: do not receive the NOx emission data, and the vehicle-mounted terminal automatically generates NOx emission data that meets the NOx emission limit requirements.

[0075] If the first determination conclusion is that there is a data anomaly in the vehicle-mounted terminal, no further operation is performed; if the first determination conclusion is that there is no data anomaly in the vehicle-mounted terminal, control the access device to disconnect the connection between the NOx sensor and the ECU of the target heavy vehicle, generate a second consistency result according to the absolute consistency ICCabsolute and the relative consistency ICCrelative, and generate a second determination conclusion according to the first consistency result and the second consistency result. Specifically:

[0076] 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 vehicle is consistent with the diagnostic data sent by the interactive device, and there is no data anomaly in the heavy vehicle ECU or the vehicle-mounted terminal of the target heavy 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 vehicle, and there is a data anomaly in the ECU of the target heavy vehicle.

[0077] Among them, if the relative consistency ICCrelative of the second consistency result is greater than or equal to 0.95, the data anomaly means for the target heavy-duty vehicle ECU is: performing equal-proportion scaling or arithmetic reduction on the NOx emission data; if the relative consistency ICCrelative of the second consistency result is less than 0.95, the data anomaly means for 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.

[0078] According to the heavy-duty vehicle NOx emission data diagnosis method based on remote monitoring proposed in the embodiments of the present application, identify the diagnostic data sent by the interaction device to the target heavy-duty vehicle to be diagnosed, obtain the remote transmission data of the target heavy-duty vehicle based on the diagnostic data, and determine the diagnostic result of the NOx emission data transmitted by the target heavy-duty vehicle according to the diagnostic data and the remote transmission data, so as to realize the on-site rapid and effective diagnosis of the abnormal behavior of the heavy-duty vehicle and its causes, improve the processing efficiency, and improve the accuracy of the diagnosis.

[0079] The following will be combined with Figure 4 and Figure 5 The heavy-duty vehicle NOx emission data diagnosis method based on remote monitoring of the present application will be elaborated in detail. The present application selects a target heavy-duty vehicle as the research object of this implementation case, and performs self-modification on the heavy-duty vehicle ECU of the target heavy-duty vehicle. After the self-modification, for the NOx sensor to collect the emission data and feedback it to the heavy-duty vehicle ECU, the heavy-duty vehicle ECU will subtract the fixed value 500 from all NOx emission data to ensure that the emission data transmitted to the vehicle-mounted terminal meets the regulatory limit requirements. The specific steps are as follows:

[0080] Step 1, first use the CAN bus disconnection box to disconnect the connection between the heavy-duty vehicle ECU of the target heavy-duty vehicle and the vehicle-mounted terminal, use the determination communication device to download the first remote transmission data of the target heavy-duty vehicle, and form the first determination conclusion on the abnormal behavior of the remote transmission data of the target heavy-duty vehicle; then, use the CAN bus disconnection box to disconnect the connection between the NOx sensor and the heavy-duty vehicle ECU, use the determination communication device to download the second remote transmission data of the target heavy-duty vehicle, and form the second determination conclusion on the abnormal behavior of the remote transmission data of the target heavy-duty vehicle.

[0081] Step 2, analyze the first determination conclusion on the abnormal behavior of the remote transmission data of the target heavy-duty vehicle and the second determination conclusion on the behavior of the remote transmission data of the target heavy-duty vehicle in sequence to form the final determination conclusion on the abnormal behavior of the remote transmission data of the target heavy-duty vehicle.

[0082] Analyze the determination conclusion one of the abnormal behavior of the remote transmission data of the target heavy-duty vehicle: 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 transmission 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 in-vehicle 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 transmission data of the target heavy-duty vehicle is inconsistent with the diagnostic data sent by the interactive device, and there is data abnormality in the in-vehicle terminal of the target heavy-duty vehicle; among them, if the relative consistency ICCrelative of the first consistency result is greater than or equal to 0.95, the means of data abnormality of the in-vehicle terminal of the target heavy-duty vehicle is: performing equal-proportion scaling or arithmetic reduction processing on the NOx emission data; if the relative consistency ICCrelative of the first consistency result is less than 0.95, the means of data abnormality of the in-vehicle terminal of the target heavy-duty vehicle is: not receiving the NOx emission data, and the in-vehicle terminal automatically generates NOx emission data that meets the requirements of the NOx emission limit.

[0083] Analyze the determination conclusion two of the abnormal behavior of the remote transmission data of the heavy-duty vehicle: If the first determination conclusion is the in-vehicle terminal, no further operation is performed; if the first determination conclusion is that there is no data abnormality in the in-vehicle terminal, control the access device to disconnect the connection between the NOx sensor and the ECU of the target heavy-duty vehicle, generate the second consistency result according to the absolute consistency ICCabsolute and the relative consistency ICCrelative, and generate the second determination conclusion according to the first consistency result and the second consistency result. Specifically:

[0084] 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 abnormality in the heavy-duty vehicle ECU or the in-vehicle 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 abnormality in the diagnostic data in the remote transmission data of the target heavy-duty vehicle, and there is data abnormality in the ECU of the target heavy-duty vehicle;

[0085] Among them, if the relative consistency ICCrelative of the second consistency result is greater than or equal to 0.95, the means of data abnormality of the ECU of the target heavy-duty vehicle is: performing equal-proportion scaling or arithmetic reduction processing on the NOx emission data; if the relative consistency ICCrelative of the second consistency result is less than 0.95, the means of data abnormality of the ECU of the target heavy-duty vehicle is: not receiving the NOx emission data, and the ECU automatically generates NOx emission data that meets the requirements of the NOx emission limit.

[0086] In summary, in this application, the CAN bus disconnection box is used to disconnect the connection between the heavy vehicle ECU and the vehicle-mounted terminal, and the connection between the NOx sensor and the heavy vehicle ECU in sequence; then, a data interaction device is connected to the CAN bus disconnection box to send diagnostic data to the CAN bus; finally, a determination communication device is used to download the heavy vehicle remote transmission data from the heavy vehicle remote monitoring platform and verify the heavy vehicle remote transmission data based on the diagnostic data to form a determination conclusion on the abnormal behavior of the heavy vehicle remote transmission data. This application uses the principle of the CAN bus disconnection box to achieve rapid and effective on-site determination of the abnormal behavior and its causes of the heavy vehicle emission remote transmission data, and can provide strong support for ensuring the authenticity of the heavy vehicle emission data monitored by the heavy vehicle remote monitoring platform online.

[0087] Figure 6 It is a schematic structural diagram of a heavy vehicle provided by an embodiment of this application. The heavy vehicle may include:

[0088] A memory 601, a processor 602, and a computer program stored on the memory 601 and executable on the processor 602.

[0089] When the processor 602 executes the program, it implements the heavy vehicle NOx emission data diagnosis method based on remote monitoring provided in the above embodiment.

[0090] Further, the heavy vehicle further includes:

[0091] A communication interface 603 for communication between the memory 601 and the processor 602.

[0092] The memory 601 is used to store a computer program executable on the processor 602.

[0093] The memory 601 may include a high-speed RAM memory, and may also include non-volatile memory, such as at least one disk memory.

[0094] 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 may be interconnected through a bus and communicate with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6It is represented by only one thick line, but it does not mean that there is only one bus or one type of bus.

[0095] Optionally, in a specific implementation, if the memory 601, the processor 602, and the communication interface 603 are integrated on a single chip, the memory 601, the processor 602, and the communication interface 603 can communicate with each other through an internal interface.

[0096] The processor 602 may be a central processing unit (CPU for short), or an application specific integrated circuit (ASIC for short), or one or more integrated circuits configured to implement the embodiments of the present application.

[0097] The embodiments of the present application further provide a computer-readable storage medium, on which a computer program or instruction is stored. When the computer program or instruction is executed by a processor, the method for diagnosing NOx emission data of a heavy vehicle based on remote monitoring as described above is implemented.

[0098] In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection 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, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0099] In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0100] Any process or method description depicted in the flowchart or otherwise described herein can be understood to represent a module, segment, or portion of code including one or N executable instructions for implementing a customized logical function or process. Moreover, the scope of the preferred embodiments of the present application includes additional implementations, where functions may be executed in a substantially simultaneous manner or in a reverse order according to the involved functions, rather than in the order shown or discussed. This should be understood by those skilled in the art to which the embodiments of the present application pertain.

[0101] Those of ordinary skill in the art can understand that all or part of the steps carried out in implementing the method of the above embodiments can be completed by instructing relevant hardware through a program. The program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

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 the diagnostic result of the target heavy-duty vehicle according to the diagnostic data and the remote transmission data, wherein the diagnostic result transmitted by the target heavy-duty vehicle is determined according to the diagnostic data and the remote transmission data, including: obtaining 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 result includes relative consistency and absolute consistency; generating the diagnostic result according to the relative consistency and the absolute consistency; wherein generating the diagnostic result according to the relative consistency and the absolute consistency includes: identifying 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, generating a first judgment conclusion according to 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 according to the first consistency result and the second consistency result.

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; 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, wherein the determination of the diagnostic result transmitted by the target heavy-duty vehicle based on the diagnostic data and the remote transmission data includes: acquiring multiple groups of observation data of the diagnostic data and the remote transmission data; calculating corresponding consistency results based on the diagnostic data and the multiple groups of observation data of the remote transmission data, wherein the consistency result includes relative consistency and absolute consistency; generate the diagnostic result based on the relative consistency and the absolute consistency; wherein generating the diagnostic result based on the relative consistency and the absolute consistency includes: 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.

4. The method for diagnosing heavy-duty vehicle NOx emission data based on remote monitoring according to claim 3 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.

5. The method for diagnosing heavy-duty vehicle NOx emission data based on remote monitoring according to claim 3 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.

6. The method for diagnosing NOx emission data of heavy vehicles based on remote monitoring according to claim 3 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.

7. 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 6.

8. 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 6.

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