Electronic control unit self-checking method and device, vehicle and storage medium

Abstract

The invention relates to the technical field of vehicle control, and provides an electronic control unit self-checking method and device, a vehicle and a storage medium. The method comprises the following steps: acquiring a to-be-self-checked item corresponding to an electronic control unit on a vehicle in a vehicle power-on process; determining a failure frequency corresponding to each item to be self-checked, and obtaining a failure interval duration corresponding to each item to be self-checked; according to the failure frequency corresponding to each item to be subjected to self-inspection and the failure interval duration corresponding to the item to be subjected to self-inspection, determining a self-inspection priority corresponding to each item to be subjected to self-inspection; according to the self-checking priority corresponding to each item to be self-checked, each item to be self-checked corresponding to the electronic control unit is self-checked, the self-checking priority is dynamically determined according to the failure frequency and the failure interval duration of the items to be self-checked, the self-checking priority is combined with the dual factors of the failure frequency and the failure interval duration, and the self-checking efficiency is improved. And the self-checking efficiency of the item to be self-checked in the electronic control unit is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to an electronic control unit self-test method, device, vehicle and storage medium. Background Art

[0002] Traditional vehicle electronic control units (ECUs) usually perform a series of self-test procedures when the vehicle is powered on to ensure the normal operation of the ECU when the vehicle is started. The current power-on self-test scheme is usually carried out in a pre-set fixed order, that is, the power supply, hardware, firmware, peripherals, communication, initialization, fault handling and other parts of the ECU are tested in sequence. If any node fails to be detected, the startup is terminated and the single node failure is recorded; if all nodes meet the startup conditions, the ECU power-on self-test is completed. After all ECU tests pass, it can be considered that the vehicle can be started. However, with the complexity of ECUs, different components in the ECU may have different fault frequencies during operation due to various reasons. The existing fixed-order self-test method may cause a delay in the detection of high-frequency fault components to a certain extent, affecting the detection efficiency and reliability of the ECU. Summary of the invention

[0003] In view of this, the embodiments of the present application provide an electronic control unit self-test method, device, vehicle and storage medium to solve the problem in the prior art that the items to be self-tested in the electronic control unit are self-tested in a fixed order, resulting in low self-test efficiency of the electronic control unit.

[0004] In a first aspect of an embodiment of the present application, a method for self-checking an electronic control unit is provided, the method comprising: during the process of powering on a vehicle, obtaining items to be self-checked corresponding to the electronic control unit on the vehicle; determining the failure frequency corresponding to each item to be self-checked, and obtaining the failure interval duration corresponding to each item to be self-checked, the failure interval duration being the time difference between the last self-check failure time of the item to be self-checked and the current time; determining the self-check priority corresponding to each item to be self-checked according to the failure frequency corresponding to each item to be self-checked and the failure interval duration corresponding to the item to be self-checked; and performing self-check on each item to be self-checked corresponding to the electronic control unit according to the self-check priority corresponding to each item to be self-checked.

[0005] According to a second aspect of an embodiment of the present application, there is provided an electronic control unit self-test device, the device comprising: an acquisition module, configured to acquire items to be self-tested corresponding to the electronic control unit on the vehicle during the process of powering on the vehicle; a determination module, configured to determine the failure frequency corresponding to each item to be self-tested, and acquire the failure interval duration corresponding to each item to be self-tested, the failure interval duration being the time difference between the last self-test failure time of the item to be self-tested and the current time; a priority module, configured to determine the self-test priority corresponding to each item to be self-tested according to the failure frequency corresponding to each item to be self-tested and the failure interval duration corresponding to the item to be self-tested; and a self-test module, configured to perform self-test on each item to be self-tested corresponding to the electronic control unit according to the self-test priority corresponding to each item to be self-tested.

[0006] According to a third aspect of an embodiment of the present application, a vehicle is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0007] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, which stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0008] Compared with the prior art, the embodiments of the present application have the following beneficial effects: during the process of powering on the vehicle, the method in the embodiments of the present application obtains the items to be self-checked corresponding to the electronic control unit on the vehicle; determines the failure frequency corresponding to each item to be self-checked, and obtains the failure interval duration corresponding to each item to be self-checked, where the failure interval duration is the time difference between the last self-check failure time of the item to be self-checked and the current time; determines the self-check priority corresponding to each item to be self-checked according to the failure frequency corresponding to each item to be self-checked and the failure interval duration corresponding to the item to be self-checked; performs self-check on each item to be self-checked corresponding to the electronic control unit according to the self-check priority corresponding to each item to be self-checked, and the present application realizes the dynamic determination of the self-check priority according to the failure frequency and the failure interval duration of the item to be self-checked, so that the self-check priority combines the dual factors of the failure frequency and the failure interval time, and subsequently performs self-check on the items to be self-checked in the electronic control unit according to the self-check priority, thereby improving the self-check efficiency of the items to be self-checked in the electronic control unit, and avoiding the problem that the items to be self-checked in the electronic control unit are self-checked in a fixed order, resulting in low self-check efficiency of the electronic control unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0010] Figure 1 It is a flowchart of an electronic control unit self-test method provided by an embodiment of the present application;

[0011] Figure 2 It is a flowchart of another electronic control unit self-test method provided by an embodiment of the present application;

[0012] Figure 3 It is a flowchart of another electronic control unit self-test method provided in an embodiment of the present application;

[0013] Figure 4 It is a flowchart of another electronic control unit self-test method provided in an embodiment of the present application;

[0014] Figure 5 It is a flowchart of another electronic control unit self-test method provided in an embodiment of the present application;

[0015] Figure 6 It is a flowchart of another optional electronic control unit self-test method provided in an embodiment of the present application;

[0016] Figure 7 It is a flowchart of another optional electronic control unit self-test method provided in an embodiment of the present application;

[0017] Figure 8 It is a flowchart of another optional electronic control unit self-test method provided in an embodiment of the present application;

[0018] Fig. 9 It is a flowchart of another optional electronic control unit self-test method provided in an embodiment of the present application;

[0019] Fig.10 It is a structural schematic diagram of an electronic control unit self-test device provided in an embodiment of the present application;

[0020] Fig.11 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0022] A method and device for self-testing an electronic control unit according to an embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0023] Figure 1 An electronic control unit self-test method provided in an embodiment of the present application is as follows: Figure 1 As shown, the method includes:

[0024] S101, when the vehicle is powered on, obtaining self-test items corresponding to the electronic control unit on the vehicle;

[0025] S102, determining the failure frequency corresponding to each item to be self-checked, and obtaining the failure interval duration corresponding to each item to be self-checked, where the failure interval duration is the time difference between the last self-check failure time of the item to be self-checked and the current time;

[0026] S103, determining the self-check priority corresponding to each item to be self-checked according to the failure frequency corresponding to each item to be self-checked and the failure interval duration corresponding to the item to be self-checked;

[0027] S104 , performing self-inspection on each item to be self-inspected corresponding to the electronic control unit according to the self-inspection priority corresponding to each item to be self-inspected.

[0028] It can be understood that the electronic control unit self-test method provided in this example is applied to vehicles, including vehicles with automatic driving or intelligent driving (including vehicles with passenger functions (such as cars, buses, large buses, minibuses, etc.), vehicles with cargo functions (such as ordinary trucks, vans, trailers, closed trucks, tank trucks, flatbed trucks, container trucks, dump trucks, trucks with special structures), special vehicles (such as logistics distribution vehicles, automatic guided transport vehicles AGV, patrol cars, cranes, cranes, excavators, bulldozers, forklifts, rollers, loaders, off-road engineering vehicles, armored engineering vehicles, sewage treatment vehicles, sanitation vehicles, vacuum trucks, floor washing vehicles, sprinkler trucks, sweeping robots, food delivery robots, shopping guide robots, lawn mowers, golf carts, etc.), vehicles with entertainment functions (such as entertainment vehicles, amusement park automatic driving devices, balance cars, etc.), rescue vehicles (such as fire trucks, ambulances, power repair vehicles, engineering rescue vehicles, etc.)), etc.

[0029] It can be understood that the ECUs in the vehicle include but are not limited to the cockpit ECU, the electronic steering control ECU, and the entertainment ECU. During the power-on and startup process of the vehicle, the ECU needs to be self-checked. During the self-check process of the ECU, this application will obtain the items to be self-checked corresponding to the electronic control unit. The above-mentioned items to be self-checked include but are not limited to: power supply, hardware, firmware, peripherals, and communications.

[0030] In some examples, the present application will determine the failure frequency corresponding to each self-checked item, and the failure frequency is used to characterize the frequency of self-check failure of the self-checked item to be checked. The present application will also obtain the failure interval duration corresponding to each self-checked item, and the failure interval duration is the time difference between the last self-check failure time of the self-checked item to be checked and the current time; it can be understood that the unit of the failure interval duration corresponding to the self-checked item can be one of days and hours; for example, taking the unit corresponding to the failure interval duration as an example, if the self-checked item failed to self-check once at 10 a.m. on the same day, then when self-checking at 3 p.m. on the same day, the interval time difference between 3 p.m. on the same day and 10 a.m. on the same day is used as the failure interval duration, and when self-checking at 3 p.m. the next day, the interval time difference between 3 p.m. the next day and 10 a.m. the previous day is used as the failure interval duration. For example, taking the unit corresponding to the failure interval duration as a day, if the self-checked item failed to self-check once yesterday, then when self-checking today, the failure interval duration is 1 day.

[0031] After determining the failure frequency and the failure interval duration, this application will determine the self-inspection priority corresponding to each item to be self-inspected based on the failure frequency corresponding to each item to be self-inspected and the failure interval duration corresponding to the item to be self-inspected, so that the self-inspection priority combines the dual factors of failure frequency and failure interval time, thereby improving the accuracy of the self-inspection priority.

[0032] Subsequently, according to the self-inspection priority corresponding to each item to be self-inspected, a self-inspection is performed on each item to be self-inspected corresponding to the electronic control unit, thereby realizing a self-inspection of each item to be self-inspected according to the self-inspection priority.

[0033] According to the technical solution provided in the embodiment of the present application, during the process of powering on the vehicle, the items to be self-checked corresponding to the electronic control unit on the vehicle are obtained; the failure frequency corresponding to each item to be self-checked is determined, and the failure interval duration corresponding to each item to be self-checked is obtained, and the failure interval duration is the time difference between the last self-check failure time of the item to be self-checked and the current time; the self-check priority corresponding to each item to be self-checked is determined according to the failure frequency corresponding to each item to be self-checked and the failure interval duration corresponding to the item to be self-checked; according to the self-check priority corresponding to each item to be self-checked, each item to be self-checked corresponding to the electronic control unit is self-checked. The present application realizes the dynamic determination of the self-check priority according to the failure frequency and the failure interval duration of the item to be self-checked, so that the self-check priority combines the dual factors of the failure frequency and the failure interval time, and subsequently the items to be self-checked in the electronic control unit are self-checked according to the self-check priority, thereby improving the self-check efficiency of the items to be self-checked in the electronic control unit, and avoiding the problem that the items to be self-checked in the electronic control unit are self-checked in a fixed order, resulting in low self-check efficiency of the electronic control unit.

[0034] In some embodiments, Figure 2 As shown, according to the failure frequency corresponding to each item to be self-checked and the failure interval duration corresponding to the item to be self-checked, the self-checking priority corresponding to each item to be self-checked is determined, including:

[0035] S201, determining the failure interval rate corresponding to each item to be self-checked according to the failure interval duration corresponding to each item to be self-checked;

[0036] S202, determining weight coefficients corresponding to the failure interval rate and the failure frequency, and performing weighted summation of the failure interval rate and the failure frequency corresponding to each item to be self-checked according to the determined weight coefficients to obtain a self-check failure rate corresponding to each item to be self-checked;

[0037] S203 : Determine the self-inspection priority corresponding to each item to be self-inspected according to the self-inspection failure rate corresponding to each item to be self-inspected.

[0038] Specifically, the present application will determine the failure interval rate corresponding to each item to be self-checked based on the failure interval duration corresponding to each item to be self-checked. It can be understood that the failure interval duration and the failure interval rate are inversely proportional; that is, when the failure interval time increases, the failure interval rate decreases, and when the failure interval time decreases, the failure interval rate increases.

[0039] It is understandable that the specific functional relationship between the failure interval duration and the failure interval rate can be flexibly set by relevant personnel according to actual needs, and this application does not limit this.

[0040] In some examples, after determining the failure interval rate and the failure frequency, the present application will determine the weight coefficients corresponding to the failure interval rate and the failure frequency, and perform weighted summation of the failure interval rate and the failure frequency corresponding to each item to be self-checked according to the determined weight coefficients to obtain the self-check failure rate corresponding to each item to be self-checked; it can be understood that the self-check failure rate corresponding to each item to be self-checked in the electronic control unit can be determined in the above manner.

[0041] For example, assuming that there are N items to be self-checked in the electronic control unit, the failure frequency corresponding to the i-th item to be self-checked is recorded as F(i), and the failure interval rate corresponding to the i-th item to be self-checked is recorded as K(i). Then, the self-check failure rate corresponding to the i-th item to be self-checked is calculated as follows:

[0042] W(i)=a*F(i)+b*k(i);

[0043] Wherein, W(i) is the self-inspection failure rate corresponding to the i-th item to be self-inspected, a is the weight coefficient corresponding to the failure frequency, b is the weight coefficient corresponding to the failure interval rate, F(i) is the failure frequency corresponding to the i-th item to be self-inspected, and K(i) is the failure interval rate corresponding to the i-th item to be self-inspected.

[0044] It can be understood that the above values ​​of a and b are values ​​flexibly set by relevant personnel according to actual needs. Preferably, the value range of a is 0.5 to 1, and the value range of b is 0.1 to 0.5.

[0045] After obtaining the self-inspection failure rate corresponding to each item to be self-inspected, this application will determine the self-inspection priority corresponding to each item to be self-inspected based on the self-inspection failure rate corresponding to each item to be self-inspected, so that the self-inspection priority integrates the two factors of failure interval duration and failure frequency, thereby improving the accuracy of the self-inspection priority.

[0046] According to the technical solution provided in the embodiment of the present application, the failure interval rate corresponding to each item to be self-checked is determined according to the failure interval duration corresponding to each item to be self-checked; the weight coefficients corresponding to the failure interval rate and the failure frequency are determined, and the failure interval rate and the failure frequency corresponding to each item to be self-checked are weightedly summed according to the determined weight coefficient to obtain the self-check failure rate corresponding to each item to be self-checked; the self-check priority corresponding to each item to be self-checked is determined according to the self-check failure rate corresponding to each item to be self-checked, so that the self-check priority integrates the two factors of the failure interval duration and the failure frequency, thereby improving the accuracy of the self-check priority.

[0047] In some examples, such as Figure 3 As shown, according to the failure interval duration corresponding to each item to be self-checked, the failure interval rate corresponding to each item to be self-checked is determined, including:

[0048] S301, obtaining a preset failure interval rate weight, summing the failure interval duration and the failure interval rate weight, and obtaining an initial failure interval rate;

[0049] S302: Perform a reciprocal calculation on the initial failure interval rate to obtain the failure interval rate.

[0050] Specifically, the failure interval duration corresponding to the i-th item to be self-checked is recorded as T(i). In order to avoid the situation where the interval duration is 0, the present application will pre-set a failure interval rate weight, and the value range of the failure interval rate weight is 0-20; preferably, the failure interval rate weight is 1.

[0051] After obtaining the failure interval rate weight, the present application will sum the failure interval duration and the failure interval rate weight to obtain the initial failure interval rate; after obtaining the initial failure interval rate, the present application will perform a reciprocal calculation on the initial failure interval rate to obtain the failure interval rate, so that the failure interval duration and the failure interval rate are in an inversely proportional relationship; specifically as follows:

[0052] k(i)=1 / (T(i)+X);

[0053] Wherein, k(i) is the failure interval rate corresponding to the i-th item to be self-checked, T(i) is the failure interval duration corresponding to the i-th item to be self-checked, and X is the preset failure interval rate weight.

[0054] According to the technical solution provided in the embodiment of the present application, a preset failure interval rate weight is obtained, the failure interval duration and the failure interval rate weight are summed to obtain an initial failure interval rate; the initial failure interval rate is inversely calculated to obtain the failure interval rate, so that the failure interval duration and the failure interval rate are inversely proportional, thereby improving the accuracy of the failure interval rate.

[0055] In some embodiments, Figure 4 As shown, according to the self-test failure rate corresponding to each item to be self-tested, the self-test priority corresponding to each item to be self-tested is determined, including:

[0056] S401, sorting the items to be self-checked in order of their corresponding self-check failure rates;

[0057] S402: Using the sorting result corresponding to each item to be self-checked as the self-checking priority of each item to be self-checked.

[0058] Specifically, after obtaining the self-inspection failure rate corresponding to each item to be self-inspected, the present application will sort the items to be self-inspected in order of high to low self-inspection failure rates to obtain a sorting result. In the sorting result, the items to be self-inspected with high self-inspection failure rates are arranged in front, and the items to be self-inspected with low self-inspection failure rates are arranged in the back. The sorting result corresponding to each item to be self-inspected is then used as the self-inspection priority of each item to be self-inspected.

[0059] For example, suppose there are four items to be self-checked (A, B, C, D) in a certain electronic control unit, and their failure frequencies and failure intervals (interval between the last failure and this self-check) are as follows:

[0060] Self-check item A: failure frequency (F(A) = 0.3), failure interval length (T(A) = 5 days);

[0061] Self-check item B: failure frequency (F(B) = 0.2), failure interval length (T(B) = 1 day);

[0062] Self-check item C: failure frequency (F(C) = 0.4), failure interval length (T(C) = 10 days);

[0063] Self-check item D: failure frequency (F(D) = 0.1), failure interval length (T(D) = 2 days);

[0064] Among them, assuming that the weight coefficient a corresponding to the failure frequency is 0.7, the weight coefficient b corresponding to the failure interval rate is 0.3, and the weight value of the failure interval rate is 1, then the self-inspection failure rate W(A) corresponding to the self-inspection item A is 0.7*0.3+0.3*(1 / (5+1))=0.21+0.05=0.26; the self-inspection failure rate W(B) corresponding to the self-inspection item B is 0.7*0.2+0.3*(1 / (1+1))=0.14+0.15=0.29; the self-inspection failure rate W(C) corresponding to the self-inspection item C is 0.7*0.4+0.3*(1 / (10+1))=0.28+0.027=0.307; the self-inspection failure rate W(D) corresponding to the self-inspection item C is 0.7*0.1+0.3*(1 / (2+1))=0.07+0.1=0.17.

[0065] By sorting the self-inspection failure rates corresponding to each item to be self-inspected in order of priority, we can obtain W(C)>W(B)>W(A)>W(D); according to the self-inspection failure rates, it can be confirmed that the self-inspection priority corresponding to the item C to be self-inspected is the first priority, the self-inspection priority corresponding to the item B to be self-inspected is the second priority, the self-inspection priority corresponding to the item A to be self-inspected is the third priority, and the self-inspection priority corresponding to the item D to be self-inspected is the fourth priority. When the electronic control unit performs self-inspection, it first performs self-inspection on the item C to be self-inspected, then performs self-inspection on the item B to be self-inspected, then performs self-inspection on the item A to be self-inspected, and finally performs self-inspection on the item D to be self-inspected.

[0066] In some examples, the present application may also arrange the items to be self-checked corresponding to lower self-check failure rates in front, and arrange the items to be self-checked corresponding to higher self-check failure rates in the back, and subsequently, the items to be self-checked corresponding to lower self-check failure rates will be self-checked first, and the items to be self-checked corresponding to higher self-check failure rates will be self-checked later.

[0067] According to the technical solution provided in the embodiment of the present application, the items to be self-checked are sorted in order according to their corresponding self-check failure rates; the sorting results corresponding to each item to be self-checked are used as the self-check priority of each item to be self-checked, so as to give priority to detecting items to be self-checked with high self-check failure rates, thereby enabling potential risks to be discovered at an early stage and handled in a timely manner, thereby avoiding the problem that, under a fixed detection order, the items to be self-checked with high self-check failure rates are detected last, resulting in failure to discover potential risks in a timely manner and waste of resources; the priority of the items to be self-checked is determined by jointly determining the priority of the items to be self-checked by the dual factors of failure frequency and failure interval duration, so as to achieve the self-check order of the items to be self-checked, so that the items to be self-checked with high self-check failure rates are self-checked first, and the items to be self-checked with high self-check failure rates are checked preferentially, thereby avoiding the problem that, under a fixed order, the items to be self-checked are self-checked, and the self-check failure rates are not detected preferentially, resulting in failure to discover potential risks in a timely manner and waste of resources.

[0068] In some embodiments, Figure 5 As shown, determine the failure frequency corresponding to each self-checked item, including:

[0069] S501, obtaining a preset number of historical self-test results corresponding to each item to be self-tested, and determining the number of self-test failures in the obtained historical self-test results;

[0070] S502: taking the ratio of the number of self-check failures in the historical self-check results to the preset number as the failure frequency corresponding to each item to be self-checked.

[0071] Specifically, the value range of the above-mentioned preset number is 50-200, and preferably, the preset number is 100; taking the preset number of 100 as an example, the historical self-inspection results of the past 100 times of each item to be self-inspected are obtained, and the number of self-inspection failures in the obtained historical self-inspection results is determined, and then the ratio of the number of self-inspection failures in the historical self-inspection results to the preset number is used as the failure frequency corresponding to each item to be self-inspected.

[0072] For example, taking the preset number of 100 as an example, an electronic control unit has four self-test items (A, B, C, D), and the number of self-test failures in the historical self-test results of their first 100 tests are as follows: if the historical self-test results of item A to be self-tested fail 30 times, then the corresponding failure frequency of item A to be self-tested is 30%; if the historical self-test results of item B to be self-tested fail 20 times, then the corresponding failure frequency of item B to be self-tested is 20%; if the historical self-test results of item C to be self-tested fail 40 times, then the corresponding failure frequency of item C to be self-tested is 40%; if the historical self-test results of item D to be self-tested fail 10 times, then the corresponding failure frequency of item D to be self-tested is 10%.

[0073] According to the technical solution provided in the embodiment of the present application, a preset number of historical self-inspection results corresponding to each item to be self-inspected are obtained, and the number of self-inspection failures in the obtained historical self-inspection results is determined; the ratio of the number of self-inspection failures in the historical self-inspection results to the preset number is used as the failure frequency corresponding to each item to be self-inspected. The above steps can accurately obtain the failure frequency corresponding to the item to be self-inspected, and the failure frequency can be dynamically changed with the result of each self-inspection, that is, the failure frequency corresponding to the item to be self-inspected can change continuously with the passage of time and the accumulation of data, and the self-inspection failure rate determined subsequently can also change continuously with the passage of time and the accumulation of data, thereby realizing the continuous optimization of the self-inspection priority of the self-inspection items and ensuring that the items to be self-inspected are always kept in the best state.

[0074] In some embodiments, Figure 6 As shown, after self-checking each item to be self-checked corresponding to the electronic control unit according to the self-checking priority corresponding to each item to be self-checked, the method further includes:

[0075] S601. If any of the items to be self-checked fails in self-checking, the cause of the failure of the item to be self-checked that fails in self-checking is recorded;

[0076] S602: Stop starting the electronic control unit and issue a warning that the electronic control unit has failed self-test.

[0077] Specifically, if any of the items to be self-checked fails in self-checking, the failure cause of the item to be self-checked that failed in self-checking is recorded, so that subsequent relevant personnel can query the recorded failure cause and quickly repair the item to be self-checked.

[0078] In some examples, since a pending self-test item in an electronic control unit fails to start, in order to avoid damage to the electronic control unit, the present application will also stop starting the electronic control unit and issue an alarm that the electronic control unit has failed the self-test, so that relevant personnel can be informed that the electronic control unit has a pending self-test item that has failed the self-test.

[0079] According to the technical solution provided in the embodiment of the present application, if any item to be self-checked fails in self-check, the fault cause of the item to be self-checked that failed in self-check is recorded; the electronic control unit is stopped and started, and an alarm prompt that the electronic control unit has failed in self-check is issued, so that relevant personnel can query the recorded fault cause and quickly repair the item to be self-checked, and relevant personnel can be informed that the electronic control unit has an item to be self-checked that failed in self-check.

[0080] In some examples, such as Figure 7 As shown, a plurality of electronic control units are provided on the vehicle, and the method further comprises:

[0081] S701: if there is an electronic control unit that fails self-test, determine the safety impact level of the electronic control unit that fails self-test on the vehicle;

[0082] S702: If the safety impact level exceeds a preset level threshold, the vehicle is stopped.

[0083] Specifically, in the case that there is an electronic control unit that fails self-test, the safety impact level of the electronic control unit that fails self-test on the vehicle is determined, and the safety impact level is used to characterize the safety impact caused by the electronic control unit on the vehicle.

[0084] It can be understood that each electronic control unit corresponds to a safety impact level, and the greater the safety impact of the electronic control unit on the vehicle, the higher the corresponding safety impact level, and the smaller the safety impact of the electronic control unit on the vehicle, the lower the corresponding safety impact level; for example, taking the electronic control units as a power control electronic control unit and an entertainment electronic control unit as an example, since the power control electronic control unit has a greater impact on the safety of the vehicle and the entertainment electronic control unit has a smaller impact on the safety of the vehicle, the safety impact level corresponding to the power control electronic control unit is greater than the safety impact level corresponding to the entertainment electronic control unit.

[0085] In some examples, if the safety impact level corresponding to the electronic control unit exceeds a preset level threshold, it indicates that starting the vehicle when the electronic control unit fails will cause a safety impact on the vehicle; conversely, if the safety impact level corresponding to the electronic control unit does not exceed the preset level threshold, it indicates that starting the vehicle when the electronic control unit fails will not cause a safety impact on the vehicle. Therefore, the present application stops starting the vehicle when the safety impact level of the electronic control unit that fails the self-test exceeds the preset level threshold; and starts the vehicle normally when the safety impact level of the electronic control unit that fails the self-test does not exceed the preset level threshold.

[0086] In order to better understand the present application, this embodiment provides a more specific example for illustration. A microcontroller unit (MCU) and multiple electronic control units are provided on a vehicle. When performing a self-test on the electronic control unit, the following steps are included:

[0087] (1) After the MCU is powered on, the power self-test (PowerOnSelfTest_SWC) is started and the self-test begins immediately;

[0088] (2) After the SoC is powered on, start PowerOnSelfTest_Module, such as Figure 8 As shown, the self-test of the items to be self-tested starts immediately. After the self-test of a single item to be self-tested is completed, the power-on self-test result is reported to the MCU through the SPI protocol. It can be understood that during the self-test of the items to be self-tested, a self-test timeout detection will also be performed. If the self-test time of a certain item to be self-tested exceeds 10 seconds, the self-test is terminated and the self-test result of the self-test timeout is uploaded;

[0089] (3) The MCU verifies the power-on self-test results of all SoC nodes within the expected time. If any node reports that the startup conditions are not met, the vehicle startup is terminated and the fault of the item to be self-checked is recorded. If all nodes meet the startup conditions, the SoC power-on self-test is completed and it is considered that the vehicle can be started.

[0090] When self-checking the items to be self-checked in the electronic control unit, the present application will also dynamically adjust the detection order of the items to be self-checked, wherein, during the self-checking process of the electronic control unit when it is powered on, the electronic control unit records the results of each self-checking of the items to be self-checked through the storage module, including the execution time, success or failure, and specific error type of each item to be self-checked. The historical data is analyzed by the analysis module, by counting the failure frequency and failure interval duration of each self-checking item, and determining the self-checking priority corresponding to each item to be self-checked based on the failure frequency and failure interval duration. When the electronic control unit is powered on, the electronic control unit first calls the optimized self-checking priority corresponding to each item to be self-checked, and self-checks the items to be self-checked in turn. The above-mentioned items to be self-checked include power supply, hardware, firmware, peripherals, communication, etc.

[0091] It can be understood that, according to the self-test priority corresponding to each item to be self-tested, the electronic control unit will first self-test the components with a higher failure rate when powered on. For example, if the self-test failure rate of the power supply and communication module is high, then in the optimized self-test sequence, the power supply and communication module will be tested first, and other self-tests such as peripherals or firmware will be postponed. During the self-test process, if a certain item to be self-tested fails, the electronic control unit will immediately trigger the fault handling mechanism and decide whether to terminate the subsequent self-test based on the importance of the item to be self-tested and the type of fault.

[0092] In some examples, the fault type matching DTC code in this application is output to the log or HMI to reflect the user's reminder, and fault errors in power, hardware, communication, etc. are notified to the health management module in the vehicle to terminate the power-on operation. If the hardware serial number, version, etc. do not match, they will be correctly sent to the vehicle parameter management module in the vehicle for update.

[0093] It is understandable that if Fig. 9 As shown in the figure, after the MCU is powered on, PowerOnSelfTest_SWC is started and self-test begins immediately. At this time, the MCU enters the self-test module. The MCU first detects whether the power supply is normal. If there is no fault, the next self-test is performed. If there is a fault, the health management is reported to terminate the power-on and the DTC code is recorded. Then, the MCU detects whether each hardware is started normally, such as the camera, screen, etc. If there is no fault, the next self-test is performed. If there is a fault, the health management is reported to terminate the power-on and the DTC code is recorded. If the above two self-tests are normal, the SOC and MCU fault self-tests (self-tests of items to be tested) are entered respectively.

[0094] During the communication self-test process, check whether the communication between SOC and MCU is normal. The communication self-test includes SPI self-test items and CAN communication self-test items. After determining the self-test priority corresponding to each self-test item, perform communication self-test, such as whether the SPI communication protocol is normal and available, and whether the hardware CAN communication is normal. If there is no fault, proceed to the next self-test. If there is a fault, report it to the health management, stop powering on, and record the DTC code.

[0095] It can be understood that the fault self-test of soc and mcu is carried out separately. The power-on self-test results of MCU and SOC nodes are verified within the expected time: the detection time T>T_set time: if the startup condition is not met, the startup is terminated and the single node fault is recorded.

[0096] It can be understood that the SOC in this application also includes a hardware version self-check. If the hardware serial number, version, etc. do not match, they will be correctly sent to the vehicle parameter management module for updating.

[0097] It is understandable that the SOC will also report the above test results to the health management module, and the HMI will inform the user.

[0098] Among them, the present application can periodically re-analyze and adjust the self-test priority corresponding to the items to be self-tested according to the newly collected self-test data to ensure the continuous optimization of the self-test process. Exemplarily, by regularly analyzing the latest self-test data, so as to determine the self-test failure rate corresponding to each item to be self-tested according to the latest failure frequency and failure interval duration, and determine the self-test priority corresponding to the items to be self-tested according to the self-test failure rate. For example, after every month or every 50 power-on self-tests, the method provided by the present application will re-evaluate the self-test order of the items to be self-tested and make corresponding adjustments. This adaptive optimization process ensures that the system can always perform the best self-test based on the latest data.

[0099] According to the technical solution provided in the embodiment of the present application, in the event that there is an electronic control unit that fails self-test, the safety impact level of the electronic control unit that fails self-test on the vehicle is determined; if the safety impact level exceeds a preset level threshold, the vehicle is stopped and started, thereby improving the user's vehicle safety and avoiding safety hazards caused by starting the vehicle when the safety impact level exceeds the preset level threshold.

[0100] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, which will not be described one by one here.

[0101] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0102] This embodiment also provides an electronic control unit self-test device, such as Fig.10 As shown, the device comprises:

[0103] The acquisition module 1001 is configured to acquire the to-be-self-tested items corresponding to the electronic control unit on the vehicle during the process of powering on the vehicle;

[0104] The determination module 1002 is configured to determine the failure frequency corresponding to each item to be self-checked, and obtain the failure interval duration corresponding to each item to be self-checked, where the failure interval duration is the time difference between the last self-check failure time of the item to be self-checked and the current time;

[0105] The priority module 1003 is configured to determine the self-checking priority corresponding to each item to be self-checked according to the failure frequency corresponding to each item to be self-checked and the failure interval duration corresponding to the item to be self-checked;

[0106] The self-check module 1004 is configured to perform a self-check on each item to be self-checked corresponding to the electronic control unit according to the self-check priority corresponding to each item to be self-checked.

[0107] In some examples, the priority module 1003 is also configured to determine the failure interval rate corresponding to each item to be self-checked based on the failure interval duration corresponding to each item to be self-checked; determine the weight coefficient corresponding to the failure interval rate and the failure frequency, and perform weighted summation of the failure interval rate and the failure frequency corresponding to each item to be self-checked based on the determined weight coefficient to obtain the self-check failure rate corresponding to each item to be self-checked; determine the self-check priority corresponding to each item to be self-checked based on the self-check failure rate corresponding to each item to be self-checked.

[0108] In some examples, the priority module 1003 is further configured to obtain a preset failure interval rate weight, sum the failure interval duration and the failure interval rate weight to obtain an initial failure interval rate; and perform a reciprocal calculation on the initial failure interval rate to obtain the failure interval rate.

[0109] In some examples, the self-check module 1004 is further configured to sort the items to be self-checked in order of high and low self-check failure rates; and use the sorting results corresponding to each item to be self-checked as the self-check priority of each item to be self-checked.

[0110] In some examples, the determination module 1002 is also configured to obtain a preset number of historical self-inspection results corresponding to each item to be self-inspected, and determine the number of self-inspection failures in the obtained historical self-inspection results; and use the ratio of the number of self-inspection failures in the historical self-inspection results to the preset number as the failure frequency corresponding to each item to be self-inspected.

[0111] In some examples, the self-test module 1004 is also configured to record the cause of the failure of any item to be self-tested if the self-test fails; stop starting the electronic control unit, and issue an alarm prompt that the electronic control unit has failed the self-test.

[0112] In some examples, the self-test module 1004 is further configured to determine the safety impact level of the electronic control unit that fails the self-test on the vehicle if there is an electronic control unit that fails the self-test; if the safety impact level exceeds a preset level threshold, the vehicle is stopped.

[0113] According to the technical solution provided by the embodiment of the present application, the electronic control unit self-test device provided by the present embodiment obtains the items to be self-tested corresponding to the electronic control unit on the vehicle during the process of powering on the vehicle; determines the failure frequency corresponding to each item to be self-tested, and obtains the failure interval duration corresponding to each item to be self-tested, where the failure interval duration is the time difference between the last self-test failure time of the item to be self-tested and the current time; determines the self-test priority corresponding to each item to be self-tested according to the failure frequency corresponding to each item to be self-tested and the failure interval duration corresponding to the item to be self-tested; and performs self-test on each item to be self-tested corresponding to the electronic control unit according to the self-test priority corresponding to each item to be self-tested. The present application realizes the dynamic determination of the self-test priority according to the failure frequency and the failure interval duration of the item to be self-tested, so that the self-test priority combines the dual factors of the failure frequency and the failure interval time. Subsequently, the items to be self-tested in the electronic control unit are self-tested according to the self-test priority, thereby improving the self-test efficiency of the items to be self-tested in the electronic control unit, and avoiding the problem that the items to be self-tested in the electronic control unit are self-tested in a fixed order, resulting in low self-test efficiency of the electronic control unit.

[0114] Fig.11 Schematic diagram of a vehicle 11 provided in an embodiment of the present application. Fig.11 As shown, the vehicle 11 of this embodiment includes: a processor 1101, a memory 1102, and a computer program 1103 stored in the memory 1102 and executable on the processor 1101. When the processor 1101 executes the computer program 1103, the steps in the above-mentioned method embodiments are implemented. Alternatively, when the processor 1101 executes the computer program 1103, the functions of the modules / units in the above-mentioned device embodiments are implemented.

[0115] The vehicle 11 may be a desktop computer, a notebook, a PDA, a cloud server, etc. The vehicle 11 may include but is not limited to a processor 1101 and a memory 1102. Those skilled in the art will appreciate that Fig.11 The vehicle 11 is merely an example and does not constitute a limitation of the vehicle 11 , which may include more or fewer components than shown, or different components.

[0116] Processor 1101 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0117] The memory 1102 may be an internal storage unit of the vehicle 11, such as a hard disk or memory of the vehicle 11. The memory 1102 may also be an external storage device of the vehicle 11, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the vehicle 11. The memory 1102 may also include both an internal storage unit of the vehicle 11 and an external storage device. The memory 1102 is used to store computer programs and other programs and data required by the vehicle.

[0118] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units.

[0119] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. The computer program may include computer program code, and the computer program code may be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of regional requirements and patent practice. For example, in some areas, according to regional requirements and patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

[0120] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A self-test method for an electronic control unit, characterized in that: The method comprises: During the process of powering on the vehicle, obtaining the to-be-self-tested items corresponding to the electronic control unit on the vehicle; Determine the failure frequency corresponding to each of the items to be self-checked, and obtain the failure interval duration corresponding to each of the items to be self-checked, wherein the failure interval duration is the time difference between the last self-check failure time of the item to be self-checked and the current time; Determine the self-check priority corresponding to each of the items to be self-checked according to the failure frequency corresponding to each of the items to be self-checked and the failure interval duration corresponding to the items to be self-checked; According to the self-check priority corresponding to each of the items to be self-checked, a self-check is performed on each of the items to be self-checked corresponding to the electronic control unit.

2. The method according to claim 1, characterized in that Determining the self-check priority corresponding to each of the items to be self-checked according to the failure frequency corresponding to each of the items to be self-checked and the failure interval duration corresponding to the items to be self-checked, includes: Determine the failure interval rate corresponding to each of the items to be self-checked according to the failure interval duration corresponding to each of the items to be self-checked; Determine the weight coefficients corresponding to the failure interval rate and the failure frequency, and perform weighted summation of the failure interval rate and the failure frequency corresponding to each of the items to be self-checked according to the determined weight coefficients to obtain the self-check failure rate corresponding to each of the items to be self-checked; The self-inspection priority corresponding to each of the items to be self-inspected is determined according to the self-inspection failure rate corresponding to each of the items to be self-inspected.

3. The method according to claim 2, characterized in that Determining the failure interval rate corresponding to each of the items to be self-checked according to the failure interval duration corresponding to each of the items to be self-checked includes: Obtaining a preset failure interval rate weight, summing the failure interval duration and the failure interval rate weight to obtain an initial failure interval rate; The initial failure interval rate is inversely calculated to obtain the failure interval rate.

4. The method according to claim 2, characterized in that: Determining the self-inspection priority corresponding to each of the items to be self-inspected according to the self-inspection failure rate corresponding to each of the items to be self-inspected includes: Sorting the items to be self-checked in order of their respective self-check failure rates; The sorting result corresponding to each of the items to be self-checked is used as the self-checking priority of each of the items to be self-checked.

5. The method according to claim 1, characterized in that Determine the failure frequency corresponding to each of the self-checked items, including: Obtaining a preset number of historical self-inspection results corresponding to each of the items to be self-inspected, and determining the number of self-inspection failures in the obtained historical self-inspection results; The ratio of the number of self-check failures in the historical self-check results to the preset number is used as the failure frequency corresponding to each of the items to be self-checked.

6. The method according to claim 1, characterized in that After self-checking each of the items to be self-checked corresponding to the electronic control unit according to the self-checking priority corresponding to each of the items to be self-checked, the method further includes: If any of the items to be self-checked fails in self-checking, the failure cause of the item to be self-checked that fails in self-checking is recorded; The electronic control unit is stopped and a warning is issued that the electronic control unit has failed self-test.

7. The method according to claim 1, characterized in that The vehicle is provided with a plurality of the electronic control units, and the method further comprises: In the case that there is the electronic control unit that fails the self-test, determining the safety impact level of the electronic control unit that fails the self-test on the vehicle; If the safety impact level exceeds a preset level threshold, the vehicle is stopped and started.

8. An electronic control unit self-test device, characterized in that: The device comprises: An acquisition module is configured to acquire to-be-self-checked items corresponding to the electronic control unit on the vehicle during the process of powering on the vehicle; A determination module is configured to determine the failure frequency corresponding to each of the items to be self-checked, and obtain the failure interval duration corresponding to each of the items to be self-checked, wherein the failure interval duration is the time difference between the last self-check failure time of the item to be self-checked and the current time; A priority module, configured to determine the self-check priority corresponding to each of the items to be self-checked according to the failure frequency corresponding to each of the items to be self-checked and the failure interval duration corresponding to the items to be self-checked; The self-check module is configured to perform a self-check on each of the items to be self-checked corresponding to the electronic control unit according to the self-check priority corresponding to each of the items to be self-checked.

9. A vehicle comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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