An electronic control unit self-checking method and device, a vehicle and a storage medium

Abstract

The application 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. In the process of powering on the vehicle, the method obtains to-be-checked items corresponding to electronic control units of the vehicle; determines a failure frequency corresponding to each to-be-checked item, and obtains a failure interval duration corresponding to each to-be-checked item; determines a self-checking priority corresponding to each to-be-checked item according to the failure frequency corresponding to each to-be-checked item and the failure interval duration corresponding to each to-be-checked item; and performs self-checking on each to-be-checked item corresponding to the electronic control unit according to the self-checking priority corresponding to each to-be-checked item. According to the method, the self-checking priority is dynamically determined according to the failure frequency and the failure interval duration of the to-be-checked item, so that the self-checking priority combines the double factors of the failure frequency and the failure interval duration, and the self-checking efficiency of the to-be-checked item in the electronic control unit is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, and particularly relates to an electronic control unit self-checking method and device, a vehicle and a storage medium. BACKGROUND

[0002] When a traditional vehicle electronic control unit (ECU) is powered on, a series of self-checking procedures are usually performed to ensure the normal operation of the ECU when the vehicle starts. The current power-on self-checking scheme usually follows a pre-set fixed sequence, that is, the power supply, hardware, firmware, peripherals, communication, initialization, fault handling and other parts of the ECU are detected in turn. If any node fails to be detected, the start is terminated and a single-node fault is recorded. If all nodes meet the start condition, the ECU power-on self-checking is completed. After all ECU detections are passed, it is considered that the vehicle can be started. However, with the complication of the ECU, different components in the ECU may have different failure frequencies due to various reasons during operation. The existing fixed sequence self-checking method may cause detection lag of high-frequency fault components to some extent, affecting the detection efficiency and reliability of the ECU. SUMMARY

[0003] Therefore, the embodiments of the present application provide an electronic control unit self-checking method, device, vehicle and storage medium to solve the problem that the self-checking efficiency of the electronic control unit is low due to the fixed sequence self-checking of the self-checking items in the electronic control unit.

[0004] The first aspect of the embodiments of the present application provides an electronic control unit self-checking method, which comprises: obtaining self-checking items corresponding to an electronic control unit of a vehicle during power-on of the vehicle; determining a failure frequency corresponding to each self-checking item and obtaining a failure interval duration corresponding to each self-checking item, the failure interval duration being a time difference between a last self-checking failure time of the self-checking item and a current time; determining a self-checking priority corresponding to each self-checking item according to the failure frequency corresponding to each self-checking item and the failure interval duration corresponding to each self-checking item; and performing self-checking on each self-checking item corresponding to the electronic control unit according to the self-checking priority corresponding to each self-checking item.

[0005] In a second aspect, the embodiment of the present application provides an electronic control unit self-checking device, which comprises: an acquisition module configured to acquire, in a process of powering on a vehicle, to-be-self-checked items corresponding to electronic control units on the vehicle; a determination module configured to determine a failure frequency corresponding to each to-be-self-checked item and acquire a failure interval duration corresponding to each to-be-self-checked item, the failure interval duration being a time difference between a last self-checking failure time of the to-be-self-checked item and a current time; a priority module configured to determine a self-checking priority corresponding to each to-be-self-checked item according to the failure frequency corresponding to each to-be-self-checked item and the failure interval duration corresponding to the to-be-self-checked item; and a self-checking module configured to perform self-checking on each to-be-self-checked item corresponding to the electronic control unit according to the self-checking priority corresponding to each to-be-self-checked item.

[0006] In a third aspect, the embodiment of the present application provides a vehicle, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the above method when executing the computer program.

[0007] In a fourth aspect, the embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program implements the steps of the above method when executed by a processor.

[0008] Compared with the prior art, the embodiment of the present application has the beneficial effects that: in the process of powering on the vehicle, the method in the embodiment of the present application acquires to-be-self-checked items corresponding to electronic control units on the vehicle; determines a failure frequency corresponding to each to-be-self-checked item and acquires a failure interval duration corresponding to each to-be-self-checked item, the failure interval duration being a time difference between a last self-checking failure time of the to-be-self-checked item and a current time; determines a self-checking priority corresponding to each to-be-self-checked item according to the failure frequency corresponding to each to-be-self-checked item and the failure interval duration corresponding to the to-be-self-checked item; and performs self-checking on each to-be-self-checked item corresponding to the electronic control unit according to the self-checking priority corresponding to each to-be-self-checked item, which realizes dynamic determination of the self-checking priority according to the failure frequency and the failure interval duration of the to-be-self-checked item, so that the self-checking priority combines the double factors of the failure frequency and the failure interval time, and subsequent self-checking of the to-be-self-checked items in the electronic control unit according to the self-checking priority improves the self-checking efficiency of the to-be-self-checked items in the electronic control unit and avoids the problem of low self-checking efficiency of the electronic control unit caused by self-checking of the to-be-self-checked items in the electronic control unit in a fixed order. BRIEF DESCRIPTION OF DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative effort based on these drawings.

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

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

[0012] Figure 3 is a flowchart of still another electronic control unit self-checking method provided by an embodiment of the present application;

[0013] Figure 4 is a flowchart of yet another electronic control unit self-checking method provided by an embodiment of the present application;

[0014] Figure 5 is a flowchart of still another electronic control unit self-checking method provided by an embodiment of the present application;

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

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

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

[0018] Figure 9 is a flowchart of still another optional electronic control unit self-checking method provided by an embodiment of the present application;

[0019] Figure 10 is a structural schematic diagram of an electronic control unit self-checking device provided by an embodiment of the present application;

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

[0021] In the following description, for purposes of explanation and not limitation, specific details are set forth such as particular architectures, technologies, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0022] A self-checking method and device of 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 A self-checking method of an electronic control unit provided by an embodiment of the present application, as shown in the figure, comprises the following steps. Figure 1

[0024] S101. In the process of powering on the vehicle, obtaining to-be-checked items corresponding to electronic control units of the vehicle;

[0025] S102. Determining a failure frequency corresponding to each to-be-checked item, and obtaining a failure interval duration corresponding to each to-be-checked item, which is a time difference between a last time of self-checking failure of the to-be-checked item and a current time;

[0026] S103. Determining a self-checking priority corresponding to each to-be-checked item according to the failure frequency corresponding to each to-be-checked item and the failure interval duration corresponding to each to-be-checked item;

[0027] S104. Performing self-checking on each to-be-checked item corresponding to the electronic control unit according to the self-checking priority corresponding to each to-be-checked item.

[0028] It can be understood that the self-checking method of the electronic control unit provided by the present example is applied to a vehicle, and the vehicle includes a vehicle with automatic driving or intelligent driving (including a passenger vehicle (such as a car, a bus, a minibus, etc.), a cargo vehicle (such as a general truck, a van, a drop trailer, a closed truck, a tank truck, a flatbed truck, a container truck, a self-unloading truck, a special structure truck), a special vehicle (such as a logistics distribution vehicle, an automatic guided vehicle AGV, a patrol vehicle, a crane, a crane, an excavator, a bulldozer, a shovel truck, a road roller, a loader, an off-road engineering vehicle, an armored engineering vehicle, a sewage treatment vehicle, a sanitation vehicle, a dust suction vehicle, a floor washing vehicle, a water spraying vehicle, a sweeping robot, a food delivery robot, a shopping guide robot, a mower, a golf cart, etc.), an entertainment vehicle (such as an entertainment vehicle, an amusement park automatic driving device, a balance car, etc.), a rescue vehicle (such as a fire truck, an ambulance, a power repair truck, an engineering rescue vehicle, etc.), etc.

[0029] ​It can be understood that the ECUs in the vehicle include but are not limited to cabin ECUs, electronic steering control ECUs, and entertainment ECUs. During the power-on process of the vehicle, the ECUs need to be self-checked. During the self-checking of the ECUs, the present application will obtain the self-checking items corresponding to the electronic control units. The self-checking items include but are not limited to power supply, hardware, firmware, peripherals, and communication.

[0030] In some examples, the present application will determine the failure frequency corresponding to each self-checking item, which is used to represent the frequency of self-checking failure of the self-checking item. The present application will also obtain the failure interval duration corresponding to each self-checking item, which is the time difference between the last self-checking failure time of the self-checking item and the current time. It can be understood that the unit of the failure interval duration corresponding to the self-checking item can be one of days and hours. For example, taking the unit of the failure interval duration as hours, if the self-checking item fails once at 10 o'clock in the morning, and then fails again at 3 o'clock in the afternoon, the interval time difference between 3 o'clock in the afternoon and 10 o'clock in the morning is taken as the failure interval duration, and the interval time difference between 3 o'clock in the afternoon of the next day and 10 o'clock in the morning of the previous day is taken as the failure interval duration. For example, taking the unit of the failure interval duration as days, if the self-checking item fails once yesterday, then the failure interval duration is 1 day.

[0031] After determining the failure frequency and the failure interval duration, the present application will determine the self-checking priority corresponding to each self-checking item according to the failure frequency corresponding to each self-checking item and the failure interval duration corresponding to the self-checking item, so that the self-checking priority combines the dual factors of the failure frequency and the failure interval time, and improves the accuracy of the self-checking priority.

[0032] Subsequently, each self-checking item corresponding to the electronic control unit is self-checked according to the self-checking priority corresponding to each self-checking item, which realizes self-checking of each self-checking item according to the self-checking priority.

[0033] According to the technical scheme provided in the embodiment of the application, in the process of powering on the vehicle, the to-be-self-checked items corresponding to the electronic control unit of the vehicle are acquired; the failure frequency corresponding to each to-be-self-checked item is determined, and the failure interval duration corresponding to each to-be-self-checked item is acquired, the failure interval duration being the time difference between the last self-check failure time of the to-be-self-checked item and the current time; the self-check priority corresponding to each to-be-self-checked item is determined according to the failure frequency corresponding to each to-be-self-checked item and the failure interval duration corresponding to the to-be-self-checked item; and each to-be-self-checked item corresponding to the electronic control unit is self-checked according to the self-check priority corresponding to each to-be-self-checked item. The application realizes dynamic determination of the self-check priority according to the failure frequency and the failure interval duration of the to-be-self-checked item, so that the self-check priority combines the double factors of the failure frequency and the failure interval time, and the to-be-self-checked items in the electronic control unit are self-checked according to the self-check priority subsequently, thereby improving the self-check efficiency of the to-be-self-checked items in the electronic control unit and avoiding the problem that the to-be-self-checked items 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, as shown in Figure 2 the self-check priority corresponding to each to-be-self-checked item is determined according to the failure frequency corresponding to each to-be-self-checked item and the failure interval duration corresponding to the to-be-self-checked item, including:

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

[0036] S202, the weight coefficient corresponding to the failure interval rate and the failure frequency is determined, the failure interval rate and the failure frequency corresponding to each to-be-self-checked item are weighted and summed according to the determined weight coefficient, and the self-check failure rate corresponding to each to-be-self-checked item is obtained;

[0037] S203, the self-check priority corresponding to each to-be-self-checked item is determined according to the self-check failure rate corresponding to each to-be-self-checked item.

[0038] Specifically, the application determines the failure interval rate corresponding to each to-be-self-checked item according to the failure interval duration corresponding to each to-be-self-checked item. It can be understood that the failure interval duration and the failure interval rate are in inverse proportion. 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 can be understood 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 the application does not limit this.

[0040] In some examples, after determining the failure interval rate and the failure frequency, the application determines a weight coefficient corresponding to the failure interval rate and the failure frequency, and performs weighted summation on the failure interval rate and the failure frequency corresponding to each self-checking item according to the determined weight coefficient to obtain a self-checking failure rate corresponding to each self-checking item. It can be understood that the self-checking failure rate corresponding to each self-checking item in the electronic control unit can be determined in the above manner.

[0041] For example, assuming that there are N self-checking items in the electronic control unit, the failure frequency corresponding to the i th self-checking item is denoted as F(i), and the failure interval rate corresponding to the i th self-checking item is denoted as K(i), the calculation method of the self-checking failure rate corresponding to the i th self-checking item is as follows:

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

[0043] wherein, W(i) is the self-checking failure rate corresponding to the i th self-checking item, 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 self-checking item, and K(i) is the failure interval rate corresponding to the i th self-checking item.

[0044] It can be understood that the values of a and b are values set by relevant personnel according to actual needs, and preferably, the value of a ranges from 0.5 to 1, and the value of b ranges from 0.1 to 0.5.

[0045] After obtaining the self-checking failure rate corresponding to each self-checking item, the application determines a self-checking priority corresponding to each self-checking item according to the self-checking failure rate corresponding to each self-checking item, so that the self-checking priority integrates the two factors of the failure interval length and the failure frequency, and the accuracy of the self-checking priority is improved.

[0046] According to the technical scheme provided in the embodiments of the application, the failure interval rate corresponding to each self-checking item is determined according to the failure interval length corresponding to each self-checking item, the weight coefficient corresponding to the failure interval rate and the failure frequency is determined, the failure interval rate and the failure frequency corresponding to each self-checking item are weighted and summed according to the determined weight coefficient to obtain the self-checking failure rate corresponding to each self-checking item, and the self-checking priority corresponding to each self-checking item is determined according to the self-checking failure rate corresponding to each self-checking item, so that the self-checking priority integrates the two factors of the failure interval length and the failure frequency, and the accuracy of the self-checking priority is improved.

[0047] In some examples, as shown in Figure 3 the failure interval rate corresponding to each self-checking item is determined according to the failure interval length corresponding to each self-checking item, including:

[0048] S301, obtain a preset failure interval rate weight, sum the failure interval time length and the failure interval rate weight to obtain an initial failure interval rate;

[0049] S302, calculate the initial failure interval rate in reverse to obtain a failure interval rate.

[0050] Specifically, the failure interval time length corresponding to the ith to-be-self-checked item is denoted as T(i), in order to avoid the case that the interval time length is 0, the application will preset a failure interval rate weight, 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 application will sum the failure interval time length and the failure interval rate weight to obtain an initial failure interval rate; after obtaining the initial failure interval rate, the application will calculate the initial failure interval rate in reverse to obtain a failure interval rate, so that the failure interval time length and the failure interval rate are inversely proportional; specifically as follows:

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

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

[0054] According to the technical scheme provided by the application, the preset failure interval rate weight is obtained, the failure interval time length and the failure interval rate weight are summed to obtain an initial failure interval rate, and the initial failure interval rate is calculated in reverse to obtain a failure interval rate, so that the failure interval time length and the failure interval rate are inversely proportional, and the accuracy of the failure interval rate is improved.

[0055] In some embodiments, as shown in Figure 4 According to the self-check failure rate corresponding to each to-be-self-checked item, the self-check priority corresponding to each to-be-self-checked item is determined, including:

[0056] S401, according to the self-check failure rate corresponding to each to-be-self-checked item, the self-check failure rate corresponding to each to-be-self-checked item is sorted in high-low order;

[0057] S402, the sorting result corresponding to each to-be-self-checked item is taken as the self-check priority of each to-be-self-checked item.

[0058] Specifically, after obtaining the self-check failure rate corresponding to each to-be-self-checked item, the self-check failure rate corresponding to each to-be-self-checked item is sorted in high-low order to obtain a sorting result, in which the to-be-self-checked item with a high self-check failure rate is arranged in front, and the to-be-self-checked item with a low self-check failure rate is arranged in back, and then the sorting result corresponding to each to-be-self-checked item is taken as the self-check priority of each to-be-self-checked item.

[0059] For example, assume that there are four to-be-self-checked items (A, B, C, and D) in an electronic control unit, and their failure frequencies and failure interval lengths (interval between the last failure and the current self-check) are as follows:

[0060] To-be-self-checked item A: failure frequency (F(A) = 0.3) and failure interval length (T(A) = 5 days);

[0061] To-be-self-checked item B: failure frequency (F(B) = 0.2) and failure interval length (T(B) = 1 day);

[0062] To-be-self-checked item C: failure frequency (F(C) = 0.4) and failure interval length (T(C) = 10 days);

[0063] To-be-self-checked item D: failure frequency (F(D) = 0.1) and failure interval length (T(D) = 2 days);

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

[0065] According to the high-low order sequence of the self-check failure rate corresponding to each to-be-self-checked item, the priority is sorted, and then W(C)>W(B)>W(A)>W(D) can be obtained; according to the self-check failure rate, it can be confirmed that the self-check priority corresponding to the to-be-self-checked item C is the first priority, the self-check priority corresponding to the to-be-self-checked item B is the second priority, the self-check priority corresponding to the to-be-self-checked item A is the third priority, and the self-check priority corresponding to the to-be-self-checked item D is the fourth priority, so that when the electronic control unit performs self-checking, the to-be-self-checked item C is firstly self-checked, then the to-be-self-checked item B is self-checked, then the to-be-self-checked item A is self-checked, and finally the to-be-self-checked item D is self-checked.

[0066] In some examples, the application can also arrange the to-be-self-checked item corresponding to the lower self-check failure rate in front and arrange the to-be-self-checked item corresponding to the higher self-check failure rate in back, and the to-be-self-checked item corresponding to the lower self-check failure rate is firstly self-checked, and the to-be-self-checked item corresponding to the higher self-check failure rate is self-checked later.

[0067] According to the technical scheme provided by the embodiment of the application, the high-low order sequence of the self-check failure rate corresponding to each to-be-self-checked item is sorted; the sorting result corresponding to each to-be-self-checked item is taken as the self-check priority of each to-be-self-checked item, so that the to-be-self-checked item with a high self-check failure rate is preferentially detected, and potential risks can be found early and handled in time, thereby avoiding the problem that under the fixed detection sequence, the to-be-self-checked item with a high self-check failure rate is detected last, which leads to the inability to find potential risks in time and causes resource waste; the priority of the to-be-self-checked item is determined by the double factors of the failure frequency and the failure interval length, so as to realize the determination of the self-check sequence of the to-be-self-checked item, so that the to-be-self-checked item with a high self-check failure rate is firstly self-checked, the to-be-self-checked item with a high self-check failure rate is preferentially checked, and the problem that under the fixed sequence, the to-be-self-checked item is self-checked, the self-check failure rate is not preferentially detected, which leads to the inability to find potential risks in time and causes resource waste.

[0068] In some embodiments, as shown in Figure 5 the failure frequency corresponding to each to-be-self-checked item is determined, including:

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

[0071] Specifically, the preset number is 50-200, and preferably, the preset number is 100. Taking the preset number 100 as an example, the past 100 historical self-checking results of each to-be-self-checked item are obtained, and the number of self-checking failures in the obtained historical self-checking results is determined, and then the ratio of the number of self-checking failures in the historical self-checking results to the preset number is taken as the failure frequency corresponding to each to-be-self-checked item.

[0072] For example, taking the preset number 100 as an example, a certain electronic control unit has four self-checking items (A, B, C, and D), and the number of self-checking failures in the past 100 historical self-checking results of the four self-checking items is as follows: the number of self-checking failures in the historical self-checking results of the to-be-self-checked item A is 30, and the failure frequency corresponding to the to-be-self-checked item A is 30%; the number of self-checking failures in the historical self-checking results of the to-be-self-checked item B is 20, and the failure frequency corresponding to the to-be-self-checked item B is 20%; the number of self-checking failures in the historical self-checking results of the to-be-self-checked item C is 40, and the failure frequency corresponding to the to-be-self-checked item C is 40%; and the number of self-checking failures in the historical self-checking results of the to-be-self-checked item D is 10, and the failure frequency corresponding to the to-be-self-checked item D is 10%.

[0073] According to the technical scheme provided in the embodiments of the present application, the preset number of historical self-checking results corresponding to each to-be-self-checked item is obtained, and the number of self-checking failures in the obtained historical self-checking results is determined; and the ratio of the number of self-checking failures in the historical self-checking results to the preset number is taken as the failure frequency corresponding to each to-be-self-checked item. The above steps achieve accurate acquisition of the failure frequency corresponding to the to-be-self-checked item, and the failure frequency can dynamically change with each self-checking result, that is, the failure frequency corresponding to the to-be-self-checked item can continuously change over time and with data accumulation, and then the self-checking failure rate determined subsequently can also continuously change over time and with data accumulation, thereby realizing continuous optimization of the self-checking priority of the to-be-self-checked item and ensuring that the to-be-self-checked item always remains in the best state.

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

[0075] S601, if any to-be-self-checked item fails in self-checking, recording the failure cause of the to-be-self-checked item that fails in self-checking;

[0076] S602, stopping starting the electronic control unit and issuing an alarm prompt that the self-checking of the electronic control unit fails.

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

[0078] In some examples, due to the failure of the self-checking items in the electronic control unit to start, in order to avoid damage to the electronic control unit, the application will also stop starting the electronic control unit, and issue an alarm prompt that the self-checking of the electronic control unit fails, so that the relevant personnel can know that the electronic control unit has self-checking failure of the self-checking items.

[0079] According to the technical scheme provided by the embodiment of the application, if any self-checking item fails, the failure cause of the self-checking item is recorded; the electronic control unit is stopped from starting, and an alarm prompt that the self-checking of the electronic control unit fails is issued, so that the relevant personnel can query the recorded failure cause, quickly repair the self-checking item, and know that the electronic control unit has self-checking failure of the self-checking item.

[0080] In some examples, as shown in Figure 7 The method further comprises:

[0081] S701, in the case of the self-checking failure of the electronic control unit, the safety impact level of the self-checking failure of the electronic control unit on the vehicle is determined.

[0082] S702, if the safety impact level exceeds a pre-set level threshold, the vehicle is stopped from starting.

[0083] Specifically, in the case of the self-checking failure of the electronic control unit, the safety impact level of the self-checking failure of the electronic control unit on the vehicle is determined, and the safety impact level is used to represent the safety impact of 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 power control electronic control unit and the entertainment electronic control unit as examples, since the power control electronic control unit has greater safety impact on the vehicle, and the entertainment electronic control unit has smaller safety impact on the vehicle, therefore, the power control electronic control unit corresponds to a safety impact level greater than the safety impact level corresponding to the entertainment electronic control unit.

[0085] In some examples, if the safety impact level of the electronic control unit exceeds the preset level threshold, it is characterized that starting the vehicle in the case of failure of the electronic control unit will cause safety impact to the vehicle; otherwise, if the safety impact level of the electronic control unit does not exceed the preset level threshold, it is characterized that starting the vehicle in the case of failure of the electronic control unit will not cause safety impact to the vehicle. Therefore, the application stops starting the vehicle when the safety impact level of the self-check failed electronic control unit exceeds the preset level threshold, and normally starts the vehicle when the safety impact level of the self-check failed electronic control unit does not exceed the preset level threshold.

[0086] In order to better understand the present application, a more specific example is provided in the embodiment to illustrate a vehicle provided with a micro control unit (MCU) and a plurality of electronic control units. When the electronic control unit is self-checked, the following steps are included:

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

[0088] (2) After the SoC is powered on, the PowerOnSelfTest_Module is started to start self-checking on the to-be-checked items immediately, as shown in Figure 8 After a single to-be-checked item is self-checked, the power-on self-checking result is reported to the MCU through the SPI protocol. It can be understood that self-checking timeout detection will be performed during the self-checking of the to-be-checked items. If the self-checking time of a to-be-checked item exceeds 10 seconds, the self-checking is ended and the self-checking timeout result is uploaded;

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

[0090] In the self-checking of the to-be-self-checked items in the electronic control unit, the application also dynamically adjusts the detection order of the to-be-self-checked items. In the power-on self-checking of the electronic control unit, the electronic control unit records the results of each self-checking of the to-be-self-checked items through the storage module, including the execution time, success or failure, and specific error type of each to-be-self-checked item. The historical data are analyzed by the analysis module, the failure frequency and failure interval time length of each self-checking item are counted, and the self-checking priority of each to-be-self-checked item is determined based on the failure frequency and failure interval time length. When the electronic control unit is powered on, the electronic control unit first calls the self-checking priority of each to-be-self-checked item, and then self-checks the to-be-self-checked items in turn. The to-be-self-checked items include power supply, hardware, firmware, peripherals, communication, etc.

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

[0092] In some examples, the fault type in the application matches the DTC code output to the log or HMI to reflect to the user, the fault error in the power supply, hardware, communication, etc. classification is notified to the health management module in the vehicle, and the power-on operation is aborted. If the hardware serial number, version, etc. do not match, the correct one will be sent to the vehicle parameter management module in the vehicle for updating.

[0093] It can be understood that, as shown in Figure 9 , after the MCU is powered on, the PowerOnSelfTest_SWC is started, and the self-checking is immediately started. At this time, the MCU enters the self-checking module, and the MCU first checks whether the power supply is normal, and if there is no fault, the next step of self-checking is performed, and if there is a fault, the health management is reported, the power-on is aborted, and the DTC code is recorded. Then, whether each hardware such as the camera and the screen is normally started is detected, and if there is no fault, the next step of self-checking is performed, and if there is a fault, the health management is reported, the power-on is aborted, and the DTC code is recorded. After the above two self-checking is normal, the SOC and MCU fault self-checking (self-checking of to-be-self-checked items) are entered, respectively.

[0094] In the process of communication self-checking, whether the SOC and MCU communication is normal is detected, wherein the communication self-checking includes SPI self-checking items and CAN communication self-checking items, after determining the self-checking priority of each self-checking item, the communication self-checking is performed, such as whether the SPI communication protocol is normal, whether the hardware CAN communication is normal, and the like. If there is no fault, the next self-checking is performed, if there is a fault, the health management is reported and the power-on is stopped, and the DTC code is recorded.

[0095] It can be understood that the soc, MCU respectively performs fault self-checking. The power-on self-checking result of the MCU and the SOC node is checked within an expected time: detection time T > T_set time: if the starting condition is not met, the starting is terminated, and the single node fault is recorded.

[0096] It can be understood that the SOC in the application further includes hardware version self-checking. If the hardware serial number, version and the like do not match, the correct one is sent to the vehicle parameter management module for updating.

[0097] It can be understood that the SOC further reports the above detection result to the health management module, and the HMI informs the user.

[0098] In the application, the self-checking priority of each self-checking item can be periodically reanalyzed and adjusted according to newly collected self-checking data, so as to ensure continuous optimization of the self-checking process. For example, the latest self-checking data is analyzed periodically, so as to determine the self-checking failure rate of each self-checking item according to the latest failure frequency and failure interval length, and determine the self-checking priority of the self-checking item according to the self-checking failure rate. For example, after every month or every 50 power-on self-checking, the method provided by the application reevaluates the self-checking order of the self-checking item and makes corresponding adjustment. This adaptive optimization process ensures that the system can always perform optimal self-checking according to the latest data.

[0099] According to the technical scheme provided by the embodiment of the application, in the case that the electronic control unit fails in self-checking, the safety impact level of the electronic control unit failing in self-checking on the vehicle is determined; if the safety impact level exceeds a pre-set level threshold, the vehicle is stopped from starting, which improves the user's vehicle safety and avoids the safety hidden danger caused by starting the vehicle when the safety impact level exceeds the pre-set level threshold.

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

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

[0102] The embodiment also provides an electronic control unit self-checking device, as shown inFigure 10 The device shown in the figure comprises:

[0103] The acquisition module 1001 is configured to acquire, during power-on of the vehicle, a to-be-self-checked item corresponding to an electronic control unit of the vehicle;

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

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

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

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

[0108] In some examples, the priority module 1003 is further configured to acquire a preset failure interval rate weight value, perform summation processing on the failure interval duration and the failure interval rate weight value to obtain an initial failure interval rate, and perform inverse 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 perform high-low order sorting according to the self-check failure rate corresponding to each to-be-self-checked item; and take the sorting result corresponding to each to-be-self-checked item as the self-check priority of each to-be-self-checked item.

[0110] In some examples, the determination module 1002 is further configured to acquire a preset number of historical self-check results corresponding to each to-be-self-checked item and determine a number of self-check failures in the acquired historical self-check results; and take a 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 to-be-self-checked item.

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

[0112] In some examples, the self-test module 1004 is also configured to determine the safety impact level of the electronic control unit that failed the self-test if there is one; if the safety impact level exceeds a preset threshold, the vehicle will be stopped from starting.

[0113] According to the technical solution provided in the embodiments of this application, the electronic control unit self-test device provided in this embodiment acquires the self-test items corresponding to the electronic control unit on the vehicle during the vehicle power-on process; determines the failure frequency corresponding to each self-test item, and acquires the failure interval duration corresponding to each self-test item, where the failure interval duration is the time difference between the last self-test failure time of the self-test item and the current time; determines the self-test priority corresponding to each self-test item based on the failure frequency and failure interval duration corresponding to each self-test item; and performs a self-test on each self-test item corresponding to the electronic control unit based on the self-test priority corresponding to each self-test item. This application realizes the dynamic determination of the self-test priority based on the failure frequency and failure interval duration of the self-test item, so that the self-test priority combines the dual factors of failure frequency and failure interval duration. Subsequently, the self-test of the self-test items in the electronic control unit is performed according to the self-test priority, which improves the self-test efficiency of the self-test items in the electronic control unit and avoids the problem of low self-test efficiency of the electronic control unit caused by the self-test items in the electronic control unit being self-tested in a fixed order.

[0114] Figure 11 This is a schematic diagram of the vehicle 11 provided in an embodiment of this application. Figure 11 As shown, the vehicle 11 in 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, it implements the steps in the various method embodiments described above. Alternatively, when the processor 1101 executes the computer program 1103, it implements the functions of each module / unit in the various device embodiments described above.

[0115] Vehicle 11 may be a desktop computer, laptop, handheld computer, or cloud server, etc. Vehicle 11 may include, but is not limited to, a processor 1101 and a memory 1102. Those skilled in the art will understand that... Figure 11 This is merely an example of vehicle 11 and does not constitute a limitation on vehicle 11. It may include more or fewer parts than shown, or different parts.

[0116] The processor 1101 can be a central processing unit (CPU), and can also be other general-purpose processors, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0117] The memory 1102 can be an internal storage unit of the vehicle 11, for example, a hard disk or a memory of the vehicle 11. The memory 1102 can also be an external storage device of the vehicle 11, for example, 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 can also include both the internal storage unit and the external storage device of the vehicle 11. 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 brevity of description, only the division of the above functional units and modules is exemplified, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0119] The integrated modules / units, if implemented in the form of software functional units and sold or used as independent products, can be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the above-mentioned embodiment methods can also be completed by a computer program instructing related hardware, and the computer program can be stored in a computer readable storage medium. The computer program can be executed by a processor to implement the steps of the above-mentioned various method embodiments. The computer program can include computer program code, which can be in the form of source code, object code, executable files or some intermediate forms. The computer readable medium can include any entity or device capable of carrying the 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, etc. It should be noted that the content included in the computer readable medium can be appropriately increased or decreased according to the requirements of the region and the requirements of the patent practice. For example, according to the requirements of the region and the patent practice, the computer readable medium does not include the electric carrier signal and the telecommunication signal in some regions.

[0120] The above embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should 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 includes: During the vehicle power-on process, the self-test items corresponding to the electronic control unit on the vehicle are acquired; Determine the failure frequency corresponding to each of the self-test items, and obtain the failure interval duration corresponding to each of the self-test items, wherein the failure interval duration is the time difference between the last self-test failure time of the self-test item and the current time; The self-test priority of each self-test item is determined based on the failure frequency and the failure interval duration of each self-test item. According to the self-test priority corresponding to each self-test item, perform a self-test on each self-test item corresponding to the electronic control unit; Based on the failure frequency and failure interval duration corresponding to each self-test item, the self-test priority corresponding to each self-test item is determined, including: determining the failure interval rate corresponding to each self-test item based on the failure interval duration corresponding to each self-test item; determining the weighting coefficients corresponding to the failure interval rate and the failure frequency; performing a weighted summation of the failure interval rate and the failure frequency corresponding to each self-test item based on the determined weighting coefficients to obtain the self-test failure rate corresponding to each self-test item; and determining the self-test priority corresponding to each self-test item based on the self-test failure rate corresponding to each self-test item.

2. The method according to claim 1, characterized in that, Based on the failure interval duration corresponding to each of the self-test items, determine the failure interval rate corresponding to each of the self-test items, including: Obtain the pre-set failure interval rate weight, and sum the failure interval duration and the failure interval rate weight to obtain the initial failure interval rate; The failure interval rate is obtained by calculating the reciprocal of the initial failure interval rate.

3. The method according to claim 1, characterized in that, Based on the self-test failure rate corresponding to each self-test item, the self-test priority corresponding to each self-test item is determined, including: Sort the items according to their self-test failure rates from highest to lowest. The sorting result corresponding to each self-inspection item is used as the self-inspection priority of each self-inspection item.

4. The method according to claim 1, characterized in that, Determine the failure frequency for each of the self-test items, including: Obtain a preset number of historical self-inspection results for each of the self-inspection items, and determine the number of self-inspection failures in the obtained historical self-inspection results; The ratio of the number of self-test failures in the historical self-test results to the preset number is used as the failure frequency for each self-test item.

5. The method according to claim 1, characterized in that, After performing a self-test on each of the self-test items corresponding to the electronic control unit according to the self-test priority corresponding to each of the self-test items, the method further includes: If any of the self-test items fails to self-test, the cause of the failure of the self-test item shall be recorded. Stop starting the electronic control unit and issue an alarm indicating that the electronic control unit failed its self-test.

6. The method according to claim 1, characterized in that, The vehicle is equipped with multiple electronic control units, and the method further includes: If an electronic control unit fails to perform a self-test, the safety impact level of the electronic control unit that failed to perform a self-test on the vehicle is determined. If the safety impact level exceeds a preset threshold, the vehicle will be stopped from starting.

7. A self-testing device for an electronic control unit, characterized in that, The device includes: The acquisition module is configured to acquire the self-test items corresponding to the electronic control unit on the vehicle during the vehicle power-on process; The determination module is configured to determine the failure frequency corresponding to each of the self-test items and obtain the failure interval duration corresponding to each of the self-test items, wherein the failure interval duration is the time difference between the last self-test failure time of the self-test item and the current time. The priority module is configured to determine the self-test priority of each self-test item based on the failure frequency and the failure interval duration of each self-test item; and to determine the self-test priority of each self-test item based on the failure frequency and the failure interval duration of each self-test item, including: determining the failure interval rate of each self-test item based on the failure interval duration of each self-test item; determining the weighting coefficients corresponding to the failure interval rate and the failure frequency; performing a weighted summation of the failure interval rate and the failure frequency of each self-test item based on the determined weighting coefficients to obtain the self-test failure rate of each self-test item; and determining the self-test priority of each self-test item based on the self-test failure rate of each self-test item. The self-test module is configured to perform a self-test on each of the self-test items corresponding to the electronic control unit according to the self-test priority corresponding to each self-test item.

8. 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, it implements the steps of the method as described in any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 6.

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