Fault diagnosis method and device, vehicle and computer readable storage medium

Abstract

The invention discloses a fault diagnosis method and device, a vehicle and a computer readable storage medium. The method comprises the steps that under the condition that a target fault occurs, a target signal queue identifier corresponding to the target fault is acquired, the target signal queue identifier is a diagnosis identifier corresponding to a target signal queue, and multiple signal values in the target signal queue are acquired according to a target sampling period; the target sampling period is determined based on the signal characteristics of the target signal, and the queue length of the target signal queue is determined based on the target sampling period and the prompting efficiency of the target fault; and storing the target signal queue identifier in an extended frozen frame module, so that a diagnostic instrument obtains the target signal queue identifier from the extended frozen frame module, and performs fault diagnosis on the target fault based on a target signal queue corresponding to the target signal queue identifier. According to the embodiment of the invention, the accuracy of fault diagnosis can be ensured, and normal operation of other functions of the vehicle can be ensured.

Description

Technical Field

[0001] The present application belongs to the field of vehicle technology, and in particular, relates to a fault diagnosis method, device, vehicle and computer-readable storage medium. Background Art

[0002] With the development of Internet of Vehicles technology, real-time monitoring of the vehicle's operating status has been achieved to provide data support for fault diagnosis when a vehicle malfunctions.

[0003] At present, the diagnostic instrument in the vehicle can obtain the fault code and fault snapshot through the diagnostic port when a fault occurs, and perform fault diagnosis based on the fault code and fault snapshot to determine the cause of the fault. However, the fault snapshot usually stores the data at the time of the fault, and the occurrence of the fault may not be instantaneous. Therefore, the fault diagnosis is only based on the data at the time of the fault, resulting in low accuracy of fault diagnosis. Summary of the invention

[0004] The embodiments of the present application provide a fault diagnosis method, device, vehicle, computer-readable storage medium and computer program product, which can ensure the accuracy of fault diagnosis and the normal operation of other functions of the vehicle.

[0005] In a first aspect, an embodiment of the present application provides a fault diagnosis method, which is applied to an electronic control unit, wherein the electronic control unit includes a random access memory and a non-volatile memory, and the non-volatile memory includes an extended freeze frame module, and the method includes:

[0006] In the event of a target fault, obtaining a target signal queue identifier corresponding to the target fault from the random access memory, the target signal queue identifier being a diagnostic identifier corresponding to a target signal queue, the target signal queue including a plurality of signal values ​​of a target signal, the plurality of signal values ​​being acquired according to a target sampling period, the target sampling period being determined based on a signal feature of the target signal, and a queue length of the target signal queue being determined based on the target sampling period and a prompt efficiency of the target fault;

[0007] The target signal queue identifier is stored in the extended freeze frame module, so that the diagnostic instrument obtains the target signal queue identifier from the extended freeze frame module, and performs fault diagnosis on the target fault based on the target signal queue corresponding to the target signal queue identifier.

[0008] In a possible implementation manner, before acquiring the target signal queue identifier corresponding to the target fault from the random access memory, the method further includes:

[0009] Determine a plurality of faults corresponding to a target fault type, the target fault type being a fault type for fault diagnosis based on process data of a signal, the plurality of faults including the target fault;

[0010] Acquire multiple signal queues corresponding to the multiple faults, where the multiple signal queues include the target signal queue;

[0011] storing the plurality of signal queues in the random access memory;

[0012] Based on a diagnostic identifier assignment function, a diagnostic identifier is assigned to each of the signal queues in the random access memory to obtain a signal queue identifier corresponding to each of the signal queues.

[0013] In a possible implementation, obtaining multiple signal queues corresponding to the multiple faults includes:

[0014] Acquire a plurality of signals corresponding to the plurality of faults;

[0015] For each of said signals, perform the following operations:

[0016] determining a sampling period of the signal based on a signal characteristic of the signal;

[0017] Determine a queue length of a signal queue corresponding to the signal based on the sampling period and a prompt efficiency of the fault corresponding to the signal;

[0018] generating an initial signal queue based on the queue length;

[0019] The signal value of the signal is collected according to the sampling period, and the signal value is added to the initial signal queue to obtain the signal queue.

[0020] In a possible implementation, the fault includes a first fault, there are multiple first signals corresponding to the first fault, and determining the sampling period of the signal based on a signal feature of the signal includes:

[0021] Determine first sampling periods corresponding to the plurality of first signals respectively based on signal features corresponding to the plurality of first signals respectively;

[0022] The one with the largest value among the plurality of first sampling periods is determined as the sampling period commonly corresponding to the plurality of first signals.

[0023] In a possible implementation manner, before storing the target signal queue identifier in the extended freeze frame module, the method further includes:

[0024] Determining a size relationship between a required storage space of the target signal queue identifier and a remaining storage space of the extended freeze frame module;

[0025] In a case where the required storage space of the target signal queue identifier is greater than the remaining storage space of the extended freeze frame module, obtaining priorities respectively corresponding to a plurality of signal queue identifiers stored in the extended freeze frame module, wherein the priorities are associated with the severity level of the fault;

[0026] The signal queue identifier in the extended freeze frame module is deleted in order of priority from low to high until the remaining storage space of the extended freeze frame module is greater than or equal to the required storage space of the target signal queue identifier.

[0027] In a possible implementation manner, after storing the target signal queue identifier in the extended freeze frame module, the method further includes:

[0028] receiving diagnostic result prompt information sent by the diagnostic instrument, wherein the diagnostic result prompt information is generated when the diagnostic instrument performs fault diagnosis on the target fault based on the target signal queue corresponding to the target signal queue identifier and obtains a fault diagnosis result;

[0029] In response to the diagnosis result prompt information, the target signal queue identifier is deleted from the extended freeze frame module.

[0030] In a second aspect, an embodiment of the present application provides a fault diagnosis device, which is applied to an electronic control unit, wherein the electronic control unit includes a random access memory and a non-volatile memory, wherein the non-volatile memory includes an extended freeze frame module, and the device includes:

[0031] A first acquisition module is used to acquire, in the event of a target fault, a target signal queue identifier corresponding to the target fault from the random access memory, the target signal queue identifier being a diagnostic identifier corresponding to a target signal queue, the target signal queue including a plurality of signal values ​​of a target signal, the plurality of signal values ​​being acquired according to a target sampling period, the target sampling period being determined based on a signal feature of the target signal, and a queue length of the target signal queue being determined based on the target sampling period and a prompt efficiency of the target fault;

[0032] The first storage module is used to store the target signal queue identifier in the extended freeze frame module so that the diagnostic instrument obtains the target signal queue identifier from the extended freeze frame module, and performs fault diagnosis on the target fault based on the target signal queue corresponding to the target signal queue identifier.

[0033] In a third aspect, an embodiment of the present application provides a vehicle, the vehicle comprising: a processor and a memory storing computer program instructions;

[0034] When the processor executes the computer program instructions, the processor implements any possible implementation method of the first aspect described above.

[0035] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implements a method in any possible implementation method of the first aspect described above.

[0036] In a fifth aspect, an embodiment of the present application provides a computer program product. When instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes a method as any possible implementation method in the first aspect above.

[0037] The embodiment of the present application obtains the target signal queue identifier corresponding to the target fault from the random access memory in the case of a target fault, and stores the target signal queue identifier in the extended freeze frame module, so that the diagnostic instrument can obtain the target signal queue identifier from the extended freeze frame module, and perform fault diagnosis on the target fault based on the target signal queue corresponding to the target signal queue identifier, thereby realizing fault diagnosis of the target fault based on the target signal queue, which can ensure the accuracy of fault diagnosis compared with fault diagnosis based on instantaneous data at the time of occurrence of the target fault. In addition, since the target sampling period of the target signal in the target signal queue is determined based on the signal characteristics of the target signal, and the queue length of the target signal queue is determined based on the target sampling period and the prompt efficiency of the target fault, the rationality of the target sampling period and the queue length of the target signal queue can be ensured, and the signal data can be prevented from occupying too much storage space of the electronic control unit and affecting other functions of the vehicle. In this way, through the embodiment of the present application, the accuracy of fault diagnosis can be guaranteed, and the normal operation of other functions of the vehicle can be guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0039] Figure 1 It is a flowchart of a fault diagnosis method provided in an embodiment of the present application;

[0040] Figure 2is a flowchart of another fault diagnosis method provided in an embodiment of the present application;

[0041] Figure 3 is a schematic diagram of a fault diagnosis method provided in an embodiment of the present application;

[0042] Figure 4 is a structural schematic diagram of a fault diagnosis device provided in an embodiment of the present application;

[0043] Figure 5 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0045] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0046] As described in the background technology section, with the development of vehicle networking technology, real-time monitoring of the vehicle's operating status has been achieved to provide data support for fault diagnosis when a vehicle failure occurs.

[0047] At present, the diagnostic instrument in the vehicle can obtain fault codes and fault snapshots through the diagnostic port when a fault occurs, and perform fault diagnosis based on the fault codes and fault snapshots to determine the cause of the fault. However, the fault snapshot usually stores data at the time of the fault, and the occurrence of the fault may not be caused instantaneously. Therefore, fault diagnosis is performed only based on data at the time of the fault, resulting in low accuracy of fault diagnosis. For example, when a vehicle has a coolant overtemperature fault, the current fault snapshot only contains instantaneous data such as the coolant temperature, vehicle speed, engine speed, throttle opening, engine load, etc. when the fault is reported, and there is no data on the coolant temperature rising process, which is not conducive to the analysis of the cause of the problem.

[0048] In addition, even though real-time monitoring of the vehicle's operating status has been achieved, when the vehicle is awakened and started, due to factors such as device initialization and communication delays, it is difficult to obtain data for the first few seconds after the vehicle is powered on. If a fault occurs during this process, it will be difficult to obtain relevant data.

[0049] In addition, the diagnostic instrument can also control the motor speed by sending control instructions, and then obtain the actual speed of the motor by sending read instructions to monitor the response status of the motor, but the process data of the motor speed change cannot be obtained.

[0050] Thus, in order to solve the problems of the prior art, the embodiments of the present application provide a fault diagnosis method, device, vehicle, computer-readable storage medium and computer program product. Among them, the fault diagnosis method can be applied to an electronic control unit (Electronic Control Unit, ECU). Among them, the electronic control unit may include a random access memory (Random Access Memory, RAM) and a non-volatile memory (such as FLASH). Among them, the RAM can be used to store the signal values ​​of various signals acquired in real time. The non-volatile memory can be used to store freeze frame data. The storage space of the non-volatile memory is fixed. The non-volatile memory may specifically include a basic freeze frame module and an extended freeze frame module. Among them, the basic freeze frame module can be used to store a diagnostic identifier of a single signal. The diagnostic identifier may specifically be a data identifier (Data Identifier, DID) that uniquely identifies a specific data item in the ECU. The extended freeze frame module may be used to store a signal queue identifier (i.e., a diagnostic identifier of a signal queue). In the embodiment of the present application, the storage area partition of the basic freeze frame module is exclusive, and the storage area space of the extended freeze frame module is shared. That is, the basic freeze frame module may include multiple partitions, each partition being used to store a diagnostic identifier of a type of signal. The extended freeze frame module may include a storage area in which all signal queue identifiers may be stored.

[0051] The following is an introduction to the fault diagnosis method provided in the embodiment of the present application.

[0052] Figure 1 FIG. 1 is a flow chart of a fault diagnosis method provided by an embodiment of the present application. The fault diagnosis method may be executed by an electronic control unit. Figure 1 As shown, the fault diagnosis method provided in the embodiment of the present application includes the following steps:

[0053] S110, in the event of a target fault, obtaining a target signal queue identifier corresponding to the target fault from a random access memory, the target signal queue identifier being a diagnostic identifier corresponding to the target signal queue, the target signal queue including multiple signal values ​​of the target signal, the multiple signal values ​​being acquired according to a target sampling period, the target sampling period being determined based on a signal feature of the target signal, and the queue length of the target signal queue being determined based on the target sampling period and a prompt efficiency of the target fault;

[0054] S120, storing the target signal queue identifier in the extended freeze frame module, so that the diagnostic instrument obtains the target signal queue identifier from the extended freeze frame module, and performs fault diagnosis on the target fault based on the target signal queue corresponding to the target signal queue identifier.

[0055] The embodiment of the present application obtains the target signal queue identifier corresponding to the target fault from the random access memory in the case of a target fault, and stores the target signal queue identifier in the extended freeze frame module, so that the diagnostic instrument can obtain the target signal queue identifier from the extended freeze frame module, and perform fault diagnosis on the target fault based on the target signal queue corresponding to the target signal queue identifier, thereby realizing fault diagnosis of the target fault based on the target signal queue, which can ensure the accuracy of fault diagnosis compared with fault diagnosis based on instantaneous data at the time of the target fault. In addition, since the target sampling period of the target signal in the target signal queue is determined based on the signal characteristics of the target signal, and the queue length of the target signal queue is determined based on the target sampling period and the prompt efficiency of the target fault, the rationality of the target sampling period and the queue length of the target signal queue can be ensured, and the signal data can be prevented from occupying too much storage space of the electronic control unit and affecting other functions of the vehicle. In this way, through the embodiment of the present application, the accuracy of fault diagnosis can be guaranteed, and the normal operation of other functions of the vehicle can be guaranteed.

[0056] The specific implementation methods of the above steps are introduced below.

[0057] In some embodiments, in S110, a plurality of signal queue identifiers corresponding to a plurality of faults may be pre-stored in a random access memory (RAM). The signal queue identifier corresponding to each fault may be one or more. In addition, the fault types of the plurality of faults may all be target fault types. The target fault type may be a predetermined fault type that requires fault diagnosis based on the process data of the signal. The plurality of faults may include, for example, a heater core heating performance fault, a coolant overtemperature fault, a voltage fault, a communication fault, and the like.

[0058] In addition, the signal queue identifier may be a diagnostic identifier corresponding to the signal queue, and the signal queue may include multiple signal values ​​of the signal. For example, the signal queue identifier corresponding to the heater core heating performance failure may include DID1, DID2, DID3, and DID4. Among them, DID1 may be a diagnostic identifier corresponding to the signal queue of the water pump speed, and the signal queue of the water pump speed may be as follows: [600rpm, 600rpm, 600rpm, ...], in which the signal queue of the water pump speed, 600rpm may represent the signal value of the water pump speed. DID2 may be a diagnostic identifier corresponding to the signal queue of the heating power, and the signal queue of the heating power may be as follows: [1500w, 1200w, 1300w, 1500w, ...], in which the signal queue of the heating power, 1500w, 1200w, 1300w may represent the signal values ​​of the heating power. DID3 may be a diagnostic identifier corresponding to a signal queue of inlet water temperature, and the signal queue of inlet water temperature may be as follows: [20°C, 19°C, 21°C, 21°C, ...], in which 20°C, 19°C, and 21°C may represent signal values ​​of inlet water temperature. DID4 may be a diagnostic identifier corresponding to a signal queue of outlet water temperature, and the signal queue of outlet water temperature may be as follows: [22°C, 22°C, 22°C, 22°C, ...], in which 22°C may represent a signal value of outlet water temperature.

[0059] As an example, in the event of a target fault, it can be first determined whether the target fault is any of the above-mentioned multiple faults. If so, the target signal queue identifier corresponding to the target fault can be obtained from the RAM. Among them, the target signal queue identifier may be one or more. Each target signal queue identifier may include multiple signal values ​​of the target signal. For example, if the target fault is a heater core heating performance failure, the multiple target signals may include water pump speed, heating power, inlet water temperature, and outlet water temperature.

[0060] In addition, in each target signal queue, multiple signal values ​​can be collected according to the target sampling period, and the target sampling period can be determined based on the signal characteristics of the target signal. Among them, the signal characteristics may include the change efficiency of the signal, the response efficiency of the signal, etc. For example, with respect to the change efficiency of the signal, the change of temperature is usually slow, so if the target signal is temperature, the target sampling period can be determined to be 10s. For another example, the change of voltage is usually fast, so if the target signal is voltage, the target sampling period can be determined to be 50ms. For another example, with respect to the response efficiency of the signal, if the time from receiving the adjustment of the motor speed to A from the electronic control unit to the actual adjustment of the motor speed to A is 3s, then in order to obtain the process data of the motor speed adjustment, when the target signal is the motor speed, the target sampling period can be determined to be 1s.

[0061] In addition, since the RAM storage space is limited, and the memory occupied by the signal queue is several times or even dozens of times more than the memory occupied by a single signal, in order to control the RAM occupancy rate and avoid the signal data occupying too much RAM storage space in the electronic control unit, affecting other functions of the vehicle, the queue length of the target signal queue can be determined based on the target sampling period and the prompt efficiency of the target fault, so as to ensure the accuracy of fault diagnosis and the normal operation of other functions of the vehicle. Among them, the prompt efficiency of the target fault can be the time from the initial determination of the occurrence of the target fault to the reporting of the target fault. For example, if the time required for the voltage fault to be reported is 1s, and the acquisition cycle of the voltage signal is 100ms, then 8 signal values ​​can cover the data of 0.8s before the fault, and 8 voltage signals can be used to diagnose the cause of the voltage fault, so the queue length of the voltage signal queue can be determined to be 8. For another example, if the communication fault generally requires 10 to 15 judgments to be reported, and the acquisition cycle of the communication signal is 1s, the queue length of the communication signal queue can be determined to be 16.

[0062] Based on this, in order to ensure the accuracy of fault diagnosis, in some embodiments, before the above S110, the method may further include:

[0063] Determine a plurality of faults corresponding to a target fault type, the target fault type being a fault type for fault diagnosis based on process data of a signal, the plurality of faults including the target fault;

[0064] Acquire multiple signal queues corresponding to multiple faults, where the multiple signal queues include a target signal queue;

[0065] storing a plurality of signal queues in random access memory;

[0066] Based on the diagnostic identifier assignment function, a diagnostic identifier is assigned to each signal queue in the random access memory to obtain a signal queue identifier corresponding to each signal queue.

[0067] Here, after determining multiple faults corresponding to the target fault type, multiple signal queues corresponding to the multiple faults can be obtained. Among them, different faults may correspond to some of the same signal queues. For example, fault A can correspond to signal queue A and signal queue B, and fault B can correspond to signal queue A and signal queue C. That is, both fault A and fault B can correspond to signal queue A. In addition, each signal queue can include multiple signal values, and the queue lengths of different signal queues may be the same or different. The length of the signal queue can be determined based on the sampling period of the signal and the prompt efficiency of the fault.

[0068] In addition, the diagnostic identifier assignment function can be used to assign DID values ​​to signal queues to obtain the signal queue DID corresponding to each signal queue so that the diagnostic instrument can obtain it.

[0069] The embodiment of the present application can provide a data basis for fault diagnosis by storing multiple signal queues corresponding to multiple faults in RAM and encoding each signal queue as a signal queue DID, thereby ensuring the accuracy of subsequent fault diagnosis.

[0070] Based on this, in order to ensure both the accuracy of fault diagnosis and the normal operation of other functions of the vehicle, in some embodiments, the above-mentioned acquisition of multiple signal queues corresponding to multiple faults may specifically include:

[0071] Acquiring a plurality of signals corresponding to a plurality of faults;

[0072] For each signal, do the following:

[0073] determining a sampling period of the signal based on a signal characteristic of the signal;

[0074] Determine the queue length of the signal queue corresponding to the signal based on the sampling period and the prompt efficiency of the fault corresponding to the signal;

[0075] Generate an initial signal queue based on the queue length;

[0076] The signal value of the signal is collected according to the sampling period, and the signal value is added to the initial signal queue to obtain a signal queue.

[0077] Here, after determining multiple faults, the signals corresponding to the faults can be screened first. Among them, the screened signals may include signals such as accelerator pedal opening, vehicle speed, engine speed, water temperature, water pump speed, motor speed, battery voltage, bus current, etc. Among them, in addition to being processed as signal queues, these signals can also store separate signals to provide a data basis for other functions in the vehicle. Therefore, in order to ensure the normal operation of other functions in the vehicle, after obtaining the above signals, the above signals can also be saved in RAM, and based on the diagnostic identifier assignment function, a diagnostic identifier is assigned to each signal to obtain a signal identifier (i.e., signal DID) corresponding to each signal queue, so that the diagnostic instrument can read instantaneous data.

[0078] In addition, if the signal needs to be processed as a signal queue, the sampling period of the signal can be determined based on the signal characteristics. Among them, the signal characteristics may include the change efficiency of the signal, the response efficiency of the signal, etc. For example, with respect to the change efficiency of the signal, the change of temperature is usually slow, so the sampling period of the temperature can be determined to be 10s. For another example, the change of voltage is usually fast, so the sampling period of voltage can be determined to be 50ms. For another example, with respect to the response efficiency of the signal, if the time from receiving the adjustment of the motor speed to A from the electronic control unit to the actual adjustment of the motor speed to A is 3s, then in order to obtain the process data of the motor speed adjustment, the sampling of the motor speed can be determined to be 1s periodically.

[0079] In addition, since the RAM storage space is limited, and the memory occupied by the signal queue is several times or even dozens of times more than the memory occupied by a single signal, in order to control the RAM occupancy rate and avoid the signal data occupying too much RAM storage space in the electronic control unit, affecting other functions of the vehicle, the queue length of the signal queue can be determined based on the sampling period and the prompt efficiency of the fault, so as to ensure the accuracy of the fault diagnosis and the normal operation of other functions of the vehicle. Among them, the prompt efficiency of the fault can be the time from the initial determination of the occurrence of the fault to the reporting of the fault. For example, if the time required for the voltage fault to be reported is 1s, and the acquisition cycle of the voltage signal is 100ms, then 8 signal values ​​can cover the data of 0.8s before the fault, and 8 voltage signals can be used to diagnose the cause of the voltage fault, so the queue length of the voltage signal queue can be determined to be 8. For another example, if the communication fault generally requires 10 to 15 judgments to be reported, and the acquisition cycle of the communication signal is 1s, the queue length of the communication signal queue can be determined to be 16. For another example, the signal queue length related to vehicle wake-up can be set to 32 to cover the time of initialization of the electronic control unit.

[0080] In addition, in the embodiment of the present application, the queue length of the signal queue can be set to 8, 16, 32, or other multiples of 8 to facilitate the subsequent DID assignment (because DID is output in bytes, 1 Byte = 8 bits). After the signal queue is developed, the number of bits that a signal value in the queue needs to occupy can be determined based on the signal accuracy requirements. For example, in a switch signal, a signal value can occupy only one bit; for an enumeration value with a value of 0 to 3, a signal value can occupy two bits; for a voltage signal of 5 to 12V, a signal value can occupy one byte.

[0081] After determining the queue length of the signal queue, an initial signal queue can be generated, and the signal value of the signal is collected according to the sampling period, and the signal value is added to the initial signal queue to obtain the signal queue. Since the length of the signal queue is limited, the embodiment of the present application can continuously update the signal queue according to the first-in-first-out principle.

[0082] The embodiment of the present application determines the sampling period of the signal based on the signal characteristics of the signal, and determines the queue length of the signal queue corresponding to the signal based on the sampling period and the prompt efficiency of the fault corresponding to the signal, so as to ensure the rationality of the sampling period and the queue length of the signal queue, and avoid the signal data occupying too much RAM storage space and affecting other functions of the vehicle. In this way, through the embodiment of the present application, the accuracy of fault diagnosis can be guaranteed, and the normal operation of other functions of the vehicle can be guaranteed.

[0083] In addition, as described above, a fault may correspond to multiple signal queues. Since the signal queues and signals may be in a one-to-one correspondence, a fault may correspond to one signal. If a fault corresponds to multiple signals, the fault may be determined as a first fault, and the signal corresponding to the first fault may be determined as a first signal. That is, multiple faults may include a first fault, and the first fault may correspond to multiple first signals.

[0084] Based on this, in order to ensure the accuracy of fault diagnosis, in some embodiments, the above-mentioned determination of the sampling period of the signal based on the signal characteristics of the signal may specifically include:

[0085] Determine first sampling periods corresponding to the plurality of first signals respectively based on signal characteristics corresponding to the plurality of first signals respectively;

[0086] The one with the largest value among the multiple first sampling periods is determined as the sampling period commonly corresponding to the multiple first signals.

[0087] Here, when determining the sampling period of the first signal, it can be determined based on the signal characteristics of multiple first signals. For example, if the first fault is a heater core heating performance fault, the multiple first signals may include water pump speed, heating power, inlet water temperature and outlet water temperature. Among them, the change in temperature can be relatively slow, and the change in power and the change in water pump speed can be faster than the change in temperature. If the first sampling period of each first signal is determined separately, the first sampling period of temperature can be determined as 10s / sample, the first sampling period of heating power can be determined as 5s / sample, and the first sampling period of water pump speed can be determined as 4s / sample. In this case, if the temperature is collected every 5s, the temperature does not change, but the computing resources and storage resources of the electronic control unit will be wasted.

[0088] Therefore, in order to reasonably utilize the computing resources and storage resources of the electronic control unit while ensuring that the sampling periods of the multiple first signals are the same, the sampling periods of the multiple first signals can be determined as the one with the largest value among the multiple first sampling periods. That is, in the above example, the sampling period of the multiple first signals can be determined as 10s / sample instead of 4s / sample.

[0089] In addition, in an embodiment of the present application, when the sampling periods corresponding to multiple first signals are the same, since the queue length of the signal queue is determined based on the sampling period and the fault prompt efficiency, the queue degrees of the signal queues corresponding to the multiple first signals are also the same.

[0090] Continuing with the previous example, the sampling period corresponding to the multiple first signals may be 10s / sample, and the queue length of the signal queue may be 16, reflecting the process data of the past 160s. Since fault diagnosis is usually delayed by 30s, the 160s process data includes the data of 130s before the fault, supporting cause analysis.

[0091] Thus, through the embodiments of the present application, on the one hand, by making the sampling periods and signal queue lengths corresponding to the multiple first signals the same, that is, by controlling the synchronization of the multiple signals, the accuracy of the fault diagnosis can be ensured. On the other hand, by determining the sampling periods of the multiple first signals to be the one with the largest value among the multiple first sampling periods, it can be ensured that the signal values ​​collected each time are meaningful, and the computing resources and storage resources of the electronic control unit are reasonably utilized.

[0092] In some embodiments, in S120, after the electronic control unit obtains the target signal queue identifier from the RAM, it can store the target signal queue identifier in the extended freeze frame module, so that the diagnostic instrument can obtain the target signal queue identifier from the extended freeze frame module, and perform fault diagnosis on the target fault based on the target signal queue corresponding to the target signal queue identifier.

[0093] For example, if the target fault is a heater core heating performance fault, the diagnostic instrument can first parse the target signal queue identifiers DID1, DID2, DID3 and DID4 from the extended freeze frame module to determine the signal queues corresponding to the target signal queue identifiers: DID1 (water pump speed): [600rpm, 600rpm, 600rpm, ...]; DID2 (heating power): [1500w, 1200w, 1300w, 1500w, ...]; DID3 (inlet water temperature): [20℃, 19℃, 21℃, 21℃, ...]; DID4 (outlet water temperature): [22℃, 22℃, 22℃, 22℃, ...], and then determine the water pump flow corresponding to the water pump speed based on the corresponding relationship between the water pump speed and the water pump flow, and then perform fault diagnosis based on formula (1):

[0094] ΔT=P / (q*ρ*c) (1)

[0095] In formula (1), ΔT may represent the estimated coolant temperature difference between the inlet and outlet of the heater core; P may represent the heating power; q may represent the water pump flow rate; ρ may represent the coolant density; and c may represent the coolant specific heat capacity. Among them, the coolant density and the coolant specific heat capacity may be constants.

[0096] Specifically, by substituting the heating power, water pump flow, coolant density and coolant specific heat into the above formula (1), multiple estimated coolant temperature differences at the inlet and outlet of the heater core can be calculated. Multiple actual coolant temperature differences can be determined based on the text of the outlet water temperature and the inlet water temperature in the signal queue. By analyzing the deviations between multiple comparative coolant estimated temperature differences and multiple actual coolant temperature differences, the cause of the fault can be determined.

[0097] In addition, the signal queue identifiers corresponding to multiple faults can share the storage space of the extended freeze frame module, and the storage space of the extended freeze frame module is limited. Therefore, after obtaining the target signal queue identifier, the target signal queue identifier may not be stored in the extended freeze frame module due to the small remaining storage space of the extended freeze frame module, resulting in failure of fault diagnosis.

[0098] Therefore, in order to ensure the success of fault diagnosis, in some embodiments, before the above S120, the method may further include:

[0099] Determining the size relationship between the required storage space of the target signal queue identifier and the remaining storage space of the extended freeze frame module;

[0100] When the required storage space of the target signal queue identifier is greater than the remaining storage space of the extended freeze frame module, obtaining priorities respectively corresponding to a plurality of signal queue identifiers stored in the extended freeze frame module, wherein the priorities are associated with the severity level of the fault;

[0101] The signal queue identifiers in the extended freeze frame module are deleted in order of priority from low to high until the remaining storage space of the extended freeze frame module is greater than or equal to the required storage space of the target signal queue identifier.

[0102] Here, the required storage space of the target signal queue identifier has a positive correlation with the queue length of the target signal queue. In addition, multiple signal queue identifiers may have priorities, and the priorities are associated with the severity of the fault. If the severity of the fault is higher, the priority of the signal queue identifier may be higher, and if the verification level of the fault is lower, the priority of the signal queue identifier may be lower. In addition, the priorities of multiple signal queue identifiers corresponding to the same fault may be the same.

[0103] The embodiment of the present application deletes the signal queue identifier in the extended freeze frame module in order of priority from low to high until the remaining storage space of the extended freeze frame module is greater than or equal to the required storage space of the target signal queue identifier. On the one hand, this can ensure the success of fault diagnosis for the target fault, and on the other hand, it can give priority to fault diagnosis for faults with higher severity levels to ensure vehicle performance.

[0104] In addition, when the required storage space of the target signal queue identifier is greater than the remaining storage space of the extended freeze frame module, the target priority of the target signal queue identifier can also be obtained. If the target priority is lower than the priority of the signal queue identifier in the extended freeze frame module, the target signal queue identifier can be placed in the waiting queue first, and fault diagnosis can be performed on the faults corresponding to the signal queue identifiers stored in the extended freeze frame module first. After the diagnosis of the faults corresponding to the signal queue identifiers stored in the extended freeze frame module is completed, the target signal queue identifier can be stored in the extended freeze frame module.

[0105] In addition, in order to reasonably utilize the storage resources of the extended freeze frame module, in some embodiments, after the above S120, the method may further include:

[0106] receiving diagnostic result prompt information sent by the diagnostic instrument, where the diagnostic result prompt information is generated when the diagnostic instrument performs fault diagnosis on the target fault based on the target signal queue corresponding to the target signal queue identifier and obtains the fault diagnosis result;

[0107] In response to the diagnosis result prompt information, the target signal queue identifier is deleted from the extended freeze frame module.

[0108] Here, if the target fault has been diagnosed, the target signal queue identifier can be deleted from the extended freeze frame module to release the storage resources of the extended freeze frame module. In addition, if the diagnostic instrument has obtained the target signal queue identifier, but the diagnosis has not been completed, the target signal queue identifier can continue to be stored in the extended freeze frame module, so that in the case of failure of fault diagnosis, the diagnostic instrument can obtain the target signal queue identifier from the extended freeze frame module again, thereby ensuring the success of fault diagnosis.

[0109] In this way, by deleting the target signal queue identifier from the extended freeze frame module when it is determined that the fault diagnosis is completed, the storage resources of the extended freeze frame module can be reasonably utilized.

[0110] In order to better describe the entire solution, some specific examples are given based on the above embodiments. Figure 2 As shown, a fault diagnosis method provided in an embodiment of the present application may include the following steps:

[0111] S21, determining multiple faults corresponding to the target fault type;

[0112] S22, obtaining multiple signals corresponding to multiple faults;

[0113] S23, for each signal, determining a sampling period of the signal based on the signal characteristics of the signal;

[0114] S24. For each signal, determine the queue length of the signal queue corresponding to the signal based on the sampling period and the prompt efficiency of the fault corresponding to the signal;

[0115] S25. For each signal, generate an initial signal queue based on the queue length;

[0116] S26. For each signal, collect the signal value of the signal according to the sampling period, and add the signal value to the initial signal queue to obtain a signal queue;

[0117] S27, storing multiple signal queues in RAM;

[0118] S28. Based on the diagnostic identifier assignment function, assign a diagnostic identifier to each signal queue in the RAM to obtain a signal queue identifier corresponding to each signal queue;

[0119] S29. In case of a target fault, obtaining a target signal queue identifier corresponding to the target fault from the RAM;

[0120] S210, when the required storage space of the target signal queue identifier is less than or equal to the remaining storage space of the extended freeze frame module, storing the target signal queue identifier in the extended freeze frame module;

[0121] S211, the diagnostic instrument obtains a target signal queue identifier from the extended freeze frame module, and performs fault diagnosis on a target fault based on a target signal queue corresponding to the target signal queue identifier;

[0122] S212, when the fault diagnosis is completed, the diagnostic instrument generates a diagnostic result prompt information and sends the diagnostic result prompt information to the electronic control unit;

[0123] S213: The electronic control unit deletes the target signal queue identifier from the extended freeze frame module in response to the diagnosis result prompt information.

[0124] In the embodiment of the present application, the execution entity of steps S21-S210 is an electronic control unit.

[0125] In addition, a schematic diagram of a fault diagnosis method provided in an embodiment of the present application can be as follows: Figure 3 shown.

[0126] The embodiment of the present application obtains the target signal queue identifier corresponding to the target fault from the random access memory when the target fault occurs, and stores the target signal queue identifier in the extended freeze frame module, so that the diagnostic instrument can obtain the target signal queue identifier from the extended freeze frame module, and perform fault diagnosis on the target fault based on the target signal queue corresponding to the target signal queue identifier, thereby realizing fault diagnosis of the target fault based on the target signal queue, which can ensure the accuracy of fault diagnosis compared with fault diagnosis based on instantaneous data at the time of occurrence of the target fault. In addition, since the sampling period of the signal in the signal queue is determined based on the signal characteristics of the signal, and the queue length of the signal queue is determined based on the sampling period and the prompt efficiency of the fault, the rationality of the sampling period and the queue length of the signal queue can be ensured, and the signal data is prevented from occupying too much storage space of the electronic control unit and affecting other functions of the vehicle. In this way, through the embodiment of the present application, it is possible to ensure both the accuracy of fault diagnosis and the normal operation of other functions of the vehicle.

[0127] Based on the fault diagnosis method provided in the above embodiment, the present application also provides a specific implementation of a fault diagnosis device. The fault diagnosis device can be applied to an electronic control unit, which can include a random access memory and a non-volatile memory, and the non-volatile memory can include an extended freeze frame module.

[0128] For the specific implementation of the fault diagnosis device, please refer to the following embodiments.

[0129] like Figure 4 As shown, the fault diagnosis device 400 provided in the embodiment of the present application includes the following modules:

[0130] A first acquisition module 410 is used to acquire a target signal queue identifier corresponding to the target fault from a random access memory in the event of a target fault, the target signal queue identifier being a diagnostic identifier corresponding to the target signal queue, the target signal queue including multiple signal values ​​of the target signal, the multiple signal values ​​being acquired according to a target sampling period, the target sampling period being determined based on a signal feature of the target signal, and the queue length of the target signal queue being determined based on the target sampling period and a prompt efficiency of the target fault;

[0131] The first storage module 420 is used to store the target signal queue identifier in the extended freeze frame module, so that the diagnostic instrument obtains the target signal queue identifier from the extended freeze frame module, and performs fault diagnosis on the target fault based on the target signal queue corresponding to the target signal queue identifier.

[0132] The above fault diagnosis device 400 is described in detail below, as shown below:

[0133] In some embodiments, the fault diagnosis device 400 may further include:

[0134] A first determination module is used to determine a plurality of faults corresponding to a target fault type, where the target fault type is a fault type for fault diagnosis based on process data of a signal, and the plurality of faults includes the target fault;

[0135] A second acquisition module is used to acquire multiple signal queues corresponding to multiple faults, where the multiple signal queues include a target signal queue;

[0136] A second storage module, used for storing the plurality of signal queues in a random access memory;

[0137] The assignment module is used to assign a diagnostic identifier to each signal queue in the random access memory based on a diagnostic identifier assignment function, and obtain a signal queue identifier corresponding to each signal queue.

[0138] In some embodiments, the second acquisition module may specifically include:

[0139] An acquisition submodule, used for acquiring multiple signals corresponding to multiple faults;

[0140] The execution submodule is used to perform the following operations for each signal:

[0141] determining a sampling period of the signal based on a signal characteristic of the signal;

[0142] Determine the queue length of the signal queue corresponding to the signal based on the sampling period and the prompt efficiency of the fault corresponding to the signal;

[0143] Generate an initial signal queue based on the queue length;

[0144] The signal value of the signal is collected according to the sampling period, and the signal value is added to the initial signal queue to obtain the signal queue.

[0145] In some embodiments, the fault includes a first fault, and the first fault corresponds to multiple first signals. Based on this, the execution submodule can be specifically used for:

[0146] Determine first sampling periods corresponding to the plurality of first signals respectively based on signal characteristics corresponding to the plurality of first signals respectively;

[0147] The one with the largest value among the multiple first sampling periods is determined as the sampling period commonly corresponding to the multiple first signals.

[0148] In some embodiments, the fault diagnosis device 400 may further include:

[0149] A second determination module, used for determining the size relationship between the required storage space of the target signal queue identifier and the remaining storage space of the extended freeze frame module before storing the target signal queue identifier in the extended freeze frame module;

[0150] a third acquisition module, configured to acquire priorities respectively corresponding to a plurality of signal queue identifiers stored in the extended freeze frame module when the required storage space of the target signal queue identifier is greater than the remaining storage space of the extended freeze frame module, wherein the priorities are associated with the severity level of the fault;

[0151] The first deleting module is used to delete the signal queue identifier in the extended freeze frame module in order of priority from low to high until the remaining storage space of the extended freeze frame module is greater than or equal to the required storage space of the target signal queue identifier.

[0152] In some embodiments, the fault diagnosis device 400 may further include:

[0153] A receiving module, used for receiving diagnostic result prompt information sent by the diagnostic instrument after storing the target signal queue identifier in the extended freeze frame module, wherein the diagnostic result prompt information is generated when the diagnostic instrument performs fault diagnosis on the target fault based on the target signal queue corresponding to the target signal queue identifier and obtains the fault diagnosis result;

[0154] The second deleting module is used to delete the target signal queue identifier from the extended freeze frame module in response to the diagnosis result prompt information.

[0155] The embodiment of the present application obtains the target signal queue identifier corresponding to the target fault from the random access memory in the case of a target fault, and stores the target signal queue identifier in the extended freeze frame module, so that the diagnostic instrument can obtain the target signal queue identifier from the extended freeze frame module, and perform fault diagnosis on the target fault based on the target signal queue corresponding to the target signal queue identifier, thereby realizing fault diagnosis of the target fault based on the target signal queue, which can ensure the accuracy of fault diagnosis compared with fault diagnosis based on instantaneous data at the time of the target fault. In addition, since the target sampling period of the target signal in the target signal queue is determined based on the signal characteristics of the target signal, and the queue length of the target signal queue is determined based on the target sampling period and the prompt efficiency of the target fault, the rationality of the target sampling period and the queue length of the target signal queue can be ensured, and the signal data can be prevented from occupying too much storage space of the electronic control unit and affecting other functions of the vehicle. In this way, through the embodiment of the present application, the accuracy of fault diagnosis can be guaranteed, and the normal operation of other functions of the vehicle can be guaranteed.

[0156] Based on the fault diagnosis method provided in the above embodiment, the embodiment of the present application also provides a specific implementation of a vehicle, wherein the vehicle may include an electronic device. Figure 5 A schematic diagram of an electronic device 500 provided in an embodiment of the present application is shown.

[0157] The electronic device 500 may include a processor 510 and a memory 520 storing computer program instructions.

[0158] Specifically, the processor 510 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0159] The memory 520 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 520 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. Where appropriate, the memory 520 may include a removable or non-removable (or fixed) medium. Where appropriate, the memory 520 may be inside or outside the electronic device 500. In a particular embodiment, the memory 520 is a non-volatile solid-state memory.

[0160] The memory may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Thus, typically, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to the first aspect of the present application.

[0161] The processor 510 implements any one of the fault diagnosis methods in the above embodiments by reading and executing computer program instructions stored in the memory 520 .

[0162] In one example, the electronic device 500 may further include a communication interface 530 and a bus 540. Figure 5 As shown, the processor 510, the memory 520, and the communication interface 530 are connected via a bus 540 and communicate with each other.

[0163] The communication interface 530 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0164] Bus 540 includes hardware, software or both, and the parts of electronic equipment are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 540 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the application considers any suitable bus or interconnection.

[0165] Exemplarily, the electronic device 500 may be a mobile phone, a tablet computer, a laptop computer, a PDA, an in-vehicle electronic device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA).

[0166] The electronic device can execute the fault diagnosis method in the embodiment of the present application, thereby realizing the combination Figures 1 to 4 A fault diagnosis method and apparatus are described.

[0167] In addition, in combination with the fault diagnosis method in the above embodiment, the embodiment of the present application can provide a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any one of the fault diagnosis methods in the above embodiment is implemented.

[0168] In combination with the fault diagnosis method in the above embodiment, the embodiment of the present application can provide a computer program product for implementation. When the instructions in the computer program product are executed by a processor of an electronic device, any one of the fault diagnosis methods in the above embodiment is implemented.

[0169] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0170] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0171] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0172] The above reference is according to the method of the embodiment of the present application, the flow chart of the device (system) and the computer program product and / or the block diagram described various aspects of the present application.It should be understood that each square box in the flow chart and / or the block diagram and the combination of each square box in the flow chart and / or the block diagram can be realized by computer program instructions.These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the realization of the function / action specified in one or more square boxes of the flow chart and / or the block diagram.Such a processor can be but is not limited to a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit.It can also be understood that each square box in the block diagram and / or the flow chart and the combination of the square boxes in the block diagram and / or the flow chart can also be realized by the dedicated hardware that performs the specified function or action, or can be realized by the combination of dedicated hardware and computer instructions.

[0173] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A fault diagnosis method, characterized in that: Applied to an electronic control unit, the electronic control unit includes a random access memory and a non-volatile memory, the non-volatile memory includes an extended freeze frame module, the method includes: In the event of a target fault, obtaining a target signal queue identifier corresponding to the target fault from the random access memory, the target signal queue identifier being a diagnostic identifier corresponding to a target signal queue, the target signal queue including a plurality of signal values ​​of a target signal, the plurality of signal values ​​being acquired according to a target sampling period, the target sampling period being determined based on a signal feature of the target signal, and a queue length of the target signal queue being determined based on the target sampling period and a prompt efficiency of the target fault; The target signal queue identifier is stored in the extended freeze frame module, so that the diagnostic instrument obtains the target signal queue identifier from the extended freeze frame module, and performs fault diagnosis on the target fault based on the target signal queue corresponding to the target signal queue identifier.

2. The method according to claim 1, characterized in that Before acquiring the target signal queue identifier corresponding to the target fault from the random access memory, the method further includes: Determine a plurality of faults corresponding to a target fault type, the target fault type being a fault type for fault diagnosis based on process data of a signal, the plurality of faults including the target fault; Acquire multiple signal queues corresponding to the multiple faults, where the multiple signal queues include the target signal queue; storing the plurality of signal queues in the random access memory; Based on a diagnostic identifier assignment function, a diagnostic identifier is assigned to each of the signal queues in the random access memory to obtain a signal queue identifier corresponding to each of the signal queues.

3. The method according to claim 2, characterized in that The obtaining of multiple signal queues corresponding to the multiple faults includes: Acquire a plurality of signals corresponding to the plurality of faults; For each of said signals, perform the following operations: determining a sampling period of the signal based on a signal characteristic of the signal; Determine a queue length of a signal queue corresponding to the signal based on the sampling period and a prompt efficiency of the fault corresponding to the signal; generating an initial signal queue based on the queue length; The signal value of the signal is collected according to the sampling period, and the signal value is added to the initial signal queue to obtain the signal queue.

4. The method according to claim 3, characterized in that: The fault includes a first fault, the first fault corresponds to a plurality of first signals, and the determining the sampling period of the signal based on the signal characteristics of the signal includes: Determine first sampling periods corresponding to the plurality of first signals respectively based on signal features corresponding to the plurality of first signals respectively; The one with the largest value among the plurality of first sampling periods is determined as the sampling period commonly corresponding to the plurality of first signals.

5. The method according to claim 1, characterized in that: Before storing the target signal queue identifier in the extended freeze frame module, the method further includes: Determining a size relationship between a required storage space of the target signal queue identifier and a remaining storage space of the extended freeze frame module; In a case where the required storage space of the target signal queue identifier is greater than the remaining storage space of the extended freeze frame module, obtaining priorities respectively corresponding to a plurality of signal queue identifiers stored in the extended freeze frame module, wherein the priorities are associated with the severity level of the fault; The signal queue identifier in the extended freeze frame module is deleted in order of priority from low to high until the remaining storage space of the extended freeze frame module is greater than or equal to the required storage space of the target signal queue identifier.

6. The method according to any one of claims 1 to 5, characterized in that: After storing the target signal queue identifier in the extended freeze frame module, the method further includes: receiving diagnostic result prompt information sent by the diagnostic instrument, wherein the diagnostic result prompt information is generated when the diagnostic instrument performs fault diagnosis on the target fault based on the target signal queue corresponding to the target signal queue identifier and obtains a fault diagnosis result; In response to the diagnosis result prompt information, the target signal queue identifier is deleted from the extended freeze frame module.

7. A fault diagnosis device, characterized in that: Applied to an electronic control unit, the electronic control unit includes a random access memory and a non-volatile memory, the non-volatile memory includes an extended freeze frame module, the device includes: A first acquisition module is used to acquire, in the event of a target fault, a target signal queue identifier corresponding to the target fault from the random access memory, the target signal queue identifier being a diagnostic identifier corresponding to a target signal queue, the target signal queue including a plurality of signal values ​​of a target signal, the plurality of signal values ​​being acquired according to a target sampling period, the target sampling period being determined based on a signal feature of the target signal, and a queue length of the target signal queue being determined based on the target sampling period and a prompt efficiency of the target fault; The first storage module is used to store the target signal queue identifier in the extended freeze frame module so that the diagnostic instrument obtains the target signal queue identifier from the extended freeze frame module, and performs fault diagnosis on the target fault based on the target signal queue corresponding to the target signal queue identifier.

8. A vehicle, characterized in that: The vehicle includes: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the fault diagnosis method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the fault diagnosis method according to any one of claims 1 to 6 is implemented.

10. A computer program product, characterized in that When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the fault diagnosis method according to any one of claims 1 to 6.

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