Diagnostic message processing methods, devices, vehicles, and storage media

Abstract

The application discloses a diagnosis message processing method and device, a vehicle and a storage medium. In the case that a first ECU and a gateway are connected through an Ethernet communication, a diagnosis request message forwarded by the gateway is received; data transmission format conversion is performed on the diagnosis request message to obtain diagnosis request data in a second data transmission format; the diagnosis request data is transmitted to a diagnosis program configured in the first ECU, so that the diagnosis program performs diagnosis processing in response to the diagnosis request data; in the case that the diagnosis program completes the diagnosis processing and generates diagnosis data in the second data transmission format, a first response message in a first data transmission format is generated based on the diagnosis data; and the first response message is sent to the gateway, so that the gateway forwards the first response message to a diagnosis device. In this way, the vehicle can perform diagnosis message processing on the ECU of the Ethernet node to meet the diagnosis requirement.

Description

Technical Field

[0001] This application belongs to the field of vehicle technology, and particularly relates to a method, apparatus, vehicle, and storage medium for processing diagnostic messages. Background Technology

[0002] With the rapid development of vehicle technology, vehicles are becoming increasingly intelligent, and the number of Electronic Control Units (ECUs) installed in vehicles is also increasing. To ensure vehicle performance, it is necessary to diagnose ECUs, determine if any ECUs are faulty, or if their software needs upgrading.

[0003] In related technologies, diagnostics of vehicle ECUs are typically performed using CAN bus-based Diagnose over Controller Area Network (DoCAN) technology. However, as 100 Mbps or even gigabit Ethernet communication capabilities are gradually becoming standard for vehicle ECUs, DoCAN's diagnostic approach can no longer meet the communication bandwidth requirements of intelligent driving-related ECUs. Therefore, how to process diagnostic messages from ECUs connected to Ethernet nodes has become an urgent problem to be solved. Summary of the Invention

[0004] This application provides a method, apparatus, vehicle, and storage medium for processing diagnostic messages, which can process diagnostic messages of ECUs in Ethernet nodes.

[0005] In a first aspect, embodiments of this application provide a method for processing diagnostic messages, applied to a first ECU of a vehicle, the method comprising:

[0006] When the first ECU and the gateway are connected via Ethernet communication, a diagnostic request message forwarded by the gateway is received. The diagnostic request message is sent to the gateway by a diagnostic device that is connected to the gateway. The diagnostic request message is a message in a first data transmission format.

[0007] The diagnostic request message is converted to a second data transmission format to obtain diagnostic request data in a second data transmission format, which is different from the first data transmission format.

[0008] The diagnostic request data is transmitted to the diagnostic program configured in the first ECU, so that the diagnostic program performs diagnostic processing in response to the diagnostic request data.

[0009] When the diagnostic program completes the diagnostic process and generates diagnostic data in the second data transmission format, a first response message in the first data transmission format is generated based on the diagnostic data.

[0010] The first response message is sent to the gateway so that the gateway forwards the first response message to the diagnostic device.

[0011] In some implementations, after receiving the diagnostic request message forwarded by the gateway, the method further includes:

[0012] The diagnostic request message is parsed to obtain the first indication information;

[0013] The process of converting the diagnostic request message to obtain diagnostic request data in a second data transmission format includes:

[0014] When the first indication information instructs the first ECU, the diagnostic request message is converted to obtain diagnostic request data in a second data transmission format.

[0015] In some embodiments, the vehicle further includes at least one second ECU, each of the second ECUs being communicatively connected to the first ECU via Ethernet.

[0016] Following the diagnostic request message forwarded by the receiving gateway, the system further includes:

[0017] The diagnostic request message is parsed to obtain the first indication information;

[0018] When the first indication information indicates a target second ECU, the diagnostic request message is sent to the target second ECU via the Ethernet link between the first ECU and the target second ECU, so that the second ECU responds to the diagnostic request message and performs the diagnostic processing, wherein the target second ECU is any one of the at least one second ECU;

[0019] Receive a second response message sent by the target second ECU through the Ethernet link, wherein the second response message is a response message generated by the target second ECU after completing the diagnostic process;

[0020] The second response message is sent to the gateway so that the gateway forwards the second response message to the diagnostic device.

[0021] In some embodiments, the vehicle is equipped with a routing table, which includes at least one second indication information, different second indication information being used to indicate different second ECUs that are communicatively connected to the first ECU;

[0022] Before converting the diagnostic request message to obtain diagnostic request data in the second data transmission format when the first indication information indicates the first ECU, the method further includes:

[0023] The first indication information is matched with the second indication information in the routing table to obtain a matching result;

[0024] Sending the diagnostic request message to the target second ECU via the Ethernet link between the first ECU and the target second ECU includes:

[0025] If the matching result indicates that there is a first indication information in the routing table that matches the second indication information, the diagnostic request message is sent to the target second ECU via the Ethernet link between the first ECU and the target second ECU.

[0026] In some implementations, the first indication information includes the logical address of the ECU.

[0027] Secondly, embodiments of this application also provide a diagnostic message processing apparatus, applied to a first ECU of a vehicle, the apparatus comprising:

[0028] The Ethernet link management module is used to receive a diagnostic request message forwarded by the gateway when the first ECU and the gateway are connected via Ethernet communication. The diagnostic request message is sent to the gateway by a diagnostic device that is connected to the gateway. The diagnostic request message is a message in a first data transmission format.

[0029] The message conversion module is used to convert the data transmission format of the diagnostic request message to obtain diagnostic request data in a second data transmission format, which is different from the first data transmission format.

[0030] A diagnostic module is used to transmit the diagnostic request data to a diagnostic program configured in the first ECU, so that the diagnostic program performs diagnostic processing in response to the diagnostic request data.

[0031] The message conversion module is further configured to generate a first response message in the first data transmission format based on the diagnostic data when the diagnostic program completes the diagnostic processing and generates diagnostic data in the second data transmission format.

[0032] The Ethernet link management module is further configured to send the first response message to the gateway, so that the gateway forwards the first response message to the diagnostic device.

[0033] In some implementations, the message conversion module is further configured to:

[0034] The diagnostic request message is parsed to obtain the first indication information;

[0035] When the first indication information instructs the first ECU, the diagnostic request message is converted to obtain diagnostic request data in a second data transmission format.

[0036] In some embodiments, the vehicle further includes at least one second ECU, each of the second ECUs being communicatively connected to the first ECU via Ethernet.

[0037] The message conversion module is also used for:

[0038] The diagnostic request message is parsed to obtain the first indication information;

[0039] When the first indication information indicates a target second ECU, the diagnostic request message is sent to the target second ECU via the Ethernet link between the first ECU and the target second ECU, so that the second ECU responds to the diagnostic request message and performs the diagnostic processing, wherein the target second ECU is any one of the at least one second ECU;

[0040] The Ethernet link management module is also used for:

[0041] Receive a second response message sent by the target second ECU through the Ethernet link, wherein the second response message is a response message generated by the target second ECU after completing the diagnostic process;

[0042] The second response message is sent to the gateway so that the gateway forwards the second response message to the diagnostic device.

[0043] Thirdly, embodiments of this application also provide a vehicle, the vehicle including: a processor and a memory storing computer program instructions;

[0044] When the processor executes the computer program instructions, it implements the diagnostic message processing method as described in any of the first aspects.

[0045] Fourthly, embodiments of this application also provide a computer-readable storage medium storing computer program instructions, which, when executed by a processor, implement the diagnostic message processing method as described in any one of the first aspects.

[0046] In this embodiment, when the first ECU and the gateway are connected via Ethernet communication, a diagnostic request message forwarded by the gateway is received; the diagnostic request message is converted into a data transmission format to obtain diagnostic request data in a second data transmission format; the diagnostic request data is transmitted to a diagnostic program configured in the first ECU, so that the diagnostic program performs diagnostic processing in response to the diagnostic request data; when the diagnostic program completes the diagnostic processing and generates diagnostic data in the second data transmission format, a first response message in the first data transmission format is generated based on the diagnostic data; the first response message is sent to the gateway, so that the gateway forwards the first response message to the diagnostic device. In this way, the ECU of the Ethernet node in the vehicle can efficiently and orderly convert the data format of the diagnostic message and generate a response message according to the corresponding data transmission format. With the ECU in the vehicle configured with Ethernet communication capability, the processing of diagnostic messages for the ECU of the Ethernet node is completed to meet diagnostic requirements. Attached Figure Description

[0047] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a flowchart illustrating an embodiment of the diagnostic message processing method provided in this application;

[0049] Figure 2 This is a schematic diagram of the architecture of the diagnostic system in an embodiment of the diagnostic message processing method provided in this application;

[0050] Figure 3 This is another schematic diagram of the diagnostic system architecture in an embodiment of the diagnostic message processing method provided in this application;

[0051] Figure 4 This is a schematic diagram of the routing table in an embodiment of the diagnostic message processing method provided in this application;

[0052] Figure 5 This is a schematic diagram of an embodiment of the diagnostic message processing apparatus provided in this application;

[0053] Figure 6 This is a structural schematic diagram of an embodiment of the vehicle provided in this application. Detailed Implementation

[0054] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples of this application.

[0055] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0056] Figure 1 This is a flowchart illustrating an embodiment of the diagnostic message processing method provided in this application. The diagnostic message processing method of this application can be applied to the first ECU of a vehicle, etc. Figure 1 As shown, the processing method for this diagnostic message includes, but is not limited to, the following steps S101 to S103.

[0057] Step S101: When the first ECU and the gateway are connected via Ethernet communication, a diagnostic request message forwarded by the gateway is received. The diagnostic request message is sent to the gateway by a diagnostic device that is connected to the gateway. The diagnostic request message is a message in the first data transmission format.

[0058] In this step, the first ECU can be any functional module ECU in the vehicle. For example, the first ECU can be an ECU responsible for controlling various functions of the engine, or it can be an ECU responsible for battery status monitoring and energy management, or it can be an ECU responsible for motor control and energy management, or it can be an ECU responsible for controlling the shifting logic and operation of the transmission, and so on.

[0059] During the diagnostic process, the first ECU can communicate with the diagnostic device via a gateway, and the gateway and the first ECU communicate via Ethernet. The diagnostic device can generate a diagnostic request message based on diagnostic needs, which may include at least one of diagnostic processing and upgrade diagnostics. After generating the diagnostic request message, the diagnostic device sends the message to the gateway it communicates with, and the gateway forwards the message to the first ECU it communicates with. Furthermore, the gateway can be the vehicle's overall gateway.

[0060] The first ECU and the gateway are connected via Ethernet communication. After the first ECU is powered on, the first ECU actively initiates a handshake request to establish an Ethernet link with the gateway based on the Transmission Control Protocol (TCP) (for example, it may be a three-way handshake request) to establish an Ethernet communication connection between the first ECU and the gateway.

[0061] When the aforementioned gateway receives a diagnostic request message from the diagnostic device, the gateway can first check whether it has successfully established an Ethernet communication connection with the first ECU. If it is determined that the Ethernet communication connection with the first ECU has been successfully established, it sends a diagnostic request message to the first ECU. If it is determined that the Ethernet communication connection with the first ECU has not been successfully established, it sends a first negative response code to the diagnostic device to report the failure of sending the diagnostic request message.

[0062] It should be noted that the data transmitted in the Ethernet link between the first ECU and the gateway must conform to the first data transmission format. Therefore, the first diagnostic request message forwarded by the gateway is a message in the first data transmission format. This first data transmission format can be any format conforming to Ethernet transmission standards, such as a format conforming to the ISO 13400 standard.

[0063] Step S102: Convert the data transmission format of the diagnostic request message to obtain diagnostic request data in a second data transmission format, which is different from the first data transmission format.

[0064] In this step, after the first ECU receives the diagnostic request message, since the data transmission in the first ECU follows a second data transmission format that is different from the first data transmission format, the first ECU can convert the data transmission format of the diagnostic request message into diagnostic request data.

[0065] The aforementioned conversion of the diagnostic request message into a data transmission format can be performed by the first ECU parsing the diagnostic request message according to the first data transmission format and generating diagnostic request data in the second data transmission format. This diagnostic request data may include a version number, reverse version number, request type, data length, logical address of the first ECU, etc.

[0066] For example, such as Figure 2 As shown, the first ECU may include an Ethernet link management module and a message conversion module. When the Ethernet link management module receives a diagnostic request message from the vehicle gateway via the Ethernet link, the Ethernet link management module transmits the diagnostic request message to the message conversion module. The message conversion module parses the message according to the first data transmission format (such as the format required by ISO 13400) and generates diagnostic request data in the second data transmission format (such as the format required by ISO 14229).

[0067] It should be noted that when the first ECU receives a diagnostic request message sent by the gateway, the first ECU can assume that it is a TCP client and directly convert the data transmission format of the received diagnostic request message so that the first ECU can perform diagnostic processing based on the converted diagnostic request data.

[0068] Step S103: Transmit the diagnostic request data to the diagnostic program configured in the first ECU so that the diagnostic program performs diagnostic processing in response to the diagnostic request data.

[0069] In this step, after the first ECU converts and obtains the diagnostic request data, the first ECU transmits the diagnostic request data to the diagnostic program. The diagnostic program responds to the diagnostic request data by performing diagnostic processing, that is, executing the diagnostic operation corresponding to the diagnostic requirements of the diagnostic request data, and obtaining diagnostic data in the second data transmission format.

[0070] For example, such as Figure 2 As shown, ECU1 (i.e., the first ECU) may also include a diagnostic message management module, a diagnostic session management module, and a diagnostic program (also known as a "diagnostic application"). After the message conversion module generates diagnostic request data, it passes the diagnostic request data through to the diagnostic message management module. The diagnostic message management module is a connecting module in the first ECU. Downstream, it needs to receive all diagnostic request data, and upstream, it needs to pass the diagnostic request data to the corresponding diagnostic application. If the first ECU has a node with the AUTOSAR AP protocol stack deployed, then the diagnostic message management module interfaces with the diagnostic session management module. Then, the diagnostic session management module passes the data to the corresponding diagnostic application. Finally, the diagnostic application performs the diagnostic operation corresponding to the diagnostic requirements and obtains diagnostic data in the second data transmission format.

[0071] The diagnostic operations described above, which perform diagnostic requests corresponding to the diagnostic request data, can be based on the diagnostic request data to detect whether the first ECU has a fault, or it can be based on the diagnostic request data to detect whether the first ECU needs to be upgraded, and so on.

[0072] Step S104: After the diagnostic program completes the diagnostic process and generates diagnostic data in the second data transmission format, a first response message in the first data transmission format is generated based on the diagnostic data.

[0073] In this step, after the diagnostic program generates diagnostic data, the first ECU converts the data transmission format and generates a first response message in the first data transmission format.

[0074] For example, such as Figure 2 As shown, after the diagnostic application completes the processing of the diagnostic request data, it can send the diagnostic response to the diagnostic session management module through step 8. The diagnostic session management module then sends the response to the diagnostic message management module, which completes the bidirectional transmission of data and sends the response to the message conversion module. The message conversion module then concatenates the response data (i.e., the diagnostic data) with the version number, reverse version number, request type, data length, etc., to make it meet the first transmission data format (such as the format required by the ISO 13400 standard) and generates the first response message.

[0075] Step S105: Send a first response message to the gateway so that the gateway forwards the first response message to the diagnostic device.

[0076] For example, such as Figure 2 As shown, after the message conversion module is assembled, the first response message is sent to the Ethernet link management module. The Ethernet link management module is responsible for determining the Ethernet link corresponding to the response and sending it to the vehicle gateway via the correct Ethernet link.

[0077] In this embodiment, when the first ECU and the gateway are connected via Ethernet communication, a diagnostic request message forwarded by the gateway is received; the diagnostic request message is converted into a data transmission format to obtain diagnostic request data in a second data transmission format; the diagnostic request data is transmitted to a diagnostic program configured in the first ECU, so that the diagnostic program performs diagnostic processing in response to the diagnostic request data; when the diagnostic program completes the diagnostic processing and generates diagnostic data in the second data transmission format, a first response message in the first data transmission format is generated based on the diagnostic data; the first response message is sent to the gateway, so that the gateway forwards the first response message to the diagnostic device. In this way, the ECU of the Ethernet node in the vehicle can efficiently and orderly convert the data format of the diagnostic message and generate a response message according to the corresponding data transmission format. With the ECU in the vehicle configured with Ethernet communication capability, the processing of diagnostic messages for the ECU of the Ethernet node is completed to meet diagnostic requirements.

[0078] In some implementations, after receiving the diagnostic request message forwarded by the receiving gateway, the method may further include:

[0079] The diagnostic request message is parsed to obtain the first indication information.

[0080] The above-mentioned conversion of the diagnostic request message to obtain diagnostic request data in the second data transmission format may include:

[0081] When the first instruction information instructs the first ECU, the diagnostic request message is converted to obtain diagnostic request data in a second data transmission format.

[0082] In this embodiment, the first ECU can determine whether the diagnostic request message instructs the first ECU to perform diagnostic processing by parsing the first indication information from the diagnostic request message, that is, whether the first indication information instructs the first ECU. Only when it is determined that the diagnostic request message instructs the first ECU to perform diagnostic processing, the first ECU converts the diagnostic request message to obtain diagnostic request data in the second data transmission format, thereby avoiding misprocessing of the received diagnostic request message by the first ECU.

[0083] The aforementioned first indication information can be any information used to determine whether the diagnostic request message instructs the first ECU to perform diagnostic processing. For example, the aforementioned first indication information can be an identification code (such as at least one of a string and a pattern). In this case, if a preset identification code is pre-configured in the first ECU, and the first ECU can parse the identification code from the diagnostic request message, then the first ECU will match the parsed identification code with the preset identification code pre-configured in the first ECU. If the two match (e.g., identical or similar), then it is determined that the first indication information instructs the first ECU.

[0084] In some implementations, the first indication information may be the logical address of the ECU, thereby determining that the ECU indicated by the first indication information is more efficient.

[0085] In some embodiments, the vehicle further includes at least one second ECU, each of which is connected to the first ECU via Ethernet.

[0086] After receiving the diagnostic request message forwarded by the gateway, the above method may further include:

[0087] The diagnostic request message is parsed to obtain the first indication information;

[0088] When the first indication information indicates the target second ECU, a diagnostic request message is sent to the target second ECU via the Ethernet link between the first ECU and the target second ECU, so that the second ECU responds to the diagnostic request message and performs diagnostic processing, wherein the target second ECU is any one of at least one second ECU;

[0089] Receive the second response message sent by the target second ECU via the Ethernet link. The second response message is the response message generated after the target second ECU completes the diagnostic process.

[0090] Send a second response message to the gateway so that the gateway forwards the second response message to the diagnostic device.

[0091] In this embodiment, when the first indication information indicates a target second ECU that is communicatively connected to the first ECU, the first ECU can forward a diagnostic request message to the target second ECU so that the target second ECU can perform diagnostic processing. The first ECU also forwards the second response message generated by the target second ECU to the gateway, which then forwards the second response message to the diagnostic device. This allows the diagnostic processing of the second ECU that is communicatively connected to the first ECU to be realized when the first ECU acts as a TCP server, thus improving the convenience of diagnosing the second ECU.

[0092] Each of the at least one second ECUs that is communicatively connected to the first ECU may be an ECU that can only communicate with the first ECU but cannot communicate with the gateway, and different second ECUs may have different Ethernet links with the first ECU.

[0093] For example, such as Figure 3As shown, the vehicle also includes ECU2 and ECU3. The domain where the vehicle gateway is located is Zone1, the domain where ECU1 is located is Zone2, and the domain where ECU2 and ECU3 are located is Zone3. Zone1 and Zone2 can communicate with each other via the network, and Zone2 and Zone3 can also communicate with each other via the network, but Zone1 and Zone3 cannot communicate with each other via the network. In addition, Ethernet link A is established between ECU1 and the gateway, Ethernet link B is established between ECU1 and ECU2, and Ethernet link C is established between ECU1 and ECU3.

[0094] When the first ECU determines that the first instruction information indicates the target second ECU, the first ECU can send a diagnostic request message to the target second ECU through the Ethernet link between the first ECU and the target second ECU.

[0095] For example, such as Figure 3 As shown, when ECU1 (i.e., the first ECU) receives a diagnostic request message from the vehicle gateway, and the first indication information indicates ECU2 (i.e., the target second ECU), ECU1 acts as a TCP server, and ECU2 acts as a TCP client of ECU1. ECU1's Ethernet link management module forwards the diagnostic request message to ECU2 via Ethernet link B. When ECU1 (i.e., the first ECU) receives a diagnostic request message from the vehicle gateway, and the first indication information indicates ECU3 (i.e., the target second ECU), ECU1 acts as a TCP server, and ECU3 acts as a TCP client of ECU1. ECU1's Ethernet link management module forwards the diagnostic request message to ECU3 via Ethernet link C.

[0096] It should be noted that the first ECU determining whether the first instruction information indicates the target second ECU may be executed after the first ECU determines that the first instruction information does not indicate the first ECU; or, it may be executed after the first ECU determines that the first instruction information does not indicate any of the at least one second ECU, and then the first ECU determines whether the first instruction information indicates the first ECU; or, both may be executed simultaneously.

[0097] In addition, the first ECU can determine whether the first indication information indicates at least any of the second ECUs by sending a verification request to each of the second ECUs in response to a diagnostic request message. Each second ECU verifies whether the first indication information indicates itself and sends the verification result back to the first ECU. The second ECU then determines the target second ECU indicated by the first indication information based on the verification results sent back by each second ECU.

[0098] For example, if the first indication information is an identification code carried in a diagnostic request message, the first ECU may send the logical address carried in the diagnostic request message to each second ECU. Each second ECU may match the logical address carried in the diagnostic request message with its own pre-configured logical address, generate a matching result indicating whether a match has occurred, and send the matching result to the first ECU. If the first ECU determines that the matching result sent by a certain second ECU indicates that the logical address carried in the diagnostic request message matches the logical address in that second ECU, then that second ECU is identified as the target second ECU.

[0099] In some implementations, the vehicle is equipped with a routing table that includes at least one second indication message, different second indication messages being used to indicate different second ECUs that are communicatively connected to the first ECU.

[0100] Before converting the diagnostic request message to obtain diagnostic request data in the second data transmission format when the first indication information instructs the first ECU, the above may further include:

[0101] The first indication information is matched with the second indication information in the routing table to obtain the matching result;

[0102] The diagnostic request message is sent to the target second ECU via the Ethernet link between the first ECU and the target second ECU, including:

[0103] If a first indication that matches the second indication information exists in the matching result indication routing table, a diagnostic request message is sent to the target second ECU via the Ethernet link between the first ECU and the target second ECU.

[0104] In this embodiment, the first ECU can determine the target second ECU from at least one second ECU with which it is in communication through a pre-configured routing table, thereby effectively improving the efficiency of determining the target second ECU.

[0105] The routing table described above may only include the second indication information, for example, it may only include the logical addresses of different ECUs; or, the routing table may also include other information, such as... Figure 4 As shown, if a routing table is set in the Ethernet link management module of the first ECU, the routing table may include the source port of the Ethernet link, the source IP address, and the logical address of the ECU.

[0106] It should be noted that the second ECU responds to the diagnostic request message and performs diagnostic processing. Its processing process can be similar to that of the first ECU, and will not be described in detail here.

[0107] Figure 5 This is a schematic flowchart of an embodiment of the diagnostic message processing apparatus provided in this application. The diagnostic message processing apparatus of this application is applied to the first ECU of a vehicle, such as... Figure 5 As shown, the device 500 includes:

[0108] The Ethernet link management module 501 is used to receive a diagnostic request message forwarded by the gateway when the first ECU and the gateway are connected via Ethernet communication. The diagnostic request message is sent to the gateway by a diagnostic device that is connected to the gateway. The diagnostic request message is a message in the first data transmission format.

[0109] The message conversion module 502 is used to convert the data transmission format of the diagnostic request message to obtain diagnostic request data in a second data transmission format, which is different from the first data transmission format.

[0110] The diagnostic module 503 is used to transmit the diagnostic request data to the diagnostic program configured in the first ECU, so that the diagnostic program performs diagnostic processing in response to the diagnostic request data.

[0111] The message conversion module 502 is also used to generate a first response message in a first data transmission format based on the diagnostic data when the diagnostic program completes the diagnostic processing and generates diagnostic data in a second data transmission format.

[0112] The Ethernet link management module 501 is also used to send a first response message to the gateway so that the gateway forwards the first response message to the diagnostic device.

[0113] The diagnostic module described above can be a single functional module or it can be composed of multiple functional modules. For example, the diagnostic module 501 may include... Figure 2 or Figure 3 The diagnostic message management module and diagnostic session management module are shown.

[0114] In some embodiments, the message conversion module 502 is further configured to:

[0115] The diagnostic request message is parsed to obtain the first indication information;

[0116] When the first instruction information instructs the first ECU, the diagnostic request message is converted to obtain diagnostic request data in a second data transmission format.

[0117] In some embodiments, the vehicle further includes at least one second ECU, each of which is connected to the first ECU via Ethernet.

[0118] The message conversion module 502 is also used for:

[0119] The diagnostic request message is parsed to obtain the first indication information;

[0120] When the first indication information indicates the target second ECU, a diagnostic request message is sent to the target second ECU via the Ethernet link between the first ECU and the target second ECU, so that the second ECU responds to the diagnostic request message and performs diagnostic processing, wherein the target second ECU is any one of at least one second ECU;

[0121] The Ethernet link management module 501 is also used for:

[0122] Receive the second response message sent by the target second ECU via the Ethernet link. The second response message is the response message generated after the target second ECU completes the diagnostic process.

[0123] Send a second response message to the gateway so that the gateway forwards the second response message to the diagnostic device.

[0124] The diagnostic message processing apparatus 500 provided in this application embodiment can execute the technical solution shown in the above-described diagnostic message processing method embodiment. Its implementation principle and beneficial effects are similar, and will not be repeated here.

[0125] Figure 6 This is a schematic diagram of the hardware structure of the vehicle provided in the embodiments of this application.

[0126] The vehicle may include a processor 601 and a memory 602 storing computer program instructions.

[0127] Specifically, the processor 601 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0128] Memory 602 may include mass storage for data or instructions. For example, and not limitingly, memory 602 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 602 may include removable or non-removable (or fixed) media. Where appropriate, memory 602 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 602 is non-volatile solid-state memory.

[0129] In some embodiments, memory 602 may include read-only memory (ROM), random access memory (RAM), disk storage media device, optical storage media device, flash memory device, electrical, optical, or other physical / tangible memory storage device. Therefore, typically, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) 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 diagnostic message processing method or the diagnostic message processing method according to this application.

[0130] The processor 601 reads and executes computer program instructions stored in the memory 602 to implement the diagnostic message processing method in the above embodiments.

[0131] In one example, the vehicle may also include a communication interface 603 and a bus 610. Wherein, as... Figure 6 As shown, the processor 601, memory 602, and communication interface 603 are connected through bus 610 and complete communication with each other.

[0132] The communication interface 603 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0133] Bus 610 includes hardware, software, or both, that couples components of an online data traffic metering device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 610 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.

[0134] The vehicle can execute the diagnostic message processing method in the embodiments of this application, thereby achieving a combination of Figures 1 to 5 The method and apparatus described herein are for processing diagnostic messages.

[0135] In addition, in conjunction with the diagnostic message processing method in the above embodiments, this application also provides a computer storage medium for implementation. The computer storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement the diagnostic message processing method in the above embodiments.

[0136] In conjunction with the diagnostic message processing method in the above embodiments, this application also provides a computer program product, wherein when the instructions in the computer program product are executed by the vehicle's processor, the vehicle implements the diagnostic message processing method in the above embodiments.

[0137] Vehicles can be private cars, such as sedans, SUVs, MPVs, or pickup trucks. Vehicles can also be commercial vehicles, such as vans, buses, small trucks, or large semi-trailers. Vehicles can be either gasoline-powered or new energy vehicles. When a vehicle is a new energy vehicle, it can be a hybrid or a pure electric vehicle.

[0138] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0139] The functional blocks shown in the above-described structural diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on 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, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0140] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. 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 embodiments, or in a different order, or several steps can be performed simultaneously.

[0141] The aspects of this application have been described above with reference to flowchart illustrations and / or block diagrams of methods (systems) and computer program products according to embodiments of this application. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. 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 is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by dedicated hardware performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0142] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A method of processing a diagnostic message, characterized by, A first ECU applied to a vehicle, the method comprising: In the case of an Ethernet communication connection between the first ECU and a gateway, receiving a diagnostic request message forwarded by the gateway, the diagnostic request message being sent to the gateway by a diagnostic device in communication with the gateway; the diagnostic request message is a message in a first data transmission format; Converting the data transmission format of the diagnostic request message to obtain diagnostic request data in a second data transmission format, the second data transmission format being different from the first data transmission format, the first data transmission format being a data transmission format conforming to the Ethernet transmission specification, and the second data transmission format being a data transmission format followed by the data transmission within the first ECU; Transmitting the diagnostic request data to a diagnostic program configured in the first ECU to enable the diagnostic program to perform diagnostic processing in response to the diagnostic request data; In the case where the diagnostic program completes the diagnostic processing and generates diagnostic data in the second data transmission format, generating a first response message in the first data transmission format based on the diagnostic data; Sending the first response message to the gateway to enable the gateway to forward the first response message to the diagnostic device; The vehicle further comprises at least one second ECU, each of the second ECUs being in communication with the first ECU through Ethernet, and after receiving the diagnostic request message forwarded by the gateway, further comprising: Parsing the diagnostic request message to obtain first indication information; In the case where the first indication information indicates a target second ECU, transmitting the diagnostic request message to the target second ECU through an Ethernet link between the first ECU and the target second ECU to enable the second ECU to perform the diagnostic processing in response to the diagnostic request message, wherein the target second ECU is any one of the at least one second ECU; Receiving a second response message sent by the target second ECU through the Ethernet link, the second response message being a response message generated by the target second ECU upon completion of the diagnostic processing; Sending the second response message to the gateway to enable the gateway to forward the second response message to the diagnostic device.

2. The method of claim 1, wherein, The conversion of the diagnostic request message to obtain diagnostic request data in a second data transmission format comprises: In the case where the first indication information indicates the first ECU, converting the diagnostic request message to obtain diagnostic request data in a second data transmission format.

3. The method of claim 1, wherein, A routing table is configured in the vehicle, the routing table comprising at least one second indication information, different second indication information being used to indicate different second ECUs in communication with the first ECU; Before the conversion of the diagnostic request message to obtain diagnostic request data in a second data transmission format in the case where the first indication information indicates the first ECU, further comprising: Matching the first indication information with the second indication information in the routing table to obtain a matching result; The diagnostic request message is sent to the target second ECU through an Ethernet link between the first ECU and the target second ECU, including: In the case where the matching result indicates that the first indication information matching the second indication information exists in the routing table, the diagnostic request message is sent to the target second ECU through an Ethernet link between the first ECU and the target second ECU.

4. The method of claim 1, wherein, The first indication information includes a logical address of an ECU.

5. A diagnostic message processing apparatus characterized by comprising: The first ECU applied to a vehicle comprises: An Ethernet link management module, configured to receive a diagnostic request message forwarded by a gateway in the case where the first ECU is connected to the gateway through an Ethernet communication connection, wherein the diagnostic request message is sent to the gateway by a diagnostic device connected to the gateway; and the diagnostic request message is a message in a first data transmission format. A message conversion module, configured to perform data transmission format conversion on the diagnostic request message to obtain diagnostic request data in a second data transmission format, wherein the second data transmission format is different from the first data transmission format, the first data transmission format is a data transmission format conforming to an Ethernet transmission specification, and the second data transmission format is a data transmission format followed by data transmission in the first ECU. A diagnostic module, configured to transmit the diagnostic request data to a diagnostic program configured in the first ECU, so that the diagnostic program performs diagnostic processing in response to the diagnostic request data. The message conversion module is further configured to generate a first response message in the first data transmission format based on diagnostic data in the case where the diagnostic program completes the diagnostic processing and generates the diagnostic data in the second data transmission format. The Ethernet link management module is further configured to send the first response message to the gateway, so that the gateway forwards the first response message to the diagnostic device. The vehicle further comprises at least one second ECU, each of the second ECUs being connected to the first ECU through an Ethernet, and the message conversion module is further configured to: analyze the diagnostic request message to obtain first indication information; in the case where the first indication information indicates a target second ECU, send the diagnostic request message to the target second ECU through an Ethernet link between the first ECU and the target second ECU, so that the second ECU performs the diagnostic processing in response to the diagnostic request message, wherein the target second ECU is any one of the at least one second ECU; The Ethernet link management module is further configured to: receive a second response message sent by the target second ECU through the Ethernet link, wherein the second response message is a response message generated by the target second ECU after completing diagnostic processing; send the second response message to the gateway, so that the gateway forwards the second response message to the diagnostic device.

6. The apparatus of claim 5, wherein, The message conversion module is further configured to: In a case where the first indication information indicates the first ECU, the diagnostic request message is converted to obtain diagnostic request data in a second data transmission format.

7. A vehicle characterized by comprising: The vehicle comprises a processor and a memory storing computer program instructions; The processor executes the computer program instructions to implement the diagnostic message processing method according to any one of claims 1-4.

8. A computer-readable storage medium, characterized in that, The computer program instructions are stored on the computer readable storage medium. The computer program instructions are executed by the processor to implement the diagnostic message processing method according to any one of claims 1-4.

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