Method and device for sending diagnosis fault code

Abstract

The embodiment of the invention discloses a method for sending a diagnosis fault code, which can reduce the bus load. The method comprises the steps of collecting diagnosis fault codes by taking a first period as an interval; and processing the collected diagnosis fault code by taking a second period as an interval so as to send the corresponding fault triggering message to the vehicle-mounted bus, and the second period is longer than the first period. Further, the collected diagnostic fault code comprises: a first diagnostic fault code; and when the sending frequency of the first type of fault trigger message corresponding to the first diagnosis fault code reaches a preset value, if an unprocessed diagnosis fault code exists, processing the unprocessed diagnosis fault code, and if the unprocessed diagnosis fault code does not exist, sending a second type of fault trigger message corresponding to the first diagnosis fault code.

Description

Technical Field

[0001] The present disclosure relates to automobile diagnostic technology, and more particularly to a method and device for sending a diagnostic fault code. Background Art

[0002] Diagnostic Trouble Codes (DTCs) are a set of codes used to indicate specific faults or abnormal conditions in a vehicle's electronic control system.

[0003] In the existing method, vehicle-mounted components such as radar can inform the corresponding ECU of the status of the diagnostic fault code through a message. The cycle of such messages is generally short, resulting in high bus load. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a method and device for sending a diagnostic fault code, which can reduce the bus load.

[0005] A method for sending a diagnostic fault code according to an embodiment of the present invention includes: collecting diagnostic fault codes at intervals of a first cycle; and processing the collected diagnostic fault codes at intervals of a second cycle to send corresponding fault trigger messages to a vehicle bus, wherein the second cycle is longer than the first cycle.

[0006] In some embodiments, the collected diagnostic trouble codes include: a first diagnostic trouble code; when the number of times a first type of fault trigger message corresponding to the first diagnostic trouble code is sent reaches a preset value, if there is an unprocessed diagnostic trouble code, the unprocessed diagnostic trouble code is processed; if there is no unprocessed diagnostic trouble code, a second type of fault trigger message corresponding to the first diagnostic trouble code or a preset fault trigger message is sent.

[0007] In some embodiments, the second period is between 15 and 25 times longer than the first period.

[0008] In some implementations, when a diagnostic fault code of the communication mute type exists, sending of the fault trigger message is stopped.

[0009] In some implementations, when there are multiple unprocessed diagnostic trouble codes, the diagnostic trouble codes are processed based on a priority relationship between the diagnostic trouble codes or an order in which the diagnostic trouble codes are received.

[0010] In some implementations, each diagnostic trouble code corresponds to a fault state variable, and based on the fault state variable of the diagnostic trouble code, the diagnostic trouble code is processed to send a corresponding fault trigger message.

[0011] In some implementations, the fault status variables include: a fault flag, which is set to be valid when the corresponding diagnostic fault code is first collected, and a transmission count, which is used to record the number of transmissions of the first type of fault trigger message.

[0012] In some embodiments, the fault status variable is reset at the beginning or end of a drive cycle.

[0013] In some implementations, the fault trigger message includes: a trigger flag, which is used to indicate that the fault trigger message is a first type or a second type fault trigger message.

[0014] In some embodiments, the method further includes: sending a fault indication message to the vehicle bus in a third cycle, wherein the fault indication message includes: multiple indication bits, each used to indicate whether each diagnostic fault code is currently valid, and the third cycle is longer than the first cycle.

[0015] A radar according to an embodiment of the present invention comprises: an error processing unit, which is used to detect a fault event and generate a corresponding diagnostic fault code; and a function control unit, which is used to periodically synchronize the diagnostic fault code generated by the error processing unit at intervals of a first cycle; and process the synchronized diagnostic fault code at intervals of a second cycle to send the corresponding fault trigger message to a vehicle bus; wherein the second cycle is longer than the first cycle; wherein the synchronized diagnostic fault code comprises: a first diagnostic fault code; wherein the function control unit is specifically used to, when the number of times a first type of fault trigger message corresponding to the first diagnostic fault code is sent reaches a preset value, if there is an unprocessed diagnostic fault code, process the unprocessed diagnostic fault code, and if there is no unprocessed diagnostic fault code, send a second type of fault trigger message corresponding to the first diagnostic fault code or a preset fault trigger message.

[0016] A computer device / equipment / system according to an embodiment of the present invention comprises a memory, a processor and a computer program / instructions stored in the memory, wherein the processor executes the computer program / instructions to implement the steps of the method according to the embodiment of the present invention.

[0017] A computer-readable storage medium according to an embodiment of the present invention stores a computer program / instruction thereon, and when the computer program / instruction is executed by a processor, the steps of the method according to the embodiment of the present invention are implemented.

[0018] A computer program product according to an embodiment of the present invention includes a computer program / instruction, and when the computer program / instruction is executed by a processor, the steps of the method according to the embodiment of the present invention are implemented.

[0019] Beneficial effects of the embodiments of the present invention:

[0020] The collection cycle of the diagnostic trouble code is different from the sending cycle of the corresponding fault trigger message, and the sending cycle is longer than the collection cycle. Therefore, the diagnostic trouble code can be collected quickly and the fault trigger message can be reported slowly, thereby reducing the bus load. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the multiple drawings represent the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments provided according to the present disclosure and should not be regarded as limiting the scope of the present disclosure.

[0022] Figure 1 is a schematic structural diagram of an embodiment of a radar of the present invention;

[0023] Figure 2 is a schematic flow chart of an embodiment of a fault detection method of the present invention;

[0024] Figure 3 is a flow chart of an embodiment of a method for sending a diagnostic trouble code of the present invention;

[0025] Figure 4 is a flow chart of another embodiment of a method for sending a diagnostic trouble code of the present invention;

[0026] Figure 5 is a flow chart of another embodiment of a method for sending a diagnostic trouble code of the present invention;

[0027] Figure 6 is a flow chart of another embodiment of a method for sending a diagnostic trouble code of the present invention;

[0028] Figure 7 It is a schematic diagram of the structure of an embodiment of a computer device / equipment / system of the present invention. DETAILED DESCRIPTION

[0029] The present disclosure will be further described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0030] In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present disclosure can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the main purpose of the present disclosure.

[0031] For ease of understanding, the embodiment of the present invention will be described using a radar product as an example, but it is understandable that the solution of this embodiment can also be used in other vehicle-mounted products, such as vehicle-mounted sensors such as image sensors.

[0032] like Figure 1 , which is a schematic diagram of a structure of an embodiment of a radar, the radar 10 may be, for example, a millimeter wave radar or a laser radar, etc. The radar 10 comprises: an error handling unit (Error Handling Unit, EHU) 101 and a function control unit (Function Control Unit, FCU) 102 .

[0033] The error processing unit 101 is used to detect fault events and generate corresponding diagnostic trouble codes (DTCs) and the like.

[0034] Specifically, Figure 2 As shown, the error handling unit 101 can obtain external and internal signals related to hardware or software (step S201). Among them, examples of internal signals may include: vehicle speed, acceleration and wheel speed, etc., and external signals may include: voltage and temperature, etc. Then, the validity of these signals is judged (step S202), for example, whether the speed or temperature is within a preset range. Then, in step S203, when it is judged that a certain signal is invalid, a diagnostic event can be triggered to be reported, and the diagnostic event can lead to operations such as functional degradation. When the signal is invalid and meets specific conditions, such as a specified period or time, the corresponding diagnostic trouble code (DTC) will be set. In addition, the error handling unit 101 can further store the diagnostic trouble code and related information in a non-volatile memory for subsequent analysis.

[0035] In some embodiments, the diagnostic trouble codes involved may include, but are not limited to: DTC indicating overtemperature, DTC indicating time synchronization failure, DTC indicating CAN bus disabled, DTC indicating calibration failure, and the like.

[0036] The function control unit 102 is used to periodically synchronize (collect) diagnostic trouble codes with the error handling unit 101, and process the synchronized diagnostic trouble codes to generate corresponding fault trigger messages, and send the fault trigger messages to the in-vehicle bus 20 to notify the DTC externally, such as other ECUs in the vehicle. The in-vehicle bus can be, for example, a CAN bus or an Ethernet bus, etc., which is not limited here.

[0037] In some embodiments, the function control unit 102 sets the period of synchronizing DTC and processing DTC to be inconsistent, and the synchronization period is shorter and the processing period is longer. For example, the function control unit 102 can synchronize DTC every 50ms and send a fault trigger message every 1s. In this way, fast synchronization of DTC and slow reporting of fault trigger messages can be achieved, thereby reducing the load of the vehicle bus.

[0038] In other embodiments, the function control unit 102 may control the number of times the first type of fault trigger message corresponding to the DTC is sent (e.g., 2 times or 3 times, etc.). For example, when the number of times the first type of fault trigger message corresponding to a certain DTC is sent reaches a preset value, if there are no other unprocessed DTCs, the second type of fault trigger message corresponding to the DTC may be sent. Through such a mechanism, the information sent to the bus can be made more obvious, and it can be observed whether the state of the DTC has changed, for example, whether the DTC in the fault trigger message is the current DTC or the DTC that has been triggered.

[0039] The following will be combined Figures 3 to 6 , an embodiment of the method for sending a diagnostic trouble code of the present invention is illustrated by way of example, and the sending method can be mainly executed by the above-mentioned function control unit 102.

[0040] like Figure 3 FIG. 1 is a flow chart of an embodiment of a method for sending a diagnostic trouble code of the present invention, which includes:

[0041] Step S301: periodically collecting (synchronizing) diagnostic trouble codes at intervals of a first period.

[0042] In this step, FCU102 diagnoses the fault code synchronously with EHU101 at a regular interval.

[0043] Step S302: Processing the collected diagnostic fault codes at intervals of the second cycle to send corresponding fault trigger messages to the vehicle bus.

[0044] In this step, FCU102 periodically sends a fault trigger message to the bus, which carries relevant information of the diagnostic fault code. For example, the fault trigger message can indicate on which ECU the fault event occurred, the specific content of the DTC, the status of the DTC, and so on.

[0045] In the embodiment of the present invention, the time interval for the FCU 102 to send the fault trigger message is inconsistent with the time interval for synchronizing the diagnostic fault code. More specifically, the second cycle is longer than the first cycle. That is, the FCU 102 can quickly synchronize with the EHU 101 to obtain the diagnostic fault code; however, the FCU 102 processes the synchronized diagnostic fault code at a slower speed to reduce the burden on the bus 20.

[0046] In some embodiments, the length of the second cycle may be between 15 and 25 times the length of the first cycle. For example, assume that the FCU 102 synchronizes the diagnostic fault code with the EHU 101 every 50 ms, and the FCU 102 sends a fault trigger message to the bus 20 every 1 s. In addition, one fault trigger message corresponds to one diagnostic fault code.

[0047] In some embodiments, Figure 4 As shown, before sending the fault trigger message (step S302), it is first determined whether there is a communication mute type diagnostic trouble code (step S401). If there is a communication mute type DTC, sending the fault trigger message is prohibited (step S402), and if there is no communication mute type DTC, sending the fault trigger message is allowed (S403). In this embodiment, by checking the DTC, it is possible to avoid wasting resources caused by sending the fault trigger message when there is a communication problem on the bus.

[0048] In some embodiments, when there are multiple collected and unprocessed diagnostic trouble codes in step S302, the diagnostic trouble codes can be processed based on the priority relationship between the diagnostic trouble codes to send the corresponding diagnostic trouble message. The priority relationship between the diagnostic trouble codes can be predefined, for example, the priority can be defined based on the severity of the fault event represented by the diagnostic trouble code. For example, assuming that the diagnostic trouble codes to be processed in step S202 include: DTC1 and DTC2, and the priority of DTC2 is higher than that of DTC1, DTC2 can be processed first and then DTC1.

[0049] In addition, the diagnostic trouble code may be processed based on the order of the diagnostic trouble code to send the corresponding diagnostic trouble message. For example, the diagnostic trouble code may be processed based on the principle of first received first processed to send the diagnostic trouble message. For example, a first-in first-out queue may be set, and when the diagnostic trouble code is synchronized, if the diagnostic trouble code has not been processed, the diagnostic trouble code is added to the queue, so that the purpose of processing the diagnostic trouble code in the order of reception can be achieved.

[0050] In some embodiments, in step S302, the diagnostic fault code may correspond to the first type of fault trigger message and the second type of fault trigger message, and the number of times the first type of fault trigger message is sent is controlled to be less than or equal to a preset value (such as 2 times or 3 times). The contents of the first type and the second type of fault trigger message are basically the same, and the difference lies in whether the flag bit in the fault trigger message indicating whether it is being triggered is set. In the first type of fault trigger message, the flag bit is set to indicate that the current message is a real-time fault trigger message, that is, the fault at this time is the DTC that is currently being triggered. In the second type of fault trigger message, the flag bit remains at the default value, indicating that the DTC at this time is a DTC that has been triggered. By setting the first type and the second type of trigger message, the state change of the fault code can be observed. For example, assuming that DTC1 has experienced the situation of appearing-disappearing-reappearing, when DTC1 reappears, the second type of fault trigger message will be sent instead of the first type of fault trigger message, so it can be known that DTC1 is a historically triggered DTC.

[0051] Specifically, a corresponding fault state variable may be set for each diagnostic fault code, and based on the fault state variable, the sending of the fault trigger message may be processed.

[0052] Among them, the fault state variable includes: a fault flag, which is set to valid when the corresponding diagnostic trouble code is first collected, and the number of transmissions, which is used to record the number of transmissions of the first type of fault trigger message. It should be noted that the fault state variable is reset at the beginning or end of the driving cycle. That is to say, in a driving cycle, the corresponding fault flag is set only when the diagnostic trouble code is first collected, and the fault flag remains valid during this driving cycle. Assume that in a driving cycle, fault event 1 undergoes a process of appearance-disappearance, that is, the corresponding DTC1 undergoes a process of appearance-disappearance. At this time, the fault flag corresponding to DTC1 will be set when DTC1 first appears, and when the fault event represented by DTC1 disappears, the fault flag remains valid. The situation of the number of transmissions is similar and will not be repeated here.

[0053] Combine the following Figure 5 Describes how to send a fault-triggered message based on the fault status variable.

[0054] like Figure 5As shown, it is a flow chart of another embodiment of the method for sending a diagnostic fault code of the present invention. First, in step S501, it is determined whether the fault flag is set, that is, whether it is valid. If it is valid, in step S502, it is determined whether the number of transmissions is less than or equal to a preset value. If it is less than or equal to the preset value, a first type of fault trigger message is sent (step S503). If the number of times the first type of fault trigger message is sent has reached the preset value, a second type of fault trigger message is sent (step S502).

[0055] It should be noted that in step S504, if there are other unprocessed DTCs, other DTCs are processed based on the number of times other DTCs are sent. If the current DTC is the last unprocessed DTC, the second type fault trigger message corresponding to the current DTC will be sent until no new DTC appears.

[0056] An example is given below to illustrate the solution of this implementation mode:

[0057] Assume that the DTCs synchronized to the FCU 101 within a period of time include: DTC1, DTC2, and DTC3.

[0058] FCU102 processes DTCs in the order of DTC1 to 3. Assuming the processing interval is 1 second and the preset number of times is 2, then:

[0059] 1st second: Send the first type of fault trigger message corresponding to DTC1;

[0060] Second: Send the first type of fault trigger message corresponding to DTC1;

[0061] 3s: Send the first type of fault trigger message corresponding to DTC2;

[0062] 4s: Send the first type of fault trigger message corresponding to DTC2;

[0063] 5s: Send the first type of fault trigger message corresponding to DTC3;

[0064] 6s: Send the first type of fault trigger message corresponding to DTC3;

[0065] 7s: Send the second type fault trigger message corresponding to DTC3;

[0066] …

[0067] No. ns: Send the second type of fault trigger message corresponding to DTC3.

[0068] When a new DTC (unprocessed) occurs, the new DTC is processed based on the above-described method.

[0069] In this embodiment, the fault flag is set only when the DTC appears for the first time in a driving cycle, and the fault flag remains valid during the current driving cycle. For example, when the DTC undergoes a process of appearing-disappearing-reappearing, the fault flag remains valid when it first appears. Therefore, the solution of this embodiment may not be able to effectively record the change process of the DTC, so when analyzing the fault, it may not be possible to fully understand the fault situation.

[0070] Therefore, if Figure 6 FIG. 2 is a flow chart of another embodiment of a method for sending a diagnostic trouble code of the present invention, which includes:

[0071] Steps S601 and S602 are respectively the same as steps S301 and S302 and are not described in detail here.

[0072] Step S603: Send a fault indication message to the vehicle bus in a third cycle.

[0073] In step S603, the fault indication message includes: a plurality of indication bits, each used to indicate whether each diagnostic trouble code is currently valid, that is, whether it is synchronized to the corresponding DTC within the third cycle.

[0074] The third period is longer than the first period, and even longer than or equal to the second period.

[0075] Assuming that DTC1, DTC2 and DTC3 are received in the first third cycle, the indication bits corresponding to DTC1, DTC2 and DTC3 in the fault indication message will be set to valid.

[0076] In the second third cycle, DTC1, DTC3 and DTC4 are received, that is, DTC2 disappears, DTC1 and 3 are still reporting DTC faults, and a new DTC4 fault occurs. At this time, the indication bits corresponding to DTC1, DTC3 and DTC4 in the fault indication message will be set to valid.

[0077] Through the method of this embodiment, the change of DTC can be tracked more clearly.

[0078] In addition, if Figure 7 As shown, it is a schematic diagram of the structure of an embodiment of a computer device / equipment / system 7 of the present invention, which includes: a memory 72, a processor 70 and a computer program / instruction stored in the memory, and the processor 70 executes the computer program / instruction to implement the steps of the method in the embodiment of the present invention. Therefore, the specific functions and examples of each module and submodule of the device of the embodiment of the present disclosure can be referred to the relevant description of the corresponding steps in the above method embodiment, and will not be repeated here.

[0079] In addition, an embodiment of the present invention further provides a computer-readable storage medium on which a computer program / instruction is stored. When the computer program / instruction is executed by a processor, the steps of the method described in the embodiment of the present invention are implemented.

[0080] In addition, an embodiment of the present invention further provides a computer program product, including a computer program / instruction, which implements the steps of the method described in the embodiment of the present invention when executed by a processor.

[0081] In the above, if the memory and the processor are implemented independently, the memory and the processor can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc.

[0082] Optionally, in a specific implementation, if the memory and the processor are integrated on a chip, the memory and the processor can communicate with each other through an internal interface.

[0083] It should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. It is worth noting that the processor may be a processor supporting the Advanced RISC Machines (ARM) architecture.

[0084] Further, optionally, the above-mentioned memory may include a read-only memory and a random access memory, and may also include a non-volatile random access memory. The memory may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may include a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may include a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available. For example, static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM) and direct memory bus random access memory (DR RAM).

[0085] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the process or function described in the embodiment of the present disclosure is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (for example: coaxial cable, optical fiber, data subscriber line (Digital Subscriber Line, DSL)) or wireless (for example: infrared, Bluetooth, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access, or a data storage device such as a server or data center that includes one or more available media integrations. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a digital versatile disc (DVD)), or a semiconductor medium (e.g., a solid state disk (SSD)), etc. It is worth noting that the computer-readable storage medium mentioned in the present disclosure may be a non-volatile storage medium, in other words, a non-transient storage medium.

[0086] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0087] In the description of the embodiments of the present disclosure, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0088] In the description of the embodiments of the present disclosure, unless otherwise specified, " / " means or, for example, A / B can mean A or B. "And / or" in this article is only a way to describe the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0089] In the description of the embodiments of the present disclosure, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, unless otherwise specified, "plurality" means two or more.

[0090] The above description is only an exemplary embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A method for sending a diagnostic trouble code, characterized in that: include: The diagnostic trouble codes are collected at intervals of the first cycle; as well as The collected diagnostic fault codes are processed at intervals of a second cycle to send corresponding fault trigger messages to the vehicle bus, wherein the second cycle is longer than the first cycle.

2. The method for sending a diagnostic trouble code according to claim 1, characterized in that: The collected diagnostic trouble codes include: a first diagnostic trouble code; When the number of times the first type fault trigger message corresponding to the first diagnostic trouble code is sent reaches a preset value, if there is an unprocessed diagnostic trouble code, the unprocessed diagnostic trouble code is processed; if there is no unprocessed diagnostic trouble code, a second type fault trigger message corresponding to the first diagnostic trouble code is sent.

3. The method for sending a diagnostic trouble code according to claim 1, characterized in that: The length of the second cycle is between 15 and 25 times the length of the first cycle.

4. The method for sending a diagnostic trouble code according to claim 1, characterized in that: When a diagnostic fault code of the communication mute type exists, the sending of the fault trigger message is stopped.

5. The method for sending a diagnostic trouble code according to claim 1, characterized in that: When there are a plurality of unprocessed diagnostic trouble codes, the diagnostic trouble codes are processed based on a priority relationship between the diagnostic trouble codes or a reception order of the diagnostic trouble codes.

6. The method for sending a diagnostic trouble code according to claim 2, characterized in that: Each diagnostic trouble code corresponds to a fault state variable, and based on the fault state variable of the diagnostic trouble code, the diagnostic trouble code is processed to send a corresponding fault trigger message; The fault status variables include: a fault flag, which is set to be valid when the corresponding diagnostic fault code is first collected, and a number of transmissions, which is used to record the number of transmissions of the first type of fault trigger message.

7. The method for sending a diagnostic trouble code according to claim 6, characterized in that: At the beginning or end of a driving cycle, the fault status variable is reset.

8. The method for sending a diagnostic trouble code as claimed in claim 2, characterized in that: The fault trigger message includes: a trigger flag, which is used to indicate that the fault trigger message is a first type or a second type fault trigger message.

9. The method for sending a diagnostic trouble code according to claim 1, characterized in that: The method further comprises: A fault indication message is sent to the vehicle bus in a third cycle, wherein the fault indication message includes: a plurality of indication bits, respectively used to indicate whether each diagnostic fault code is currently valid, and the third cycle is longer than the first cycle.

10. A radar, characterized in that: include: An error handling unit, used to detect fault events and generate corresponding diagnostic fault codes; as well as a function control unit, configured to periodically synchronize the diagnostic trouble codes generated by the error processing unit at intervals of a first period; as well as Processing the synchronized diagnostic fault codes at intervals of the second cycle to send corresponding fault trigger messages to the vehicle bus; Among them, the second cycle is longer than the first cycle; Wherein, the synchronized diagnostic trouble code includes: a first diagnostic trouble code; Among them, the functional control unit is specifically used to, when the number of times a first type of fault trigger message corresponding to a first diagnostic fault code is sent reaches a preset value, if there is an unprocessed diagnostic fault code, process the unprocessed diagnostic fault code; if there is no unprocessed diagnostic fault code, send a second type of fault trigger message corresponding to the first diagnostic fault code or a preset fault trigger message.

11. A computer device / equipment / system comprising a memory, a processor and a computer program / instruction stored in the memory, characterized in that: The processor executes the computer program / instructions to implement the steps of the method of any one of claims 1 to 9.

12. A computer-readable storage medium having a computer program / instruction stored thereon, characterized in that: When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

13. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

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