Fault processing mode determination method and device, electronic equipment and storage medium

Abstract

The invention provides a fault processing mode determination method and device, electronic equipment and a storage medium, and relates to the technical field of vehicles, and the method comprises the steps: responding to an abnormal signal received from a target controller, and determining whether to carry out fault detection on the target controller; determining the fault information of the target controller under the condition that the fault detection of the target controller is required; the fault information comprises a fault type and a fault level corresponding to the fault type; and determining a fault processing mode of the target controller according to the fault information of the target controller. Therefore, the fault processing efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a method, device, electronic device, and storage medium for determining a fault handling method. Background Art

[0002] In recent years, with the continuous development of the vehicle field, on the one hand, the degree of electrification and electronicization has been continuously improved, and the hardware platform has become diversified. On the other hand, the demand for safety has gradually increased.

[0003] The prior art can judge and confirm the fault by judging whether the fault signal exceeds the set threshold of the fault signal and judging whether the effective number of faults is greater than the preset threshold, and then judge whether to shut down the tube. If so, the torque is directly set to zero. Otherwise, the torque value fault is handled by reducing the power output according to the slope.

[0004] In some scenarios, the vehicle may be affected by other factors and may give false fault alarms. In this case, once a fault signal appears, fault detection is required, resulting in frequent fault diagnosis and affecting user experience. Summary of the invention

[0005] The present application provides a method, device, electronic device, and storage medium for determining a fault handling method, which are used to reduce the frequency of fault detection and improve user experience.

[0006] In order to achieve the above purpose, this application adopts the following technical solutions:

[0007] According to a first aspect of the present application, a method for determining a fault handling method is provided, the method comprising:

[0008] In response to receiving an abnormal signal from a target controller, determine whether to perform fault detection on the target controller; if it is determined that fault detection on the target controller is required, determine the fault information of the target controller; the fault information includes the fault type and the fault level corresponding to the fault type; and determine the fault handling method of the target controller based on the fault information of the target controller.

[0009] According to the above-mentioned technical means, the present application can determine whether to perform fault detection on the target controller based on the abnormal signal received from the target controller, thereby reducing the influence of other reasons, possible erroneous fault alarms, reducing the frequency of fault diagnosis, and improving user experience.

[0010] In one possible implementation, in response to an abnormal signal of the target controller, it is detected whether the target controller meets a detection condition; if the target controller meets the detection condition, it is determined that fault detection needs to be performed on the target controller; if the target controller does not meet the detection condition, it is determined that fault detection does not need to be performed on the target controller.

[0011] According to the above technical means, fault items that do not meet the detection conditions can be excluded, and only possible fault conditions can be checked, thereby improving the detection efficiency and reducing unnecessary detection time and resource consumption.

[0012] In one possible implementation, the detection condition includes: a reset condition and / or a detection enable condition; wherein the reset condition includes: executing a diagnostic service reset operation and / or a KL15 reset operation; and the detection enable condition is used to trigger the target controller to execute a fault detection operation.

[0013] According to the above technical means, the detection conditions of fault detection are enriched, the possibility of misjudgment and missed judgment is reduced, and the accuracy of fault detection is improved. Some simple faults can be solved and eliminated through the reset operation, avoiding the repeated execution of subsequent steps and improving resource utilization. The setting of the detection enabling condition can be adjusted and optimized according to actual needs to adapt to the fault detection needs of different equipment and different working conditions, increasing flexibility and adaptability.

[0014] In a possible implementation, when the target controller meets a preset fault condition, it is determined that a fault occurs on the target controller, and fault information of the target controller is determined.

[0015] According to the above technical means, the fault type judgment in fault detection can be made more accurate by presetting the fault conditions.

[0016] In one possible implementation, the preset fault condition includes at least one of the following: a hardware failure of the target controller; the operating state of the target controller is the target control state, and the operating parameters of the target controller do not match the parameters corresponding to the target control state; the operating parameters of the target controller are greater than a preset threshold; the error between the operating parameters of the target controller and the preset parameters is greater than a preset difference; the preset parameters are the operating parameters of the target controller when it operates normally; the number of abnormal signals in the target controller is greater than a preset number; the fault duration of the target controller is greater than a preset duration.

[0017] According to the above technical means, various preset parameters such as preset operating parameters, preset time, and preset number of times are used to judge whether the operating state of the target controller has a fault, so as to improve the accuracy of fault diagnosis and enhance system stability.

[0018] In a possible implementation, when the duration of the abnormal signal exceeds a first preset duration, it is determined that the target controller is faulty.

[0019] According to the above technical means, the present application can judge whether the target controller actually fails through the first preset time length, and can eliminate erroneous fault judgments made due to short-term abnormalities.

[0020] In a possible implementation, when it is determined that the abnormal signal is not shielded, fault detection is performed on the target controller in response to the abnormal signal of the target controller. When the abnormal signal is shielded, it is determined that fault detection does not need to be performed on the target controller.

[0021] According to the above technical means, the pre-set shielded abnormal signals can be excluded, reducing unnecessary detection time and resource consumption.

[0022] In one possible implementation, in response to a setting operation, the value of a flag bit of an abnormal signal is determined; wherein, when the flag bit of the abnormal signal is a first identifier, the abnormal signal is shielded; when the flag bit of the abnormal signal is a second identifier, the abnormal signal is not shielded; and the first identifier is different from the second identifier.

[0023] According to the above technical means, the present application can reduce the repetition of subsequent fault diagnosis processes by judging whether the preset flag bit of the abnormal signal is shielded, making the determination of the fault handling method more efficient.

[0024] In one possible implementation, when the fault type of the target controller is a hardware fault, the target controller is controlled to perform a fault latch operation; the fault latch operation includes: when a fault is detected, performing a reset operation; if the number of times the reset operation is performed exceeds a preset number, latching the fault.

[0025] According to the above technical means, the present application can handle hardware faults through fault latch retry operations to reduce misdiagnosis and missed diagnosis. The latch operation can retain fault error information and provide a basis for subsequent fault analysis and processing.

[0026] According to a second aspect of the present application, a determination device is provided, including:

[0027] a determination unit, configured to determine whether to perform fault detection on the target controller in response to receiving an abnormal signal from the target controller;

[0028] The determination unit is further used to determine to obtain fault information of the target controller when it is determined that the target controller needs to be detected for a fault; the fault information includes a fault type and a fault level corresponding to the fault type;

[0029] The determination unit is further used to determine a fault handling method of the target controller according to the fault information of the target controller.

[0030] In a possible implementation, the determination device further includes a checking unit. The checking unit is used to detect whether the target controller meets the detection condition in response to the abnormal signal of the target controller; the determination unit is also used to determine that it is necessary to perform fault detection on the target controller when the target controller meets the detection condition; the determination unit is also used to determine that it is not necessary to perform fault detection on the target controller when the target controller does not meet the detection condition.

[0031] In a possible implementation, the reset condition includes: executing a diagnostic service reset operation and / or a KL15 reset operation; and the detection enable condition is used to trigger the target controller to execute a fault detection operation.

[0032] In a possible implementation, the determination unit is further configured to determine that a fault occurs on the target controller and determine fault information of the target controller when the target controller meets a preset fault condition.

[0033] In one possible implementation, the preset fault condition includes at least one of the following: a hardware failure of the target controller; the operating state of the target controller is the target control state, and the operating parameters of the target controller do not match the parameters corresponding to the target control state; the operating parameters of the target controller are greater than a preset threshold; the error between the operating parameters of the target controller and the preset parameters is greater than a preset difference; the preset parameters are the operating parameters of the target controller when it operates normally; the number of abnormal signals appearing in the target controller is greater than a preset number; the fault duration of the target controller is greater than a preset duration.

[0034] In a possible implementation, the determination unit is further configured to determine that the target controller is faulty when a duration of the abnormal signal exceeds a first preset duration.

[0035] In one possible implementation, the determination unit is further used to determine, in response to an abnormal signal of the target controller, whether to perform fault detection on the target controller when the abnormal signal is not shielded; the determination unit is further used to determine, in the case where the abnormal signal is shielded, that fault detection on the target controller is not required.

[0036] In one possible implementation, the determination unit is also used to determine the value of the flag bit of the abnormal signal in response to a setting operation; wherein, when the flag bit of the abnormal signal is a first identifier, the abnormal signal is shielded; when the flag bit of the abnormal signal is a second identifier, the abnormal signal is not shielded; and the first identifier is different from the second identifier.

[0037] In one possible implementation, the determination unit is also used to control the target controller to perform a fault latching operation when the fault type of the target controller is a hardware fault; the fault latching operation includes: performing a reset operation when a fault is detected; if the number of times the reset operation is performed exceeds a preset number, latching the fault.

[0038] According to a third aspect of the present application, there is provided an electronic device, comprising: a processor; a memory for storing processor executable instructions; wherein the processor is configured to execute instructions to implement the method of the above-mentioned first aspect and any possible implementation manner thereof.

[0039] According to the fourth aspect of the present application, a computer-readable storage medium is provided. When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device can execute the method in the above-mentioned first aspect and any possible implementation method thereof.

[0040] According to a fifth aspect of the present application, a computer program product is provided. The computer program product includes computer instructions. When the computer instructions are executed on an electronic device, the electronic device executes the method of the first aspect and any possible implementation manner thereof.

[0041] According to a sixth aspect of the present application, a vehicle has a device for determining a fault handling method.

[0042] Therefore, the above technical features of the present application have the following beneficial effects:

[0043] (1) According to the above technical means, the present application can determine whether to perform fault detection on the target controller based on the abnormal signal received from the target controller, thereby reducing the influence of other reasons, possible erroneous fault alarms, reducing the frequency of fault diagnosis, and improving user experience.

[0044] (2) According to the above technical means, fault items that do not meet the detection conditions can be excluded, and only possible fault conditions can be checked, thereby improving the detection efficiency and reducing unnecessary detection time and resource consumption.

[0045] (3) Based on the above technical means, the detection conditions of fault detection are enriched, the possibility of misjudgment and missed judgment is reduced, and the accuracy of fault detection is improved. Some simple faults can be solved and eliminated through the reset operation, avoiding the repeated execution of subsequent steps and improving resource utilization. The setting of the detection enabling conditions can be adjusted and optimized according to actual needs to meet the fault detection needs of different equipment and different working conditions, increasing flexibility and adaptability.

[0046] (4) According to the above technical means, by presetting the fault conditions, the determination of the fault type in fault detection can be made more accurate.

[0047] (5) According to the above technical means, various preset parameters such as preset operating parameters, preset time, and preset number of times are used to judge whether the operating state of the target controller has a fault, thereby improving the accuracy of fault diagnosis and enhancing system stability.

[0048] (6) According to the above technical means, the present application can judge whether the target controller is actually faulty through the first preset time, and can eliminate erroneous fault judgments made due to short-term abnormalities.

[0049] (7) According to the above technical means, the pre-set shielded abnormal signals can be excluded, reducing unnecessary detection time and resource consumption.

[0050] (8) According to the above technical means, the present application can reduce the repetition of subsequent fault diagnosis processes by judging whether the preset flag bit of the abnormal signal is shielded, making the determination of the fault handling method more efficient.

[0051] (9) According to the above technical means, the present application can handle hardware faults through fault latch retry operation to reduce misdiagnosis and missed diagnosis. The latch operation can retain fault error information to provide a basis for subsequent fault analysis and processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application, and do not constitute an improper limitation on the present application.

[0053] Figure 1 A schematic diagram of a method for determining a fault handling method provided in an embodiment of the present application;

[0054] Figure 2 A schematic diagram of a periodic fault diagnosis provided by an embodiment of the present application;

[0055] Figure 3 A flowchart of a method for determining a fault handling method provided in an embodiment of the present application;

[0056] Figure 4 A schematic diagram of a fault diagnosis provided in an embodiment of the present application;

[0057] Figure 5 A schematic diagram of a fault confirmation provided in an embodiment of the present application;

[0058] Figure 6 A schematic diagram of a fault confirmation delay provided in an embodiment of the present application;

[0059] Figure 7 A schematic diagram of a fault recovery delay provided in an embodiment of the present application;

[0060] Figure 8 A schematic diagram of a fault latch retry process provided in an embodiment of the present application;

[0061] Fig. 9 A block diagram of a determination device provided in an embodiment of the present application;

[0062] Fig.10 A block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0063] In order to enable ordinary persons in the art to better understand the technical solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0064] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0065] First, a brief introduction is given to the application scenarios involved in this application.

[0066] In the vehicle field, the motor controller is the core component of the electric vehicle powertrain system, and its stability and reliability are directly related to the performance and safety of the vehicle. Therefore, the detection and handling of motor controller faults are extremely important. In order to ensure the normal operation of the vehicle, improve maintenance efficiency, and enhance user experience, the requirements for motor controller fault detection and fault handling have also been greatly increased.

[0067] In the related technology, all faults can be classified by time period, and the fault judgment and confirmation can be performed by judging whether the fault signal exceeds the set threshold of the fault signal and judging whether the effective number of faults is greater than the preset threshold. Then, it can be judged whether to shut down the tube. If so, the torque is directly set to zero. Otherwise, the torque value fault is processed by reducing the power output according to the slope. Although this method designs a protection mechanism process for a single fault entry and a fixed judgment process for input conditions, etc., it ensures that software configuration can be realized later.

[0068] However, the related technology has the following shortcomings. The fault diagnosis coverage is not comprehensive enough. This method is only applicable to threshold fault diagnosis and does not consider other fault diagnosis types such as hardware faults. The fault judgment process is too simple and does not consider other fault diagnosis related functions such as fault clearing and resetting functions. It also does not consider the vehicle being affected by other factors and possible false fault alarms. The fault handling is too simple and rough, and only includes two methods: directly setting the torque to zero and reducing the power output according to the slope.

[0069] In response to the above problems, an embodiment of the present application provides a method for determining a fault handling method, the method comprising: in response to receiving an abnormal signal from a target controller, determining whether to perform fault detection on the target controller; in the case of determining that fault detection on the target controller is required, determining the fault information of the target controller; the fault information includes the fault type and the fault level corresponding to the fault type; and determining the fault handling method of the target controller according to the fault information of the target controller. The fault diagnosis aspect is more comprehensive, there are corresponding handling methods for both software faults and hardware faults, the judgment process is rigorous, the efficiency of fault diagnosis and fault handling is improved, the fault handling methods are rich, and matching fault handling methods are set for different fault types.

[0070] According to the above technical means, this method can be adapted to the fault diagnosis of most different types of motor controllers, where different types refer to different hardware or functions or different types of motors or different safety requirements. This method has a clear structure and distinct modules, which is convenient for different developers to maintain and develop. According to the needs of fault diagnosis, the modules corresponding to the needs can be directly analyzed for modification, addition and other operations. The developed modules can also be transplanted and applied to new controller products, saving maintenance and development costs.

[0071] In one example, the vehicle terminal may include multiple functional modules, which may be used to execute the method for determining the fault handling method provided in the embodiment of the present application. For example, the multiple functional modules may include a periodic fault diagnosis module, a fault integration module, and a fault handling module.

[0072] Among them, Figure 1 As shown, the periodic fault diagnosis module may include a plurality of periodic diagnosis modules of different periods, such as a 100 μs periodic diagnosis module, a 1 ms periodic diagnosis module, and a 10 ms periodic diagnosis module. Figure 2As shown, different periodic diagnosis modules include fault diagnosis modules for different faults, such as fault 1 diagnosis module, fault 2 diagnosis module, ..., fault n diagnosis module. Different fault diagnosis modules are processed according to a unified periodic fault diagnosis process and uniformly output fault information. The fault information includes: fault flag, fault alarm level, fault drive related processing level, and fault discharge related processing level. The fault integration module is used to calculate the above-mentioned uniformly output fault information, and calculate the maximum value of each item of the fault flag, fault alarm level, fault drive related processing level, and fault discharge related processing level. The fault processing module is used to perform fault processing according to the four values ​​output by the fault integration module.

[0073] For ease of understanding, the method for determining the fault handling method provided in this application is specifically introduced below with reference to the accompanying drawings.

[0074] It should be noted that the execution subject of the present application can be a vehicle or a component of a vehicle, for example, it can be a vehicle-mounted terminal or application layer software. The following description takes the execution subject as a vehicle-mounted terminal as an example.

[0075] Figure 3 FIG. 1 is a flow chart of a method for determining a fault handling method according to an exemplary embodiment. Figure 3 As shown, the exception handling method includes: S301-S303.

[0076] S301: In response to receiving an abnormal signal from a target controller, the vehicle-mounted terminal determines whether to perform fault detection on the target controller.

[0077] The target controller may be a controller configured for the vehicle, for example, a motor controller, or other controllers of the vehicle, for example, a battery controller, etc., without limitation. The abnormal signal may be used to indicate that the target controller is abnormal.

[0078] In a possible implementation, in response to an abnormal signal of the target controller, the vehicle terminal detects whether the target controller meets the detection condition. If the target controller meets the detection condition, the vehicle terminal determines that it is necessary to perform fault detection on the target controller; if the target controller does not meet the detection condition, the vehicle terminal determines that it is not necessary to perform fault detection on the target controller.

[0079] Among them, Figure 4As shown, the fault determines whether to perform fault detection on the target controller, and the fault detection includes the detection conditions of the fault detection and the judgment conditions of the fault detection. The detection conditions may include: reset conditions and / or detection enable conditions. The reset conditions may include: executing the diagnostic service reset operation (unified diagnostic services, UDS) and / or the KL15 reset operation. The detection enable condition is used to trigger the target controller to perform a fault detection operation. For example, the detection enable condition may indicate that the fault detection operation is performed only after certain conditions are met, such as performing the fault detection operation only after the MCU (microcontroller unit) is initialized, or performing the fault detection only when certain faults have not occurred. The judgment condition of the fault detection is that when the target controller meets the preset fault condition, the vehicle-mounted terminal determines that the target controller has a fault and determines the fault information of the target controller. After the detection conditions of the fault detection and the judgment conditions of the fault detection are met, the fault confirmation is performed. The specific reference is to the description of the second implementation, which will not be repeated here.

[0080] It should be noted that in the embodiment of the present application, different components of the vehicle can generate signals, and each signal can be set with a corresponding flag. The user can shield or not shield the signal by setting the value of the signal's flag. In this way, for some signals that are not faults or do not affect vehicle safety, the flag of the signal can be used to determine whether to respond to the signal and perform fault detection, thereby, to a certain extent, the frequency of fault detection can be reduced.

[0081] In the embodiment of the present application, the detection condition of the fault detection may be provided with a corresponding flag. The value of the flag may be used to indicate whether the target controller satisfies the corresponding condition. For example, the flag corresponding to the detection condition may be P Pre , when P Pre When the value of is the first identifier, it means that the detection condition of fault detection is met; when P Pre The value of is the second identifier, indicating that the detection condition for fault detection is not met.

[0082] For example, the detection condition P of fault detection Pre Including reset condition P Reset and diagnostic enable condition P Enable For example, the fault detection condition P Pre Satisfy formula 1, reset condition P Reset Satisfies formula 2.

[0083] P Pre =P Reset +P Enable Formula 1

[0084] P Reset=F UDS ·C UDS +F KL15 ·C KL15 Formula 2

[0085] Among them, + is used to represent the OR operation in the logic operation formula, and · is used to represent the AND operation in the logic operation formula. Reset It is the reset condition flag bit, P Enable It is the diagnostic enable condition flag. UDS Reset flag for diagnostic service, C UDS The enable flag for the diagnostic service reset. KL15 Reset flag for KL15, C KL15 This is the enable flag for KL15 reset. UDS , C KL15 As a calibration quantity, the method of turning on and off the fault diagnosis reset is realized in a configurable manner. UDS When it is 1, the diagnostic service reset operation can be performed. UDS When it is 0, the diagnostic service reset operation cannot be performed. KL15 Similarly. Enable You can add corresponding logic according to the fault diagnosis requirements.

[0086] Furthermore, the reset mode can be calibrated by the reset enable flag bit. On the one hand, the requirements for fault reset of different faults can be met by configuring different parameter values. On the other hand, it is also convenient for later strategy maintenance. When there are other reset requirements, the reset flag bit and the reset enable flag bit can be added by referring to the formula. There is no need for a certain reset mode, and only the enable flag bit of a certain reset needs to be set to 0.

[0087] In one example, when the target controller meets a preset fault condition, the vehicle-mounted terminal determines that a fault occurs in the target controller and determines fault information of the target controller.

[0088] Among them, the preset fault conditions include the following conditions 1 to 5.

[0089] Condition 1: The target controller's hardware fails.

[0090] The hardware failure of the target controller may refer to a failure of the target controller itself, for example, a hardware overcurrent failure, that is, the current of the target controller is greater than a preset threshold.

[0091] In one example, the hardware of the target controller may be provided with a hardware flag. When the target controller detects that the hardware has failed, the value of the hardware flag may be set to 1; when the target controller detects that the hardware has not failed, the value of the hardware flag may be set to 0. In this way, the vehicle terminal may determine whether the target controller has a hardware failure based on the value of the hardware flag.

[0092] Condition 2: The operating state of the target controller is the target control state, and the operating parameters of the target controller do not match the parameters corresponding to the target control state.

[0093] The mismatch between the operating parameters of the target controller and the parameters corresponding to the target control state means that the operating parameters of the actual operating state of the target controller are different from the operating parameters preset for the corresponding target control state.

[0094] In one example, the state of the target controller is the torque control state, and an enumeration type variable is used as a judgment condition for fault detection. The enumeration type variable refers to comparing the actual operating parameters of the target controller with the parameters of the preset torque control state. If the corresponding parameters do not match, it is judged as a fault. If the corresponding parameters match, it is judged as normal.

[0095] Condition 3: The operating parameter of the target controller is greater than a preset threshold.

[0096] Among them, the preset threshold value can be set according to the need of the operating parameters without restriction. The operating parameters of the target controller greater than the preset threshold value can include a threshold judgment type without hysteresis and a threshold judgment type with hysteresis. The threshold judgment type without hysteresis, that is, only one fault threshold parameter is required. The threshold judgment type with hysteresis, one fault threshold parameter, one recovery threshold parameter, both parameters are set to be calibrable.

[0097] In one example, the threshold judgment type without hysteresis is judged as a fault when the motor speed is greater than the fault threshold, and it is judged as normal when the motor speed is less than or equal to the fault threshold. For the threshold judgment type with hysteresis, for example, when the detected temperature sampling value is greater than the fault threshold, it is judged as a fault, and when the detected temperature sampling value is less than the fault recovery threshold, the fault can be recovered.

[0098] Condition 4: The error between the operating parameters of the target controller and the preset parameters is greater than the preset difference.

[0099] The preset parameters are operating parameters of the target controller when it operates normally.

[0100] In one example, a reference threshold and a difference threshold are set, and the absolute value of the difference between the sampled value and the reference threshold is calculated to see whether it is greater than the difference threshold. If the absolute value of the difference between the sampled value and the reference threshold is greater than the difference threshold, it is determined that a fault exists. If the absolute value of the difference between the sampled value and the reference threshold is less than the difference threshold, it is determined to be normal.

[0101] Condition 5: The number of abnormal signals appearing in the target controller is greater than the preset number; the fault duration of the target controller is greater than the preset duration.

[0102] In one example, when the vehicle terminal detects a fault, it performs a reset operation; if the number of times the reset operation is performed exceeds a preset number, the fault is latched. When the duration of the abnormal signal is greater than a preset duration, the vehicle terminal determines that the target controller has a fault.

[0103] In a possible implementation, the above preset fault conditions are encapsulated into a module, and the diagnosis of different faults can be determined by selecting a type parameter to determine the type.

[0104] In the embodiment of the present application, the judgment condition of the fault detection may include a preset fault condition. The flag bit corresponding to the judgment condition of the fault detection may be P Flt If the target controller fails, Flt Set to 1, if the target controller is not faulty, Flt Set to 0.

[0105] Based on the above technical solution, the present application can make a preliminary diagnosis and process of the source of abnormal signals by controlling the target controller to perform a reset operation, thereby improving the function and process of fault diagnosis. Some simple faults can be solved and eliminated through the reset operation, avoiding the repeated execution of subsequent steps and improving resource utilization. Various preset parameters such as preset operating parameters, preset time, and preset number of times are used to judge whether the operating state of the target controller has a fault, thereby improving the accuracy of fault diagnosis and enhancing system stability.

[0106] S302: When it is determined that a fault detection of the target controller is required, the vehicle-mounted terminal determines the fault information of the target controller.

[0107] The fault information includes the fault flag and the fault level. The fault level includes: fault warning level, fault drive related processing level, and fault discharge related processing level.

[0108] In one example, when the abnormal signal is not shielded, in response to the abnormal signal of the target controller, the vehicle terminal determines to perform fault detection on the target controller; when the abnormal signal is shielded, the vehicle terminal determines that fault detection on the target controller is not required.

[0109] Among them, the vehicle-mounted terminal determines the value of the flag bit of the abnormal signal in response to the setting operation; when the flag bit of the abnormal signal is the first identifier, the abnormal signal is shielded; when the flag bit of the abnormal signal is the second identifier, the abnormal signal is not shielded; the first identifier is different from the second identifier.

[0110] In one possible implementation, the vehicle's signal may be provided with a corresponding flag. The value of the flag may be used to indicate whether the signal is shielded. For example, when the flag of the abnormal signal is the first identifier, the abnormal signal is shielded; when the flag of the abnormal signal is the second identifier, the abnormal signal is not shielded. The first identifier is different from the second identifier. The first identifier and the second identifier may be letters, numbers, or a combination of letters and numbers. For example, the first identifier may be 1, and the second identifier may be 0. The identifiers involved subsequently may refer to the description here and will not be described in detail. The identifiers involved subsequently are all described using 0 and 1 as examples. For example, the flag of the abnormal signal is C Sld , when the fault signal is shielded, C Sld is 1. When the fault signal is not shielded, C Sld is 0.

[0111] In one example, when the duration of the abnormal signal exceeds a first preset duration, the vehicle terminal determines that the target controller is faulty. After detecting the abnormal signal, if the vehicle terminal does not detect the abnormal signal again within a second preset duration, the target controller is determined to be normal. The vehicle terminal determines the fault flag according to whether the target controller is faulty.

[0112] Among them, fault confirmation refers to how many times or how long the above-mentioned detected fault occurs to be determined as a fault. A signal fluctuates briefly, and the reason for this fluctuation may be caused by the shaking of the vehicle body, which has no effect on the vehicle. Therefore, de-jitter processing is used to prevent such situations from being identified as faults. The first preset time length and the second preset time length can be set as needed, for example, it can be 1s, 1ms, 1μs. Of course, it can also be other values ​​without restriction. The fault flag is used to indicate whether a fault is determined to exist.

[0113] In one example, when the fault type of the target controller is a hardware fault, the target controller is controlled to perform a fault latch operation; the fault latch operation includes: when a fault is detected, performing a reset operation; if the number of times the reset operation is performed exceeds a preset number, latching the fault.

[0114] Based on the above technical solution, the present application can judge whether the target controller is actually faulty and whether it is actually recovered by the first preset time length and the second preset time length, and can eliminate the wrong fault judgment made due to a short-term abnormality. The present application can reduce the repetition of the subsequent fault diagnosis process by judging whether the preset flag bit of the abnormal signal is shielded, making the determination of the fault handling method more efficient. The hardware fault can be processed by the fault latch retry operation to reduce misdiagnosis and missed diagnosis. The latch operation can retain the fault error information and provide a basis for subsequent fault analysis and processing.

[0115] S303: The vehicle-mounted terminal determines a fault handling method of the target controller according to the fault information of the target controller.

[0116] In one example, the vehicle-mounted terminal determines a fault handling method for the target controller based on fault information of the target controller through fault integration.

[0117] Among them, fault integration is used to count the fault information output by all fault diagnosis, determine the highest level of each fault level and output it.

[0118] In another example, the vehicle terminal can determine the fault handling method of the target controller according to the target fault level among multiple fault levels. The target fault level is the fault level with the largest value among the multiple fault levels, and the fault handling method corresponds to the target fault level.

[0119] Among them, the fault information output by the fault diagnosis may include: fault flag, fault alarm level, fault drive related processing level, and fault discharge related processing level. The fault alarm level is used to assess the severity of the target controller fault. The higher the fault alarm level, the more serious the fault. The fault drive related processing level is used to indicate the level of the drive-related fault, and the related processing operations are performed according to the level. The fault discharge related processing level is used to indicate the level of the discharge-related fault, and the related processing operations are performed according to the level.

[0120] In a possible implementation, the fault warning level and related processing measures may be as shown in Table 1. For example, when the warning level is 3, it means limp 1, and the processing measure is that the maximum torque is reduced to 80%. The fault drive related processing level and the corresponding processing measures may be as shown in Table 2. For example, when the fault drive related processing level is 1, it means speed related ASC, and the processing measures are low speed FW and high speed ASC. The fault discharge related processing level and the corresponding processing measures may be as shown in Table 3. For example, when the fault discharge related processing level is 1, the processing measure is that discharge is not allowed.

[0121] Table 1

[0122] Fault warning level value meaning Troubleshooting measures 1 Alerts Only DTC code is stored, and the vehicle does not perform torque reduction processing 2 Derating Reduced energy output capacity (recoverable) 3 Limp 1 Maximum torque reduced to 80% 4 Limp 2 Maximum torque reduced to 50% 5 Limp 3 Maximum torque reduced to 30% 6 Limp 4 Maximum torque drops to 0 7 Security Status Driver related processing

[0123] Table 2

[0124] Fault driver related processing level value meaning Troubleshooting measures 0 Not Executed No driver related processing is performed 1 Speed-dependent ASC Low speed FW, high speed ASC 2 ASC Direct execution of ASC 3 FW Directly execute FW

[0125] Table 3

[0126] Fault discharge related processing level value meaning 0 Allow discharge 1 Discharge is not allowed

[0127] In one example, after periodic fault diagnosis, fault information of three fault items is obtained. The fault information includes: fault flag, fault alarm level, fault drive related processing level, and fault discharge related processing level. The fault information contained in each fault item and the fault information output after fault integration are shown in Table 4. According to the fault flag and fault level output by the fault integration, the fault processing method is determined as: drive related processing, directly execute FW, and do not allow discharge.

[0128] Table 4

[0129]

[0130] based on Figure 3 The technical solution of the present application is more comprehensive in terms of fault diagnosis. There are corresponding processing methods for software faults and hardware faults. The judgment process is rigorous, which improves the efficiency of fault diagnosis and fault handling. The fault handling methods are rich, and matching fault handling methods are set for different fault types.

[0131] In another embodiment (Example 2), as Figure 5 As shown, the embodiment of the present application provides a fault confirmation method including S501-S503.

[0132] S501: Input preprocessing.

[0133] The input preprocessing may include: determining a fault flag of fault confirmation and a reset flag of fault confirmation according to a detection condition and a judgment condition of fault detection.

[0134] Further, the fault flag of the fault confirmation is used to indicate whether the fault signal meets the detection conditions and judgment conditions of the fault detection. The reset flag of the fault confirmation is used to indicate whether the fault signal meets the detection conditions of the fault detection or whether it is shielded. The fault confirmation can be set with a corresponding flag bit. The value of the flag bit can be used to indicate whether the target controller meets the corresponding condition.

[0135] In one example, the relevant data involved in the fault confirmation can set a corresponding flag bit. FltIn Satisfy formula 3, the reset flag F of the fault confirmation Rst Satisfies formula 4.

[0136] F FltIn =P Flt +P Pre +C Sld Formula 3

[0137]

[0138] in, It is used to indicate the negation of the detection condition of fault detection in the logic operation formula. FltIn It is used to indicate whether the detection condition or judgment condition of fault detection is met. FltIn is 1, indicating satisfaction; when F FltIn 0 means not satisfied. Rst Used to indicate whether the reset condition is met or not masked. Rst is 1, indicating that it is not satisfied; when F Rst 0 means satisfied.

[0139] S502: De-bounce processing.

[0140] The debounce process may include a fault confirmation delay and a fault recovery delay. The fault confirmation delay and the fault recovery delay may be set with corresponding flag bits, and the flag bit names and meanings may refer to Table 5.

[0141] Table 5

[0142]

[0143] In one example, Figure 6 As shown, the fault confirmation delay includes: Rst When F FltIn Otherwise, it is judged that there is no fault and the first fault flag F FltPre1 Set to 0. Rst =1, F FltIn When it is 1, the fault timing is accumulated. If the fault timing exceeds the fault confirmation time C FltTime When the fault is initially diagnosed, the F FltPre1 Set to 1. Otherwise, it is judged that there is no fault and F FltPre1 After the fault timing accumulation operation is completed, check whether the fault timing is greater than C FltTime Make a judgment. When the fault timing is greater than C FltTime If the fault occurs, F FltPre1 Set to 1. When the fault timing is less than C FltTime In the case of FltPre1 Keep the existing value.

[0144] In another example, Figure 7 As shown, the fault recovery delay processing includes: in the fault reset flag F Rst If it is 1, it is judged that there is no fault, and the second fault flag F FltPre2 Set to 0 to clear the fault timer. Rst When F FltPre1 Is it 1? FltPre1 When it is 1, it is judged as a fault, F FltPre2 Set to 1 to reset the recovery timer. FltPre1 When the value is 0, the recovery time is accumulated. After the recovery time accumulation operation is completed, the recovery time is checked to see if it is greater than the fault recovery time C. RstTime Make a judgment. When the recovery time is greater than C RstTime If it is judged that there is no fault, F FltPre2 Set to 0. When the recovery timing is less than C RstTime In the case of FltPre2 Remain unchanged.

[0145] S503: Latch retry processing.

[0146] In one example, when the fault type of the fault signal responded by the vehicle terminal is a hardware fault, a latch retry processing operation is performed, and when it is determined that the abnormal signal is shielded, it is finally judged that there is no fault. When the duration of the abnormal signal exceeds the first preset duration, the target controller is determined to be faulty, and a reset operation is performed. If the number of reset operations exceeds the first threshold, the fault is latched. After the abnormal signal is detected, if no abnormal signal is detected within the second preset duration, it is determined that the target controller is normal, and the number of reset operations is reduced by 1.

[0147] Wherein, the latch retry processing operation is performed when the fault type of the fault signal responded by the vehicle terminal is a hardware fault. The first threshold can be set to a positive integer as required, for example, 1, 10, 20, and of course, other values ​​are also possible without limitation.

[0148] In another example, the latch retry process of fault confirmation can be set with a corresponding flag bit. The flag bit name and meaning can refer to the above Table 5. Before executing the fault latch retry process, the latch configuration flag C LockEnb Make a judgment, in C LockEnb When it is 0, the second fault flag F in the fault recovery delay process is directly FltPre2 As the fault flag F FltOut Output. In C LockEnb When it is 1, the fault confirmation time C FltTime and the recovery time of the failure C RstTimeSet to 0 to skip the second step of debounce processing in the next diagnostic cycle and perform fault latch retry processing.

[0149] Further, such as Figure 8 As shown, the fault latch retry process includes: first, Rst Make a judgment, in F Rst =1, it is determined that there is no fault and the fault latch retry process ends. Rst = 0, for F FltPre2 Make a judgment, in F FltPre2 =1 and the accumulated number of retry faults is greater than the maximum number of fault reset Retry times C LockMaxCnt In the case of FltOut Set to 1, the fault is latched. Otherwise, only F FltPre2 Make a judgment, in F FltPre2 = 1, the fault time is accumulated, and when the fault time is greater than the interval time C of the fault reset Retry LockRetryTime In the case of a fault reset, the fault timer is cleared and the number of retry faults is increased by 1. LockRetryTime In the case of a fault, it is determined that there is no fault, the fault latch retry process ends, and F FltOut Set to 0. FltPre2 = 0, the recovery time is accumulated, and when the recovery time is greater than the interval time C of fault recovery LockRstTime If the number of retry failures is less than 1, the latch retry process ends. Otherwise, the latch retry process ends.

[0150] Based on the above Figure 5 The technical means of the present application can determine whether to perform fault detection on the target controller based on the abnormal signal received from the target controller, thereby reducing the influence of other reasons, possible erroneous fault alarms, reducing the frequency of fault diagnosis, and improving user experience.

[0151] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the method. In order to achieve the above functions, the device or electronic device for determining the fault handling method includes a hardware structure and / or software module corresponding to the execution of each function. It should be easily appreciated by those skilled in the art that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present application.

[0152] The embodiments of the present application can divide the functional modules of the device or electronic device for determining the fault handling method according to the above method. For example, the device or electronic device for determining the fault handling method can include various functional modules corresponding to the various functional divisions, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiments of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0153] Fig. 9 is a block diagram of a device for determining a fault handling method according to an exemplary embodiment. Fig. 9 The device 90 for determining the fault handling method may include: a determining unit 901 and a checking unit 902.

[0154] A determination unit 901 is used to determine whether to perform fault detection on the target controller in response to receiving an abnormal signal from the target controller;

[0155] The determination unit 901 is further configured to determine to obtain fault information of the target controller when it is determined that a fault detection of the target controller is required; the fault information includes a fault type and a fault level corresponding to the fault type;

[0156] The determination unit 901 is further configured to determine a fault handling method of the target controller according to the fault information of the target controller.

[0157] In one possible implementation, the inspection unit 902 is also used to determine whether to perform fault detection on the target controller in response to receiving an abnormal signal from the target controller; when it is determined that fault detection on the target controller is required, the determination unit 901 is also used to determine the fault information of the target controller; the fault information includes the fault type and the fault level corresponding to the fault type; the determination unit 901 is also used to determine the fault handling method of the target controller based on the fault information of the target controller.

[0158] In a possible implementation, the determination unit 901 is further configured to detect whether the target controller meets the detection condition in response to the abnormal signal of the target controller. The determination unit 901 is further configured to determine that it is necessary to perform fault detection on the target controller when the target controller meets the detection condition; the determination unit 901 is further configured to determine that it is not necessary to perform fault detection on the target controller when the target controller does not meet the detection condition.

[0159] In one possible implementation, the detection condition includes: a reset condition and / or a detection enable condition; wherein the reset condition includes: executing a diagnostic service reset operation and / or a KL15 reset operation; and the detection enable condition is used to trigger the target controller to execute a fault detection operation.

[0160] In a possible implementation, the determining unit 901 is further configured to determine that a fault occurs on the target controller and determine fault information of the target controller when the target controller meets a preset fault condition.

[0161] In one possible implementation, the preset fault condition includes at least one of the following: a hardware failure of the target controller; the operating state of the target controller is the target control state, and the operating parameters of the target controller do not match the parameters corresponding to the target control state; the operating parameters of the target controller are greater than a preset threshold; the error between the operating parameters of the target controller and the preset parameters is greater than a preset difference; the preset parameters are the operating parameters of the target controller when it operates normally; the number of abnormal signals in the target controller is greater than a preset number; the fault duration of the target controller is greater than a preset duration.

[0162] In a possible implementation, the determination unit 901 is further configured to determine that the target controller is faulty when the duration of the abnormal signal exceeds a first preset duration.

[0163] In one possible implementation, the determination unit 901 is also used to determine, in response to an abnormal signal of the target controller, whether to perform fault detection on the target controller when the abnormal signal is not shielded; the determination unit 901 is also used to determine, in the case where the abnormal signal is shielded, that fault detection on the target controller is not required.

[0164] In one possible implementation, the determination unit 901 is also used to determine the value of the flag bit of the abnormal signal in response to a setting operation; wherein, when the flag bit of the abnormal signal is a first identifier, the abnormal signal is shielded; when the flag bit of the abnormal signal is a second identifier, the abnormal signal is not shielded; and the first identifier is different from the second identifier.

[0165] In one possible implementation, the determination unit 901 is also used to control the target controller to perform a fault latching operation when the fault type of the target controller is a hardware fault; the fault latching operation includes: performing a reset operation when a fault is detected; if the number of times the reset operation is performed exceeds a preset number, latching the fault.

[0166] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0167] Fig.10 FIG. 1 is a block diagram of an electronic device according to an exemplary embodiment. Fig.10 As shown, the electronic device 100 includes but is not limited to: a processor 1001 and a memory 1002 .

[0168] The memory 1002 is used to store executable instructions of the processor 1001. It can be understood that the processor 1001 is configured to execute instructions to implement the method for determining the fault handling mode in the above embodiment.

[0169] It should be noted that those skilled in the art can understand that Fig.10 The electronic device structure shown in the figure does not constitute a limitation on the electronic device, and the electronic device may include Fig.10 More or fewer components may be shown, or certain components may be combined, or the components may be arranged differently.

[0170] The processor 1001 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. By running or executing software programs and / or modules stored in the memory 1002, and calling data stored in the memory 1002, it performs various functions of the electronic device and processes data, thereby monitoring the electronic device as a whole. The processor 1001 may include one or more processing units. Optionally, the processor 1001 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 1001.

[0171] The memory 1002 may be used to store software programs and various data. The memory 1002 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one functional module (such as a determination unit, a processing unit, etc.), etc. In addition, the memory 1002 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0172] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 1002 including instructions. The above instructions can be executed by the processor 1001 of the electronic device 100 to implement the method in the above embodiment.

[0173] In actual implementation, Fig. 9 The functions of the determination unit 901 and the inspection unit 902 in Fig.10The processor 1001 in the embodiment calls the computer program stored in the memory 1002 to implement. The specific execution process can refer to the description of the method part in the above embodiment, which will not be repeated here.

[0174] An embodiment of the present application also provides a computer-readable storage medium, in which instructions are stored. When a computer executes the instructions, the computer executes each step in the vehicle control method process shown in the above method embodiment.

[0175] An embodiment of the present application also provides a computer program product including instructions, which, when executed on a computer, enables the computer to execute the vehicle control method in the above method embodiment.

[0176] Optionally, the computer-readable storage medium may be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0177] In an exemplary embodiment, the present application also provides a computer program product including one or more instructions, and the one or more instructions can be executed by the processor 1001 of the electronic device to complete the method in the above embodiment.

[0178] It should be noted that when the instructions in the above-mentioned computer-readable storage medium or one or more instructions in the computer program product are executed by the processor of the electronic device, the various processes of the above-mentioned method embodiment are implemented, and the same technical effect as the above-mentioned method can be achieved. To avoid repetition, they will not be repeated here.

[0179] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0180] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0181] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0182] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0183] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or the full classification part or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including a number of instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute the full classification part or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, ROM, RAM, disk or CD and other media that can store program code.

[0184] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for determining a fault handling method, characterized in that: The method comprises: In response to receiving an abnormal signal from a target controller, determining whether to perform fault detection on the target controller; In the case where it is determined that the target controller needs to be detected for a fault, determining fault information of the target controller; the fault information includes a fault type and a fault level corresponding to the fault type; A fault handling method of the target controller is determined according to the fault information of the target controller.

2. The method according to claim 1, characterized in that The step of determining whether to perform fault detection on the target controller in response to an abnormal signal of the target controller comprises: In response to the abnormal signal of the target controller, detecting whether the target controller meets a detection condition; In the case where the target controller meets the detection condition, determining that a fault detection needs to be performed on the target controller; In a case where the target controller does not satisfy the detection condition, it is determined that there is no need to perform fault detection on the target controller.

3. The method according to claim 2, characterized in that The detection conditions include: a reset condition and / or a detection enable condition; The reset condition includes: executing a diagnostic service reset operation and / or a KL15 reset operation; and the detection enable condition is used to trigger the target controller to execute a fault detection operation.

4. The method according to claim 2 or 3, characterized in that: The determining the fault information of the target controller includes: When the target controller meets a preset fault condition, it is determined that a fault occurs on the target controller, and fault information of the target controller is determined.

5. The method according to claim 4, characterized in that The preset fault condition includes at least one of the following: The hardware of the target controller fails; The operating state of the target controller is a target control state, and the operating parameters of the target controller do not match the parameters corresponding to the target control state; The operating parameter of the target controller is greater than a preset threshold; The error between the operating parameter of the target controller and the preset parameter is greater than the preset difference; the preset parameter is the operating parameter of the target controller when it is operating normally; The number of abnormal signals appearing in the target controller is greater than a preset number; The fault duration of the target controller is greater than a preset duration.

6. The method according to claim 4, characterized in that The determining that the target controller fails includes: When the duration of the abnormal signal exceeds a first preset duration, it is determined that the target controller is faulty.

7. The method according to any one of claims 1 to 3, characterized in that The step of determining whether to perform fault detection on the target controller in response to an abnormal signal of the target controller comprises: In a case where the abnormal signal is not shielded, in response to the abnormal signal of the target controller, determining to perform fault detection on the target controller; In the case where the abnormal signal is shielded, it is determined that there is no need to perform fault detection on the target controller.

8. The method according to any one of claims 1 to 3, characterized in that The abnormal signal corresponds to a flag bit, and the method further includes: In response to a setting operation, the value of the flag bit of the abnormal signal is determined; wherein, when the flag bit of the abnormal signal is a first identifier, the abnormal signal is shielded; when the flag bit of the abnormal signal is a second identifier, the abnormal signal is not shielded; and the first identifier is different from the second identifier.

9. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: In a case where the fault type of the target controller is a hardware fault, controlling the target controller to perform a fault latch operation; The fault latching operation includes: executing a reset operation when a fault is detected; and latching the fault if the number of times the reset operation is executed exceeds a preset number.

10. A device for determining a fault handling method, characterized in that: The determining device comprises: a determination unit, configured to determine whether to perform fault detection on the target controller in response to receiving an abnormal signal from the target controller; A determination unit, configured to determine to obtain fault information of the target controller when it is determined that the target controller needs to be detected for a fault; the fault information includes a fault type and a fault level corresponding to the fault type; The determining unit is further configured to determine a fault handling method of the target controller according to the fault information of the target controller.

11. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the method as claimed in any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that: When the computer-executable instructions stored in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is capable of performing the method as claimed in any one of claims 1 to 9.

13. A computer program product comprising instructions, characterized in that When the instructions are executed by a computer, the computer is caused to perform the method according to any one of claims 1 to 9.

14. A vehicle, characterized in that: Includes the device for determining the fault handling method as described in claim 10.

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