Vehicle fault processing method, device and equipment and storage medium

Abstract

The invention provides a vehicle fault processing method and device, equipment and a storage medium. The method comprises the steps that the state of a fault mark signal is determined; if it is determined that the state of the fault sign signal is converted into a set state from an initialized state, a fault preprocessing measure is executed before a vehicle controller outputs a control instruction based on the state of the fault sign signal; and if the duration of keeping the state of the fault mark signal in the setting state reaches the fault confirmation duration, executing a fault post-processing measure. Before the vehicle controller outputs the control instruction based on the state of the fault sign signal, if it is determined that the state of the fault sign signal is converted from the initialized state to the set state, fault preprocessing can be conducted on the vehicle, and the situation that the vehicle is damaged due to the fact that fault confirmation time is long and fault post-processing measures are not triggered is avoided. And the vehicle controller sends out a wrong control instruction according to the wrong signal, so that the robustness of a vehicle system can be effectively improved.

Description

Technical Field

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

[0002] The on-board diagnostics system (OBD) uses sensors, actuators and electronic controllers in the vehicle system as detection objects. When the signal corresponding to the detection object changes abnormally, it can detect whether the components or circuits related to the signal are faulty, so that users can deal with the fault in time when the vehicle fails.

[0003] At present, when OBD detects an error signal, if the error signal does not disappear within the fault confirmation time, it can be confirmed that the vehicle has a fault. At this time, the fault handling measures of the system can be triggered to keep the vehicle in a safer state.

[0004] However, since the system executes fault handling measures when the error signal does not disappear within the fault confirmation time, during this period, the vehicle controller may issue an erroneous control command based on the error signal, which may put the vehicle and the user in an unsafe state, reducing the robustness of the vehicle system. Summary of the invention

[0005] The present application provides a vehicle fault handling method, device, equipment and storage medium, the purpose of which is to improve the robustness of the vehicle system.

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

[0007] In the first aspect, the present application provides a vehicle fault handling method, comprising:

[0008] Determine the status of the fault flag signal;

[0009] If it is determined that the state of the fault flag signal changes from the initialization state to the setting state, before the vehicle controller outputs a control instruction based on the state of the fault flag signal, executing a fault pre-processing measure;

[0010] If the time duration for which the state of the fault flag signal remains in the set state reaches the fault confirmation time duration, a post-fault processing measure is executed.

[0011] In a possible implementation, if it is determined that the state of the fault flag signal changes from the initialization state to the setting state, before the vehicle controller outputs a control instruction based on the state of the fault flag signal, after executing the fault pre-processing measures, it also includes:

[0012] If the time length for which the state of the fault flag signal remains in the set state is shorter than the fault confirmation time length, starting the timing from when the state of the fault flag signal changes from the set state to the initialization state, obtaining a first time length for which the state of the fault flag signal remains in the initialization state;

[0013] If the first time duration is greater than or equal to the fault repair time duration, it is confirmed that the vehicle is in a fault-free state, and the execution of the fault pre-processing measure is canceled.

[0014] In a possible implementation, the timing is started when the state of the fault flag signal changes from the set state to the initialization state, and after obtaining a first time length during which the state of the fault flag signal remains in the initialization state, the method further includes:

[0015] If the first duration is less than the fault repair duration, starting from the end time of the period corresponding to the first duration, obtaining a second duration during which the state of the fault flag signal remains in the set state;

[0016] When the second time period reaches the fault confirmation time period, the post-fault processing measure is executed.

[0017] In a possible implementation, if the time duration for which the state of the fault flag signal remains in the set state reaches the fault confirmation time duration, after executing the post-fault processing measures, the method further includes:

[0018] When the state of the fault flag signal changes from the set state to the initialized state and remains in the initialized state for a period of time that reaches the fault repair time, it is confirmed that the state of the vehicle is a fault-free state, and the execution of the post-fault processing measures is canceled.

[0019] In a possible implementation, if the time duration for which the state of the fault flag signal remains in the set state reaches the fault confirmation time duration, after executing the post-fault processing measures, the method further includes:

[0020] When the state of the fault flag signal changes from the set state to the initialized state and remains in the initialized state for a period of time that does not reach the fault repair period, the state of the fault flag signal is restored to the set state, and the restored state of the fault flag signal is obtained;

[0021] Starting from the time when the state of the restored fault flag signal changes from the set state to the initialized state, obtaining a third time length during which the state of the restored fault flag signal remains in the initialized state;

[0022] When the third time period reaches the fault repair time period, it is confirmed that the state of the vehicle is a fault-free state, and the execution of the post-fault processing measures is canceled.

[0023] In a possible implementation, if the time duration for which the state of the fault flag signal remains in the set state reaches the fault confirmation time duration, after executing the post-fault processing measures, the method further includes:

[0024] Starting from the moment when the post-fault processing measure is executed, obtaining a fourth time duration during which the state of the fault flag signal remains in the set state;

[0025] If the fourth time duration reaches the delayed fault processing time duration, the delayed fault processing measure is executed.

[0026] In a possible implementation, if it is determined that the state of the fault flag signal changes from the initialization state to the setting state, before the vehicle controller outputs a control instruction based on the state of the fault flag signal, after executing the fault pre-processing measures, it also includes:

[0027] A fault light signal corresponding to the fault sign signal is displayed on the vehicle's dashboard interface.

[0028] Second aspect: The present application provides a vehicle fault handling device, comprising:

[0029] a determining unit, a first executing unit, and a second executing unit;

[0030] The determining unit is used to determine the state of the fault flag signal;

[0031] The first execution unit is used to execute a fault pre-processing measure before the vehicle controller outputs a control instruction based on the state of the fault flag signal if it is determined that the state of the fault flag signal changes from the initialization state to the setting state;

[0032] The second execution unit is used to execute post-fault processing measures if the time length for which the state of the fault flag signal remains in the set state reaches the fault confirmation time length.

[0033] In a possible implementation, the device further includes: a first timing unit and a first state confirmation unit;

[0034] The first timing unit is used to, if the time length for which the state of the fault flag signal remains in the set state is less than the fault confirmation time length, start timing from when the state of the fault flag signal changes from the set state to the initialized state, and obtain a first time length for which the state of the fault flag signal remains in the initialized state;

[0035] The first state confirmation unit is used to confirm that the state of the vehicle is a fault disappearance state and cancel the execution of the fault pre-processing measure if the first time period is greater than or equal to the fault repair time period.

[0036] In a possible implementation, the device further includes: a second timing unit and a third execution unit;

[0037] The second timing unit is configured to, if the first duration is less than the fault repair duration, start timing from the end time of the period corresponding to the first duration to obtain a second duration during which the state of the fault flag signal remains in the set state;

[0038] The third execution unit is used to execute the post-fault processing measure when the second time period reaches the fault confirmation time period.

[0039] In a possible implementation, the device further includes: a second state confirmation unit;

[0040] The second state confirmation unit is used to confirm that the state of the vehicle is a fault disappearance state and cancel the execution of the post-fault processing measures when the state of the fault flag signal remains in the initialization state after changing from the set state to the initialization state for a period of time reaching the fault repair time.

[0041] In a possible implementation, the device further includes: an acquisition unit, a third timing unit and a third state confirmation unit;

[0042] The acquisition unit is used for, when the state of the fault flag signal changes from the set state to the initialized state and remains in the initialized state for a period of time that does not reach the fault repair period, restoring to the set state and acquiring the restored state of the fault flag signal;

[0043] The third timing unit is used to start timing from when the state of the restored fault flag signal changes from the set state to the initialized state, and obtain a third time length during which the state of the restored fault flag signal remains in the initialized state;

[0044] The third state confirmation unit is used to confirm that the state of the vehicle is a fault disappearance state and cancel the execution of the post-fault processing measures when the third time period reaches the fault repair time period.

[0045] In a possible implementation, the device further includes: a fourth timing unit and a fourth execution unit;

[0046] The fourth timing unit is used to start timing from the moment when the post-fault processing measure is executed to obtain a fourth time length during which the state of the fault flag signal remains in the set state;

[0047] The fourth execution unit is used to execute the delayed fault processing measure if the fourth time period reaches the delayed fault processing time period.

[0048] In a possible implementation, the device further includes: a display unit;

[0049] The display unit is used to display the fault light signal corresponding to the fault sign signal on the dashboard interface of the vehicle.

[0050] A third aspect: The present application provides a computer device, the computer device comprising: a processor and a memory;

[0051] The memory is used to store program code and transmit the program code to the processor;

[0052] The processor is used to execute the steps of the vehicle fault handling method as described above according to the instructions in the program code.

[0053] Fourth aspect: The present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of a vehicle fault handling method as described above are implemented.

[0054] Compared with the prior art, this application has the following beneficial effects:

[0055] The present application provides a vehicle fault processing method, device, equipment and storage medium, by determining the state of a fault flag signal; if it is determined that the state of the fault flag signal changes from an initialization state to a set state, then before the vehicle controller outputs a control instruction based on the state of the fault flag signal, a fault pre-processing measure is executed; if the length of time the state of the fault flag signal remains in the set state reaches the fault confirmation time, a fault post-processing measure is executed. In the present application, before the vehicle controller outputs a control instruction based on the state of the fault flag signal, if it is determined that the state of the fault flag signal changes from an initialization state to a set state, the vehicle can be pre-processed for a fault, so as to avoid the vehicle controller issuing an erroneous control instruction based on an erroneous signal when the post-fault processing measure has not been triggered due to a long fault confirmation time, thereby effectively improving the robustness of the vehicle system. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 It is an existing fault confirmation timing diagram;

[0057] Figure 2 A flowchart of a vehicle fault handling method provided in an embodiment of the present application;

[0058] Figure 3 A fault confirmation timing diagram of a hierarchical response provided in an embodiment of the present application;

[0059] Figure 4A structural schematic diagram of a vehicle fault handling device is provided for an embodiment of the present application. DETAILED DESCRIPTION

[0060] The terms "first", "second", "third", etc. in the specification, claims and drawings of this application are used to distinguish different objects rather than to limit a specific order.

[0061] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0062] At present, when OBD detects an error signal, if the error signal does not disappear within the fault confirmation time, it can be confirmed that the vehicle has a fault. At this time, the fault handling measures of the system can be triggered to keep the vehicle in a safer state.

[0063] Combine the following Figure 1 An existing fault confirmation timing diagram is shown to introduce the current fault handling method. Figure 1 The middle curve 1001 represents the change of the state of the fault flag signal over time, the curve 1002 represents the change of the value of the fault confirmation counter over time, the curve 1003 represents the change of the value of the fault repair counter over time, the curve 1004 represents the change of the state of the fault confirmation signal over time, and the curve 1005 represents the change of the execution state of the post-fault processing measures over time.

[0064] For example, a corresponding detection logic can be formulated according to the principle of the detection object to determine whether a fault exists. Among them, whether a fault exists can be determined according to the state of the fault flag signal. For example, if the fault flag signal is high level, the fault flag signal is in a set state, indicating that a fault has occurred; if the fault flag signal is low level, the fault flag signal is in an initialized state, indicating that there is no fault.

[0065] like Figure 1 In the embodiment, the fault flag signal corresponds to the fault confirmation counter. When the fault flag signal changes from the initialization state to the setting state, the value of the fault confirmation counter starts to increase. When the fault flag signal changes from the setting state to the initialization state, the value of the fault confirmation counter can be frozen, set to zero, or decreased.

[0066] When the value of the fault confirmation counter reaches the set confirmation threshold, the fault is confirmed. Figure 1The fault confirmation signal starts to be set. At the same time, certain fault handling measures can be taken for the vehicle, such as limiting the functions of the vehicle to a certain extent, so that the vehicle and the user are in a safe state.

[0067] If the fault is confirmed, the fault flag signal changes from the set state to the initialized state, and the fault repair counter starts to increase from zero. During this process, if the state of the fault flag signal changes to the set state again, the fault repair counter can freeze, reset to zero, or decrease the value of the current fault repair counter. Figure 1 When the state of the fault flag signal turns to the set state again, the value of the fault repair counter is reset to zero so that it can be increased from zero again later.

[0068] After the fault repair counter reaches the preset repair threshold, it means that the fault has been repaired. Then, after comprehensively confirming that the working conditions are safe, the fault handling measures can be canceled, such as canceling the restrictions on vehicle functions.

[0069] However, since the system executes fault handling measures when the error signal does not disappear within the fault confirmation time, during this period, the vehicle controller may issue an erroneous control command based on the error signal, which may put the vehicle and the user in an unsafe state, reducing the robustness of the vehicle system.

[0070] Based on this, the present application provides a vehicle fault handling method, which can determine the state of a fault flag signal; if it is determined that the state of the fault flag signal changes from an initialization state to a set state, then before the vehicle controller outputs a control instruction based on the state of the fault flag signal, a fault pre-processing measure is executed; if the length of time the state of the fault flag signal remains in the set state reaches the fault confirmation time, a fault post-processing measure is executed. In the present application, before the vehicle controller outputs a control instruction based on the state of the fault flag signal, if it is determined that the state of the fault flag signal changes from an initialization state to a set state, the vehicle can be pre-processed for a fault, so as to avoid the vehicle controller issuing an erroneous control instruction based on an erroneous signal when the post-fault processing measures have not been triggered due to a long fault confirmation time, thereby effectively improving the robustness of the vehicle system.

[0071] Combine the following Figure 2 This application introduces a vehicle fault handling method. Figure 2 As shown, this figure is a flow chart of a vehicle fault handling method provided in an embodiment of the present application, including S101-S103.

[0072] S101. Determine the state of a fault flag signal.

[0073] The state of the fault flag signal may be an initialization state or a set state. When the fault flag signal is in the initialization state, it indicates that no fault is detected; when the fault flag signal is in the set state, it indicates that a fault is detected.

[0074] When the fault flag signal is at a high level, it indicates that the fault flag signal is in a set state; when the fault flag signal is at a low level, it indicates that the fault flag signal is in an initialization state.

[0075] S102: If it is determined that the state of the fault flag signal changes from the initialization state to the setting state, before the vehicle controller outputs a control instruction based on the state of the fault flag signal, a fault pre-processing measure is executed.

[0076] Exemplarily, if it is determined that the state of the fault flag signal changes from the initialization state to the set state, the value of the fault counter begins to increase, and if the value of the fault counter reaches the preprocessing threshold, the fault preprocessing measure is executed. The preprocessing threshold can be determined based on the response time of the vehicle controller outputting the control instruction based on the state of the fault flag signal, so that before the vehicle controller outputs the control instruction based on the state of the fault flag signal, the value of the fault counter can reach the preprocessing threshold, and then the fault preprocessing measure is executed. When the value of the fault counter reaches the preprocessing threshold, the execution state of the fault preprocessing measure is set, indicating that the fault preprocessing measure is activated.

[0077] Exemplarily, in the embodiment of the present application, corresponding fault codes may be set for different faults, and a corresponding fault handling strategy may be set for each fault code.

[0078] Take the vehicle speed sensor signal open circuit fault as an example. When the vehicle speed sensor signal open circuit fault occurs, the controller cannot collect the sensor pulse signal. In this case, the fault flag signal changes from the initialization state to the set state, and the corresponding fault counter value begins to increase.

[0079] In order to prevent misjudgment due to signal jitter, the fault confirmation time can be 200 milliseconds. During the 200 milliseconds when the pulse signal is lost, the value of the fault counter increases, but it does not increase to the confirmation threshold. That is, it cannot be confirmed that a fault has occurred within these 200 milliseconds, and the post-fault processing measures for the fault are not triggered. During this process, if the vehicle control software reads the vehicle speed signal as zero, the vehicle controller may issue an erroneous control instruction based on the erroneous vehicle speed signal. For example, the transmission controller may mistakenly think that the vehicle has decelerated to zero, and then control the vehicle to downshift. However, the vehicle may actually be in a relatively high speed driving state, and downshifting at high speed will interfere with the vehicle's power and increase safety risks.

[0080] Since it takes a certain amount of time, such as 100 milliseconds, for the vehicle controller to issue a control command, based on this, when the duration of the state of the fault flag signal in the set state reaches 80 or 90 milliseconds, a fault pre-processing measure corresponding to the fault can be taken.

[0081] In one example, the fault pre-processing measure corresponding to the open circuit fault of the vehicle speed sensor signal can be to replace the disappeared pulse signal with a preset signal. For example, when the pre-processing threshold is 80 milliseconds, when the fault flag signal is in the set state for 80 milliseconds, the vehicle transmission half shaft speed signal replaces the wrong vehicle speed signal, thereby preventing the vehicle from entering the wrong operation due to thinking that the vehicle speed is zero. If the open circuit of the vehicle speed signal still exists later and the fault counter increases to the confirmation threshold of 200 milliseconds, the post-fault processing measures can be executed.

[0082] In one possible implementation, if it is determined that the state of the fault flag signal has changed from an initialization state to a set state, then before the vehicle controller outputs a control instruction based on the state of the fault flag signal and after executing fault pre-processing measures, a fault light signal corresponding to the fault flag signal can also be displayed on the vehicle's dashboard interface to inform the user of the vehicle's fault and prompt the user to handle it in a timely manner.

[0083] For example, when an open circuit fault occurs in the vehicle speed sensor signal, a preset signal may be used to replace the disappeared pulse signal while sending a human-computer interaction prompt.

[0084] S103: If the time duration for which the state of the fault flag signal remains in the set state reaches the fault confirmation time duration, executing post-fault processing measures.

[0085] In one possible implementation, after executing the fault pre-processing measures, the value of the fault counter continues to increase from the pre-processing threshold until it reaches the confirmation threshold. During the process of the value of the fault counter reaching the confirmation threshold, the state of the fault flag signal remains in the set state, and the fault post-processing measures can be executed.

[0086] In another possible implementation, after the fault pre-processing measures are executed, the value of the fault counter continues to increase from the pre-processing threshold value, and when the value of the fault counter does not reach the confirmation threshold value, the state of the fault flag signal changes from the set state to the initialization state, and the value of the fault counter is reset to zero. Subsequently, if the state of the fault flag signal changes from the initialization state to the set state, the value of the fault counter starts to increase from zero again, and in the process of the fault counter value increasing from zero to the confirmation threshold value, if the state of the fault flag signal remains in the set state, the post-fault processing measures are executed. The time required for the value of the fault counter to increase from zero to the confirmation threshold value corresponds to the fault confirmation time.

[0087] In the embodiment of the present application, different faults may correspond to different fault confirmation times and different post-fault processing measures, and at the same time, one fault may correspond to at least one post-fault processing measure. Exemplary post-fault processing measures may include, but are not limited to, activating a fault light signal, the instrument lighting up the fault light signal after receiving the corresponding fault light signal, prompting the driver to perform maintenance measures according to the fault light, etc.

[0088] To summarize, in the present application, before the vehicle controller outputs a control instruction based on the state of the fault flag signal, if it is determined that the state of the fault flag signal has changed from the initialization state to the set state, the vehicle can be pre-processed for faults to avoid the vehicle controller issuing erroneous control instructions based on erroneous signals when the post-fault processing measures have not yet been triggered due to the long fault confirmation time, thereby effectively improving the robustness of the vehicle system.

[0089] In a possible implementation, after executing the above S102, if the time length that the state of the fault flag signal remains in the set state is less than the fault confirmation time length, the timing can be started from the time when the state of the fault flag signal changes from the set state to the initialization state, and the first time length that the state of the fault flag signal remains in the initialization state can be obtained.

[0090] Exemplarily, after the value of the fault counter reaches the preprocessing threshold, the fault preprocessing measure can be executed. When the value of the fault counter does not reach the confirmation threshold, the state of the fault flag signal changes from the set state to the initialization state, and the value of the fault counter can be reset to zero.

[0091] The timing starts from when the state of the fault flag signal changes from the set state to the initialized state, and a first time duration that the state of the fault flag signal remains in the initialized state is obtained. If the first time duration is greater than or equal to the fault repair time duration, it is confirmed that the state of the vehicle is a fault disappearance state, and the execution of the fault pre-processing measure is canceled. The fault repair time duration may correspond to the fault that has occurred, and different faults may correspond to different fault repair time durations.

[0092] If the first duration is less than the fault repair duration, start timing from the end time of the time period corresponding to the first duration to obtain a second duration during which the state of the fault flag signal remains in the set state; when the second duration reaches the fault confirmation duration, execute the post-fault processing measures.

[0093] If the first duration is less than the fault repair duration, it means that when the duration that the state of the fault flag signal remains in the initialization state does not reach the fault repair duration, the state of the fault flag signal changes from the initialization state to the set state, thereby indicating that the fault still exists. When the state of the fault flag signal changes from the initialization state to the set state, the value of the fault counter increases again from zero. If it increases to the confirmation threshold, it means that the second duration that the state of the fault flag signal remains in the set state reaches the fault confirmation duration, and the corresponding post-fault processing measures can be executed at this time.

[0094] In one possible implementation, after executing S103, when the state of the fault flag signal changes from the set state to the initialized state and remains in the initialized state for a period of time that reaches the fault repair time, it is confirmed that the state of the vehicle is the fault disappearance state, and the execution of the post-fault processing measures is canceled.

[0095] Exemplarily, after executing the post-fault processing measures, when the state of the fault flag signal changes from the set state to the initialized state, the value of the fault counter starts to decrease from the repair threshold. The time duration for the value of the fault counter to decrease from the repair threshold to zero is the fault repair time duration. If the state of the fault flag signal is always in the initialized state during the fault repair time duration, it can be confirmed that the state of the vehicle is the fault disappearance state, and the execution of the post-fault processing measures is canceled.

[0096] In one possible implementation, after executing S103, when the state of the fault flag signal changes from the set state to the initialized state, the state of the fault flag signal can be restored to the set state when the time length in which the state of the fault flag signal remains in the initialized state does not reach the fault repair time length, and the state of the restored fault flag signal can be obtained; timing can be started from the time when the state of the restored fault flag signal changes from the set state to the initialized state, and the third time length in which the state of the restored fault flag signal remains in the initialized state can be obtained; when the third time length reaches the fault repair time length, it can be confirmed that the state of the vehicle is in the fault disappearance state, and the execution of the post-fault processing measures can be canceled.

[0097] Exemplarily, after executing the post-fault processing measures, the state of the fault flag signal changes from the set state to the initialized state, and the value of the fault counter is reduced from the repair threshold. When the time duration of the state of the fault flag signal remaining in the initialized state does not reach the fault repair time duration, the state of the fault flag signal is restored from the initialized state to the set state, and the value of the fault counter is reset to zero. In this case, it means that the fault has not been repaired and the post-fault processing measures still need to be executed.

[0098] After the state of the fault flag signal remains in the set state for a period of time, it turns to the initialization state again. At this time, the value of the fault counter can be reduced from the repair threshold again. The time required for the value of the fault counter to decrease from the repair threshold to zero corresponds to the fault repair time. If the state of the restored fault flag signal remains in the initialization state for a third time; when the third time reaches the fault repair time, it is confirmed that the state of the vehicle is the fault disappearance state, and the execution of the post-fault processing measures is cancelled.

[0099] In a possible implementation, after executing S103, timing can also be started from the moment when the post-fault processing measures are executed to obtain a fourth time duration that the state of the fault flag signal remains in the set state; if the fourth time duration reaches the fault delayed processing time duration, the fault delayed processing measures are executed.

[0100] Exemplarily, after the post-fault processing measures are executed, the state of the fault flag signal remains in the set state, then the value of the fault timer continues to increase after the post-fault processing measures are executed, until the value of the fault timer increases from the confirmation threshold to the delayed processing threshold, and the fault delayed processing measures are executed. Wherein, during the period when the value of the fault timer increases from the confirmation threshold to the delayed processing threshold, the state of the fault flag signal remains in the set state, and the time required for the value of the fault timer to increase from the confirmation threshold to the delayed processing threshold corresponds to the fault delayed processing time.

[0101] Combine the following Figure 3 A vehicle fault handling method provided in an embodiment of the present application is generally introduced. Figure 3 A fault confirmation timing diagram of a hierarchical response provided in an embodiment of the present application.

[0102] In the embodiment of the present application, a unified fault counter is used, and the unified fault counter can realize the related functions of the confirmation counter and the fault repair counter. The essence of the unified fault counter is a variable that changes periodically in the controller software. The clock in the controller is used to increase the value of the unified fault counter at a fixed interval. When the value of the unified fault counter reaches the set threshold, other related actions are triggered and the state of other signals is changed to achieve the effect of delay and timing.

[0103] Exemplarily, in the present application, after a fault occurs, the fault flag signal will be in a set state, and the value of the fault counter will increase by 1 from 0 in a fixed period. When the task period of the fault counter is 10 milliseconds, the value of the fault counter will increase by 1 every 10 milliseconds. When the state of the fault flag signal changes from a set state to an initialized state due to signal jitter or an intermittent fault, the fault counter can change in an optional manner, such as clearing, freezing, or decrementing. The present application Figure 3 The zeroing method is used as an example to introduce it.

[0104] If the state of the fault flag signal turns to the set state again at this time, it means that the fault may actually exist, and the value of the fault counter can increase again from 0. When the value of the fault counter increases to the preprocessing threshold, the fault preprocessing measures can be executed. For example, if the preprocessing threshold is set to 200 milliseconds, the confirmation threshold is set to 300 milliseconds, and the delayed processing threshold is set to 500 milliseconds, the preprocessing measures will be activated when the fault counter increases 20 times, and the fault is confirmed when the fault counter increases 30 times, and the post-fault processing measures will be executed. If the fault still exists thereafter, that is, the state of the fault flag signal remains in the set state, then the value of the fault counter continues to increase. After the fault counter increases 50 times cumulatively, the fault delayed processing measures will be executed. Among them, the fault preprocessing threshold is less than the confirmation threshold, and the confirmation threshold is less than the delayed processing threshold.

[0105] After the fault is confirmed, the value of the fault counter can be switched to a decreasing mode, that is, it gradually decreases from the set repair threshold. If it decreases to zero, it means that the fault is repaired. At the same time, the state of the fault code can be changed from the current fault code state to the historical fault code state.

[0106] For example, if the repair threshold is set to 1000 milliseconds, when the state of the fault flag signal changes from the set state to the initialization state, the value of the fault counter is gradually reduced from the repair threshold. For example, the value of the fault counter can be reduced by 1 every 10 milliseconds. If the state of the fault flag signal changes to the set state again during the decrement process of the fault counter, the value of the fault counter can be cleared until the state of the fault flag signal changes to the initialization state again, and the fault counter starts to gradually decrease from the fault repair threshold again until it drops to zero, indicating that the fault has been repaired.

[0107] like Figure 3 As shown, when the state of the fault flag signal changes from the initialization state to the setting state, the value of the fault counter begins to increase. When the value of the fault counter reaches the preprocessing threshold, the fault preprocessing measure is executed and the state of the fault preprocessing measure is activated.

[0108] After the fault pre-processing measures are executed, the state of the fault flag signal changes from the set state to the initialized state, and the value of the fault counter can be cleared. It should be noted that after the fault pre-processing measures are executed, when the state of the fault flag signal changes from the set state to the initialized state, a variety of methods such as freezing the value of the fault counter or decreasing the value of the fault counter can also be adopted.

[0109] When the state of the fault flag signal changes from the initialization state to the set state again, the value of the fault counter starts to increase from zero again. When the value of the fault counter reaches the confirmation threshold, the fault code is reported, the fault is confirmed, the post-fault processing measures are executed, and the state of the post-fault processing measures is activated. During this process, the execution state of the fault pre-processing measures remains activated.

[0110] After executing the post-fault processing measures, if the state of the fault flag signal remains in the set state, and the value of the fault counter continues to increase until it reaches the delayed processing threshold, the fault delayed processing measures are further activated. If the fault that occurs does not have a corresponding fault delayed processing measure set, the fault delayed processing measures are not activated at this stage.

[0111] After the fault deferred processing measures are executed, if the state of the fault flag signal remains in the set state, the value of the fault counter is maintained at the deferred processing threshold. When the state of the fault flag signal changes to the initial state, the value of the fault counter starts to decrease from the repair threshold. If the fault occurs again during this process, the state of the fault flag signal changes to the set state, and the value of the fault counter is reset to zero.

[0112] After the value of the fault counter is reset to zero, when the state of the fault flag signal turns to the initial state again, the value of the fault counter is restored to the repair threshold value and starts to decrease from the repair threshold value. If the state of the fault flag signal remains in the initialization state during the process of the fault counter value decreasing until it reaches zero, it is confirmed that the state of the vehicle is the fault disappearance state. After confirming that the state of the vehicle is the fault disappearance state, the execution of the fault pre-processing measures, the fault post-processing measures, and the fault delay processing measures can be cancelled.

[0113] In summary, in this application, before the vehicle controller outputs a control instruction based on the state of the fault flag signal, if it is determined that the state of the fault flag signal changes from the initialization state to the set state, the vehicle can be pre-processed for the fault, so as to avoid the vehicle controller issuing an erroneous control instruction based on an erroneous signal when the post-fault processing measures have not been triggered due to a long fault confirmation time, thereby effectively improving the robustness of the vehicle system. At the same time, the various thresholds, processing measures, etc. designed in this application are all configurable items, which can greatly improve the flexibility and adaptability of the system.

[0114] The present application provides a vehicle fault handling device, see Figure 4 , this figure is a structural schematic diagram of a vehicle fault handling device provided in an embodiment of the present application. Its specific implementation method is consistent with the implementation method and the technical effect achieved in the embodiment of the above method, and some contents will not be repeated here.

[0115] The present application provides a vehicle fault handling device 1100, comprising:

[0116] A determining unit 1101, a first executing unit 1102, and a second executing unit 1103;

[0117] The determining unit 1101 is used to determine the state of the fault flag signal;

[0118] The first execution unit 1102 is used to execute a fault pre-processing measure before the vehicle controller outputs a control instruction based on the state of the fault flag signal if it is determined that the state of the fault flag signal changes from the initialization state to the setting state;

[0119] The second execution unit 1103 is configured to execute post-fault processing measures if the time duration for which the state of the fault flag signal remains in the set state reaches a fault confirmation time duration.

[0120] In a possible implementation, the device further includes: a first timing unit and a first state confirmation unit;

[0121] The first timing unit is used to, if the time length for which the state of the fault flag signal remains in the set state is less than the fault confirmation time length, start timing from when the state of the fault flag signal changes from the set state to the initialized state, and obtain a first time length for which the state of the fault flag signal remains in the initialized state;

[0122] The first state confirmation unit is used to confirm that the state of the vehicle is a fault disappearance state and cancel the execution of the fault pre-processing measure if the first time period is greater than or equal to the fault repair time period.

[0123] In a possible implementation, the device further includes: a second timing unit and a third execution unit;

[0124] The second timing unit is configured to, if the first duration is less than the fault repair duration, start timing from the end time of the period corresponding to the first duration to obtain a second duration during which the state of the fault flag signal remains in the set state;

[0125] The third execution unit is used to execute the post-fault processing measure when the second time period reaches the fault confirmation time period.

[0126] In a possible implementation, the device further includes: a second state confirmation unit;

[0127] The second state confirmation unit is used to confirm that the state of the vehicle is a fault disappearance state and cancel the execution of the post-fault processing measures when the state of the fault flag signal remains in the initialization state after changing from the set state to the initialization state for a period of time reaching the fault repair time.

[0128] In a possible implementation, the device further includes: an acquisition unit, a third timing unit and a third state confirmation unit;

[0129] The acquisition unit is used for, when the state of the fault flag signal changes from the set state to the initialized state and remains in the initialized state for a period of time that does not reach the fault repair period, restoring to the set state and acquiring the restored state of the fault flag signal;

[0130] The third timing unit is used to start timing from when the state of the restored fault flag signal changes from the set state to the initialized state, and obtain a third time length during which the state of the restored fault flag signal remains in the initialized state;

[0131] The third state confirmation unit is used to confirm that the state of the vehicle is a fault disappearance state and cancel the execution of the post-fault processing measures when the third time period reaches the fault repair time period.

[0132] In a possible implementation, the device further includes: a fourth timing unit and a fourth execution unit;

[0133] The fourth timing unit is used to start timing from the moment when the post-fault processing measure is executed to obtain a fourth time length during which the state of the fault flag signal remains in the set state;

[0134] The fourth execution unit is used to execute the delayed fault processing measure if the fourth time period reaches the delayed fault processing time period.

[0135] In a possible implementation, the device further includes: a display unit;

[0136] The display unit is used to display the fault light signal corresponding to the fault sign signal on the dashboard interface of the vehicle.

[0137] To summarize, the device provided in the present application can perform fault pre-processing on the vehicle before the vehicle controller outputs a control instruction based on the state of the fault flag signal. If it is determined that the state of the fault flag signal has changed from the initialization state to the set state, it can avoid the vehicle controller issuing erroneous control instructions based on erroneous signals when the post-fault processing measures have not been triggered due to the long fault confirmation time, thereby effectively improving the robustness of the vehicle system.

[0138] The present application provides a computer device, the computer device comprising: a processor and a memory;

[0139] The memory is used to store program code and transmit the program code to the processor;

[0140] The processor is used to execute the steps of the vehicle fault handling method as described above according to the instructions in the program code.

[0141] The present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of a vehicle fault handling method as described above are implemented.

[0142] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. 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 vehicle fault handling method, It is characterized in that include: Determine the status of the fault flag signal; If it is determined that the state of the fault flag signal changes from the initialization state to the setting state, before the vehicle controller outputs a control instruction based on the state of the fault flag signal, executing a fault pre-processing measure; If the time duration for which the state of the fault flag signal remains in the set state reaches the fault confirmation time duration, a post-fault processing measure is executed.

2. The method according to claim 1, It is characterized in that If it is determined that the state of the fault flag signal changes from the initialization state to the setting state, before the vehicle controller outputs a control instruction based on the state of the fault flag signal, after executing the fault pre-processing measures, the method further includes: If the time duration for which the state of the fault flag signal remains in the set state is shorter than the fault confirmation time duration, starting the timing from when the state of the fault flag signal changes from the set state to the initialization state, obtaining a first time duration for which the state of the fault flag signal remains in the initialization state; If the first time duration is greater than or equal to the fault repair time duration, it is confirmed that the vehicle is in a fault-free state, and the execution of the fault pre-processing measure is canceled.

3. The method according to claim 2, It is characterized in that The timing starts when the state of the fault flag signal changes from the set state to the initialization state, and after obtaining a first time length during which the state of the fault flag signal remains in the initialization state, the method further includes: If the first duration is less than the fault repair duration, starting from the end time of the period corresponding to the first duration, obtaining a second duration during which the state of the fault flag signal remains in the set state; When the second time period reaches the fault confirmation time period, the post-fault processing measure is executed.

4. The method according to claim 1, It is characterized in that If the time duration of the state of the fault flag signal remaining in the set state reaches the fault confirmation time duration, after executing the post-fault processing measures, the method further includes: When the state of the fault flag signal changes from the set state to the initialized state and remains in the initialized state for a period of time that reaches the fault repair time, it is confirmed that the state of the vehicle is a fault-free state, and the execution of the post-fault processing measures is canceled.

5. The method according to claim 1, It is characterized in that If the time duration of the state of the fault flag signal remaining in the set state reaches the fault confirmation time duration, after executing the post-fault processing measures, the method further includes: When the state of the fault flag signal changes from the set state to the initialized state and remains in the initialized state for a period of time that does not reach the fault repair period, the state of the fault flag signal is restored to the set state, and the restored state of the fault flag signal is obtained; Starting from the time when the state of the restored fault flag signal changes from the set state to the initialized state, obtaining a third time length during which the state of the restored fault flag signal remains in the initialized state; When the third time period reaches the fault repair time period, it is confirmed that the state of the vehicle is a fault-free state, and the execution of the post-fault processing measures is canceled.

6. The method according to claim 1, It is characterized in that If the time duration of the state of the fault flag signal remaining in the set state reaches the fault confirmation time duration, after executing the post-fault processing measures, the method further includes: Starting from the moment when the post-fault processing measure is executed, obtaining a fourth time duration during which the state of the fault flag signal remains in the set state; If the fourth time duration reaches the delayed fault processing time duration, the delayed fault processing measure is executed.

7. The method according to any one of claims 1 to 6, It is characterized in that If it is determined that the state of the fault flag signal changes from the initialization state to the setting state, before the vehicle controller outputs a control instruction based on the state of the fault flag signal, after executing the fault pre-processing measures, the method further includes: A fault light signal corresponding to the fault sign signal is displayed on the vehicle's dashboard interface.

8. A vehicle fault handling device, It is characterized in that include: a determining unit, a first executing unit, and a second executing unit; The determining unit is used to determine the state of the fault flag signal; The first execution unit is used to execute a fault pre-processing measure before the vehicle controller outputs a control instruction based on the state of the fault flag signal if it is determined that the state of the fault flag signal changes from the initialization state to the setting state; The second execution unit is used to execute post-fault processing measures if the time length for which the state of the fault flag signal remains in the set state reaches the fault confirmation time length.

9. A computer device, It is characterized in that The computer device comprises: a processor and a memory; The memory is used to store program code and transmit the program code to the processor; The processor is used to execute the steps of a vehicle fault handling method as described in any one of claims 1-7 according to the instructions in the program code.

10. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of a vehicle fault handling method as described in any one of claims 1 to 7 are implemented.

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