Diagnostic method and device for vehicle braking system

Abstract

The invention provides a diagnosis method and device for a vehicle braking system, and belongs to the technical field of vehicles, and the method comprises the steps: obtaining a first configuration parameter, belonging to a preset type, of a vehicle, and a second configuration parameter except the first configuration parameter; a plurality of preset braking programs are obtained; the preset braking program comprises a third configuration parameter belonging to a preset type and a fourth configuration parameter except the third configuration parameter, obtaining a target braking program with the parameter value of the third configuration parameter being the same as the parameter value of the first configuration parameter from the multiple preset braking programs, and flashing the target braking program to the vehicle, and replacing the fourth configuration parameter with the second configuration parameter, and then diagnosing the braking system of the vehicle. According to the method, the vehicles with the same first configuration parameter can share one set of target braking program for program flashing, the braking programs do not need to be set for vehicle types with different configurations, the number of the braking programs needing to be designed is reduced, and the diagnosis efficiency of the vehicle braking system is improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and in particular, to a diagnostic method and device for a vehicle braking system. Background Art

[0002] Before a vehicle is off the production line, it is necessary to diagnose the braking system of the vehicle to ensure the normal function of the vehicle braking system and avoid driving safety problems caused by abnormal functions of the vehicle braking system.

[0003] In the related art, it is necessary to separately set braking programs for different combinations of vehicle models and configuration parameters, perform program flashing on the vehicle according to the corresponding braking programs, and then diagnose the braking system of the flashed vehicle. However, there are usually many different vehicle models. Based on the method of the related art, a large number of braking programs need to be set, which results in a complex vehicle diagnosis method and low processing efficiency. Summary of the Invention

[0004] Based on this, the present application provides a diagnostic method and device for a vehicle braking system to solve the problem of how to simply and efficiently diagnose the vehicle braking system.

[0005] In the first aspect of the embodiments of the present application, a diagnostic method for a vehicle braking system is provided, including: obtaining a plurality of to-be-configured parameters of the vehicle; the plurality of to-be-configured parameters include: a first configuration parameter belonging to a preset type, and a second configuration parameter other than the first configuration parameter; obtaining a plurality of preset braking programs; the preset braking programs include a third configuration parameter belonging to the preset type, and a fourth configuration parameter other than the third configuration parameter; obtaining a target braking program from the plurality of preset braking programs, where the parameter value of the third configuration parameter is the same as the parameter value of the first configuration parameter; flashing the target braking program including the third configuration parameter and the fourth configuration parameter to the vehicle, replacing the fourth configuration parameter with the second configuration parameter, and then diagnosing the braking system of the vehicle.

[0006] Optionally, diagnosing the braking system of the vehicle includes: if an electronic stability control system is provided in the vehicle, performing static calibration on the sensors of the electronic stability control system; performing dynamic verification on the sensors after the static calibration is completed to obtain a calibration result of the static calibration; the calibration result is calibration accurate or calibration inaccurate; if the calibration result is calibration inaccurate, re-performing static calibration and dynamic verification on the sensors until the latest obtained calibration result is calibration accurate.

[0007] Optionally, obtaining a target braking program with the parameter value of the third configuration parameter being the same as that of the first configuration parameter from the multiple preset braking programs includes: obtaining at least one first braking program with the parameter value of the third configuration parameter being the same as that of the first configuration parameter from the multiple preset braking programs; obtaining a parameter difference between a preset configuration parameter in the second configuration parameter and a preset configuration parameter in the fourth configuration parameter; and obtaining the target braking program from at least one of the first braking programs according to the parameter difference and a preset difference threshold.

[0008] Optionally, obtaining the target braking program from at least one of the first braking programs according to the parameter difference and a preset difference threshold includes: if there is a first braking program with a parameter difference less than or equal to a first preset difference threshold among at least one of the first braking programs, obtaining the target braking program from the first braking programs with a parameter difference less than or equal to the first preset difference threshold; if there is no first braking program with a parameter difference less than or equal to the first preset difference threshold among at least one of the first braking programs, determining, as the target braking program, the first braking program with the smallest parameter difference among the first braking programs with a parameter difference less than or equal to a second preset difference threshold; and the second preset difference threshold is greater than the first preset difference threshold.

[0009] Optionally, obtaining at least one first braking program with the parameter value of the third configuration parameter being the same as that of the first configuration parameter from the multiple preset braking programs includes: obtaining a characteristic value code of the third configuration parameter and a characteristic value code of the first configuration parameter; the characteristic value code is used to represent the parameter value of the corresponding configuration parameter; and if the characteristic value code of each third configuration parameter of the preset braking program is the same as the characteristic value code of the first configuration parameter of the same type as the third configuration parameter, determining the preset braking program as the first braking program.

[0010] Optionally, the multiple to-be-configured parameters of the vehicle include braking system configuration information of the vehicle; diagnosing the braking system of the vehicle includes: obtaining a target braking system diagnosis strategy corresponding to the braking system configuration information of the vehicle according to the correspondence between preset braking system configuration information and a preset braking system diagnosis strategy; and diagnosing the braking system of the vehicle according to the target braking system diagnosis strategy; wherein the braking system configuration information of the vehicle includes: the vehicle is equipped with an anti-lock braking system, the vehicle is equipped with an electronic stability control system and an anti-lock braking system, the vehicle is equipped with an electronic braking system, or the vehicle is equipped with an electronic braking system and an electronic stability control system.

[0011] Optionally, the replacing the fourth configuration parameter with the second configuration parameter includes: generating a first string according to the second configuration parameter; the first string has a first identifier, and the second configuration parameter is recorded at a preset position in the first string; writing a configuration parameter including the first string to a command and sending it to the vehicle, so that the vehicle determines a target string whose second identifier matches the first identifier from at least one preset string each having a second identifier, and replaces the fourth configuration parameter at the preset position in the target string with the second configuration parameter at the preset position in the first string; the preset string is used to record the fourth configuration parameter of the target braking program.

[0012] Optionally, flashing the target braking program including the third configuration parameter and the fourth configuration parameter to the vehicle includes: sending first security authentication information and a braking program download command to the vehicle, so that the vehicle performs security authentication according to the first security authentication information, and when the security authentication is passed, downloads the target braking program and writes it to the vehicle to complete the flashing of the target braking program; the replacing the fourth configuration parameter with the second configuration parameter includes: sending second security authentication information and a configuration parameter writing command to the vehicle, so that the vehicle performs security authentication according to the second security authentication information, and when the security authentication is passed, replaces the fourth configuration parameter with the second configuration parameter.

[0013] Optionally, obtaining multiple configuration parameters to be configured for the vehicle includes: obtaining a target vehicle identifier of the vehicle; according to the correspondence between the preset vehicle identifier and the preset combination of configuration parameters to be configured, obtaining a target combination of configuration parameters to be configured corresponding to the target vehicle identifier, and determining the multiple configuration parameters to be configured in the target combination of configuration parameters to be configured as the multiple configuration parameters of the vehicle.

[0014] In a second aspect of the embodiments of the present application, a diagnostic device for a vehicle braking system is provided, including: a first obtaining module, configured to obtain multiple configuration parameters to be configured for the vehicle; the multiple configuration parameters to be configured include: a first configuration parameter belonging to a preset type, and a second configuration parameter other than the first configuration parameter; a second obtaining module, configured to obtain multiple preset braking programs; the preset braking programs include a third configuration parameter belonging to the preset type, and a fourth configuration parameter other than the third configuration parameter; a third obtaining module, configured to obtain a target braking program in which the parameter value of the third configuration parameter is the same as the parameter value of the first configuration parameter from the multiple preset braking programs; an execution module, configured to flash the target braking program including the third configuration parameter and the fourth configuration parameter to the vehicle, replace the fourth configuration parameter with the second configuration parameter, and then diagnose the braking system of the vehicle.

[0015] In a third aspect of an embodiment of the present application, an electronic device is provided, comprising: a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method described in the first aspect is implemented.

[0016] In a fourth aspect of an embodiment of the present application, a readable storage medium is provided. When instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the method described in the first aspect.

[0017] In this embodiment, the preset braking program with the third configuration parameter being the same as the first configuration parameter of the vehicle is determined as the target braking program for flashing the vehicle. Vehicles with the same first configuration parameter and third configuration parameter can use a common set of target braking programs, which is the basic braking program set for all vehicles with the first configuration parameter. Therefore, based on this embodiment, it is not necessary to set a braking program for each combination of vehicle type and configuration parameter, but to flash the same basic braking program for vehicles with the same first configuration parameter. Compared with the method of setting braking programs for different vehicle types in the related art, this embodiment reduces the number of braking programs that need to be set, the method is simple, and the processing efficiency is high. In addition, the target braking program is a braking program with the same third configuration parameter and the first configuration parameter. After the target braking program is flashed, only the second configuration parameter that is not compared with the target braking program is configured to the vehicle, and the configuration of all parameters to be configured of the vehicle can be realized, and the setting of the vehicle braking system is realized by flashing the basic braking program and configuring the configuration parameters, which further improves the processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0019] Figure 1 is a flowchart of a method for diagnosing a vehicle braking system provided by an embodiment of the present application;

[0020] Figure 2 is a flowchart of another method for diagnosing a vehicle brake system provided by an embodiment of the present application;

[0021] Figure 3 It is a structural block diagram of a vehicle offline diagnostic system provided by an embodiment of the present application;

[0022] Figure 4 It is a flowchart of the steps of a diagnostic method for a vehicle braking system provided by an embodiment of the present application;

[0023] Figure 5 It is a flowchart of the steps of a braking program matching method provided by an embodiment of the present application;

[0024] Figure 6 It is a flowchart of the steps of a target braking program downloading method provided by an embodiment of the present application;

[0025] Figure 7 It is a flowchart of the steps of a parameter configuration method provided by an embodiment of the present application;

[0026] Figure 8 It is a flowchart of the steps of a sensor calibration method provided by an embodiment of the present application;

[0027] Figure 9 It is a structural block diagram of a vehicle braking system detection device provided by an embodiment of the present application. Detailed implementation manners

[0028] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present application.

[0029] Before the vehicle leaves the production line, it is necessary to diagnose the braking system of the vehicle to ensure the normal function of the vehicle braking system and avoid vehicle driving safety problems caused by abnormal functions of the vehicle braking system. In the related art, corresponding programs are respectively set for different combinations of vehicle models and configuration parameters, and the vehicle is programmed according to the corresponding braking program, and then the braking system of the programmed vehicle is diagnosed. However, in actual applications, there are many combinations of different vehicle models and configuration parameters. Based on the method in the related art, a large number of braking programs need to be set, which has the problems of complex method and low processing efficiency.

[0030] Based on this, to solve the problem of how to simply and efficiently diagnose a vehicle braking system, the present application provides a method and device for diagnosing a vehicle braking system. By obtaining a plurality of to-be-configured parameters of the vehicle; the plurality of to-be-configured parameters include: a first configuration parameter belonging to a preset type, and a second configuration parameter other than the first configuration parameter; obtaining a plurality of preset braking programs; the preset braking programs include a third configuration parameter belonging to the preset type, and a fourth configuration parameter other than the third configuration parameter; from the plurality of preset braking programs, obtaining a target braking program in which the parameter value of the third configuration parameter is the same as the parameter value of the first configuration parameter; flashing the target braking program including the third configuration parameter and the fourth configuration parameter to the vehicle, and using the second configuration parameter to replace the fourth configuration parameter, and then diagnosing the braking system of the vehicle. Vehicles with the same first configuration parameter and third configuration parameter can share a set of target braking programs, and the target braking program is a basic braking program set for all vehicles with the first configuration parameter. There is no need to set braking programs separately for each combination of vehicle models and configuration parameters. Compared with the method of setting braking programs separately for different vehicle models in the related art, the number of braking programs to be set in this embodiment is reduced, the method is simple, and the processing efficiency is high. The specific method is as follows:

[0031] Figure 1 The step flowchart of the method for diagnosing a vehicle braking system is shown. Referring to Figure 1 , the method may include the following steps:

[0032] Step 101, obtain a plurality of to-be-configured parameters of the vehicle.

[0033] Among them, the plurality of to-be-configured parameters of the vehicle include: a first configuration parameter belonging to a preset type, and a second configuration parameter other than the first configuration parameter. Exemplarily, the first configuration parameter of the preset type is a configuration parameter that has a relatively large impact on the braking program; for example, the first configuration parameter of the preset type may include at least one of the following: vehicle model, drive type, steering gear type, suspension type, braking system configuration, and ESC configuration. The second configuration parameter is a configuration parameter that has a relatively small impact on the braking program compared to the first configuration parameter; for example, the second configuration parameter may include at least one of the following: wheelbase, tire size, rear axle ratio, driveline retarder, engine braking type, brake opening pressure, braking torque, etc.

[0034] Exemplarily, the embodiments of the present application are applied to a vehicle off-line diagnosis system. The vehicle off-line diagnosis system can implement the diagnosis of the vehicle braking system by executing the steps of this embodiment. Among them, the configuration parameter has a corresponding characteristic value code, and the characteristic value code is used to obtain the parameter value of the configuration parameter from the corresponding relationship between the preset characteristic value code and the parameter value of the configuration parameter. Further, the vehicle off-line diagnosis system has a Bill of Material (BOM) system, and the BOM system stores the vehicle identifier and the characteristic value code of the configuration parameter corresponding to the vehicle identifier. The vehicle identifier of the vehicle can be obtained, and then multiple characteristic value codes of the to-be-configured parameters corresponding to the vehicle number can be picked up from the BOM system according to the vehicle identifier of the whole vehicle; Exemplarily, the vehicle identifier can be the vehicle number of the whole vehicle.

[0035] Step 102, obtain multiple preset braking programs.

[0036] The preset braking programs include a third configuration parameter belonging to a preset type and a fourth configuration parameter other than the third configuration parameter. Through the Time control system (TC) system in the vehicle off-line diagnosis system, the vehicle configuration information corresponding to multiple part numbers and the electronic control braking programs corresponding to each part number can be hung under the corresponding vehicle models, and the vehicle configuration information and the electronic control braking programs are transmitted to the BOM system to form a braking program library, and multiple preset braking programs are obtained from the braking program library of the BOM system.

[0037] Step 103, obtain a target braking program from the multiple preset braking programs, where the parameter value of the third configuration parameter is the same as the parameter value of the first configuration parameter.

[0038] There is at least one third configuration parameter and one first configuration parameter. For each preset braking program, each third configuration parameter therein is respectively compared with the first configuration parameter of the same type as the third configuration parameter. If the preset braking program meets the following matching condition, the preset braking program is determined as the first braking program, and the first braking program is added to the screening program library 1: Each third configuration parameter in the first braking program is the same as the first configuration parameter of the same parameter type as it. Then, the target braking program is determined from the first braking programs in the screening program library 1.

[0039] Step 104, brush the target braking program including the third configuration parameter and the fourth configuration parameter to the vehicle, replace the fourth configuration parameter with the second configuration parameter, and then diagnose the braking system of the vehicle.

[0040] The target braking program includes a third configuration parameter and a fourth configuration parameter. Therefore, after flashing the target braking program to the vehicle, the third configuration parameter and the fourth configuration parameter are also flashed to the vehicle. The parameter value of the third configuration parameter is the same as that of the first configuration parameter. After flashing the target braking program to the vehicle, it is equivalent to flashing the first configuration parameter of the vehicle to the vehicle. Therefore, there is no need to configure the first configuration parameter of the vehicle again. During the process of determining the target braking program, the fourth configuration parameter and the second configuration parameter are not compared, and the fourth configuration parameter and the second configuration parameter may be different. By using the second configuration parameter to replace the fourth configuration parameter, the second configuration parameter of the vehicle can also be flashed to the vehicle to configure the second configuration parameter for the vehicle. Thus, the flashing of the target braking program and the configuration of the parameters to be configured for the vehicle are achieved. By way of example, the target braking program is transmitted to the flash memory of the vehicle electronic control unit (ECU) for the vehicle ECU to download the target braking program from the ECU Flash to the electrically erasable programmable read-only memory (EEPROM) to achieve the flashing of the target braking program.

[0041] With the rapid development of automotive intelligence and electronic control, the requirements for each control system of the vehicle chassis have gradually increased. Among them, the electronic braking system in the control system is closely related to the safety of the driver and passengers. Therefore, whether the functions of the electronic braking system are normal is particularly important for vehicle safety. Therefore, before the vehicle rolls off the production line, it is necessary to diagnose the functions of the electronic braking system to ensure that the functions of the electronic braking system are consistent with the design state and avoid abnormal function phenomena. Specifically, before the vehicle rolls off the production line, operation processes such as program flashing, parameter configuration, sensor calibration, and function diagnosis need to be carried out. Further, for vehicles (such as commercial vehicles) equipped with an Anti-lock Braking System (ABS) and an Electronic Stability Control (ESC), an Electronic Braking System (EBS), or a combination of EBS and ESC, the electronic braking system usually includes more functions. For example, these functions can include the ABS function with anti-lock, the Acceleration Slip Regulation (ASR) function, the Hill-Start Assist (HSA) function, the Electronic Brakeforce Distribution (EBI) function, and the vehicle stability control ESC function. In order to make each function perform optimally, accurate vehicle parameters need to be configured in the electronic braking program. The vehicle parameters can include wheelbase, tire specifications, rear axle ratio, suspension type, brake type, axle load, steering gear type, etc.

[0042] In the related art, vehicle parameters for an electric braking program of a vehicle are usually configured by two methods. One is that the supplier pre-flashes the corresponding braking program according to combinations of different vehicle models and configuration parameters and then supplies the products. However, since there are a large number of combinations of vehicle models and configuration parameters, based on this method, dozens or even hundreds of part numbers need to be established at the vehicle manufacturer, resulting in a huge workload and confusion among data, making management inconvenient. The other is that the supplier provides parts of the basic version program during supply. When the factory installs the vehicle, a dedicated person uses a portable device to flash the program of the vehicle, configure the correct configuration parameters, then calibrate the sensors of the vehicle, and diagnose some functions of the vehicle. However, this solution has high requirements for the personnel for program flashing and parameter configuration, and it takes a certain amount of operation time to flash the program. This method has the problems of low work efficiency and easy errors, which will seriously affect the off-line rate of factory vehicles. In actual applications, vehicles (such as commercial vehicles) usually have an ABS electric braking system, which is relatively simple. The supplier can configure the relevant programs and parameters before delivery. When the vehicle comes off the line, only the wheel speed accuracy and the braking force of the brake need to be checked. For vehicles equipped with ABS and ESC, EBS, or both EBS and ESC electric braking systems, there is no complete off-line diagnosis process system. Therefore, for vehicles with these electric braking systems, it is necessary to separately design and flash their control programs, calibrate the sensors, and diagnose some functions. This has the problem of low efficiency, which will seriously affect the vehicle off-line rhythm.

[0043] In this embodiment, a preset braking program with the parameter value of the third configuration parameter being the same as that of the first configuration parameter of the vehicle is determined as the target braking program to be flashed for the vehicle. Thus, vehicles with the same parameter values of the first configuration parameter and the third configuration parameter can share a set of target braking programs, and this target braking program is the basic braking program set for all vehicles with this first configuration parameter. Therefore, based on this embodiment, it is not necessary to separately set braking programs for each combination of vehicle model and configuration parameter, but to set the same set of basic braking programs for vehicles with the same first configuration parameter, reducing the number of braking programs that need to be designed and improving the diagnostic efficiency of the vehicle braking system.

[0044] In addition, after the target braking program is flashed into the vehicle, the third configuration parameter in the target braking program that is the same as the first configuration parameter is also configured into the vehicle. Therefore, after the target braking program is flashed, only the second configuration parameter other than the first configuration parameter needs to be configured for the vehicle to complete the configuration of the configuration parameters, improving the parameter configuration efficiency. In this embodiment, by flashing the target braking program as the basic braking program and configuring the second configuration parameter, the setting of the vehicle braking system is realized. Compared with the method of separately setting braking programs for different vehicle models in the related art, the number of braking programs that need to be set in this embodiment is reduced, the method is simple, and the processing efficiency is high.

[0045] Figure 2 is a step flowchart of another vehicle braking system diagnosis method shown in the embodiments of the present application. Referring to Figure 2 , the method may include the following steps:

[0046] Step 201, obtain the vehicle identification of the vehicle.

[0047] Exemplarily, the vehicle identification may be the vehicle identification number. The order number of the vehicle for which the braking system diagnosis is to be performed may be obtained, and the vehicle identification number corresponding to the vehicle may be identified from the BOM system according to the order number.

[0048] Step 202, according to the corresponding relationship between the preset vehicle identification and the preset combination of parameters to be configured, obtain the target combination of parameters to be configured corresponding to the target vehicle identification, and determine the multiple parameters to be configured in the target combination of parameters to be configured as the multiple parameters to be configured for the vehicle.

[0049] The multiple parameters to be configured include: the first configuration parameter belonging to the preset type, and the second configuration parameter other than the first configuration parameter. Each parameter to be configured has a corresponding characteristic value code, and the characteristic value code is used to determine the parameter value of the parameter to be configured from the corresponding relationship between the preset characteristic value code and the parameter value of the configuration parameter. Among them, the target combination of parameters to be configured may be represented by a combination of characteristic value codes. Exemplarily, the characteristic value codes of different parameters to be configured may be as shown in Table 1:

[0050] Table 1

[0051]

[0052]

[0053] The eigenvalue in Table 1 is the parameter value of the configuration parameter corresponding to the eigenvalue code. Among them, Table 1 only shows examples of some configuration parameters to be configured, and the types of configuration parameters are not limited to the 12 types shown in Table 1. In one embodiment, the vehicle identifier is the vehicle identification number, and the vehicle identification number is B12121. The multiple configuration parameters in the corresponding target configuration parameter combination to be configured can be represented by the following eigenvalue codes:

[0054] A000&A1000&A2000&A3000&A4001&A5001&A6001&A7000&A8000&A9000&A10000&A11000&A12000. There is at least one first configuration parameter among the multiple configuration parameters to be configured, and each first configuration parameter has a corresponding eigenvalue code. Exemplarily, the first configuration parameter may include at least one of the following: vehicle type, drive type, steering gear type, suspension type, brake system configuration, and ESC configuration. For example, the vehicle identification number is B11010, and the eigenvalue codes of the first configuration parameters among the multiple configuration parameters corresponding thereto are: A000&A1000&A2000&A3000&A4001&A5001. Combining with Table 1, the first configuration parameters of the vehicle identification number B11010 are: the vehicle type is a truck, the drive type is 4X2, the steering gear type is AM80H, the suspension type is front and rear leaf springs, the brake system configuration is EBS, and the ESC configuration is with ESC.

[0055] Step 203, obtain at least one first braking program from multiple preset braking programs, where the parameter value of the third configuration parameter is the same as the parameter value of the first configuration parameter.

[0056] Exemplarily, step 203 may include sub-steps A1 - A2:

[0057] Sub-step A1, obtain the eigenvalue code of the third configuration parameter and the eigenvalue code of the first configuration parameter.

[0058] Among them, the eigenvalue code is used to represent the parameter value of the corresponding configuration parameter.

[0059] Sub-step A2, if the eigenvalue code of each third configuration parameter of the preset braking program is the same as the eigenvalue code of the first configuration parameter of the same type as the third configuration parameter, then determine the preset braking program as the first braking program.

[0060] The eigenvalue codes of the third configuration parameter and the eigenvalue codes of the first configuration parameter can be compared to obtain a comparison result, and a first braking program is obtained according to the comparison result. The comparison result includes: the eigenvalue codes of each third configuration parameter of the preset braking program are respectively the same as the eigenvalue codes of the first configuration parameter of the same type as the third configuration parameter. In this case, it means that the eigenvalue codes of each third configuration parameter of the preset braking program are respectively the same as the eigenvalue codes of the first configuration parameter of the same type as the third configuration parameter. The comparison result may also include: the eigenvalue codes of at least some of the third configuration parameters are different from the eigenvalue codes of the first configuration parameter of the same type as the third configuration parameter. In this case, it means that the preset braking program does not meet the following requirements: the eigenvalue codes of each third configuration parameter are respectively the same as the eigenvalue codes of the first configuration parameter of the same type as the third configuration parameter. By comparing the eigenvalue codes of the first configuration parameter of the vehicle and the eigenvalue codes of the third configuration parameter of the preset braking program, the target braking program applicable to the vehicle can be quickly matched from multiple preset braking programs.

[0061] This application introduces the eigenvalue code logic, represents the configuration parameters of the vehicle with eigenvalue codes, and writes the matching conditions of the preset braking programs in the braking program library with eigenvalue codes. Based on the matching conditions, the target braking program is obtained from multiple preset braking programs, which is convenient for automatic matching of the target braking program during the order configuration process and improves the efficiency of obtaining the target braking program.

[0062] Step 204, obtain the parameter difference between the preset configuration parameter in the second configuration parameter and the preset configuration parameter in the fourth configuration parameter.

[0063] The first braking program is a preset braking program in which the parameter values of the third configuration parameter and the first configuration parameter are the same. Therefore, when further screening the target braking program from the first braking program, it is not necessary to compare or analyze the first configuration parameter and the third configuration parameter anymore, but to determine the target braking program based on the second configuration parameter and the fourth configuration parameter. Therefore, in this step, the preset configuration parameter is selected from the second configuration parameter and compared and analyzed with the preset configuration parameter in the fourth configuration parameter. For example, the preset configuration parameter can be determined according to the influence degree of the configuration parameter on the braking program. Among them, the higher the influence degree of the configuration parameter on the braking program, the greater the difference between the braking programs corresponding to different parameter values when the parameter values of the configuration parameter are different. Further, the configuration parameter with a high influence degree on the braking program can be determined as the preset configuration parameter.

[0064] For example, if the influence degree of the wheelbase on the braking program is high, the wheelbase in the second configuration parameter can be determined as the preset configuration parameter in the second configuration parameter. Correspondingly, the wheelbase in the fourth configuration parameter is determined as the preset configuration parameter in the fourth configuration parameter. Correspondingly, in this step, the parameter difference between the preset configuration parameter in the second configuration parameter and the preset configuration parameter in the fourth configuration parameter is the wheelbase difference between the wheelbase in the second configuration parameter and the wheelbase in the fourth configuration parameter.

[0065] Step 205: Obtain the target braking program from at least one first braking program according to the parameter difference and the preset difference threshold.

[0066] Exemplarily, if the parameter difference is too large, the corresponding braking program is not applicable to the vehicle; obtaining the target braking program from at least one first braking program according to the parameter difference can ensure that the obtained target braking program is a braking program applicable to the vehicle.

[0067] Further, sub-step 205 may include sub-steps B1 - B2:

[0068] Sub-step B1: If there is a first braking program in at least one first braking program whose parameter difference is less than or equal to the first preset difference threshold, obtain the target braking program from the first braking programs whose parameter differences are less than or equal to the first preset difference threshold.

[0069] Among them, the first preset difference threshold can be set according to requirements. For example, it can be set to 0 or other values. It should be noted that the parameter difference in this embodiment refers to the absolute value of the difference obtained by subtracting the preset configuration parameter of the fourth configuration parameter from the preset configuration parameter of the second configuration parameter. When the first preset difference threshold is 0, obtain the target braking program from the first braking programs with a parameter difference equal to 0. Further, obtaining the target braking program from the first braking programs whose parameter differences are less than or equal to the first preset difference threshold in sub-step B1 may include: determining the first braking program with a parameter difference equal to zero as the target braking program. The target braking program obtained based on this method has a high adaptability to the vehicle.

[0070] Exemplarily, obtaining the target braking program may further include: comparing the preset configuration parameters of the second configuration parameter and the preset configuration parameters of the fourth configuration parameter, and determining the first braking program in which the preset configuration parameters of the second configuration parameter and the preset configuration parameters of the fourth configuration parameter are equal as the target braking program. For example, the preset configuration parameter is the wheelbase. The first configuration parameter and the third configuration parameter both include vehicle type, drive type, steering gear type, suspension type, braking system configuration, and ESC configuration. The first configuration parameter corresponds to parameters A0 to A5 in Table 1. The wheelbase of the second configuration parameter and the wheelbase of the fourth configuration parameter correspond to parameter A6 in Table 1. Based on the target braking program obtained in this embodiment, its configuration parameters A0 to A5 correspond exactly to the configuration parameters A0 to A5 of the vehicle, and its configuration parameter A6 is also equal to the configuration parameter A6 of the vehicle.

[0071] Further, if the number of the first braking programs with the third configuration parameter being the same as the first configuration parameter is zero, it is determined that the braking system matching fails, and an error report is made for the matching result of the failed braking system matching.

[0072] Sub-step B2: If among at least one first braking program, there is no first braking program with a parameter difference less than or equal to the first preset difference threshold, then determine the first braking program with the smallest parameter difference among the first braking programs with a parameter difference less than or equal to the second preset difference threshold as the target braking program.

[0073] Among them, the second preset difference threshold is greater than the first preset difference threshold; if there is no first braking program with a parameter difference less than or equal to the first preset difference threshold, obtaining the target braking program according to the second preset difference threshold is equivalent to gradually screening the target braking program through an increasing difference threshold, which can improve the accuracy and success rate of the obtained target braking program. Exemplarily, the preset configuration parameter is the wheelbase. Correspondingly, the parameter difference is the wheelbase difference. Determine the first braking program with a wheelbase difference less than or equal to the second preset difference threshold and the smallest wheelbase difference as the target braking program. The target braking program obtained based on this method has a high adaptability to the vehicle. Further, if there is only one first braking program with a wheelbase difference less than or equal to the second difference threshold, directly determine this first braking program as the target braking program. If the wheelbase differences of all first braking programs are greater than the second difference threshold, it is determined that the braking system matching fails, and an error report is made for the matching result of the failed braking system matching.

[0074] The second difference threshold can be set according to empirical data. For example, if the preset configuration parameter is the wheelbase, according to experience, when the absolute value of the wheelbase difference is within 1 m, the relevant calibration parameters of the ESC can be regarded as approximately the same. Therefore, the second difference threshold is set to 1 m. It should be noted that the second difference threshold can also be set to other values. For example, after obtaining the first braking program, it is recorded in the screening database 1. For each first braking program in the screening database 1, the wheelbase of the first braking program is compared with the wheelbase of the vehicle, in other words, the wheelbase in the fourth configuration parameter is compared with the wheelbase in the second configuration parameter. If there is a first braking program in the screening database 1 whose wheelbase is equal to the wheelbase of the vehicle, then this first braking program is determined as the target braking program. If there is no first braking program in the screening database 1 whose wheelbase is equal to the wheelbase of the vehicle, then from the screening database 1, a first braking program whose absolute value of the wheelbase difference between the wheelbase of the first braking program and the wheelbase of the vehicle is less than or equal to the second difference threshold is obtained, and this first braking program is added to the screening database 2. If the number of first braking programs in the screening database 2 is 1, then the first braking program in the screening database 2 is determined as the target braking program; if the number of first braking programs in the screening database 2 is not 1, then among the multiple first braking programs in the screening database 2, the first braking program with the smallest wheelbase difference between the wheelbase of the first braking program and the wheelbase of the vehicle is determined as the target braking program; if the number of first braking programs in the screening database 2 is 0, it means that the matching is unsuccessful, the braking program matching process is ended, and an error handling is performed on the matching result of the failed braking program matching.

[0075] The target braking program obtained based on the method of this embodiment is applicable to all vehicles with the same first configuration parameter and third configuration parameter, and the parameter difference between the preset configuration parameters is less than or equal to the first preset difference threshold, or the parameter difference is less than or equal to the second preset difference threshold and the parameter difference is the smallest. In other words, the target braking program obtained based on the method of this embodiment is the basic vehicle type program applicable to all vehicles with the parameter difference between the preset configuration parameters less than or equal to the first preset difference threshold, or the parameter difference is less than or equal to the second preset difference threshold and the parameter difference is the smallest. The method of this embodiment defines the process of matching the basic vehicle type program and introduces the processing logic of matching the basic vehicle type program through the preset configuration parameters. A preset braking program with the same third configuration parameter and first configuration parameter, and the parameter difference between the preset configuration parameters less than or equal to the first preset difference threshold, or the parameter difference less than or equal to the second preset difference threshold and the parameter difference is the smallest can be used as the basic vehicle type program. After the target braking program is flashed into the vehicle, the fourth configuration parameter of the first braking program can be changed to the second configuration parameter of the actual vehicle. Thus, the number of braking system source programs that need to be set can be greatly reduced, which is convenient for managing the source programs and reducing the workload.

[0076] Step 206: Flash the target braking program including the third configuration parameter and the fourth configuration parameter into the vehicle, and replace the fourth configuration parameter with the second configuration parameter.

[0077] Exemplarily, in step 206, flashing the program into the vehicle according to the target braking program may include sub-step C1:

[0078] Sub-step C1: Send the first security authentication information and the braking program download instruction to the vehicle, so that the vehicle performs security authentication based on the first security authentication information, and downloads the target braking program and writes it into the vehicle when the security authentication is passed, completing the flashing of the target braking program.

[0079] The first security authentication information is a key obtained through the following method: The vehicle off-line diagnostic system requests the seed for secure access from the vehicle's ECU and obtains the secure access seed fed back by the ECU. According to the seed and a preset decryption algorithm, obtain the key for secure access. After obtaining the key, send the key to the vehicle ECU, so that after the vehicle ECU receives the secure access key, compare the secure access key with the pre-designed key. If the two groups of keys are the same, it is determined that the security authentication is passed. In the case where the security authentication fails, resend the first security authentication information and the braking program download instruction to the vehicle to perform the security authentication again. If the number of times of repeating the security authentication exceeds the preset number threshold (for example, 5 times) and the security authentication still fails, stop performing the security authentication and report an error for the authentication result of the failed security authentication.

[0080] Exemplarily, when the security authentication is passed, write the system identity document (ID) of the vehicle off-line diagnostic system into the vehicle (for example, the ECU of the vehicle) to trace the vehicle off-line diagnostic system that flashes the braking program into the vehicle according to the system ID.

[0081] Exemplarily, in step 206, replacing the fourth configuration parameter with the second configuration parameter may include sub-step D1:

[0082] Sub-step D1: Send the second security authentication information and the configuration parameter writing instruction to the vehicle, so that the vehicle performs security authentication based on the second security authentication information, and replaces the fourth configuration parameter with the second configuration parameter when the security authentication is passed.

[0083] The second security authentication information is a key obtained through the following method: The vehicle off-line diagnosis system requests a seed for secure access from the vehicle's ECU and obtains the secure access seed fed back by the ECU. According to the seed and a preset decryption algorithm, a key for secure access is obtained, and then the key is sent to the vehicle ECU. After the vehicle ECU receives the secure access key, it compares the secure access key with a pre-designed key. If the two sets of keys are the same, it is determined that the security authentication is passed.

[0084] In the case where the security authentication fails, the second security authentication information and the configuration parameter writing instruction are resent to the vehicle to re-perform the security authentication. Exemplarily, if the number of times of repeating the security authentication exceeds a preset number threshold and the security authentication still fails, the security authentication is stopped, and an error reporting process is performed on the authentication result of the failed security authentication.

[0085] Exemplarily, in the case where the security authentication is passed, the system ID of the vehicle off-line diagnosis system is written into the vehicle (for example, the ECU of the vehicle) to trace the vehicle off-line diagnosis system that performs the braking program flashing on the vehicle according to the system ID.

[0086] Through sub-step C1 and sub-step D1, when the security authentication is passed, the vehicle is further flashed with programs and configured with parameters, which can prevent illegal vehicle off-line diagnosis devices from modifying the vehicle configuration and improve the data security of the vehicle configuration.

[0087] Exemplarily, replacing the fourth configuration parameter with the second configuration parameter in step 206 may include the following sub-steps:

[0088] Sub-step E1, generating a first string according to the second configuration parameter.

[0089] Wherein, the first string has a first identifier, and the second configuration parameter is recorded at a preset position in the first string.

[0090] Exemplarily, according to the string generation policy corresponding to the second configuration parameter, the first string is generated. The string generation policy includes: obtaining the first identifier corresponding to the second configuration parameter and the preset position of the second configuration parameter in the first string according to the preset correspondence between the configuration parameter and the identifier, and the preset correspondence between the configuration parameter and the preset position of the configuration parameter in the string. The correspondence of some configuration parameters is shown in Table 2. For example, if the second configuration parameter is a driveline retarder, referring to Table 2, the generated first string may include FDA0 and multiple bytes of data. Among them, the configuration information of the driveline retarder is recorded at the second data bit of the 14th byte, and its data length is 1.

[0091] Table 2

[0092]

[0093] Exemplarily, sub-step E1 may include sub-steps E11 to E13:

[0094] Sub-step E11, obtain the eigenvalue code for identifying the parameter value of the second configuration parameter, and obtain the parameter value of the second configuration parameter according to the corresponding relationship between the preset eigenvalue code and the parameter value.

[0095] Table 1 shows the corresponding relationship between the preset eigenvalue code and the parameter value (i.e., the eigenvalue in Table 1). For example, the second configuration parameter is the rear axle ratio. In one embodiment, the eigenvalue code corresponding to the vehicle rear axle ratio is A8000. Then, referring to Table 1, in this embodiment, the parameter value corresponding to this second configuration parameter is 3.364.

[0096] Sub-step E12, convert the parameter value into a character in a preset format according to the preset conversion strategy corresponding to the second configuration parameter.

[0097] Exemplarily, the preset conversion strategy includes: obtaining the product of the parameter value and a preset coefficient, and then converting the product into a character in a preset format; or directly converting the parameter value into a character in a preset format. For example, when the rear axle ratio is 3.364, multiplying it by the preset coefficient and then converting it into a hexadecimal character, the obtained character is 36. In one embodiment, the eigenvalue codes of multiple second configuration parameters are: A6001&A7000&A8000&A9000&A10000&A11000&A12000. According to the corresponding relationship shown in Table 1 for each second configuration parameter's eigenvalue code, the parameter values of each second configuration parameter can be obtained. Then, according to the preset conversion strategy corresponding to each second configuration parameter respectively, convert them into the hexadecimal configuration string A2 0A36 0001 2B 0C. Wherein, this configuration string includes the characters corresponding to each second configuration parameter respectively.

[0098] Sub-step E13, obtain the string generation strategy corresponding to the second configuration parameter, and generate the first string with the character corresponding to the parameter value of the second configuration parameter recorded at a preset position.

[0099] Among them, the string generation strategy includes: obtaining a first identifier corresponding to a second configuration parameter according to the corresponding relationship between preset configuration parameters and identifiers; obtaining the position of the character corresponding to the second configuration parameter in the string according to the corresponding relationship between the preset configuration parameters and the positions of the configuration parameters in the string. For example, if the second configuration parameter is the rear axle speed ratio, the corresponding character is 36. Referring to Table 2, the first identifier corresponding to it is FDA0, and the position of its corresponding character in the string is the first data bit starting from the 15th byte. Then the generated first string includes the first identifier FDA0, and the character corresponding to the rear axle speed ratio is recorded at the first data bit starting from the 15th byte. By way of example, if the first identifiers corresponding to multiple second configuration parameters are the same but their characters are in different positions in the string, these multiple second configuration parameters can generate the same first string. For example, referring to Table 2, the configuration information of the driveline retarder and the first identifier corresponding to the rear axle speed ratio are both FDA0, but their positions are different. Then a first string including the first identifier FDA0 can be generated. Among them, the character corresponding to the driveline retarder is recorded at the position with a length of 1 starting from the second data bit of the 14th byte of the first string, and the character corresponding to the rear axle speed ratio is recorded at the position with a length of 8 starting from the first data bit of the 15th byte of the first string.

[0100] Sub-step E2: Sending a configuration parameter writing instruction containing the first string to the vehicle, so that the vehicle can determine a target string whose second identifier matches the first identifier from at least one preset string respectively having a second identifier, and use the second configuration parameter at a preset position in the first string to replace the fourth configuration parameter at a preset position in the target string.

[0101] Among them, the preset string is used to record the fourth configuration parameter of the target braking program. Specifically, the preset string is a data identifier (DID) in the Unified Diagnostic Services (UDS) protocol, and the DID is used to determine the identifier of specific data to be accessed and stored. In this embodiment, the DID includes a second identifier part (for example, FDA0) and a data part, where the data part includes data of multiple bytes.

[0102] Exemplarily, the DID can be set according to user requirements, including: setting the second identifier corresponding to the fourth configuration parameter, and the position of the fourth configuration parameter in the data part of the DID. For example, referring to Table 2, the second identifier for the rear axle speed ratio can be set as FDA0, and its position is at the first data bit of the 15th byte. Exemplarily, the target braking program includes multiple fourth configuration parameters, and the fourth configuration parameter has a corresponding preset string (DID). For example, the fourth configuration parameter at least includes the configuration information of the driveline retarder, the rear axle speed ratio, and the brake opening pressure. Then the preset string (DID) at least includes a preset string containing the second identifier FDA0, and a preset string containing the second identifier FDA3.

[0103] Exemplarily, the configuration parameter writing instruction includes a first string, and the second configuration parameter is recorded at a preset position of the first string. Further, the configuration parameter writing instruction is used to write the second configuration parameter in the vehicle. Specifically, the configuration parameter writing instruction includes a service identifier (SID) 2E for performing a write operation, and the first string. Before this step, the target braking program including the fourth configuration parameter has been flashed into the vehicle. After the fourth configuration parameter is flashed into the vehicle, the fourth configuration parameter is recorded in the preset string (DID) in the vehicle. There is at least one fourth configuration parameter, and there is also at least one preset string for recording the fourth configuration parameter. Among them, the identifiers of the first string and the preset string for recording the same configuration parameter are the same, and the positions of the same configuration parameter in their respective strings are also the same. In other words, the second configuration parameter at the preset position in the first string and the fourth configuration parameter at the preset position in the target string are of the same type. For example, referring to Table 2, the first identifier of the first string for recording the rear axle speed ratio is FDA0, the rear axle speed ratio is located at the position where the starting byte is 15 and the starting bit is 1 in this first string, and the data length is 8; the second identifier of the preset string for recording the rear axle speed ratio is also FDA0; the rear axle speed ratio is located at the position where the starting byte is 15 and the starting bit is 1 in this preset string, and the data length is 8. After the vehicle receives the configuration parameter writing instruction, it compares the first identifier of the first string with the second identifiers of each preset string stored in the vehicle, obtains the target string with the same second identifier and first identifier from them, and then uses the second configuration parameter at the preset position in the first string to replace the fourth configuration parameter at the preset position in the target string.

[0104] Based on the method of this embodiment, when flashing the second configuration parameter, it is not necessary to read all the preset strings (DIDs) for recording all the configuration parameters of the target braking program. According to the first string, the target string (target DID) that needs to be modified can be directly determined, and the fourth configuration parameter at the preset position of the target string can be replaced, which can greatly improve the flashing efficiency.

[0105] Step 207: Obtain a target braking system diagnosis strategy corresponding to the braking system configuration information of the vehicle according to the correspondence between the preset braking system configuration information and the preset braking system diagnosis strategy.

[0106] The braking system configuration information of the vehicle includes: the vehicle is equipped with an anti-lock braking system, the vehicle is equipped with an electronic stability control system and an anti-lock braking system, the vehicle is equipped with an electronic braking system, or the vehicle is equipped with an electronic braking system and an electronic stability control system. Further, if the braking system configuration information of the vehicle is that the vehicle is equipped with ABS and ESC, or the braking system configuration information of the vehicle is that the vehicle is equipped with EBS and ESC, then static sensor calibration, dynamic sensor calibration, fault code diagnosis, power supply voltage diagnosis, ESC off switch diagnosis, ESC indicator light diagnosis, engine control diagnosis, ASR indicator light diagnosis, HSA switch diagnosis, HSA indicator light diagnosis, master vehicle switch diagnosis, EBS fault light diagnosis, wheel speed diagnosis, and braking force diagnosis are performed on the vehicle. If the braking system configuration information of the vehicle is that the vehicle is only equipped with EBS or only equipped with ABS, then fault code diagnosis, power supply voltage diagnosis, ESC off switch diagnosis, ESC indicator light diagnosis, engine control diagnosis, ASR indicator light diagnosis, HSA switch diagnosis, HSA indicator light diagnosis, master vehicle switch diagnosis, EBS fault light diagnosis, wheel speed diagnosis, and braking force diagnosis are performed on the vehicle.

[0107] Step 208: Diagnose the braking system of the vehicle according to the target braking system diagnosis strategy.

[0108] Further, if the vehicle is equipped with ABS and ESC, or equipped with EBS and ESC, or equipped with EBS, then the target braking program is flashed and the second configuration parameters are configured for the vehicle according to the method of the foregoing embodiment, and then the braking system of the vehicle is diagnosed. If the vehicle is only equipped with ABS, then the braking system of the vehicle is directly diagnosed. This embodiment realizes the introduction of a judgment model configuration logic, which can distinguish vehicles equipped with ABS and ESC, equipped with EBS, and equipped with EBS and ESC. According to the discrimination result, the target braking system diagnosis strategy applicable to the vehicle is automatically obtained, and the braking system of the vehicle is diagnosed based on the target braking system diagnosis strategy, which can ensure the accuracy of the diagnosis result.

[0109] Exemplarily, step 208 may include the following sub-steps:

[0110] Sub-step F1: If the vehicle is equipped with an electronic stability control system, perform static calibration on the sensors of the electronic stability control system.

[0111] The sensors of the electronic stability control system include a steering angle sensor and a yaw rate sensor. Exemplarily, the steps of static sensor calibration include: after adjusting components such as the steering wheel and tie rod in the vehicle steering system at the assembly and adjustment station, place the vehicle in the calibration room to ensure that the steering wheel and wheels are straight, and the whole vehicle is parked on a horizontal road surface. Then, based on the diagnostic service SID specified by the UDS protocol, sensor calibration is achieved by using the corresponding SID. Specifically, the steering angle sensor is calibrated based on SID31 01FE 58, and the yaw rate sensor is calibrated based on SID31 01FE 5A.

[0112] Sub-step F2, perform dynamic verification on the sensors that have completed static calibration to obtain the calibration result of the static calibration.

[0113] Among them, the calibration result is either accurately calibrated or inaccurately calibrated. Through the dynamic calibration method, dynamic verification is performed on the sensors that have completed static calibration. Specifically, after the static calibration of the sensors is completed, a specific fault code will be displayed for a vehicle fault, and the fault code needs to be obtained through the dynamic self-learning method. Drive the vehicle to the test lane and then drive at a speed of about 30 km / h. After completing more than 2 km of straight-line dynamic self-learning, the fault code will automatically disappear, indicating that the dynamic sensor calibration is completed. If the fault code does not disappear, it means that the static sensor calibration is inaccurate and the static calibration needs to be performed again.

[0114] Sub-step F3, if the calibration result is inaccurately calibrated, re-perform static calibration and dynamic verification on the sensors until the latest obtained calibration result is accurately calibrated.

[0115] Combining static calibration and dynamic calibration, and verifying the accuracy of static calibration through dynamic calibration can avoid inaccurate sensor calibration from affecting the ESC function, and can prevent abnormal ESC function from affecting vehicle driving safety. Further, based on the method of this embodiment, vehicles equipped with ABS and ESC, vehicles equipped with EBS, and vehicles equipped with EBS and ESC can be distinguished. According to the discrimination results, offline diagnosis processes such as loading and adapting program flashing, configuration parameter flashing, sensor calibration, and braking system function diagnosis are carried out to reduce the probability of false detection and missed detection, and improve the accuracy of diagnosing the vehicle braking system. There are many configuration combination forms for mass-produced models of commercial vehicle OEMs. If each configuration requires a corresponding version of the program, the number of programs to be managed is quite large. In this embodiment, the same set of target braking programs can be set for vehicles with the same first configuration parameter. The target braking program is equivalent to the basic vehicle model program applicable to vehicles with this first configuration parameter. Therefore, this embodiment realizes that by introducing the flashing of the basic vehicle model program and matching it with the logic of flashing configuration parameters, on the basis of the basic vehicle model program, configuration parameters (such as the second configuration parameters such as wheelbase, rear axle speed ratio, and tire specifications) can be changed to realize the setting of the vehicle braking system, and vehicle braking system diagnosis can be carried out based on this setting. The method of this embodiment can adapt to different variant models, can multiply reduce the number of braking programs that need to be designed in the braking system source program, facilitate the management of the source program, and can reduce the workload of program design.

[0116] Figure 3 shows a diagnostic system for a vehicle braking system according to this embodiment. Referring to Figure 3, the diagnostic system may include a TC system 301, a BOM system 302, and an off-line diagnostic process system 303; among them, the off-line diagnostic process system 303 includes: a pick-up configuration module 3031, a program flashing module 3032, a parameter configuration module 3033, a sensor calibration module 3034, and a function diagnostic module 3035. The TC system 301 is used to hang the part drawing number and the corresponding electronic brake control program under the relevant vehicle models. Only one configuration can correspond to one vehicle identification number. For example, for the vehicle identification number B11010, its corresponding vehicle model configuration is: the vehicle model is a truck; the drive type is 4x2; the wheelbase is 5150 mm; the steering gear type is AM80H; the suspension type is front and rear leaf springs; the tire specification is 12R22.5; the brake system configuration is EBS; the ESC configuration is available. The electronic brake control program is EBS_Truck_4x2_5150_80H_WoALS.s19. The vehicle model configuration information and the electronic brake control program are transmitted to the BOM system 302, and a brake program library is formed. The BOM system 302 is used to establish a global feature library and write the feature value code rules for vehicle models. Examples of the feature value codes of some configuration parameters are shown in Table 1. For example, the matching condition of the electronic brake control program corresponding to the vehicle identification number B11010 in the program library is: A000&A1000&A2000&A3000&A4001&A5001&A6002.

[0117] The pick-up configuration module 3031 is used to pick up the order configuration; the program flashing module 3032 is used to select the corresponding basic vehicle model program from the electronic brake control program library and flash it into the controller; the parameter configuration module 3033 is used to generate a configuration file according to the order configuration. The format of the configuration file can be the configuration string format; after generating the configuration file, the corresponding parameters in the basic vehicle model program are replaced based on the configuration file; the sensor calibration module 3034 is used to calibrate the steering angle sensor and the yaw rate sensor; the function diagnostic module 3035 is used to identify the enabled functions and perform relevant function diagnostics.

[0118] Next, in combination with Figure 3 and Figure 4 , taking the wheelbase as the preset configuration parameter as an example, the vehicle diagnostic method of the present application is further described by way of example:

[0119] Step S1, pick up the order configuration.

[0120] Specifically, obtain the order number, identify the corresponding vehicle identification number from the BOM system according to the order number, and pick up the corresponding feature value code according to the vehicle identification number. For example, for the vehicle identification number B12121, the picked-up feature value code is:

[0121] A000&A1000&A2000&A3000&4001&A5001&A6001&A7000&A8000&A9000&A10000&A11000&A12000。

[0122] Step S2: According to the order configuration, determine whether A4 representing the braking system configuration is A4000. If yes, go to step S5; otherwise, go to step S3.

[0123] In this embodiment, with different braking system configurations, the program flashing and the function diagnosis items of the electronic control braking system are also different. Referring to Table 1, if the braking system configuration A4 is A4000, it means the vehicle is configured with an ABS configuration. In this case, execute step S5, and continue to determine whether ESC is set in the vehicle, and determine the subsequent program flashing and the function diagnosis of the electronic control braking system according to the judgment result.

[0124] Step S3: Determine whether A4 representing the braking system configuration is A4001. If yes, go to step S7; otherwise, go to step S4.

[0125] Referring to Table 1, the braking system configuration being A4001 means the vehicle is configured with an EBS configuration. In this case, execute step S7 to perform braking program matching.

[0126] Step S4: Report an error: The vehicle model configuration is incorrect; and end the processing flow.

[0127] If the braking system configuration (A4≠A4000)&(A4≠A4001), it means the vehicle has neither an ABS configuration nor an EBS configuration, indicating that the vehicle model configuration is incorrect. Then, perform an error reporting process for the incorrect vehicle model configuration to prompt the user that the vehicle model configuration is incorrect and end the process. By introducing an error reporting mechanism, when a problem occurs during step processing and the execution cannot continue, relevant prompts can be given through the error reporting mechanism, so that the system operator can find the cause of the problem and solve the problem in a timely manner.

[0128] Step S5: Determine whether A5 representing the ESC configuration is A5001. If yes, go to step S6; otherwise, go to step S18.

[0129] With different ESC configurations of the vehicle, the subsequent program flashing and the function diagnosis items of the electronic control braking system will be different. When A5 of the ESC configuration is A5001, it represents that the vehicle model has both an ABS and an ESC configuration, and execute step S7. When the ESC configuration A5 is A5000, it means the vehicle has no ESC configuration, indicating that the vehicle model is an ABS configuration, and then execute step S18.

[0130] Step S6: Determine that the configuration of the vehicle to be diagnosed is having both ABS and ESC.

[0131] Step S7: Match the basic vehicle model program and determine whether the match is successful. If yes, go to step S9; otherwise, go to step S8.

[0132] The basic vehicle model program in this step is equivalent to the target braking program in the foregoing embodiment. For example, according to the eigenvalue codes A0 to A6 in Table 1, match the required basic vehicle model program in the braking program library. Further, referring to Figure 5 , the method for matching the basic vehicle model program in step S7 may include the following sub-steps (sub-step S701 to sub-step S710):

[0133] Sub-step S701: Obtain the braking program library.

[0134] Among them, the braking program library is obtained through the TC system in the foregoing embodiment, which will not be elaborated here.

[0135] Sub-step S702: Determine whether there is a first braking program in the braking program library that is exactly the same as the order configuration A0 to A5. If yes, go to step S703; otherwise, go to step S706.

[0136] Further, determine whether there is a program in the braking program library that is exactly the same as the eigenvalue codes A0 to A5 of this order. If so, form a filtered program library 1 through sub-step S703 and execute sub-step S704. If not, perform system error reporting to remind the user that the braking program is not successfully matched and there is no available program in the current braking program library, and then end the process.

[0137] Sub-step S703: Construct a filtered program library 1 according to the first braking program that is exactly the same as the order configuration A0 to A5.

[0138] Among them, there may be one or more preset braking programs that are exactly the same as the order configuration A0 to A5.

[0139] Sub-step S704: Determine whether there is a first braking program in the filtered program library 1 that is exactly the same as the order configuration A6. If yes, go to sub-step S710; otherwise, go to sub-step S705.

[0140] Referring to Table 1, the order configuration A6 is the wheelbase. Determine whether there is a first braking program in the filtered program library 1 that is exactly the same as the eigenvalue code of A6 of this order (the eigenvalue code of the wheelbase of the vehicle). If so, determine this braking program as the target braking program matched with the vehicle corresponding to the order, and determine that the braking program is successfully matched, and execute S9. If there is no first braking program that is exactly the same as the wheelbase of this order, execute sub-step S705.

[0141] Sub-step S705: Determine whether there is a first braking program in the screening library 1 whose absolute difference from the order configuration A6 is less than or equal to 1m. If yes, go to sub-step S707; otherwise, go to sub-step S706.

[0142] Among them, 1m is the second preset difference threshold in the foregoing embodiment, but the second preset difference threshold is not limited to this and can also be other values. Determine whether there is a first braking program in the screening library 1 whose absolute value of the difference from the order configuration characteristic value code A6 (wheelbase of the vehicle) is less than or equal to 1m. If so, form a screening library 2 based on these first braking programs; otherwise, perform a system error reporting process to remind the user that the braking program has not been successfully matched and there is no available program, and end the process.

[0143] Sub-step S706: Determine that the braking program has not been successfully matched and perform an error reporting process.

[0144] If not successfully matched, perform an error reporting process on the matching result that there is no available braking program in the current braking program library to remind the user to handle the error in time.

[0145] Sub-step S707: Construct a screening library 2 based on the first braking program whose absolute difference from the order configuration A6 is less than or equal to 1m.

[0146] In this embodiment, the wheelbase of 1m used to screen the braking program is the second difference threshold in the foregoing embodiment.

[0147] Sub-step S708: Determine whether the number of first braking programs in the screening library 2 is equal to 1. If yes, go to step S710; otherwise, go to sub-step S709.

[0148] Determine whether the number of braking programs in the screening library 2 is 1. If so, determine this program as the target braking program to be matched, indicating that the braking system program matching is successful, and execute step S9. If the number of braking programs in the screening library 2 is not equal to 1, then execute sub-step S709.

[0149] Sub-step S709: Calculate the wheelbase difference between the wheelbase of each first braking program in the screening library 2 and the wheelbase of the order vehicle respectively, and select the first braking program with the smallest absolute value of the wheelbase difference.

[0150] Specifically, calculate the absolute value of the wheelbase difference between the wheelbase of each first braking program of the braking system program in the library 2 and the wheelbase of the vehicle in the order respectively, select the braking system program with the smallest absolute difference, and determine the braking system program with the smallest absolute value of the wheelbase difference as the basic vehicle type program matched with the vehicle corresponding to the order. In this case, it means the matching is successful, and execute step S9.

[0151] Sub-step S710: Determine the selected first braking program as the target braking program that matches the order configuration.

[0152] Step S8: Perform an error reporting process for the unsuccessful matching of the braking system program; then end.

[0153] This situation indicates that the braking system program has not been successfully matched and there is no available program.

[0154] Step S9: Flash the basic vehicle model program and determine whether the flashing is successful; if yes, go to step S11, otherwise go to step S10.

[0155] Among them, the basic vehicle model program is the target braking program in the foregoing embodiment. Specifically, based on the diagnostic service identifier (Service Identifier, SID) specified by the UDS protocol, the basic vehicle model program is flashed. In the Unified Diagnostic Services (UDS) protocol, SID22 represents reading, SID2E represents writing, and SID11 represents restarting. The basic vehicle model program is flashed into the ECU by using the corresponding SID.

[0156] Specifically, referring to Figure 6 , the flashing of the basic vehicle model program in step S9 may include the following sub-steps:

[0157] Sub-step S901: Enter the programming session. Specifically, the programming session is implemented based on SID10 02.

[0158] Sub-step S902: Based on the programming session, perform a secure access to the vehicle's ECU.

[0159] Exemplarily, the vehicle off-line diagnostic system requests a secure access seed (SID is 27 05) from the vehicle's ECU. After the ECU feeds back the secure access seed, the vehicle off-line diagnostic system calculates the secure access key through a specified algorithm and sends the secure access key (SID is 27 06) to the ECU. If the access key sent to the ECU is the same as the key designed in the ECU, it is determined that the secure access is passed; otherwise, it is determined that the secure access is not passed.

[0160] Sub-step S903: Determine whether the secure access is passed; if yes, go to sub-step S904; otherwise, return to sub-step S902.

[0161] If the access key sent to the ECU is not the same as the key designed in the ECU, return to sub-step S902 to re-request the secure access seed to cycle through the secure access verification. If the number of repeated verifications exceeds the preset number threshold (for example, 5 times) and the secure access still fails, an error reporting process is performed to remind the user that the secure access has failed and the process ends.

[0162] Sub-step S904: Write the fingerprint information into the vehicle's ECU.

[0163] Perform the process of writing the fingerprint information based on SIDF1 84. Specifically, write the system ID of the vehicle off-line diagnostic system into the vehicle ECU to facilitate the life cycle management of the vehicle ECU for subsequent tracing of which set of equipment's vehicle off-line diagnostic system was used for the program flashing.

[0164] Sub-step S905: Erase the information at the address in the vehicle ECU used to store the braking program.

[0165] Erase the data information in the corresponding address area of the stored program based on SID31 01FF 00 to facilitate rewriting the data information of the target braking program.

[0166] Sub-step S906: Transmit the target braking program data to the vehicle ECU.

[0167] Based on SID34 / 36 / 37, transmit the data of the target braking program to the ECU Flash area. Among them, the data includes three parts: request for download data (SID is 34), transmission data (SID is 36), and transmission exit (SID is 37). After the transmission is completed, restart the ECU (SID is 11 01).

[0168] Sub-step S907: Restart the ECU. Specifically, restart the ECU based on SID11 01.

[0169] Sub-step S908: Enter the extended diagnostic session. Specifically, enter the extended diagnostic session based on SID10 03.

[0170] Sub-step S909: Perform a security access to the vehicle ECU based on the extended diagnostic session.

[0171] Perform a security access to the vehicle ECU based on SID27 03 / 27 04.

[0172] Sub-step S910: Determine whether the security access is passed; if yes, enter sub-step S911; otherwise, return to sub-step S909.

[0173] Exemplarily, the vehicle off-line diagnostic system enters an extended diagnostic session (SID is 10 03) and requests a security access seed (SID is 27 03) from the vehicle ECU. After the vehicle ECU feeds back the security access seed, the vehicle off-line diagnostic system calculates the security access key through a specified algorithm and sends (SID is 27 04) the security access key to the vehicle ECU. If the vehicle ECU confirms that the received key is consistent with the designed key, it determines that the security authentication is passed; if not, it indicates that the security authentication fails and needs to return to sub-step S909 to request the security access seed again for cyclic authentication. If the cyclic authentication fails after 5 attempts, an error is reported for the authentication result of the failed security access, and the process ends.

[0174] Sub-step S911, download the target braking program data.

[0175] Specifically, based on SID31 01FE 53, the target braking program data is downloaded to transfer the program data from the ECU Flash area to the EEPROM area.

[0176] Sub-step S912, determine whether the download of the target braking program data is completed. If yes, enter step S913; otherwise, return to step S911.

[0177] Based on SID31 03FE 53, determine whether the download is completed. If completed, restart the ECU (SID is 11 01) and execute step S11; if not, re-download and determine whether the download is completed. If the download of the target braking program data is not completed after 5 cyclic executions, an error handling is performed for the download result of the uncompleted program download, and the process ends.

[0178] Sub-step S913, restart the ECU. Specifically, restart the ECU based on SID11 01.

[0179] Step S10, report an error: the security access fails, or report an error: the program download is not completed; then end the process.

[0180] Step S11, generate a configuration string according to the second configuration parameter.

[0181] For the order eigenvalue code picked up in step S1, pick up the eigenvalue codes from A6 to A12. Among them, the eigenvalue codes A6 to A12 are the eigenvalue codes of the second configuration parameter in the foregoing embodiment. Exemplarily, the eigenvalue codes A6 to A12 can be expressed as: A6001&A7000&A8000&A9000&A10000&A11000&A12000.

[0182] After obtaining the eigenvalue code of the second configuration parameter, a configuration string of the eigenvalue code of the second configuration parameter is generated according to the custom parameter list shown in Table 2. Among them, the configuration string can be in hexadecimal format. In one embodiment, the generated configuration string is A20A3600012B0C.

[0183] Step S12, flash the second configuration parameter. Determine whether the vehicle is an ABS+ESC configuration. If so, enter step S15; otherwise, enter step S13.

[0184] Exemplarily, the second configuration parameter is flashed based on the diagnostic service SID specified by the UDS protocol and the DID of the custom configuration parameter (see Table 2). For example, referring to Table 2, FDA0 includes parameters such as the rear axle speed ratio and the driveline retarder, and FDA3 includes parameters such as the brake opening pressure. The configuration parameters are flashed into the ECU by using the appropriate SID and DID. Exemplarily, referring to Figure 7 , step S12 may include the following sub-steps:

[0185] Sub-step S1201, enter the extended diagnostic session. Specifically, based on SID10 03, enter the extended diagnostic session.

[0186] Sub-step S1202, perform a security access to the vehicle ECU based on the extended diagnostic session.

[0187] Based on SID27 03 / 27 04, perform a security access to the vehicle ECU. Specifically, the vehicle off-line diagnostic system enters the extended diagnostic session (SID is 10 03), and requests a security access seed from the vehicle ECU (SID is 27 03). After the vehicle ECU feeds back the security access seed, the vehicle off-line diagnostic system calculates the security access key through a specified algorithm and sends the security access key (SID is 27 04) to the ECU. If the ECU determines that the received key is consistent with the designed key, it determines that the security authentication is passed, and executes sub-step S1203; if not, requests the security access seed again, and so on in a loop; if the security verification is not successful after 5 loops, an error is reported: security access failed, and the process ends.

[0188] Sub-step S1203, determine whether the security access is passed.

[0189] Based on SID 27 03 / 27 04, determine whether the security access is passed.

[0190] Sub-step S1204, read the configuration parameters. Specifically, based on SID 22, read the DID where each parameter is located in sequence. The instructions for reading the configuration parameters can be 22FD A0, 22FD A3, etc.

[0191] Sub-step S1205, write the configuration parameters.

[0192] Write configuration parameters based on SID2E, and replace the data at the corresponding position in the corresponding parameter DID according to the configuration string generated in step S11. For example, referring to Table 2, when configuring the transmission retarder, use the transmission retarder 01 in the configuration string to replace the data at the 2nd position of the 14th byte in FDA0, and so on for other parameters, complete the writing of all configuration parameters, and restart the ECU (SID is 11 01).

[0193] Sub-step S1206, restarting the ECU. Specifically, restarting the ECU based on SID1101.

[0194] Step S13, determine whether A5 representing the ESC configuration is A5001; if yes, proceed to step S14, otherwise proceed to step S17.

[0195] Different ESC configurations will result in different subsequent program flashing and function diagnosis items. If the vehicle model has ABS and ESC, skip this step and go directly to step S15; if the vehicle has no ESC configuration and the model has EBS configuration, go to step S18; if the vehicle has ESC configuration and the model has EBS and ESC configuration, go to step S15.

[0196] Step S14, determining that the vehicle is configured with EBS and ESC.

[0197] Step S15, performing static steering angle sensor calibration and static yaw rate sensor calibration.

[0198] Further, see Figure 8 , step S15 may include the following sub-steps:

[0199] Sub-step S1501, entering an extended diagnostic session. Specifically, entering an extended diagnostic session based on SID1003.

[0200] Sub-step S1502 , securely accessing the vehicle ECU based on the extended diagnostic session.

[0201] Based on SID27 03 / 27 04, secure access to vehicle ECU is provided.

[0202] Sub-step S1503, determine whether the security access is passed, if yes, go to step S1504, otherwise return to sub-step S1502.

[0203] The vehicle off-line diagnostic system enters the extended diagnostic session (SID is 10 03) and requests the security access seed (SID is 27 03) from the ECU. After the ECU feeds back the security access seed, the vehicle off-line diagnostic system calculates the security access key through a specified algorithm and sends the security access key (SID is 27 04) to the ECU. If the ECU determines that the received key is consistent with the designed key, it executes sub-step S1504; if not, it returns to sub-step S1502 to request the security access seed again, and loops like this; if it still fails after 5 loops, it reports an error for the result of failed security access and ends the process.

[0204] Sub-step S1504, write the fingerprint information into the vehicle ECU.

[0205] Write the fingerprint information based on SIDF1 85, that is, write the system ID of the vehicle off-line diagnostic system into the ECU, which is convenient for the ECU life cycle management. Subsequent traceability is carried out through the sensor calibration of the vehicle off-line diagnostic system device corresponding to the system ID.

[0206] Sub-step S1505, calibrate the steering angle sensor. Specifically, calibrate the steering angle sensor based on SID31 01FE 58.

[0207] Sub-step S1506, calibrate the yaw rate sensor.

[0208] The vehicle off-line diagnostic system sends relevant instructions to complete the sensor calibration and restart the ECU based on SID11 01. After the calibration is completed, it is not allowed to adjust the position of the steering system. If adjusted, the sensor calibration needs to be carried out again.

[0209] Sub-step S1507, restart the ECU. Specifically, restart the ECU based on SID11 01.

[0210] Step S16, perform dynamic sensor calibration and determine whether the dynamic calibration is completed; if completed, enter step S18, otherwise return to step S15.

[0211] Exemplarily, after the static calibration of the sensor is completed, a specific fault code will be displayed for the vehicle fault. After the dynamic sensor calibration is completed, this fault code will disappear. If the vehicle fault code does not disappear, it means that the dynamic calibration is not completed.

[0212] Step S17, determine that the vehicle configuration is the EBS configuration.

[0213] Step S18, perform fault code diagnosis.

[0214] Perform fault code diagnosis based on SID19 02. Among them, the fault codes in this step are used to identify whether the functional diagnoses of each function of the braking system have all passed. Specifically, after the vehicle dynamic sensor calibration is completed, drive the vehicle onto the factory diagnostic line, connect the vehicle off-line diagnostic system device through the On-Board Diagnostics (OBD) port, and perform functional diagnosis. By performing vehicle fault code diagnosis, ensure that the vehicle has no faults; specifically, after the off-line diagnostic process is completed, if the fault code still exists, it means that the vehicle has a fault. After dealing with the relevant faults, re-execute the diagnostic process of this embodiment through the vehicle off-line diagnostic system to perform functional diagnosis on the vehicle again.

[0215] In step S19, diagnose the power supply voltage; and when it is determined that the vehicle model configuration is the ABS configuration, enter step S24, when it is the EBS configuration, enter step S21, and when it is the ESC and ABS, and ESC and EBS configurations, enter step S20.

[0216] Perform power supply voltage diagnosis based on SID22 FD 08 to diagnose whether the component voltages of each module of the braking system are all within the working range. For example, diagnose whether the component voltages of the front axle module, rear axle module, trailer valve module, steering angle sensor, yaw rate sensor, etc. are all within the working range. Specifically, in response to the driver stepping on the brake pedal, the vehicle off-line diagnostic system sends relevant commands to the vehicle to read the corresponding component voltages. If the diagnosis passes, automatically execute the next step.

[0217] In step S20, perform ESCoff switch diagnosis and ESC indicator light diagnosis.

[0218] Perform ESCoff switch diagnosis based on SID22 FD 07 to diagnose whether the ESCoff switch wiring is correct and whether the function of the instrument ESCoff indicator light is normal. Specifically, if the ESCoff switch and the ESCoff indicator light function normally, when the vehicle responds to the driver pressing the ESCoff switch on the instrument panel, the ESCoff and ASR indicator lights on the instrument will be in a constantly lit state. The vehicle off-line diagnostic system sends relevant commands to read the current state of the ESCoff switch. If the current state matches the actual state of the vehicle, it is determined that the diagnosis passes and the next step is automatically executed. Perform ESC indicator light diagnosis based on SID2F FD F7 03 40 00 00 to diagnose whether the instrument ESC working indicator light is correct. Specifically, after the vehicle off-line diagnostic system sends relevant commands and the instrument receives them, if the ESC indicator light flashes, it means that the ESC indicator light diagnosis passes and the next step is automatically executed.

[0219] In step S21, perform engine control diagnosis.

[0220] Based on SID2F FD F0 03 02 7D, engine control diagnosis is performed to determine whether the engine can correctly respond to the brake system torque control request. Specifically, in response to the driver starting the engine and stepping on the accelerator to about 1000 r / min, the vehicle off-line diagnosis system sends relevant instructions to request the engine to limit torque. If the engine speed drops to idle speed (for example, about 400 r / min), it is determined that the engine control diagnosis passes, and the next step is automatically executed.

[0221] Step S22: Perform ASR indicator diagnosis, HSA switch diagnosis, and HSA indicator diagnosis.

[0222] Based on SID2F FD F7 03 40 00 01, ASR indicator diagnosis is performed to diagnose whether the instrument ASR working indicator is correct. Specifically, the vehicle off-line diagnosis system sends relevant instructions. After the instrument receives them and the ASR indicator lights up and flashes, the diagnosis passes, and the next step is automatically executed. Based on SID22 FD 07, HSA switch diagnosis is performed to diagnose whether the HSA switch wiring is correct and whether the instrument HSA enable indicator is correct. Specifically, in response to the driver pressing the HSA switch on the instrument panel, the HSA enable indicator on the instrument stays on. The vehicle off-line diagnosis system sends relevant instructions to read the current state of the HSA switch. If the current state matches the actual state of the vehicle, it is determined that the HSA switch and the instrument HSA diagnosis pass, and the next step is automatically executed. Based on SID2F FD F7 03 40 00 02, HSA indicator diagnosis is performed to diagnose whether the instrument HSA working indicator is correct. Specifically, the vehicle off-line diagnosis system sends relevant instructions. If the instrument receives them and the HSA indicator lights up and flashes, it is determined that the HSA indicator diagnosis passes, and the next step is automatically executed.

[0223] Step S23: Perform parking switch diagnosis and determine whether the vehicle is equipped with ABS and ESC. If so, go to step S24; otherwise, go to step S25.

[0224] Based on SID22 FD 12, parking switch diagnosis is performed to diagnose whether the parking switch wiring is correct. In response to the driver pulling up the parking switch in the cab, the vehicle off-line diagnosis system sends relevant instructions to read the current state of the parking switch. If the current state matches the actual state of the vehicle, it is determined that the parking switch diagnosis passes, and the next step is automatically executed.

[0225] Step S24: Perform ABS fault lamp diagnosis.

[0226] Perform ABS fault lamp diagnosis based on SID2F FD F7 03 04 00 00 to diagnose whether the ABS fault lamp on the instrument is correct. The vehicle off-line diagnosis system sends relevant instructions. If the instrument lights up the ABS fault lamp after receiving the instructions, it is determined that the ABS fault lamp diagnosis passes, and the next step is automatically executed.

[0227] Step S25, perform EBS fault lamp diagnosis.

[0228] Perform EBS fault lamp diagnosis based on SID2F FD F7 03 01 00 00 and 2F FD F7 03 10 00 00 to diagnose whether the EBS fault lamp on the instrument is correct. Specifically, the vehicle off-line diagnosis system sends relevant instructions (2F FD F7 03 01 00 00). Under normal circumstances, the instrument lights up the EBS red fault lamp after receiving the instructions; the vehicle off-line diagnosis system sends relevant instructions (2F FD F7 03 10 00 00). Under normal circumstances, the instrument lights up the EBS yellow fault lamp after receiving the instructions; if both the red fault lamp and the yellow fault lamp are displayed normally in response to the corresponding instructions, it is determined that the EBS fault lamp diagnosis passes, and the next step is automatically executed.

[0229] Step S26, perform wheel speed diagnosis.

[0230] Perform wheel speed diagnosis based on SID22 FD 00 to diagnose whether the wheel speed sensors are installed correctly. Specifically, the driver drives the vehicle onto the rollers. The rollers are set to a rotational speed of 5 km / h. The vehicle off-line diagnosis system sends relevant instructions to read the wheel speeds of each wheel on the front and rear axles. If each wheel speed is within the preset wheel speed range (for example, 4 - 6 km / h), it is determined that the wheel speed diagnosis passes, and the next step is automatically executed.

[0231] Step S27, perform braking force diagnosis.

[0232] Based on SID2F FD F5 03, diagnose whether the braking force is qualified. The driver drives the vehicle onto the rollers. The rollers are set to a rotational speed of 2.5 km / h. The vehicle off-line diagnosis system sends relevant instructions to read the air pressure of each wheel on the front and rear axles, and then convert it into braking force. If the braking force is within the preset range, it is determined that the braking force diagnosis passes, and the next step is automatically executed.

[0233] Step S28, generate an off-line diagnosis report.

[0234] After completing all the above diagnoses, an off-line diagnosis report is automatically generated to facilitate subsequent tracing of the vehicle status.

[0235] The method of this embodiment is applicable to the off-line diagnosis of vehicle electronic braking systems, especially the off-line diagnosis of commercial vehicle electronic braking systems. This embodiment provides an off-line diagnosis adaptive system for vehicle electronic braking systems to automatically implement operation processes such as program flashing, parameter configuration, sensor calibration, and function diagnosis. Further, this embodiment realizes automatically matching the vehicle identification number according to the order, flashing the corresponding target braking program, configuring relevant parameters, performing sensor calibration, and diagnosing the functions of the braking system, saving manpower and material resources, improving work efficiency, and reducing the possibility of diagnostic errors.

[0236] Further, based on Figure 3 the vehicle off-line diagnosis system shown and Figure 4 the diagnosis method shown, it can automatically pick up the order configuration, automatically flash the corresponding basic vehicle type program and configuration parameters, automatically adapt to relevant diagnostic processes, greatly reducing the workload and error probability in the factory and improving the vehicle off-line efficiency in the factory.

[0237] Figure 9 Shown is a diagnostic device for a vehicle braking system. Referring to Figure 9 , the device 40 may include: a first acquisition module 401 for acquiring a plurality of to-be-configured parameters of the vehicle; the plurality of to-be-configured parameters include: a first configuration parameter belonging to a preset type and a second configuration parameter other than the first configuration parameter; a second acquisition module 402 for acquiring a plurality of preset braking programs; the preset braking programs include a third configuration parameter belonging to a preset type and a fourth configuration parameter other than the third configuration parameter; a third acquisition module 403 for acquiring, from the plurality of preset braking programs, a target braking program in which the parameter value of the third configuration parameter is the same as the parameter value of the first configuration parameter; an execution module 404 for flashing the target braking program including the third configuration parameter and the fourth configuration parameter to the vehicle, replacing the fourth configuration parameter with the second configuration parameter, and then diagnosing the braking system of the vehicle.

[0238] Optionally, the execution module 404 includes: a static calibration sub-module for statically calibrating the sensors of the electronic stability control system if the electronic stability control system is provided in the vehicle; a dynamic verification sub-module for dynamically verifying the sensors after static calibration is completed to obtain a calibration result of the static calibration; the calibration result is calibration accurate or calibration inaccurate; a re-calibration sub-module for re-statically calibrating and dynamically verifying the sensors if the calibration result is calibration inaccurate until the latest obtained calibration result is calibration accurate.

[0239] Optionally, the third acquisition module 403 includes: a first acquisition sub-module, configured to acquire at least one first braking program from multiple preset braking programs, where the parameter value of the third configuration parameter is the same as that of the first configuration parameter; a second acquisition sub-module, configured to acquire the parameter difference between the preset configuration parameter in the second configuration parameter and the preset configuration parameter in the fourth configuration parameter; a third acquisition sub-module, configured to acquire a target braking program from at least one first braking program according to the parameter difference and a preset difference threshold.

[0240] Optionally, the third acquisition sub-module includes: a first determination unit, configured to, if there is a first braking program in at least one first braking program whose parameter difference is less than or equal to a first preset difference threshold, acquire a target braking program from the first braking programs whose parameter differences are less than or equal to the first preset difference threshold; a second determination unit, configured to, if there is no first braking program in at least one first braking program whose parameter difference is less than or equal to the first preset difference threshold, determine the first braking program with the smallest parameter difference among the first braking programs whose parameter differences are less than or equal to a second preset difference threshold as the target braking program; the second preset difference threshold is greater than the first preset difference threshold.

[0241] Optionally, the first acquisition sub-module includes: a first acquisition unit, configured to acquire the eigenvalue code of the third configuration parameter and the eigenvalue code of the first configuration parameter; the eigenvalue code is used to represent the parameter value of the corresponding configuration parameter; a third determination unit, configured to, if the eigenvalue code of each third configuration parameter of the preset braking program is respectively the same as the eigenvalue code of the first configuration parameter of the same type as the third configuration parameter, determine the preset braking program as the first braking program.

[0242] Optionally, the multiple parameters to be configured of the vehicle include the braking system configuration information of the vehicle; the execution module 404 includes: a fourth acquisition sub-module, configured to acquire a target braking system diagnosis strategy corresponding to the braking system configuration information of the vehicle according to the corresponding relationship between the preset braking system configuration information and the preset braking system diagnosis strategy; a diagnosis sub-module, configured to diagnose the braking system of the vehicle according to the target braking system diagnosis strategy; wherein, the braking system configuration information of the vehicle includes: the vehicle is equipped with an anti-lock braking system, the vehicle is equipped with an electronic stability control system and an anti-lock braking system, the vehicle is equipped with an electronic braking system, or the vehicle is equipped with an electronic braking system and an electronic stability control system.

[0243] Optionally, the execution module 404 includes: a generation sub-module for generating a first string according to a second configuration parameter; the first string has a first identifier, and a second configuration parameter is recorded at a preset position in the first string; a sending sub-module for writing a configuration parameter including the first string into an instruction and sending it to the vehicle, so that the vehicle determines a target string whose second identifier matches the first identifier from at least one preset string respectively having a second identifier, and uses the second configuration parameter at the preset position in the first string to replace a fourth configuration parameter at the preset position in the target string; the preset string is used to record the fourth configuration parameter of the target braking program.

[0244] Optionally, the execution module 404 includes: a first execution sub-module for sending first security authentication information and a braking program download instruction to the vehicle, so that the vehicle performs security authentication according to the first security authentication information, and downloads and writes the target braking program into the vehicle when the security authentication is passed, to complete the flashing of the target braking program; a second execution sub-module for sending second security authentication information and a configuration parameter writing instruction to the vehicle, so that the vehicle performs security authentication according to the second security authentication information, and uses the second configuration parameter to replace the fourth configuration parameter when the security authentication is passed.

[0245] Optionally, the first acquisition module 401 includes: an eighth acquisition sub-module for acquiring a target vehicle identifier of the vehicle; a ninth acquisition sub-module for acquiring a target to-be-configured parameter combination corresponding to the target vehicle identifier according to the corresponding relationship between a preset vehicle identifier and a preset to-be-configured parameter combination, and determining multiple to-be-configured parameters in the target to-be-configured parameter combination as multiple to-be-configured parameters of the vehicle.

[0246] This application does not need to set braking programs separately for each combination of vehicle models and configuration parameters. Instead, it flashes the same basic braking program for vehicles with the same first configuration parameter, and then configures the second configuration parameter other than the first configuration parameter for the vehicle. Through the flashing of the basic braking program and the configuration of the configuration parameter, the setting of the vehicle braking system is realized. Compared with the method of setting braking programs separately for different vehicle models in the related art, this embodiment reduces the number of braking programs that need to be set, the method is simple, and the processing efficiency is high.

[0247] The embodiment of this application also provides a computer-readable storage medium, on which a computer program / instructions are stored, and when the computer program / instructions are executed by a processor, the method for diagnosing a vehicle braking system disclosed in the embodiment of this application is implemented.

[0248] The embodiment of this application also provides an electronic device, including a processor, a memory, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the method in any of the foregoing embodiments is implemented.

[0249] Each embodiment in this specification is described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other. The embodiments of this application are described with reference to the flowcharts and / or block diagrams of the methods, systems, electronic devices, and computer program products according to the embodiments of this application. It should be understood that each process and / or block in the flowchart and / or block diagram, and the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal devices generate a device for implementing the functions specified in one process Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks. These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device implements the functions specified in one process Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks. These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device, so that the instructions executed on the computer or other programmable terminal device provide steps for implementing the functions specified in one process Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks. Although the preferred embodiments of the embodiments of this application have been described, those skilled in the art can make additional changes and modifications once they know the basic creative concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the embodiments of this application.

[0250] It should also be noted that in this text, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or terminal device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or terminal device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, article or terminal device comprising the element. The above has introduced in detail a diagnostic method and device for a vehicle braking system provided by the present application. Specific examples are used in this text to elaborate on the principle and implementation manner of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application; at the same time, for those of ordinary skill in the art, according to the idea of the present application, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. A diagnostic method for a vehicle braking system, characterized in that, Including: Obtaining a plurality of to-be-configured parameters of a vehicle; The plurality of to-be-configured parameters include: a first configuration parameter belonging to a preset type, and a second configuration parameter other than the first configuration parameter; Obtaining a plurality of preset braking programs; the preset braking programs include a third configuration parameter belonging to the preset type, and a fourth configuration parameter other than the third configuration parameter; Obtaining a target braking program from the plurality of preset braking programs, where the parameter value of the third configuration parameter is the same as the parameter value of the first configuration parameter; Flashing the target braking program including the third configuration parameter and the fourth configuration parameter to the vehicle, replacing the fourth configuration parameter with the second configuration parameter, and then diagnosing the braking system of the vehicle.

2. The method according to claim 1, characterized in that, Diagnosing the braking system of the vehicle includes: If an electronic stability control system is set in the vehicle, statically calibrating the sensors of the electronic stability control system; Performing dynamic verification on the sensors after static calibration is completed to obtain a calibration result of the static calibration; the calibration result is calibration accurate or calibration inaccurate; If the calibration result is calibration inaccurate, re-performing static calibration and dynamic verification on the sensors until the latest obtained calibration result is calibration accurate.

3. The method according to claim 1, characterized in that, The obtaining a target braking program from the plurality of preset braking programs, where the parameter value of the third configuration parameter is the same as the parameter value of the first configuration parameter, includes: Obtaining at least one first braking program from the plurality of preset braking programs, where the parameter value of the third configuration parameter is the same as the parameter value of the first configuration parameter; Obtaining a parameter difference between a preset configuration parameter in the second configuration parameter and a preset configuration parameter in the fourth configuration parameter; Obtaining the target braking program from at least one of the first braking programs according to the parameter difference and a preset difference threshold.

4. The method according to claim 3, wherein The obtaining the target braking program from at least one of the first braking programs according to the parameter difference and a preset difference threshold includes: If there is a first braking program in at least one of the first braking programs where the parameter difference is less than or equal to a first preset difference threshold, obtaining the target braking program from the first braking programs where the parameter difference is less than or equal to the first preset difference threshold; If there is no first braking program in at least one of the first braking programs where the parameter difference is less than or equal to a first preset difference threshold, determining the first braking program with the smallest parameter difference in the first braking programs where the parameter difference is less than or equal to a second preset difference threshold as the target braking program; the second preset difference threshold is greater than the first preset difference threshold.

5. The method according to claim 3, wherein The obtaining at least one first braking program from the plurality of preset braking programs, where the parameter value of the third configuration parameter is the same as the parameter value of the first configuration parameter, includes: Obtaining a characteristic value code of the third configuration parameter and a characteristic value code of the first configuration parameter; the characteristic value code is used to represent the parameter value of the corresponding configuration parameter; If the eigenvalue codes of each third configuration parameter of the preset braking program are respectively the same as the eigenvalue codes of the first configuration parameter of the same type as the third configuration parameter, then determine the preset braking program as the first braking program.

6. The method according to claim 1, characterized in that The multiple to-be-configured parameters of the vehicle include the braking system configuration information of the vehicle; diagnosing the braking system of the vehicle includes: According to the correspondence between the preset braking system configuration information and the preset braking system diagnosis strategy, obtain the target braking system diagnosis strategy corresponding to the braking system configuration information of the vehicle; Diagnose the braking system of the vehicle according to the target braking system diagnosis strategy; Among them, the braking system configuration information of the vehicle includes: the vehicle is equipped with an anti-lock braking system, the vehicle is equipped with an electronic stability control system and an anti-lock braking system, the vehicle is equipped with an electronic braking system, or the vehicle is equipped with an electronic braking system and an electronic stability control system.

7. The method according to claim 1, characterized in that, The replacing the fourth configuration parameter with the second configuration parameter includes: Generate a first string according to the second configuration parameter; the first string has a first identifier, and the second configuration parameter is recorded at a preset position in the first string; Send a configuration parameter writing instruction including the first string to the vehicle, so that the vehicle determines a target string whose second identifier matches the first identifier from at least one preset string respectively having a second identifier, and use the second configuration parameter at the preset position in the first string to replace the fourth configuration parameter at the preset position in the target string; the preset string is used to record the fourth configuration parameter of the target braking program.

8. The method according to claim 1, wherein The flashing the target braking program including the third configuration parameter and the fourth configuration parameter to the vehicle includes: Send the first security authentication information and the braking program download instruction to the vehicle, so that the vehicle performs security authentication according to the first security authentication information, and when the security authentication is passed, download the target braking program and write it into the vehicle to complete the flashing of the target braking program; The replacing the fourth configuration parameter with the second configuration parameter includes: Send the second security authentication information and the configuration parameter writing instruction to the vehicle, so that the vehicle performs security authentication according to the second security authentication information, and when the security authentication is passed, use the second configuration parameter to replace the fourth configuration parameter.

9. The method according to claim 1, wherein The obtaining the multiple to-be-configured parameters of the vehicle includes: Obtain the target vehicle identifier of the vehicle; According to the correspondence between the preset vehicle identifier and the preset to-be-configured parameter combination, obtain the target to-be-configured parameter combination corresponding to the target vehicle identifier, and determine the multiple to-be-configured parameters in the target to-be-configured parameter combination as the multiple to-be-configured parameters of the vehicle.

10. A diagnostic device for a vehicle braking system, characterized in that, including: A first obtaining module, configured to obtain multiple to-be-configured parameters of the vehicle; The multiple to-be-configured parameters include: a first configuration parameter belonging to a preset type, and a second configuration parameter other than the first configuration parameter; A second acquisition module, configured to acquire a plurality of preset braking programs; the preset braking programs include a third configuration parameter belonging to the preset type, and a fourth configuration parameter other than the third configuration parameter; A third acquisition module, configured to acquire, from the multiple preset braking programs, a target braking program in which the parameter value of the third configuration parameter is the same as the parameter value of the first configuration parameter; An execution module, configured to flash the target braking program including the third configuration parameter and the fourth configuration parameter to the vehicle, replace the fourth configuration parameter with the second configuration parameter, and then diagnose the braking system of the vehicle.

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