Diagnosis agent assembly and diagnosis control method of vehicle

Abstract

The invention provides a diagnosis agent assembly and a diagnosis control method of a vehicle, and relates to the technical field of vehicle control, the diagnosis agent assembly comprises a first type of nodes and a diagnosis agent module based on a bus; the diagnostic instrument sends a diagnostic service request; the first type of nodes run a diagnosis / flashing program according to the diagnosis service request; the diagnosis agent module is triggered by the first type of nodes according to the diagnosis service request, the diagnosis agent module can be switched to a routing mode or a blocking mode, and in the routing mode, a diagnosis / flashing program is operated on the second type of nodes under the corresponding address according to the diagnosis service request; in the blocking mode, the diagnosis agent module enters a waiting state and does not run a diagnosis / flashing program, and the second type of nodes are slave nodes of the first type of nodes, so that the problems of difficulty in refreshing and complex operation of the existing hung execution diagnosis nodes are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and in particular to a vehicle diagnostic agent component and a diagnostic control method. Background Art

[0002] As automotive electronic architecture develops towards domain centralization, most modern vehicle electronic control systems adopt a master-slave distributed architecture, where a central domain controller (master EDU, such as the body domain controller BDCU and the power domain controller PDCU) manages multiple downstream execution nodes (slave EDUs, such as motor controllers, sensor modules, intelligent actuators (such as oil pumps, etc.)).

[0003] Under this structure, existing downstream execution nodes are usually not directly connected to the diagnostic interface, but communicate indirectly with the diagnostic instrument through a gateway or domain controller. Therefore, the diagnosis / flashing operations of the downstream execution nodes are complicated and need to rely on the central domain controller, which is not convenient for application in some scenarios. Summary of the Invention

[0004] In order to overcome the above technical defects, the purpose of the present invention is to provide a vehicle diagnostic agent component and a diagnostic control method to solve the problem that the existing downstream execution of diagnostic node refresh is difficult and the operation is complicated.

[0005] The present invention discloses a diagnostic agent component. It includes a first type of node and a bus-based diagnostic agent module; The diagnostic instrument issues a diagnostic service request; The first type of node runs a diagnostic / flashing program according to the diagnostic service request; The diagnostic agent module is triggered by the first type of node according to the diagnostic service request. The diagnostic agent module can be switched to routing mode or blocking mode. In routing mode, the diagnostic / flashing program is run on the second type of node under the corresponding address according to the diagnostic service request. In blocking mode, the diagnostic agent module enters a waiting mode and does not run the diagnostic / flashing program. The second type of node is a subordinate node of the first type of node.

[0006] Preferably, the diagnosis agent module is newly built in the application layer of the first type of node.

[0007] The present invention also discloses a vehicle diagnosis and control method, comprising: receiving a diagnostic service request sent by the diagnostic instrument; The first type of node runs a diagnostic / flashing program according to the diagnostic service request; And / or, the first type of node triggers the diagnostic agent module according to the diagnostic service request, and the diagnostic agent module switches to routing mode or blocking mode to run or not run the diagnostic / flashing program on the second type of node under the corresponding address, and the second type of node is a slave node of the first type of node.

[0008] Preferably, the diagnostic agent module is triggered: Wake up the second type of node under the corresponding address; Performing an erasing operation on the storage area of ​​the second type node under the corresponding address according to the service request; After receiving the erase operation response signal fed back by the second type node under the corresponding address, the routing mode is run to run the diagnosis / flash program.

[0009] Preferably, the diagnostic agent module is triggered: When the diagnostic agent module obtains that the flash program version number sent by the diagnostic instrument does not match the corresponding address, it enters the blocking mode.

[0010] Preferably, a security check procedure is performed before performing an erase operation on the storage area of ​​the second type node at the corresponding address.

[0011] Preferably, the diagnostic agent module is triggered: After running the diagnosis / flash program on the second type of node under the corresponding address, the diagnosis agent module enters a waiting state; A verification request is received from a first type of node, and the diagnostic agent module runs a verification program on the second type of node according to the verification request.

[0012] Preferably, the diagnosis agent module enters a waiting state to keep the second type of nodes under the corresponding address awake.

[0013] Preferably, the diagnostic agent module sends a message to enable the second type of node under the corresponding address to enter any program / operation: A timer is started, and if the diagnosis agent module does not receive a feedback message within a timeout period, the reset phase is entered.

[0014] Preferably, when the diagnosis agent module completes the reset or the diagnosis service request times out without response, the diagnosis agent module is shut down.

[0015] Compared with the existing technology, the above technical solution has the following beneficial effects: The vehicle diagnostic agent component and diagnostic control method provided in the present application establish a diagnostic agent module based on the CAN bus for autonomous switching of the diagnostic agent function and the routing function. When the first type of node is flashed, the module is not run. When the second type of node is flashed, the diagnostic agent is triggered and the routing function is provided. A bus-based architecture is established for software updates of the electronically controlled downstream nodes, which simplifies the topology and facilitates the development of diagnostic instruments to solve the problems of difficulty in refreshing the existing downstream diagnostic nodes and complex operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a module diagram of a first embodiment of a vehicle diagnostic agent component and a diagnostic control method according to the present invention; Figure 2 A schematic diagram of the working state of the diagnostic instrument in the first and second embodiments of the diagnostic agent component and diagnostic control method for a vehicle according to the present invention, wherein only the electronic control unit (MCU) is refreshed in one diagnostic service request; Figure 3 This is a schematic diagram of the working status of the diagnostic instrument refreshing the electronic control unit (MCU) and its subordinate child node (EOP_A) in a diagnostic service request in the first and second embodiments of the diagnostic agent component and diagnostic control method for a vehicle according to the present invention; Figure 4 This is a method flow chart of a second embodiment of a vehicle diagnostic agent component and diagnostic control method according to the present invention; Figure 5 This is a workflow diagram of the diagnostic agent module in the second embodiment of the diagnostic agent component and diagnostic control method for a vehicle described in the present invention.

[0017] Reference numerals: 1- Diagnostic instrument; 2- First-type node / MCU; 3- Second-type node / EOP_A; 4- Diagnostic agent module. DETAILED DESCRIPTION

[0018] The advantages of the present invention are further described below with reference to the accompanying drawings and specific embodiments.

[0019] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

[0020] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0021] It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining."

[0022] In the description of the present invention, unless otherwise specified and limited, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the internal communication between two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0023] In the following description, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present invention and have no specific meaning. Therefore, "module" and "component" can be used interchangeably.

[0024] Embodiment 1: This embodiment provides a diagnostic agent component, which is arranged in a vehicle and is used to communicate with a diagnostic instrument to receive a diagnostic service request and run a diagnostic / flashing program.

[0025] Specifically, the diagnostic agent component constructs a diagnostic agent module based on the CAN bus, which can dynamically and autonomously implement diagnostic routing functions and diagnostic agent functions according to different diagnostic service requests. Specifically, when diagnosis / flashing of the electronic control node is required, it is controlled by the main control unit. When diagnosis / flashing of the downstream sub-node is required, the diagnostic agent module is triggered to implement the routing function.

[0026] For illustration, in this embodiment, the first type of node is the electronic control node, specifically the central domain controller (master EDU, such as the body domain controller BDCU, the power domain controller PDCU, the vehicle controller, etc.), and the second type of node is the electronic control sub-node, specifically the execution node (slave EDU, such as the motor controller, sensor module, intelligent actuator (such as oil pump, etc.)), etc. The second type of node is the slave node / controlled node of the first type of node.

[0027] For details, see Figure 1-Figure 3 , the agent component includes a first type of node and a vehicle bus-based diagnostic agent module; The diagnostic instrument issues a diagnostic service request; The first type of node runs a diagnostic / flashing program according to the diagnostic service request; The diagnostic agent module is triggered by the main control unit according to the diagnostic service request. The diagnostic agent module can be switched to routing mode or blocking mode. In routing mode, the diagnostic / flashing program is run on the second type of node under the corresponding address according to the diagnostic service request. In blocking mode, the diagnostic agent module enters waiting mode and does not run the diagnostic / flashing program.

[0028] In this embodiment, taking the MCU (first-class node) and its subordinate nodes (second-class node) EOP_A (first-class oil pump) and EOP_B (second-class oil pump) as examples, EOP_A and EOP_B are typically two different types of oil pumps. In actual scenarios, only one type is deployed in a vehicle. However, for ease of control, this embodiment integrates flashing for both types of oil pumps. When deployed on a vehicle, the corresponding address determines which type of oil pump it is and whether to flash it. Using EOP_A as an example, the same applies to EOP_B. Actual supported operating conditions include, but are not limited to, flashing only the MCU, only EOP_A, or both the MCU and EOP_A. When flashing both the MCU and EOP_A simultaneously, either the MCU or EOP_A can be loaded first, but EOP_B cannot be loaded without EOP_A.

[0029] Therefore, when only the MCU is being flashed, the diagnostic agent module is inactive and in the OFF state. However, when only EOP_A is being flashed, or both the MCU and EOP_A are being flashed simultaneously, the diagnostic agent module is triggered. For example, if the MCU receives a diagnostic service request (31 01 FF00 + EOP_A) containing the EOP address (the corresponding address), it can determine which fuel pump is being flashed. If the address does not match the vehicle fuel pump address, the module enters blocking mode and does not run the diagnostic / flashing program.

[0030] In the diagnostic agent component of this embodiment, a diagnostic agent module based on the CAN bus is established for autonomous switching between the diagnostic agent function and the routing function. When the first type of node is flashed, the module is not run. When the second type of node is flashed, the routing function is provided. Since the diagnostic agent module is directly connected to the CAN bus of the entire vehicle, it can support CAN buses of different speeds (supporting CAN and CANFD), and can implement diagnostic routing or diagnostic agent functions according to different diagnostic instructions. As an example, it can realize the combined refresh of the electronic control and the electronic control hanging sub-node (MCU+EOP_A), the refresh of the electronic control hanging sub-node (EOP_A) alone, and the refresh of the electronic control node (MCU) alone.

[0031] As a preferred implementation, the diagnostic agent module is integrated into the first type of node, specifically, it is newly built in the application layer of the first type of node (such as Figure 1 ), based on the above example, the diagnostic agent module is integrated into the MCU and controlled by the MCU, so that the MCU implements the following: 1. The diagnostic instrument requests to refresh the electronic control node (MCU) and its sub-node (EOP_A) in a diagnostic process (such as Figure 3 The electronic control unit (MCU) can determine the node currently requesting refresh based on the specific data in the service, reasonably forward the diagnostic routes related to the downstream nodes based on the order and electronic control status, and process the refresh diagnostic requests related to the electronic control itself; 2. The diagnostic instrument requests to refresh only the electronic control node (MCU) in one diagnostic process (such as Figure 2 ), the electronic control (MCU) can determine that the current request refresh node is the electronic control node based on the specific data in the service. When the diagnostic instrument sends relevant diagnostic instructions, the electronic control responds as a diagnostic agent node.

[0032] Specifically, the diagnostic control method implemented by applying the above-mentioned diagnostic agent component to a vehicle is described in detail with reference to the following second embodiment.

[0033] Embodiment 2: This embodiment also provides a vehicle diagnostic control method, which can apply the above-mentioned diagnostic agent component. Specifically, the control method can refer to Figure 4 ,include: S10: Receive a diagnostic service request sent by the diagnostic instrument; the diagnostic instrument can be an external device, establish communication with the vehicle (first-type component, such as MCU), and issue a diagnostic service request. The diagnostic service request has the node address for running the diagnostic / flashing program, thereby determining whether to run the diagnosis / flashing on the first-type node or the second-type node, so as to determine the application status of the above-mentioned diagnostic agent component.

[0034] S20: The first type of node runs the diagnosis / flashing program according to the diagnosis service request (eg Figure 2 ); And / or, the first type of node triggers the diagnosis agent module according to the diagnosis service request, and the diagnosis agent module switches to the routing mode (such as Figure 3 ) or blocking mode to run or not run the diagnostic / flashing program on the second type node under the corresponding address, and the second type node is a slave node of the first type node.

[0035] In this embodiment, similar to the above-mentioned embodiment 1, taking the MCU and its connected child nodes EOP_A (first type oil pump) and EOP_B (second type oil pump) as an example, the vehicle is equipped with EOP_A (first type oil pump).

[0036] Therefore, when the diagnostic instrument requests to refresh only the MCU in one diagnostic process, the electronic control responds as a diagnostic agent node and performs the flashing process.

[0037] When the diagnostic instrument requests to refresh the electronic control and its sub-nodes in a diagnostic process, that is, refresh MCU+EOP_A, refer to Figure 5 ( Figure 5 The workflow is just an example): The diagnostic agent module is triggered (receives 31 01 FF 00 + EOP_A instruction, AGENT_ON): At this time, the diagnostic agent module enters the preparation stage (AGENT_PRE) and wakes up the second type of node under the corresponding address, namely EOP_A; at this time, the timer, the global Running Timer, is turned on, and it is determined whether to periodically send a wake-up message based on the EOP flash position flag bit. That is, if the wake-up message feedback is obtained within the preset time, EOP_A is determined.

[0038] When EOP_A is awakened, the diagnostic agent module enters the normal operating mode (AGENT_NORMAL), at which time the diagnostic request can be transmitted on the CAN bus. It can be understood that since it is necessary to run the flash program to implement the program update, the storage area of ​​the second-type node under the corresponding address is erased according to the service request; after receiving the erase operation response signal fed back by the second-type node under the corresponding address, the routing mode is run to run the diagnostic / flash program.

[0039] Based on the above, the above-mentioned erase operation is for subsequent flashing to realize the program refresh of the sub-nodes. When EOP_A is awakened, the diagnostic agent module enters the normal operation mode, at which time normal diagnostic programs can be run. Therefore, a predetermined diagnostic sequence can be preset, and diagnostic requests can be sent via the CAN bus to execute diagnostics with lower authority requirements. In a preferred embodiment, it is understood that a safety check procedure is performed before the storage area of ​​the second-class node under the corresponding address is erased, that is, a safety check procedure is added to the preset diagnostic sequence, and the erase operation is performed after the safety check passes, thereby improving the safety of the electronic control.

[0040] It is understandable that the above diagnostic sequence can adjust / add / delete diagnostic procedures and can be specifically set according to actual scenarios.

[0041] In this embodiment, as in the example above, the vehicle is equipped with EOP_A (first-class oil pump), but the agent component can also integrate the flash control of EOP_B. When the diagnostic service request sent by the diagnostic instrument is EOP_B, the flash program is not executed on EOP_A at this time, and the diagnostic agent module enters the blocking mode.

[0042] Specifically, the diagnostic agent module is triggered. After the above-mentioned safe operation mode, when the diagnostic agent module obtains the flashing program version number sent by the diagnostic instrument and it does not match the corresponding address, it enters the blocking mode. That is, when the above-mentioned diagnostic agent module enters the normal operation mode, it obtains the flashing program through the CAN bus, but the flashed program version does not match the expected version or address range of the target device. At this time, the flashing program will not continue to run, but will enter the blocking mode.

[0043] Specifically, the diagnostic agent module is triggered, and after running the above-mentioned diagnostic / flashing program on the second type of node under the corresponding address, the flashing is completed, and the application of the diagnostic agent module can be terminated. However, in order to further improve security, the node EOP_A after the flashing program can be verified at this time, so that the diagnostic agent module enters a waiting state; receiving a verification request from the first type of node (MCU), the diagnostic agent module runs the verification program on the second type of node according to the verification request.

[0044] The above verification process is taken as an example. The MCU can issue a verification request, wherein the verification request includes the flashing content. The EOP_A after the flashing feeds back a feedback message containing the flashing content to the MCU. The MCU verifies whether it matches. If not, the verification fails. If it matches, the verification succeeds. After the verification is successful, the application of the diagnostic agent module is closed, and the entire flashing process is completed.

[0045] Based on the above, when the diagnostic agent module is in blocking mode or routing mode but the flash program completes verification, the diagnostic agent module will not run any operation and is in waiting (AGENT_WAITE). However, it is worth noting that during this process, the diagnostic agent module will not be shut down, but will keep the second-type node under the corresponding address awake, so that EOP_A is in an awakened state, so as to cope with situations where the program needs to be executed. For example, after the verification fails, the program can be re-flashed, and the flash software version number that matches the preset address can be obtained and then the flash program is executed, etc. It can even be such as re-receiving the 31 01 FF 00 instruction to make the diagnostic agent module re-enter the preparation stage, etc.

[0046] It can be understood that for each of the above-mentioned programs / operations, their execution or entry requires a message. The sender sends a message / instruction / signal, and the receiver feeds back the message / instruction / signal after receiving it, thereby realizing status confirmation, data transmission, and execution of the diagnostic process. Therefore, the diagnostic agent module sends a message to enable the second-type node EOP_A under the corresponding address to enter any program / operation: start the timer, and if the diagnostic agent module times out and does not receive a feedback message, it enters the reset stage.

[0047] Based on the above, since the status is confirmed through messages / instructions / signals, when the diagnostic agent module does not receive a feedback message, there may be a problem with EOP_A. At this time, it will not wait indefinitely. Therefore, the timer of the corresponding program is started each time a message is sent, and when it times out, it directly enters the reset phase.

[0048] In this embodiment, when the diagnostic agent module completes the reset or the diagnostic service request times out without response, the diagnostic agent module is shut down. Each time the diagnostic agent module is shut down / started, all important parameters used in the diagnostic agent module are reset, and a negative response signal is fed back to the MCU, indicating that the flash operation has failed. Therefore, the instruction can be resent to start the diagnostic agent module again, so that the diagnostic agent component can be dynamically called.

[0049] Based on the above, it can be understood that the diagnostic agent module can achieve the following states: IDLE: idle state, that is, the above-mentioned waiting; PRE: diagnostic agent module preparation stage; NORMAL: diagnostic agent module normal operation stage; ROUTE: diagnostic agent module routing stage; BLOCK: diagnostic agent module blocking stage; REBOOT: diagnostic agent module reset stage; CLOSE: reset all important parameters used; OFF: diagnostic agent module shutdown state, etc., which can be switched autonomously and dynamically, thereby realizing the operation of the diagnostic agent component.

[0050] In this embodiment, the diagnostic proxy module is autonomously and dynamically called based on the actual refresh program requirements in different scenarios. The diagnostic proxy module switches state based on diagnostic service requests to complete functions such as processing, forwarding, or proxy response of diagnostic requests. Furthermore, it is understandable that because the diagnostic proxy module of this embodiment is based on the CAN bus, it can achieve software refresh of electronically controlled downstream nodes without changing the diagnostic instrument. Specifically, it supports CAN buses with different speeds, such as CAN / CANFD, to achieve forwarding of diagnostic messages.

[0051] It can also be understood that, as an example of this embodiment, the following flashing conditions can be performed: combined flashing of the electronic control and the sub-nodes hanging under the electronic control (MCU+EOP_A), such as loading the MCU first and then loading EOP_A, loading EOP_A first and then loading the MCU, flashing the sub-nodes hanging under the electronic control (EOP_A) separately, and flashing the electronic control node (MCU) separately.

[0052] In the diagnostic control method provided by this embodiment, the first type of node (main control unit) processes the refresh program related to itself after receiving the diagnostic service request, and at the same time arranges a bus-based diagnostic agent module to reasonably forward the diagnostic routes related to the downstream nodes (second type of nodes). This facilitates the software refresh of the electronic control downstream nodes and saves the development of diagnostic instruments for vehicle manufacturers. For the diagnostic instrument, only one set of diagnostic IDs is required to complete the software update of the electronic control and the electronic control downstream sub-nodes, and the flashing programs of the two types of nodes are independent of each other, and node diagnosis / flashing can be achieved synchronously, further improving safety.

[0053] Based on the above, a bus-based architecture for updating software of electronically controlled downstream nodes is established through the diagnostic agent module, which simplifies the topology and facilitates the development of diagnostic instruments.

[0054] It can be understood that the above-mentioned MCU (first type of node) and EOP_A (second type of node) are only used as examples. In fact, as described in Example 1, the first type of node is an electronic control node / master control node, specifically a central domain controller (master EDU, such as body domain controller BDCU, power domain controller PDCU, vehicle controller, etc.), and the second type of node is an electronic control sub-node, specifically an execution node (slave EDU, such as motor controller, sensor module, intelligent actuator (such as oil pump, etc.)), etc. The second type of node is a slave node / controlled node of the first type of node.

[0055] It can be understood that the vehicle diagnostic control method applies the diagnostic agent component in the above-mentioned embodiment 1, and it can actually also be equipped with / integrated with other modules / units / components to meet the application requirements of different scenarios.

[0056] It should be noted that the embodiments of the present invention have better practicability and do not impose any form of limitation on the present invention. Any technician familiar with the field may use the technical content disclosed above to change or modify it into an equivalent effective embodiment. However, any modification or equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A diagnostic agent component, characterized in that: It includes a first type of node and a bus-based diagnostic agent module; The diagnostic instrument issues a diagnostic service request; The first type of node runs a diagnostic / flashing program according to the diagnostic service request; The diagnostic agent module is triggered by the first type of node according to the diagnostic service request. The diagnostic agent module can be switched to routing mode or blocking mode. In routing mode, the diagnostic / flashing program is run on the second type of node under the corresponding address according to the diagnostic service request. In blocking mode, the diagnostic agent module enters a waiting mode and does not run the diagnostic / flashing program. The second type of node is a subordinate node of the first type of node.

2. The diagnostic control method according to claim 2, wherein: The diagnosis agent module is newly built in the application layer of the first type of node.

3. A vehicle diagnostic control method, characterized in that: include: The first type of node receives a diagnostic service request sent by the diagnostic instrument; The first type of node runs a diagnostic / flashing program according to the diagnostic service request; And / or, the main control unit triggers the diagnostic agent module according to the diagnostic service request, and the diagnostic agent module switches to routing mode or blocking mode to run or not run the diagnostic / flashing program on the second type of node under the corresponding address, and the second type of node is a slave node of the first type of node.

4. The diagnostic control method according to claim 3, wherein: The diagnostic agent module is triggered: Wake up the second type of node under the corresponding address; Performing an erasing operation on the storage area of ​​the second type node under the corresponding address according to the service request; After receiving the erase operation response signal fed back by the second type node under the corresponding address, the routing mode is run to run the diagnosis / flash program.

5. The diagnostic control method according to claim 3, wherein: The diagnostic agent module is triggered: When the diagnostic agent module obtains that the flash program version number sent by the diagnostic instrument does not match the corresponding address, it enters the blocking mode.

6. The diagnostic control method according to claim 4, characterized in that: A security check procedure is performed before an erasing operation is performed on the storage area of ​​the second type node under the corresponding address.

7. The diagnostic control method according to claim 3, characterized in that: The diagnostic agent module is triggered: After running the diagnosis / flash program on the second type of node under the corresponding address, the diagnosis agent module enters a waiting state; A verification request is received from a first type of node, and the diagnostic agent module runs a verification program on the second type of node according to the verification request.

8. The diagnostic control method according to claim 3, characterized in that: The diagnosis agent module enters a waiting state and keeps the second type of nodes under the corresponding address awake.

9. The diagnostic control method according to any one of claims 3 to 8, characterized in that: The diagnostic agent module sends a message to enable the second type of node under the corresponding address to enter any program / operation: A timer is started, and if the diagnosis agent module does not receive a feedback message within a timeout period, the reset phase is entered.

10. The diagnostic control method according to claim 9, characterized in that: When the diagnosis agent module completes the reset or the diagnosis service request times out without response, the diagnosis agent module is shut down.

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