Fault diagnosis method and device, vehicle and storage medium

Abstract

The application provides a fault diagnosis method and device, a vehicle and a storage medium. The method comprises the following steps: after the EOP is started, the ambient temperature is acquired; if the ambient temperature is greater than or equal to a preset temperature, a second time length is acquired, and the second time length is used to represent the time length required from the EOP starting to a first preset rotating speed; and a diagnosis mode corresponding to the second time length is used to perform the stall fault diagnosis. The method provided by the application is helpful to reduce the misdiagnosis rate.

Description

Technical Field

[0001] This application relates to the automotive field, and more particularly to a fault diagnosis method, apparatus, vehicle, and storage medium. Background Technology

[0002] The cooling lubricating oil in the hybrid gearbox is a liquid whose viscosity changes with temperature; the viscosity of the oil at low temperatures is much higher than that at high temperatures.

[0003] Most existing electronic oil pumps use sensor-driven brushless motors as their power source, and stall faults can be diagnosed by detecting motor speed and phase current.

[0004] However, if a vehicle uses a more economical sensorless brushless motor as its power source, existing diagnostic strategies based on sensored brushless motors may misdiagnose faults. Summary of the Invention

[0005] This application provides a fault diagnosis method, device, vehicle, and storage medium, which helps to reduce the misdiagnosis rate.

[0006] In a first aspect, embodiments of this application provide a fault diagnosis method applied to a vehicle, the vehicle including an electronic oil pump assembly (EOP), the method comprising: after the EOP is started, acquiring the ambient temperature; if the ambient temperature is greater than or equal to a preset temperature, acquiring a second duration, the second duration being used to characterize the time required for the EOP to start to a first preset speed; and performing stall fault diagnosis using a diagnostic method corresponding to the second duration.

[0007] In one possible implementation, the diagnostic method corresponding to the second duration for stall fault diagnosis includes: if the second duration is less than the second preset duration, and the EOP speed is less than the first preset speed, and the phase current is greater than the preset current, a stall fault is determined; or, if the second duration is greater than or equal to the second preset duration, and the EOP speed is less than the second preset speed, and the phase current is greater than the preset current, a stall fault is determined.

[0008] In one possible implementation, the method further includes: if the ambient temperature is less than a preset temperature, obtaining a first duration, the first duration being used to characterize the duration of the EOP at or above the first preset speed; and performing stall fault diagnosis using a diagnostic method corresponding to the first duration.

[0009] In one possible implementation, the stall fault diagnosis is performed using a diagnostic method corresponding to the first duration: if the first duration is less than or equal to a first preset duration, it is determined whether the EOP speed is less than a second preset speed and whether the phase current is greater than a preset current.

[0010] In one possible implementation, the method further includes: if the first duration is longer than the first preset duration, performing stall fault diagnosis using a diagnostic method corresponding to the second duration.

[0011] In one possible implementation, after diagnosing the stall fault using a diagnostic method corresponding to the second duration, the method further includes: determining a target duration based on the second duration; after delaying the target duration at the target time, confirming the stall fault through an alternating first cycle and second cycle; wherein the target time is the moment when the EOP speed reaches the first preset speed, the first cycle is the EOP start cycle, the first cycle is used to detect the stall fault, and the second cycle is the EOP stop cycle.

[0012] Secondly, embodiments of this application provide a fault diagnosis device, including one or more functional modules, which are used to perform the fault diagnosis method as described in the first aspect.

[0013] Thirdly, embodiments of this application provide a vehicle, including: a processor and a memory, the memory being used to store a computer program; the processor being used to run the computer program to implement the fault diagnosis method as described in the first aspect.

[0014] Fourthly, embodiments of this application provide a readable storage medium storing a program that, when run on a vehicle, causes the vehicle to implement the fault diagnosis method as described in the first aspect.

[0015] Fifthly, embodiments of this application provide a program that, when run on a vehicle's processor, causes the vehicle to perform the fault diagnosis method as described in the first aspect.

[0016] In one possible design, the program in the fifth aspect can be stored wholly or partially on a storage medium packaged with the processor, or it can be stored wholly or partially on a memory not packaged with the processor. Attached Figure Description

[0017] Figure 1 A flowchart illustrating the fault diagnosis method provided in the embodiments of this application;

[0018] Figure 2 A schematic diagram of an embodiment of the fault confirmation method provided in this application;

[0019] Figure 3 A schematic diagram of another embodiment of the fault confirmation method provided in this application;

[0020] Figure 4 This is a schematic diagram of the structure of the fault diagnosis device provided in the embodiments of this application;

[0021] Figure 5 This is a schematic diagram of the vehicle structure provided in an embodiment of this application. Detailed Implementation

[0022] In this embodiment of the application, unless otherwise stated, the character " / " indicates that the preceding and following objects are in an OR relationship. For example, A / B can represent A or B. "AND / OR" describes the relationship between the associated objects, indicating that three relationships can exist. For example, A AND / OR B can represent: A existing alone, A and B existing simultaneously, and B existing alone.

[0023] It should be noted that the terms "first" and "second" used in the embodiments of this application are used only for distinguishing descriptive purposes and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated, nor should they be construed as indicating or implying order.

[0024] In the embodiments of this application, "at least one" refers to one or more items, and "more than one" refers to two or more items. Furthermore, "at least one of the following" or similar expressions refer to any combination of these items, which may include any combination of a single item or a plurality of items. For example, at least one of A, B, or C can represent: A, B, C, A and B, A and C, B and C, or A, B, and C. Each of A, B, and C can be an element itself or a set containing one or more elements.

[0025] In this application, terms such as "exemplary," "in some embodiments," and "in another embodiment" are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" in this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the term "exemplary" is intended to present the concept in a concrete manner.

[0026] In the embodiments of this application, the terms "of," "corresponding (relevant)," and "corresponding" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction, their meanings are consistent. Similarly, in the embodiments of this application, "communication" and "transmission" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction, their meanings are consistent. For example, transmission can include sending and / or receiving, and can be a noun or a verb.

[0027] In the embodiments of this application, the term "equal to" can be used in conjunction with "greater than" to apply to technical solutions employing the condition of "greater than", and can also be used in conjunction with "less than" to apply to technical solutions employing the condition of "less than". It should be noted that when "equal to" is used with "greater than", it cannot be used with "less than"; and when "equal to" is used with "less than", it cannot be used with "greater than".

[0028] The cooling lubricating oil in the hybrid gearbox is a liquid whose viscosity changes with temperature; the viscosity of the oil at low temperatures is much higher than that at high temperatures.

[0029] Most existing electronic oil pumps use sensor-driven brushless motors as their power source, and stall faults can be diagnosed by detecting motor speed and phase current.

[0030] However, if a vehicle uses a more economical sensorless brushless motor as its power source, existing diagnostic strategies based on sensored brushless motors may misdiagnose faults.

[0031] Based on the above problems, this application provides a fault diagnosis method that helps reduce the misdiagnosis rate.

[0032] Figure 1 A flowchart illustrating an embodiment of the fault diagnosis method provided in this application includes the following steps:

[0033] Step 101: After the electronic oil pump assembly is started, the ambient temperature is obtained.

[0034] Specifically, the Electronic Oil Pump (EOP) is a component in a vehicle.

[0035] Step 102: Determine whether the ambient temperature is lower than the preset temperature.

[0036] The preset temperature can be an empirical value.

[0037] For example, the preset temperature can be -34°C, or it can be any other temperature. This application does not impose any special limitations on this.

[0038] If the ambient temperature is lower than the preset temperature, proceed to step 103. Alternatively,

[0039] If the ambient temperature is greater than or equal to the preset temperature, proceed to step 105.

[0040] Step 103: Obtain the first duration of EOP at or above the first preset speed.

[0041] Specifically, the first preset speed can be an empirical value.

[0042] For example, the first preset speed can be 200 rpm, or the first preset speed can be other values, and the embodiments of this application do not impose any special limitations on this.

[0043] It is understandable that, within the first duration, the EOP's rotational speed can remain at or above the first preset rotational speed.

[0044] For example, assuming the first duration is T1, the rotational speed of EOP is greater than or equal to the first preset rotational speed within T1.

[0045] Step 104: Is the first duration greater than the first preset duration?

[0046] Specifically, the first preset duration can be an empirical value.

[0047] For example, the first preset duration can be 3 seconds, or the first preset duration can be other values, and this application embodiment does not impose any special limitations on this.

[0048] If the first duration is less than or equal to the first preset duration, proceed to step 107. Alternatively,

[0049] If the first duration is longer than the first preset duration, proceed to step 105.

[0050] Step 105: Obtain the second time required for EOP to start up to the first preset speed.

[0051] For example, taking a first preset speed of 200 rpm as an example, assuming the second duration is T2, T2 can be the time taken for the EOP speed to increase from 0 rpm to 200 rpm.

[0052] Step 106: Perform fault diagnosis based on the second duration.

[0053] If the second duration is greater than or equal to the second preset duration, proceed to step 107. Alternatively,

[0054] If the second duration is less than the second preset duration, proceed to step 108.

[0055] The second preset duration can be an empirical value.

[0056] For example, the second preset duration can be 15 seconds, or it can be other values. This application embodiment does not impose any special limitations on this.

[0057] Step 107: Determine whether the EOP speed is less than the second preset speed and whether the phase current is greater than the preset current.

[0058] Specifically, the second preset rotational speed can be an empirical value.

[0059] For example, the second preset speed can be 100 rpm, or the second preset speed can be other values, and this application embodiment does not make any special limitation on this.

[0060] The preset current can be an empirical value, which can be the maximum safe value that the controller can withstand.

[0061] For example, the preset current can be 34A, or the preset current can be other values, and this application embodiment does not impose any special limitations on this.

[0062] If it is determined that the EOP speed is greater than or equal to the second preset speed or the phase current is less than or equal to the preset current, proceed to step 109.

[0063] If it is determined that the EOP speed is less than the second preset speed and the phase current is greater than the preset current, proceed to step 110.

[0064] In some alternative embodiments, the rotational speed of the EOP may be filtered before performing step 107.

[0065] Step 108: Determine whether the EOP speed is less than the first preset speed and whether the phase current is greater than the preset current.

[0066] If it is determined that the EOP speed is greater than or equal to the first preset speed or the phase current is less than or equal to the preset current, proceed to step 109.

[0067] If it is determined that the EOP speed is less than the first preset speed and the phase current is greater than the preset current, proceed to step 110.

[0068] In some alternative embodiments, the rotational speed of the EOP may be filtered before performing step 108.

[0069] Step 109: Confirm that there is no stall fault.

[0070] Step 110: Confirm that there is a stall fault.

[0071] In some alternative embodiments, determining whether a stall fault exists may include: performing multiple fault confirmations by alternating between starting and stopping the machine, and determining whether a stall fault exists based on the results of the multiple fault confirmations.

[0072] Now combined Figures 2-3 An exemplary description of the methods for fault confirmation is provided.

[0073] refer to Figure 2If the second time duration is greater than the second preset time duration, i.e., T2 > 15s, then after the EOP speed reaches the first preset speed, a third preset time duration T3 can be waited for. T3 can be 55s, or other values; this embodiment does not impose any special limitations on this. After T3, a 3s EOP startup process can be executed, followed by a 1s shutdown process, and this process can be repeated multiple times.

[0074] Among them, the stall fault can be confirmed during the 3-second EOP startup process.

[0075] In some optional embodiments, if a stall fault is confirmed during any EOP startup process, a stall fault can be identified and reported.

[0076] In some optional embodiments, if a stall fault is confirmed each time during multiple EOP startups, a stall fault can be identified and reported.

[0077] In some optional embodiments, if the number of times a stall fault is confirmed during multiple EOP startups is greater than or equal to a preset number, a stall fault can be identified and reported.

[0078] In some optional embodiments, during the fault confirmation process in the above embodiments, if the EOP speed is continuously detected to be greater than the second preset speed and the phase current is less than the preset current, and the duration is greater than the fourth preset duration T4 (e.g., 6s), the fault can be considered to have been recovered, and there is no need to report the fault.

[0079] refer to Figure 3 If the second time interval is less than or equal to the second preset time interval, i.e., T2 < 15s, then after the EOP speed reaches the first preset speed, a fifth preset time interval T5 can be waited for. T5 can be 11s, or other values; this embodiment does not impose any special limitations on this. After T5, a 3s EOP startup process can be executed, followed by a 1s shutdown process, and this process can be repeated multiple times.

[0080] For details on how to determine if a stall fault has occurred, please refer to [link / reference]. Figure 2 The relevant descriptions in the embodiments will not be repeated here.

[0081] In some optional embodiments, during the fault confirmation process in the above embodiments, if the EOP speed is continuously detected to be greater than the first preset speed and the phase current is less than the preset current, and the duration is greater than the fourth preset duration T4 (e.g., 6s), the fault can be considered to have been recovered, and there is no need to report the fault.

[0082] Figure 4 This is a schematic diagram of the fault diagnosis device provided in the embodiments of this application, such as... Figure 4 As shown, the aforementioned fault diagnosis device 40 may include: an acquisition module 41 and a diagnosis module 42; wherein,

[0083] The acquisition module 41 is used to acquire the ambient temperature after the EOP is started; if the ambient temperature is greater than or equal to a preset temperature, it acquires a second duration, which is used to characterize the time required for the EOP to start up to a first preset speed.

[0084] The diagnostic module 42 is used to perform stall fault diagnosis using a diagnostic method corresponding to the second duration.

[0085] In one possible implementation, the diagnostic module 42 is further configured to determine a stall fault if the second duration is less than a second preset duration, the EOP speed is less than a first preset speed, and the phase current is greater than a preset current; or,

[0086] If the second duration is greater than or equal to the second preset duration, and the EOP speed is less than the second preset speed, and the phase current is greater than the preset current, a stall fault is determined.

[0087] In one possible implementation, the diagnostic module 42 is further configured to obtain a first duration if the ambient temperature is less than a preset temperature, wherein the first duration is used to characterize the duration of the EOP at or above the first preset speed.

[0088] The stall fault is diagnosed using a diagnostic method corresponding to the first duration.

[0089] In one possible implementation, the diagnostic module 42 is further configured to determine whether the EOP speed is less than a second preset speed and whether the phase current is greater than a preset current if the first duration is less than or equal to a first preset duration.

[0090] In one possible implementation, the diagnostic module 42 is further configured to perform stall fault diagnosis using a diagnostic method corresponding to the second duration if the first duration is longer than the first preset duration.

[0091] In one possible implementation, the fault diagnosis device 40 may further include:

[0092] The confirmation module is used to determine the target duration based on the second duration;

[0093] After delaying the target time by the target duration, the stall fault is confirmed by alternating between the first cycle and the second cycle;

[0094] Wherein, the target time is the time when the EOP speed reaches the first preset speed, the first cycle is the EOP start cycle, and the first cycle is used to detect the stall fault; the second cycle is the EOP stop cycle.

[0095] Figure 4 The fault diagnosis device 40 provided in the illustrated embodiment can be used to execute the technical solution of the method embodiment shown in this application. Its implementation principle and technical effect can be further referred to the relevant description in the method embodiment.

[0096] It should be understood that the division of the various modules in the fault diagnosis device 40 described above is merely a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, these modules can be implemented entirely in software via processing element calls; they can be fully implemented in hardware; or some modules can be implemented in software via processing element calls, while others are implemented in hardware. For example, the detection module can be a separate processing element, or it can be integrated into a chip in the terminal device. The implementation of other modules is similar. In addition, these modules can be fully or partially integrated together, or they can be implemented independently. During implementation, each step of the above method or each of the above modules can be completed through integrated logic circuits in the hardware of the processor element or through software instructions.

[0097] For example, these modules can be one or more integrated circuits configured to implement the above methods, such as one or more Application Specific Integrated Circuits (ASICs), one or more Digital Signal Processors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs). Alternatively, these modules can be integrated together as a System-On-a-Chip (SOC).

[0098] Figure 5 This is a schematic diagram of the structure of a vehicle 500 provided in an embodiment of this application. The vehicle 500 may include: at least one processor; and at least one memory communicatively connected to the processor. The memory stores program instructions executable by the processor, and the processor in the vehicle 500 can execute the actions performed in the memory access method provided in this embodiment by calling the program instructions.

[0099] like Figure 5As shown, vehicle 500 is represented in the form of a general-purpose computing device. The components of vehicle 500 may include, but are not limited to: one or more processors 510, memory 520, communication bus 540 connecting different system components (including memory 520 and processor 510), and communication interface 530.

[0100] The communication bus 540 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. Examples of these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0101] Vehicle 500 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by end devices, including volatile and non-volatile media, removable and non-removable media.

[0102] Memory 520 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory. The terminal device may further include other removable / non-removable, volatile / non-volatile computer system storage media. Although Figure 5 As not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk") and an optical disc drive for reading and writing to a removable non-volatile optical disc (e.g., a compact disc read-only memory (CD-ROM), a digital video disc read-only memory (DVD-ROM), or other optical media) may be provided. In these cases, each drive may be connected to the communication bus 540 via one or more data media interfaces. The memory 520 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of this application.

[0103] A program / utility having a set (at least one) of program modules can be stored in memory 520. Such program modules include—but are not limited to—an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. The program modules typically perform the functions and / or methods described in the embodiments of this application.

[0104] Vehicle 500 can also communicate with one or more external devices (e.g., keyboard, pointing device, display, etc.), and with one or more devices that enable a user to interact with the terminal device, and / or with any device that enables the terminal device to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed through communication interface 530. Furthermore, vehicle 500 can also communicate through a network adapter ( Figure 5 (Not shown) communicates with one or more networks (e.g., Local Area Network (LAN), Wide Area Network (WAN), and / or public networks, such as the Internet). The aforementioned network adapter can communicate with other modules of the terminal device via the communication bus 540. It should be understood that, although... Figure 5 As not shown in the diagram, other hardware and / or software modules can be used in conjunction with the vehicle 500, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, Redundant Arrays of Independent Drives (RAID) systems, tape drives, and data backup storage systems.

[0105] The processor 510 executes various functional applications and data processing by running programs stored in the memory 520, such as implementing the methods provided in the embodiments of this application.

[0106] It is understood that the interface connection relationships between the modules illustrated in the embodiments of this application are merely illustrative and do not constitute a structural limitation on the vehicle 500. In other embodiments of this application, the vehicle 500 may also adopt different interface connection methods or combinations of multiple interface connection methods as described in the above embodiments.

[0107] In the above embodiments, the processor may include, for example, a CPU, DSP, microcontroller, or digital signal processor, and may also include a GPU, embedded neural network processing unit (NPU), and image signal processor (ISP). The processor may also include necessary hardware accelerators or logic processing hardware circuits, such as an ASIC, or one or more integrated circuits for controlling the execution of the program in this application. Furthermore, the processor may have the function of operating one or more software programs, which may be stored in a storage medium.

[0108] This application also provides a readable storage medium storing a program that, when run on a vehicle, causes the vehicle to execute the method provided in the embodiments shown in this application.

[0109] This application also provides a program product including a program that, when run on a vehicle, causes the vehicle to perform the method provided in the embodiments shown in this application.

[0110] In this application embodiment, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent the existence of A alone, A and B simultaneously, or B alone. A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of singular or plural items. For example, at least one of a, b, and c can represent: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, and c can be single or multiple.

[0111] Those skilled in the art will recognize that the units and algorithm steps described in the embodiments disclosed herein can be implemented using electronic hardware, computer software, or a combination of electronic hardware and software. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0112] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0113] In the several embodiments provided in this application, any function, if implemented as a software functional unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0114] The above description is merely a specific embodiment of this application. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the protection scope of this application. The protection scope of this application should be determined by the protection scope of the claims.

Claims

1. A fault diagnosis method, characterized in that, Applied to a vehicle, the vehicle including an electronic oil pump assembly (EOP), the method includes: After the EOP is started, the ambient temperature is acquired; If the ambient temperature is greater than or equal to the preset temperature, a second duration is obtained, which is used to characterize the time required for the EOP to start up to the first preset speed; The stall fault is diagnosed using a diagnostic method corresponding to the second duration.

2. The method according to claim 1, characterized in that, The method of diagnosing stall faults using a diagnostic approach corresponding to the second duration includes: If the second duration is less than the second preset duration, and the EOP speed is less than the first preset speed, and the phase current is greater than the preset current, a stall fault is determined; or, If the second duration is greater than or equal to the second preset duration, and the EOP speed is less than the second preset speed, and the phase current is greater than the preset current, a stall fault is determined.

3. The method according to claim 1 or 2, characterized in that, The method further includes: If the ambient temperature is lower than the preset temperature, a first duration is obtained. The first duration is used to characterize the duration of the EOP when it is at or above the first preset speed. The stall fault is diagnosed using a diagnostic method corresponding to the first duration.

4. The method according to claim 3, characterized in that, The stall fault diagnosis is performed using a diagnostic method corresponding to the first duration: If the first duration is less than or equal to the first preset duration, determine whether the EOP speed is less than the second preset speed and whether the phase current is greater than the preset current.

5. The method according to claim 4, characterized in that, The method further includes: If the first duration is longer than the first preset duration, a diagnostic method corresponding to the second duration is used to diagnose the stall fault.

6. The method according to claim 1, characterized in that, After performing stall fault diagnosis using a diagnostic method corresponding to the second duration, the method further includes: The target duration is determined based on the second duration. After delaying the target time by the target duration, the stall fault is confirmed by alternating between the first cycle and the second cycle; Wherein, the target time is the time when the EOP speed reaches the first preset speed, the first cycle is the EOP start cycle, and the first cycle is used to detect the stall fault; the second cycle is the EOP stop cycle.

7. A fault diagnosis device, characterized in that, The device is applied to a vehicle, the vehicle including an electronic oil pump assembly (EOP), comprising: The acquisition module is used to acquire the ambient temperature after the EOP is started; if the ambient temperature is greater than or equal to a preset temperature, it acquires a second duration, which is used to characterize the time required for the EOP to start up to a first preset speed. The diagnostic module is used to diagnose stall faults using a diagnostic method corresponding to the second duration.

8. A vehicle, characterized in that, include: Processor and memory, the memory being used to store programs; The processor is used to run the program to implement the fault diagnosis method as described in any one of claims 1-6.

9. A readable storage medium, characterized in that, The readable storage medium stores a program that, when run on the vehicle, implements the fault diagnosis method as described in any one of claims 1-6.

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