A method and system for synchronous acquisition and protocol monitoring of multi-channel analog signals on a vehicle

Abstract

This invention belongs to the technical field of electronic and electrical architecture and fieldbus control system for new energy vehicles. Specifically, it relates to a method and system for synchronous acquisition and protocol monitoring of multiple analog signals in vehicles. The method includes: extracting signal mutation points of multiple continuous high-frequency analog signals and abnormal state frames of controller area network bus communication messages; obtaining independent true excitation amplitudes by stripping mechanical aftershocks based on a free decay vibration model; accumulating attenuation residual values ​​within an integral time window formed by the underlying message transmission period and reception timestamp; obtaining the dynamic mapping capacity of abnormal state frames; constructing a transmission cost matrix by combining network arbitration priority; and solving for the output many-to-one causal topology relationship. This invention eliminates the time masking effect of mechanical aftershock interference and hardware buffering, suppresses matching oscillations caused by bus arbitration jitter, and achieves accurate mapping of cross-domain causal relationships between physical domain analog signals and digital domain bus messages.

Description

Technical Field

[0001] This invention relates to the field of electronic and electrical architecture and fieldbus control system technology for new energy vehicles. More specifically, this invention relates to a method and system for synchronous acquisition and protocol monitoring of multi-channel analog signals in vehicles. Background Technology

[0002] With the rapid popularization of new energy driving methods such as plug-in hybrid drive, pure electric drive and fuel cell drive, the electronic and electrical architecture of new energy vehicles is evolving towards multi-domain integration. In the chassis drive-by-wire and multi-domain collaborative control scenarios of new energy vehicles, the high-frequency analog signals of the vehicle's underlying physical domain and the discrete communication messages of the digital domain need to be analyzed in depth across domains. At the same time, the vehicle-mounted heterogeneous bus network is essentially an extension of the Industrial Internet in the field of transportation equipment. Its underlying Controller Area Network (CAN) bus is a typical fieldbus control system (FCS). Under this complex fieldbus control system architecture, multi-domain fault diagnosis faces stringent challenges in terms of real-time performance and synchronization.

[0003] In the multi-domain fault diagnosis operation environment of vehicle heterogeneous bus network, the continuous sampling of multiple continuous high-frequency analog signals and the reception of discrete controller area network bus communication messages are independent of each other in hardware architecture and have different time triggering sources and asynchronous sampling step sizes. This results in a lack of natural time alignment benchmark between physical domain analog signals and digital domain bus messages, making it difficult to establish an accurate many-to-one causal mapping relationship when analyzing cross-domain signal correlation faults.

[0004] Existing vehicle bus monitoring and signal synchronization technologies typically rely on global clocks for timestamp alignment or fixed time windows for integration matching. For example, existing hardware timestamp-based vehicle network synchronization methods ensure synchronized signal transmission by adding global clock timestamps to messages; existing bus arbitration-based vehicle device status synchronization methods update status information synchronously by processing service requests from multiple nodes. However, when these existing technologies handle signals from new energy vehicle chassis under harsh operating conditions, the chassis suspension system of new energy vehicles generates mechanical ringing phenomena with fixed frequency and exponentially decaying amplitude after being affected by road impacts and high-frequency torque coupling of the motor. Existing time integration processing mechanisms cannot identify and separate this mechanical ringing at the physical mechanism level, thus misjudging subsequent physical aftershock peaks as newly generated road disturbance signals. This results in the aftershock signal amplitude being incorrectly accumulated into multiple subsequent underlying message transmission cycles, disrupting the true correspondence between physical abrupt events and controller area network bus communication messages.

[0005] Furthermore, existing multi-channel signal acquisition and processing systems for new energy vehicle chassis often focus on filtering and synchronous control of multiple power outputs. However, existing cross-domain signal matching methods often neglect the role of the hardware circuitry inside the node controller in the fieldbus control system as a first-order low-pass filter and hardware energy storage device when converting the acquired analog signals. Physical disturbance signals that occur earlier will undergo natural physical attenuation over time in the hardware buffer until the current underlying message transmission cycle ends, at which point they will be centrally sampled, calculated, and packaged into corresponding messages. Existing methods directly use discrete messages for matching while ignoring the time masking effect brought about by hardware smoothing buffers, resulting in an imbalance between the high-frequency discrete characteristics of the physical domain and the sparse message sequence of the digital domain.

[0006] Meanwhile, in the real multi-channel parallel transmission environment of the vehicle communication network, which is a typical fieldbus control system, there is a large number of high-priority messages competing for network bandwidth. This causes sudden CAN bus arbitration jitter when certain protocol nodes send abnormal status frames, resulting in a lag drift in the received timestamp. If the existing matching algorithm directly uses the monotonic linear absolute time difference as the mapping cost, it will produce severe numerical matching oscillations for time differences that do not have actual physical meaning. It cannot maintain numerical convergence stability under conditions of high bus load and severe arbitration jitter. Summary of the Invention

[0007] To address the technical problems of existing technologies that fail to physically isolate mechanical aftershock interference and ignore the time masking effect of controller hardware smoothing buffers, while also failing to suppress linear time difference matching oscillations caused by bus arbitration jitter in fieldbus control systems, resulting in the inability to establish an accurate cross-domain causal mapping relationship between the abrupt change characteristics of physical domain analog signals and discrete bus messages in the digital domain, this invention provides solutions in the following aspects.

[0008] In a first aspect, the present invention provides a method for synchronous acquisition and protocol monitoring of multiple analog signals in a vehicle, comprising: extracting signal abrupt change points of multiple continuous high-frequency analog signals and abnormal state frames of controller area network bus communication messages; based on a vibration attenuation model, using the original absolute amplitude of the main excitation abrupt change point as the initial amplitude and the time difference between the signal abrupt change point and the main excitation abrupt change point as the time variable, calculating the theoretical residual ringing amplitude of the signal abrupt change point; wherein the main excitation abrupt change point is the signal abrupt change point that occurs before the signal abrupt change point and has the largest original absolute amplitude; and obtaining the signal abrupt change point based on the difference between the original absolute amplitude and the theoretical residual ringing amplitude. The independent true excitation amplitude of each signal mutation point after the mechanical aftershock is removed; within a preset integration time window, the attenuation residual value of the independent true excitation amplitude is accumulated to obtain the dynamic mapping capacity of the abnormal state frame; the absolute time difference between the peak occurrence timestamp of the signal mutation point and the reception timestamp of the abnormal state frame is calculated, and a transmission cost matrix is ​​constructed by combining the network arbitration priority of the abnormal state frame; the independent true excitation amplitude of each signal mutation point and the dynamic mapping capacity of each abnormal state frame are used as quality constraints, and combined with the transmission cost matrix, the many-to-one causal topology relationship between the signal mutation point and the abnormal state frame is solved and output.

[0009] This invention extracts signal mutation points from multiple continuous high-frequency analog signals in the physical domain and abnormal state frames from controller area network bus communication messages in the digital domain. It uses a free decay vibration model to remove mechanical aftershock interference to obtain independent true excitation amplitudes. Furthermore, it accumulates attenuation residual values ​​within an integral time window formed by the underlying message transmission period and reception timestamp to obtain the dynamic mapping capacity of abnormal state frames. Finally, it constructs a transmission cost matrix by combining network arbitration priority and solves the many-to-one causal topology relationship. This series of operations eliminates the erroneous accumulation of signal amplitudes due to mechanical aftershocks from a physical mechanism perspective, restores the true physical attenuation law of the chassis suspension system after impact, compensates for the time masking effect caused by the controller hardware low-pass filtering, and suppresses linear time difference matching oscillations caused by bus arbitration jitter. Thus, it accurately establishes a cross-domain causal mapping relationship between the physical domain analog signal mutation characteristics and the digital domain discrete bus messages under harsh operating conditions.

[0010] Preferably, extracting the signal abrupt change points of the multiple continuous high-frequency analog signals includes: synchronously acquiring multiple continuous high-frequency analog signals through a high-frequency analog signal synchronous acquisition and conditioning hardware module; continuously extracting the signal amplitude envelope of the multiple continuous high-frequency analog signals using a preset one-dimensional first-order morphological opening and closing combination operator; when the rate of change of the local signal amplitude envelope exceeds a preset adaptive abrupt change threshold, determining that a signal abrupt change point has been captured, and locking and recording the peak occurrence timestamp and the corresponding original absolute amplitude of the signal abrupt change point.

[0011] This invention utilizes the physical filtering characteristics of morphological operators to effectively eliminate high-frequency random thermal noise while retaining the true mechanical impact characteristics of the road surface. At the same time, the adaptive threshold can dynamically adjust the judgment criteria according to real-time signal fluctuations, avoiding false triggering or missed triggering caused by fixed thresholds under complex working conditions. This provides a high-fidelity physical domain originating feature point cloud for subsequent cross-domain synchronous matching.

[0012] Preferably, extracting the abnormal status frame of the controller area network bus communication message includes: receiving the serial bit stream of the bus physical layer using the bus protocol high-precision hardware timing monitoring module and restoring it into a complete controller area network bus communication message; performing a lookup match between the identifier of the controller area network bus communication message and the list of diagnostic identifiers in the underlying bus database definition file; when the identifier matches successfully, extracting the corresponding data field payload, and verifying whether the data field payload contains a preset fault flag bit; if it does, it is determined to be an abnormal status frame and extracted.

[0013] This invention combines protocol parsing with hardware timing, enabling message reconstruction and precise filtering directly at the physical layer. This avoids the delays caused by complex software decoding at the application layer. At the same time, a dual verification mechanism ensures that the extracted abnormal state frames have clear physical meaning for fault diagnosis, providing a reliable data reference for the subsequent construction of accurate digital domain discrete mapping nodes.

[0014] Preferably, the calculation of the theoretical residual ringing amplitude at the signal abrupt change point includes: In the formula, For the first The theoretical residual ringing amplitude corresponding to each signal abrupt change point; For the first The peak timestamps of each signal abrupt change point; In order to be in The original absolute amplitude of the main excitation mutation point that occurred previously and has the largest original absolute amplitude; In order to be in The timestamp of the main excitation mutation point that occurred previously and had the largest original absolute amplitude; The physical damping ratio constant of the chassis suspension system of the vehicle under test; The undamped natural circular frequency of the vehicle chassis suspension system; The damped natural frequency of the vehicle chassis suspension system; A function to obtain the maximum value; The base is the natural number; It is a cosine function; Pi is a constant.

[0015] To address the problem of mechanical ringing phenomena in vehicle chassis suspension systems after impacts leading to subsequent aftershock peaks being misjudged as new excitation signals, this invention, based on a free decay vibration model, uses the original absolute amplitude of the main excitation abrupt change point as the initial amplitude and the time difference between the peak occurrence time stamp and the main excitation abrupt change point as the time variable. It combines the physical damping ratio, the undamped natural circular frequency, and the damped natural frequency to calculate the theoretical residual ringing amplitude. This introduces the free decay vibration law of second-order systems from classical structural dynamics into the field of vehicle signal processing, constructing a dynamic decay mapping boundary for historical impact residues in the time domain. From a physical mechanism perspective, it determines the interference share of mechanical aftershocks on the current signal reading, laying a theoretical foundation for removing spurious response components.

[0016] Preferably, obtaining the independent true excitation amplitude of the signal abrupt change point after removing mechanical aftershocks, based on the difference between the original absolute amplitude and the theoretical residual ringing amplitude, includes: In the formula, For the first The independent true excitation amplitude of each signal abrupt change point; For the first The original absolute amplitude of each signal abrupt change point; For the first The theoretical residual ringing amplitude corresponding to each signal abrupt change point; This is a function to obtain the maximum value.

[0017] Preferably, the step of accumulating the attenuation residual value of independent real disturbance amplitudes within a preset integration time window to obtain the dynamic mapping capacity of the abnormal state frame includes: In the formula, For the first The dynamic mapping capacity of an abnormal state frame; For the first The independent true excitation amplitude of each signal abrupt change point; For the first The received timestamp of each abnormal status frame; This refers to the inherent underlying message sending cycle of the node in this communication protocol. For the first time that falls within a specific integration time window The peak timestamps of each signal abrupt change point; This refers to the physical time constant of the low-pass filter hardware in the internal analog-to-digital converter of the controller. It is the natural base.

[0018] To address the time masking effect caused by the smoothing and buffering of physical excitation signals due to the internal hardware circuitry of the chassis controller acting as a first-order low-pass filter and hardware energy accumulator, this invention accumulates the attenuation residual value of the independent real excitation amplitude within the integral time window formed by the underlying message transmission period and the receiving timestamp, and obtains the dynamic mapping capacity of the abnormal state frame. This simulates the dynamic physical process of the controller hardware buffer performing low-pass smoothing on physical excitations, and transforms the projection of the high-frequency discrete independent real excitation amplitude in the physical domain into the physical signal quota required to be carried by the abnormal state frame in the digital domain. This effectively eliminates the many-to-one time masking effect caused by heterogeneous sampling rates, reconstructs the target quality constraints required for optimal transmission theory calculation, and prevents matrix divergence caused by the imbalance of constraints between the two domains.

[0019] Preferably, each row of the transmission cost matrix represents a signal mutation point, each column represents an abnormal state frame, and each element value in the transmission cost matrix represents the transmission cost from each signal mutation point to each abnormal state frame, calculated as follows: In the formula, For the first The signal mutation point reaches the first The transmission cost of an abnormal state frame; For the first The peak occurrence time of the signal mutation point and the first The absolute time difference between the received timestamps of each abnormal state frame; This refers to the inherent underlying message sending cycle of the communication protocol node; The base is the natural number; For the first The network arbitration priority of an abnormal status frame in the communication network; This is the lowest priority threshold defined in the communication network protocol specification.

[0020] To address the issue of bus arbitration jitter caused by high-priority message bandwidth contention in vehicular communication networks, which leads to severe numerical matching oscillations when directly using absolute time difference as the mapping cost, this invention calculates the absolute time difference between the peak timestamp of signal mutation points and the reception timestamp of abnormal state frames. It then constructs a transmission cost matrix by combining the network arbitration priority of abnormal state frames with the underlying message transmission cycle. This transforms the network arbitration priority and hardware integration blind spots unique to vehicular networks into nonlinear constraint adjustment terms in the transmission cost matrix. This allows the algorithm to dynamically relax or tighten the penalty for long-distance transmission matching based on the physical priority of messages, effectively avoiding cost fluctuations in traditional linear alignment mechanisms when dealing with discrete burst network delays. This ensures that the transmission cost matrix maintains high physical fidelity and numerical convergence stability under conditions of high bus load and severe arbitration jitter.

[0021] Preferably, the step of using the independent true excitation amplitude of each signal mutation point and the dynamic mapping capacity of each abnormal state frame as quality constraints, and combining them with the transmission cost matrix to solve and output the many-to-one causal topological relationship between the signal mutation point and the abnormal state frame includes: forming a source quality constraint vector from the independent true excitation amplitude of each signal mutation point, forming a target quality constraint vector from the dynamic mapping capacity of each abnormal state frame, and importing them into a preset optimal transmission solution kernel for bidirectional adaptive scaling iterative solution; after each iteration, calculating the error norm between the edge distribution vector of the currently generated optimal transmission coupling matrix and the source quality constraint vector and the target quality constraint vector; when the error norm meets the set convergence accuracy condition or reaches the maximum number of iterations, extracting strongly correlated mapping pairs whose values ​​are greater than the correlation strength extraction threshold, and outputting the many-to-one causal topological relationship.

[0022] This invention utilizes optimal transmission theory to achieve a globally optimal match between the quality distributions of the source and target domains under the constraint of a multidimensional asymmetric nonlinear distance penalty factor. The algorithm's solution accuracy and stability under vehicle-mounted embedded computing load are guaranteed by error norm convergence determination, and the causal topological relationship guiding the localization of multi-domain fault sources in the chassis is accurately output.

[0023] Preferably, the edge distribution vector includes a first quality allocation sum vector and a second quality allocation sum vector; the first quality allocation sum vector is obtained by summing each row of the current optimal transmission coupling matrix, and is used to calculate the error norm between the source quality constraint vector and the input source quality constraint vector; the second quality allocation sum vector is obtained by summing each column of the current optimal transmission coupling matrix, and is used to calculate the error norm between the target quality constraint vector and the input target quality constraint vector.

[0024] In a second aspect, the present invention provides an in-vehicle multi-channel analog signal synchronous acquisition and protocol monitoring system, comprising a high-frequency analog signal synchronous acquisition and conditioning hardware module, a bus protocol high-precision hardware timing monitoring module, a central embedded core processor module, and a non-volatile dynamic memory module. The non-volatile dynamic memory module internally stores computer program instructions that can be read by the central embedded core processor module. When the central embedded core processor module reads and executes the computer program instructions, the system calls the underlying drivers of the high-frequency analog signal synchronous acquisition and conditioning hardware module and the bus protocol high-precision hardware timing monitoring module, sequentially executing to implement the aforementioned in-vehicle multi-channel analog signal synchronous acquisition and protocol monitoring method.

[0025] By adopting the above technical solution, a computer program is generated from the above-mentioned method for synchronous acquisition and protocol monitoring of vehicle-mounted multi-channel analog signals and stored in a memory so that it can be loaded and executed by a processor. In this way, a terminal device can be made based on the memory and the processor for convenient use.

[0026] The beneficial effects of this invention are as follows:

[0027] 1. This invention delves into the structural dynamics of the vehicle chassis suspension system, utilizes a free decay vibration model to accurately isolate mechanical aftershock interference, and restores the independent true amplitude of physical excitation events. Simultaneously, by combining morphological filtering and adaptive thresholding mechanisms, it effectively eliminates narrowband random thermal noise under harsh operating conditions, providing high-quality source feature point clouds for cross-domain fault analysis, and fundamentally solving the technical defect of aftershock signals being misjudged as new excitations.

[0028] 2. This invention introduces a simulated hardware smoothing buffer mechanism, which performs low-pass smooth attenuation accumulation of the high-frequency discrete excitation characteristics of the physical domain within the integral time window formed by the underlying message transmission period. This dynamically reconstructs the mapping capacity required to carry the abnormal state frame in the digital domain, truly reflecting the physical energy storage process of the first-order low-pass filter inside the controller. It transforms the high-frequency excitation characteristics of the physical domain into the mapping capacity that the digital domain message can carry, effectively eliminating the time masking effect caused by the difference in sampling frequency between the high-frequency sampling of the physical domain and the sparse message sampling of the digital domain, and preventing the divergence of the optimal transmission matrix caused by the imbalance of constraints between the two domains.

[0029] 3. This invention addresses the bandwidth preemption phenomenon in parallel transmission environments of multi-bus systems in vehicles by integrating the network arbitration priority defined by the communication network protocol specification with the underlying message transmission cycle. It constructs a nonlinear transmission cost matrix with damping masking effect and priority tolerance boundary, giving the matching algorithm adaptive tolerance to long-distance transmission delays of low-priority messages. This effectively avoids the severe numerical oscillations caused by the linear penalty of absolute time difference, ensuring the global convergence and physical fidelity of solving cross-domain causal topology relationships under high bus load and severe arbitration jitter conditions. Attached Figure Description

[0030] Figure 1 This is a flowchart illustrating a method for synchronous acquisition and protocol monitoring of multi-channel analog signals in a vehicle according to the present invention. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0033] This invention discloses a method for synchronous acquisition and protocol monitoring of multi-channel analog signals in vehicles, referring to... Figure 1 This includes steps S1-S4:

[0034] S1. Extract signal mutation points of multiple continuous high-frequency analog signals and abnormal status frames of controller area network bus communication messages.

[0035] It should be noted that, against the backdrop of the widespread application of new energy driving methods such as plug-in hybrid drive, pure electric drive, and fuel cell drive, the on-board heterogeneous bus network of new energy vehicles, as an extension of the Industrial Internet in the field of transportation equipment, widely adopts the Controller Area Network (CLAN) bus at its underlying layer, which is a typical fieldbus control system. In the multi-domain fault diagnosis operation environment under this complex fieldbus control system architecture, since the continuous sampling of multiple continuous high-frequency analog signals and the discrete reception of CLAN bus communication messages are independent of each other in hardware architecture, each with different time triggering sources and asynchronous sampling step sizes, this invention pre-extracts key mutation features with physical significance from both the physical and digital domains on a unified one-dimensional time axis, and constructs a unified time-aligned coordinate axis used for analyzing multi-source heterogeneous signal correlation faults. This serves as the starting feature point cloud and receiving target mapping node for subsequent optimal transmission space quality matching and capacity reconstruction.

[0036] Specifically, a high-frequency analog signal synchronous acquisition and conditioning hardware module is used to synchronously acquire multiple continuous high-frequency analog signals from the vehicle controller in real time. This hardware module includes an analog anti-aliasing filter and a multi-channel high-speed analog-to-digital converter. After filtering out high-frequency interference waveforms through the analog anti-aliasing filter, the signals are input to the multi-channel high-speed analog-to-digital converter to complete the synchronous discretization acquisition of multiple continuous high-frequency analog signals. A preset one-dimensional first-order morphological opening and closing combination operator is used to continuously extract the amplitude envelope of the multiple continuous high-frequency analog signals through a sliding window. When the rate of change of the local signal amplitude envelope exceeds a preset adaptive abrupt change threshold, a signal abrupt change point is identified and captured, and the peak occurrence timestamp and the corresponding original absolute amplitude of the signal abrupt change point are latched and recorded.

[0037] Furthermore, a high-precision hardware timer monitoring module for the bus protocol is used to monitor the Controller Area Network (CAN) bus communication messages in real time. This module includes a CAN transceiver and an independent hardware timer, which marks each received message frame with a precise hardware timestamp. Simultaneously, the module extracts abnormal status frames parsed from the CAN bus communication messages in real time. Specifically, the extraction is achieved by using the CAN transceiver within the high-precision hardware timer monitoring module to receive the serial data from the physical layer of the bus. The serial bit stream is restored into a complete Controller Area Network (CLAN) bus communication message using an internal protocol controller. The identifier of the CLAN bus communication message is matched against a list of diagnostic identifiers in a pre-configured underlying bus database definition file. When the identifier matches successfully, the corresponding data field payload is extracted, and it is verified whether the data field payload contains a preset fault flag. If the preset fault flag is contained, the CLAN bus communication message is determined to be an abnormal state frame and is extracted. The received timestamps of the abnormal state frames are arranged sequentially and recorded as an abnormal state frame sequence on a one-dimensional time axis.

[0038] The length of the structuring element in the preset one-dimensional first-order morphological opening and closing combination operator is calibrated by pre-collecting the actual pulse width of the mechanical impact of the vehicle chassis under standard speed bump conditions. The length of the structuring element is set to half of the actual pulse width of the mechanical impact to retain the actual physical impact characteristics and filter out narrowband random thermal noise. The adaptive mutation threshold is calibrated by calculating the amplitude standard deviation of the multi-channel continuous high-frequency analog signals over the past ten sampling periods and multiplying it by a preset safety factor constant of 3.

[0039] To illustrate the extraction process of the aforementioned discrete events, a specific chassis coupling fault scenario is used as an example. When the vehicle under test is driving on a rough washboard road surface, causing high-frequency continuous abrupt changes in the multi-channel continuous high-frequency analog signals output by the analog torque sensor on the chassis steering column, the one-dimensional first-order morphological opening and closing combination operator can eliminate high-frequency random thermal noise and latch the peak occurrence timestamp and original absolute amplitude of each signal abrupt change point caused by road mechanical impact. At the same time, the electronic stability control node of the vehicle control system, due to the physical excitation of road bumps, throws discrete abnormal state frames on the controller area network bus. The receiving timestamp of the abnormal state frame is captured and mapped onto a one-dimensional time axis, becoming a specific digital discrete mapping node in the sequence of abnormal state frames on the one-dimensional time axis. This provides a reliable data reference for overcoming the random delay interference caused by bus arbitration and accurately tracing the true correspondence between chassis physical impact and bus messages.

[0040] S2. Calculate the independent true excitation amplitude of the signal abrupt change point after the mechanical aftershock is removed.

[0041] It should be noted that when the chassis of a new energy vehicle is under harsh operating conditions, the chassis suspension system is essentially a second-order mechanical vibration system containing mass, springs, and damping. When a wheel runs over a single physical disturbance event such as a series of speed bumps or deep potholes, due to the transmission effect of structural dynamics, the chassis suspension system of the new energy vehicle will not only generate an initial high-frequency impact wave peak, but will also inevitably be accompanied by a mechanical ringing phenomenon with a fixed frequency and exponentially decaying amplitude. This mechanical aftershock, which is a remnant of historical impacts, often lasts for tens to hundreds of milliseconds and spans multiple underlying message transmission cycles. Existing time integration processing mechanisms cannot identify and remove this aftershock at the physical mechanism level, and will misjudge subsequent physical aftershock peaks as newly generated road disturbance signals. This will cause the signal amplitude of the aftershock to be incorrectly accumulated into the integration time window of multiple subsequent abnormal state frames, thereby destroying the true many-to-one correspondence between physical mutation events and controller area network bus communication messages. Therefore, this invention removes this interference amplitude by constructing a mechanical ringing amplitude reduction calculation formula based on structural dynamics.

[0042] Specifically, we introduce the underdamped second-order system free decay vibration model from structural dynamics, which describes the free response characteristics of solid structures after impact. The displacement amplitude of the classical dynamic equations is characterized as a product of the initial amplitude, the exponentially decaying envelope function, and the periodic phase cosine function. The well-known formula for calculating the displacement amplitude of free vibration over time is: In the formula, For a moment The displacement amplitude of the free vibration; This is the initial amplitude; The base is the natural number; The damping ratio; The frequency is the undamped natural circular frequency. The independent variable is a continuous-time variable; It is a cosine function; It is the damped natural circular frequency; The initial phase is given by this formula. This calculation, through the multiplication of the initial amplitude, the decay envelope, and a periodic cosine term, reflects the free decay vibration process of the impacted system. In this formula, the aftershock amplitude of the physical system is subject to an exponential function. The decay envelope constraint, and in the cosine function The alternating peaks and troughs generated under the periodicity reveal that when the chassis mechanical structure is subjected to a single physical disturbance from the road surface, it will not only generate an initial high-frequency impact peak, but also be accompanied by a mechanical ringing phenomenon with an exponentially decaying amplitude and a fixed frequency.

[0043] Furthermore, in the physical scenario of cross-domain synchronization of vehicle-mounted multi-channel signals in this invention, the initial value replacement of the initial boundary conditions is performed. The initial amplitude parameter in the classical dynamic equation is replaced with the original absolute amplitude of the main excitation mutation point that has been captured and has the largest amplitude within the current processing time window. At the same time, the continuous time independent variable mapping in the classical dynamic equation is replaced with the time difference between the peak occurrence timestamp of any currently observed signal mutation point and the timestamp of the main excitation mutation point, thereby constructing a theoretical residual ringing amplitude envelope for describing the mechanical ringing attenuation boundary.

[0044] Meanwhile, in order to fully capture the time-domain periodic extreme value characteristics of the chassis mechanical structure during the rebound process, the damped natural circular frequency parameter in the free decay vibration model of the underdamped second-order system is expanded and replaced with the product of twice pi and the damped natural frequency, thereby constructing an aftershock wave operator with phase alignment characteristics. Considering that the signal mutation point envelope of the multi-channel continuous high-frequency analog signal extracted by the hardware sensor is physically a constant positive scalar amplitude, a maximum value truncation function is nested in the outer layer of the aftershock wave operator to filter out the negative half-axis value generated by the cosine function calculation. Finally, the theoretical residual ringing amplitude envelope is multiplied with the truncated aftershock wave operator, and the formula for calculating the theoretical residual ringing amplitude at a specific time stamp, which is attenuated by the historical main excitation mutation point, is derived as follows:

[0045]

[0046] In the formula, For the first The theoretical residual ringing amplitude corresponding to each signal abrupt change point is in the volt; For the first The timestamps of the peak occurrence of each signal abrupt change point are in seconds. In order to be in The original absolute amplitude of the main excitation mutation point that occurred previously and has the largest original absolute amplitude is measured in volts. In order to be in The timestamp of the main excitation mutation point that occurred previously and had the largest original absolute amplitude is measured in seconds; The physical damping ratio constant of the chassis suspension system of the vehicle under test is dimensionless. is the undamped natural circular frequency of the vehicle chassis suspension system, with dimensions in radians per second. Let be the damped natural frequency of the vehicle chassis suspension system, with dimensions in Hertz. A function to obtain the maximum value; The maximum value zero truncation operator; The base is the natural number; It is a cosine function; Pi is a constant. This calculation formula constructs a theoretical model of the attenuation residual value through the product of a negative exponential function and a cosine function. The larger the theoretical residual ringing amplitude, the stronger the influence of the historical main excitation mutation point on the current signal mutation point reading. It reflects the dynamic attenuation mapping law of the mechanical aftershocks of historical impacts in the time domain.

[0047] Furthermore, since the original absolute amplitude of any signal abrupt change point actually measured by the high-frequency sampling hardware at the current moment is essentially a physical superposition of the newly generated real road surface disturbance and the historical mechanical ringing signal, the independent real disturbance amplitude is stripped by subtracting the derived theoretical residual ringing amplitude from the current original absolute amplitude to eliminate spurious response components. Simultaneously, to prevent non-physically meaningful negative amplitude values ​​from being generated during subtraction due to measurement errors in the physical parameters of the vehicle chassis suspension system or sensor disturbances in actual engineering applications, a maximum value zero truncation operator is wrapped around the difference calculation expression to generate a formula for calculating the independent real disturbance amplitude after stripping mechanical aftershocks for subsequent transmission matching.

[0048]

[0049] In the formula, For the first The independent true excitation amplitude of each signal abrupt change point, with the dimension of volt; For the first The original absolute amplitude of each signal abrupt change point, with the dimension of volts; For the first The theoretical residual ringing amplitude corresponding to each signal abrupt change point is in the volt; A function to obtain the maximum value; This is the maximum value zero truncation operator.

[0050] The calculation formula establishes a dynamic attenuation mapping model of historical impact characteristics in the time domain by introducing a time-domain damping envelope based on the attenuation law of a negative exponential function and a phase alignment operator based on the fluctuation characteristics of a cosine function; when the peak time of the current signal mutation point to be evaluated occurs... Timestamp of the main perturbation mutation point As the time difference increases, the value of the negative exponential function term decreases accordingly, causing the calculated theoretical residual ringing amplitude to gradually lose damping. This indicates that over time, the influence of mechanical ringing generated by historical impacts on the current signal abrupt change reading weakens exponentially. At this point, the original absolute amplitude... The deducted portion is reduced accordingly, ensuring that the new road surface disturbances actually generated at the far end are not excessively reduced, thus restoring the physical law of the dissipation of mechanical vibration in the time domain after the vehicle chassis suspension system is subjected to a single physical impact.

[0051] The mapping relationship between the mechanical ringing amplitude reduction calculation formula and the application scenario of vehicle-mounted multi-channel analog signal synchronous acquisition and protocol monitoring is as follows: the calculated independent true excitation amplitude... The more accurate the value and the more it eliminates spurious aftershock responses, the more accurately it reflects the true amplitude distribution of independent discrete excitation events in the underlying physical domain. This eliminates the cross-domain signal amplitude spillover defect caused by mechanical ringing, providing a high-quality source quality constraint input for matching heterogeneous multi-scale physical features to the corresponding abnormal state frames.

[0052] Wherein, the physical damping ratio constant The undamped natural circular frequency was obtained through free damping vibration testing and calibration of the vehicle chassis suspension system. The recommended empirical range for standard passenger vehicles is 0.20 to 0.40, and in this embodiment, it is set to a fixed constant of 0.25. This is a physical characteristic quantity obtained by conducting a vertical frequency sweep test on the vehicle and calculating it in conjunction with the spring stiffness and spring mass. Its empirical value range is 20 radians per second to 40 radians per second, and in this embodiment it is set to 30 radians per second; the damped natural frequency... Then through the calculation formula Calculation and export This is the physical damping ratio constant of the chassis suspension system of the vehicle under test. The undamped natural circular frequency of the vehicle chassis suspension system.

[0053] S3. Obtain the dynamic mapping capacity of abnormal state frames based on the hardware smooth buffer mechanism.

[0054] It should be noted that in the actual operating environment of the on-board electronic and electrical architecture of new energy vehicles, the hardware circuit inside the chassis controller cannot instantly convert the acquired signal abrupt change points into controller area network bus communication messages. The underlying hardware mechanism essentially acts as a first-order low-pass filter and hardware energy storage device. Physical disturbance signals that occur earlier will undergo natural physical attenuation over time in the hardware buffer. They will only be sampled, calculated, and packaged into corresponding controller area network bus communication messages at the end of the current underlying message sending cycle. Therefore, this invention introduces a hardware smoothing buffer mechanism that simulates physical state hysteresis characteristics. This mechanism projects the discrete and independent real disturbance amplitude values ​​output from the aforementioned steps into the dynamic mapping capacity required to carry the corresponding abnormal state frame, in order to adapt to the data acquisition characteristics of the node controller in the fieldbus control system.

[0055] Specifically, a time stamp is set at the occurrence of a specific peak. Independent true excitation amplitude at input The received timestamp of the abnormal state frame At the same time, feature decay follows a negative exponential law based on hardware physical constants. Furthermore, to define the controller's integration time boundary, the integration time search window is constrained to the received timestamp of the current abnormal state frame. and the previous adjacent underlying message transmission cycle Within the semi-closed integration time window formed by these components, the attenuation residual values ​​of independent real excitation amplitudes falling within a specific integration time window are discretely linearly superimposed and accumulated to derive the dynamic mapping capacity of each abnormal state frame:

[0056]

[0057] In the formula, For the first The dynamic mapping capacity of an abnormal state frame, in volts; For the first The independent true excitation amplitude of each signal abrupt change point, with the dimension of volt; For the first The received timestamp of each abnormal status frame, in seconds; This is the inherent underlying message sending period of the communication protocol node, measured in seconds. For the first time that falls within a specific integration time window The timestamps of the peak occurrence of each signal abrupt change point are in seconds. The physical time constant of the low-pass filter hardware of the analog-to-digital converter inside the controller is measured in seconds. It is the natural base.

[0058] The calculation formula, by introducing a mathematical structure that performs discrete integration on multiple independent variables, including time delay attenuation factors, within a specific integration time window, maps the dynamic physical process of low-pass smoothing of physical excitation by the hardware buffer; the peak time of the signal mutation point corresponding to a certain independent real excitation amplitude occurs at the time stamp. The closer to the current abnormal state frame's received timestamp As the time difference gradually decreases, the value of the negative exponential decay term approaches 1, thus reducing the dynamic mapping capacity of the independent true excitation amplitude. The greater the contribution weight, the more it reflects the physical characteristic of the hardware capacitor that it loses less charge in the initial stage after charging.

[0059] The mapping relationship between the dynamic mapping capacity calculation formula and the application scenario lies in the fact that the calculated dynamic mapping capacity... The value of dynamically reflects the physical signal quota carried by the controller buffer integration at the physical source of the corresponding controller LAN bus communication message. This eliminates the many-to-one time masking effect caused by the heterogeneous sampling rate between the high-frequency discrete independent real excitation amplitude in the physical domain and the sparse abnormal state frame sequence in the digital domain. It reconstructs the target quality constraints required for optimal transmission theory solution and prevents matrix divergence caused by the imbalance of constraints in the two domains.

[0060] Among them, the underlying message sending period The static configuration relies on the underlying bus database definition file of the vehicle controller, obtained by parsing and reading the configuration file. The standard transmission cycle for key chassis power and suspension nodes is empirically set to 0.01 seconds or 0.02 seconds; in this embodiment, the value is 0.02 seconds. The physical time constant of the low-pass filter hardware of the analog-to-digital converter inside the controller... The physical time constant is determined by the product of the equivalent resistance and capacitance components in the hardware circuit. Specifically, it is obtained by reading the schematic diagram of the vehicle controller hardware circuit, extracting the equivalent resistance and equivalent capacitance values ​​of the low-pass filter circuit at the front end of the analog-to-digital converter, and multiplying the equivalent resistance and equivalent capacitance values ​​to obtain the accurate physical time constant. For example, when the extracted equivalent resistance value is 200 ohms and the equivalent capacitance value is 10 microfarads, the physical time constant of the low-pass filter hardware of the analog-to-digital converter inside the controller is 0.002 seconds after multiplication.

[0061] S4. Construct the transmission cost matrix and solve for the optimal transmission coupling matrix to output the associated topology.

[0062] It should be noted that in the real multi-bus parallel transmission environment of the vehicle communication network of new energy vehicles, which is a typical fieldbus control system, the preemption of network bandwidth by a large number of high-priority messages can cause sudden bus arbitration jitter when certain protocol nodes send abnormal status frames, resulting in a lag drift of the received timestamp of the abnormal status frame. At the same time, due to the integral sampling mechanism inside the chassis controller, the time difference falling within the same underlying message transmission cycle is masked at the physical level. If the monotonic linear absolute time difference is directly used as the mapping cost when solving the optimal transmission, the algorithm will produce severe numerical matching oscillations due to time differences that do not have actual physical meaning. Therefore, this invention integrates the first-order system step response model and the basic calculation formula of one-dimensional optimal transmission theoretical distance, and combines the arbitration priority weight to construct a transmission cost matrix with damping masking effect and priority tolerance boundary, providing cost constraints for cross-domain event matching.

[0063] Specifically, the known unit step function of the first-order system step response model is used. Construct a time-damped adjustment operator as ,in, For the physical protocol cycle, For the first The peak occurrence time of the signal mutation point and the first The absolute time difference between the received timestamps of the first abnormal state frame, i.e., the first abnormal state frame. The peak occurrence time of the signal mutation point and the first The absolute value of the difference between the received timestamps of the abnormal state frames. The underlying message transmission period is inherent to the communication protocol node. When the absolute time difference between the signal mutation point and the abnormal state frame is less than the underlying message transmission period, the value of the time damping adjustment operator decays to close to 0 to reduce the transmission time penalty. When the absolute time difference is greater than the underlying message transmission period, the value of the time damping adjustment operator increases to close to 1 to restore the linear time penalty of the absolute time difference.

[0064] The time-damping adjustment operator is then multiplied by the absolute time difference to eliminate cost fluctuations within the sampling time dead zone. A normalized priority confidence coefficient defined by the communication network protocol specification is introduced, and the network arbitration priority of the controller area network bus is used as a physical constraint. The calculation formula for the transmission cost term corresponding to each component in the transmission cost matrix is ​​then obtained as follows:

[0065]

[0066] In the formula, For the first The signal mutation point reaches the first The transmission cost term for an abnormal state frame, with the unit being seconds; For the first The peak occurrence time of the signal mutation point and the first The absolute time difference between the received timestamps of the abnormal state frames is expressed in seconds. The inherent underlying message sending period of the communication protocol node, its unit is seconds; The base is the natural number; For time-damped adjustment operators; For the first The network arbitration priority of an abnormal state frame in the communication network is dimensionless. This is the lowest priority threshold defined in the communication network protocol specification; it is dimensionless. This is the normalized priority confidence coefficient.

[0067] The network arbitration priority is a decimal integer value extracted by real-time parsing of the arbitration field identifier of the controller area network bus communication message. This value is mapped to a priority level between 0 and 255 according to the vehicle's underlying bus database definition file. The minimum priority threshold is the minimum priority benchmark determined according to the standard in-vehicle classic controller area network bus protocol specification, and its specified value is 255. In this embodiment, the system directly reads this value from the static data area of ​​the memory and fixes it to 255.

[0068] The calculation formula forms a multidimensional asymmetric nonlinear distance penalty factor by combining the saturated nonlinear time term of the first-order system with a normalized weighting term based on the priority constant; when the network arbitration priority of the target abnormal state frame... As the value of increases, the physical priority of the abnormal frame in the bus topology decreases and it becomes more susceptible to network arbitration jitter preemption interference. Consequently, the value of the corresponding normalized priority confidence coefficient actively decreases, leading to a decrease in the final calculated transmission cost term. The slowdown in the numerical growth rate indicates that the algorithm has relaxed the penalty for matching low-priority messages over long distances. The calculation formula transforms the network arbitration priority and hardware integration blind zone unique to vehicle network chassis communication into nonlinear constraint adjustment terms of the transmission cost matrix, avoiding the linear alignment of traditional matching mechanisms when dealing with discrete burst network delays. This allows the transmission cost matrix to maintain extremely high physical fidelity and numerical convergence stability under conditions of high bus load and severe arbitration jitter.

[0069] Furthermore, the transmission cost term for each signal mutation point to reach each abnormal state frame is calculated, and all transmission cost terms are combined into a transmission cost matrix. Each row in the transmission cost matrix represents a signal mutation point, and each column represents an abnormal state frame. Each element value in the transmission cost matrix represents the transmission cost for each signal mutation point to reach each abnormal state frame.

[0070] After constructing the transmission cost matrix, the vector composed of the dynamic mapping capacity of each abnormal state frame obtained in the previous steps is used as the target quality constraint vector. Simultaneously, the vector composed of the independent true excitation amplitudes of each signal mutation point is used as the source quality constraint vector. Both are imported into a preset optimal transmission solution kernel for bidirectional adaptive scaling iterative solution. The preset optimal transmission solution kernel is specifically a Sinkhorn iterative algorithm kernel based on entropy regularization. The preset optimal transmission solution kernel is pre-configured with an entropy regularization coefficient and a maximum number of iterations. During the iterative solution process, the input transmission cost matrix is ​​iteratively normalized by alternating row and column normalization based on the set entropy regularization coefficient. After each iteration... The algorithm calculates the error norm between the edge distribution vector of the currently generated optimal transmission coupling matrix and the input source quality constraint vector and target quality constraint vector. Iterates until the error norm between the calculated optimal transmission coupling matrix and the input source quality constraint vector and target quality constraint vector satisfies the set convergence accuracy condition or reaches the maximum number of iterations. Then, it sets a correlation strength extraction threshold and uses this threshold to filter and extract strongly correlated mapping pairs with values ​​greater than the correlation strength extraction threshold from the solved optimal transmission coupling matrix. This accurately maps the signal mutation points in the physical domain to the discrete abnormal state frame sequence in the digital domain, and outputs a many-to-one causal topology relationship to guide the localization of multi-domain fault sources in the chassis.

[0071] The edge distribution vector refers to the quality allocation sum vector obtained by summing each row and column of the current optimal transmission coupling matrix, which is used to characterize the total quality actually allocated and received by the algorithm. The edge distribution vector includes a first quality allocation sum vector and a second quality allocation sum vector. The first quality allocation sum vector is obtained by summing each row of the current optimal transmission coupling matrix and the error norm is calculated between it and the input source quality constraint vector. The second quality allocation sum vector is obtained by summing each column of the current optimal transmission coupling matrix and the error norm is calculated between it and the input target quality constraint vector.

[0072] The entropy regularization coefficient is used to smooth the transmission cost to accelerate algorithm convergence. Its empirical value range is 0.01 to 0.1. In this embodiment, it is fixed at 0.05. The maximum number of iterations is used to control the computational load boundary of numerical solution. In this embodiment, it is set to 1000 times.

[0073] The convergence accuracy condition mentioned above refers to the numerical boundary benchmark for determining whether the iterative matrix update tends to be stable. To balance the computational load of the vehicle-mounted embedded controller with the optimal transmission mapping accuracy, this error threshold is set to 10 in this embodiment.-4 That is, when the error norm is less than 10 -4 When the current solution meets the set convergence accuracy condition, the iteration is automatically terminated.

[0074] The correlation strength extraction threshold refers to the probability confidence hard truncation standard used to determine whether there is a real physical mapping relationship between two nodes in the optimal transmission coupling matrix. It is calibrated by extracting the correct mapping pairs confirmed by experts in historical fault diagnosis records and calculating the distribution quantile of the corresponding values. In this embodiment, it is specifically calibrated to 0.75.

[0075] This embodiment also discloses a vehicle-mounted multi-channel analog signal synchronous acquisition and protocol monitoring system corresponding to the above method. The system includes a high-frequency analog signal synchronous acquisition and conditioning hardware module, a bus protocol high-precision hardware timing monitoring module, a central embedded core processor module, and a non-volatile dynamic memory module. The non-volatile dynamic memory module stores computer program instructions that can be read by the central embedded core processor module. When the central embedded core processor module reads and executes the computer program instructions, the system calls the underlying drivers of the high-frequency analog signal synchronous acquisition and conditioning hardware module and the bus protocol high-precision hardware timing monitoring module to sequentially execute all the core monitoring process steps, including high-frequency analog signal mutation envelope extraction and abnormal state frame sequence reconstruction, mechanical ringing reduction and real excitation stripping based on second-order damped oscillation law, dynamic mapping capacity adaptive projection based on independent real excitation amplitude, and optimal transmission solution and causal topology positioning based on priority damping cost matrix. This enables the monitoring of cross-domain fault causal chains of complex heterogeneous signals in vehicles at the hardware level.

[0076] The system also includes other components well known to those skilled in the art, such as communication buses and communication interfaces, the settings and functions of which are known in the art and will not be described in detail here.

[0077] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for synchronous acquisition and protocol monitoring of multi-channel analog signals on a vehicle, characterized in that, include: Extract signal mutation points from multiple continuous high-frequency analog signals and abnormal state frames from controller area network bus communication messages, and obtain the peak occurrence timestamp and original absolute amplitude of the signal mutation points; Based on the vibration attenuation model, the original absolute amplitude of the main excitation abrupt change point is used as the initial amplitude, and the time difference between the signal abrupt change point and the main excitation abrupt change point is used as the time variable to calculate the theoretical residual ringing amplitude of the signal abrupt change point; the main excitation abrupt change point is the signal abrupt change point that occurs before the signal abrupt change point and has the largest original absolute amplitude; based on the difference between the original absolute amplitude and the theoretical residual ringing amplitude, the independent true excitation amplitude of the signal abrupt change point after the mechanical aftershocks are removed is obtained. Within a preset integration time window, the attenuation residual value of the independent real excitation amplitude is accumulated to obtain the dynamic mapping capacity of the abnormal state frame. Calculate the absolute time difference between the peak occurrence time of the signal mutation point and the reception time of the abnormal state frame, and construct the transmission cost matrix by combining the network arbitration priority of the abnormal state frame; The independent true excitation amplitude of each signal mutation point and the dynamic mapping capacity of each abnormal state frame are used as quality constraints. Combined with the transmission cost matrix, the many-to-one causal topological relationship between the signal mutation point and the abnormal state frame is solved and output.

2. The method for synchronous acquisition and protocol monitoring of multi-channel analog signals in a vehicle according to claim 1, characterized in that, Extracting the signal abrupt change points of the multiple continuous high-frequency analog signals, including: The high-frequency analog signal synchronous acquisition and conditioning hardware module synchronously acquires multiple continuous high-frequency analog signals; the preset one-dimensional first-order morphological opening and closing combination operator is used to continuously extract the amplitude envelope of the multiple continuous high-frequency analog signals through a sliding window; when the rate of change of the local signal amplitude envelope exceeds the preset adaptive mutation threshold, the signal mutation point is determined to be captured, and the peak occurrence timestamp and the corresponding original absolute amplitude of the signal mutation point are latched and recorded.

3. The method for synchronous acquisition and protocol monitoring of multi-channel analog signals in a vehicle according to claim 1, characterized in that, Extracting the abnormal status frames of the controller area network bus communication messages includes: The high-precision hardware timing monitoring module of the bus protocol is used to receive the serial bit stream of the bus physical layer and restore it into a complete controller area network bus communication message. The identifiers of the controller area network bus communication messages are matched against the list of diagnostic identifiers in the underlying bus database definition file. When the identifier matches successfully, the corresponding data field payload is extracted, and it is checked whether the data field payload contains a preset fault flag bit. If it does, it is determined to be an abnormal state frame and extracted.

4. The method for synchronous acquisition and protocol monitoring of multi-channel analog signals in a vehicle according to claim 1, characterized in that, The theoretical residual ringing amplitude at the signal abrupt change point includes: ； In the formula, For the first The theoretical residual ringing amplitude corresponding to each signal abrupt change point; For the first The peak timestamps of each signal abrupt change point; In order to be in The original absolute amplitude of the main excitation mutation point that occurred previously and has the largest original absolute amplitude; In order to be in The timestamp of the main excitation mutation point that occurred previously and had the largest original absolute amplitude; The physical damping ratio constant of the chassis suspension system of the vehicle under test; The undamped natural circular frequency of the vehicle chassis suspension system; The damped natural frequency of the vehicle chassis suspension system; A function to obtain the maximum value; The base is the natural number; It is a cosine function; Pi is a constant.

5. The method for synchronous acquisition and protocol monitoring of multi-channel analog signals in a vehicle according to claim 1, characterized in that, The independent true excitation amplitude of the signal abrupt change point after removing mechanical aftershocks is obtained based on the difference between the original absolute amplitude and the theoretical residual ringing amplitude, including: ； In the formula, For the first The independent true excitation amplitude of each signal abrupt change point; For the first The original absolute amplitude of each signal abrupt change point; For the first The theoretical residual ringing amplitude corresponding to each signal abrupt change point; This is a function to obtain the maximum value.

6. The method for synchronous acquisition and protocol monitoring of multi-channel analog signals in a vehicle according to claim 1, characterized in that, Within a preset integration time window, the attenuation residual value of the independent real disturbance amplitude is accumulated to obtain the dynamic mapping capacity of the abnormal state frame. include: ； In the formula, For the first The dynamic mapping capacity of an abnormal state frame; For the first The independent true excitation amplitude of each signal abrupt change point; For the first The received timestamp of each abnormal status frame; This refers to the inherent underlying message sending cycle of the node in this communication protocol. For the first time that falls within a specific integration time window The peak timestamps of each signal abrupt change point; This refers to the physical time constant of the low-pass filter hardware in the internal analog-to-digital converter of the controller. It is the natural base.

7. The method for synchronous acquisition and protocol monitoring of multi-channel analog signals in a vehicle according to claim 1, characterized in that, Each row in the transmission cost matrix represents a signal mutation point, and each column represents an abnormal state frame. Each element in the transmission cost matrix represents the transmission cost from each signal mutation point to each abnormal state frame, calculated as follows: ； In the formula, For the first The signal mutation point reaches the first The transmission cost of an abnormal state frame; For the first The peak occurrence time of the signal mutation point and the first The absolute time difference between the received timestamps of each abnormal state frame; This refers to the inherent underlying message sending cycle of the communication protocol node; The base is the natural number; For the first The network arbitration priority of an abnormal status frame in the communication network; This is the lowest priority threshold defined in the communication network protocol specification.

8. The method for synchronous acquisition and protocol monitoring of multi-channel analog signals in a vehicle according to claim 1, characterized in that, The process of using the independent true excitation amplitude of each signal mutation point and the dynamic mapping capacity of each abnormal state frame as quality constraints, and combining this with the transmission cost matrix, to solve and output the many-to-one causal topological relationship between signal mutation points and abnormal state frames includes: The independent true excitation amplitudes of each signal mutation point are used to form the source quality constraint vector, and the dynamic mapping capacity of each abnormal state frame is used to form the target quality constraint vector. These are then imported into the preset optimal transmission solution kernel for bidirectional adaptive scaling iterative solution. After each iteration, the error norm between the marginal distribution vector of the currently generated optimal transmission coupling matrix and the source mass constraint vector and the target mass constraint vector is calculated. When the error norm meets the set convergence accuracy condition or reaches the maximum number of iterations, strongly correlated mapping pairs with values ​​greater than the correlation strength extraction threshold are extracted, and many-to-one causal topological relationships are output.

9. The method for synchronous acquisition and protocol monitoring of multi-channel analog signals in a vehicle according to claim 8, characterized in that, The edge distribution vector includes a first mass distribution sum vector and a second mass distribution sum vector; The first quality allocation sum vector is obtained by summing each row of the current optimal transmission coupling matrix, and is used to calculate the error norm between the input source quality constraint vector; The second quality allocation sum vector is obtained by summing each column of the current optimal transmission coupling matrix, and is used to calculate the error norm between the input target quality constraint vector.

10. A vehicle-mounted multi-channel analog signal synchronous acquisition and protocol monitoring system, characterized in that, The system includes a high-frequency analog signal synchronous acquisition and conditioning hardware module, a bus protocol high-precision hardware timing monitoring module, a central embedded core processor module, and a non-volatile dynamic memory module. The non-volatile dynamic memory module stores computer program instructions that can be read by the central embedded core processor module. When the central embedded core processor module reads and executes the computer program instructions, the system calls the underlying drivers of the high-frequency analog signal synchronous acquisition and conditioning hardware module and the bus protocol high-precision hardware timing monitoring module, sequentially executing to implement the vehicle-mounted multi-channel analog signal synchronous acquisition and protocol monitoring method according to any one of claims 1-9.

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