An active reset control method, device and system of an in-vehicle controller

Abstract

The application discloses an active reset control method, device and system of a vehicle-mounted controller, relates to the technical field of vehicle monitoring, and the reset request is sent to the target controller to make the target controller execute reset and re-detect the corresponding fault object when the target controller outputs a target fault state and the vehicle meets preset reset conditions, and the reset processing result is determined in combination with the response of the reset request and the fault state after reset, so that the technical problem that the target controller still continuously outputs the fault state after the state of the fault object changes and needs manual intervention to recover can be solved, the target controller can be actively recovered without external diagnosis equipment or the whole vehicle being powered on and off, the fault processing timeliness is improved, and the vehicle use experience of a user is improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle monitoring technology, and in particular to an active reset control method, device and system for an on-board controller. Background Technology

[0002] As the number and complexity of controllers in vehicle electronic and electrical systems continue to increase, vehicles are equipped with multiple controllers to implement different control functions. The operating status of each controller affects the normal operation of the corresponding vehicle functions. During vehicle operation, controllers may enter a fault state due to abnormal sensor signals, communication failures, or internal operational malfunctions. Some fault states cannot be resolved in a timely manner even after the abnormal factors disappear, thus affecting the recovery of related vehicle functions and resulting in a poor user experience.

[0003] Therefore, how to improve the recovery capability of the vehicle controller in fault state is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0004] This invention provides an active reset control method, device, and system for an on-board controller, which at least solves the problem in related technologies that the on-board controller is difficult to recover in a timely manner after entering a fault state, thus affecting the normal operation of related vehicle functions.

[0005] To solve the above-mentioned technical problems, the present invention provides an active reset method for an on-board controller, applied to a vehicle monitoring controller, comprising: Monitor the target fault status output by the target controller; When the target fault state is detected and the vehicle state meets the preset reset conditions of the target controller, a reset request is sent to the target controller so that the target controller performs a reset and re-detects the fault object corresponding to the target fault state after the reset. Obtain the target controller's response to the reset request and the fault status after reset, and determine the reset processing result based on the response and the fault status after reset.

[0006] Optionally, the target fault status output by the monitoring target controller includes: Receive fault indication messages and fault object abnormality messages sent by the target controller; The vehicle state satisfies the preset reset conditions of the target controller, including: Based on the received vehicle speed signal and parking brake signal, it is determined that the vehicle speed is zero and the parking brake is active.

[0007] Optionally, the monitoring controller is a body controller, the target controller is a brake controller, the fault object is a wheel speed sensor, the fault indication message includes a brake controller fault light message, and the fault object abnormal message includes a wheel speed signal abnormal message. Sending a reset request to the target controller includes: The body controller does not determine whether the wheel speed sensor is currently functioning properly before sending the reset request. The reset request is used to trigger the brake controller to re-detect the wheel speed sensor.

[0008] Optionally, sending a reset request to the target controller includes: The body controller sends a controller reset request from the unified diagnostic service to the brake controller through the vehicle gateway to trigger the brake controller to perform a hardware reset or software reset, and then re-detects the wheel speed sensor after the reset is completed.

[0009] Optionally, obtaining the target controller's response to the reset request includes: Within a preset response time after sending the reset request, detect whether a positive or negative response is received from the target controller; If no positive or negative response is received within the preset response time, it is determined that the target controller has not received the reset request; Upon receiving the positive response, the detection result of the faulty object after the target controller performs a reset is obtained; upon receiving the negative response, it is determined that the target controller itself has an anomaly.

[0010] Optionally, determining the reset processing result based on the response and the fault state after reset specifically includes: When the positive response indicates that the detection result of the faulty object after the target controller performs a reset is normal, it is determined that the target controller will no longer output the target fault status after the reset, and the reset request will be stopped. When the positive response indicates that the detection result is abnormal, it is determined that the target controller will continue to output the target fault state after being reset.

[0011] Optional, also includes: When a positive response indicates that the detection result is abnormal or when a negative response is received, the reset request is sent to the target controller again, and the responses corresponding to each reset request are obtained sequentially until the positive response indicates that the detection result is normal or the number of times the reset request is sent reaches a preset number.

[0012] Optional, also includes: When the number of times the reset request is sent reaches the preset number, and the response corresponding to each reset request is either a positive response indicating that the detection result is an abnormal result or a negative response, the reset request is stopped from being sent to the target controller, and an active reset failure signal is sent to the vehicle communication bus. A vehicle maintenance prompt is generated based on the active reset failure signal. The vehicle maintenance prompt is used to indicate that the target controller itself has an abnormality or that the fault of the faulty object has not been eliminated.

[0013] To address the aforementioned technical problems, the present invention also provides an active reset control device for an on-board controller, comprising: The fault monitoring module is used to monitor the target fault status output by the target controller; The reset control module is used to send a reset request to the target controller when the target fault state is detected and the vehicle state meets the preset reset conditions of the target controller, so that the target controller performs a reset and re-detects the fault object corresponding to the target fault state after the reset. The result determination module is used to obtain the target controller's response to the reset request and the fault status after reset, and to determine the reset processing result based on the response and the fault status after reset.

[0014] To address the aforementioned technical problems, the present invention also provides an active reset system for an on-board controller, comprising: a monitoring controller, a vehicle gateway, and a target controller, wherein the monitoring controller is communicatively connected to the target controller through the vehicle gateway; The target controller is used to detect faulty objects and output the target fault status when the faulty object is detected to be abnormal. The monitoring controller is used to monitor the target fault state. When the target fault state is detected and the vehicle state meets the preset reset conditions of the target controller, a reset request is sent to the target controller through the vehicle gateway. The target controller is also configured to perform a reset in response to the reset request, re-detect the faulty object after the reset, and report back to the monitoring controller the response to the reset request and the fault status after the reset. The monitoring controller is also used to determine the reset processing result based on the response and the fault state after the reset.

[0015] Through this invention, when the monitoring controller detects that the target controller outputs a target fault state and the vehicle meets the preset reset conditions, it sends a reset request to the target controller, causing the target controller to perform a reset and re-detect the corresponding fault object. Then, by combining the response to the reset request and the fault state after the reset, the reset processing result is determined. Therefore, the technical problem that the target controller continues to output a fault state after the fault object's state changes and requires manual intervention to recover can be solved. Thus, the target controller can be actively recovered without the need for external diagnostic equipment or a complete vehicle power cycle, improving the timeliness of fault handling and enhancing the user's vehicle usage experience. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 An architecture diagram of an active reset system for an on-board controller provided in an embodiment of the present invention; Figure 2 An architecture diagram of another active reset system for an on-board controller provided in an embodiment of the present invention; Figure 3 A flowchart of an active reset method for an on-board controller provided in an embodiment of the present invention. Detailed Implementation

[0018] 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 embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present invention.

[0019] It should be noted that, in the description of this invention, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. The terms "first," "second," etc., used in this invention are used to distinguish similar objects and are not used to describe a specific order or sequence.

[0020] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] Here, we will first explain some key terms used in the embodiments of the present invention.

[0022] Onboard controller: A controller installed in a vehicle to perform vehicle status monitoring, information processing, or vehicle function control. The onboard controller can be a body controller, brake controller, vehicle gateway, or other vehicle subsystem controller.

[0023] Monitoring controller: An onboard controller used to monitor the target fault status output by the target controller and send a reset request to the target controller when preset reset conditions are met. In specific application scenarios, the monitoring controller can be a Body Control Module (BCM).

[0024] Target controller: The onboard controller monitored by the monitored controller and receiving reset requests. The target controller can detect faulty objects, output a target fault status when an abnormality is detected, and can respond to reset requests by performing hardware or software resets. In specific application scenarios, the target controller can be the brake controller of an Electronic Braking System (EBS).

[0025] Fault object: A component, signal, or moving object detected by the target controller. The target controller determines whether to output a target fault state based on the detection results of the fault object. In a specific application scenario, the fault object is the wheel speed sensor.

[0026] Target fault status: The status output by the target controller after detecting an abnormality in a faulty object, used to characterize the corresponding abnormality. The target fault status can be represented by fault indication messages, faulty object abnormality messages, or other vehicle communication messages.

[0027] Preset reset conditions: Vehicle state conditions that allow the target controller to perform a reset. These conditions are adapted to the vehicle functions performed by the target controller and are used to avoid performing a reset when it is not suitable for the target controller to exit its current operating state. In EBS application scenarios, preset reset conditions include the vehicle speed being zero and the parking brake being active.

[0028] Reset Request: A control message sent by the monitoring controller to the target controller to trigger the target controller to perform a reset. In specific application scenarios, a reset request can be a controller reset request in the Unified Diagnostic Services (UDS), with the service identifier 0x11.

[0029] Response: Information returned by the target controller in response to a reset request, including positive or negative responses. Positive responses can be used to characterize the detection results after the target controller performs a reset, while negative responses can be used to characterize an anomaly in the target controller itself.

[0030] Fault status after reset: The fault status output by the target controller after performing a reset and re-detecting the faulty object. The fault status after reset indicates whether the original target fault status has been eliminated.

[0031] Reset processing result: The processing result determined by the monitoring controller based on the target controller's response to the reset request and the fault status after the reset. The reset processing result may include stopping the reset request, resending the reset request, sending an external active reset failure signal, or generating a vehicle maintenance prompt.

[0032] Vehicles typically have multiple controllers, each responsible for tasks such as vehicle status acquisition, vehicle function control, and fault monitoring. When a target controller detects an anomaly in a relevant sensor, communication signal, or internal operating state, it can record the fault and output the corresponding fault status through the vehicle communication network so that other controllers, instruments, or maintenance equipment can be notified of the anomaly.

[0033] In some application scenarios, the anomalies that cause errors may be transient. For example, wheel speed sensors may briefly malfunction when affected by signal fluctuations. After detecting this anomaly, the brake controller records the wheel speed fault and outputs fault information. Although the anomaly causing the error may disappear within a short period of time, some controllers cannot detect and clear the already maintained fault state during the current operation, and therefore continue to output error information.

[0034] For the aforementioned persistent fault state, a reset command can typically be sent to the controller via an external diagnostic device, or the controller can be restarted by powering the vehicle on and off. This process requires the diagnostic device or driver to perform the operation and may cause multiple controllers in the vehicle to restart simultaneously. Consequently, the relevant vehicle functions cannot be restored promptly, resulting in low convenience for fault handling.

[0035] This invention addresses the problem of timely recovery after a target controller outputs a target fault state. It enables the existing monitoring controller in the vehicle to proactively trigger a target controller reset when preset reset conditions are met, and uses the re-detection results after the target controller reset to determine subsequent processing. The monitoring controller does not need to directly detect the faulty object; it can utilize the existing detection functions of the target controller to determine whether the fault has been eliminated.

[0036] Figure 1 This is an architecture diagram of an active reset system for an on-board controller provided in an embodiment of the present invention.

[0037] This invention provides an active reset system for an on-board controller, which may include: a monitoring controller, a vehicle gateway, and a target controller. The monitoring controller is communicatively connected to the target controller via the vehicle gateway. The target controller is used to detect faulty objects and output a target fault status when an abnormality is detected in the faulty object. The monitoring controller is used to monitor the target fault status and, when the target fault status is detected and the vehicle status meets the preset reset conditions of the target controller, sends a reset request to the target controller via the vehicle gateway. The target controller is also used to perform a reset in response to the reset request, re-detect the faulty object after the reset, and feed back the response to the reset request and the fault status after the reset to the monitoring controller. The monitoring controller is also used to determine the reset processing result based on the response and the fault status after the reset.

[0038] like Figure 1 As shown, the active reset system for the vehicle controller provided in this embodiment of the invention includes a monitoring controller 100, a vehicle gateway 200, and a target controller 300. The monitoring controller 100 is communicatively connected to the target controller 300 through the vehicle gateway 200. The monitoring controller 100 also receives vehicle speed signals and parking brake signals. The target controller 300 is connected to the faulty object and receives the faulty object's status or detection signals.

[0039] In this embodiment of the invention, both the monitoring controller 100 and the target controller 300 are vehicle-mounted controllers. The vehicle gateway 200 is used to forward vehicle communication data between different controllers. The monitoring controller 100 can receive the target fault status output by the target controller 300 through the vehicle gateway 200, and can also send a reset request to the target controller 300 through the vehicle gateway 200. The target controller 300 can return a response and the reset fault status to the monitoring controller 100 through the vehicle gateway 200.

[0040] The target controller 300 detects a faulty object. The faulty object can be a sensor connected to the target controller 300, or a signal or running object monitored by the target controller 300. Figure 1 In this process, the faulty object provides its status or detection signal to the target controller 300. The target controller 300 determines whether the faulty object is abnormal based on the status or detection signal. If an abnormality is detected, a target fault status is generated and sent to the monitoring controller 100 via the vehicle gateway 200.

[0041] The monitoring controller 100 receives vehicle speed signals and parking brake signals to determine whether the vehicle status meets the preset reset conditions. Figure 1 The vehicle speed signal and parking brake signal shown are vehicle status signals in a specific application. For different types of target controllers, the preset reset conditions can be determined according to the vehicle functions performed by the target controller.

[0042] When the monitoring controller 100 detects a target fault state and determines that the vehicle state meets the preset reset conditions, the monitoring controller 100 generates a reset request. The reset request is sent by the monitoring controller 100 to the vehicle gateway 200, and then by the vehicle gateway 200 to the target controller 300. The target controller 300 responds to the reset request and performs a reset. After the reset is completed, the target controller 300 re-detects the faulty object.

[0043] The target controller 300 feeds back two types of information to the monitoring controller 100. The first type of information is the response to the reset request. The second type of information is the fault status after the reset. Figure 1 The data streams for the target fault state, reset request, response, and post-reset fault state are shown separately. The monitoring controller 100 determines the reset processing result based on the response and the post-reset fault state. This allows it to distinguish whether the target controller responded to the reset request and whether the original fault still exists after the target controller is reset.

[0044] In some optional embodiments of the present invention, the monitoring controller 100 can make judgments based on the response to the reset request and the fault status after reset, respectively. The response reflects the target controller's handling of the reset request, and the fault status after reset reflects the result of the target controller re-detecting the faulty object. By jointly determining the reset processing result using both types of information, it is possible to avoid assuming the fault has been eliminated simply because a reset request has been received.

[0045] Through this embodiment of the invention, the monitoring controller 100 in the vehicle can actively trigger the target controller 300 to reset without the need for external diagnostic equipment or a complete vehicle power cycle. After resetting, the target controller 300 re-detects the faulty object, and the monitoring controller 100 determines the subsequent processing based on the re-detected fault state, thereby improving the timeliness of target fault state recovery.

[0046] Figure 2 This is an architecture diagram of another active reset system for an on-board controller provided in an embodiment of the present invention.

[0047] Based on the above embodiments, in this embodiment of the invention, monitoring the target fault state output by the target controller may include: receiving fault indication messages and fault object abnormality messages sent by the target controller; the vehicle state meeting the preset reset conditions of the target controller may include: determining that the vehicle speed is zero and the parking brake is active based on the received vehicle speed signal and parking brake signal.

[0048] The brake controller fault light message corresponds to a fault indication message, and the wheel speed signal abnormality message corresponds to a fault object abnormality message. These two types of messages respectively characterize the fault indication status of the brake controller and the abnormal status of the wheel speed signal. A vehicle speed of zero and the parking brake being active constitute the preset reset condition for the brake controller. This condition causes the brake controller to perform a reset when the vehicle is stationary, reducing the impact on vehicle driving control during the reset process.

[0049] In some optional embodiments of the present invention, the monitoring controller can be a Body Control Module (BCM), the target controller can be the brake controller of an Electronic Braking System (EBS), the fault object can be a wheel speed sensor, the fault indication message can include a brake controller fault light message, and the fault object abnormal message can include a wheel speed signal abnormal message; the body controller does not determine whether the wheel speed sensor is currently normal before sending a reset request, and the reset request is used to trigger the brake controller to re-detect the wheel speed sensor.

[0050] like Figure 2 As shown, the left side displays the vehicle speed signal, parking brake signal, brake controller malfunction indicator light message, and wheel speed signal anomaly message. The vehicle speed signal and parking brake signal are sent to the body controller to determine whether the vehicle is stationary. The brake controller malfunction indicator light message and wheel speed signal anomaly message are sent to the body controller to indicate that the brake controller is outputting a wheel speed-related target fault state.

[0051] The body control controller can receive the aforementioned signals and messages. When the body control controller determines that the vehicle speed is zero, the parking brake is active, and receives a brake controller fault light message and a wheel speed signal abnormality message, the body control controller initiates an active reset process. Zero vehicle speed can be represented by the zero speed state in the vehicle speed signal, and the active parking brake can be represented by the handbrake engaged state in the parking brake signal.

[0052] In this embodiment of the invention, the body controller is not directly connected to the wheel speed sensors, nor does it determine whether the wheel speed sensors have recovered based on their current detection values. The body controller only monitors the target fault state output by the brake controller and sends a reset request to the brake controller when the vehicle is stationary. After resetting, the brake controller re-executes its existing wheel speed sensor detection function.

[0053] If the wheel speed sensor malfunction is transient and has resolved after the brake controller resets, the brake controller will return to normal upon re-detecting the wheel speed sensor and will no longer output the corresponding fault status. If the wheel speed sensor remains malfunctioning, the brake controller will re-detect and continue to output the corresponding fault status. Therefore, the body controller does not need to add wheel speed sensor detection logic; it can utilize the brake controller's own detection function to determine whether the fault has been eliminated.

[0054] In this embodiment of the invention, the body controller can send a controller reset request from the unified diagnostic service to the brake controller through the vehicle gateway to trigger the brake controller to perform a hardware reset or software reset, and re-detect the wheel speed sensor after the reset is completed.

[0055] Specifically, the body controller generates a controller reset request in the Unified Diagnostic Services (UDS). The service identifier for this request can be 0x11. The body controller sends this request to the vehicle gateway, which forwards it to the brake controller. The brake controller performs either a hardware reset or a software reset, depending on the reset type it supports.

[0056] Figure 2 In this process, the controller reset request is sent from the body controller to the brake controller via the vehicle gateway. The brake controller returns a positive or negative response, which is then returned to the body controller via the vehicle gateway. The fault status after the brake controller reset is also returned to the body controller via the vehicle gateway.

[0057] Through this embodiment of the invention, the brake controller can be automatically reset by the vehicle's existing body control system without connecting to an external diagnostic tool. The reset is performed only on the brake controller and does not require powering all controllers in the vehicle back on or off.

[0058] It should be noted that the embodiments of the present invention can also be used for other vehicle subsystem controllers. The target controller can be a controller that monitors other sensors and outputs fault status, or a controller that continuously reports errors due to its own abnormality but can still receive and execute reset requests. After the monitoring controller detects the corresponding fault status output by the target controller, it can trigger a reset according to the preset reset conditions corresponding to the target controller, and determine the processing result based on the fault status after the reset.

[0059] In another specific application scenario, the target controller can be a camera controller, the faulty object can be a camera used for vehicle collision perception, and the monitoring controller can be a body controller, driver assistance controller, or vehicle domain controller. The camera is used to acquire images of the vehicle's surrounding environment and provide image data or camera status information to the camera controller. The camera controller is used to detect the camera's operating status and output a target fault status when a camera malfunction is detected.

[0060] Camera malfunctions can include image data interruption, invalid image data, camera communication failures, or camera initialization errors. Upon detecting these malfunctions, the camera controller can continuously output the camera fault status via the vehicle communication network. Camera malfunctions may be caused by transient communication interference, power supply fluctuations, or abnormal internal camera conditions. Even if the factors causing the malfunction have disappeared, the camera controller may retain its original fault state, preventing the collision perception function from recovering in a timely manner.

[0061] The monitoring controller monitors the camera fault status output by the camera controller and acquires vehicle status information. When the vehicle status meets the preset reset conditions corresponding to the camera controller, the monitoring controller sends a reset request to the camera controller. The preset reset conditions can be determined based on the vehicle functions performed by the camera. For example, for cameras involved in collision detection while the vehicle is in motion, a reset can be performed when the vehicle is stationary; for vehicles with multiple cameras where the remaining cameras can still provide relevant environmental information, a reset can also be performed when the camera controller allows temporary withdrawal from its current operating state.

[0062] The camera controller responds to a reset request by performing a hardware or software reset and reinitializes the camera after the reset. The camera controller then reacquires the image data or status information output by the camera to re-detect whether the camera is still malfunctioning. The monitoring controller does not need to directly determine the internal operating state of the camera; instead, it triggers a camera controller reset, allowing the camera controller to utilize its existing camera detection functions to re-determine the camera's state.

[0063] If the camera controller can acquire image data normally after resetting and no longer outputs a camera fault status, the monitoring controller determines that the camera fault has been eliminated and stops sending reset requests. If the camera controller still cannot acquire image data normally after resetting, or continues to output a camera fault status, the monitoring controller determines that the camera fault has not been eliminated. The monitoring controller can send reset requests again within a preset number of times; if the fault is not resolved after the preset number of times, it stops sending reset requests and outputs vehicle maintenance information to prompt for camera or camera controller maintenance.

[0064] Through the embodiments of the present invention, the camera controller can be actively reset without connecting to external diagnostic equipment and without powering the entire vehicle back on and off, so that the camera controller can be reinitialized and detect the collision perception camera, thereby improving the timeliness of camera function recovery after the momentary anomaly disappears.

[0065] The embodiments of the present invention provide an active reset method for an on-board controller. The method is described in detail below in conjunction with the execution flow of the active reset method for the on-board controller.

[0066] Figure 3 A flowchart of an active reset method for an on-board controller provided in an embodiment of the present invention.

[0067] like Figure 3 As shown, the active reset method for the vehicle controller provided in this embodiment of the invention is applied to the vehicle's monitoring controller and may include steps S301 to S303.

[0068] S301: Monitor the target fault status output by the target controller.

[0069] In practice, the monitoring controller can receive fault messages sent by the target controller through the vehicle communication network, and determine whether the target controller should output a target fault status based on the fault identifier or fault status field in the fault message. The target fault status corresponds to the fault object detected by the target controller.

[0070] In EBS (Electronic Brake Controller) applications, the body controller receives brake controller fault light messages and wheel speed signal anomaly messages. The brake controller fault light message indicates a current fault in the brake controller output, while the wheel speed signal anomaly message indicates an anomaly related to the wheel speed sensor. When the body controller detects these messages, it determines the target fault state of the brake controller output.

[0071] Monitoring of the target fault status can be continuous or performed after the vehicle is powered on, according to the vehicle communication message sending cycle. The specific monitoring cycle can be consistent with the target controller fault message sending cycle.

[0072] S302: When a target fault state is detected and the vehicle state meets the preset reset conditions of the target controller, a reset request is sent to the target controller so that the target controller performs a reset and re-detects the fault object corresponding to the target fault state after the reset.

[0073] In practical implementation, for S302, after detecting a target fault state, the monitoring controller acquires the vehicle status signal and determines whether the vehicle meets the preset reset conditions based on the vehicle status signal. The preset reset conditions are determined according to the vehicle functions undertaken by the target controller. Meeting the preset reset conditions indicates that the current vehicle state allows the target controller to temporarily exit its current operation and complete a restart.

[0074] In EBS (Electronic Braking System) applications, the body controller acquires vehicle speed and parking brake signals. When the vehicle speed signal indicates zero speed and the parking brake signal indicates that the parking brake is active, the body controller determines that the vehicle is in a parked state. In this state, the body controller generates a controller reset request and sends it to the brake controller via the vehicle gateway.

[0075] Upon receiving a controller reset request, the brake controller performs a hardware or software reset. After completing the reset, the brake controller re-detects the wheel speed sensors. This application does not require the body controller to determine whether the wheel speed sensors are currently functioning correctly before sending a reset request. This process enables the body controller to trigger the brake controller to re-perform fault detection even when direct detection capability of the wheel speed sensors is lacking.

[0076] S303: Obtain the target controller's response to the reset request and the fault status after reset, and determine the reset processing result based on the response and the fault status after reset.

[0077] In practical implementation, for S303, after sending a reset request, the monitoring controller receives the response from the target controller and obtains the fault status output by the target controller after performing the reset. The monitoring controller can determine the target controller's response to the reset request based on the response, and determine whether the target controller still detects the anomaly after re-detecting the faulty object based on the fault status after the reset.

[0078] When the target controller responds positively to the reset request, and the post-reset fault status indicates that the original target fault status has been eliminated, the monitoring controller can determine that the active reset has achieved its recovery purpose and stop sending reset requests. When the target controller responds positively to the reset request, but the post-reset fault status still indicates that the faulty object is abnormal, the monitoring controller can determine that the target controller has performed a reset, but the abnormality of the faulty object has not yet been eliminated.

[0079] The monitoring controller can also determine the appropriate processing result based on a negative response or failure to receive a response within a preset response time. The preset response time is used to limit the waiting time for the target controller's response. This time can be determined based on the target controller's diagnostic response time, the vehicle gateway forwarding time, and the message cycle of the vehicle communication network.

[0080] In practical applications, the preset response time can be set to 100 milliseconds, 500 milliseconds, or 1 second. For vehicles with short diagnostic response times and low network load, a shorter time can be used; for vehicles where the target controller startup or gateway forwarding takes a long time, a longer time can be used. Specific values ​​can be calibrated through vehicle communication testing.

[0081] In some implementations, before sending a reset request, the monitoring controller can determine whether the current fault belongs to a preset actively resettable fault based on the fault identifier corresponding to the target fault state. Preset actively resettable faults can include faults that can be re-detected after the target controller is reset, and whose reset process does not affect the current vehicle safety status. If the current fault does not belong to a preset actively resettable fault, the monitoring controller does not send a reset request and outputs vehicle maintenance information.

[0082] Pre-configured active resettable faults can be set according to the fault type of the target controller, the reset functions supported by the target controller, and vehicle safety requirements. For example, faults caused by transient sensor signal abnormalities that can be re-detected by the target controller after a reset can be configured as active resettable faults; permanent hardware faults that the target controller cannot recover from by a reset can be configured as non-active resettable faults. This reduces the need to repeatedly send reset requests for faults that are not suitable for automatic recovery.

[0083] In some implementations, after receiving a positive response from the target controller, the monitoring controller can also detect whether the target controller resumes outputting periodic messages within a preset online duration. The preset online duration can be determined based on the target controller's reset and initialization times, for example, it can be set to 1 second, 3 seconds, or 5 seconds, and calibrated through the target controller's startup test. If the target controller resumes outputting periodic messages within the preset online duration, it is determined that the target controller has completed the reset; if the target controller does not resume outputting periodic messages within the preset online duration, it is determined that the target controller has not completed the reset normally, and a corresponding reset error result is output.

[0084] Through steps S301 to S303, the monitoring controller actively triggers the target controller to reset under safe vehicle conditions, and determines the result based on the target controller's response and the fault status after the reset, thereby reducing the need for external diagnostic equipment or vehicle power cycling.

[0085] Based on the above embodiments, in this embodiment of the invention, monitoring the target fault state output by the target controller in S301 may include: receiving fault indication messages and fault object abnormality messages sent by the target controller. The vehicle state meeting the preset reset conditions of the target controller in S302 may include: determining that the vehicle speed is zero and the parking brake is active based on the received vehicle speed signal and parking brake signal.

[0086] Specifically, the brake controller fault light message corresponds to a fault indication message, and the wheel speed signal abnormality message corresponds to a fault object abnormality message. These two types of messages respectively characterize the brake controller's fault indication state and the wheel speed signal abnormality state. A vehicle speed of zero and the parking brake being active constitute the preset reset condition for the brake controller. This condition causes the brake controller to perform a reset when the vehicle is stationary, reducing the impact on vehicle driving control during the reset process.

[0087] Furthermore, the monitoring controller can be the body controller, the target controller can be the brake controller, the faulty object can be the wheel speed sensor, the fault indication message can include the brake controller fault light message, and the faulty object abnormal message can include the wheel speed signal abnormal message. Sending a reset request to the target controller in S302 can include: the body controller not determining whether the wheel speed sensor is currently functioning correctly before sending the reset request; the reset request is used to trigger the brake controller to re-detect the wheel speed sensor.

[0088] Specifically, vehicle speed and parking brake signals are sent to the body controller to determine whether the vehicle is stationary. Brake controller fault light messages and wheel speed signal abnormality messages are sent to the body controller to indicate that the brake controller is outputting a wheel speed-related target fault state.

[0089] The body control controller can receive the aforementioned signals and messages. When the body control controller determines that the vehicle speed is zero, the parking brake is active, and receives a brake controller fault light message and a wheel speed signal abnormality message, the body control controller initiates an active reset process. Zero vehicle speed can be represented by the zero speed state in the vehicle speed signal, and the active parking brake can be represented by the handbrake engaged state in the parking brake signal.

[0090] In this embodiment of the invention, the body controller is not directly connected to the wheel speed sensors, nor does it determine whether the wheel speed sensors have recovered based on their current detection values. The body controller only monitors the target fault state output by the brake controller and sends a reset request to the brake controller when the vehicle is stationary. After resetting, the brake controller re-executes its existing wheel speed sensor detection function.

[0091] In this embodiment of the invention, sending a reset request to the target controller in step S302 may include: the body controller sending a controller reset request from the unified diagnostic service to the brake controller via the vehicle gateway to trigger the brake controller to perform a hardware reset or software reset, and then re-detecting the wheel speed sensors after the reset is completed. The service identifier for this request can be 0x11. The body controller sends the request to the vehicle gateway, which forwards the request to the brake controller. The brake controller performs a hardware reset or software reset according to the reset type it supports.

[0092] In this embodiment of the invention, obtaining the target controller's response to the reset request in S303 may include: within a preset response time after sending the reset request, detecting whether a positive or negative response is received from the target controller; if no positive or negative response is received within the preset response time, determining that the target controller has not received the reset request; if a positive response is received, obtaining the detection result of the faulty object after the target controller performs a reset; and if a negative response is received, determining that the target controller itself has an abnormality.

[0093] In this embodiment of the invention, the monitoring controller starts a response timer after sending a reset request. Before the response timer reaches a preset response duration, the monitoring controller checks whether the target controller returns a positive or negative response.

[0094] In the first scenario, no positive or negative response is received within the preset response time. The monitoring controller, according to the solution in this application, determines that the target controller has not received the reset request. The monitoring controller can record this situation as a timeout failure.

[0095] In the second scenario, the monitoring controller receives a positive response. A positive response indicates the detection result of the faulty object after the target controller performs a reset. The detection result can be either normal or abnormal.

[0096] In the third scenario, the monitoring controller receives a negative response. A negative response indicates that the target controller itself has an anomaly. In this case, the target controller cannot complete the expected processing according to this reset request.

[0097] Furthermore, determining the reset processing result based on the response and the fault state after reset can include: when the positive response indicates that the detection result of the faulty object after the target controller performs a reset is normal, determining that the target controller will no longer output the target fault state after reset and will stop sending reset requests; when the positive response indicates that the detection result is abnormal, determining that the target controller will continue to output the target fault state after reset.

[0098] A positive response indicates a normal result, meaning that the original anomaly was not detected when the target controller re-detected the faulty object after a reset. In this case, the target controller no longer outputs the target fault status, and the monitoring controller stops sending reset requests.

[0099] A positive response indicates that the target controller has performed a reset, but the anomaly was still detected when the faulty object was re-detected. In this case, the target controller continues to output the target fault status. This result differs from a negative response. A positive response with an anomalous detection result indicates that a reset has been performed but the faulty object is still abnormal, while a negative response indicates that the target controller itself has an anomaly.

[0100] The above classification allows us to distinguish between whether a reset action has been performed and whether the fault has been eliminated. This distinction helps the monitoring controller determine subsequent actions based on different causes and avoids misjudging a target controller that continues to report errors after a reset as if the reset was not performed.

[0101] In some implementations, the monitoring controller can determine the reset result based on the response to the reset request, the target controller's resumption of output periodic messages, and the fault status after the reset. Specifically, if a positive response is received and the target controller resumes output periodic messages within a preset online duration, and the target controller no longer outputs the target fault status, it is determined that the target controller has completed the reset and the fault has been eliminated; if a positive response is received and the target controller resumes output periodic messages but continues to output the target fault status, it is determined that the target controller has completed the reset but the fault has not been eliminated; if a positive response is received but the target controller does not resume output periodic messages within the preset online duration, it is determined that the target controller has not returned to normal online status after the reset.

[0102] By using the response to the reset request, the target controller's re-on status, and the fault status after the reset as different judgment criteria, it is possible to distinguish between different results such as the reset request being processed but the target controller not being online normally, the target controller being reset but the fault still existing, and the target controller being reset and the fault being eliminated. This provides a basis for subsequently stopping the reset, resending the reset request, or outputting vehicle maintenance information.

[0103] Based on the above embodiments, the active reset method for the vehicle controller provided in this embodiment of the invention may further include: when the positive response characterization detection result is an abnormal result or a negative response is received, sending a reset request to the target controller again, and sequentially obtaining the response corresponding to each reset request, until the positive response characterization detection result is a normal result or the number of reset requests sent reaches a preset number.

[0104] In this embodiment of the invention, if the target controller still detects an abnormality in the faulty object after performing a reset, or if the target controller returns a negative response, the monitoring controller sends a reset request again. The monitoring controller counts the number of reset requests sent and sequentially obtains the response corresponding to each reset request.

[0105] If any positive response indicates that the detection result of the faulty object is normal, the monitoring controller stops sending reset requests. If none of the responses indicate that the faulty object has returned to normal, the monitoring controller continues to send reset requests until the preset number of times has been reached.

[0106] The preset number of reset attempts can be determined based on the number of times the target controller is allowed to reset repeatedly. For example, three reset requests can be sent consecutively, meaning the preset number of reset attempts could be three. Using a limited number of attempts provides an opportunity for recovery from transient anomalies while preventing the target controller from continuously resetting repeatedly.

[0107] Furthermore, the active reset method for the vehicle controller provided in this embodiment of the invention may further include: when the number of reset requests sent reaches a preset number, and the response corresponding to each reset request is a positive or negative response indicating that the detection result is abnormal, stopping the sending of reset requests to the target controller and sending an active reset failure signal to the vehicle communication bus; generating a vehicle maintenance prompt based on the active reset failure signal, the vehicle maintenance prompt being used to indicate that the target controller itself has an abnormality or that the fault of the faulty object has not been eliminated.

[0108] For example, if a reset request is sent three times, and each response is either a positive response indicating that the faulty object is still abnormal or a negative response indicating that the target controller itself is abnormal, the monitoring controller stops sending reset requests. The monitoring controller then sends an active reset failure signal to the vehicle communication bus.

[0109] An active reset failure signal can be received by the vehicle's instrument cluster, infotainment system, or other alerting components and used to generate a vehicle maintenance alert. This alert prompts the user to check the target controller or faulty object. A positive response indicating an abnormal detection result may indicate that the faulty object's fault has not been resolved. A negative response may indicate a problem with the target controller itself.

[0110] In the EBS wheel speed fault scenario described in the above embodiment, if the wheel speed sensor fault is still detected after the brake controller is reset, the brake controller will continue to report an error. The body controller stops requesting resets after three reset requests and sends an active reset failure signal. The vehicle can then prompt the user to inspect the wheel speed sensor or brake controller.

[0111] By using a limited number of reset attempts, stop requests, and maintenance prompts, invalid resets can be prevented from continuously occupying vehicle communication resources, and faults that cannot be automatically recovered can be transferred to maintenance processing.

[0112] In some implementations, the monitoring controller can employ different follow-up actions based on different reset results. If no response is received within a preset response time, the monitoring controller can resend the reset request after the vehicle communication network returns to normal. If the target controller returns a negative response, the monitoring controller can stop the current reset and record the corresponding anomaly information. If the target controller completes the reset but continues to output the target fault status, the monitoring controller can stop the reset after a preset number of attempts and generate a vehicle maintenance prompt for the faulty object.

[0113] The different follow-up processes described above allow for corresponding handling of unacknowledged reset requests, abnormalities in the target controller itself, and persistent abnormalities in the faulty object, avoiding treating different causes as the same type of reset failure.

[0114] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method.

[0115] It should be noted that in the embodiments of the active reset method for the vehicle controller of the present invention, some steps or features may be omitted or not executed. The division of hardware or software functional modules for ease of explanation is not the only implementation of the active reset method for the vehicle controller provided in the embodiments of the present invention.

[0116] The above details various embodiments of the active reset method for the vehicle controller. Based on this, the present invention also discloses an active reset device, electronic device, computer-readable storage medium, and computer program product for the vehicle controller corresponding to the above method.

[0117] The active reset device for an on-board controller provided in this embodiment of the invention includes: a fault monitoring module for monitoring the target fault state output by the target controller; a reset control module for sending a reset request to the target controller when the target fault state is detected and the vehicle state meets the preset reset conditions of the target controller, so that the target controller performs a reset and re-detects the fault object corresponding to the target fault state after the reset; and a result determination module for obtaining the target controller's response to the reset request and the fault state after the reset, and determining the reset processing result based on the response and the fault state after the reset.

[0118] In this embodiment of the invention, the fault monitoring module monitors the target fault state output by the target controller, which may include: receiving fault indication messages and fault object abnormal messages sent by the target controller; the vehicle state meets the preset reset conditions of the target controller, which may include: determining that the vehicle speed is zero and the parking brake is active based on the received vehicle speed signal and parking brake signal.

[0119] In this embodiment of the invention, the monitoring controller can be the body controller, the target controller can be the brake controller, the fault object can be the wheel speed sensor, the fault indication message can include the brake controller fault light message, and the fault object abnormal message can include the wheel speed signal abnormal message; the reset control module sends a reset request to the target controller, which may include: the body controller does not determine whether the wheel speed sensor is currently normal before sending the reset request, and the reset request is used to trigger the brake controller to re-detect the wheel speed sensor.

[0120] In this embodiment of the invention, the reset control module sending a reset request to the target controller may include: The body controller sends a controller reset request from the unified diagnostic service to the brake controller through the vehicle gateway to trigger the brake controller to perform a hardware reset or software reset, and then re-detects the wheel speed sensors after the reset is completed.

[0121] In this embodiment of the invention, the result determination module obtains the target controller's response to the reset request, which may include: within a preset response time after sending the reset request, detecting whether a positive or negative response is received from the target controller; if no positive or negative response is received within the preset response time, determining that the target controller has not received the reset request; if a positive response is received, obtaining the detection result of the faulty object after the target controller performs a reset; and if a negative response is received, determining that the target controller itself has an abnormality.

[0122] In this embodiment of the invention, the result determination module determines the reset processing result based on the response and the fault state after reset, which may include: when the positive response indicates that the detection result of the fault object after the target controller performs a reset is normal, determining that the target controller will no longer output the target fault state after reset and stopping sending reset requests; when the positive response indicates that the detection result is abnormal, determining that the target controller will continue to output the target fault state after reset.

[0123] In this embodiment of the invention, the reset control module can also be used to send a reset request to the target controller again when the positive response characterization detection result is an abnormal result or a negative response is received, and sequentially obtain the response corresponding to each reset request until the positive response characterization detection result is a normal result or the number of reset requests sent reaches a preset number.

[0124] In this embodiment of the invention, the result determination module can also be used to generate an active reset failure result when the number of transmissions reaches a preset number and none of the results are recovered, at which point the reset control module stops sending reset requests. The result determination module can also send an active reset failure signal to the vehicle communication bus, allowing a prompting component in the vehicle to generate a vehicle maintenance prompt.

[0125] It should be noted that in the various embodiments of the active reset device for the vehicle controller provided in this invention, the division of units is only a logical functional division, and other division methods can be used. The connection between different units can be electrical, mechanical, or other connection methods. Separate units can be located in the same physical location or distributed across multiple network nodes. Each unit can be implemented in hardware or as a software functional unit. That is, according to actual needs, some or all of the units provided in this invention can be selected and corresponding connection or integration methods can be used to achieve the purpose of the solution in this invention.

[0126] Since the embodiments of the apparatus and the embodiments of the method correspond to each other, please refer to the description of the embodiments of the method for the embodiments of the apparatus, which will not be repeated here.

[0127] The electronic device provided in the embodiments of the present invention may include: a memory for storing a computer program; and a processor for executing the computer program to implement the steps of the active reset method for the vehicle controller provided in any of the above embodiments.

[0128] The processor may include one or more processing cores, such as a 3-core processor or an 8-core processor. The processor may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor may also include a main processor and coprocessors. The main processor, also known as the Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor may integrate a Graphics Processing Unit (GPU) responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor may also include an Artificial Intelligence (AI) processor for handling computational operations related to machine learning.

[0129] The memory may include one or more computer-readable storage media, which may be non-transitory. The memory may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory is used to store at least the following computer program, which, after being loaded and executed by the processor, is capable of implementing the relevant steps in the active reset method of the vehicle controller disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory may also include an operating system and data, and the storage method may be temporary or permanent storage. The operating system may be Windows or other types of operating systems. The data may include, but is not limited to, the data involved in the active reset method of the vehicle controller described above.

[0130] In some embodiments, the electronic device provided in this invention may further include a display screen, a power supply, a communication interface, an input / output interface, a sensor, and a communication bus.

[0131] Those skilled in the art will understand that the above structure does not constitute a limitation on the electronic device provided in the embodiments of the present invention, and may include more or fewer components.

[0132] The electronic device provided in this embodiment of the invention includes a memory and a processor. When the processor executes the program stored in the memory, it can implement the steps of the active reset method of the vehicle controller provided in the above embodiment, and the effect is the same as above.

[0133] This invention provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, can implement the steps of the active reset method for the vehicle controller provided in any of the above embodiments.

[0134] The computer-readable storage medium may include 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.

[0135] For a description of the computer-readable storage medium provided in the embodiments of the present invention, please refer to the above method embodiments. Its effect is the same as the active reset method of the vehicle controller provided in the embodiments of the present invention, and the present invention will not repeat it here.

[0136] This invention provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the active reset method for the vehicle controller provided in any of the above embodiments.

[0137] For a description of the computer program product provided in the embodiments of the present invention, please refer to the above method embodiments. The effects it achieves are the same as the active reset method of the vehicle controller provided in the embodiments of the present invention, and the present invention will not elaborate further here.

[0138] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. 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 implementations should not be considered beyond the scope of this invention.

[0139] The above provides a detailed description of the active reset control method, device, and system for an on-board controller provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only intended to help understand the method and core ideas of the present invention. It should be noted that those skilled in the art can make various improvements and modifications to the present invention without departing from its principles, and these improvements and modifications also fall within the protection scope of the present invention.

Claims

1. An active reset control method for an on-board controller, characterized in that, Monitoring controllers used in vehicles include: Monitor the target fault status output by the target controller; When the target fault state is detected and the vehicle state meets the preset reset conditions of the target controller, a reset request is sent to the target controller so that the target controller performs a reset and re-detects the fault object corresponding to the target fault state after the reset. Obtain the target controller's response to the reset request and the fault status after reset, and determine the reset processing result based on the response and the fault status after reset.

2. The active reset control method for the vehicle controller according to claim 1, characterized in that, The target fault status output by the monitoring target controller includes: Receive fault indication messages and fault object abnormality messages sent by the target controller; The vehicle state satisfies the preset reset conditions of the target controller, including: Based on the received vehicle speed signal and parking brake signal, it is determined that the vehicle speed is zero and the parking brake is active.

3. The active reset control method for the vehicle controller according to claim 2, characterized in that, The monitoring controller is a body controller, the target controller is a brake controller, the fault object is a wheel speed sensor, the fault indication message includes a brake controller fault light message, and the fault object abnormal message includes a wheel speed signal abnormal message. Sending a reset request to the target controller includes: The body controller does not determine whether the wheel speed sensor is currently functioning properly before sending the reset request. The reset request is used to trigger the brake controller to re-detect the wheel speed sensor.

4. The active reset control method for the vehicle controller according to claim 3, characterized in that, Sending a reset request to the target controller includes: The body controller sends a controller reset request from the unified diagnostic service to the brake controller through the vehicle gateway to trigger the brake controller to perform a hardware reset or software reset, and then re-detects the wheel speed sensor after the reset is completed.

5. The active reset control method for the vehicle controller according to claim 1, characterized in that, The step of obtaining the target controller's response to the reset request includes: Within a preset response time after sending the reset request, detect whether a positive or negative response is received from the target controller; If no positive or negative response is received within the preset response time, it is determined that the target controller has not received the reset request; Upon receiving the positive response, the detection result of the faulty object after the target controller performs a reset is obtained; upon receiving the negative response, it is determined that the target controller itself has an anomaly.

6. The active reset control method for the vehicle controller according to claim 5, characterized in that, The step of determining the reset processing result based on the response and the fault state after reset specifically includes: When the positive response indicates that the detection result of the faulty object after the target controller performs a reset is normal, it is determined that the target controller will no longer output the target fault status after the reset, and the reset request will be stopped. When the positive response indicates that the detection result is abnormal, it is determined that the target controller will continue to output the target fault state after being reset.

7. The active reset control method for the vehicle controller according to claim 6, characterized in that, Also includes: When a positive response indicates that the detection result is abnormal or when a negative response is received, the reset request is sent to the target controller again, and the responses corresponding to each reset request are obtained sequentially until the positive response indicates that the detection result is normal or the number of times the reset request is sent reaches a preset number.

8. The active reset control method for the vehicle controller according to claim 7, characterized in that, Also includes: When the number of times the reset request is sent reaches the preset number, and the response corresponding to each reset request is either a positive response indicating that the detection result is an abnormal result or a negative response, the reset request is stopped from being sent to the target controller, and an active reset failure signal is sent to the vehicle communication bus. A vehicle maintenance prompt is generated based on the active reset failure signal. The vehicle maintenance prompt is used to indicate that the target controller itself has an abnormality or that the fault of the faulty object has not been eliminated.

9. An active reset control device for an on-board controller, characterized in that, include: The fault monitoring module is used to monitor the target fault status output by the target controller; The reset control module is used to send a reset request to the target controller when the target fault state is detected and the vehicle state meets the preset reset conditions of the target controller, so that the target controller performs a reset and re-detects the fault object corresponding to the target fault state after the reset. The result determination module is used to obtain the target controller's response to the reset request and the fault status after reset, and to determine the reset processing result based on the response and the fault status after reset.

10. An active reset system for an on-board controller, characterized in that, include: The system includes a monitoring controller, a vehicle gateway, and a target controller, wherein the monitoring controller is communicatively connected to the target controller via the vehicle gateway. The target controller is used to detect faulty objects and output the target fault status when the faulty object is detected to be abnormal. The monitoring controller is used to monitor the target fault state. When the target fault state is detected and the vehicle state meets the preset reset conditions of the target controller, a reset request is sent to the target controller through the vehicle gateway. The target controller is also configured to perform a reset in response to the reset request, re-detect the faulty object after the reset, and report back to the monitoring controller the response to the reset request and the fault status after the reset. The monitoring controller is also used to determine the reset processing result based on the response and the fault state after the reset.

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