Device for detecting a fault of a control device and obtaining information related to the fault

Abstract

This disclosure relates to an apparatus for detecting control device malfunctions and obtaining malfunction-related information. A control apparatus for reporting malfunctions related to vehicle control is proposed. The control apparatus includes a transceiver for transmitting malfunction-related data, a memory for storing information related to a predefined malfunction list and one or more internal variables corresponding to each malfunction, and a processor that detects whether a malfunction included in the predefined malfunction list has occurred, obtains the values ​​of one or more internal variables corresponding to the detected malfunction when a malfunction is detected, and sends the obtained values ​​of one or more internal variables to another apparatus.

Description

Technical Field

[0001] This disclosure relates to an apparatus and method for detecting control device faults and obtaining fault-related information. More specifically, this disclosure relates to an apparatus and method that matches each predefined fault of the control device with associated information, and when a control device fault is detected, sends information related to the detected fault. Background Technology

[0002] Vehicle electronic control systems are constantly evolving. Therefore, the role of the Body Domain Controller (BDC), which comprehensively controls various functions within the vehicle, is becoming increasingly important. The BDC controls various body-related functions, such as door locking and unlocking, lighting system control, window and sunroof control, vehicle safety and alarm systems, vehicle access and ignition systems, etc., and exchanges information with another Electronic Control Unit (ECU) via Controller Area Network (CAN) communication.

[0003] Because the BDC (Browser Control Center) operates in conjunction with numerous sensors and actuators within the vehicle, the complexity of its hardware and software is increasing. In particular, as vehicle functionality shifts towards a software-centric approach, control logic becomes more diverse, and with advancements in control unit performance, more precise operation is required. However, this development has led to the problem of difficulty in detecting BDC malfunctions.

[0004] Typically, a vehicle's electronic control system records diagnostic codes (DTCs) via diagnostic functions and uses these functions to sense abnormal conditions. However, simply recording DTC codes often makes it difficult to identify the exact cause of intermittent fault codes (BDCs). For example, problems such as signal errors or temporary communication failures that occur only under specific conditions may not result in an immediate DTC recording, or the recorded codes alone may not be sufficient to accurately analyze the cause of the problem. Furthermore, such faults are not easily reproducible; therefore, finding the root cause and designing countermeasures requires considerable time and cost.

[0005] Therefore, when BDC (Browser Control Center) faults occur intermittently or are difficult to reproduce, existing DTC-based diagnostic methods alone are insufficient for performing adequate analysis. With the increasing software-based nature of vehicle control and the expanding role of BDC, this problem is becoming an increasingly important task. Consequently, the demand for technologies capable of more accurate fault detection and analysis is growing. Summary of the Invention

[0006] Based on the foregoing background, this disclosure proposes an apparatus designed to detect faults in a control device and obtain information related to the detected faults.

[0007] The problems to be solved by this disclosure are not limited to those described above. Other problems not described above will be understood by those skilled in the art through the following description of this disclosure.

[0008] In one general aspect, a control device for reporting faults related to vehicle control includes: a transceiver configured to transmit and receive fault-related data; a memory configured to store information related to a predefined fault list and one or more internal variables corresponding to each fault in the predefined fault list; and a processor configured to: detect whether a fault included in the predefined fault list has occurred; upon detecting the occurrence of the fault, obtain values ​​of one or more internal variables corresponding to the detected fault; and transmit the obtained values ​​of the one or more internal variables to another device, wherein each fault in the predefined fault list is set to correspond to one or more internal variables, and wherein the one or more internal variables include at least one variable defined or used in the calculation process for vehicle control of the control device.

[0009] The processor can also be configured to analyze the fault using the values ​​of the one or more internal variables obtained.

[0010] The processor may also be configured to update at least one of the predefined fault list, the one or more internal variables corresponding to the fault, or the conditions for detecting the occurrence of the fault.

[0011] The processor can also be configured to detect whether a fault has occurred based on the values ​​of one or more internal variables corresponding to each fault, or changes in the values ​​of one or more internal variables.

[0012] The processor can also be configured to detect whether a fault has occurred based on the state of the driver or component corresponding to each fault.

[0013] In another general aspect, a control device for reporting faults related to vehicle control includes: a transceiver configured to transmit and receive fault-related data; a memory configured to store information related to a predefined fault list and trigger signals, or one or more internal variables corresponding to each fault in the predefined fault list; and a processor configured to: control the transceiver to transmit a trigger signal to a central communication device for requesting internal variables corresponding to the fault; receive from the central communication device requests for one or more internal variables related to a fault corresponding to the trigger signal; obtain values ​​of the requested one or more internal variables; and control the transceiver to transmit the obtained values ​​of the internal variables to the central communication device, wherein each fault in the predefined fault list is set to correspond to one or more internal variables, and wherein the one or more internal variables include at least one variable defined or used in the calculation process for vehicle control of the control device.

[0014] The processor can also be configured to analyze the fault using the values ​​of the one or more internal variables obtained.

[0015] The processor may also be configured to update at least one of the predefined fault list, the one or more internal variables corresponding to the fault, or the conditions for detecting the occurrence of the fault.

[0016] The processor can also be configured to detect whether a fault has occurred based on the values ​​of one or more internal variables corresponding to each fault, or changes in the values ​​of one or more internal variables.

[0017] The processor can also be configured to detect whether a fault has occurred based on the state of the driver or component corresponding to each fault.

[0018] In another general aspect, a communication device for reporting faults related to vehicle control includes: a transceiver configured to transmit and receive fault-related data; a memory configured to store information related to a signal for triggering a request for a fault-related internal variable and one or more fault-related internal variables corresponding to the signal; and a processor configured to: control the transceiver to receive the signal for triggering the request for the fault-related internal variable from a control device; identify a fault indicated by the received signal or one or more internal variables related to the fault; control the transceiver to send a request for the one or more internal variables to the control device; and control the transceiver to receive values ​​of the one or more internal variables from the control device, wherein the fault is set to correspond to one or more internal variables, and wherein the one or more internal variables include at least one variable defined or used in the calculation process for vehicle control of the control device.

[0019] The processor can also be configured to analyze the fault using the values ​​of the one or more internal variables.

[0020] The solutions described above are part of the embodiments of this disclosure. Based on the detailed description of this disclosure below, various solutions other than those described above can be derived and understood.

[0021] This disclosure has the following effects.

[0022] This disclosure can effectively improve the processes of collecting fault-related data, analyzing faults, and establishing countermeasures by sending information related to the faults of the control device to an external server or the like.

[0023] Furthermore, this disclosure can analyze errors in the data processing process within the control device by analyzing internal variables in the data processing process related to the fault of the control device, rather than relying on the simple recording of DTC codes.

[0024] The effects of this disclosure are not limited to those described above. Those skilled in the art will understand from the following description of this disclosure other effects not described above. Attached Figure Description

[0025] The accompanying drawings are included as part of the detailed description to aid in understanding this disclosure, providing embodiments of the disclosure and illustrating its contents together with the detailed description.

[0026] Figure 1 It is an overall block diagram of an autonomous vehicle capable of using autonomous driving devices.

[0027] Figure 2 This is a diagram illustrating an example of applying autonomous driving devices to a vehicle.

[0028] Figure 3 The operation related to detecting faults in the control device and obtaining and sending internal variables based on the detected faults, according to a first embodiment of the present disclosure, is illustrated.

[0029] Figure 4 This is a flowchart illustrating a method for detecting faults in a control device and obtaining and transmitting internal variables based on the detected faults, according to a first embodiment of the present disclosure.

[0030] Figure 5 The second embodiment of this disclosure illustrates operations related to detecting faults in the control device and obtaining and sending internal variables based on the detected faults.

[0031] Figure 6 This is a flowchart illustrating a method for detecting faults in a control device and obtaining and transmitting internal variables based on the detected faults, according to a second embodiment of the present disclosure.

[0032] Figure 7 A block diagram of a control device related to embodiments of the present disclosure is shown.

[0033] Figure 8 A block diagram of a communication device related to embodiments of the present disclosure is shown. Detailed Implementation

[0034] In the following, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings to enable those skilled in the art to readily implement the present disclosure. However, the present disclosure may be implemented in various different forms and is not limited to the embodiments described herein. In the drawings, portions irrelevant to the description of the present disclosure have been omitted to clearly explain the present disclosure, and similar reference numerals will be used throughout the specification to refer to similar portions.

[0035] In this specification, unless otherwise stated, the term "comprises" means that a component may further include other elements rather than exclude other elements.

[0036] Furthermore, in the instruction manual, terms such as "occupant," "passenger," "driver," and "user" are used to explain this disclosure and can be used interchangeably with them.

[0037] Figure 1 It is an overall block diagram of an autonomous driving control system capable of applying any embodiment of the autonomous driving device according to this disclosure. Figure 2 This is a diagram illustrating an example of applying an autonomous driving device according to any embodiment of the present disclosure to a vehicle.

[0038] First, refer to Figure 1 and Figure 2 The structure and function of an autonomous driving control system (e.g., an autonomous vehicle) that can be applied to an autonomous driving device according to this embodiment will be described.

[0039] like Figure 1 As shown, the autonomous vehicle 1000 can be implemented based on an autonomous driving integrated controller 600, which sends and receives data required for the autonomous driving control of the vehicle through a driving information input interface 101, a driving information input interface 201, an occupant output interface 301, and a vehicle control output interface 401. However, the autonomous driving integrated controller 600 may also be referred to herein as a controller, a processor, or simply a controller.

[0040] The autonomous driving integrated controller 600 can obtain driving information based on the occupant's operation of the user input unit 100 through the driving information input interface 101, whether the vehicle is in autonomous driving mode or manual driving mode. For example... Figure 1 As shown, the user input unit 100 may include a driving mode switch 110 and a control panel 120 (e.g., a navigation terminal installed in the vehicle or a smartphone or tablet computer owned by the occupant). Therefore, driving information may include the vehicle's driving mode information and navigation information.

[0041] For example, the vehicle's driving mode (i.e., automatic driving mode / manual driving mode or sport mode / economy mode / safety mode / normal mode) determined by the occupant's operation of the driving mode switch 110 can be sent as driving information to the automatic driving integrated controller 600 via the driving information input interface 101.

[0042] In addition, navigation information such as the occupant's destination and the route to the destination (e.g., the shortest or preferred route selected by the occupant among the candidate routes to the destination) input through the control panel 120 can be sent as driving information to the autonomous driving integrated controller 600 via the driving information input interface 101.

[0043] The control panel 120 can be implemented as a touchscreen panel providing a user interface (UI) through which occupants input or modify information for the vehicle's automatic driving control. In this case, the driving mode switch 110 can be implemented as a touch button on the control panel 120.

[0044] Additionally, the autonomous driving integrated controller 600 can obtain driving information representing the vehicle's driving state through the driving information input interface 201. Driving information may include the steering angle formed when the occupant operates the steering wheel, the accelerator pedal travel or brake pedal travel formed when the occupant depresses the accelerator or brake pedal, and various types of information indicating the vehicle's driving state and behavior, such as vehicle speed, acceleration, yaw, pitch, and roll. Figure 1 As shown, driving information can be detected by the driving information detection unit (sensor 200), which includes a steering angle sensor 210, an accelerator position sensor (APS) / pedal driving sensor (PTS) 220, a vehicle speed sensor 230, an acceleration sensor 240, and a yaw / pitch / roll sensor 250.

[0045] In addition, vehicle driving information may include vehicle location information. This location information can be obtained through a Global Positioning System (GPS) receiver applied to the vehicle. Such driving information can be sent to the automated driving integrated controller 600 via the driving information input interface 201, and can be used to control the vehicle's driving in either automated driving mode or manual driving mode.

[0046] The autonomous driving integrated controller 600 can send driving status information provided to the occupants to the output unit 300 via the occupant output interface 301, whether the vehicle is in autonomous driving mode or manual driving mode. In other words, the autonomous driving integrated controller 600 sends the vehicle's driving status information to the output unit 300, allowing the occupants to confirm the vehicle's autonomous driving or manual driving status based on the driving status information output by the output unit 300. The driving status information may include various types of information indicating the vehicle's driving status, such as the vehicle's current driving mode, transmission range, and speed.

[0047] When the autonomous driving integrated controller 600 determines that it is necessary to warn the driver in the vehicle's autonomous driving mode or manual driving mode, along with the aforementioned driving status information, it sends a warning message to the output unit 300 through the occupant output interface 301, enabling the output unit 300 to output a warning to the driver. For example... Figure 1 As shown, in order to output such driving status information and warning information in an audible and visual manner, the output unit 300 may include a speaker 310 and a display 320. In this case, the display 320 may be implemented as the same device as the control panel 120, or it may be implemented as a separate device from the control panel 120.

[0048] Furthermore, the autonomous driving integrated controller 600 can send control information for vehicle driving control to the lower-level control system 400 applied to the vehicle via the vehicle control output interface 401, whether the vehicle is in autonomous driving mode or manual driving mode. For example... Figure 1 As shown, the lower-level control system 400 for vehicle driving control may include an engine control system 410, a braking control system 420, and a steering control system 430. The automated driving integrated controller 600 can send engine control information, braking control information, and steering control information as control information to the respective lower-level control systems (engine control system 410, braking control system 420, and steering control system 430) via the vehicle control output interface 401. Therefore, the engine control system 410 can control the vehicle's speed and acceleration by increasing or decreasing the fuel supplied to the engine. The braking control system 420 can control the vehicle's braking by controlling the vehicle's braking power. The steering control system 430 can control the vehicle's steering through a steering mechanism applied to the vehicle (e.g., a motor-driven power steering (MDPS) system).

[0049] As described above, the autonomous driving integrated controller 600 according to this embodiment can obtain driving information based on the driver's operation and driving information indicating the vehicle's driving state through the driving information input interface 101 and the driving information input interface 201, respectively, and sends driving state information and warning information generated based on the autonomous driving algorithm to the output unit 300 through the occupant output interface 301. Furthermore, the autonomous driving integrated controller 600 can send control information generated based on the autonomous driving algorithm to the lower-level control system 400 through the vehicle control output interface 401 to execute vehicle driving control.

[0050] To ensure stable autonomous driving, it is necessary to continuously monitor the vehicle's driving state by accurately measuring the driving environment, and then control the driving based on the measured driving environment. For this purpose, such as... Figure 1 As shown, the autonomous driving device according to this embodiment may include a sensor unit 500 for detecting objects near the vehicle, such as nearby vehicles, pedestrians, roads, or fixed facilities (e.g., traffic lights, road signs, traffic signs, or building fences).

[0051] Sensor unit 500 may include one or more of a LiDAR sensor 510, a radar sensor 520, or a camera sensor 530 to detect nearby objects outside the vehicle, such as... Figure 1 As shown.

[0052] LiDAR sensor 510 can transmit laser signals around the vehicle and detect nearby objects outside the vehicle by receiving signals reflected and returned from corresponding objects. LiDAR sensor 510 can detect nearby objects within a preset distance, a preset vertical field of view, and a preset horizontal field of view, which are predefined depending on its specifications. LiDAR sensor 510 may include a front LiDAR sensor 511, a top LiDAR sensor 512, and a rear LiDAR sensor 513 respectively mounted at the front, top, and rear of the vehicle; however, the mounting location of each LiDAR sensor and the number of LiDAR sensors mounted are not limited to a particular implementation. A threshold for determining the validity of laser signals reflected and returned from corresponding objects can be pre-stored in the memory (not shown) of the autonomous driving integrated controller 600. The autonomous driving integrated controller 600 can determine the position (including distance to the corresponding object), speed, and direction of movement of the corresponding object using a method that measures the time taken for the laser signals transmitted through LiDAR sensor 510 to reflect and return from the corresponding object.

[0053] Radar sensor 520 radiates electromagnetic waves around the vehicle and detects nearby objects outside the vehicle by receiving signals reflected and returned from corresponding objects. Radar sensor 520 can detect nearby objects within a preset distance, a preset vertical field of view, and a preset horizontal field of view, which are predefined depending on its specifications. Radar sensor 520 may include a front radar sensor 521, a left radar sensor 522, a right radar sensor 523, and a rear radar sensor 524 respectively installed at the front, left, right, and rear of the vehicle; however, the installation location of each radar sensor and the number of radar sensors installed are not limited to a specific implementation. The autonomous driving integrated controller 600 can determine the position (including distance to the corresponding object), speed, and direction of movement of the corresponding object by analyzing the power of the electromagnetic waves transmitted and received by the radar sensor 520.

[0054] The camera sensor 530 can detect nearby objects outside the vehicle by photographing the area around the vehicle, and detects nearby objects within a range of preset distances, preset vertical fields of view and preset horizontal fields of view as predefined according to its specifications.

[0055] Camera sensors 530 may include a front camera sensor 531, a left camera sensor 532, a right camera sensor 533, and a rear camera sensor 534 respectively installed at the front, left, right, and rear of the vehicle; however, the installation location of each camera sensor and the number of camera sensors installed are not limited to a specific implementation. The autonomous driving integrated controller 600 can determine the position (including distance to the corresponding object), speed, and direction of movement of a corresponding object by applying predefined image processing to the images captured by the camera sensors 530.

[0056] Additionally, an internal camera sensor 535 for capturing images of the vehicle's interior can be mounted at a predetermined location within the vehicle (e.g., a rearview mirror). The automated driving integrated controller 600 can monitor the occupant's behavior and status based on images captured by the internal camera sensor 535, and output guidance or warnings to the occupant via the output unit 300.

[0057] like Figure 1 As shown, in addition to the LiDAR sensor 510, radar sensor 520 and camera sensor 530, the sensor unit 500 may also include an ultrasonic sensor 540, and may also employ various types of sensors for detecting objects near the vehicle.

[0058] exist Figure 2 To aid in understanding this embodiment, an example is shown where a front LiDAR sensor 511 or a front radar sensor 521 is mounted at the front of the vehicle, a rear LiDAR sensor 513 or a rear radar sensor 524 is mounted at the rear of the vehicle, and a front camera sensor 531, a left camera sensor 532, a right camera sensor 533, and a rear camera sensor 534 are mounted at the front, left, right, and rear of the vehicle, respectively. However, as described above, the mounting location of each sensor and the number of sensors mounted are not limited to this specific embodiment.

[0059] In addition, to determine the state of the occupants inside the vehicle, the sensor unit 500 may also include biosensors for detecting the occupants' biological signals (e.g., heart rate, electrocardiogram, respiration, blood pressure, body temperature, electroencephalogram, photoplethysmography (or pulse wave), and blood glucose). Biosensors may include heart rate sensors, electrocardiogram sensors, respiration sensors, blood pressure sensors, body temperature sensors, electroencephalogram sensors, photoplethysmography sensors, and blood glucose sensors.

[0060] Finally, the sensor unit 500 also includes a microphone 550 having an internal microphone 551 and an external microphone 552 for different purposes.

[0061] For example, the internal microphone 551 can be used to analyze the voice of the occupants in the autonomous vehicle 1000 based on AI, or to respond immediately to the occupants' direct voice commands.

[0062] Conversely, the external microphone 552 can be used, for example, to analyze various sounds generated from the exterior of the autonomous vehicle 1000 using various analysis tools such as deep learning, in order to respond appropriately to safe driving.

[0063] For reference only. Figure 2 The symbols shown can perform operations with Figure 1The symbols shown have the same or similar functions. (and) Figure 1 compared to, Figure 2 The relative positions of each component (based on the interior of the autonomous vehicle 1000) are shown in more detail.

[0064] Figure 3 The operation related to detecting faults in the control device and obtaining and sending internal variables based on the detected faults, according to a first embodiment of the present disclosure, is illustrated.

[0065] The control device 610 may be one of the control devices installed in a vehicle. As an example, the control device 610 may include a BDC (Browser Control Center).

[0066] Control unit 610 performs control operations for various functions related to the vehicle body and is designed to handle functions previously handled by individual control units in an integrated manner. Therefore, the functions of individual control units are centrally handled by control unit 610, and the expansion of the functionality of control unit 610 and the increase in the complexity of its software logic are inevitable. Consequently, errors from existing components of the vehicle or their respective control units are transmitted to control unit 610, and due to the software-based nature of vehicle control, control unit 610 also performs a large number of calculations, making the possibility of control unit failure very high.

[0067] Therefore, this disclosure proposes defining faults in the control device 610 and matching one or more internal variables associated with each fault to that fault. Then, when a fault in the control device 610 is detected, one or more internal variables associated with the detected fault, or their values, can be sent to another device 620, and then again to an external server 700. The server 700 can analyze the cause of the fault in the control device 610 and provide corresponding countermeasures.

[0068] In this disclosure, internal variables may include variables defined or used in the calculation process for vehicle control of the control device 610. That is, internal variables may include variables used to process the logic of the software related to the main control in the control device 610.

[0069] For example, malfunctions of control device 610 and the corresponding one or more internal variables associated with it can be classified as follows:

[0070] [Table 1]

[0071]

[0072] Referring to Table 1, the internal variables for each fault can be set independently of each other. However, some internal variables may be matched with different faults (phenomena).

[0073] Furthermore, the internal variables for each fault may be related to the fault or fault phenomenon. That is, the internal variables used in the calculation process for fault-related vehicle control can be set as the internal variables of the corresponding fault.

[0074] Furthermore, for example, when a follow state is detected or when the follow value of an internal variable is obtained, a fault in the control device 610 can be detected or identified.

[0075] [Table 2]

[0076]

[0077] The values ​​of internal variables used to detect faults in the control device 610, as well as changes in the state of these internal variables, are defined. When the value of one or more internal variables matches a preset value or a change in the current value is detected, it can be determined that a corresponding fault has been detected. The internal variables used for fault detection can be set to correspond to faults in the relevant main control.

[0078] Furthermore, the states of drivers, components, etc., related to the control commands or control logic used to detect faults in the control device 610 are defined. When a state of a driver, component, etc., related to a control command or control logic is detected (e.g., an operational error), it can be determined that a corresponding fault has been detected. The states of drivers, components, etc., used to detect faults can be set to correspond to faults in the corresponding main control.

[0079] Alternatively, whether a fault has occurred in the control device 610 can be determined based on the response, result value, or state of the control command or control logic of the main control of the control device 610. For example, whether a fault has occurred in the control device 610 can be determined based on the feedback signal of the driver or component corresponding to the input control command. As another example, whether a fault has occurred in the control device 610 can be determined based on the value of a sensor that monitors state changes of a driver or component corresponding to the control command or control logic used for the main control.

[0080] The control device 610 can be designed to detect a defined fault and can be designed to obtain an internal variable or its value associated with the detected fault when the fault is detected (S1).

[0081] The control device 610 may be designed to send internal variables or their values ​​related to the detected fault to another device 620 (S2). The other device 620 may include a central communication unit (CCU).

[0082] Internal variables related to malfunctions of control device 610, or values ​​sent from control device 610, can be stored in a storage medium such as the memory of device 620 (S3). Device 620 can be designed to periodically send the stored internal variables or their values ​​to server 700, or whenever it receives internal variables from control device 610 (S4). Therefore, internal variables of control device 610 can be sent to server 700.

[0083] Because the memory capacity of the control device 610 is relatively small, the internal variables or their values ​​cannot be stored, so they are sent to the server 700 each time an internal variable is received.

[0084] Server 700 can store the internal variables or their values ​​of the control device 610 that are sent, and record the sending time. When analyzing the causes related to a failure of the control device in the future, the recorded sending time can be used to determine when the failure occurred. This improves the efficiency of analyzing the causes of failures.

[0085] Server 700 can be designed to obtain countermeasures, i.e., corrective codes or data, related to the control device's fault based on the fault and the values ​​of one or more associated internal variables. Server 700 can then be designed to send the obtained codes or data to control device 610, allowing control device 610 to use the codes or data to update its vehicle control calculations. In one example, server 700 can send the obtained codes or data to device 620, allowing device 620 to send the codes or data back to control device 610.

[0086] In one example, the number of faults in the control device 610 is exemplified as three in Tables 1 and 2, but relevant internal variables can be set for more faults, and conditions for fault detection can be set.

[0087] Furthermore, data related to faults in the control device 610 as described above (e.g., each fault and its associated internal variables, conditions used to detect each fault, etc.) can be dynamically updated (added, deleted, changed, etc.). Therefore, the preset list of faults, the internal variables associated with each fault, or the conditions used to detect each fault in the control device 610 can be updated. In other words, the control device 610 can be designed to update the preset list of faults, the internal variables associated with each fault, or the conditions used to detect each fault. Therefore, when the logic or calculations related to the main control become more diverse and complex, it can proactively respond to additional faults, increases or changes in the causes of each fault (i.e., changes in the internal variables used to analyze the causes), or increases or changes in the conditions used to detect each fault.

[0088] In one example, updates to the fault list, internal variables associated with each fault, or conditions used to detect each fault can be triggered by inputting an update command associated with each fault. The update command associated with each fault can be input externally from the control device 610. For example, an update to the fault list can be triggered by an update command associated with each fault from the server 700.

[0089] Therefore, the control device 610 can be designed to add, delete, or change the matching relationship between faults and fault-related internal variables, or the conditions for detecting faults. The control device 610 can be designed to store information about the matching relationship between faults and fault-related internal variables in a storage medium such as a memory.

[0090] Figure 4 This is a flowchart illustrating a method for detecting faults in a control device and obtaining and transmitting internal variables based on the detected faults, according to a first embodiment of the present disclosure.

[0091] Figure 4 The method described herein can be executed by the control device 610 or the processor of the control device. For simplicity, the method is described below as being executed by the "control device 610".

[0092] The control device 610 can be designed to define each fault and the internal variables associated with each fault (S410). Furthermore, the control device 610 can be designed to define conditions for detecting each fault. In one example, each fault, the internal variables associated with each fault, or the conditions for detecting each fault can be set or defined based on instructions or commands from the server 700.

[0093] The control device 610 can be designed to detect each fault (S420).

[0094] When each fault is detected, the control device 610 can be designed to identify the fault and obtain the values ​​of one or more internal variables corresponding to the identified fault (S430).

[0095] Then, the control device 610 can be designed to send the obtained values ​​of the internal variables to the server 700 or another device 620 (S440).

[0096] In this way, a fault in the control device 610 is detected, and the internal variables related to the detected fault are sent to the server 700 via the device 620 or directly, so that the server 700 can perform an analysis on the fault of the control device 610 and establish a countermeasure for the fault based on the analysis.

[0097] Figure 5The second embodiment of this disclosure illustrates operations related to detecting faults in the control device and obtaining and sending internal variables based on the detected faults.

[0098] Control device 610 may be one of the control devices installed in a vehicle. As an example, control device 610 may include a BDC (Browser Control Center). For a description of control device 610, see [link to relevant documentation]. Figure 3 Explanation.

[0099] Figure 5 The implementation methods and Figure 3 The difference is that, from Figure 5 In another embodiment, device 620 sends a request for internal variables related to a malfunction of control device 610. However, even in this case, device 620 sends a request for internal variables to control device 610 based on a trigger signal sent from control device 610.

[0100] Therefore, in Figure 5 In addition to the matching relationships described in Table 1 above, a signal can also be set to trigger a request for internal variables related to a fault in the control device.

[0101] [Table 3]

[0102]

[0103] In other words, a separate signal can be set to trigger the request and the internal variable or its value associated with a fault in the control device 610, and the device 620 can be designed to request the control device 610 to provide the fault-related internal variable or its value corresponding to the detected trigger signal when a corresponding trigger signal is detected. In one example, not only the value or level of the corresponding trigger signal can be used, but also a change in the value of the corresponding trigger signal can be used as the trigger condition. For example, when the preset value of the trigger signal changes from 1 to 0, the device 620 can be designed to request the control device 610 to provide the fault-related internal variable or its value (or a change in the value of the trigger signal) corresponding to the preset trigger signal.

[0104] The signal that triggers the request to a fault-related internal variable (hereinafter referred to as the "trigger signal") can be a fault-related signal. The trigger signal can include signals exchanged between the faulty drive or vehicle control component and the control unit 610. For example, the trigger signal can include a CAN signal output by the control unit 610.

[0105] Furthermore, the trigger signal can be related to the aforementioned fault-related internal variables. For example, the trigger signal may include a signal output based on fault-related internal variables.

[0106] In one example, although one trigger signal corresponds to a fault in the control device in Table 3, one or more trigger signals may correspond to a single fault.

[0107] Furthermore, as described above, fault-related data (e.g., each fault, its associated internal variables, or the conditions used to detect each fault) can be dynamically updated (added, deleted, changed, etc.), and the trigger signals used to request the internal variables associated with each fault as described in Reference Table 3 can also be updated (added, deleted, changed, etc.). Therefore, the trigger signals used to request the internal variables associated with each fault of the control device 610 can be updated. That is, the control device 610 can be designed to update the trigger signals in response to requests for internal variables associated with each fault. The control device 610 can be designed to send trigger signals to the device 620 to request updates for the internal variables associated with each fault. Therefore, it is possible to proactively respond to additional faults that may occur as the logic or calculations related to the main control become more diverse and complex, the increase or change of the causes of each fault (i.e., changes in the internal variables used to analyze the causes), or the increase or change of the conditions used to detect each fault.

[0108] In one example, an update signal requesting an update of an internal variable associated with each fault can be triggered by inputting an update command associated with each fault. The update command associated with each fault can be input externally from the control device 610. For example, an update to the fault list can be triggered by an update command associated with each fault from the server 700.

[0109] The following is for reference Figure 5 Please provide an explanation.

[0110] Device 620 may be configured to receive a trigger signal (S11) from control device 610 for requesting internal variables. The trigger signal may identify or specify a fault in control device 610 or a fault-related internal variable, and accordingly, device 620 may request control device 610 to provide the corresponding fault-related internal variable. Control device related status information corresponds to the trigger signal for requesting the aforementioned fault-related internal variable.

[0111] The trigger signal can be a fault-related signal. Furthermore, the trigger signal can be related to fault-related internal variables. For example, the trigger signal can include a signal based on the output of fault-related internal variables.

[0112] Device 620 can be designed to identify a fault in the control device or to identify an internal variable associated with the fault in response to a received trigger signal (S12). For this purpose, the mapping relationship between the fault and its corresponding trigger signal, as shown in Table 3, can be stored in a storage medium such as the memory of device 620.

[0113] Then, device 620 can be designed to request control device 610 to provide internal variables related to the fault (S13). At this time, device 620 may send only information about the fault, or it may send information about internal variables related to the fault.

[0114] The control device 610 can be designed to obtain internal variables or their values ​​related to the fault (S14).

[0115] Control device 610 may be designed to send fault-related internal variables or their values ​​to device 620 (S15). Device 620 may include a central communication unit (CCU).

[0116] Device 620 can receive internal variables or their values ​​related to detected faults and store them in a storage medium such as the memory of device 620 (S16). Device 620 can be designed to periodically send the stored internal variables to server 700 or whenever an internal variable is received from control device 610 (S17). Therefore, the internal variables of control device 610 or their values ​​can be sent to server 700.

[0117] Because the memory capacity of the control device 610 is relatively small, the internal variables or their values ​​cannot be stored, so they are sent to the server 700 each time an internal variable is received.

[0118] Server 700 can store the internal variables or their values ​​of the control device 610 that are being transmitted, and record the transmission time. When analyzing the causes of malfunctions related to the control device in the future, the recorded transmission time can be used to determine when the malfunction occurred. This improves the efficiency of malfunction analysis.

[0119] Server 700 can be designed to obtain countermeasures, i.e., corrective codes or data, related to the control device's fault based on the fault and the values ​​of one or more associated internal variables. Server 700 can then be designed to send the obtained codes or data to control device 610, allowing control device 610 to use the codes or data to update its vehicle control calculations. In one example, server 700 can send the obtained codes or data to device 620, allowing device 620 to send the codes or data back to control device 610.

[0120] Figure 6This is a flowchart illustrating a method for detecting faults in a control device and obtaining and transmitting internal variables based on the detected faults, according to a second embodiment of the present disclosure.

[0121] Figure 6 The method described herein can be executed by the control device 610 or the processor of the control device. For simplicity, the method is described below as being executed by the "control device 610".

[0122] The control device 610 can be designed to define each fault and the internal variables associated with each fault (S610).

[0123] The control device 610 may be configured to send a trigger signal (S620) to another device 620 to request internal variables associated with each fault of the control device. The trigger signal for requesting the internal variables associated with each fault may be a CAN signal, which enables device 620 to identify or detect faults associated with the control device, or to request the control device 610 to provide internal variables associated with the identified or detected faults.

[0124] The trigger signal can be a fault-related signal. Furthermore, the trigger signal can be related to fault-related internal variables. For example, the trigger signal can include a signal based on the output of a fault-related internal variable. Therefore, the control device 610 can be designed to identify or detect a fault, and when a fault is identified or detected, send a trigger signal to request the internal variable.

[0125] The trigger signal may include information about a detected fault, or it may include information about one or more internal variables associated with the fault. Alternatively, the trigger signal may include a signal based on the output of internal variables associated with the fault.

[0126] The control device 610 can be designed to check whether a request for an internal variable related to the fault has been received (S630).

[0127] When a request for an internal variable related to a fault is received, the control device 610 can be designed to identify the fault and obtain the values ​​of one or more internal variables corresponding to the identified fault (S640).

[0128] Then, the control device 610 can be designed to send the obtained values ​​of the internal variables to the server 700 or the device 620 (S650).

[0129] In this way, a fault in the control device 610 is detected, and the internal variables related to the detected fault are sent to the server 700 via the device 620 or directly, so that the server 700 can perform an analysis on the fault of the control device 610 and establish a countermeasure for the fault based on the analysis.

[0130] Figure 7 A block diagram of a control device related to embodiments of the present disclosure is shown.

[0131] Control device 610 corresponds to a device designed to perform vehicle control. Control device 610 may include memory 10, which is designed to store information about a predefined list of faults and one or more internal variables corresponding to each fault. Furthermore, control device 610 may include transceiver 30 designed to send or receive fault-related data. Additionally, control device 610 may include processor 20, which is designed to control the vehicle, detect faults in control device 610, or obtain fault-related internal variables.

[0132] Processor 20 can be designed to detect whether a fault included in a predefined fault list has occurred. As described in Table 2 above, the occurrence of a fault can be determined based on predefined values ​​of internal variables used for fault detection, changes in the state of internal variables, etc. That is, processor 20 can be designed to detect whether a fault has occurred based on the values ​​of one or more internal variables corresponding to each fault, or changes in the values ​​of one or more internal variables.

[0133] Alternatively, the processor 20 may be designed to detect whether a fault has occurred based on feedback signals from components or actuators corresponding to the input control command or the values ​​of sensors that monitor state changes corresponding to the input control command.

[0134] The processor 20 can be designed to acquire the values ​​of one or more internal variables corresponding to the detected fault when the fault is detected. Here, one or more internal variables may include variables defined or used in the calculation process for vehicle control of the control device.

[0135] The processor 20 can then be designed to send the values ​​of one or more internal variables obtained to another device. The values ​​of the one or more internal variables obtained can be used to analyze faults. Additionally, the values ​​of the one or more internal variables sent to the other device can be sent by the other device to a server.

[0136] In one example, processor 20 may be designed not to directly detect whether a fault has occurred, but to receive a request from another device 620 for one or more internal variables or their values ​​associated with the fault, and in response to the request, to send the values ​​of one or more internal variables associated with the fault to the other device 620.

[0137] However, processor 20 can be designed to send a signal (i.e., a trigger signal) to another device 620 to trigger a request for one or more internal variables related to the fault. That is, processor 20 can be designed to send a trigger signal to another device 620 via transceiver 30 to request one or more internal variables related to the fault.

[0138] In this configuration, information about a predefined fault list and one or more internal variables corresponding to each fault can be stored in memory 10. Alternatively, information about a predefined fault list and a trigger signal for requesting the internal variable corresponding to each fault can be stored in memory 10. Based on this, control device 610 can be designed to detect a fault and then send a trigger signal for requesting one or more internal variables associated with the fault to another device 620.

[0139] When a trigger signal sent to another device 620 indicates a fault in a predefined fault list or one or more internal variables associated with a fault, processor 20 may be configured to receive a request from the other device 620 for one or more internal variables associated with the indicated fault. In response to the request for the internal variables, processor 20 may be configured to obtain the values ​​of one or more internal variables. Processor 20 may then be configured to transmit the values ​​of one or more internal variables to the other device 620 via transceiver 30. Here, one or more internal variables may include variables defined or used in the calculation process for vehicle control of control device 610.

[0140] Control device 610 can be designed to perform actions related to... Figures 3 to 6 The operations related to the content of this disclosure are not referred to Figure 7 describe.

[0141] Figure 8 A block diagram of a communication device related to embodiments of the present disclosure is shown.

[0142] The communication device 620 may include a memory 11, which is designed to store signals (hereinafter, “trigger signals”) for triggering requests to internal variables related to a fault and information about one or more internal variables related to the corresponding fault.

[0143] In addition, the communication device 620 may include a transceiver 31 designed to send and receive fault-related data.

[0144] The communication device 620 may include a processor 21, which is designed to identify one or more internal variables corresponding to a received trigger signal and generate a request for the identified one or more internal variables.

[0145] The processor 21 can be designed to receive status signals from the control device 610.

[0146] Processor 21 can be designed to identify one or more internal variables indicated by received state signals. Processor 21 can then be designed to generate requests for the identified one or more internal variables.

[0147] The processor 21 can be designed to send requests for one or more identified internal variables to the control device 610.

[0148] Processor 21 may be designed to receive values ​​of one or more internal variables from control device 610. These internal variables may include variables defined or used during vehicle control calculations for the control device. Processor 21 may be designed to send the received values ​​of one or more internal variables to server 700.

[0149] Communication device 620 can be designed to perform communication with about Figures 3 to 6 The operations related to the content of this disclosure are not referred to Figure 8 describe.

[0150] In one example, as another embodiment of this disclosure, a mobile entity (autonomous vehicle 1000) including the aforementioned devices 610 and 620 is proposed. In this disclosure, the mobile entity includes all devices capable of movement, such as vehicles, robots, and aircraft.

[0151] In this document, the control device or the “device” used to detect a fault in the control device and send information about the detected fault, or each of the components therein, is described as performing control; however, “device” and the components therein are merely names and the scope of rights does not depend on them.

[0152] In other words, the proposed technology can be implemented using names other than device, processor, or control device. Furthermore, the aforementioned methods and solutions can be implemented using readable code from software, computers, other machines, devices, etc., which is used to detect faults in the control device and send internal variables related to the detected faults.

[0153] Furthermore, as another aspect of this disclosure, the operation of the aforementioned technology can be provided as code that can be implemented, carried out, or executed by a "computer" (including the general concept of a system-on-a-chip (SoC) or (micro)processor) or a computer-readable storage medium storing or containing code, a computer program product, etc. The scope of this disclosure extends to code or computer-readable storage media storing or containing code or computer program products.

[0154] A detailed description of preferred embodiments of the present disclosure as described above has been provided to enable those skilled in the art to implement and practice the present disclosure.

[0155] Although the present disclosure has been described above with reference to preferred embodiments, those skilled in the art will understand that various modifications and changes can be made to the present disclosure set forth in the appended claims.

[0156] Therefore, this disclosure is not intended to be limited to the embodiments shown herein, but is consistent with the widest scope of the principles and novel features disclosed herein.

[0157] Cross-references to related applications

[0158] This application claims the benefit and priority of the earlier filing date of Korean Application No. 10-2025-0046703, filed on April 10, 2025, the entire contents of which are incorporated herein by reference.

Claims

1. A control device for reporting faults related to vehicle control, the control device comprising: A transceiver configured to send and receive fault-related data; A memory configured to store information related to a predefined list of faults and one or more internal variables corresponding to each fault in the predefined list of faults; and Processor, the processor being configured to: The detection includes whether a fault from the predefined fault list has occurred. When the fault is detected, the values ​​of one or more internal variables corresponding to the detected fault are obtained; as well as Send the obtained values ​​of one or more internal variables to another device. Each fault in the predefined fault list is configured to correspond to one or more internal variables, and The one or more internal variables include at least one variable defined or used in the calculation process for vehicle control of the control device.

2. The control device according to claim 1, wherein, The processor is also configured to analyze the fault using the values ​​of the one or more internal variables obtained.

3. The control device according to claim 1, wherein, The processor is also configured to update at least one of the predefined fault list, the one or more internal variables corresponding to the fault, or the conditions for detecting the occurrence of the fault.

4. The control device according to claim 1, wherein, The processor is also configured to detect whether a fault has occurred based on the values ​​of one or more internal variables corresponding to each fault, or changes in the values ​​of one or more internal variables.

5. The control device according to claim 1, wherein, The processor is also configured to detect whether a fault has occurred based on the state of the driver or component corresponding to each fault.

6. A control device for reporting faults related to vehicle control, the control device comprising: A transceiver configured to send and receive fault-related data; A memory configured to store information related to a predefined list of faults and trigger signals, or one or more internal variables corresponding to each fault in the predefined list of faults; and Processor, the processor being configured to: The transceiver is controlled to send a trigger signal to the central communication device for requesting internal variables corresponding to the fault; Receive requests from the central communication device for one or more internal variables related to a fault corresponding to the trigger signal; Get the value of one or more requested internal variables; as well as The transceiver is controlled to send the obtained values ​​of the internal variables to the central communication device. Each fault in the predefined fault list is configured to correspond to one or more internal variables, and The one or more internal variables include at least one variable defined or used in the calculation process for vehicle control of the control device.

7. The control device according to claim 6, wherein, The processor is also configured to analyze the fault using the values ​​of the one or more internal variables obtained.

8. The control device according to claim 6, wherein, The processor is also configured to update at least one of the predefined fault list, the one or more internal variables corresponding to the fault, or the conditions for detecting the occurrence of the fault.

9. The control device according to claim 6, wherein, The processor is also configured to detect whether a fault has occurred based on the values ​​of one or more internal variables corresponding to each fault, or changes in the values ​​of one or more internal variables.

10. The control device according to claim 6, wherein, The processor is also configured to detect whether a fault has occurred based on the state of the driver or component corresponding to each fault.

11. A communication device for reporting faults related to vehicle control, the communication device comprising: A transceiver configured to send and receive fault-related data; A memory configured to store information related to a signal used to trigger a request for a fault-related internal variable, and one or more fault-related internal variables corresponding to the signal; and Processor, the processor being configured to: The transceiver is controlled to receive the signal from the control device for triggering the request for the fault-related internal variable; Identify a fault indicated by a received signal or one or more internal variables associated with said fault; Control the transceiver to send requests for the one or more internal variables to the control device; as well as Control the transceiver to receive the values ​​of one or more internal variables from the control device. The fault is defined as corresponding to one or more internal variables. The one or more internal variables include at least one variable defined or used in the calculation process for vehicle control of the control device.

12. The communication device according to claim 11, wherein, The processor is also configured to analyze the fault using the values ​​of the one or more internal variables.

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