CN115390546A

CN115390546A - Vehicle diagnostic communication method, device, equipment and medium

Info

Publication number: CN115390546A
Application number: CN202210983254.4A
Authority: CN
Inventors: 杨东耳
Original assignee: Beijing Jingwei Hirain Tech Co Ltd
Current assignee: Beijing Jingwei Hirain Tech Co Ltd
Priority date: 2022-08-16
Filing date: 2022-08-16
Publication date: 2022-11-25
Also published as: WO2024037304A1

Abstract

The application discloses a vehicle diagnostic communication method, device, equipment and medium. On the control unit side in a domain controller of a vehicle, the method includes: receiving a diagnosis request sent by a diagnosis initiating device; responding to the diagnosis request, and determining a diagnosis object based on the request content in the diagnosis request, wherein the diagnosis object comprises a target component which is required to be diagnosed or accessed by the diagnosis request; and according to the diagnosis condition of the diagnosis object, returning a response message of the diagnosis request to the diagnosis initiating device. According to the embodiment of the application, the control unit is used as a control end of diagnosis communication, and bears a routing function in the diagnosis communication, so that the message forwarding times are reduced, and the efficiency of vehicle diagnosis communication is improved.

Description

Vehicle diagnostic communication method, device, equipment and medium

Technical Field

The application belongs to the technical field of vehicles, and particularly relates to a vehicle diagnosis communication method, device, equipment and medium.

Background

With the development of vehicle electronics technology, a domain controller has become an important member in vehicle electronics. In the main control chip of the domain controller, a control unit and a calculation unit are integrated, when the domain controller performs diagnosis communication, the control unit and the calculation unit usually need to perform corresponding information communication, and the domain controller and other domain controllers in the entire vehicle network also need to perform diagnosis communication.

In the related art, the external Diagnostic apparatus sends a Diagnostic request to a computing unit in the domain controller, and the computing unit serves as a coordinator performing Diagnostic communication between the domain controller and the external Diagnostic apparatus and sends a request content of the Diagnostic request to a control unit in the domain controller through an Internet Diagnostic communication Protocol (DoIp). In the response process of the diagnosis communication, the control unit sends the response content to the computing unit through the DoIP, and then the computing unit forwards the response content to the external diagnosis instrument.

However, the vehicle diagnostic communication method described above is inefficient.

Disclosure of Invention

The embodiment of the application provides a vehicle diagnosis communication method, device, equipment and medium, and can solve the problem of low efficiency of vehicle diagnosis communication.

In a first aspect, an embodiment of the present application provides a vehicle diagnostic communication method applied to a control unit in a domain controller of a vehicle, the vehicle diagnostic communication method including:

receiving a diagnosis request sent by a diagnosis initiating device,

responding to the diagnosis request, determining a diagnosis object based on the request content in the diagnosis request, wherein the diagnosis object comprises a target component required to be diagnosed or accessed by the diagnosis request,

and returning a response message of the diagnosis request to the diagnosis initiating device according to the diagnosis condition of the diagnosis object.

In a second aspect, an embodiment of the present application provides a vehicle diagnostic communication apparatus applied to a control unit in a domain controller of a vehicle, the vehicle diagnostic communication apparatus including:

a receiving unit for receiving a diagnosis request transmitted by a diagnosis initiating device,

the determining unit is used for responding to the diagnosis request and determining a diagnosis object based on the request content in the diagnosis request, wherein the diagnosis object comprises a target component required to be diagnosed or accessed by the diagnosis request,

and the sending unit is used for returning a response message of the diagnosis request to the diagnosis initiating device according to the diagnosis condition of the diagnosis object.

In a third aspect, the present application provides a chip comprising a control unit for performing the vehicle diagnostic communication method as described in the preceding first aspect.

In a fourth aspect, an embodiment of the present application provides an electronic device, including: a processor and a memory storing computer program instructions; the processor, when executing the computer program instructions, implements a vehicle diagnostic communication method as described in the first aspect:

in a fifth aspect, the present application provides a computer storage medium having computer program instructions stored thereon, which when executed by a processor implement the vehicle diagnostic communication method according to the first aspect.

In a sixth aspect, the present application provides a chip, where the chip includes a processor and a communication interface, where the communication interface is coupled to the processor, and the processor is configured to execute a program or instructions to implement the vehicle diagnostic communication method according to the first aspect.

In a seventh aspect, the present application provides a computer program product, which is stored in a storage medium and executed by at least one processor to implement the vehicle diagnostic communication method according to the first aspect.

According to the embodiment of the application, in the process of diagnostic communication of a vehicle, the control unit in the domain controller can directly receive a diagnostic request from a diagnostic initiating device as a route of the diagnostic communication (namely as a coordinator of the diagnostic communication), and a computing unit in the domain controller is not required to forward the diagnostic request to the control unit; after determining the diagnosis object, the control unit may further directly return a response message of the diagnosis request to the diagnosis initiating device based on a diagnosis condition of the diagnosis object without the calculation unit forwarding the response message of the diagnosis request to the diagnosis initiating device. Therefore, the message forwarding times in the diagnosis communication process are reduced, the communication delay of the diagnosis communication is reduced, and the efficiency of the diagnosis communication is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments of the present application will be briefly described below, and for those skilled in the art, other drawings may be obtained according to the drawings without creative efforts.

FIG. 1 shows an exemplary diagram of a full vehicle network architecture employing a domain controller;

FIG. 2 is a flowchart showing an example of a flow of diagnostic communication of a domain controller in the related art;

FIG. 3 is a diagram showing an example of a software architecture for diagnostic communication between a control unit and a computing unit in a domain controller in the related art;

FIG. 4 is a first flowchart illustrating a vehicle diagnostic communication method provided by an embodiment of the present application;

FIG. 5 shows a second flowchart of a vehicle diagnostic communication method provided by the embodiment of the application;

FIG. 6 shows a third flowchart of a vehicle diagnostic communication method provided by the embodiment of the application;

fig. 7 shows a flow diagram of diagnostic communication in the case where the diagnostic object is a domain controller, the domain controller is in a diagnostic state and the diagnostic communication is used to instruct the domain controller to upgrade;

fig. 8 shows a flow diagram of diagnostic communication in the case where the diagnostic object is a domain controller, the domain controller is in a diagnostic state, and the diagnostic communication is used to instruct the domain controller to upgrade;

FIG. 9 is a fourth flowchart illustrating a vehicle diagnostic communication method provided by an embodiment of the present application;

FIG. 10 is a schematic diagram illustrating a software architecture of a control unit in a domain controller in diagnostic communication with a computing unit according to an embodiment of the present application;

FIG. 11 is a first schematic structural diagram of a vehicle diagnostic communication device provided by an embodiment of the present application;

FIG. 12 is a schematic structural diagram II of a vehicle diagnostic communication device provided by the embodiment of the application;

fig. 13 shows a hardware structure diagram of an electronic device provided in an embodiment of the present application.

Detailed Description

Features of various aspects and exemplary embodiments of the present application will be described in detail below, and in order to make objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of, and not restrictive on, the present application. It will be apparent to one skilled in the art that the present application may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present application by illustrating examples thereof.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising 8230; \8230;" comprises 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.

First, terms related to the present application are explained to facilitate understanding by those skilled in the art:

diagnostic communication: the diagnostic instrument communicates with the vehicle based on a communication protocol for vehicle diagnostics to provide diagnostic services to the vehicle. Communication protocols for vehicle diagnostics are, for example, the Universal Diagnostic Service (UDS).

As an example, when a vehicle has a fault, a service person may connect a Diagnostic device to an On-Board Diagnostic (OBD) port of the vehicle, and the Diagnostic device sends a Diagnostic request to a domain controller of the vehicle through the OBD port to request to read some information inside the vehicle, such as a request to obtain some sensor data, a log of application program operation, and the like.

A domain controller: the electronic functions of all parts on the vehicle are divided into several fields, and the domain controller is responsible for realizing the functions of the corresponding fields. At least one control unit and at least one computing unit are integrated in the main control chip of the domain controller. The control Unit may be referred to as a Microcontroller Unit (MCU), and the calculation Unit may be referred to as a Microprocessor Unit (MPU).

Fig. 1 shows an exemplary diagram of a full vehicle network architecture employing a domain controller.

As shown in fig. 1, one or more domain controllers, such as domain controller 1, domain controller 2, \8230;, domain controller n, n indicates the number of domain controllers in fig. 1, may be included in the entire vehicle network architecture of the vehicle. Wherein, each domain controller can communicate with each other through the Ethernet in the vehicle. Each of the domain controllers may be connected to a plurality of Electronic Control Units (ECUs). For example, in fig. 1, the domain controller 1 is connected to the ECUs 11 to 1N ₁ 、ECU21～ECU2N ₂ The domain controller 2 is connected with the ECUs 31 to 3N ₃ 、ECU41～ECU4N ₄ The domain controller N is connected to the ECUs 51 to 5N ₅ 、ECU61～ECU6N ₆ . Wherein N is ₁ ～N ₆ Each represents the number of ECUs.

As shown in fig. 1, in the vehicle network architecture, the domain controller may also assume the function of a gateway. For example, the domain Controller 1 (which may be another domain Controller, and fig. 1 takes the domain Controller 1 as an example) is connected to the OBD port through an ethernet (ethernet over ethernet) and a Controller Area Network (CAN) to communicate with an external diagnostic instrument. The domain controller 1 (may be another domain controller, and fig. 1 illustrates the domain controller 1 as an example) may be connected to a plurality of Electronic Control Units (ECUs), and may also be connected to an ECU7 having a networking function through an in-vehicle ethernet (vehicle ethernet). The ECU7 having the networking function may have a diagnostic function, and may transmit a request for diagnostic communication to the domain controller via the in-vehicle ethernet network.

Fig. 2 is a diagram showing an example of a flow of diagnostic communication of a domain controller in the related art.

As shown in fig. 2, in the case where the diagnosis request is executed by the control unit itself, the diagnosis communication process includes the following steps S201 to S204:

s201, the external diagnostic apparatus 10 transmits a diagnosis request to the calculation unit 20 in the domain controller.

S202, after receiving the diagnosis request, the computing unit 20 forwards the diagnosis request to the control unit 30 in the domain controller through diagnosis communication over Internet Protocol (DoIP) based on the in-vehicle ethernet.

S203, if the diagnosis request is executed by the control unit 30 itself, the control unit 30 returns a response message corresponding to the diagnosis request to the computing unit 20 by DoIP after executing the diagnosis request.

S204, after receiving the response message from the control unit 30, the computing unit 20 sends a response message corresponding to the diagnosis request to the computing unit 20.

As shown in fig. 2, in the case where the diagnosis request is executed by other ECUs in the entire vehicle network, the diagnosis communication process is as follows at step S205:

s205, the external diagnostic instrument 10 transmits a diagnostic request to the calculation unit 20 in the domain controller.

S206, after receiving the diagnosis request, the computing unit 20 forwards the diagnosis request to the control unit 30 in the domain controller through the DoIP based on the in-vehicle ethernet.

S207, in the case where the diagnosis request is executed by the other ECU40 in the entire vehicle network, the control unit 30 transmits the diagnosis request to the other ECU40.

S208, the control unit 30 receives a response message returned from the other ECU40.

S209, the control unit 30 returns a response message to the calculation unit 20 via the DoIP in response to the response message from the other ECU40.

S210, the calculating unit 20 returns a response message to the external diagnostic apparatus 10.

It can be seen that, in the above process, the calculation unit 20 in the domain controller is a cooperator between the domain controller and the external diagnostic apparatus 10.

Fig. 3 is a diagram showing an example of a software architecture in which the control unit 30 in the domain controller performs diagnostic communication with the computing unit 20 in the related art. As shown in fig. 3, the external diagnostic apparatus 10 communicates with the computing unit 20 through a SWITCH (SWITCH) 50, the computing unit 20 communicates with the control unit 30 through the SWITCH 50, and the computing unit 20 communicates with other ECUs 40 through the CAN.

As shown in fig. 3, in the diagnostic communication process, the external diagnostic apparatus 10 transmits a diagnostic request to the computing unit 20 through the switch 50; in the computing unit 20, the diagnosis request enters the DoIP server 22 through the plurality of protocol layers 21, enters the DoIP client 23 through the DoIP server 22, is transmitted to the protocol layers 21 by the DoIP client 23, and is transmitted to the plurality of protocol layers 31 of the control unit 30 through the plurality of protocol layers 21 and the switch 50; in the control unit 30, the control unit 30 may route the diagnosis request in the routing module 32, and in the case where the diagnosis request is executed by the control unit 30 itself, such as by a single chip microcomputer (Dcm) 33 in fig. 3, may also send the diagnosis request to other ECUs 40 through a CAN communication link 34. Likewise, a response message to the diagnosis request may be transmitted from the control unit 20 to the calculation unit 30 and then to the external diagnostic apparatus 50 based on the transmission path of the diagnosis request.

The diagnostic communication process shown in fig. 2 and 3 has the following problems:

the method has the advantages that firstly, information forwarding is required to be carried out for multiple times in the diagnosis communication process, the communication delay is large, and the efficiency is low;

the second problem is that the computing unit and the control unit in the domain controller communicate with each other based on the ethernet, which not only occupies the bus bandwidth of the switch, the control unit and the computing unit, but also needs to process the receiving interruption and the sending interruption of the ethernet, and occupies more communication resources;

the third problem is that the computing unit and the control unit in the domain controller both need to implement the software functions of the diagnosis server side and the diagnosis client side based on the DoIP (for the external diagnostic apparatus, the computing unit is the diagnosis server side, for the control unit, the computing unit is the diagnosis client side, for the computing unit, the control unit is the diagnosis server side, and for other ECUs, the control unit is the diagnosis client side), and the overall software complexity is high, resulting in long software development time and high development cost.

In order to solve the above problem, embodiments of the present application provide a vehicle diagnostic communication method, apparatus, device, and medium. In the embodiment of the application, considering the diagnosis operation for the domain controller, the control unit in the domain controller is mostly used for controlling and executing, and the control unit in the domain controller bears the cooperator between the diagnosis initiating device and the domain controller in the diagnosis communication without the need of information forwarding by the computing unit in the domain controller, so that the information forwarding times are reduced, the communication delay is reduced, the communication efficiency is improved, and the communication resource is saved. Meanwhile, the calculation unit does not need to undertake information forwarding work in the diagnosis communication, the calculation unit does not need to realize the software functions of the diagnosis server side and the diagnosis client side, and the control unit does not need to realize the software functions of the diagnosis client side, so that the software complexity related to the diagnosis communication on the calculation unit and the control unit is reduced.

The vehicle diagnostic communication method provided by the embodiment of the application is described below with reference to application scenarios and drawings.

Fig. 4 shows a first flowchart of a vehicle diagnostic communication method provided by the embodiment of the application. As shown in fig. 4, the vehicle diagnostic communication method includes:

s401, the control unit 30 in the domain controller receives the diagnosis request transmitted from the diagnosis initiator apparatus 10.

The diagnosis initiator 10 is a device that initiates (can also be understood as generating) a diagnosis request. The diagnosis request is for requesting the domain controller to perform diagnosis communication, in other words, the diagnosis originating device 10 requests diagnosis of the vehicle by transmitting the diagnosis request to the control unit 30 in the domain controller.

In the present embodiment, the control unit 30 directly receives the diagnosis request transmitted by the diagnosis initiation device 10 without receiving the diagnosis request forwarded by the calculation unit in the domain controller.

In some embodiments, the diagnostic initiating device 10 may include at least one of: an external device, an ECU having a networking function in a vehicle, and a computing unit in a domain controller. Thereby, it is possible to transmit a diagnosis request to the control unit 30 in the domain controller through the flexibly diverse diagnosis initiating device 10.

In the case where the diagnosis initiating device 10 is an external device, the external device may be connected to the vehicle through a diagnosis communication port (such as an OBD port), and one possible implementation manner of S401 includes: the control unit 30 in the domain controller receives the diagnosis request transmitted by the diagnosis initiation apparatus 10 through the diagnosis communication port.

In the case where the diagnosis initiating device 10 is an ECU with networking function in the domain controller, the ECU with networking function may generate the diagnosis request in response to an instruction of a third-party device to perform vehicle diagnosis communication through a network, and yet another possible implementation manner of S401 includes: the control unit 30 in the domain controller receives a diagnosis request transmitted from the ECU having a networking function through the in-vehicle ethernet or CAN.

In the case where the diagnosis initiating apparatus 10 is a calculation unit in the domain controller, the calculation unit has a diagnosis function, and therefore the calculation unit itself may generate a diagnosis request at regular time intervals, or the calculation unit may generate a diagnosis request in response to an instruction of a third party device to perform vehicle diagnosis communication through a network. After that, the computing unit as the diagnosis initiating device 10 sends the diagnosis request to the control unit 30, and yet another possible implementation manner of S401 includes: the control unit 30 receives the diagnosis request generated and transmitted by the calculation unit.

S402, the control unit 30 determines a diagnosis target based on the request content in the diagnosis request in response to the diagnosis request.

The diagnostic object is a target component that is required to be diagnosed or accessed by a diagnostic request.

In this embodiment, after receiving the diagnosis request, the control unit 30 may obtain a target address of the diagnosis request from request content in the diagnosis request, and determine a diagnosis object to which the diagnosis request is directed based on the target address of the diagnosis request. The target address of the diagnosis request comprises a storage address and/or a component identification of the data requested to be acquired by the diagnosis request.

S403, the control unit 30 returns a response message of the diagnosis request to the diagnosis initiator 10 according to the diagnosis condition of the diagnosis target.

In the present embodiment, the control unit 30 may execute the diagnosis request by the diagnosis object after determining the diagnosis object. In the case where the diagnosis of the diagnosis target is controlled by the control unit 30, the control unit 30 may directly obtain the diagnosis condition of the diagnosis target; in the case where the diagnosis of the diagnosis object is controlled by other components, the control unit 30 may monitor a case where the diagnosis object performs a diagnosis request, that is, monitor a diagnosis condition of the diagnosis object; after that, the control unit 30 may return a response message of the diagnosis request to the diagnosis initiation apparatus 10 based on the diagnosis situation of the diagnosis target. The response message may include diagnostic data requested by the diagnostic request, such as sensor data, a log of operations, etc., and may also be a timer message to inform the diagnostic initiation device 10 to wait for a further period of time.

In the embodiment of the present application, the control unit 30 directly receives the diagnosis request from the diagnosis initiating apparatus 10, determines the diagnosis target based on the request content in the diagnosis request, and returns a response message of the diagnosis request to the diagnosis initiating apparatus 10 based on the diagnosis condition of the diagnosis target. Based on the characteristic that the control unit 30 in the domain controller is responsible for executing the diagnosis request, the control unit 30 in the domain controller serves as a route in the diagnosis communication process, and a calculation unit in the domain controller is not required to be responsible for message forwarding in the diagnosis communication process, so that the message forwarding times in the diagnosis communication process are effectively reduced, the communication delay is reduced, the communication efficiency is improved, the communication resources are solved, and the software complexity related to the diagnosis communication on the calculation unit and the control unit is reduced.

In some embodiments, the domain controller further includes a shared memory located between the computing unit and the control unit, and the computing unit and the control unit communicate in a Core-to-Core communication (C2 CC) implemented based on the shared memory between the computing unit and the control unit.

In this embodiment, in the inter-core communication, the computing unit and the control unit may store messages or data to be transmitted and received to and from each other in the shared memory, and the other side may read the messages or data from the shared memory. Specifically, when the control unit sends a message or data to the computing unit, the control unit writes the message or data into the shared memory, and the computing unit reads the message or data written by the control unit from the shared memory; when the computing unit sends a message or data to the control unit, the computing unit writes the message or data into the shared memory, and the control unit reads the message or data written by the computing unit from the shared memory.

Therefore, compared with the case that the computing unit and the control unit communicate through the switch and the DoIP, the inter-core communication does not occupy the bus bandwidth of the switch, the control unit and the computing unit, does not need to process the receiving interruption and the sending interruption of the Ethernet, and saves communication resources.

Further, in the case that the diagnosis initiating device is a computing unit, the control unit may receive a diagnosis request transmitted by the computing unit through inter-core communication. Therefore, under the condition that the computing unit initiates the diagnosis communication, the efficiency of the diagnosis communication is improved through the inter-core communication, and the communication resource is saved.

In a possible embodiment, the shared memory may also be provided in the computing unit and/or in the control unit, so as to implement inter-core communication via the shared memory located in the computing unit and/or in the control unit.

Further, in the case that the shared memory is provided in the computing unit and the control unit, the shared memory in the computing unit is communicatively connected to the shared memory in the control unit.

In some embodiments, the diagnostic object may include a domain controller in which the control unit is located and/or a CAN ECU that communicates with the control unit through a CAN. Therefore, the control unit CAN execute the diagnosis request aiming at the domain controller where the control unit is located, and CAN serve as a route between the diagnosis initiating device and the CAN ECU, and the diagnosis request is forwarded to the CAN ECU, so that the diagnosis of the CAN ECU is realized.

An embodiment in which the diagnostic object is a domain controller is given below with reference to fig. 5 to 8:

fig. 5 shows a second flowchart of the vehicle diagnostic communication method provided in the embodiment of the present application. As shown in fig. 5, the vehicle diagnostic communication method includes:

s501, the control unit 30 in the domain controller receives the diagnosis request transmitted from the diagnosis initiator apparatus 10.

The implementation principle and the technical effect of S501 may refer to the foregoing embodiments, and are not described again.

S502, the control unit 30 determines that the diagnosis target is the domain controller based on the request content in the diagnosis request in response to the diagnosis request.

In this embodiment, the control unit 30 may obtain request content from the diagnosis request, for example, the request content is a request for obtaining sensing data of a certain sensor and a request for obtaining fault information of a certain component; thereafter, the control unit 30 may determine a diagnosis target based on the target address in the request content. In the case where the target address in the request content points to the domain controller where the control unit 30 is located, the control unit 30 may determine that the diagnosis target is the domain controller where the control unit 30 is located.

S503, the control unit 30 performs a diagnosis operation corresponding to the diagnosis request.

In the present embodiment, in the case where the diagnostic object is the domain controller in which the control unit 30 is located, the control unit 30 processes the diagnostic request as the domain controller, that is, the control unit 30 performs the diagnostic operation corresponding to the diagnostic request. For example, the control unit 30 obtains sensing data of a sensor on the domain controller, failure information of a component on the domain controller, an operation log of software on the domain controller, and the like.

S504, the control unit 30 returns a response message of the diagnosis request to the diagnosis initiator 10 according to the execution of the diagnosis operation.

In this embodiment, in the case that the diagnosis target is the domain controller in which the control unit 30 is located, the control unit 30 executes a diagnosis operation corresponding to the diagnosis request, and obtains an execution request of the diagnosis operation, where the execution condition of the diagnosis operation may include at least one of: the diagnostic operations are not performed completely, the diagnostic operations are performed completely, diagnostic data (such as sensor data, fault information, etc.) obtained by performing the diagnostic operations. After obtaining the execution condition of the diagnosis operation, the control unit 30 returns a response message of the diagnosis request to the diagnosis initiating device 10, where the response message carries the execution condition of the diagnosis operation, so as to directly feed back the execution condition of the diagnosis operation to the diagnosis initiating device 10 through the control unit 30.

In the embodiment of the present application, the controller 30 in the domain controller receives the diagnosis request sent by the diagnosis initiation apparatus 10, and in the case where it is determined that the diagnosis target is the domain controller according to the diagnosis request, the control unit 30 executes the diagnosis operation corresponding to the diagnosis request, and directly feeds back the execution condition of the diagnosis operation to the diagnosis initiation apparatus 10. Compared with the way that the diagnosis request is forwarded to the control unit 30 by the computing unit and the execution condition of the diagnosis operation is forwarded to the diagnosis initiating device 10 by the computing unit, the embodiment of the application effectively reduces the message forwarding times in the diagnosis communication process, reduces the communication delay and improves the communication efficiency.

In case the diagnostic object is a domain controller where the control unit is located, the diagnostic request may be related to a calculation unit in the domain controller. Thus, in some embodiments, if the diagnostic request is associated with a computing unit in the domain controller, the control unit and the computing unit perform the diagnostic operation via inter-core communication. Therefore, the diagnosis communication efficiency is improved and the communication resources occupied by the diagnosis communication are reduced through the inter-core communication between the control unit and the computing unit.

The role of diagnostic communication may include the following two: the method is used for fault diagnosis of the vehicle and data upgrading of the vehicle. Thus, in this embodiment, the correlation of the diagnostic request to the computing unit in the domain controller may comprise at least one of: the diagnosis request is used for requesting to acquire data stored in the computing unit, the data requested by the diagnosis request needs to be obtained through computing of the computing unit, and the diagnosis request is used for requesting the domain controller to be upgraded. Wherein the diagnostic request requesting the domain controller for an upgrade may include requesting a control unit and/or a computing unit upgrade.

In the case where the diagnosis request is for requesting the domain controller to be upgraded, the device state of the domain controller may include the following two types: a diagnostic state and an upgrade state. In a diagnosis state, the domain controller receives and stores upgrade data from diagnosis initiating equipment; in the upgrade state, the domain controller performs an upgrade based on upgrade data from the diagnosis initiating device. Therefore, the control unit may take different operations by judging the device state of the domain controller, which will be described below by embodiments, respectively.

When the domain controller is in a diagnosis state, a control unit and a calculation unit in the domain controller are also in the diagnosis state; when the domain controller is in the upgrading state, the control unit and the computing unit in the domain controller are also in the upgrading state.

Fig. 6 shows a third schematic flowchart of the vehicle diagnostic communication method provided by the embodiment of the present application, which is applied to the control unit in the domain controller, in other words, the execution subject of the vehicle diagnostic communication method provided by the present embodiment is the control unit. As shown in fig. 6, the vehicle diagnostic communication method includes:

s601, receiving a diagnosis request sent by a diagnosis initiating device.

And S602, responding to the diagnosis request, and determining that the diagnosis object is the domain controller based on the request content in the diagnosis request.

The implementation principle and the technical effect of S601 and S602 may refer to the foregoing embodiments, and are not described again.

S603, determining whether the diagnosis request indicates the domain controller to be upgraded.

In this embodiment, the control unit may determine whether the diagnostic request indicates the domain controller to perform the upgrade by determining whether the diagnostic request belongs to the upgrade service request, and if the control unit determines that the diagnostic request indicates the domain controller to perform the upgrade, S604 is executed, otherwise S606 is executed.

In one possible implementation, the control unit may determine whether the diagnostic request is a 0 × 11 request, a 0 × 34 request, a 0 × 36 request, a 0 × 37 request, or a 0 × 38 request, and if so, determine that the diagnostic request indicates the domain controller to be upgraded, otherwise, determine that the diagnostic request does not indicate the domain controller to be upgraded. Wherein the 0 × 11 request, the 0 × 34 request, the 0 × 36 request, the 0 × 37 request, or the 0 × 38 request is an upgrade service request in the UDS. Thus, based on these several upgrade service requests in the UDS, the accuracy of determining whether a diagnostic request belongs to an upgrade service request is improved.

And S604, determining whether the domain controller is in a diagnosis state.

In this embodiment, the control unit determines whether the domain controller is in a diagnostic state, and executes S605 if the domain controller is in the diagnostic state, or executes S606 otherwise.

The execution sequence of S603 and S604 may be to execute S603 first, or may execute S604 first, or may execute S603 and S604 simultaneously, which is not limited herein.

In one possible implementation, the domain controller may default to a diagnostic state upon startup. Therefore, after the domain controller is started, the diagnosis initiating device can realize the upgrading of the domain controller by sending a diagnosis request for indicating the domain controller to upgrade.

And S605, sending the first upgrading data of the self-diagnosis initiating device to the computing unit through inter-core communication so as to assist the computing unit in upgrading.

The first upgrade data may include upgrade data for upgrading the control unit and/or upgrade data for upgrading the computing unit. Considering that the control unit is mainly responsible for control and the calculation unit is mainly responsible for data processing, the storage capacity of the calculation unit is stronger than that of the control unit, and thus in the domain controller, the upgrade data can be stored and processed by the calculation unit.

In this embodiment, the control unit may receive first upgrade data from the diagnosis initiating device, send the first upgrade data to the computing unit, and store the first upgrade data in the computing unit, when it is determined that the diagnosis request indicates that the domain controller is upgraded and the domain controller is in the diagnosis state. And under the condition that the first upgrading data comprises upgrading data for upgrading the computing unit, the first upgrading data is sent to the computing unit, so that the upgrading of the computing unit is facilitated to be realized in an auxiliary manner.

And S606, executing diagnosis operation corresponding to the diagnosis request.

In this embodiment, when the diagnosis request does not indicate the domain controller to be upgraded, the control unit itself may perform a diagnosis operation corresponding to the diagnosis request, for example, obtain sensing data of the sensor; in a case where the diagnosis request indicates that the domain controller is upgraded but the domain controller is in an upgraded state (i.e., not in a diagnosis state), the control unit may perform an upgrade operation based on the first upgrade data stored in the calculation unit; and under the condition that the diagnosis request indicates that the domain controller is upgraded and the domain controller is in a diagnosis state, the controller can wait for the domain controller to enter the upgrading state after transmitting the first upgrading data to the computing unit, and execute upgrading operation based on the first upgrading data after the domain controller enters the upgrading state.

And S607, according to the execution situation of the diagnosis operation, returning a response message of the diagnosis request to the diagnosis initiating device.

The implementation principle and the technical effect of S607 may refer to the foregoing embodiments, and are not described again.

In the embodiment of the application, under the condition that the diagnosis object is the domain controller, the domain controller is in a diagnosis state, and the diagnosis request is used for indicating the domain controller to be upgraded, the control unit sends the first upgrade data to the computing unit through inter-core communication, so that the diagnosis communication for upgrading the domain controller is realized through the inter-core communication between the control unit and the computing unit and by taking the control unit as a route in an upgrading process, the communication efficiency of the diagnosis communication is improved, and the communication resource is saved.

In some embodiments, fig. 7 shows a flow diagram of diagnostic communication in the case where the diagnostic object is a domain controller, the domain controller is in a diagnostic state, and the diagnostic communication is used to instruct the domain controller to upgrade. As shown in fig. 7, the diagnostic communication process may include:

s701, the diagnosis initiating apparatus 10 sends a diagnosis request to the control unit 30, where the diagnosis request is used to instruct the domain controller to upgrade.

S702, the control unit 30 returns a diagnosis response to the diagnosis initiating device 10, where the diagnosis response is used to indicate to the diagnosis initiating device 10 that the control unit 30 has received the diagnosis request.

In this embodiment, in a case where the diagnostic object is determined to be the domain controller according to the diagnostic request and the diagnostic request is used to instruct the domain controller to upgrade, the control unit 30 may return a diagnostic response to the diagnostic initiation device 10 to inform the diagnostic initiation device that the control unit has received the diagnostic request.

S703, the diagnosis initiating device 10 sends a first message to the control unit 30 in response to the diagnosis response, where the first message is used to instruct the control unit 30 to start data transmission.

In this embodiment, after receiving the diagnosis response, the diagnosis initiating device 10 may send a first message to the control unit 30 in response to the diagnosis response, where the first message is used to inform the control unit 30 of the start of data transmission. The first message may also be used to request a data transmission requirement of the control unit 30, where the data transmission requirement of the control unit 30 may include a format that the data that can be received and analyzed by the control unit 30 needs to satisfy, and a data transmission rate that can be accepted by the control unit 30 for data transmission through inter-core communication.

S704, the control unit 30 sends a second message to the calculation unit 20 in response to the first message, the second message being used to indicate the start of data transmission to the calculation unit 20.

In this embodiment, since the upgrade data needs to be transmitted to the computing unit 20 for storage, the control unit 30 may send a second message to the computing unit 20 after receiving the first message to notify the computing unit 20 of the start of data transmission through the second message, so that the computing unit 20 is ready to receive data. The second message may also be used to request the data transmission requirement of the computing unit 20, and the data transmission requirement of the computing unit 20 may include a format that the data that can be received and analyzed by the computing unit 20 needs to satisfy and a data transmission rate that can be accepted by the computing unit 20 for data transmission through inter-core communication.

S705, the calculating unit 20 returns a response message of the second message to the control unit 30 in response to the second message, where the response message of the second message is used to indicate that the calculating unit 30 receives the second message and indicate a data transmission requirement of the calculating unit 30.

S706, the control unit 30 sends a response message of a first message to the diagnosis initiating device 10 in response to the response message of the second message returned by the computing unit 20, where the response message of the first message is used to indicate that the control unit 30 receives the first message and indicate a data transmission requirement of the control unit 30.

S707, the diagnosis initiating device 10 sends a third message to the control unit 30 in response to the response message of the first message, where the third message carries the first upgrade data.

In this embodiment, the diagnosis initiating device 10 may perform transmission of the upgrade data after receiving the response message of the first message, and therefore send a third message to the control unit 30, where the third message carries the first upgrade data. The first upgrade data may refer to the foregoing embodiments, and is not described in detail.

S708, the control unit 30 sends a fourth message to the computing unit 20 in response to the third message, where the fourth message carries the first upgrade data.

In this embodiment, after receiving the third message, the control unit 30 may obtain the first upgrade file from the third message, generate a fourth message carrying the first upgrade data based on the inter-core communication mode, and send the fourth message to the computing unit in the inter-core communication mode.

S709, after receiving the fourth message, the computing unit 20 returns a response message of the fourth message to the control unit 30, where the response message of the fourth message is used to indicate to the control unit 30 that the transmission of the first upgrade data is completed.

S710, the control unit 30 sends a response message of a third message to the diagnosis initiating device 10 in response to the response message of the fourth message returned by the computing unit 20, where the response message of the third message is used to indicate that the transmission of the first upgrade data is completed to the diagnosis initiating device 10.

In this embodiment, after receiving the fourth message, the computing unit 20 may obtain the first upgrade data from the fourth message, and store the first upgrade data. Meanwhile, the calculation unit 20 may return a response message of the fourth message to the control unit 30 to indicate to the control unit 30 that the calculation unit 20 has received the first upgrade data. The control unit 30 returns a response message of the third message to the diagnosis launching device 10 in response to the response message of the fourth message to indicate to the diagnosis launching device 10 that the transmission of the first upgrade data between the diagnosis launching device 10 and the domain controller is completed, i.e., the transmission of the first upgrade data is successful.

In some embodiments, as shown in fig. 7, after S710, the vehicle diagnostic communication method further comprises: s711, the diagnosis initiating device 10 sends a data verification message to the control unit 30 to request the domain controller to verify the received first upgrade data; s712, the control unit 30 sends a data check message to the computing unit 20 in response to the data check message from the diagnosis initiating device 10, so as to request the computing unit 20 to check the first upgrade data; s713, the calculating unit 20 returns a data verification response to the control unit 30 in response to the data verification message sent by the control unit 30, so as to indicate a data verification result to the control unit 30; s714, the control unit 20 sends a data verification response to the diagnosis initiating device 10 in response to the data verification response of the calculation unit to indicate the data verification result to the diagnosis initiating device 10. Therefore, the upgrade data is checked after the transmission of the upgrade data is completed, the accuracy and the reliability of the upgrade data are improved, and the success rate of upgrading the domain controller through diagnosis communication is improved.

The data verification result may be a data verification success or a data verification failure.

The diagnosis response, the response message of the first message, the response message of the third message, and the data verification response returned by the control unit 30 to the diagnosis initiating device 10 all belong to the response message of the diagnosis request.

In this embodiment of the present application, when the domain controller is in the diagnostic state and the diagnostic request indicates that the domain controller performs the upgrade, the control unit 30 in the domain controller is used as a route, and a message indicating the start of data transmission, a message carrying upgrade data, and a message indicating data verification, which are sent by the diagnostic initiation device 10, are forwarded to the computing unit 20 through inter-core communication, and a message indicating the data transmission requirement, a message completing data transmission, and a message indicating a data verification result, which are returned by the computing unit 20, are received through inter-core communication, and are forwarded to the diagnostic initiation device 10. Therefore, the advantages of the control unit 30 and the computing unit 20 are fully exerted, the inter-core communication is utilized, the communication efficiency is improved, and the communication resource occupation is reduced.

In some embodiments, the control unit may send second upgrade data to the computing unit through inter-core communication, and the control unit performs upgrade according to the second upgrade data, in a case where it is determined that the diagnosis request indicates that the domain controller is upgraded and the domain controller is in an upgraded state.

And the second upgrading data is upgrading data used for upgrading the control unit.

In this embodiment, the computing unit may send the second upgrade data to the control unit in an inter-core communication manner when the first upgrade data includes the second upgrade data for upgrading the control unit, and after receiving the second upgrade data, the control unit may upgrade firmware or software in the control unit according to the second upgrade data. In a case where the first upgrade data further includes third upgrade data for upgrading the computing unit, the computing unit may upgrade firmware or software in the computing unit according to the third upgrade data. Thus, the upgrading of the domain controller is realized.

In one possible implementation, the computing unit may also obtain upgrade data for domain controller upgrades via Over-the-Air Technology (OTA). In the case where the upgrade data includes second upgrade data, the calculation unit may transmit the second upgrade data to the control unit through inter-core communication. Thus, flexibility of acquisition of upgrade data is improved.

In one possible implementation, the domain controller enters the upgrade state if the upgrade trigger condition is met. Wherein, the upgrade triggering condition may include at least one of the following: the transmission of the first upgrade data from the diagnosis initiation device is completed; and/or the control unit receives a fifth message of the diagnosis initiating device, and the fifth message indicates the control unit to enter an upgrading state; and the control unit receives a sixth message of the calculation unit, and the sixth message indicates the control unit to enter an upgrading state.

In the implementation mode, the domain controller can enter an upgrading state under the condition that the transmission of the first upgrading data is completed, so that the upgrading can be performed in time after the transmission of the upgrading data is completed; and/or the control unit can control the domain controller to enter the upgrade state under the condition of receiving a fifth message indicating the control unit to enter the upgrade state by the diagnosis initiating device, so that the diagnosis initiating device can actively trigger the domain controller to enter the upgrade state; and/or the control unit can control the domain controller to enter the upgrade state under the condition of receiving a sixth message indicating that the control unit enters the upgrade state by the computing unit, so that the computing unit can also actively trigger the domain controller to enter the upgrade state.

In one example, the fifth message may be a restart message or a reset message. The reset message indicates the domain controller to reset. And the control unit can control the domain controller to restart or reset after receiving the fifth message. The diagnosis initiating device may send a fifth message to the control unit after the transmission of the first upgrade data is completed, so that the domain controller is upgraded in time.

In an example, the computing unit may send a sixth message to the control unit after receiving the upgrade data for upgrading the domain controller through the OTA, so that the domain controller may upgrade in time after receiving the upgrade data, thereby improving the upgrade efficiency of upgrading the domain controller through the diagnostic communication.

In some embodiments, fig. 8 shows a flow diagram of diagnostic communication in the case where the diagnostic object is a domain controller, the domain controller is in a diagnostic state, and the diagnostic communication is used to instruct the domain controller to upgrade. As shown in fig. 8, the diagnostic communication process may include:

s801, the control unit 30 receives a fifth message sent by the diagnosis initiating device 10.

S802, the control unit 30 returns a response message of the fifth message to the diagnosis initiating device 10 in response to the fifth message, where the response message of the fifth message is used to indicate that the control unit 30 has received the fifth message.

The fifth message may refer to the foregoing embodiments, and is not described in detail.

S803, the control unit 30 sends a seventh message to the computing unit 20 in response to the fifth message, the seventh message being for indicating that the computing unit 20 is ready to enter the upgrade state.

S804, in response to the seventh message, the computing unit 20 returns a response message of the seventh message to the control unit 30, where the response message of the seventh message is used to indicate that the computing unit 20 has received the seventh message.

In this embodiment, after the control unit 30 receives the seventh message, both the control unit 30 and the computing unit 20 enter the upgrade state, that is, the domain controller enters the upgrade state.

S805, the calculation unit 20 sends an eighth message to the control unit 30, where the eighth message is used to instruct the control unit 30 to start data transmission.

In this embodiment, after entering the upgrade state, since the upgrade data is stored in the computing unit 20, the computing unit 20 may send an eighth message to the control unit 30 through inter-core communication in a case where the stored upgrade data includes second upgrade data for upgrading the control unit 30, so as to inform the control unit 30 that data transmission is started, that is, the transmission of the upgrade data is ready.

The eighth message may also be used to request a data transmission requirement of the control unit 30, so that the computing unit 20 sends the upgrade data to the control unit 30 according to the data transmission requirement, and the data transmission requirement may refer to the foregoing embodiment and is not described again.

S806, in response to the eighth message, the control unit 30 returns a response message of the eighth message to the computing unit 20 to notify the computing unit 20 of the data transmission requirement of the control unit 30.

In this embodiment, after receiving the eighth message, the control unit 30 may return a response message of the eighth message to the computing unit 20 through inter-core communication. The response message of the eighth message carries the data transmission requirement of the control unit 30.

S807, the calculating unit 20 sends a ninth message to the controlling unit 30 in response to the response message of the eighth message, where the ninth message carries the second upgrade data.

In this embodiment, after receiving the response message of the eighth message, the computing unit 20 may obtain the second upgrade data from the stored upgrade data (for example, the first upgrade data), generate a ninth message carrying the second upgrade data, and send the ninth message to the control unit 30 through inter-core communication.

S808, the control unit 30 sends a response message of the ninth message to the calculation unit 20 in response to the ninth message to inform the calculation unit 20 that the second upgrade data transmission is completed.

S809, the control unit 30 and the calculation unit 20 perform the upgrade, respectively.

In this embodiment, after receiving the second upgrade data, the control unit 30 may upgrade according to the second upgrade data, and the computing unit 20 may upgrade according to third upgrade data used for upgrading the computing unit 20. Thus, the upgrade of the domain controller is completed.

In a possible implementation manner, after receiving the response message of the ninth message, the computing unit 20 may send a data check message to the control unit 30 in response to the response message of the ninth message; the control unit 30 verifies the received second upgrade data in response to the data verification message, and transmits a data verification response to the calculation unit 20 according to the verification result. Therefore, through data verification, the accuracy and reliability of upgrading data transmission between the computing unit 20 and the control unit 30 in the upgrading state are improved.

In a possible implementation manner, after the control unit 30 performs the upgrade, the control unit 30 may send an upgrade status query message to the computing unit 20 to query whether the computing unit 20 completes the upgrade, and the computing unit 20 may return an upgrade status response message to the control unit 30 according to the upgrade status thereof, so as to inform the control unit 30 whether the computing unit 20 completes the upgrade or not through the upgrade status response message.

In a possible implementation manner, after receiving the upgrade status response message of the computing unit 20, if it is determined that the upgrade of the computing unit 20 is completed according to the upgrade status response message, the control unit 30 may send a shutdown command to the computing unit 20 to instruct the computing unit 20 to shutdown; after receiving the shutdown command, if determining that shutdown is currently allowed, the computing unit 20 returns a shutdown response to the control unit 30. Thus, after the upgrade is completed, the control unit 30 and the computing unit 20 are automatically shut down to ensure that the upgraded control unit 30 and computing unit 20 can operate according to the upgraded firmware and/or software after being restarted.

Based on the foregoing embodiments, in the inter-core communication between the control unit and the computing unit, in some embodiments, the data structures employed by the communication message include a command data structure and a diagnostic data structure. Wherein the command data structure comprises at least one of the following fields: a command field, a response field, an error feedback field, a command data length field and a command data address field; the diagnostic data structure includes at least one of the following fields: a target node field, a diagnostic data length field, a diagnostic data address field. Under the condition of command transmission between the control unit and the computing unit, a command data structure can be adopted; in the case of data (particularly upgrade data) transmission between the control unit and the computing unit, a diagnostic data structure may be employed to improve data transmission efficiency in inter-core communication.

In this embodiment, in the command data structure: 1) The command field carries a command type value, where the command type value reflects an execution operation corresponding to the command message, for example, in a command message sent by the control unit to the computing unit, when the command type value carried by the command field is 1, it indicates that the control unit instructs the computing unit to start, and when the command type value carried by the command field is 2, it indicates that the control unit instructs the computing unit to reset; 2) The response field carries a response type value, where the response type value reflects response content transmitted by the response message, for example, in a response message sent by the computing unit to the control unit, when the response type value carried by the response field is 1, it indicates that the computing unit is executing an execution operation indicated by the command message, and when the command type value carried by the command field is 2, it indicates that the computing unit has completed the execution operation indicated by the command message; 3) The error code field carries an error type value, and the error type value feeds back errors generated when the control unit or the calculation unit executes the execution operation in the command message; 4) The command data length field carries the data length of a data address, and the data address refers to the storage address of related data in a command message or a response message; 5) The command data address field carries the storage address of the relevant data in the command message or the response message. Thus, based on the command data structure, the control unit and the calculation unit can clearly and accurately perform inter-core communication.

In this embodiment, in the diagnostic data structure: 1) The field of the target node carries an identifier of the target node, the target node is an object conveyed by the message, for example, if the control unit sends the message to the calculation unit, the calculation unit is the target node; 2) The diagnostic data length field carries the data length of the storage address where the diagnostic data is located; 3) The diagnostic data address field carries the memory address where the diagnostic data is located. Therefore, in the inter-core communication, based on the diagnosis data structure, the control unit and the calculation unit can store data in the shared memory, and can also accurately know where the data is stored in the shared memory by the other side, so that the accuracy of the inter-core communication is improved.

An embodiment in which the diagnosis target is a CAN ECU is given below with reference to fig. 9:

fig. 9 shows a fourth flowchart of the vehicle diagnostic communication method provided by the embodiment of the application. As shown in fig. 9, the vehicle diagnostic communication method includes:

s901, the control unit 30 in the domain controller receives the diagnosis request transmitted from the diagnosis initiator apparatus 10.

The implementation principle and the technical effect of S901 may refer to the foregoing embodiments, and are not described again.

S902, control unit 30 determines that the object to be diagnosed is CAN ECU 60 based on the request content in the diagnosis request in response to the diagnosis request.

In this embodiment, the control unit 30 may obtain request content from the diagnosis request, for example, the request content is a request for obtaining sensing data of a certain sensor and a request for obtaining fault information of a certain component; thereafter, the control unit 30 may determine a diagnosis target based on the target address in the request content. In the case where the target address in the request content points to CAN ECU 60 connected to control unit 30 through CAN, control unit 30 may determine that the object of diagnosis is CAN ECU 60.

S903, control unit 30 transmits a diagnosis request to CAN ECU 60.

In the present embodiment, in a case where control unit 30 determines that the object to be diagnosed is CAN ECU 60, the diagnosis request may be forwarded to CAN ECU 60 via a diagnosis routing module located in control unit 30.

Specifically, the control unit 30 may convert the diagnosis request from an ethernet message (e.g., a DoIP message) to a diagnosis over Controller Area Network (CAN) message on the control Area Network through the diagnosis routing module, and send the converted diagnosis request to the CAN ECU 60.

S904, control unit 30 returns a response message of the diagnosis request to diagnosis initiating apparatus 10 according to the diagnosis of CAN ECU 60.

In one example, the control unit 30 may transmit a response message of the diagnosis request to the diagnosis initiating device 10 after receiving a response message returned by the CAN ECU 60. Wherein, after receiving the diagnosis request, CAN ECU 60 may send a response message to control unit 30 through the CAN; the control unit 30 may convert the response message from the CAN ECU 60 from the doc message to the ethernet message through the diagnosis routing module, and then transmit the converted response message to the diagnosis initiation device 10.

In still another example, the control unit 30 may transmit a response message of a diagnosis request to the diagnosis initiating device 10 to inform the diagnosis initiating device 10 to wait for a period of time again, or inform the diagnosis initiating device 10 of a diagnosis communication abnormality, in a case where a duration of not receiving the response message returned by the CAN ECU 60 exceeds a preset market.

In the embodiment of the present application, in the case where the object of diagnosis is CAN ECU 60 communicating with control unit 30 via CAN, control unit 30 serves as a route between CAN ECU 60 and diagnosis-initiating device 10, and forwards a diagnosis request from diagnosis-initiating device 10 to CAN ECU 60, and may also return a response message to the diagnosis request to diagnosis-initiating device 10 based on the diagnosis condition of CAN ECU 60. Compared with the situation that the calculation unit serves as the route, the method and the device effectively reduce the message forwarding times in the diagnosis communication, reduce the time delay of the diagnosis communication, and improve the efficiency of the diagnosis communication.

Fig. 10 shows a schematic diagram of a software architecture of the control unit 30 in the domain controller according to the embodiment of the present application in diagnostic communication with the computing unit 20. As shown in fig. 10, the control unit 30 and the computing unit 20 are respectively provided with a shared memory, wherein the control unit 30 includes the shared memory 35 and the computing unit 20 includes the shared memory 24 as an example.

As shown in fig. 10, during the diagnostic communication, the external diagnostic apparatus 10 may send a diagnostic request to the control unit 30 through the switch 50, and after the plurality of protocol layers 31 in the control unit 30 receive the diagnostic request, the routing module 32 determines a diagnostic object of the diagnostic request. If the diagnosis object is a domain controller where the control unit 30 is located, the single-chip microcomputer 33 in the control unit 30 may perform a diagnosis operation, otherwise, a diagnosis request may be sent to the other ECUs 40 by the CAN communication link 34. During the process of executing the diagnosis operation, the single chip microcomputer 33 can communicate with the shared memory 35 in the computing unit 20 through the routing module 32 and the shared memory 35 in the control unit 30, so as to realize inter-core communication between the control unit 30 and the computing unit 20. As shown in fig. 10, the calculating unit 20 is further provided with the following structure: run-Time Environment (RTE) 25 and Over-the-Air Technology (OTA), upgrade data may be downloaded Over the OTA. The control unit 30 is also provided with the following structure: RTE36 and application layer 37, may perform corresponding operations in response to application layer requirements.

Fig. 11 shows a first structural schematic diagram of the vehicle diagnostic communication device provided in the embodiment of the present application. As shown in fig. 11, on the control unit side in the domain controller of the vehicle, the vehicle diagnosis communication device includes:

a receiving module 1101, configured to receive a diagnosis request sent by a diagnosis initiating apparatus.

The determining module 1102 is configured to determine a diagnostic object based on request content in the diagnostic request in response to the diagnostic request, where the diagnostic object includes a target component that is required to be diagnosed or accessed by the diagnostic request.

The processing module 1103 is configured to return a response message of the diagnosis request to the diagnosis initiating device according to the diagnosis condition of the diagnosis object.

In some embodiments, the diagnostic object includes a domain controller, and in the process of returning a response message of the diagnostic request to the diagnostic initiating device according to the diagnostic condition of the diagnostic object, the processing module 1103 is specifically configured to: performing a diagnostic operation corresponding to the diagnostic request; and returning a response message of the diagnosis request to the diagnosis initiating device according to the execution condition of the diagnosis operation.

In some embodiments, the domain controller further includes a shared memory located between the computing unit and the control unit, and the communication mode between the computing unit and the control unit includes inter-core communication implemented based on the shared memory between the computing unit and the control unit. In the process of executing the diagnosis operation corresponding to the diagnosis request, the processing module 1103 is specifically configured to: in the case where the diagnosis request is related to the calculation unit in the domain controller, the diagnosis operation is performed by inter-core communication with the calculation unit.

In some embodiments, the diagnostic request is associated with a computing unit, including at least one of: the diagnosis request is used for requesting to acquire data stored in the computing unit, the data requested by the diagnosis request is obtained through the operation of the computing unit, the diagnosis request is used for requesting the upgrading of the domain controller, and the diagnosis request is used for requesting the upgrading of the domain controller and comprises a request for requesting the upgrading of the control unit and/or the computing unit.

In some embodiments, in a case that the diagnosis request is related to a computing unit in the domain controller, in the process of performing the diagnosis operation by performing inter-core communication with the computing unit, the processing module 1103 is specifically configured to: determining that the diagnosis request indicates the domain controller to be upgraded; determining that a domain controller is in a diagnostic state; and sending first upgrading data from the diagnosis initiating device to the computing unit through inter-core communication so as to assist the computing unit in upgrading.

In some embodiments, in the process of sending, through inter-core communication, first upgrade data from a diagnosis initiating device to a computing unit to assist the computing unit in upgrading, the processing module 1103 is specifically configured to: the method comprises the following steps: receiving a first message sent by a diagnosis initiating device, wherein the first message is used for indicating the start of data transmission to a control unit; in response to the first message, sending a second message to the computing unit, the second message indicating to the computing unit that data transfer is to begin; responding to a response message of the second message returned by the computing unit, and sending a response message of the first message to the diagnosis initiating device; receiving a third message sent by the diagnosis initiating device, wherein the third message carries first upgrading data; responding to the third message, and sending a fourth message to the computing unit, wherein the fourth message carries the first upgrading data; and sending a response message of the third message to the diagnosis initiating device in response to a response message of the fourth message returned by the computing unit, wherein the response message of the fourth message and the response message of the third message are used for indicating that the transmission of the first upgrade data is completed.

In some embodiments, in a case that the diagnosis request is related to a computing unit in the domain controller, in the process of performing the diagnosis operation by performing inter-core communication with the computing unit, the processing module 1103 is specifically configured to: determining that the diagnosis request indicates the domain controller to be upgraded; determining that a domain controller is in an upgrading state; receiving second upgrading data sent by the computing unit through inter-core communication; and upgrading according to the second upgrading data.

In some embodiments, the domain controller enters an upgrade state if an upgrade trigger condition is met; the upgrade trigger condition includes at least one of: the transmission of the first upgrading data is completed; and/or receiving a fifth message of the diagnosis initiating device, wherein the fifth message indicates the control unit to enter an upgrading state; and/or receiving a sixth message of the computing unit, the sixth message instructing the control unit to enter the upgrade state.

In some embodiments, in the process of determining that the domain controller is in the upgrade state, the processing module 1103 is specifically configured to: receiving a fifth message sent by the diagnosis initiating device; responding to the fifth message, and returning a response message of the fifth message to the diagnosis initiating device, wherein the response message of the fifth message indicates the start of the upgrade of the control unit; in response to the fifth message, sending a seventh message to the computing unit, the seventh message instructing the computing unit to enter an upgrade state; and receiving a response message of a seventh message returned by the computing unit, wherein the response message of the seventh message indicates the start of the upgrade of the computing unit.

In some embodiments, in the process of receiving, through inter-core communication, the second upgrade data sent by the computing unit, the processing module 1103 is specifically configured to: receiving an eighth message sent by the computing unit, wherein the eighth message indicates the start of data transmission to the control unit; responding to the eighth message, and returning a response message of the eighth message to the computing unit so as to inform the computing unit of the data transmission requirement of the control unit; receiving a ninth message sent by the computing unit, wherein the ninth message carries second upgrade data; in response to the ninth message, a response message to the ninth message is sent to the computing unit to inform the computing unit that the second upgrade data transmission is complete.

In some embodiments, in inter-core communication between the control unit and the computing unit, the data structures employed by the communication messages include command data structures and diagnostic data structures; wherein, the command data structure comprises at least one of the following fields: a command field, a response field, an error feedback field, a command data length field and a command data address field; wherein the diagnostic data structure comprises at least one of the following fields: a target node field, a diagnostic data length field, a diagnostic data address field.

In some embodiments, the diagnosis object includes a controller area network CAN ECU communicating with the control unit through a controller area network CAN, and in the process of returning a response message of the diagnosis request to the diagnosis initiating device according to the diagnosis condition of the diagnosis object, the processing module 1103 is specifically configured to: sending a diagnosis request to a CAN ECU; acquiring the diagnosis condition of the CAN ECU; and returning a diagnosis response to the diagnosis initiating device according to the diagnosis condition of the CAN ECU.

In some embodiments, the diagnostic initiating device comprises at least one of: the system comprises external equipment, an ECU with a networking function in a vehicle and a computing unit in a domain controller; in the case that the diagnosis initiating device is a computing unit, and in the process that the control unit receives the diagnosis request sent by the diagnosis initiating device, the receiving module 1101 is specifically configured to: and receiving a diagnosis request sent by the computing unit through inter-core communication.

The vehicle diagnosis communication device provided by the embodiment of the application can realize each step realized by the control unit in the above method embodiments, and is not described herein again in order to avoid repetition.

Fig. 12 is a schematic structural diagram of a vehicle diagnosis communication apparatus according to an embodiment of the present application, which is applied to a computing unit in a domain controller of a vehicle, where a communication manner between a control unit and the computing unit in the domain controller is inter-core communication implemented based on a shared memory between the control unit and the computing unit. As shown in fig. 12, on the side of the calculation unit in the domain controller of the vehicle, the vehicle diagnosis communication device includes:

a receiving module 1201, configured to receive, through inter-core communication, first upgrade data sent by a control unit when a domain controller is in a diagnostic state; and/or;

a sending module 1202, configured to send, to the control unit through inter-core communication, second upgrade data when the domain controller is in an upgrade state.

The vehicle diagnosis communication device provided in the embodiment of the present application can perform each step implemented by the computing unit in the above method embodiments, and is not described herein again in order to avoid repetition.

An embodiment of the present application further provides a chip, where the chip includes a control unit and/or a computing unit, the control unit is configured to execute the steps executed by the control unit in any of the foregoing embodiments, and the computing unit is configured to execute the steps executed by the computing unit in any of the foregoing embodiments, which is not described herein again.

Fig. 13 shows a hardware structure diagram of an electronic device provided in an embodiment of the present application. As shown in fig. 13, the electronic apparatus includes:

a processor 1301 and a memory 1302 storing computer program instructions.

Specifically, the processor 1301 may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or may be configured to implement one or more Integrated circuits of the embodiments of the present Application.

Memory 1302 may include a mass storage for data or instructions. By way of example, and not limitation, memory 1302 may include a Hard Disk Drive (HDD), a floppy Disk Drive, flash memory, an optical Disk, a magneto-optical Disk, tape, or a Universal Serial Bus (USB) Drive or a combination of two or more of these. Memory 1302 may include removable or non-removable (or fixed) media, where appropriate. Memory 1302 may be internal or external to the integrated gateway disaster recovery device, where appropriate. In a particular embodiment, the memory 1302 is non-volatile solid-state memory.

In particular embodiments, memory 1302 may include Read Only Memory (ROM), random Access Memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical, or other physical/tangible memory storage devices. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software comprising computer-executable instructions and when the software is executed (e.g., by one or more processors) it is operable to perform operations described with reference to the method according to an aspect of the disclosure.

The processor 1301 realizes any one of the vehicle diagnostic communication methods in the above-described embodiments by reading and executing computer program instructions stored in the memory 1302.

In one example, the electronic device may also include a communication interface 1303 and a bus 1304. As shown in fig. 13, the processor 1301, the memory 1302, and the communication interface 1303 are connected via a bus 1304 to complete communication therebetween.

The communication interface 1303 is mainly used to implement communication between modules, apparatuses, units and/or devices in this embodiment of the application.

The bus 1304 includes hardware, software, or both to couple the components of the vehicle diagnostic communication device to each other. By way of example, and not limitation, a bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hypertransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an infiniband interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a video electronics standards association local (VLB) bus, or other suitable bus or a combination of two or more of these. Bus 1304 may include one or more buses, where appropriate. Although specific buses are described and shown in the embodiments of the application, any suitable buses or interconnects are contemplated by the application.

The electronic device may perform the vehicle diagnostic communication method in the embodiment of the present application based on the sensed data, thereby implementing the vehicle diagnostic communication method and apparatus described in conjunction with fig. 1 to 12.

In addition, in combination with the vehicle diagnostic communication method in the foregoing embodiment, the embodiment of the present application may be implemented by providing a computer storage medium. The computer storage medium having computer program instructions stored thereon; the computer program instructions, when executed by a processor, implement any of the vehicle diagnostic communication methods of the above embodiments.

It is to be understood that the present application is not limited to the particular arrangements and instrumentality described above and shown in the attached drawings. A detailed description of known methods is omitted herein for the sake of brevity. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present application are not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications, and additions or change the order between the steps after comprehending the spirit of the present application.

The functional blocks shown in the above-described structural block diagrams may be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, plug-in, function card, or the like. When implemented in software, the elements of the present application are the programs or code segments used to perform the required tasks. The program or code segments can be stored in a machine-readable medium or transmitted by a data signal carried in a carrier wave over a transmission medium or a communication link. A "machine-readable medium" may include any medium that can store or transfer information. Examples of a machine-readable medium include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio Frequency (RF) links, and so forth. The code segments may be downloaded via computer networks such as the internet, intranet, etc.

It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, may be performed in an order different from the order in the embodiments, or may be performed simultaneously.

Aspects of the present disclosure are described above with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, implement the functions/acts specified in the flowchart and/or block diagram block or blocks. Such a processor may be, but is not limited to, a general purpose processor, a special purpose processor, an application specific processor, or a field programmable logic circuit. It will also be understood that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based computer instructions which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

As described above, only the specific embodiments of the present application are provided, and it can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system, the module and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. It should be understood that the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present application, and these modifications or substitutions should be covered within the scope of the present application.

Claims

1. A vehicle diagnostic communication method applied to a control unit in a domain controller of a vehicle, the vehicle diagnostic communication method comprising:

a diagnosis request sent by a diagnosis initiating device is received,

2. The vehicle diagnostic communication method according to claim 1, wherein the diagnostic object includes the domain controller, and the returning of the response message of the diagnostic request to the diagnostic initiation device according to the diagnostic condition of the diagnostic object includes:

performing a diagnostic operation corresponding to the diagnostic request,

and returning a response message of the diagnosis request to the diagnosis initiating device according to the execution condition of the diagnosis operation.

3. The vehicle diagnostic communication method according to claim 2, further comprising a shared memory between a computing unit and the control unit in the domain controller, wherein the computing unit and the control unit communicate in a manner that includes inter-core communication implemented based on the shared memory between the computing unit and the control unit,

the executing of the diagnostic operation corresponding to the diagnostic request includes:

performing the diagnostic operation by inter-core communication with the computing unit if the diagnostic request is related to the computing unit.

4. The vehicle diagnostic communication method of claim 3, wherein the diagnostic request is associated with the computing unit and includes at least one of:

the diagnostic request requesting to obtain data stored in the computing unit,

the data requested by the diagnosis request is obtained by operation of the computing unit,

the diagnosis request is used for requesting the domain controller to upgrade, wherein the diagnosis request is used for requesting the domain controller to upgrade and comprises a request for upgrading the control unit and/or the computing unit.

5. The vehicle diagnostic communication method according to claim 3, wherein the performing the diagnostic operation by inter-core communication with the computing unit in a case where the diagnostic request is related to the computing unit includes:

determining that the diagnostic request instructs the domain controller to upgrade,

determining that the domain controller is in a diagnostic state,

and sending the first upgrading data from the diagnosis initiating device to the computing unit through inter-core communication so as to assist the computing unit in upgrading.

6. The vehicle diagnostic communication method of claim 5, wherein the sending first upgrade data from the diagnostic initiation device to the computing unit to assist the computing unit in upgrading via inter-core communication comprises:

receiving a first message sent by the diagnosis initiating device, the first message being used to indicate to the control unit that data transmission is started,

sending a second message to the computing unit in response to the first message, the second message indicating to the computing unit that data transfer is to begin,

sending a response message to the first message to the diagnosis initiating device in response to a response message to the second message returned by the computing unit,

receiving a third message sent by the diagnosis initiating device, wherein the third message carries the first upgrade data,

responding to the third message, sending a fourth message to the computing unit, wherein the fourth message carries the first upgrading data,

and sending a response message of the third message to the diagnosis initiating device in response to a response message of the fourth message returned by the computing unit, wherein the response message of the fourth message and the response message of the third message are used for indicating that the transmission of the first upgrade data is completed.

7. The vehicle diagnostic communication method according to claim 3, wherein the performing the diagnostic operation by inter-core communication with a computing unit in the domain controller in a case where the diagnostic request is related to the computing unit includes:

determining that the domain controller is in an upgraded state,

receiving second upgrade data sent by the computing unit through inter-core communication,

and upgrading according to the second upgrading data.

8. The vehicle diagnostic communication method of claim 7, wherein the domain controller enters an upgrade state if an upgrade trigger condition is satisfied,

the upgrade triggering condition comprises at least one of the following conditions:

the transmission of the first upgrade data is completed,

and/or receiving a fifth message of the diagnosis initiating device, the fifth message instructing the control unit to enter an upgrade state,

and/or receiving a sixth message of the computing unit, wherein the sixth message indicates the control unit to enter an upgrading state.

9. The vehicle diagnostic communication method of claim 8, wherein said determining that the domain controller is in an upgraded state comprises:

receiving the fifth message sent by the diagnosis initiating device,

in response to the fifth message, returning a response message to the fifth message to the diagnostic initiation device,

sending a seventh message to the computing unit in response to the fifth message, the seventh message indicating that the computing unit is ready to enter an upgrade state,

and receiving a response message of the seventh message returned by the computing unit.

10. The vehicle diagnostic communication method of claim 7, wherein the receiving, by inter-core communication, second upgrade data sent by the computing unit comprises:

receiving an eighth message sent by the computing unit, the eighth message being used to indicate to the control unit that data transmission is to begin,

in response to the eighth message, returning a response message to the eighth message to the computing unit to inform the computing unit of the data transmission requirements of the control unit,

receiving a ninth message sent by the computing unit, where the ninth message carries the second upgrade data,

in response to the ninth message, sending a response message to the computing unit for the ninth message to inform the computing unit that the second upgrade data transmission is complete.

11. The vehicle diagnostic communication method according to any one of claims 3 to 10, characterized in that in the inter-core communication of the control unit and the calculation unit, a data structure employed by a communication message includes a command data structure and a diagnostic data structure,

wherein, the command data structure comprises at least one of the following fields: a command field, a response field, an error feedback field, a command data length field, a command data address field,

wherein the diagnostic data structure comprises at least one of the following fields: a target node field, a diagnostic data length field, a diagnostic data address field.

12. The vehicle diagnostic communication method according to any one of claims 1 to 10, wherein the diagnostic object includes a controller area network, CAN, ECU that communicates with the control unit through a CAN, and the returning of the response message of the diagnostic request to the diagnostic initiation device according to the diagnostic condition of the diagnostic object includes:

transmitting the diagnosis request to the CAN ECU,

the diagnostic condition of the CAN ECU is acquired,

and returning the diagnosis response to the diagnosis initiating device according to the diagnosis condition of the CAN ECU.

13. The vehicle diagnostic communication method of any one of claims 1 to 10, wherein the diagnostic initiation device comprises at least one of: an external device, an ECU with networking capability in the vehicle, a computing unit in the domain controller,

in a case where the diagnosis initiating device is the computing unit, the receiving a diagnosis request sent by the diagnosis initiating device includes:

and receiving the diagnosis request sent by the computing unit through inter-core communication.

14. A vehicle diagnostic communication apparatus applied to a control unit in a domain controller of a vehicle, comprising:

a receiving module, configured to receive a diagnosis request sent by a diagnosis initiating device,

a determining module, configured to determine, in response to the diagnosis request, a diagnosis object based on request content in the diagnosis request, where the diagnosis object includes a target component that is required to be diagnosed or accessed by the diagnosis request,

and the processing module is used for returning a response message of the diagnosis request to the diagnosis initiating device by the control unit according to the diagnosis condition of the diagnosis object.

15. An electronic device, characterized in that the electronic device comprises: a processor and a memory storing computer program instructions,

the processor, when executing the computer program instructions, implements the vehicle diagnostic communication method of any of claims 1-13.

16. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon computer program instructions which, when executed by a processor, implement the vehicle diagnostic communication method of any one of claims 1-13.