CN101428595A - Bus line type passenger car fault alarm apparatus and method - Google Patents
Bus line type passenger car fault alarm apparatus and method Download PDFInfo
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- CN101428595A CN101428595A CNA2008100724328A CN200810072432A CN101428595A CN 101428595 A CN101428595 A CN 101428595A CN A2008100724328 A CNA2008100724328 A CN A2008100724328A CN 200810072432 A CN200810072432 A CN 200810072432A CN 101428595 A CN101428595 A CN 101428595A
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Abstract
The invention discloses a bus type passenger train fault alarming device and the method thereof, and relates to a device mounted on passenger train and the method thereof capable of obtaining fault codes and data flow information of a passenger train electric control system for fault alarming through a fault diagnosis interface OBD and a passenger train CAN bus interface. Microprocessor ECU is connected to a passenger train CAN bus interface under a standard of J1939 protocol to obtain the data flow of the bus and the relevant fault information for fault diagnosis, and obtains the fault codes of a passenger train electric control unit through the fault diagnosis interface OBD. The obtained information can be displayed on a liquid crystal display module LCM, and important prompting messages can be output by a speech output module for effectively reminding a driver. The device alarms in mode of speech or LCM displaying when the faults are shown by the electric control system of the passenger train for reminding the driver, so as to improve the driving safety of the passenger car.
Description
Technical field
The present invention relates to a kind of bus line type passenger car fault alarm apparatus and method, belong to the technical field of CAN bus line type passenger car trouble diagnosing and warning.
Background technology
Along with passenger vehicle electronization degree improves constantly, electric-control system is general day by day in the application of passenger vehicle, electric-control system can improve safety, dynamic property, economy and the emission behavior of passenger vehicle, passenger vehicle is developed to the direction of Based Intelligent Control, but the complicated day by day fault localization of passenger vehicle and the difficulty of maintenance of making of passenger vehicle electric-control system increase.Meanwhile, the number of various electronic control units constantly increases on the passenger vehicle, and connecting wire significantly increases, thereby the communication reliability has become the problem that presses for solution with reduction lead cost between the raising control unit.For this reason, German BOSCH company has developed the CAN bus protocol, and makes it become international standard (ISO11898).Maximum characteristics of CAN agreement are to have abolished traditional station address coding, and replace the communication data block encoding, adopt this method can make the node number in the network unrestricted in theory, also can make different nodes receive identical data simultaneously, mainly adopting Transmission bit rate in the passenger vehicle field is the SAE J1939 agreement of 250KBPS.
All kinds of control panels on the automobile, the function that all possesses trouble diagnosing such as engine management system EMS, slip control system ABS, change speed gear box electric-control system, automatically controlled AIRMATIC Dual Control ECAS, articulated system etc., and the trouble diagnosing of most automobile electric control systems part all follows ISO 9141/ISO 14230 standards, and wherein ISO 14230 is called the KWP2000 agreement again.Therefore the inventor expects: vehicle-mounted fault diagnosis system (the On-Board Diagnostics that only needs increase and vehicle, the circuit of interface communication OBD) and exploitation corresponding protocol analysis program just can be realized reading to satisfy the needs that vehicle failure is reminded of vehicle failure sign indicating number, make chaufeur can know easily whether current automobile is in good working order.
And still do not possess in the passenger vehicle field at present can with passenger vehicle CAN bus communication, and the failure diagnosis information of the various electric-control systems of collection passenger vehicle, then with the LCM picture or inform the equipment of chaufeur with voice mode, abroad do not appearing in the newspapers aspect this yet, or belong to the technology secret of company, externally open.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of bus line type passenger car fault alarm apparatus and method, these apparatus and method obtain the diagnostic code of passenger vehicle electric-control system in effectively simple mode, continue the traffic parameter of monitoring electric-control system real time operation simultaneously, again these data messages are shown with effective and efficient manner, and in the vehicle ' process, in time inform chaufeur, thereby realize fault alarm with the assurance traffic safety.
For solving the problems of the technologies described above, technical solution of the present invention is:
A kind of bus line type passenger car fault alarm apparatus, it comprises passenger vehicle CAN bus interface and circuit, diagnostics interface OBD and circuit, output alarm module and the microprocessor ECU that links to each other with the three, microprocessor ECU is by the data flow and the diagnostic code data message of passenger vehicle CAN bus interface and circuit and diagnostics interface OBD and all kinds of electric-control systems of circuit acquisition passenger vehicle, resulting information is exported by the output alarm module, to remind chaufeur.
Described diagnostics interface ISO serial K line adopts MC33290 to realize the conversion of level.
The CAN interface chip of described passenger vehicle CAN bus interface and circuit adopts TJA1050, and the CAN controller adopts SJA1000T.
Described output alarm module is LCD MODULE LCM; This LCD MODULE LCM can adopt 128*64 graphical dots configuration liquid crystal.
Described output alarm module is the voice output module; This voice output module can adopt XF-S4240 phonetic synthesis module.
The function that described microprocessor ECU inner control software is realized comprises: data flow reads with logging modle and obtains the passenger vehicle real-time parameter that transmits on K line and the CAN bus; Chip program and control module are finished the driving of the various chips that use in the circuit; The voice reminder output module is finished voice output; The LCM driver module is finished the driving and the control of LCD MODULE; Diagnostic code content modular converter converts diagnostic code to diagnostic code cooresponding content; Task scheduling modules is finished the scheduling and the coordination of resource between each function; The configuration parameter logging modle is finished the record of data flow threshold value, and the trouble diagnosing communication module is finished failure judgment, and whether decision is reported to the police by the mode of LCD MODULE LCM or voice and informed chaufeur.
Described Control Software can be followed ISO 9141, and the application layer standard of ISO 14230/KWP 2000 and SAEJ1939 agreement is finished reading to obtain the important parameter of travelling of diagnostic code and data flow.
A kind of bus line type passenger car fault alarm method: the diagnostic code and the traffic flow information that obtain all kinds of electric-control systems of passenger vehicle by diagnostics interface OBD and passenger vehicle CAN bus interface, resulting information is shown on LCD MODULE LCM, export by the voice output module for important prompting message, report to the police with the fault that in time all kinds of electric-control systems of driving process microbus is occurred, remind chaufeur to improve the traffic safety of passenger vehicle.
After adopting such scheme, because the present invention has increased vehicle-mounted fault diagnosis system (the On-Board Diagnostics with vehicle, the circuit of interface communication OBD), the CAN bus interface and the circuit that link to each other with passenger vehicle CAN bus, and developed the corresponding protocol analysis program, so just can realize reading of passenger vehicle diagnostic code, and in time the fault that driving process microbus electric-control system occurs is reported to the police in the mode that voice or LCM show, to satisfy the needs that the passenger vehicle fault is reminded, make chaufeur can know the current good working order that whether is in of institute's steering vehicle easily.
More particularly, the present invention has following beneficial effect:
1. by connecting the diagnostics interface OBD of each road electric-control system of passenger vehicle, realize trouble diagnosing, be convenient to realize failure location and maintenance investigation car.
2. read the operating data parameter of all kinds of electric-control systems of passenger vehicle by diagnostics interface OBD, and utilize the safety door limit value that is provided with, guarantee traffic safety.
3. utilize the CAN bus to obtain fault alarm information, be convenient to connect all kinds of controlled vehicle-mounted electrical system, replenished the fault alarm information and the passenger vehicle real time execution parameter that obtain from diagnostics interface OBD, expansion flexibly.
4. adopt the alerting pattern of the two-stage fault alarm of liquid crystal display or audio alert according to the order of severity of the fault that electric-control system occurred respectively, under the prerequisite that guarantees driving safety, be fit to the use habit of chaufeur.
Description of drawings
Fig. 1 is the schematic block diagram of hardware system of the present invention;
Fig. 2 is the circuit diagram of K line interface of the present invention;
Fig. 3 is the circuit diagram of CAN bus interface of the present invention;
Fig. 4 is the system assumption diagram of software of the present invention.
The specific embodiment
The invention will be further described with concrete embodiment below in conjunction with accompanying drawing.
As shown in Figure 1, involved in the present invention is a kind of bus line type passenger car fault alarm apparatus, it comprises passenger vehicle CAN bus interface and circuit 1, diagnostics interface OBD and circuit 2, output alarm module and the microprocessor ECU 3 that links to each other with the three, microprocessor ECU 3 is by the data flow and the diagnostic code data message of passenger vehicle CAN bus interface and circuit 1 and diagnostics interface OBD and circuit 2 acquisition passenger vehicle electric-control systems, resulting information is exported by the output alarm module, to remind chaufeur.Described output alarm module can be LCD MODULE LCM 4 in order to resulting information is shown, it also can be voice output module 5, then can be for important prompting message by 5 outputs of voice output module to remind chaufeur more effectively, need to prove that diagnostics interface OBD need use wire harness that the K line of all kinds of electric-control systems on the passenger vehicle is connected together.
Adopt such scheme, the present invention can obtain fault alarm information by two channels:
It at first is the diagnostic code of electric-control system.For passenger vehicle, main electric-control system all has the function of trouble diagnosing on the present passenger vehicle, and support ISO 9141/ISO 14230 consensus standards, therefore, in the design of hardware interface circuit, adopt chip MC33290 to realize of the conversion of the K line level of diagnostics interface OBD to Transistor-Transistor Logic level, and, read the diagnostic code of all kinds of electric-control systems outputs by working out the signal procedure of trouble diagnosing.Meanwhile, can also obtain traffic flow information in the electric-control system by diagnostics interface OBD and signal procedure, as engine speed, engine oil pressure, oily temperature etc. to the vital parameter of vehicle safety in utilization, surpass the alarm threshold value of setting when these parameters that collect, for example the temperature of engine coolant is above 100 ℃, just remind navigating mate " Engine Coolant Temperature is too high, please notes! ", and in time carry out the reason investigation, to guarantee that passenger vehicle moves under the works fine state.
Secondly, the data of failure message and data flow can also obtain by SAE J1939 agreement.For passenger vehicle, control panel on the current passenger vehicle all adopts the CAN bus based on J1939 communication protocol basically, can access the real-time parameter that all kinds of electric-control systems of passenger vehicle travel by bus, simultaneously can also obtain other alarm messages that the OBD diagnosis interface can't provide, report to the police as storage tank air pressure alarm, airfilter warning, lubricating oil filter warning, brake facing wearing and tearing etc.Replenish by carrying out abundant actv. to the diagnostic code that obtains from the OBD diagnostics interface and data flow based on the CAN bus of J1939 standard.In addition, with passenger vehicle on the controlled vehicle-mounted electrical system such as the content and the more abundant information of communicating by letter and can make passenger car fault alarm of equipment such as TPMS, Tachographs.On the design plan of hardware interface circuit, adopt CAN controller SJA1000T and CAN transceiver TJA1050.
In addition, in order to solve the warning of failure message, the present invention has adopted dual mode to use with the difference that adapts to chaufeur, improves the driving safety of passenger vehicle:
It at first is the mode of LCD MODULE LCM.Utilize LCD MODULE can show the comparatively advantage of abundant information, show diagnostic code and concrete content.For the information of fault alarm class, adopt the mode that flicker shows on LCD MODULE, according to the concrete condition of service in the passenger vehicle, use 128*64 graphical dots configuration liquid crystal.
Next is the mode that audio alert is reminded.For more serious grade, and the fault alarm information high with the driving safety degree of correlation, chaufeur reminded with the mode of voice, to cause giving one's full attention to of chaufeur.Voice reminder has multiple scheme: the 1) mode of chipspeech and module; 2) recording of ISD series and broadcast chip; 3) OKI chipspeech and voice messaging storage chip for example adopt the circuit layout scheme of chipspeech ML2240 and P2ROM chip MR27T1602F.Consider that prompting message needs according to circumstances often change, if adopt the scheme of ISD or OKI to need often change conversion recording, very flexible.And the mode that adopts chipspeech and module acoustical quality and can both meeting the demands aspect the comfort feature of system applies under the passenger vehicle application scenario, so the audio alert mode of reminding just adopts the scheme of chipspeech and module.
The development and Design of the design of the hardware circuit that the present invention is concrete and realization and software is described in detail as follows:
1, the design of hardware circuit and realization
1) diagnostics interface circuit
The electric-control system of passenger vehicle substantially all adopts ISO serial K line interface at present, for the conversion of the Physical layer level standard of finishing ISO 9141 regulation to the TTL logic level, adopt MC33290, as shown in Figure 2, the 4th pin of this chip is connected on the K line of trouble diagnosing, and the 5th pin and the 6th pin are connected respectively to the transmission TXD and the reception RXD pin of the serial interface of micro controller system.
2) CAN bus interface circuit
That the CAN bus on the passenger vehicle adopts on Physical layer is CAN2.0B, the CAN_H of passenger vehicle CAN bus and CAN_L respectively the resistance by 5.1 ohm on the 7th pin that is connected to CAN interface chip TJA1050 and the 6th pin, 1 pin of TJA1050 is connected to 13 pin of CAN controller SJA1000T, and 4 pin of TJA1050 are connected to 19 pin of CAN controller SJA1000T.In order to guarantee the proper reset of CAN controller, adopt the chip STC809 that resets, 2 pin of STC809 are connected to 17 pin of SJA1000T, see Fig. 3.
3) voice output module interface circuit
Adopt the XF-S4240 phonetic synthesis module of University of Science and Technology, Anhui news Fetion breath Science and Technology Ltd., the 10th pin of module and the 8th pin are connected respectively to the transmission TXD and the reception RXD pin of the serial interface of micro controller system.The voice content that is provided with comprises: " Engine Coolant Temperature is too high, please notes! " " the engine motor oil hypotony please notes! " " engine motor oil temperature anomaly please notes! " " electric-control system of your vehicle has diagnostic code, asks on-call maintenance! " " engine emission of vehicle exceeds standard, and please send and repair! " " vehicle tyre pressure is unusual, please notes to prevent to blow out! " " the vehicle motor rotating speed is too high, please notes safety! "
4) LCD MODULE circuit
LCD MODULE is selected 128*64 graphical dots configuration liquid crystal for use, and its data line DB0-DB7 is connected on the parallel interface of micro controller system.
2, the development and Design of software
1) architecture of software
In software development, comprise data link layer and logic application layer.As shown in Figure 4, wherein comprise four protocol analysis communication module ISO 9,141 6, ISO 142307, J1939 8 and serial communication SCI 9 in the data link layer, finish the encapsulation and the information extraction of the frame format data of variety of protocol standard respectively.On logic application layer, data flow reads with logging modle 10 and obtains passenger vehicle real-time parameter such as the information such as engine speed, cooling-liquid temperature transmitted on K line and the CAN bus.Chip program and control module 11 are finished the various chips that use in the circuit such as the driving of SJA1000T.Voice reminder output module 12 is finished the voice output of phonetic synthesis module XF-S4240.LCM driver module 13 is finished the driving and the control of 128*64 LCD MODULE.Diagnostic code content modular converter 14 converts diagnostic code to diagnostic code cooresponding content, represents that as certain breakdown in the motor sign indicating number P0330 detonation sensor 2 circuits are bad.Task scheduling modules 15 is finished the scheduling and the coordination of resource between each function, with the various functions of reliable realization on the micro controller system of resource-constrained.Configuration parameter logging modle 16 is finished the record of data flow threshold value, comprises real time data stream time for reading interval, engine coolant temperature threshold value, engine oil pressure threshold value, oil temperature threshold value, engine speed etc.Trouble diagnosing communication module 17 is finished failure judgment, and whether decision is reported to the police by the mode of LCD MODULE LCM or voice and informed chaufeur.
2) KWP2000 communication protocol performing step
According to the agreement of ISO 14230/KWP2000 standard, the command format of its link layer is as follows:
| Length | ECU Add | Tools Add | Data | Checksum |
Wherein: Length---request command length, take 1 byte, length is the byte number that Length-0x80 represents Data.The address of the target ECU of ECU Add---request.The address of Tools Add---failure diagnosis apparatus.Data---application layer data.Checksum---verification and, adopt and to add up and mode.Obtain:
A enters the data interaction model of diagnostic system
According to rules of interaction, need send in turn to issue orders, the wherein Req order of issuing engine electric-controlled system for this device, Ans is the order that engine electric-controlled system is replied.
Req：81 11 F1 81 04
Ans：83 F1 11 C1 E9 8F BE
Req：82 11 F1 1A 81 1F
Ans：83 F1 11 C1 EF 8F C4
Req：82 11 F1 1A 80 1E
Ans：83 F1 11 C1 EF 8F C4
The b link keeps order
Req：81 11 F1 3E C1
Ans：81 F1 11 7E 01
The order of c Read fault sign indicating number
Req：84 11 F1 18 00 FF 00 9D
Ans：85 F1 11 58 01 01 15 A1 97
Pos：0 1 2 3 4 5 6 7 8
The order analysis that engine electric-controlled system is replied: introduce Pos for convenience and define as byte.Pos[0] the 1st byte of expression passback.Pos[3]=Req[3]+0x40; Pos[4] expression diagnostic code number; Pos[5] and Pos[6] expression diagnostic code content, be specially: if Pos[5] ﹠amp; 0xC0〉〉 first letter of 6=0 is P, expression is a power system;=1 first letter is C, and expression is a chassis system;=2 first letters are B, and expression is a bodywork system;=3 first letters are U, and expression is a network system.Pos[5] ﹠amp; 3F and Pos[6] composition back 4-digit number.Following above rule can draw: Pos[4]=01, expression has 1 diagnostic code.Pos[5]=01, Pos[5] ﹠amp; C0〉〉 6=0 obtains first letter for P, is power system, Pos[5] ﹠amp; 3F=01 and Pos[6] form back 4-digit number 0115, the diagnostic code that obtains is P0115.By the fault code table of inquiry electric-control system, the pairing fault content of P0115 is the engine coolant temperature fault.
3) SAEJ1939 communication protocol performing step
Regulation according to the J1939 agreement, for native system, it mainly is exploitation at SAE J1939-71 application layer protocol, and mainly concentrate on the message reception of broadcast just of PDU2 form on the CAN bus, for example receive engine speed, accelerator open degree, cooling-liquid temperature etc. from control unit of engine EMS.With the engine speed is example, regulation according to SAEJ1939-71, adopting model is the CAN controller of SJA1000T, its acceptance code register ACR is set to: ACR0=01100111, ACR1=10011000, ACR2=00001000, ACR3=00000000, be set to and check and accept mask register AMR: AMR0=AMR1=AMR2=AMR3=0, then the Frame of CAN is set to:
| Priority | Data page | The PDU form | The PDU expansion | Source address | The parameter group numbering |
| 011 2 | 0 2 | 11110000 2 | 00000100 2 | 00000000 2 | 61444 |
The population of parameters numbering PGN of this message is 61444, and its cooresponding data fields length is 6 bytes, has 5 parameters, and wherein engine speed accounts for byte 4 and 5.
Claims (10)
1, a kind of bus line type passenger car fault alarm apparatus, it is characterized in that: comprise passenger vehicle CAN bus interface and circuit (1), diagnostics interface OBD and circuit (2), output alarm module and the microprocessor ECU (3) that links to each other with the three, microprocessor ECU (3) exports resulting information by the data flow and the diagnostic code data message of passenger vehicle CAN bus interface and circuit (1) and diagnostics interface OBD and all kinds of electric-control systems of circuit (2) acquisition passenger vehicle by the output alarm module.
2, bus line type passenger car fault alarm apparatus according to claim 1 is characterized in that: described diagnostics interface ISO serial K line adopts MC33290 to realize the conversion of level.
3, bus line type passenger car fault alarm apparatus according to claim 1 is characterized in that: the CAN interface chip of described passenger vehicle CAN bus interface and circuit adopts TJA1050, and the CAN controller adopts SJA1000T.
4, bus line type passenger car fault alarm apparatus according to claim 1 is characterized in that: described output alarm module is LCD MODULE LCM (4).
5, bus line type passenger car fault alarm apparatus according to claim 4 is characterized in that: described LCD MODULE LCM adopts 128*64 graphical dots configuration liquid crystal.
6, bus line type passenger car fault alarm apparatus according to claim 1 is characterized in that: described output alarm module is voice output module (5).
7, bus line type passenger car fault alarm apparatus according to claim 6 is characterized in that: described voice output module adopts XF-S4240 phonetic synthesis module.
8, according to the described bus line type passenger car fault alarm apparatus of one of claim 1 to 7, it is characterized in that: the function that described microprocessor ECU inner control software is realized comprises: data flow reads and logging modle (10) obtains the passenger vehicle real-time parameter that transmits on K line and the CAN bus; Chip program and control module (11) are finished the driving of the various chips that use in the circuit; Voice reminder output module (12) is finished voice output; LCM driver module (13) is finished the driving and the control of LCD MODULE; Diagnostic code content modular converter (14) converts diagnostic code to diagnostic code cooresponding content; Task scheduling modules (15) is finished the scheduling and the coordination of resource between each function; Configuration parameter logging modle (16) is finished the record of data flow threshold value, and trouble diagnosing communication module (17) is finished failure judgment, and whether decision is reported to the police by the mode of LCD MODULE LCM or voice and informed chaufeur.
9, bus line type passenger car fault alarm apparatus according to claim 8, it is characterized in that: described Control Software can be followed ISO 9141, and the application layer standard of ISO 14230/KWP 2000 and SAEJ1939 agreement is finished reading of diagnostic code and data flow and the important parameter acquiring of travelling.
10, a kind of bus line type passenger car fault alarm method, it is characterized in that: the diagnostic code and the traffic flow information that obtain all kinds of electric-control systems of passenger vehicle by diagnostics interface OBD and passenger vehicle CAN bus interface, resulting information is shown on LCD MODULE LCM (4), export by voice output module (5) for important prompting message, report to the police with the fault that in time all kinds of electric-control systems of driving process microbus is occurred, remind chaufeur to improve the traffic safety of passenger vehicle.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101858293A (en) * | 2010-04-30 | 2010-10-13 | 北京协进科技发展有限公司 | Reminder and method for preheating time of cold vehicle startup |
| CN102830696A (en) * | 2012-09-07 | 2012-12-19 | 普华基础软件股份有限公司 | Automotive open system architecture (AUTOSAR)-compatible K line diagnostic method and system |
| CN102874191A (en) * | 2012-10-19 | 2013-01-16 | 浙江省电力公司电力科学研究院 | Vehicle-mounted terminal of electric car |
| CN103419717A (en) * | 2012-05-23 | 2013-12-04 | 上海博泰悦臻电子设备制造有限公司 | Voice prompt method and device for vehicle safety |
| CN104118368A (en) * | 2013-04-25 | 2014-10-29 | 张永辉 | Simple vehicle CAN data display device |
| CN104318638A (en) * | 2014-10-24 | 2015-01-28 | 中国重汽集团济南动力有限公司 | J1939 bus data recorder, component layout method and technological process |
| CN104882142A (en) * | 2015-04-30 | 2015-09-02 | 大连楼兰科技股份有限公司 | Voice control method and apparatus for vehicle device based on OBD interface |
| CN106383507A (en) * | 2015-07-10 | 2017-02-08 | 法国大陆汽车公司 | Fault management method for vehicle engine control system |
| CN107336841A (en) * | 2017-08-16 | 2017-11-10 | 威海广泰空港设备股份有限公司 | Information-based aircraft power truck |
| CN108099826A (en) * | 2018-01-16 | 2018-06-01 | 山东省科学院自动化研究所 | A kind of synthesis body control system of integrated OBD gateways |
| CN111240871A (en) * | 2019-12-30 | 2020-06-05 | 潍柴动力股份有限公司 | Engine fault reporting method and device |
| CN111409574A (en) * | 2020-04-17 | 2020-07-14 | 河南城建学院 | Automatic maintenance control system applied to automobile center console |
| CN111474918A (en) * | 2020-04-23 | 2020-07-31 | 江铃汽车股份有限公司 | Whole vehicle diagnosis method for electric vehicle |
| CN112015161A (en) * | 2019-05-28 | 2020-12-01 | 现代自动车株式会社 | Vehicle diagnostic communication device and method and system comprising same |
| CN114019878A (en) * | 2021-11-08 | 2022-02-08 | 中国北方车辆研究所 | Digital driver control device for heavy-duty truck |
| CN116279556A (en) * | 2023-03-03 | 2023-06-23 | 北京辉羲智能科技有限公司 | Safe and intelligent driving system for reminding driver of taking over |
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| CN101858293B (en) * | 2010-04-30 | 2013-05-08 | 北京协进科技发展有限公司 | Reminder and method for preheating time of cold vehicle startup |
| CN101858293A (en) * | 2010-04-30 | 2010-10-13 | 北京协进科技发展有限公司 | Reminder and method for preheating time of cold vehicle startup |
| CN103419717A (en) * | 2012-05-23 | 2013-12-04 | 上海博泰悦臻电子设备制造有限公司 | Voice prompt method and device for vehicle safety |
| CN102830696A (en) * | 2012-09-07 | 2012-12-19 | 普华基础软件股份有限公司 | Automotive open system architecture (AUTOSAR)-compatible K line diagnostic method and system |
| CN102874191A (en) * | 2012-10-19 | 2013-01-16 | 浙江省电力公司电力科学研究院 | Vehicle-mounted terminal of electric car |
| CN104118368A (en) * | 2013-04-25 | 2014-10-29 | 张永辉 | Simple vehicle CAN data display device |
| CN104318638A (en) * | 2014-10-24 | 2015-01-28 | 中国重汽集团济南动力有限公司 | J1939 bus data recorder, component layout method and technological process |
| CN104882142A (en) * | 2015-04-30 | 2015-09-02 | 大连楼兰科技股份有限公司 | Voice control method and apparatus for vehicle device based on OBD interface |
| CN106383507A (en) * | 2015-07-10 | 2017-02-08 | 法国大陆汽车公司 | Fault management method for vehicle engine control system |
| CN107336841B (en) * | 2017-08-16 | 2023-06-16 | 威海广泰空港设备股份有限公司 | Information type aviation power supply vehicle |
| CN107336841A (en) * | 2017-08-16 | 2017-11-10 | 威海广泰空港设备股份有限公司 | Information-based aircraft power truck |
| CN108099826A (en) * | 2018-01-16 | 2018-06-01 | 山东省科学院自动化研究所 | A kind of synthesis body control system of integrated OBD gateways |
| CN112015161A (en) * | 2019-05-28 | 2020-12-01 | 现代自动车株式会社 | Vehicle diagnostic communication device and method and system comprising same |
| CN111240871A (en) * | 2019-12-30 | 2020-06-05 | 潍柴动力股份有限公司 | Engine fault reporting method and device |
| CN111409574A (en) * | 2020-04-17 | 2020-07-14 | 河南城建学院 | Automatic maintenance control system applied to automobile center console |
| CN111474918A (en) * | 2020-04-23 | 2020-07-31 | 江铃汽车股份有限公司 | Whole vehicle diagnosis method for electric vehicle |
| CN114019878A (en) * | 2021-11-08 | 2022-02-08 | 中国北方车辆研究所 | Digital driver control device for heavy-duty truck |
| CN114019878B (en) * | 2021-11-08 | 2023-07-28 | 中国北方车辆研究所 | Digital driver control device of heavy-duty truck |
| CN116279556A (en) * | 2023-03-03 | 2023-06-23 | 北京辉羲智能科技有限公司 | Safe and intelligent driving system for reminding driver of taking over |
| CN116279556B (en) * | 2023-03-03 | 2024-04-02 | 北京辉羲智能科技有限公司 | Safe and intelligent driving system for reminding driver of taking over |
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