CN108958227A - Car fault diagnosis method - Google Patents
Car fault diagnosis method Download PDFInfo
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- CN108958227A CN108958227A CN201810902820.8A CN201810902820A CN108958227A CN 108958227 A CN108958227 A CN 108958227A CN 201810902820 A CN201810902820 A CN 201810902820A CN 108958227 A CN108958227 A CN 108958227A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
Abstract
The present invention relates to a kind of car fault diagnosis methods, comprising: the fault diagnosis module of vehicle obtains the operation data of the modules of vehicle；Operation data is parsed, the corresponding module information of operation data is obtained；It calls at least one corresponding preset condition of each module respectively according to module information, judges whether operation data meets preset condition；If conditions are not met, then generating fault code；Fault message is inquired in fault information database according to fault code；Fault message includes module id information, fault type information, failure grade information, fault correlation information；The malfunctioning module to break down is determined according to module id information；The fault type of malfunctioning module is determined according to fault type information；The fault degree of malfunctioning module is determined according to failure grade information；The failure cause of malfunctioning module is determined according to fault correlation information.
Description
Technical field
The present invention relates to technical field of data processing more particularly to a kind of car fault diagnosis methods.
Background technique
Autonomous driving vehicle is also known as pilotless automobile, computer driving or wheeled mobile robot, is that one kind passes through
Computer system realizes unpiloted intelligent automobile.Autonomous driving vehicle is by artificial intelligence, vision calculating, radar, monitoring dress
Set with global positioning system cooperative cooperating, computer can be operated to automatic safe under the operation of nobody class active
Motor vehicles.
It is travelled since autonomous driving vehicle is controlled in the case where nobody by car-mounted terminal, in order to avoid the generation of accident,
Need more perfect fault diagnosis scheme.When vehicle breaks down, how to be accurately diagnosed to be abort situation and failure is former
Cause guarantees that vehicle normal operation is vital for debugging in time.Therefore, it is necessary to a kind of effective fault diagnosises
Method.
Summary of the invention
The purpose of the present invention is in view of the deficiencies in the prior art, provide a kind of car fault diagnosis method.
To achieve the above object, the present invention provides a kind of car fault diagnosis methods, comprising:
The fault diagnosis module of vehicle obtains the operation data of the modules of vehicle；
The operation data is parsed, the corresponding module information of the operation data is obtained；
At least one corresponding preset condition of each module is called respectively according to the module information, judges the operation number
According to whether meeting the preset condition；
If conditions are not met, then generating fault code；
Fault message is inquired in the fault information database according to the fault code；The fault message includes mould
Block identification information, fault type information, failure grade information, fault correlation information；
The malfunctioning module to break down is determined according to the module id information；
The fault type of the malfunctioning module is determined according to the fault type information；
The fault degree of the malfunctioning module is determined according to the failure grade information；
The failure cause of the malfunctioning module is determined according to the fault correlation information.
Further, the operation data that the fault diagnosis module of the vehicle obtains the modules of vehicle specifically includes:
The fault diagnosis module sets data transmitting period；
The drive module of the vehicle obtains the operation data of vehicle hardware module, and is sent out according to the data transmitting period
It send to the fault diagnosis module；
The operation data of vehicle software algoritic module is sent week according to the data by the software algorithm module of the vehicle
Phase is sent to the fault diagnosis module.
Further, the method also includes:
When the drive module breaks down, the fault diagnosis module by serial ports, network interface, in CAN bus extremely
A kind of few interface obtains the operation data of the vehicle hardware module.
Further, after inquiring fault message in the fault information database according to the fault code, institute
State method further include:
The faulted-phase judgment at speech prompt information and is output by voice module output by the vehicle.
Further, after inquiring fault message in the fault information database according to the fault code, institute
State method further include:
The vehicle is shown by the faulted-phase judgment at text prompt information and by display module.
Further, the method also includes:
The fault diagnosis module is classified the fault degree, when the fault degree is advanced, the event
Hinder diagnostic module and first control signal is generated according to the fault message；
The vehicle parking is controlled according to the first control signal.
Further, before inquiring fault message in the fault information database according to the fault code, institute
State method further include:
The fault code and the fault message are established into incidence relation, and establish the fault information database.
Further, described to determine that the failure cause of the malfunctioning module specifically includes according to the fault correlation information:
The relating module of the malfunctioning module is determined according to the fault correlation information；
The failure cause is determined according to the malfunctioning module and the relating module.
Further, the method also includes:
The fault message is sent to server by the vehicle；
The server generates second control signal according to the fault message and is sent to the vehicle；
The vehicle executes corresponding operation according to the second control signal.
Further, the method also includes:
The server inquires the corresponding user terminal ID of the vehicle；
The fault message is sent to corresponding user terminal according to the user terminal ID.
Car fault diagnosis method provided by the invention can carry out fault diagnosis when vehicle breaks down in time,
It solves abort situation and failure cause and effectively avoids accident convenient for taking corresponding emergency measure in time.
Detailed description of the invention
Fig. 1 is Vehicular system configuration diagram provided in an embodiment of the present invention；
Fig. 2 is car fault diagnosis method flow chart provided in an embodiment of the present invention.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
It is described in detail to one step, it is clear that the described embodiments are only some of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
All other embodiment, shall fall within the protection scope of the present invention.
Vehicle in technical solution of the present invention is automatic driving vehicle, by car-mounted terminal realize the control of modules with
And information exchange is carried out with other terminals, ambient enviroment can be perceived and realize automatic Pilot, according to preset traveling ground
Figure drives to designated place.User terminal specifically can be the terminal device with processing capacity, for example, desktop computer, notes
This computer, tablet computer, smart phone etc..
Fig. 1 is Vehicular system configuration diagram provided in an embodiment of the present invention.As shown in Figure 1, system include server, it is more
A automatic driving vehicle (vehicle 1, vehicle 2 ... vehicle n), multiple user terminals (user terminal 1, user terminal 2 ... user terminal
n)。
Wherein, server is automatic driving vehicle management server, can be individual server, is also possible to multiple services
The server cluster of device composition, if it is individual server, then the individual server manages all automatic driving vehicles, Ke Yihe
All vehicles carry out instruction transmission and data interaction；It is if it is the server cluster of multiple servers composition, then total by one
The multiple child servers of server admin, director server are that each child servers set permission, and each child servers are according to total service
The vehicle of the rights management corresponding number of device setting, and there is the vehicle of administration authority to carry out instruction and data interaction.Server is
Each user terminal sets administration authority, and each child user terminal is according to the rights management one or more vehicles of server settings
, user terminal carries out instruction transmission and data interaction by server and all vehicles.
When vehicle breaks down, fault message can also be sent to service other than itself is handled by vehicle
Device；Server generates control signal according to fault message and is sent to vehicle；Vehicle executes corresponding operation according to control signal.Clothes
Being engaged in device can be with the corresponding user terminal ID of enquiring vehicle；Fault message is sent to corresponding user's end according to user terminal ID
End notifies vehicle maintenance personnel to carry out vehicle maintenance by user terminal.
Fig. 2 is car fault diagnosis method flow chart provided in an embodiment of the present invention.As shown in Fig. 2, specifically including as follows
Step:
Step 201, the fault diagnosis module of vehicle obtains the operation data of the modules of vehicle；
Specifically, fault diagnosis module sets data transmitting period；The drive module of vehicle obtains vehicle hardware module
Operation data, and fault diagnosis module is sent to according to data transmitting period；The software algorithm module of vehicle calculates vehicle software
The operation data of method module is sent to fault diagnosis module according to data transmitting period.The operation data packet of the modules of vehicle
Include vehicle hardware module, software algorithm module, bottom vehicle platform, human-computer interaction module.
Wherein, hardware module includes laser radar, ultrasonic radar, millimetre-wave radar, image capture module, positioning mould
Block, inertial sensor, wheel speed meter.
Image capture module specifically can be the image capture devices such as camera.Laser radar, ultrasonic radar, millimeter wave
Radar, image capture module are set to before and after vehicle and four angles, for obtaining ambient condition information, including barrier and road
Information, vehicle pass through these data perception ambient enviroments.
Locating module is specially global positioning system (Global Positioning System, GPS), Beidou positioning system
System etc., for obtaining vehicle position data.
Inertial sensor is specially Inertial Measurement Unit (Inertial measurement unit, IMU), for obtaining
The physical messages such as vehicle current acceleration, angular speed, attitude angle calculate vehicle location.
Wheel speed meter is for obtaining the information such as angular speed, linear velocity and the vehicle yaw rate of the current left and right wheels of vehicle to calculate vehicle
Position, the displacement information that wheel speed meter can obtain each moment add up, and obtain the accumulation displacement of relative initial position.
Software algorithm module include sensing module, cognition module, decision rule module, locating module, high-precision mapping module,
Vehicle software control module；Sensing module gets laser radar, ultrasonic radar, millimetre-wave radar, image capture module
Environmental data calculated, determine obstacles around the vehicle information；Cognition module further recognizes obstacle information
Know, obtains the characteristic information of barrier；Locating module persistently obtains the location information of vehicle；Decision rule module is according to perception mould
The data that block, cognition module, locating module obtain are merged, and the planning driving path with velocity information is cooked up；High-precision map
Module obtains various map datums；Vehicle software control module generates various control instructions and controls vehicle driving.
Bottom vehicle platform specifically includes car body controller (Body Control Module, BCM), micro-control unit
(Micro-controller Unit, MCU), electric boosting steering system (Electric Power steering, EPS), electricity
Pond management system (battery management system, BMS).
Human-computer interaction module is specially the module that user and vehicle interact operation.
Step 202, operation data is parsed, obtains the corresponding module information of operation data；
Specifically, fault diagnosis module parses all operation datas of vehicle, each portion in operation data is determined
The corresponding module information of divided data.Module information includes module ED information, module operating parameter etc..
When drive module breaks down, fault diagnosis module is connect by least one of serial ports, network interface, CAN bus
Mouth obtains the operation data of each hardware module, and the operation data of disparate modules needs to obtain by different interfaces.
Step 203, it calls at least one corresponding preset condition of each module respectively according to module information, judges to run number
According to whether meeting preset condition；
Under normal operating conditions, the state parameter of operation data meets corresponding preset condition to each module.Pass through mould
Block id information etc. can call the corresponding preset condition of the module, and preset condition can be for one or multiple.By sentencing
Whether disconnected operation data, which meets corresponding preset condition, is come whether judgment module breaks down.
For example, by judge on-off state data, communications state data, data input and output frequency, data upload and
Whether speed of download, data format, CPU, memory usage meet corresponding preset condition to determine whether failure.
Step 204, when operation data is unsatisfactory for preset condition, then fault code is generated；
When module breaks down, then corresponding operation data is unsatisfactory for the corresponding preset condition of the module, then basis should
The operation data of module generates fault code, by fault codes diagnosis fault condition, for example, abort situation, failure cause etc..
In an alternative embodiment, the operation data of hardware module passes through fault diagnosis module to determine whether occurring
Failure then generates corresponding fault code if there is failure；After software algorithm module can find failure in calculating process
Fault code is directly generated, fault code is then sent to fault diagnosis module.
Step 205, fault message is inquired in fault information database according to fault code；
Fault message is inquired in fault information database according to fault code；Fault message include module id information,
Fault type information, failure grade information, fault correlation information；
Before inquiring fault message in fault information database according to fault code, by fault code and fault message
Incidence relation is established, and establishes fault information database.After fault diagnosis module generates fault code, existed according to fault code
Corresponding fault message is inquired in fault information database.
Optionally, after inquiring fault message in the fault information database according to fault code, failure is believed
Breath is processed into speech prompt information and is output by voice module output；Or vehicle believes faulted-phase judgment at text prompt
It ceases and passes through display module and shown.
Step 206, the malfunctioning module to break down is determined according to module id information；
Fault diagnosis module determines the malfunctioning module to break down, module according to the module id information in fault message
Identification information can uniquely determine corresponding module.
Optionally, module id information can also include the fault location information of module, can according to module id information
It determines the module to break down, and further determines that the specific location to break down in malfunctioning module.
Step 207, the fault type of the malfunctioning module is determined according to fault type information；
Fault type information specifically includes functional fault and parametic fault.Functional fault refers to that automobile cannot continue to complete this
The function of body, such as driving running deviation, steering failure, engine fail to start；Parametic fault refers to the performance parameter of automobile up to not
To set quota, such as engine power declines, fuel consumption per hundred kilometers rises, it is exceeded to discharge.
Step 208, the fault degree of the malfunctioning module is determined according to institute's failure grade information；
Fault diagnosis module can determine the failure of the module to break down according to the failure grade information in fault message
Degree.Fault diagnosis module is in advance classified fault degree, is divided into primary, middle rank, advanced, and each failure rank has pair
The failure criterion answered matches failure grade information failure criterion corresponding with each failure rank, to obtain failure
The corresponding fault degree of class information, fault level react fault degree, and fault level is higher, and fault degree is more serious.When event
When barrier degree is advanced, fault diagnosis module generates first control signal according to fault message；It is controlled according to first control signal
Vehicle parking.First control signal is the signal for controlling vehicle and stopping, when fault degree is serious, in order to avoid the hair of accident
It is raw, it is necessary to control vehicle stopping.
Step 209, the failure cause of malfunctioning module is determined according to fault correlation information.
Specifically, determining the relating module of malfunctioning module according to fault correlation information；According to malfunctioning module and relating module
Determine failure cause.
Fault correlation information is that the operation of malfunctioning module has the information of incidence relation with which other module.When multiple moulds
When block breaks down, if these malfunctioning modules relating module having the same, failure cause are likely to be and these failures
Failure has occurred in the associated module of module, can determine the concrete reason of failure by fault correlation information, convenient for for event
Barrier reason performs corresponding processing.
Car fault diagnosis method provided by the invention can carry out fault diagnosis when vehicle breaks down in time,
It solves abort situation and failure cause and effectively avoids accident convenient for taking corresponding emergency measure in time.
Professional should further appreciate that, described in conjunction with the examples disclosed in the embodiments of the present disclosure
Unit and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, hard in order to clearly demonstrate
The interchangeability of part and software generally describes each exemplary composition and step according to function in the above description.
These functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.
Professional technician can use different methods to achieve the described function each specific application, but this realization
It should not be considered as beyond the scope of the present invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can be executed with hardware, processor
The combination of software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only memory
(ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field
In any other form of storage medium well known to interior.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not intended to limit the present invention the foregoing is merely a specific embodiment of the invention
Protection scope, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of car fault diagnosis method, which is characterized in that the described method includes:
The fault diagnosis module of vehicle obtains the operation data of the modules of vehicle；
The operation data is parsed, the corresponding module information of the operation data is obtained；
At least one corresponding preset condition of each module is called respectively according to the module information, judges that the operation data is
It is no to meet the preset condition；
If conditions are not met, then generating fault code；
Fault message is inquired in the fault information database according to the fault code；The fault message includes module mark
Know information, fault type information, failure grade information, fault correlation information；
The malfunctioning module to break down is determined according to the module id information；
The fault type of the malfunctioning module is determined according to the fault type information；
The fault degree of the malfunctioning module is determined according to the failure grade information；
The failure cause of the malfunctioning module is determined according to the fault correlation information.
2. the method according to claim 1, wherein the fault diagnosis module of the vehicle obtains each of vehicle
The operation data of module specifically includes:
The fault diagnosis module sets data transmitting period；
The drive module of the vehicle obtains the operation data of vehicle hardware module, and is sent to according to the data transmitting period
The fault diagnosis module；
The software algorithm module of the vehicle sends out the operation data of vehicle software algoritic module according to the data transmitting period
It send to the fault diagnosis module.
3. according to the method described in claim 2, it is characterized in that, the method also includes:
When the drive module breaks down, the fault diagnosis module passes through at least one in serial ports, network interface, CAN bus
Kind interface obtains the operation data of the vehicle hardware module.
4. the method according to claim 1, wherein according to the fault code in the fault information data
It is inquired after fault message in library, the method also includes:
The faulted-phase judgment at speech prompt information and is output by voice module output by the vehicle.
5. the method according to claim 1, wherein according to the fault code in the fault information data
It is inquired after fault message in library, the method also includes:
The vehicle is shown by the faulted-phase judgment at text prompt information and by display module.
6. the method according to claim 1, wherein the method also includes:
The fault diagnosis module is classified the fault degree, and when the fault degree is advanced, the failure is examined
Disconnected module generates first control signal according to the fault message；
The vehicle parking is controlled according to the first control signal.
7. the method according to claim 1, wherein according to the fault code in the fault information data
It is inquired before fault message in library, the method also includes:
The fault code and the fault message are established into incidence relation, and establish the fault information database.
8. the method according to claim 1, wherein described determine the failure according to the fault correlation information
The failure cause of module specifically includes:
The relating module of the malfunctioning module is determined according to the fault correlation information；
The failure cause is determined according to the malfunctioning module and the relating module.
9. the method according to claim 1, wherein the method also includes:
The fault message is sent to server by the vehicle；
The server generates second control signal according to the fault message and is sent to the vehicle；
The vehicle executes corresponding operation according to the second control signal.
10. according to the method described in claim 9, it is characterized in that, the method also includes:
The server inquires the corresponding user terminal I D of the vehicle；
The fault message is sent to corresponding user terminal according to the user terminal ID.
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| CN201810902820.8A CN108958227A (en) | 2018-08-09 | 2018-08-09 | Car fault diagnosis method |
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| CN109785460A (en) * | 2019-01-03 | 2019-05-21 | 深圳壹账通智能科技有限公司 | Vehicle trouble recognition methods, device, computer equipment and storage medium |
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| CN110933090A (en) * | 2019-12-03 | 2020-03-27 | 山东爱德邦智能科技有限公司 | Fault monitoring method and device for electric vehicle and related components |
| CN111179468A (en) * | 2019-12-31 | 2020-05-19 | 深圳一清创新科技有限公司 | Unmanned vehicle fault detection method and device, computer equipment and storage medium |
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| CN111874001B (en) * | 2020-06-09 | 2022-03-25 | 北京百度网讯科技有限公司 | Safety control method for automatic driving automobile, electronic equipment and storage medium |
| CN111741117A (en) * | 2020-06-28 | 2020-10-02 | 北京智行者科技有限公司 | Method for processing fault information |
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| CN112025703A (en) * | 2020-08-21 | 2020-12-04 | 北京云迹科技有限公司 | Robot self-diagnosis method, device and system |
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Application publication date: 20181207 |