CN114237195A

CN114237195A - OBD emission diagnosis method and related equipment

Info

Publication number: CN114237195A
Application number: CN202111322881.5A
Authority: CN
Inventors: 王恺轶; 司华超; 刘晓祥; 胡波; 卢珊
Original assignee: Lantu Automobile Technology Co Ltd
Current assignee: Lantu Automobile Technology Co Ltd
Priority date: 2021-11-09
Filing date: 2021-11-09
Publication date: 2022-03-25

Abstract

The invention discloses an OBD emission diagnosis method and related equipment. The method comprises the following steps: generating a UDP message based on the instruction, wherein the instruction is sent by the OBD detection equipment, the instruction comprises a connection request instruction and an operation instruction, and the UDP message is transmitted through an Ethernet backbone network; and sending the UDP message to the related interface unit so as to enable the related controller related to the related interface unit to execute corresponding action based on the UDP message, wherein the related controller is a controller required in the OBD emission diagnosis. In a network constructed by taking the Ethernet as a backbone, the CAN message sent by the OBD detection device is converted into the UDP message, compared with the method that the CAN message is converted into the TCP message, the process of establishing connection between a vehicle and the OBD detection device CAN be omitted, the detection delay between the OBD detection device and the vehicle is shortened, and the success rate of detection is improved.

Description

OBD emission diagnosis method and related equipment

Technical Field

The present description relates to the field of vehicle emissions detection, and more particularly, to an OBD emissions diagnostic method and related apparatus.

Background

OBD (On-Board Diagnostic) emission detection is currently a mandatory detection item for domestic regulations, and OBD emission detection is performed when a whole vehicle enterprise reports vehicle products to the ministry of industry and informatization, and OBD emission detection is also required to be performed by a vehicle-going pipe at intervals after a fuel vehicle is sold, and the development of an OBD emission system is inevitably required to be developed in the development of an automobile product.

At present, with the improvement of the intelligent degree of the vehicle, the requirement on the data transmission rate of the vehicle is gradually increased. In view of this consideration, many vehicles use an ethernet transmission mode instead of the conventional CAN bus mode in the backbone network. When the OBD emission detection is performed, the CAN bus used by the OBD detection device is connected to the vehicle, and the sent instruction is a CAN message, so that the protocol of the message needs to be converted in order to perform good data exchange between the CAN bus and the ethernet. In order to enable the CAN instruction of the OBD emission equipment to be transmitted in the backbone network of the Ethernet, the CAN instruction needs to be converted into a DOIP instruction; in order to transmit the instructions in the branch network of the CAN bus, the DOIP instructions need to be converted into the CAN instructions, four times of protocol conversion occur in the whole process, and the time is consumed. Furthermore, after an OBD emissions device is accessed, the vehicle first receives an emissions command and a series of DOIP related initialization operations are performed, including vehicle discovery steps, TCP connection establishment and route activation, which additional steps are also time consuming. OBD emissions diagnostics, however, are extremely time-consuming and often result in failed emissions tests due to the lengthy process described above.

Disclosure of Invention

In this summary, concepts in a simplified form are introduced that are further described in the detailed description. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

In order to reduce the time delay problem of establishing connection between an OBD emission diagnosis device and a vehicle, in a first aspect, the invention provides an OBD emission diagnosis method, including:

generating a UDP message based on an instruction, wherein the instruction is sent by OBD detection equipment, the instruction comprises a connection request instruction and an operation instruction, and the UDP message is transmitted through an Ethernet backbone architecture network;

and sending the UDP message to a related interface unit so as to enable a related controller related to the related interface unit to execute corresponding actions based on the UDP message, wherein the related controller is a controller required in the OBD emission diagnosis.

Optionally, the sending the UDP packet to the relevant interface unit includes:

and sending the UDP message to the related interface unit according to a first corresponding relationship, wherein the first corresponding relationship comprises the corresponding relationship between the related controller and the interface unit.

Optionally, the first corresponding relationship is stored in the T-BOX.

Optionally, the relevant controller is connected to the relevant interface unit through a CAN bus, and the relevant interface unit is configured to generate a CAN packet based on the UDP packet, so that the relevant controller executes the corresponding action based on the CAN packet.

Optionally, the method further includes:

the related interface unit comprises at least one target interface, and the target interface is an interface which is connected with the related controller on the related interface unit.

Optionally, the correlation controller is connected to a target interface of the correlation interface unit through a CAN bus based on a second correspondence, where the second correspondence includes a correspondence between the correlation controller and the target interface.

Optionally, the second corresponding relationship is stored in the relevant interface unit.

In a second aspect, the present invention also proposes an OBD emission diagnostic device comprising:

a generation unit: the system comprises a UDP message generation module, an OBD detection device and a network management module, wherein the UDP message generation module is used for generating a UDP message based on an instruction, the instruction is sent by the OBD detection device and comprises a connection request instruction and an operation instruction, and the UDP message is transmitted through an Ethernet backbone architecture network;

an execution unit: and the relevant controller is used for sending the UDP message to a relevant interface unit so as to enable the relevant controller associated with the relevant interface unit to execute corresponding actions based on the UDP message, wherein the relevant controller is a controller required in the OBD emission diagnosis.

In a third aspect, an electronic device includes: a memory, a processor and a computer program stored in the memory and executable on the processor, the processor being configured to implement the steps of the OBD emission diagnostic method according to any of the first aspect as described above when executing the computer program stored in the memory.

In a fourth aspect, the present invention also proposes a computer readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the OBD emission diagnostic method of any one of the above mentioned first aspects.

In summary, the OBD emission diagnostic method proposed by the present application includes: generating a UDP message based on the instruction, wherein the instruction is sent by the OBD detection equipment, the instruction comprises a connection request instruction and an operation instruction, and the UDP message is transmitted through an Ethernet backbone network; and sending the UDP message to the related interface unit so as to enable the related controller related to the related interface unit to execute corresponding action based on the UDP message, wherein the related controller is a controller required in the OBD emission diagnosis. In a network constructed by taking the Ethernet as a backbone, the CAN message sent by the OBD detection device is converted into the UDP message, compared with the method that the CAN message is converted into the TCP message, the process of establishing connection between a vehicle and the OBD detection device CAN be omitted, the detection delay between the OBD detection device and the vehicle is shortened, and the success rate of detection is improved.

The OBD emission diagnostic method of the present invention, and other advantages, objects, and features of the present invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the specification. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

fig. 1 is a schematic flow chart of an OBD emission diagnosis method provided in an embodiment of the present application;

fig. 2 is a schematic structural diagram of an OBD emission diagnostic device according to an embodiment of the present disclosure;

fig. 3 is a schematic structural diagram of an OBD emission diagnosis electronic device according to an embodiment of the present disclosure.

Detailed Description

According to the embodiment of the application, in the network constructed by taking the Ethernet as the backbone, the CAN message sent by the OBD detection device is converted into the UDP message, and compared with the method that the CAN message is converted into the TCP message, the process that the vehicle is connected with the OBD detection device CAN be omitted, the detection delay of the OBD detection device and the vehicle is shortened, and the success rate of detection is improved.

The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments.

Referring to fig. 1, a schematic flow chart of an OBD emission diagnosis method provided in the embodiment of the present application may specifically include:

s110, generating a UDP message based on an instruction, wherein the instruction is sent by OBD detection equipment, the instruction comprises a connection request instruction and an operation instruction, and the UDP message is transmitted through an Ethernet backbone network;

specifically, OBD (On-Board Diagnostic) emission detection is currently a mandatory detection item in domestic regulations, and OBD emission detection is performed when a whole vehicle enterprise reports vehicle products to the ministry of industry and informatization, and meanwhile, a fuel vehicle needs to go to a vehicle pipe for OBD emission detection at intervals after being sold, and OBD emission systems are inevitably developed in vehicle product development. At present, with the improvement of the intelligent degree of the vehicle, the requirement on the data transmission rate of the vehicle is gradually increased. Based on this consideration, many vehicles adopt an ethernet transmission mode to replace the conventional CAN bus mode in the network constructed by the backbone. When the OBD emission detection is performed, the CAN bus used by the OBD detection device is connected to the vehicle, and the sent instruction is a CAN message, so that the protocol of the message needs to be converted in order to perform good data exchange between the CAN bus and the ethernet.

In order to ensure the accuracy and the completeness of data Transmission, a TCP (Transmission Control Protocol) is generally used in ethernet to perform DOIP diagnosis service, and the TCP is a connection-oriented Protocol, that is, a reliable connection must be established with an opposite party before data Transmission and reception. A TCP connection must be established through three "handshakes", which is a very complicated process. For example: host a and host B want to establish a connection. First handshake: host a requests host B to establish a connection by sending host B a data segment containing a flag bit of the synchronization sequence number, through which host a tells host B two things: i want to communicate with you; you can respond to me with which sequence number as the starting data segment. Second handshake: after host B receives host a's request, host a responds with a data segment with an Acknowledgement (ACK) and a synchronization sequence number (SYN) flag bit, also telling host a two things: i have received your request and you can transmit data; you will respond to me with that sequence number as the starting data segment. Third handshake: after receiving the data segment, the host A sends a confirmation response to confirm that the data segment of the host B is received: "i have received the reply, i now want to start transmitting actual data, so that 3-way handshake is completed and host a and host B can transmit data. The three-way handshake process is equivalent to six message sending and receiving processes, which is time-consuming, and OBD emission diagnosis is time-demanding, and usually requires that a response is received within 75ms, otherwise, the response is determined to be overtime, thereby causing the emission detection to fail. Meanwhile, the OBD detection device sends an instruction in a request-response mode, so that if the controller receives the request of the OBD, a response is necessarily given, and if the request of the OBD is not received, the response is not given, and the OBD can judge whether the controller receives the request according to whether the controller gives the response.

Therefore, the scheme provided by the application adopts UDP messages to replace TCP messages, UDP is a non-connection protocol, and a source end and a terminal do not establish connection before data transmission, so that the process of establishing connection between OBD detection equipment and a vehicle is omitted, and time is saved. Therefore, the time of OBD emission diagnosis is prolonged, and the success rate of emission detection is improved.

And S120, sending the UDP message to a related interface unit so as to enable a related controller related to the related interface unit to execute corresponding actions based on the UDP message, wherein the related controller is a controller required in the OBD emission diagnosis.

In particular, one or more interface units may be provided in a trolley, with associated controllers connected to the associated interface units. The relevant controllers may include an EMS (Engine Management System), an EPS (Electric Power Steering System), a TCU (Transmission Control Unit), an ASC (Active Stability Control System), and the like, the OBD detection device generates a CAN message through its own software according to an item to be detected, the vehicle converts the CAN message into a UDP message that CAN be transmitted by the ethernet backbone network, and the relevant controllers execute corresponding actions according to the UDP message to complete OBD detection.

In summary, in a network constructed by taking the ethernet as a backbone, a CAN message sent by the OBD detection device is converted into a UDP message, and compared with the case where the CAN message is converted into a TCP message, the process of establishing a connection between the vehicle and the OBD detection device CAN be omitted, the detection delay between the OBD detection device and the vehicle is shortened, and thus the success rate of detection is improved.

In some examples, the sending the UDP packet to the relevant interface unit includes:

Specifically, the OBD detection process in the general DoIP protocol is as follows: the vehicle issues a broadcast message for acquiring information to the whole vehicle based on an instruction sent by the OBD detection equipment, each controller in the vehicle responds, and the Payload of the message is accompanied by own DoIP logical address information, so that the OBD detection equipment receives IP addresses, port information and DoIP logical addresses of all controllers. The detection equipment determines the controllers required during detection by identifying the IP address, the port information and the DoIP logic address, and sends messages to the detection equipment based on the IP address, the port information and the DoIP logic address, and the relevant controllers execute corresponding actions based on the messages to finish the detection.

But since in the network system in the vehicle, the internal controllers are all the fixed IP address, the fixed MAC address and the fixed DoIP logical address. Therefore, the scheme establishes the corresponding relation between the control interface and the controller in advance, namely the first corresponding relation. Therefore, the vehicle CAN determine the relevant controller to be controlled by the message according to the information in the CAN message issued by the OBD detection equipment. After the protocol conversion is finished, the UDP message corresponding to the CAN message is directly sent to a related interface unit connected with a related controller, and the related controller executes corresponding action based on the UDP message to finish the detection.

In summary, through the first corresponding relationship, the UDP packet corresponding to the CAN packet CAN be directly sent to the relevant interface unit connected to the relevant controller, so that the process of addressing and matching is omitted, and the delay caused by the initiation of the DOIP is reduced.

In some examples, the first correspondence is stored in the T-BOX.

Specifically, the T-BOX serves as a wireless gateway, provides a remote communication interface for the whole vehicle through functions of 4G/5G remote wireless communication, GPS satellite positioning, acceleration sensing, CAN communication and the like, and provides services including vehicle data acquisition, driving track recording, vehicle fault monitoring, vehicle remote inquiry and control (locking and unlocking, air conditioner control, vehicle window control, engine torque limitation, engine start/stop), driving behavior analysis, 4G/5G wireless hotspot sharing and the like.

The first corresponding relation is stored in the T-BOX, when the interface unit of the related equipment is replaced, the software can be updated by modifying the first corresponding relation, and the subsequent OBD detection process can be ensured to be carried out smoothly.

Further, the protocol conversion process of the CAN message and the UDP message CAN also be completed by the T-BOX, after the T-BOX completes the protocol conversion, the UDP message CAN be directly sent to the relevant interface unit of the relevant controller according to the first corresponding relation, and the relevant controller executes the corresponding action based on the UDP message, thereby ensuring the continuity of the transmission process.

In some examples, the relevant controller is connected to the relevant interface unit through a CAN bus, and the relevant interface unit is configured to generate a CAN packet based on the UDP packet, so that the relevant controller performs the corresponding action based on the CAN packet.

Specifically, because the connection between the relevant controller and the relevant interface is equivalent to a branch network, the data transmission amount is not large than that of a main network, and the connection CAN be realized through a CAN bus. Meanwhile, the branch network adopts the CAN bus, so that the mature stability of the CAN bus in network management CAN be exerted to control the opening and closing of the relevant controller. The related interface unit CAN complete the protocol conversion process from the UDP message to the CAN message, thereby meeting the requirement of message transmission on the CAN bus.

In conclusion, through the reasonable arrangement of the Ethernet and the CAN bus, the requirements of different data volume transmission CAN be met, and meanwhile, through the protocol conversion process of two wheels, the data CAN be ensured to be well transmitted in different networks, and the OBD emission diagnosis CAN be ensured to be smoothly carried out.

In some examples, further comprising:

Specifically, the relevant interface unit can have a plurality of interfaces, and different controllers can be connected to different interfaces, even have the controller on the interface, even have the interface that the relevant controller that the OBD detected needs corresponds to be the target interface. Several interfaces can be reserved in the relevant interface units, when some relevant interfaces have faults, the phase controller can be accessed into other reserved interfaces, and the OBD detection can be ensured to be carried out smoothly by modifying the interface protocol.

In some examples, the correlation controller is connected to a target interface of the correlation interface unit through a CAN bus based on a second correspondence relationship, and the second correspondence relationship includes a correspondence relationship between the correlation controller and the target interface.

Specifically, the correlation controller is connected to a target interface of the correlation interface unit, the address correspondence between the correlation controller and the target interface is recorded through the second correspondence, and after the correlation interface unit completes message protocol conversion, the CAN message CAN be directly sent to the target interface according to the second correspondence. So that the associated controller connected to the target interface can control the execution unit to perform the required actions.

In some examples, the second correspondence is stored in the correlation interface unit.

Specifically, the correspondence between the relevant controller and the target interface is stored in the file of the relevant interface unit, and when the relevant controller is replaced, the target interface is adjusted or the relevant interface unit is adjusted, the corresponding modification is only needed to be performed on the second correspondence in the file.

Furthermore, the relevant interface unit CAN complete the conversion work from the UDP message to the CAN message, and simultaneously send the converted CAN message to the target interface according to the second corresponding relation. And the relevant controller connected with the target interface executes corresponding actions according to the CAN message to complete the detection process, thereby ensuring the continuity of the transmission process.

Referring to fig. 2, an embodiment of an OBD emission diagnostic apparatus according to an embodiment of the present disclosure may include:

the generation unit 21: the system comprises a UDP message generation module, an OBD detection device and a network management module, wherein the UDP message generation module is used for generating a UDP message based on an instruction, the instruction is sent by the OBD detection device and comprises a connection request instruction and an operation instruction, and the UDP message is transmitted through an Ethernet backbone architecture network;

the execution unit 22: and the relevant controller is used for sending the UDP message to a relevant interface unit so as to enable the relevant controller associated with the relevant interface unit to execute corresponding actions based on the UDP message, wherein the relevant controller is a controller required in the OBD emission diagnosis.

As shown in fig. 3, the embodiment of the present application further provides an electronic device 300, which includes a memory 310, a processor 320 and a computer program 311 stored on the memory 320 and operable on the processor, wherein when the computer program 311 is executed by the processor 320, the steps of any one of the methods for diagnosing OBD emissions described above are implemented.

Since the electronic device described in this embodiment is a device for implementing an OBD emission diagnostic apparatus in this embodiment, based on the method described in this embodiment, a person skilled in the art can understand the specific implementation of the electronic device of this embodiment and various modifications thereof, so that how to implement the method in this embodiment by the electronic device will not be described in detail herein, and as long as the person skilled in the art implements the device used in this embodiment, the scope of the protection of this application is included.

In a specific implementation, the computer program 311 may implement any of the embodiments corresponding to fig. 1 when executed by a processor.

It should be noted that, in the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to relevant descriptions of other embodiments for parts that are not described in detail in a certain embodiment.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams 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, embedded 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, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

Embodiments of the present application also provide a computer program product, which includes computer software instructions that, when executed on a processing device, cause the processing device to perform the flow of the OBD emission diagnosis method in the corresponding embodiment of fig. 1.

The computer program product includes one or more computer instructions. The procedures or functions according to the embodiments of the present application are all or partially generated when the computer program instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). A computer-readable storage medium may be any available medium that a computer can store or a data storage device, such as a server, a data center, etc., that is integrated with one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims

1. An OBD emission diagnostic method, comprising:

and sending the UDP message to a related interface unit so as to enable a related controller associated with the related interface unit to execute corresponding actions based on the UDP message, wherein the related controller is a controller required in the OBD emission diagnosis.

2. The method of claim 1, wherein sending the UDP packet to an associated interface unit comprises:

and sending the UDP message to the relevant interface unit according to a first corresponding relation, wherein the first corresponding relation comprises the corresponding relation between the relevant controller and the interface unit.

3. The method of claim 2, wherein the first correspondence is stored in T-BOX.

4. The method of claim 1, wherein the associated controller is connected to the associated interface unit via a CAN bus, the associated interface unit configured to generate a CAN message based on the UDP message such that the associated controller performs the corresponding action based on the CAN message.

5. The method of claim 4, further comprising:

the related interface unit comprises at least one target interface, and the target interface is an interface of the related controller connected with the related interface unit.

6. The method of claim 5, wherein the coherence controller is connected to a target interface of the coherence interface unit via a CAN bus based on a second mapping comprising a mapping of the coherence controller to the target interface.

7. The method of claim 6, wherein the second correspondence is stored in the relevant interface unit.

8. An OBD emission diagnostic device, comprising:

a generation unit: the device comprises a UDP message generation module, an OBD detection device and a network management module, wherein the UDP message generation module is used for generating a UDP message based on an instruction, the instruction is sent by the OBD detection device, the instruction comprises a connection request instruction and an operation instruction, and the UDP message is transmitted through an Ethernet backbone architecture network;

an execution unit: and the controller is used for sending the UDP message to the related interface unit so as to enable the related controller associated with the related interface unit to execute corresponding actions based on the UDP message, wherein the related controller is a controller required in the OBD emission diagnosis.

9. An electronic device, comprising: memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor is adapted to carry out the steps of the OBD emission diagnostic method according to any of claims 1-7 when executing the computer program stored in the memory.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program, when being executed by a processor, carries out the steps of the OBD emission diagnostic method according to any of the claims 1-7.