CN115390545A

CN115390545A - Vehicle diagnosis method, apparatus, device, readable storage medium, and program product

Info

Publication number: CN115390545A
Application number: CN202210982180.2A
Authority: CN
Inventors: 杨东耳
Original assignee: Beijing Jingwei Hirain Tech Co Ltd
Current assignee: Beijing Jingwei Hirain Tech Co Ltd
Priority date: 2022-08-16
Filing date: 2022-08-16
Publication date: 2022-11-25
Also published as: WO2024037303A1

Abstract

The application discloses a vehicle diagnosis method, a vehicle diagnosis device, a vehicle diagnosis apparatus, a readable storage medium, and a program product. The method comprises the following steps: the method comprises the steps of receiving a diagnosis request message sent by a diagnosis instrument, wherein the diagnosis request message is a CAN FD (controller area network) diagnosis request message or a CAN diagnosis request message, performing routing of a data link layer on the diagnosis request message, forwarding the diagnosis request message to a target node, the target node is a CAN node or a CAN FD node, performing routing of the data link layer on a diagnosis response message sent by the target node, and sending the diagnosis response message to the diagnosis instrument through a controller area network CAN diagnosis response message, wherein under the condition that the target node is the CAN node, a data length code DLC of the diagnosis request message is 8, and under the condition that the target node is a CAN FD node, a DLC of the diagnosis response message is 8. The method and the device have good expansibility, and can reduce the software complexity of the gateway, thereby reducing the research and development cost of the gateway.

Description

Vehicle diagnosis method, apparatus, device, readable storage medium, and program product

Technical Field

The present application belongs to the field of vehicle diagnosis technologies, and in particular, relates to a vehicle diagnosis method, apparatus, device, readable storage medium, and program product.

Background

With the development of automobile communication technology, a new communication technology appears in a whole automobile network: a variable rate Controller Area Network (CANFD). As shown in fig. 1, a whole vehicle Network architecture with coexistence of two bus communication technologies, controller Area Network (CAN) and CANFD, appears. Generally, for safety reasons of a whole vehicle factory, an On Board Diagnostic (OBD) Diagnostic interface of a vehicle is only opened to connect an external Diagnostic device with an interface of a Diagnostic CAN. And the external diagnostic instrument accesses nodes in the CAN network and the CAN FD network in the vehicle through the OBD diagnosis CAN interface.

To support diagnostics with a diagnostic instrument using the CANFD communication protocol, the OBD diagnostic CAN interface may be compatible with the CAN communication protocol and the CANFD communication protocol. For a diagnostic apparatus supporting the CANFD communication protocol, the current diagnostic solution is: in a common diagnosis scene, when a diagnosis instrument accesses a CAN node, a CAN message is sent, a gateway executes the data link layer routing of the CAN-CAN, when the diagnosis instrument accesses a CANFD node, a CANFD message is sent, and the gateway executes the data link layer routing of the CANFD-CANFD. And under the scene of diagnosis refreshing, the diagnosis instrument sends a CAN FD message, if the target is a CAN node, the gateway executes the routing of a transmission layer, and if the target is a CAN FD node, the gateway executes the routing of a data link layer.

The diagnosis scheme can make full use of the CANFD bandwidth of the OBD diagnosis interface, so that the diagnosis refreshing efficiency is obviously improved. However, in the above scheme, the gateway needs to distinguish different diagnostic scenarios to perform different routes on the packet, which results in high software complexity and high development cost of the gateway.

Disclosure of Invention

The embodiment of the application provides a vehicle diagnosis method, a vehicle diagnosis device, a vehicle diagnosis equipment, a readable storage medium and a program product, which can solve the problems that in the prior art, a gateway needs to distinguish different diagnosis scenes so as to execute different routes on a message, so that the software complexity of the gateway is high, and the research and development cost is high.

In a first aspect, an embodiment of the present application provides a vehicle diagnosis method, applied to a vehicle, including:

receiving a diagnosis request message sent by a diagnosis instrument, wherein the diagnosis request message is a variable rate Controller Area Network (CAN) diagnosis request message or a Controller Area Network (CAN) diagnosis request message,

performing routing of a data link layer on the diagnosis request message, forwarding the diagnosis request message to a target node, wherein the target node is a CAN node or a CAN FD node,

routing a data link layer for the diagnosis response message sent by the target node, sending the diagnosis response message to the diagnosis instrument in a CAN diagnosis response message,

wherein, under the condition that the target node is a CAN node, the DLC of the diagnosis request message is 8, and under the condition that the target node is a variable rate controller area network CANFD node, the DLC of the diagnosis response message is 8.

In some embodiments, the diagnostic meter and the target node satisfy any one of:

the diagnostic apparatus supports a CANFD communication protocol, the target node is a CANFD node,

the diagnostic apparatus supports a CAN FD communication protocol, the target node is a CAN node,

the diagnostic apparatus supports CAN communication protocol, the target node is CAN node,

the diagnostic apparatus supports a CAN communication protocol, and the target node is a CANFD node.

In some embodiments, in a case that the diagnostic apparatus supports a CANFD communication protocol, the diagnostic request message is a CANFD diagnostic request message.

In some embodiments, the forwarding the diagnosis request packet to the target node includes:

directly sending the CANFD diagnosis request message to the CANFD node under the condition that the target node is the CANFD node,

and under the condition that the target node is a CAN node, converting the CANFD diagnosis request message into a CAN request message and sending the CAN request message to the CAN node.

In some embodiments, said sending said diagnostic response message to said diagnostic instrument as a CAN diagnostic response message comprises:

under the condition that the target node is a CAN FD node and the diagnosis request message is a CAN FD diagnosis response message, converting the CAN FD diagnosis response message into a CAN diagnosis request message and sending the CAN diagnosis request message to the diagnosis instrument,

and directly sending the CAN diagnosis response message to the diagnosis instrument under the condition that the target node is a CAN node and the diagnosis request message is a CAN diagnosis response message.

In some embodiments, said performing routing at a data link layer on said diagnostic response packet, forwarding said diagnostic request packet to a target node, comprises:

forwarding the diagnostic request packet to a target node according to a first-in-first-out FIFO mechanism, performing data link layer routing on the diagnostic response packet,

wherein the minimum depth of the first FIFO mechanism is determined based on the following parameters: the number of nodes of each network in the vehicle, the first time required for a gateway of the vehicle to receive all CAN FD diagnosis response messages, the second time required for the gateway to receive all CAN diagnosis response messages, the minimum time required for the CAN network to send 8 bytes, and the number of CAN messages corresponding to the maximum diagnosis response message.

In some embodiments, before said performing routing of data link layer on said diagnostic response packet according to a first-in-first-out FIFO mechanism, said method further comprises:

calculating the minimum depth of the first FIFO mechanism through a first calculation formula, wherein the first calculation formula is as follows:

D1＝P×Z1－Tmax－Tcan

wherein D1 is the minimum depth of the first FIFO mechanism, P is the sum of the number of nodes of each network in the vehicle, Z1 is the number of CAN packets corresponding to the maximum diagnostic response message, tmax is the maximum value of the first time and the second time, and Tcan is the minimum time required for the CAN network to transmit 8 bytes.

In some embodiments, the performing routing of a data link layer on the diagnostic request packet and sending the diagnostic response packet to the diagnostic instrument as a CAN diagnostic response packet includes:

routing a data link layer for the diagnostic request message according to a second FIFO mechanism, sending the diagnostic response message to the diagnostic instrument as a CAN diagnostic response message,

wherein, in a first diagnostic scenario, the minimum depth of the second FIFO mechanism is 8 levels, the first diagnostic scenario being any one of:

the diagnostic device supports a CAN communication protocol, the target node is a CAN FD node,

and under the diagnosis scene that the diagnosis instrument supports a CAN FD communication protocol and the target node is a CAN node, the minimum depth of the second FIFO mechanism is 333 stages.

In some embodiments, before receiving the diagnosis request message sent by the diagnosis instrument, the method further includes:

and configuring the OBD diagnosis interface of the vehicle into a CAN working mode and a CANFD working mode, wherein the Baud rate of the CAN working mode is consistent with the Baud rate of the CAN of the whole vehicle, and the Baud rate of the CANFD working mode is consistent with the Baud rate of the CANFD of the whole vehicle.

generating a diagnostic routing table according to the type of each node in the vehicle,

the performing routing of a data link layer on the diagnosis request packet, and forwarding the diagnosis request packet to a target node, includes:

according to the diagnosis routing table, performing routing of a data link layer on the diagnosis request message, forwarding the diagnosis request message to a target node,

the routing of a data link layer to the diagnostic response packet and sending the diagnostic response packet to the diagnostic instrument as a CAN diagnostic response packet includes:

and according to the diagnosis routing table, routing of a data link layer is performed on the diagnosis response message, and the diagnosis response message is sent to the diagnosis instrument in a CAN diagnosis response message.

the diagnostic instrument sends the diagnostic request message to the vehicle,

after the diagnostic response message is sent to the diagnostic apparatus as a CAN diagnostic response message, the method further comprises:

and the diagnostic instrument receives the CAN diagnosis response message sent by the vehicle.

In a second aspect, an embodiment of the present application provides a vehicle diagnostic apparatus, including:

a first receiving module, configured to receive a diagnosis request message sent by a diagnostic apparatus, where the diagnosis request message is a variable rate controller area network CANFD diagnosis request message or a controller area network CAN diagnosis request message,

a first sending module, configured to perform data link layer routing on the diagnostic request packet, and forward the diagnostic request packet to a target node, where the target node is a CAN node or a CANFD node,

a second sending module, configured to perform routing of a data link layer on the diagnostic response packet sent by the target node, send the diagnostic response packet to the diagnostic apparatus as a CAN diagnostic response packet,

wherein, under the condition that the target node is a CAN node, the DLC of the diagnosis request message is 8, and under the condition that the target node is a CAN FD node, the DLC of the diagnosis response message is 8.

In some embodiments, the first sending module is specifically configured to:

under the condition that the target node is a CANFD node, directly sending the CANFD diagnosis request message to the CANFD node,

and under the condition that the target node is a CAN node, converting the CAN FD diagnosis request message into a CAN request message and sending the CAN request message to the CAN node.

In some embodiments, the second sending module is specifically configured to:

converting the CANFD diagnosis response message into a CAN diagnosis request message and sending the CAN diagnosis request message to the diagnosis instrument under the condition that the target node is a CANFD node and the diagnosis request message is a CANFD diagnosis response message,

In some embodiments, the first sending module is specifically configured to:

In some embodiments, the apparatus further comprises:

a calculating module, configured to calculate a minimum depth of the first FIFO mechanism according to a first calculation formula, where the first calculation formula is:

D1＝P×Z1－Tmax－Tcan

In some embodiments, the second sending module is specifically configured to:

according to a second FIFO mechanism, routing of a data link layer is carried out on the diagnosis request message, the diagnosis response message is sent to the diagnosis instrument in a CAN diagnosis response message,

In some embodiments, the apparatus further comprises:

and the configuration module is used for configuring the OBD diagnosis interface of the vehicle into a CAN working mode and a CANFD working mode, wherein the baud rate of the CAN working mode is consistent with the baud rate of the CAN of the whole vehicle, and the baud rate of the CANFD working mode is consistent with the baud rate of the CANFD of the whole vehicle.

In some embodiments, the apparatus further comprises:

a generation module to: generating a diagnostic routing table according to the type of each node in the vehicle,

the first sending module is specifically configured to:

the second sending module is specifically configured to:

and according to the diagnosis routing table, routing of a data link layer is carried out on the diagnosis response message, and the diagnosis response message is sent to the diagnosis instrument in a CAN diagnosis response message.

In a third aspect, an embodiment of the present application provides a vehicle diagnostic apparatus, including: a processor and a memory storing computer program instructions which, when executed by the processor, implement the vehicle diagnostic method of the first aspect.

In a fourth aspect, embodiments of the present application provide a computer storage medium having computer program instructions stored thereon, which when executed by a processor, implement the vehicle diagnostic method according to the first aspect.

In a fifth aspect, the present application provides a computer program product, wherein when executed by a processor of an electronic device, the instructions in the computer program product cause the electronic device to execute the vehicle diagnosis method according to the first aspect.

In the embodiment of the present application, on one hand, by limiting the DLC of the diagnosis request packet and the diagnosis response packet to 8, the gateway can both perform routing of the data link layer for the diagnosis request packet and the diagnosis response packet, and does not need to distinguish a diagnosis scenario, so that the software complexity of the gateway can be reduced. On the other hand, no matter what communication protocol is supported by the target node, no matter what communication protocol is supported by the diagnostic instrument sending the diagnosis request message, the gateway sends the diagnosis response message sent by the target node to the diagnostic instrument in the CAN diagnosis response message, so that the software complexity of the gateway CAN be reduced, the vehicle CAN support the vehicle diagnosis by using the diagnostic instrument of any one of the CAN communication protocol and the CANFD communication protocol, and the expansibility is good. Therefore, the vehicle diagnosis method is good in expansibility, and can reduce the software complexity of the gateway, so that the development cost of the gateway is reduced.

Drawings

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

Figure 1 is a schematic diagram of a vehicle network architecture provided in an embodiment of the present application,

FIG. 2 is a flow chart of a vehicle diagnostic method provided by an embodiment of the present application,

FIG. 3 is a second flowchart of a vehicle diagnostic method according to an embodiment of the present application,

fig. 4 is a structural diagram of a vehicle diagnostic apparatus provided in an embodiment of the present application,

fig. 5 is a structural diagram of a vehicle diagnostic apparatus provided in an embodiment of the present application.

Detailed Description

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

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

For convenience of understanding, some contents related to the embodiments of the present application are described below:

1. a communication protocol.

CAN communication protocol: the baud rate supports 1 megabit per second (Mbps) at most, and a CAN message of one frame Data link layer carries 8 bytes of Data at most, that is, a Data Length Code (DLC) of the CAN message of one frame Data link layer is 8 bytes.

CANFD communication protocol: the baud rate supports 5Mbps at most, the CAN fd message of one frame data link layer carries 64 bytes of data at most, that is, the DLC of the CAN message of one frame data link layer is 64 bytes.

The diagnostic transport protocol used by CAN and the diagnostic transport protocol used by CANFD are also different during the diagnostic process: the maximum length of a single frame, a first frame and consecutive frames of the transmission protocol of CAN is 8 bytes. The transport protocol for CANFD, the maximum length of a single frame, a first frame and consecutive frames is 64 bytes.

When the diagnostic device accesses a node of the CANFD network through the OBD diagnostic CAN interface, the gateway needs to perform protocol conversion (baud rate conversion and data format conversion) of CAN and CANFD. This protocol conversion takes a certain time, so when performing a CANFD network node software update, although the CANFD transmission rate is higher than CAN, the update speed is slower than CAN node.

2. A diagnostic instrument (which may also be referred to as a diagnostic device or a detection device).

The vehicle diagnosis method of the embodiment of the application can be applied to the following two types of diagnostic instruments:

A. government test equipment, currently only supports the CAN communication protocol.

B. The diagnostic instrument of the whole automobile factory can be updated instantly along with the design development of the whole automobile, and can support a CANFD communication protocol.

3. And (5) diagnosing a scene.

In a common diagnosis scene, the largest data flow scene is that the diagnostic apparatus sends functional addressing, and all CAN and CANFD nodes send multi-frame response data to the diagnostic apparatus. In this case, the data size is not large, the data sent by each node is generally not more than 100 bytes, and even if there are 100 nodes in the vehicle, the time required for transmitting the data can be completed in less than 0.5 s.

Under a refreshing scene, the diagnostic instrument CAN transmit a large amount of data to CAN and CANFD nodes, wherein one node has less data with 10 ten thousand bytes, and the other node has more data with ten million bytes. Therefore, the CANFD bandwidth performance of the OBD diagnostic CAN interface needs to be fully played in the refresh scene to improve the refresh efficiency and shorten the refresh time.

4. And (5) designing a whole vehicle network.

As shown in fig. 1, a vehicle may include at least one CAN network and at least one CAN fd network. Further, each CAN network may include at least one CAN node, and the different CAN networks may include equal or unequal numbers of CAN nodes. Each can fd network may include at least one can fd node, and different can fd networks may include equal or unequal numbers of can fd nodes.

In some embodiments, the overall vehicle network design may be represented as:

the communication rates of all CAN networks are the same (e.g., 500 kilobits per second (Kbps)).

The CANFD communication protocol distinguishes between a data-domain communication rate (e.g., 2 Mbps) and a non-data-domain communication rate (500 Kbps), which may be the same as that of a conventional CAN, all of the CANFD networks.

For the whole vehicle network design, because the communication rates of all the CAN networks are the same, the gateway does not need to convert the communication rates when communicating with the nodes of all the CAN networks, and likewise, because the communication rates of all the CAN networks are the same, the gateway does not need to convert the communication rates when communicating with the nodes of all the CAN networks, thereby reducing the complexity of gateway software and further reducing the development cost of the gateway.

Of course, it is understood that, in other embodiments, other suitable designs may be performed on the entire vehicle network, and this is not limited in this application. Such as: the communication rate may be different for different CAN networks or designed to be different for different CAN fd networks.

5. And (4) transmission path of the message.

For the diagnosis request message, the transmission path is as follows: the diagnostic instrument → the vehicle OBD diagnostic interface → the vehicle gateway → the vehicle node (CAN node or CANFD node), that is, the diagnostic instrument sends the diagnostic request message, and the vehicle OBD diagnostic interface receives the diagnostic request message sent by the diagnostic instrument, transmits it to the vehicle gateway, and then the vehicle gateway forwards it to the vehicle node.

For the diagnosis response message, the transmission path is as follows: the nodes of the vehicle (CAN nodes and CANFD nodes) → the gateway of the vehicle → the OBD diagnostic interface of the vehicle → the diagnostic instrument, that is, the nodes of the vehicle send a diagnostic response message in response to the diagnostic request message, transmit it to the gateway of the vehicle, and then the gateway of the vehicle sends it to the diagnostic instrument through the OBD diagnostic interface of the vehicle.

It can be seen that the vehicle communicates with the diagnostic via the OBD diagnostic interface.

The vehicle diagnosis method provided by the embodiment of the application is described in detail through some embodiments and application scenarios thereof with reference to the accompanying drawings.

Referring to fig. 2, fig. 2 is a flowchart of a vehicle diagnosis method provided in an embodiment of the present application. The vehicle diagnostic method shown in fig. 2 may be applied to a vehicle, and in particular, each step in the vehicle diagnostic method shown in fig. 2 may be performed by a gateway of the vehicle.

As shown in fig. 2, the vehicle diagnosis method may include the steps of:

step 201, receiving a diagnosis request message sent by a diagnosis instrument, wherein the diagnosis request message is a variable rate Controller Area Network (CAN) diagnosis request message or a Controller Area Network (CAN) diagnosis request message.

During specific implementation, a gateway of the vehicle can receive a diagnosis request message sent by the diagnosis instrument through the OBD diagnosis interface.

It is understood that prior to step 201, the diagnostic instrument sends a diagnostic request message to the vehicle.

In some embodiments, the diagnostic instrument may be a diagnostic instrument that supports a CAN communication protocol (hereinafter CAN diagnostic instrument). And the diagnosis request message sent by the CAN diagnosis instrument is a CAN diagnosis request message. In this embodiment, step 201 is embodied as: and receiving a CAN diagnosis request message sent by a CAN diagnosis instrument.

In other embodiments, the diagnostic instrument may be a diagnostic instrument that supports the CANFD communication protocol (hereinafter CANFD diagnostic instrument). The diagnosis request message sent by the CANFD diagnostic apparatus may be a CAN diagnosis request message or a CANFD diagnosis request message, which may be specifically determined according to actual requirements, and this is not limited in this embodiment of the present application. In this embodiment, step 201 is embodied as: and receiving a CAN diagnosis request message or a CAN diagnosis request message sent by a CAN FD diagnostic apparatus.

In some optional implementation manners, in a case that the diagnostic apparatus supports a CANFD communication protocol, the diagnostic request message is a CANFD diagnostic request message. In this implementation, step 201 is embodied as: and receiving a CANFD diagnosis request message sent by a CANFD diagnosis instrument.

In this implementation manner, for the diagnostic apparatus, it is not necessary to pay attention to whether the receiving node of the diagnostic request message is a CAN node or a CANFD node, and the transmitted diagnostic request message is always a CANFD diagnostic request message. Therefore, the CANFD diagnostic instrument does not need to distinguish diagnostic scenes, and directly sends a CANFD diagnostic request message, so that the software complexity of the diagnostic instrument can be reduced, and the development cost of the diagnostic instrument can be reduced.

Step 202, performing routing of a data link layer on the diagnosis request packet, and forwarding the diagnosis request packet to a target node, where the target node is a CAN node or a CANFD node.

In this embodiment of the present application, after receiving a diagnosis request packet, a gateway may perform routing of a data link layer on the diagnosis request packet, and forward the diagnosis request packet to a target node.

In the embodiment of the present application, in the case that the target node is a CAN node, the unit of the Data Length Code (DLC) of the diagnosis request message may be 8 bytes, that is, the DLC of the diagnosis request message is limited to 8 bytes, which is the same as the DLC limit of the CAN message of a frame Data link layer in the CAN communication protocol.

For the CAN diagnosis request message sent by the diagnosis instrument, the DLC itself is 8. For a CAN fd diagnosis request message sent by a diagnostic apparatus, in case that a target node is a CAN node, the embodiment of the present application may limit its DLC to 8.

Therefore, under the condition that the target node is the CAN node, no matter the diagnosis request message is the CAN FD diagnosis request message or the CAN diagnosis request message, because the DLC of the diagnosis request message is the same as the DLC of the CAN message of the data link layer of one frame in the CAN communication protocol, the gateway CAN perform the routing of the data link layer on the diagnosis request message and transmit the diagnosis request message to the target node without conversion of a transmission layer, thereby improving the routing efficiency of the diagnosis request message.

It is understood that if the DLC of a CAN message in a frame data link layer of the CAN communication protocol changes to another value, the DLC limit on the diagnostic request message may change accordingly. That is, in the embodiment of the present application, in the case that the target node is a CAN node, the DLC of the diagnosis request packet may be equal to the DLC of the CAN packet of one frame data link layer in the CAN communication protocol.

In addition, in some embodiments, in the case that the target node is a CAN node, the DLC of the diagnostic request message may be smaller than the DLC of a CAN message of a frame data link layer in a CAN communication protocol. In this embodiment, the gateway may also perform data link layer routing of the diagnostic request packet to forward it to the destination node, but would reduce diagnostic efficiency compared to the case of equivalent DLC.

Therefore, in the embodiment of the present application, no matter what type of the diagnosis request packet is, and what type of the node is, the gateway may perform routing of the data link layer on the diagnosis request packet, and forward the routing to the target node, without performing conversion of the transport layer, so that the routing efficiency of the diagnosis request packet may be improved.

Step 203, routing of a data link layer is performed on the diagnosis response message sent by the target node, and the diagnosis response message is sent to the diagnosis instrument as a CAN diagnosis response message.

It is understood that after step 203, the diagnostic instrument receives the CAN diagnostic response message sent by the vehicle.

In specific implementation, after receiving the diagnosis request message, the target node may respond to the diagnosis request message, generate a diagnosis response message, and send the diagnosis response message to the gateway.

It is understood that the type of the diagnostic response packet sent by the target node is consistent with the type of the target node. Namely, for the CAN node, the diagnostic response message sent by the CAN node is the CAN diagnostic response message. For a CANFD node, the diagnostic response message sent by the CANFD node is a CANFD diagnostic response message.

In the embodiment of the present application, in the case that the target node is a CAN fd node, the unit of DLC of the diagnosis response message is 8, which may be bytes, that is, DLC of the diagnosis response message is limited to 8 bytes, which is the same as DLC limit of CAN message of a frame data link layer in CAN communication protocol.

And for the CAN diagnosis response message sent by the target node, the DLC itself is 8. For a CAN fd diagnosis response message sent by a target node, in case that the target node is a CAN node, the embodiment of the present application may limit its DLC to 8.

Therefore, under the condition that the target node is the CAN node, no matter the diagnosis response message is the CANFD diagnosis response message or the CAN diagnosis response message, because the DLC of the diagnosis response message is the same as the DLC of the CAN message of the data link layer in the CAN communication protocol, the gateway CAN perform the routing of the data link layer on the diagnosis response message and send the diagnosis response message to the diagnosis instrument without conversion of a transmission layer, thereby improving the routing efficiency of the diagnosis response message.

It is understood that if the DLC of a CAN message in a frame data link layer of the CAN communication protocol changes to another value, the DLC limit on the diagnostic response message may change accordingly. That is, in the embodiment of the present application, in the case that the target node is a CAN node, the DLC of the diagnosis response packet may be equal to the DLC of the CAN packet of one frame data link layer in the CAN communication protocol.

In addition, in some embodiments, in the case that the target node is a CAN node, the DLC of the diagnostic response message may be equal to or less than the DLC of the CAN message of a frame data link layer in the CAN communication protocol. In this embodiment, the gateway may also perform data link layer routing of the diagnostic response packet to forward it to the destination node, but would reduce diagnostic efficiency compared to the case of equivalent DLC.

It can be seen that, in the embodiment of the present application, no matter what type of diagnostic response message the diagnostic response message is, what type of node the target node is, the gateway can perform routing of the data link layer on the diagnosis response message and send the diagnosis response message to the diagnosis instrument without conversion of a transmission layer, so that the routing efficiency of the diagnosis response message can be improved.

On the other hand, it is noted that in the embodiment of the present application, the gateway may send the diagnostic response message to the diagnostic apparatus as a CAN diagnostic response message. Therefore, the method CAN ensure that any type of diagnosis instrument in the CAN diagnosis instrument and the CAN FD diagnosis instrument CAN receive the diagnosis response message, and CAN also simplify the complexity of gateway software, namely the gateway does not need to pay attention to the type of the diagnosis instrument and sends the same type of diagnosis response message. Therefore, the software complex graph of the gateway can be further reduced, and meanwhile, the vehicle diagnosis method provided by the embodiment of the application can be suitable for any type of diagnostic instruments, and the expansibility is good.

In the vehicle diagnosis method of this embodiment, on one hand, by limiting the DLC of the diagnosis request packet and the diagnosis response packet to 8, the gateway can both perform routing of the data link layer for the diagnosis request packet and the diagnosis response packet, and there is no need to distinguish a diagnosis scenario, so that the software complexity of the gateway can be reduced. On the other hand, no matter what communication protocol is supported by the target node, no matter what communication protocol is supported by the diagnostic instrument sending the diagnosis request message, the gateway sends the diagnosis response message sent by the target node to the diagnostic instrument in the CAN diagnosis response message, so that the software complexity of the gateway CAN be reduced, the vehicle CAN support the vehicle diagnosis by using the diagnostic instrument of any one of the CAN communication protocol and the CANFD communication protocol, and the expansibility is good. Therefore, the vehicle diagnosis method is good in expansibility, the software complexity of the gateway can be reduced, and the development cost of the gateway can be further reduced.

In an embodiment of the present application, the diagnostic apparatus and the target node may satisfy any one of:

That is, the embodiment of the present application may be applied to any one of the following diagnostic scenarios:

diagnosis scenario a: the diagnostic apparatus supports a CANFD communication protocol, and the target node is a CANFD node, that is, the CANFD diagnostic apparatus accesses the CANFD node.

Diagnosis scenario B: the diagnostic apparatus supports a CAN FD communication protocol, and the target node is a CAN node, namely the CAN FD diagnostic apparatus accesses the CAN node.

Diagnosis scenario C: the diagnostic apparatus supports a CAN communication protocol, and the target node is a CAN node, namely the CAN diagnostic apparatus accesses the CAN node.

Diagnosis scenario D: the diagnostic apparatus supports a CAN communication protocol, and the target node is a CAN FD node, namely the CAN diagnostic apparatus accesses the CAN FD node.

For the diagnosis scenes A and B, the CANFD diagnostic apparatus can send a CANFD diagnosis request message and limit the CANFD diagnosis request message to be 8. In some embodiments, the forwarding the diagnosis request packet to the target node includes:

In specific implementation, when the target node is a CANFD node, the gateway may directly perform CANFD-CANFD data link layer routing, and directly send a CANFD diagnosis request message to the CANFD node.

Under the condition that the target node is the CAN node, the gateway CAN firstly execute the conversion of CAN FD-CAN to obtain a CAN diagnosis request message, then execute the data link layer routing of the CAN-CAN and directly send the CAN diagnosis request message to the CAN node.

Therefore, the gateway can perform data link layer routing on the diagnosis request message, and the target node can receive the diagnosis request message with the same type, so that the reliability of vehicle diagnosis can be improved.

For the diagnosis scenario A and the fault scenario D, the target node is a CANFD node, the diagnosis response message sent by the target node is a CANFD diagnosis response message, and the DLC of the target node is limited to 8. Since the diagnosis response messages returned by the gateway to the diagnosis instrument are all CAN diagnosis response messages, the gateway CAN execute CANFD-CAN conversion after performing routing of a data link layer on the CANFD diagnosis response messages, obtain the CAN diagnosis response messages through the conversion, and then return the CAN diagnosis response messages to the diagnosis instrument.

For the diagnosis scene B and the fault scene C, the target node is a CAN node, and the diagnosis response message sent by the target node is a CAN diagnosis response message. Since the diagnosis response messages returned by the gateway to the diagnosis instrument are all CAN diagnosis response messages, the gateway CAN directly return the CAN diagnosis response messages to the diagnosis instrument after the gateway performs routing of a data link layer on the CAN diagnosis response messages.

Therefore, the diagnosis response message returned to the diagnosis instrument by the vehicle is the CAN diagnosis response message, the processing mechanism of the diagnosis response message sent by the gateway CAN be simplified, various types of diagnosis instruments CAN receive the diagnosis response message, and the reliability of vehicle diagnosis is ensured.

In the embodiment of the present application, in order to avoid frame loss when the gateway performs routing of the data link layer on the diagnostic packet, a First In First Out (FIFO) mechanism may be introduced, so that the gateway performs routing of the data link layer on the diagnostic packet based on the FIFO mechanism.

In some embodiments, the performing routing of the data link layer on the diagnostic response packet and forwarding the diagnostic request packet to the target node may include:

In this embodiment, the first FIFO mechanism may be understood as a transmission FIFO mechanism of the gateway at the OBD end, which is used for storing the diagnostic response message.

Since the number of node response packets is the largest under the condition of functional addressing, the information under the condition can be selected to calculate the minimum depth of the first FIFO mechanism. It is understood that, in other embodiments, information of other situations may also be used to calculate the minimum depth of the first FIFO mechanism, which is not limited by the embodiment of the present application.

Assuming that the function addressing condition, the length of the maximum diagnosis response message of one node is z. The number of CAN messages corresponding to the maximum diagnosis response message CAN be calculated through z. In an alternative implementation, considering that the maximum transport layer protocol of a Universal Diagnostic Services (UDS) packet CAN carry 7 bytes of valid data, Z may be divided by 7 to obtain a whole, and then 1 is added to obtain the number Z1 of the CAN packets corresponding to the maximum Diagnostic response packet.

The vehicle is assumed to have X CAN FD networks, the number of nodes of each CAN FD network is X1 and X2 \8230, the number of nodes of each CAN FD network is X X, and the number of nodes of each CAN network is Y1 and Y2 \8230, and the number of nodes of each CAN network is Yy. Xmax is the largest number of X1 and X2 \8230, and Ymax is the largest number of Y1 and Y2 \8230, and Yx.

Because each CANFD node can send a CANFD diagnostic response message in parallel, the first time required for the gateway to receive all CANFD diagnostic response messages can be calculated by formula (1):

Tx＝Xmax×Tcanfd (1)

wherein Tx is the first time required for the gateway to receive all CANFD diagnostic response messages, and Tcanfd is the minimum time required to transmit 8 bytes in the CANFD network.

Because each CAN node CAN send the CAN diagnosis response message in parallel, the second time required by the gateway to receive all the CAN diagnosis response messages CAN be calculated by the formula (2) to obtain:

Ty＝Ymax×Tcan (2)

wherein Ty is a second time required for the gateway to receive all the CAN diagnostic response messages, and Tcan is a minimum time required for transmitting 8 bytes in the CAN network.

In an optional implementation, before performing routing of a data link layer on the diagnostic response packet according to the first-in-first-out FIFO mechanism, the method further includes:

D1＝P×Z1－Tmax－Tcan

wherein D1 is the minimum depth of the first FIFO mechanism, P is the sum of the number of nodes of each network in the vehicle, P = X1+ X2+ \8230, + X + Y1+ Y2+ \8230, + Yy, Z1 is the number of CAN packets corresponding to the maximum diagnostic response message, tmax is the maximum value of the first time and the second time, and Tcan is the minimum time required for the CAN network to send 8 bytes.

In this implementation, the larger of Tx and Ty may be selected to calculate the minimum depth of the first FIFO mechanism. In other implementations, the smaller of Tx and Ty may be selected to calculate the minimum depth of the first FIFO mechanism, which may be determined according to practical requirements and is not limited by the embodiment of the present application.

It is understood that D1 is the minimum depth of the first FIFO mechanism, and in practical applications, the depth of the first FIFO mechanism may be greater than or equal to D1. The depth of the FIFO mechanism may be in units of sets, further, at least 13 bytes of buffer are required per stage.

In a specific implementation, when the gateway performs routing of the data link layer according to the FIFO mechanism, in the last transmission interrupt, the data stored in the FIFO queue to be transmitted recently is transmitted until the data in the FIFO queue is empty.

The minimum depth of the first FIFO mechanism calculated by the method can prevent the gateway from losing frames when the gateway executes the routing of the data link layer to the diagnosis response message, thereby improving the reliability of vehicle diagnosis.

the diagnostic apparatus supports CAN communication protocol, the target node is a CANFD node,

In this embodiment, the second FIFO mechanism may be understood as a transmission FIFO mechanism of the gateway at the network end, and is used for storing the diagnosis request packet.

In particular, in the case where the target node is a CANFD node, the second FIFO mechanism may be understood as a transmit FIFO mechanism of the gateway in a CANFD network. In the case that the target node is a CAN node, the second FIFO mechanism may be understood as a transmission FIFO mechanism of the gateway in the CAN network.

In this embodiment, when the system load is relatively high, and a previous packet is not yet forwarded, a packet to be forwarded by a next packet is already received, so that a second FIFO mechanism with a certain depth may be set to avoid frame loss under such a situation, thereby causing a failure in diagnostic communication.

Specifically, the minimum depth of the second FIFO mechanism is defined to be 8 for the aforementioned diagnostic scenarios a, C, and D, and 333 for the aforementioned diagnostic scenario B. Further, at least 13 bytes of cache are required per level. Therefore, the gateway can not lose frames when executing the routing of the data link layer to the diagnosis request message, thereby improving the reliability of vehicle diagnosis.

For diagnostic scenarios a, C and D, the minimum depth of the second FIFO mechanism is an empirical value.

For diagnostic scenario B, the principle of the determination of the minimum depth of the second FIFO mechanism is as follows:

assume that the CAN communication rate is 500Kbps and the CANFD communication baud rate is 2Mbps. Because the length of a transmitted request message is 4095 bytes longest in the transmission layer of the CAN, 4095 is divided by 7 to be rounded, and 1 is added, so that the requirement that the transmission of a request message CAN be completed only by 586 messages CAN be calculated. Transferring 586 messages by the CANFD, wherein the required time is 75ms; while 75ms CAN (500 bps) can only transmit about 253 messages, and 586-253=333 messages are left unsent. It is therefore necessary to set a FIFO depth of at least 333.

In some embodiments of the present application, before receiving the diagnosis request message sent by the diagnostic apparatus, the method may further include:

The OBD diagnosis interface is configured to be compatible with a CAN communication protocol and a CANFD communication protocol, so that the vehicle CAN support the CAN diagnostic apparatus and the CANFD diagnostic apparatus to diagnose the vehicle, and the expansibility of vehicle diagnosis CAN be improved.

In some embodiments of the present application, before receiving a diagnosis request message sent by a diagnostic apparatus, the method further includes:

the performing routing of a data link layer on the diagnosis request packet and forwarding the diagnosis request packet to a target node includes:

performing routing of a data link layer on the diagnosis request packet according to the diagnosis routing table, forwarding the diagnosis request packet to a target node,

the routing of a data link layer to the diagnosis response message and the sending of the diagnosis response message to the diagnosis instrument as a CAN diagnosis response message include:

In specific implementation, it may be determined which networks of the gateway operate in the conventional CAN mode, which networks operate in the CANFD mode, which nodes operate in the CAN mode, and which nodes operate in the CANFD mode, so that a diagnostic routing table may be generated. Specifically, a routing table between CAN fd-CAN fd, a routing table between CAN-CAN, and a routing table between CAN-CAN fd may be generated.

Four routing relationships exist between the diagnostic instrument and the CANFD node: CAN fd (diagnostic instrument) → CAN fd (node), CAN fd (node) → CAN (diagnostic instrument), CAN fd (node) → CAN fd (diagnostic instrument).

There are four routing relationships between the diagnostic instrument and the CAN node: CAN fd → CAN (diagnostic instrument) → CAN (node), CAN (node) → CAN (diagnostic instrument), CAN (node) → CAN fd (diagnostic instrument).

A diagnostic routing table may be generated using the above routing relationship, and thereafter, routing at the data link layer may be performed based on the diagnostic routing table, so that routing efficiency may be improved.

It should be noted that, in the embodiments of the present application, various optional implementations that are described in the embodiments may be implemented in combination with each other or separately without conflicting with each other, and the embodiments of the present application are not limited to this.

For ease of understanding, the following is illustrated with reference to one particular implementation scenario:

1. four diagnostic scenarios are distinguished:

A. the diagnostic device supports a CANFD communication protocol and accesses nodes of the CANFD.

B. The diagnostic device supports a CAN FD communication protocol and accesses nodes of the CAN.

C. The diagnostic apparatus supports CAN communication protocol and accesses CAN nodes.

D. The diagnostic device supports a CAN communication protocol and accesses a CAN FD node.

2. Limiting the overall vehicle network design (which is recommended if this design is not used, but some network adaptation functionality needs to be added to the gateway.

1. The communication rate of all CAN networks is the same (e.g., 500 Kbps).

2. The CANFD protocol distinguishes between a data-domain communication rate (e.g., 2 Mbps) and a non-data-domain communication rate (500 Kbps), which is the same as that of a conventional CAN, all of the CANFD networks.

3. And the OBD diagnosis CAN interface is limited, and a CAN FD communication protocol is supported.

4. Description of the Key technology

1. The CANFD communication interface is an interface of a CANFD network connection network. The CAN FD communication interface CAN be compatible with the traditional CAN communication interface, thus, the CAN FD communication interface CAN receive and send the traditional CAN message, and when the target node is a CAN FD node, the diagnostic instrument CAN send a CAN diagnosis request message.

2. Consider four diagnostic scenarios:

A. the diagnostic instrument supports a CANFD communication protocol, accesses nodes of the CANFD and limits the nodes to only send a diagnostic response message with DLC of 8. And the gateway executes the packet routing of the data link layer, converts the CANFD packet into a traditional CAN packet and sends the traditional CAN packet to an OBD diagnosis interface.

A transmission FIFO mechanism of the gateway at the OBD end, wherein the FIFO depth is calculated as follows: the method is provided with X CAN FD networks, wherein the number of nodes of each network is X1 and X2 \8230, the number of nodes of each network is X, Y CAN networks, and the number of nodes of each network is Y1 and Y2 \8230, yy. Under the condition of functional addressing, the length of the maximum response message of one node is z. And dividing Z by 7, and adding 1 to calculate the number of the CAN messages required for transmitting the data to be Z1.Xmax is X1, X2 \8230, the maximum number of Xx, ymax is Y1, Y2 \8230, the maximum number of Yx, the time for gateway to receive all CAN fd diagnostic data is Tx = Xmax _tcanfd, the time for gateway to receive all CAN diagnostic data is Ty = Ymax Tcan, where Tcanfd is the minimum time required to send 8 bytes in the CAN fd network, tcan is the minimum time required to send 8 bytes in the CAN network, tmax is the maximum number of Ty and Tx, the minimum depth of FIFO is (X1 + X2+ \ X + Y1+ Y2+ \8230; + Yy) Z1-Trmax/Tcan. At least 13 bytes of cache are required per level. In the last transmission interrupt, the data stored in the FIFO to be transmitted most recently is transmitted until the data of the FIFO is empty.

The FIFO depth of the gateway in the CANFD network is not less than 8 levels.

At least 13 bytes of cache are required per level.

B. The diagnostic apparatus supports a CAN FD communication protocol, and accesses nodes of the CAN: the diagnostic device may send a CANFD diagnostic request message with DLC of 8 (actually, the diagnostic device may send a CANFD message with DLC larger than 8, but the gateway needs to perform TP layer conversion, and the routing efficiency is low, so the present patent imposes a limitation to improve efficiency).

The gateway is in a transmission FIFO mechanism of the CAN network, and the depth of the FIFO is at least 333 stages. At least 13 bytes of cache are required per level. In the last transmission interrupt, the data stored in the FIFO to be transmitted recently is transmitted until the data of the FIFO is empty.

And the transmission FIFO of the gateway at the OBD end multiplexes the FIFO of the scene A.

C. The diagnostic apparatus supports CAN communication protocol, visits CAN node: the diagnostic instrument sends a traditional CAN diagnosis request message, the gateway executes message routing of a data link layer, the request message of the diagnostic instrument is directly forwarded to a CAN network, and a CAN diagnosis response message of a node in the CAN network is directly forwarded to an OBD diagnosis interface.

And the transmission FIFO of the gateway at the OBD end multiplexes the FIFO of the scene A. The gateway is not less than 8 stages in the depth of the transmission FIFO of the CAN network. At least 13 bytes of cache are required per level.

D. The diagnostic instrument supports a CAN communication protocol, accesses a CAN FD node and limits the node to only send a diagnosis response message with DLC of 8. The diagnosis instrument sends a traditional CAN diagnosis request message, the gateway executes routing of a data link layer, converts the received message into a CANFD message and sends the CANFD message to a target network, and the gateway executes routing of the data link layer message and converts the CANFD message into a traditional CAN message and sends the CAN message to an OBD diagnosis interface.

The transmission FIFO of the gateway at the OBD end multiplexes the FIFO of the scene A, and the FIFO depth of the gateway in the CANFD network is not less than 8 levels. At least 13 bytes of cache are required per level.

As shown in fig. 3:

step 301, presetting a routing table between CANFD and CANFD, a routing table between CAN and a routing table between CAN and CANFD according to the design of the whole vehicle network.

During specific implementation, it is determined which networks of the gateway work in the conventional CAN mode, which networks work in the CANFD mode, which nodes (corresponding diagnosis request message, response message) work in the CAN mode, and which nodes work in the CANFD mode, so as to determine the diagnosis routing table of the gateway:

a routing table between the diagnostic interface and the CANFD network. There are four routing relationships between the diagnostic instrument and the CANFD node: CAN fd (diagnostic instrument) → CAN fd (node), CAN fd (node) → CAN (diagnostic instrument), CAN fd (node) → CAN fd (diagnostic instrument).

A routing table between the diagnostic interface and the CAN network. There are four routing relationships between the diagnostic instrument and the CAN node: CAN fd → CAN (diagnostic instrument) → CAN (node), CAN (node) → CAN (diagnostic instrument), CAN (node) → CAN fd (diagnostic instrument).

And 302, configuring a gateway OBD diagnosis CAN interface according to the design of the whole vehicle network.

During specific implementation, the working mode of the OBD diagnosis CAN interface of the gateway is configured to be compatible with CAN and CANFD according to the Baud rate of the CAN and the Baud rate of the CANFD designed by the whole vehicle network, and the Baud rate of the OBD diagnosis CAN interface is the same as that of the CAN and the CANFD of the whole vehicle.

Step 303, the diagnostic device sends all the request messages as CANFD messages, if the target node is a CAN node, the DLC is limited to 8, and the received response message is a CAN message.

The diagnostic device in step 303 is a complete vehicle diagnostic device, supports the CANFD communication protocol, and sends a CANFD message when sending a diagnostic request, regardless of whether the target is a CAN node or a CANFD node. When the target node is a CAN node, the DLC limit of the request message is 8.

And step 304, the DLC limit of the diagnosis response message is 8 if the target node is a CANFD node.

Step 305, the gateway performs data link layer routing on the diagnostic packet in conjunction with the FIFO mechanism.

In specific implementation, the diagnostic packet (request and response) received by the gateway performs routing of the data link layer according to the routing table in S001 in cooperation with the FIFO mechanism.

The scene embodiment has the following beneficial effects:

the system has good expansibility and is suitable for a new vehicle communication technology CANFD.

And the system is compatible with the traditional whole vehicle communication technology CAN.

The efficiency of whole car software update is improved. Under a refreshing scene, the CANFD baud rate of the CAN of the OBD is fully utilized to transmit updating data, parallel writing is supported, and the CAN node updating efficiency is improved under the condition that the CANFD node updating efficiency is not reduced, so that the whole vehicle software refreshing efficiency is improved.

The research and development cost is saved. Software of other nodes in the vehicle does not need to be changed, and only the CANFD node needs to configure that the DLC of the response message sent by the CANFD node is limited to 8, so that the software complexity of the gateway and the diagnostic instrument is reduced, the research and development period is shortened, and the research and development cost is reduced.

Based on the vehicle diagnosis method provided by the embodiment, correspondingly, the application also provides a specific implementation mode of the vehicle diagnosis device. Please see the examples below.

Referring to fig. 4, a vehicle diagnostic apparatus provided in an embodiment of the present application may include:

a first receiving module 401, configured to receive a diagnosis request message sent by a diagnostic apparatus, where the diagnosis request message is a variable rate controller area network CANFD diagnosis request message or a controller area network CAN diagnosis request message,

a first sending module 402, configured to perform data link layer routing on the diagnostic request packet, and forward the diagnostic request packet to a target node, where the target node is a CAN node or a CANFD node,

a second sending module 403, configured to perform routing of a data link layer on the diagnostic response packet sent by the target node, send the diagnostic response packet to the diagnostic apparatus as a CAN diagnostic response packet,

In some embodiments, the first sending module is specifically configured to:

In some embodiments, the second sending module is specifically configured to:

In some embodiments, the first sending module is specifically configured to:

In some embodiments, the apparatus further comprises:

D1＝P×Z1－Tmax－Tcan

In some embodiments, the second sending module is specifically configured to:

In some embodiments, the apparatus further comprises:

the first sending module is specifically configured to:

the second sending module is specifically configured to:

The vehicle diagnosis device provided by the embodiment of the application can realize each process in the method embodiment of fig. 2, and is not described herein again to avoid repetition.

Fig. 5 shows a hardware configuration diagram of vehicle diagnosis provided in an embodiment of the present application.

The vehicle diagnostic apparatus may include a processor 501 and a memory 502 storing computer program instructions.

Specifically, the processor 501 may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or may be configured to implement one or more Integrated circuits of the embodiments of the present Application.

Memory 502 may include mass storage for data or instructions. By way of example, and not limitation, memory 502 may include a Hard Disk Drive (HDD), a floppy Disk Drive, flash memory, an optical Disk, a magneto-optical Disk, magnetic tape, or a Universal Serial Bus (USB) Drive or a combination of two or more of these. Memory 502 may include removable or non-removable (or fixed) media, where appropriate. The memory 502 may be internal or external to the integrated gateway disaster recovery device, where appropriate. In a particular embodiment, the memory 502 is non-volatile solid-state memory.

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

The processor 501 reads and executes computer program instructions stored in the memory 502 to implement any one of the vehicle diagnostic methods in the above embodiments.

In one example, the vehicle diagnostic device may also include a communication interface 505 and a bus 510. As shown in fig. 5, the processor 501, the memory 502, and the communication interface 505 are connected via a bus 510 to complete communication therebetween.

The communication interface 505 is mainly used for implementing communication between modules, apparatuses, units and/or devices in the embodiments of the present application.

The bus 510 includes hardware, software, or both to couple the components of the vehicle diagnostic device to each other. By way of example, and not limitation, a bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hypertransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an infiniband interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a video electronics standards association local (VLB) bus, or other suitable bus or a combination of two or more of these. Bus 510 may include one or more buses, where appropriate. Although specific buses are described and shown in the embodiments of the application, any suitable buses or interconnects are contemplated by the application.

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

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

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

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

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

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

Claims

1. A vehicle diagnostic method applied to a vehicle, characterized by comprising:

wherein, under the condition that the target node is a CAN node, the DLC of the data length code of the diagnosis request message is 8, and under the condition that the target node is a CAN FD node, the DLC of the diagnosis response message is 8.

2. The method of claim 1, wherein the diagnostic meter and the target node satisfy any one of:

3. The method according to claim 1, wherein the diagnosis request message is a CANFD diagnosis request message when the diagnosis apparatus supports a CANFD communication protocol.

4. The method of claim 3, wherein forwarding the diagnostic request packet to a target node comprises:

5. The method of claim 1, wherein said sending said diagnostic response message to said diagnostic instrument as a CAN diagnostic response message comprises:

6. The method of claim 1, wherein the performing data link layer routing on the diagnostic response packet and forwarding the diagnostic request packet to a target node comprises:

7. The method of claim 6, wherein before performing data link layer routing on the diagnostic response packet according to the first-in-first-out FIFO mechanism, the method further comprises:

D1＝P×Z1－Tmax－Tcan

8. The method of claim 1, wherein said routing said diagnostic request message at a data link layer and sending said diagnostic response message to said diagnostic instrument as a CAN diagnostic response message comprises:

9. The method according to claim 1, wherein before receiving the diagnosis request message sent by the diagnosis instrument, the method further comprises:

10. The method according to claim 1, wherein before receiving the diagnosis request message sent by the diagnosis instrument, the method further comprises:

11. The vehicle diagnostic method according to claim 1, wherein before receiving the diagnostic request message sent by the diagnostic instrument, the method further comprises:

the diagnostic instrument sends the diagnostic request message to the vehicle,

after the diagnostic response message is sent to the diagnostic apparatus as a CAN diagnostic response message, the method further includes:

12. A vehicle diagnostic apparatus, characterized in that the apparatus comprises:

a first receiving module, configured to receive a diagnosis request message sent by a diagnostic apparatus, where the diagnosis request message is a variable rate Controller Area Network (CAN) diagnosis request message or a Controller Area Network (CAN) diagnosis request message,

13. A vehicle diagnostic apparatus characterized in that the apparatus comprises: a processor and a memory storing computer program instructions which, when executed by the processor, implement the vehicle diagnostic method of any one of claims 1 to 11.

14. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon computer program instructions which, when executed by a processor, implement a vehicle diagnostic method according to any one of claims 1 to 11.

15. A computer program product, wherein instructions in the computer program product, when executed by a processor of an electronic device, cause the electronic device to perform the vehicle diagnostic method of any one of claims 1 to 11.