CN116594370A

CN116594370A - Bus disconnection fault processing method and device, electronic equipment and storage medium

Info

Publication number: CN116594370A
Application number: CN202310437740.0A
Authority: CN
Inventors: 连凤霞; 张鸿展; 沈悦; 孙明峰
Original assignee: Weichai Power Co Ltd; Weichai New Energy Technology Co Ltd
Current assignee: Weichai Power Co Ltd; Weichai New Energy Technology Co Ltd
Priority date: 2023-04-18
Filing date: 2023-04-18
Publication date: 2023-08-15

Abstract

The invention discloses a bus disconnection fault processing method, a bus disconnection fault processing device, electronic equipment and a storage medium. Wherein the method comprises the following steps: when the electronic control unit detects that the power bus of the vehicle is disconnected, the electronic control unit is processed based on a first predetermined fault processing flow, and each vehicle controller connected to the power bus is processed based on a second predetermined fault processing flow; and under the condition that the disconnection time length of the power bus is not greater than a preset disconnection time length threshold value, determining a fault processing strategy corresponding to the vehicle according to whether the vehicle has an emergency braking working condition or not so as to perform disconnection fault processing on the vehicle based on the fault processing strategy. According to the technical scheme, the effect of prolonging the normal running time of the whole vehicle under the bus disconnection condition is achieved, the effect of reducing the stopping of the whole vehicle caused by short-time and recoverable bus disconnection is achieved, and further the safety of the whole vehicle under the bus disconnection condition is guaranteed.

Description

Bus disconnection fault processing method and device, electronic equipment and storage medium

Technical Field

The present invention relates to the field of vehicle control technologies, and in particular, to a bus disconnection fault processing method, device, electronic apparatus, and storage medium.

Background

When a large amount of data is in a problem or lost, the automobile bus may be crashed, especially the whole automobile power CAN bus, and a large amount of error frames CAN be accumulated in a very short time due to higher transmission speed. When the power CAN bus has a disconnection fault, the fault CAN be eliminated by restarting the bus.

However, due to the fact that the bus is disconnected, the signal received by the electronic control unit may be misled to stop, or other controllers judge that the electronic control unit starts the protection measures of the electronic control unit after disconnection to stop, the problem that the vehicle is stopped no matter the duration of the bus disconnection working condition exists, and driving safety is affected is solved.

Disclosure of Invention

The invention provides a bus disconnection fault processing method, a device, electronic equipment and a storage medium, which are used for realizing the effect of prolonging the normal running time of a whole vehicle under the bus disconnection condition, achieving the effect of reducing the stopping of the whole vehicle caused by short-time and recoverable disconnection of the bus, and further ensuring the safety of the whole vehicle under the bus disconnection condition.

According to an aspect of the present invention, there is provided a bus disconnection fault processing method, including:

When the electronic control unit detects that the power bus of the vehicle is disconnected, the electronic control unit is processed based on a first predetermined fault processing flow, and each vehicle controller connected to the power bus is processed based on a second predetermined fault processing flow; wherein the power bus belongs to a controller area network bus;

and under the condition that the disconnection time length of the power bus is not greater than a preset disconnection time length threshold value, determining a fault processing strategy corresponding to the vehicle according to whether the vehicle has an emergency braking working condition or not so as to perform disconnection fault processing on the vehicle based on the fault processing strategy.

According to another aspect of the present invention, there is provided a bus disconnection fault processing apparatus, including:

the system comprises a power bus, a disconnection detection module, a first fault processing flow and a second fault processing flow, wherein the power bus is used for connecting with a power bus of a vehicle; wherein the power bus belongs to a controller area network bus;

And the disconnection fault processing module is used for determining a fault processing strategy corresponding to the vehicle according to whether the vehicle has an emergency braking working condition or not under the condition that the disconnection time length of the power bus is not greater than a preset disconnection time length threshold value so as to perform disconnection fault processing on the vehicle based on the fault processing strategy.

According to another aspect of the present invention, there is provided an electronic apparatus including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the bus disconnection fault handling method according to any of the embodiments of the present invention.

According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to implement the bus disconnection fault handling method according to any of the embodiments of the present invention when executed.

According to the technical scheme, when the electronic control unit detects that the power bus of the vehicle is disconnected, the electronic control unit is processed based on the first fault processing flow which is determined in advance, and each vehicle controller connected to the power bus is processed based on the second fault processing flow which is determined in advance, further, if the disconnection time of the power bus is not longer than the threshold value of the preset disconnection time, a fault processing strategy corresponding to the vehicle is determined according to whether the vehicle has an emergency braking working condition or not, so that the disconnection fault processing is carried out on the vehicle based on the fault processing strategy, the problem that in the prior art, no matter how long the duration time of the bus is, the vehicle is stopped is solved, further, the driving safety is influenced is solved, the effect of prolonging the normal running time of the whole vehicle under the bus disconnection working condition is achieved, the effect of reducing the whole vehicle stopping caused by short and recoverable disconnection of the bus is achieved, and further, the whole vehicle safety under the bus disconnection working condition is guaranteed.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of a bus drop fault handling method according to a first embodiment of the present invention;

fig. 2 is a schematic structural diagram of a bus drop fault handling device according to a second embodiment of the present invention;

fig. 3 is a schematic structural diagram of an electronic device implementing a bus disconnection fault processing method according to an embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise 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.

Example 1

Fig. 1 is a flowchart of a bus disconnection fault processing method provided in an embodiment of the present invention, where the embodiment is applicable to a situation that a disconnection fault is processed on a vehicle when a power bus of the vehicle is in a disconnection state and a disconnection time period does not reach a preset disconnection time period threshold, the method may be executed by a bus disconnection fault processing device, the bus disconnection fault processing device may be implemented in a hardware and/or software form, and the bus disconnection fault processing device may be configured in a terminal and/or a server. As shown in fig. 1, the method includes:

And S110, when the electronic control unit detects that the power bus of the vehicle is disconnected, the electronic control unit is processed based on a first predetermined fault processing flow, and each vehicle controller connected to the power bus is processed based on a second predetermined fault processing flow.

The electronic control unit may be a vehicle control unit (Vehicle Control Unit, VCU), which is the core electronic control unit that implements overall vehicle control decisions. In practical application, the electronic control unit judges the driving intention of a driver by collecting signals of an accelerator pedal, a gear, a brake pedal and the like; the electronic control unit judges and processes the information of the vehicle state (speed, temperature and the like) and then sends a running state control instruction of the vehicle to the power system and the power battery system, and meanwhile controls the working mode of the vehicle-mounted accessory power system. The power bus belongs to a controller area network bus. It will be appreciated by those skilled in the art that the controller area network (Controller Area Network, CAN) bus may be understood as the central nervous system of a vehicle, a communication protocol in an automobile; the CAN bus is divided into a CAN high line and a CAN low line, and is a lead consisting of two copper lines, and the function of the CAN bus is to connect a plurality of control units such as an automobile instrument, a gearbox, an auxiliary brake system, a VCU, a control module, various sensors and the like together so as to realize real-time synchronization of information; compared with other field buses, the CAN bus has the characteristics of high communication rate, easiness in implementation, high cost performance and the like. The CAN bus is mainly divided into five types of power CAN bus, comfortable CAN bus, information entertainment system CAN bus, electronic combination instrument CAN bus and diagnosis CAN bus in the automobile field. In this embodiment, the power bus may be a power CAN bus, which is a bus responsible for vehicle power, and is a CAN bus with the highest signal priority and signal transmission rate of the whole car CAN network.

In this embodiment, the first fault handling procedure may be a predefined handling procedure for handling the electronic control unit when the vehicle has a power bus disconnection fault. The second fault handling procedure may be a predefined handling procedure for handling each vehicle controller connected to the power bus when a power bus disconnection fault occurs in the vehicle. The vehicle controller may be a device that controls the overall performance of the vehicle, and may enable overall control and optimization of the vehicle. Alternatively, the vehicle controller may include an engine controller, a motor controller, a battery management system, and the like.

In general, the electronic control unit and the vehicle controllers connected to the vehicle power bus may implement communication by sending and receiving message signals, specifically, the electronic control unit may determine the current state of the vehicle controllers by receiving the message signals sent by each vehicle controller, further, may determine the corresponding controller control instruction by performing a judgment process on the message signals, and send the controller control instruction to the corresponding vehicle controllers through the message signals, so that the vehicle controllers may execute the corresponding control instruction when receiving the message signals. In practical application, a response period of the message signal may be preset, when the electronic control unit does not receive the reply message signal within the preset response period after sending the message signal to any vehicle controller connected to the power bus, it may be determined that the power bus of the vehicle is in a disconnection state, further, the electronic control unit may be processed according to a first fault processing procedure pre-deployed on the electronic control unit, and the vehicle controller connected to the power bus may be processed according to a second fault processing procedure pre-deployed on the vehicle controller.

Optionally, the processing of the electronic control unit based on the predetermined first fault processing procedure includes: the heartbeat signal detection process of the vehicle controller connected to the power bus in the electronic control unit is shielded, each received message received before the power bus is disconnected in the electronic control unit is screened based on a preset screening rule, and a first target received message is determined and stored.

It will be appreciated by those skilled in the art that the electronic control unit is not always in data communication with the connected vehicle controller, and that a heartbeat signal may be used to confirm whether the data link is still clear when both are not in communication. The heartbeat signal refers to one of the two interconnected parties, and sends a small data packet to the other party at fixed time intervals, and the other party determines whether to reply to the small data packet after receiving the data packet according to the requirement. The preset screening rule may be a preset received message screening rule. The received message may be a piece of data information composed of characters or character strings, and the data information may be used to represent the overall state of the vehicle. Correspondingly, the first target receiving message may be a receiving message meeting the user requirement in the electronic control unit.

In practical application, when the electronic control unit detects that the power bus of the vehicle is disconnected, it can be determined that the communication link between the electronic control unit and the vehicle controller connected to the power bus is in a disconnected state, at this time, in order to avoid error reporting information generated due to disconnection of communication, a process of detecting the communication link based on a heartbeat signal can be temporarily shielded, and the electronic control unit does not detect the heartbeat signal of the vehicle controller, so that error reporting information generated due to no detection of the heartbeat signal can be avoided, that is, at this time, the abnormal heartbeat signal is not used as a basis for judging whether the power bus is disconnected.

In practical application, when the heartbeat signal detection process is shielded, the received messages received before the power bus is disconnected in the electronic control unit can be screened according to a preset screening rule, so that a first target received message meeting the requirement is determined from the received messages.

Optionally, screening each received message received before the power bus is disconnected in the electronic control unit based on a preset screening rule, determining and storing a first target received message, including: acquiring the receiving time of each received message received before the power bus is disconnected in the electronic control unit; and taking the received message with the latest receiving time as a first target received message and storing the first target received message.

In practical application, when screening the received messages in the electronic control unit, the screening may be performed according to the receiving time of the received messages, specifically, the receiving time of each received message received before the power bus is disconnected in the electronic control unit may be determined, further, the receiving time closest to the bus disconnection time may be screened out in the receiving times, and the received message corresponding to the receiving time may be used as the first target received message and stored.

It should be noted that, the received message corresponding to the receiving time closest to the bus disconnection time is taken as the first target received message, so as to record the running state information corresponding to the last time of the bus disconnection time, where the running state information corresponding to the time most reflects the running state information corresponding to the bus disconnection time, so that the first target received message Wen Bao corresponding to the time can be stored, so that the running process of the vehicle can be controlled according to the first target received message.

In this embodiment, each vehicle controller connected to the power bus may be processed according to the second failure processing flow while the electronic control unit is processed.

Optionally, processing each vehicle controller connected on the powertrain based on a predetermined second fault handling procedure includes: and updating the detection period of the heartbeat signal of the electronic control unit by the vehicle controller to a preset detection period aiming at each vehicle controller connected to the power bus, screening each received message received before the power bus is disconnected in the vehicle controller based on a second preset screening rule, and determining and storing a second target received message.

In this embodiment, the detection period may be a time interval during which the vehicle controller detects whether the electronic control unit transmits the heartbeat signal. The detection period may be any value, alternatively, may be 100 ms, 200 ms, 300 ms, etc. The preset detection period is greater than the detection period, and can be any value, and optionally, 500 milliseconds.

In practical application, for each vehicle controller connected to the power bus, the detection period of the heartbeat signal of the vehicle controller to the electronic control unit can be prolonged, the detection period is updated to a preset detection period, and each received message received before the power bus is disconnected in the vehicle controller is screened according to a second preset screening rule, so that a second target received message is obtained and stored.

It should be noted that, the manner of screening the received message received by the vehicle controller according to the second preset screening rule is the same as the manner of screening the received message received by the electronic controller according to the first preset rule, and this embodiment is not described in detail herein.

The vehicle controller updates the detection period of the heartbeat signal of the electronic control unit to a preset detection period, so as to avoid error reporting caused by the fact that no heartbeat signal is detected.

And S120, determining a fault handling strategy corresponding to the vehicle according to whether the vehicle has an emergency braking working condition or not under the condition that the disconnection time of the power bus is not more than a preset disconnection time threshold value, so as to handle the disconnection fault of the vehicle based on the fault handling strategy.

In this embodiment, the time length of disconnection may be from the time corresponding to the time when the power bus is detected to be lost to the time corresponding to the time when the power bus is detected to resume communication, and the time length between the two times. The preset time threshold for disconnection can be a preset time threshold for judging whether the vehicle enters the parking process under the condition of disconnection of the power bus. It should be noted that, the preset threshold value of the disconnection time period may be formulated according to various factors such as the vehicle model, the highest design vehicle speed, and the vehicle braking capability. The emergency braking can be that a driver rapidly and correctly applies a brake to stop the vehicle within the shortest distance when the vehicle encounters an emergency during driving. In practical applications, for a vehicle, whether an emergency braking condition exists in the vehicle can be judged according to the stroke change rate of a brake pedal. The brake pedal stroke is the distance of the pedal from the normal rest position to the bottom position, and accordingly, the stroke rate may be the frequency of at least two brake pedal stroke changes. Specifically, when it is detected that the stroke rate of the brake pedal is greater than the preset stroke rate, it may be determined that the vehicle is currently in an emergency braking condition. It should be noted that the preset stroke change rate may be associated with a vehicle speed, and the higher the vehicle speed is, the smaller the preset stroke change rate is.

The fault handling policy may be a preset coping policy corresponding to a vehicle in a power bus disconnection fault. Alternatively, the fault handling strategy may include emergency stops or normal operation, etc.

In practical application, when the power bus of the vehicle is detected to be in a disconnection state, the disconnection time can be counted, and when the disconnection time does not reach a preset disconnection time threshold, a fault processing strategy corresponding to the vehicle can be determined according to whether the vehicle has an emergency braking working condition or not.

Optionally, determining, according to whether the vehicle has an emergency braking condition, a fault handling policy corresponding to the vehicle includes: if the emergency braking working condition exists in the vehicle, determining a fault handling strategy as emergency stopping; and if the emergency braking working condition does not exist in the vehicle, determining the fault handling strategy as normal operation.

In this embodiment, the emergency stop may be an abnormal stop, that is, a stop not performed according to a normal stop flow set in advance.

In practical application, if the emergency braking condition of the vehicle is detected when the disconnection time does not reach the preset disconnection time threshold, the fault handling strategy can be determined to be emergency stop, and further, disconnection fault handling can be performed on the vehicle according to the fault handling strategy.

Optionally, performing the disconnection fault processing on the vehicle based on the fault processing strategy includes: the method comprises the steps that a power-off instruction is sent to a battery management system of a vehicle based on an electronic control unit, so that when the battery management system receives the power-off instruction, a main positive relay is closed; and sending a motor stopping instruction to a motor controller of the vehicle based on the electronic control unit so as to control the motor to stop rotating when the motor controller receives the motor stopping instruction.

Among them, the battery management system (Battery Management System, BMS) is a system that monitors and manages the state of the power battery in the vehicle. The battery management system is mainly used for intelligently managing and maintaining each battery unit, preventing the battery from being overcharged and overdischarged, prolonging the service life of the battery and monitoring the state of the battery. The power down instructions may be a pre-written piece of program code that may be used to control the battery management system to power down. It should be understood by those skilled in the art that the main positive relay is a commonly used electric control switch, and the working principle of the main positive relay is to control the on and off of the switch by utilizing the electromagnetic attraction force, specifically, the working process of the main positive relay can be divided into two stages of on and off, and in the on stage, when the coil is electrified, the generated magnetic field can make the iron core of the electromagnet attract the action piece, so as to compress the spring, make the on contact closed, and make the circuit on and off; in the disconnection stage, when the coil is electrified, the iron core of the electromagnet can lose attractive force, the counter force of the spring can push the action piece back to the original position, the contact is opened, and the circuit is disconnected.

The motor controller is a special core power electronic unit of the new energy automobile, and controls the motor to output appointed torque and rotation speed by receiving a vehicle running control instruction of the VCU so as to drive the vehicle to run. The motor controller converts the direct-current electric energy of the power battery into the required high-voltage alternating current and drives the motor body to output mechanical energy. The motor suspension instructions may be a pre-written program code that may be used to control the motor to suspend operation.

In practical application, if the disconnection time of the power bus does not reach the preset disconnection time threshold, the emergency braking condition of the vehicle is detected, a power-off instruction can be sent to the battery management system based on the electronic control unit, so that the main positive relay is disconnected when the battery management system receives the power-off instruction, and meanwhile, a motor stopping instruction can be sent to the motor controller based on the electronic control unit, so that the motor is controlled to stop rotating when the motor controller receives the motor stopping instruction, and torque output of the motor is stopped.

In practical application, if the disconnection time of the power bus does not reach the preset disconnection time threshold, and the vehicle is detected not to be in an emergency braking working condition, the fault handling strategy can be determined to be normal operation, and disconnection fault handling is performed on the vehicle based on the fault handling strategy.

Optionally, performing the disconnection fault processing on the vehicle based on the fault processing strategy includes: and determining the working mode of the vehicle before the power bus is disconnected based on the first target receiving message stored in the electronic control unit and the second target receiving message stored in each vehicle controller connected to the power bus, and controlling the vehicle to continue to run according to the working mode.

In practical application, when the vehicle is not in the emergency braking condition, the first target receiving message pre-stored in the electronic control unit and the second target receiving message pre-stored in each vehicle controller connected to the power bus can be obtained, so that the running state of the vehicle is judged based on the first target receiving message, the second target receiving message and the receiving messages in the controllers connected to other buses, the working mode of the vehicle before the power bus is disconnected is determined, and the vehicle is controlled to continue to run according to the working mode, that is, when the vehicle is not in the emergency braking condition, each part in the vehicle still runs according to the running state before the power bus is disconnected. Illustratively, the motor is still operated according to motor rotation requirements prior to a power bus disconnection without changing its various parameters.

In practical application, when the disconnection time of the vehicle power bus reaches the preset disconnection time threshold, the vehicle can be controlled to perform a normal parking process so as to perform parking treatment on the vehicle.

On the basis of the technical schemes, the method further comprises the following steps: and under the condition that the disconnection time length of the power bus is greater than a preset disconnection time length threshold value, parking the vehicle based on a preset parking process.

In this embodiment, the parking process may be a process that is preset and deployed in the vehicle controller, and corresponds to a normal parking process of the vehicle.

In practical application, when the disconnection time length of the vehicle power bus reaches the preset disconnection time length threshold value, the driving torque value of the all-in-one controller can be cleared, the main positive relay is controlled to be closed, and meanwhile, the vehicle is controlled to stop and power-down processes, so that the vehicle stopping treatment process can be completed. The multi-in-one controller is an important part in the electric automobile, can be used for driving a main motor on the electric automobile in the practical application process, generally receives signal instructions of the whole automobile controller to control the starting, running speed regulation and stopping of the main motor of the automobile, and is an integrated motor controller.

Example two

Fig. 2 is a schematic structural diagram of a bus drop fault handling device according to a second embodiment of the present invention. As shown in fig. 2, the apparatus includes: a drop detection module 210 and a drop fault handling module 220.

The disconnection detection module 210 is configured to, when the electronic control unit detects that the power bus of the vehicle is disconnected, process the electronic control unit based on a first predetermined fault processing procedure, and process each vehicle controller connected to the power bus based on a second predetermined fault processing procedure; wherein the power bus belongs to a controller area network bus;

the disconnection fault processing module 220 is configured to determine a fault processing policy corresponding to the vehicle according to whether the vehicle has an emergency braking condition when the disconnection time of the power bus is not greater than a preset disconnection time threshold, so as to perform disconnection fault processing on the vehicle based on the fault processing policy.

Optionally, the disconnection detection module includes: and an electronic control unit processing unit.

And the electronic control unit processing unit is used for shielding the heartbeat signal detection process of the vehicle controller connected to the power bus in the electronic control unit, screening each received message received before the power bus is disconnected in the electronic control unit based on a preset screening rule, and determining and storing a first target received message.

Optionally, the electronic control unit processing unit includes: a receiving time acquisition subunit and a first target receiving message determining subunit.

A receiving time obtaining subunit, configured to obtain a receiving time of each received packet received by the electronic control unit before the power bus is disconnected;

and the first target received message determining subunit is used for taking the received message with the latest receiving time as the first target received message and storing the first target received message.

Optionally, the disconnection detection module includes: and a vehicle controller processing unit.

And the vehicle controller processing unit is used for updating the detection period of the heartbeat signal of the electronic control unit by the vehicle controller to a preset detection period aiming at each vehicle controller connected to the power bus, screening each received message received before the power bus is disconnected in the vehicle controller based on a preset screening rule, and determining and storing a second target received message.

Optionally, the disconnection fault processing module includes: a first determining unit of fault handling policy and a second determining unit of fault handling policy.

The first determining unit of the fault handling strategy is used for determining the fault handling strategy as emergency stop if the emergency braking working condition exists in the vehicle;

and the second determining unit of the fault handling strategy is used for determining the fault handling strategy as normal operation if the emergency braking working condition does not exist in the vehicle.

Optionally, the fault handling policy is emergency stop, and the disconnection fault handling module includes: and the power-off processing unit and the motor suspension processing unit.

The power-off processing unit is used for sending a power-off instruction to a battery management system of the vehicle based on the electronic control unit so as to close the main positive relay when the battery management system receives the power-off instruction;

and the motor suspension processing unit is used for sending a motor suspension instruction to a motor controller of the vehicle based on the electronic control unit so as to control the motor to stop rotating when the motor controller receives the motor suspension instruction.

Optionally, the disconnection fault processing module includes: and a disconnection fault processing unit.

And the disconnection fault processing unit is used for determining the working mode of the vehicle before the disconnection of the power bus based on the first target receiving message stored in the electronic control unit and the second target receiving message stored in each vehicle controller connected to the power bus, and controlling the vehicle to continue to run according to the working mode.

Optionally, the apparatus further includes: and a parking processing module.

And the parking processing module is used for carrying out parking processing on the vehicle based on a preset parking flow under the condition that the disconnection time length of the power bus is greater than a preset disconnection time length threshold value.

The bus disconnection fault processing device provided by the embodiment of the invention can execute the bus disconnection fault processing method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

Example III

Fig. 3 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 3, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as the bus drop fault handling method.

In some embodiments, the bus drop fault handling method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the bus drop fault handling method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the bus drop fault handling method in any other suitable way (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims

1. A bus drop fault handling method, comprising:

2. The method of claim 1, wherein the processing the electronic control unit based on a predetermined first fault handling procedure comprises:

and shielding a heartbeat signal detection process of the vehicle controller connected to the power bus in the electronic control unit, screening each received message received before the power bus is disconnected in the electronic control unit based on a preset screening rule, and determining and storing a first target received message.

3. The method according to claim 2, wherein the screening each received message received in the electronic control unit before the power bus is disconnected based on a preset screening rule, determining and storing a first target received message, includes:

acquiring the receiving time of each received message received before the power bus is disconnected in the electronic control unit;

And taking the received message with the latest receiving time as the first target received message and storing the first target received message.

4. The method of claim 1, wherein the processing each vehicle controller connected on the powertrain based on a predetermined second fault handling procedure comprises:

and updating the detection period of the heartbeat signal of the electronic control unit by the vehicle controller to a preset detection period aiming at each vehicle controller connected to the power bus, screening each received message received before the power bus is disconnected in the vehicle controller based on a preset screening rule, and determining and storing a second target received message, wherein the preset detection period is larger than the detection period.

5. The method of claim 1, wherein the determining a fault handling strategy corresponding to the vehicle based on whether the vehicle is in an emergency braking condition comprises:

if the vehicle has an emergency braking working condition, determining the fault handling strategy as emergency stopping;

and if the emergency braking working condition does not exist in the vehicle, determining the fault handling strategy as normal operation.

6. The method of claim 5, wherein the fault handling policy is emergency stop, the performing a dropped fault handling on the vehicle based on the fault handling policy comprising:

transmitting a power-off instruction to a battery management system of the vehicle based on the electronic control unit so as to close a main positive relay when the battery management system receives the power-off instruction; the method comprises the steps of,

and sending a motor stopping instruction to a motor controller of the vehicle based on the electronic control unit so as to control the motor to stop rotating when the motor controller receives the motor stopping instruction.

7. The method of claim 5, wherein the fault handling policy is normal operation, the performing a dropped fault handling on the vehicle based on the fault handling policy comprising:

and determining the working mode of the vehicle before the power bus is disconnected based on the first target receiving message stored in the electronic control unit and the second target receiving message stored in each vehicle controller connected to the power bus, and controlling the vehicle to continue to run according to the working mode.

8. The method as recited in claim 1, further comprising:

and under the condition that the disconnection time length of the power bus is larger than a preset disconnection time length threshold value, parking the vehicle based on a preset parking process.

9. A bus drop fault handling device, comprising:

10. An electronic device, the electronic device comprising:

at least one processor; and

A memory communicatively coupled to the at least one processor; wherein,,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the bus drop fault handling method of any one of claims 1-8.