CN117081907A - Lost signal recovery method, device, electronic equipment and storage medium - Google Patents
Lost signal recovery method, device, electronic equipment and storage medium Download PDFInfo
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- 238000011084 recovery Methods 0.000 title claims abstract description 48
- 238000004891 communication Methods 0.000 claims abstract description 83
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- 238000004590 computer program Methods 0.000 claims description 17
- 230000008569 process Effects 0.000 claims description 14
- 238000012545 processing Methods 0.000 claims description 13
- 238000013519 translation Methods 0.000 claims description 13
- 230000001419 dependent effect Effects 0.000 claims description 6
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/06—Management of faults, events, alarms or notifications
- H04L41/0654—Management of faults, events, alarms or notifications using network fault recovery
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/08—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters
- H04L43/0823—Errors, e.g. transmission errors
- H04L43/0829—Packet loss
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
Abstract
The application provides a lost signal recovery method, a lost signal recovery device, electronic equipment and a storage medium. The method comprises the following steps: detecting whether a bus signal loss fault occurs in the communication in the target vehicle in real time; when a bus signal loss fault is detected, judging a target controller or a target component to which the lost target bus signal belongs, wherein a plurality of components and a plurality of controllers exist in a target vehicle, and each controller is related to the control of the corresponding component; acquiring historical communication information of a target controller or a target component, wherein the historical communication information comprises a plurality of bus signals generated by the communication of the target controller or the target component at the moment when a bus signal loss fault occurs, and time sequences exist among the plurality of bus signals; and performing signal recovery on the target bus signal by using the historical communication information. By adopting the technical means, the problems that lost signals cannot be processed in time in the prior art and potential safety hazards exist are solved.
Description
Technical Field
The present application relates to the field of automotive technologies, and in particular, to a lost signal recovery method, a lost signal recovery device, an electronic device, and a storage medium.
Background
The automobile is usually communicated internally by using a CAN communication mode, which is a relatively stable communication mode, but a small-probability packet loss condition still exists. If the lost signal is not processed in time in the case of packet loss, some unexpected danger may occur to the vehicle. Currently, the processing method for signal loss is usually to retransmit the lost signal or replace the lost signal with a backup signal. However, in some cases, the signal cannot be retransmitted, and if a backup signal is used, the complexity of the vehicle communication system is increased, so that these methods cannot completely solve the problem of vehicle signal loss.
Disclosure of Invention
In view of the above, the embodiments of the present application provide a lost signal recovery method, apparatus, electronic device, and storage medium, so as to solve the problem in the prior art that lost signals cannot be processed in time, and there is a potential safety hazard.
In a first aspect of an embodiment of the present application, a lost signal recovery method is provided, including: detecting whether a bus signal loss fault occurs in the communication in the target vehicle in real time; when a bus signal loss fault is detected, judging a target controller or a target component to which the lost target bus signal belongs, wherein a plurality of components and a plurality of controllers exist in a target vehicle, and each controller is related to the control of the corresponding component; acquiring historical communication information of a target controller or a target component, wherein the historical communication information comprises a plurality of bus signals generated by the communication of the target controller or the target component at the moment when a bus signal loss fault occurs, and time sequences exist among the plurality of bus signals; and performing signal recovery on the target bus signal by using the historical communication information.
In a second aspect of an embodiment of the present application, there is provided a lost signal recovery apparatus, including: the detection module is configured to detect whether a bus signal loss fault occurs in the internal communication of the target vehicle in real time; the judging module is configured to judge a target controller or a target component to which the lost target bus signal belongs when the bus signal loss fault is detected, wherein a plurality of components and a plurality of controllers exist in the target vehicle, and each controller is related to the control of the corresponding component; the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is configured to acquire historical communication information of a target controller or a target component, the historical communication information comprises a plurality of bus signals generated by communication of the target controller or the target component when a bus signal loss fault happens, and time sequences exist among the plurality of bus signals; and the recovery module is configured to perform signal recovery on the target bus signal by using the historical communication information.
In a third aspect of the embodiments of the present application, there is provided an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method as described above when executing the computer program.
In a fourth aspect of embodiments of the application, there is provided a computer readable storage medium storing a computer program which, when executed by a processor, performs the steps of the method of any one of the preceding claims.
Compared with the prior art, the embodiment of the application has the beneficial effects that: by acquiring the historical communication information of the target controller or the target component and utilizing the historical communication information to recover the target bus signal, the problem that the lost signal cannot be processed timely in the prior art and potential safety hazards exist can be solved by adopting the technical means, so that the efficiency of processing the lost signal is improved, and the safety of a user in using a vehicle is guaranteed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, 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 lost signal recovery method according to an embodiment of the present application;
fig. 2 is a schematic flow chart of lost frame recovery in a lost signal recovery method according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a lost signal recovery apparatus according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
Fig. 1 is a flow chart of a lost signal recovery method according to an embodiment of the present application. The lost signal recovery method of fig. 1 may be performed by a vehicle controller. The lost signal recovery method comprises the following steps:
s101, detecting whether a bus signal loss fault occurs in the communication in the target vehicle in real time;
s102, judging a target controller or a target component to which a lost target bus signal belongs when a bus signal loss fault is detected, wherein a plurality of components and a plurality of controllers exist in a target vehicle, and the controllers are related to the control of the corresponding components;
s103, acquiring historical communication information of a target controller or a target component, wherein the historical communication information comprises a plurality of bus signals generated by the communication of the target controller or the target component when a bus signal loss fault happens, and time sequences exist among the plurality of bus signals;
s104, performing signal recovery on the target bus signal by using the historical communication information.
The target vehicle interior communication is communication between the entire vehicle controller in the target vehicle and the components and other controllers in the target vehicle. And when the whole vehicle controller sends instructions to each component and other controllers, but each component and other controllers do not reply in a fixed time, or each component and other controllers do not report own information to the whole vehicle controller according to a preset frequency, judging that a bus signal loss fault occurs. Similarly, the target controller or the target component to which the lost target bus signal belongs may be determined based on the principle.
The target vehicle interior has the following components: the engine, the power battery, the charging module, the transmission, the brake and the like are provided with the following controllers: an engine controller, a power battery controller, a charging controller, a transmission controller, a brake controller and the like, wherein the engine controller, the power battery controller, the charging controller, the transmission controller and the brake controller respectively control an engine, a power battery, a charging module, a transmission and a brake.
The historical communication information of the target controller or the target component is a plurality of bus signals generated by past communication of the target controller or the target component, and each bus signal has own generated time, so that a time sequence exists among the plurality of bus signals.
According to the technical scheme provided by the embodiment of the application, whether the bus signal loss fault occurs in the internal communication of the target vehicle is detected in real time; when a bus signal loss fault is detected, judging a target controller or a target component to which the lost target bus signal belongs, wherein a plurality of components and a plurality of controllers exist in a target vehicle, and each controller is related to the control of the corresponding component; acquiring historical communication information of a target controller or a target component, wherein the historical communication information comprises a plurality of bus signals generated by the communication of the target controller or the target component at the moment when a bus signal loss fault occurs, and time sequences exist among the plurality of bus signals; and performing signal recovery on the target bus signal by using the historical communication information. By adopting the technical means, the problem that the lost signal cannot be processed in time in the prior art and potential safety hazards exist can be solved, so that the efficiency of processing the lost signal is improved, and the safety of a user in use of the vehicle is ensured.
Further, after determining the target controller or the target component to which the lost target bus signal belongs when the bus signal loss fault is detected, the method further includes: judging the category of the target controller or the target component; when the target controller is a controller which does not influence the driving of the target vehicle, taking a signal for closing the target controller as a target bus signal; when the target controller is a controller affecting the power on and power off of the target vehicle, taking a signal of the target controller in a target state as a target bus signal; when the target component is a component affecting the driving of the target vehicle, determining a target bus signal according to the last signal of the target bus signals in a plurality of bus signals generated by the communication of the target component; and when the target component is a component of the target class, determining a target bus signal according to the received instruction of the target user of the target vehicle.
Among the controllers that do not affect the driving of the target vehicle are thermal management controllers, charging controllers, etc., the target bus signal that such a controller loses may default to a signal that turns off the target controller, i.e., such a controller is turned off after such a controller loses signal. Because such controllers do not affect the normal running of the vehicle, they only affect comfort to some extent, but if they remain in a target state before communication is lost, they may cause some unexpected effects or excessive power consumption, and may be selected to be turned off at this time. The target state may be an operating state, a standby state, or other states.
Controllers that affect the power up and down of a target vehicle include a power battery controller, an engine controller, etc., and the target bus signal lost by such a controller may be a signal that such a controller is in a target state by default, that is, after such a controller loses a signal, such a controller is in a target state by default. After the controller loses the signal, in order to ensure the use safety of the target vehicle, the controller will perform the power-down processing at this time, in the power-down condition, the target state of the controller needs to be judged, at this time, because the signal is lost, if the state of the controller is simply considered to be the standby state, the whole vehicle controller sends the power-down instruction, but the high-voltage relay is not disconnected, the controller enters the active discharging process, thus possibly causing certain damage to the driving motor, so after the signal is lost, the state of the controller which can default to be in operation, after the whole vehicle controller sends the power-down instruction, because the controller which loses the signal is in the target state, a period of delay waiting is performed after the instruction is sent, and in the enough delay time, the controller can have enough time to perform the fault processing operation.
The components that affect the driving of the target vehicle are power batteries, engines, etc., and the target bus signal that such a component loses may default to the last signal of the target bus signal of such a component to determine the target bus signal. Such as directly taking the last signal of the target bus signal as the target bus signal.
The target class of components include a charging module and the like. For example, the charging module loses the target bus signal, and the target bus signal can be determined according to the instruction of the target user.
Further, when the target component is a component affecting driving of the target vehicle, determining the target bus signal based on a last signal of the target bus signals among the plurality of bus signals generated by communication of the target component includes: comparing the last signal of the target bus signal with the corresponding value of the preset signal, and taking the signal with the smaller corresponding value as the target bus signal at the moment of the bus signal loss fault; according to the preset slope and the time length of the current moment from the moment when the bus signal loss fault occurs, carrying out linear attenuation on the smaller value in the values corresponding to the last signal of the target bus signal and the preset signal to obtain the target value; and taking the target value corresponding signal as a target bus signal at the current moment.
Each signal may represent a value that is a control parameter for the respective controller and the respective component. At the moment of the bus signal loss fault, a signal with a smaller value corresponding to the last signal of the target bus signal and the preset signal can be used as the target bus signal. If the failure is not handled in time after the bus signal loss failure occurs, the target bus signal also needs to be changed correspondingly because the environment in which the target vehicle is located and the states of the respective controllers and the respective components may change. The smaller value of the values corresponding to the last signal of the target bus signal and the preset signal can be linearly attenuated according to the preset slope, and the target value is obtained after the time length from the moment when the bus signal loss fault occurs is attenuated (namely, linear attenuation is performed according to a function, wherein the value in the function is used as a dependent variable, the time length is used as an independent variable, and the slope is the preset slope). And determining a signal corresponding to the target value, and taking the signal as a target bus signal.
Further, the signal recovery of the target bus signal by using the historical communication information includes: taking bus signals in the historical communication information as dependent variables, taking the time of generating the bus signals as independent variables, and carrying out data fitting processing on a plurality of bus signals in the historical communication information and the time of generating each bus signal to obtain a fitting function; determining a target bus signal by a fitting function based on the moment of occurrence of the bus signal loss fault; if the data fitting process is linear fitting, the fitting function is linear, and if the data fitting process is nonlinear fitting, the fitting function is nonlinear.
After the fitting function is obtained, the moment of occurrence of the bus signal loss fault is a known independent variable, the target bus signal is an unknown dependent variable, and the fitting function is solved, so that the target bus signal can be obtained. It should be noted that, the data fitting process of some controllers and components is linear fitting, the fitting functions of the controllers and components are linear functions, the data fitting process of some controllers and components is nonlinear fitting, and the fitting functions of the controllers and components are nonlinear functions.
Further, the signal recovery of the target bus signal by using the historical communication information includes: performing wavelet transformation on a plurality of bus signals in the historical communication information to obtain wavelet domain signals corresponding to the bus signals; determining a target scale and a target translation amount in a wavelet domain corresponding to the moment of occurrence of the bus signal loss fault; and determining a target wavelet domain signal corresponding to the target scale and the target translation amount by a wavelet domain interpolation method based on the wavelet domain signal corresponding to each bus signal, and determining a target bus signal based on the target wavelet domain signal.
The scale and the amount of translation in the wavelet domain correspond to the time instants in the time domain. According to the embodiment of the application, each bus signal in the time domain is converted into a signal in the wavelet domain (when each bus signal in the time domain is converted into a signal in the wavelet domain, the time of generating each bus signal is also converted into the scale and the translation quantity in the wavelet domain, namely, each wavelet domain signal preferably corresponds to the scale and the translation quantity, according to the characteristics of the wavelet domain, the rule among all wavelet domain signals is searched, and the target wavelet domain signal corresponding to the target scale and the target translation quantity is estimated by a wavelet domain interpolation method. The wavelet domain signals can be simply used as dependent variables, the scale and the translation amount are used as two independent variables, fitting functions are obtained by fitting each wavelet domain signal and the corresponding scale and translation amount of each wavelet domain signal, the target scale and the target translation amount are known, and the target wavelet domain signals are solved through the fitting functions. And carrying out inverse transformation of wavelet transformation on the target wavelet domain signal to obtain a target bus signal.
Further, the signal recovery of the target bus signal by using the historical communication information includes: and predicting the target bus signal by a Kalman filtering algorithm based on the plurality of bus signals in the historical communication information, the time when each bus signal is generated and the time when the bus signal loss fault occurs.
The kalman filtering may be used to predict variables, and in the embodiment of the present application, a plurality of bus signals in the historical communication information, a time when each bus signal is generated, and a time when a bus signal loss fault occurs are used as inputs of the kalman filtering to output a target bus signal. That is, the kalman filter solves the target bus signal by using the time at which the bus signal loss fault occurs as a known variable according to the correspondence between the plurality of bus signals in the history communication information and the time at which each bus signal is generated. In practice the kalman filtering is similar to the method of solving the fitting function in the previous embodiment.
Further, the lost signal recovery method provided by the embodiment of the application further comprises recovery of lost frames. Fig. 2 is a flowchart illustrating a lost frame recovery step in a lost signal recovery method according to an embodiment of the present application, where, as shown in fig. 2, the method includes:
s201, detecting whether a bus signal frame loss fault occurs in the communication in the interior of the target vehicle in real time;
s202, when a frame loss fault of a bus signal is detected, performing data fitting processing on other frames and corresponding moments of other frames in a target bus signal to which the lost target frame belongs, so as to obtain a fitting function;
s203, determining a target frame through a fitting function based on the moment of occurrence of the bus signal frame loss fault.
The bus signal frame loss fault is a fault of one bus signal loss part frame, and the bus signal loss fault is a fault of one bus signal loss as a whole. The data fitting process is performed on other frames and the times corresponding to other frames, similarly to the data fitting process performed on a plurality of bus signals and the times at which each bus signal is generated. Solving the fitting function is also similar and will not be described in detail.
Any combination of the above optional solutions may be adopted to form an optional embodiment of the present application, which is not described herein.
The following are examples of the apparatus of the present application that may be used to perform the method embodiments of the present application. For details not disclosed in the embodiments of the apparatus of the present application, please refer to the embodiments of the method of the present application.
Fig. 3 is a schematic diagram of a lost signal recovery apparatus according to an embodiment of the present application. As shown in fig. 3, the lost signal recovery apparatus includes:
a detection module 301 configured to detect in real time whether a bus signal loss failure occurs in the communication inside the target vehicle;
a judging module 302 configured to judge, when a bus signal loss fault is detected, a target controller or a target component to which the lost target bus signal belongs, wherein a plurality of components and a plurality of controllers exist in the target vehicle, and each controller is related to control of its corresponding component;
an obtaining module 303, configured to obtain historical communication information of the target controller or the target component, where the historical communication information includes a time when a bus signal loss fault occurs, a plurality of bus signals generated by the target controller or the target component communication, and a time sequence exists among the plurality of bus signals;
the recovery module 304 is configured to perform signal recovery on the target bus signal using the historical communication information.
According to the technical scheme provided by the embodiment of the application, whether the bus signal loss fault occurs in the internal communication of the target vehicle is detected in real time; when a bus signal loss fault is detected, judging a target controller or a target component to which the lost target bus signal belongs, wherein a plurality of components and a plurality of controllers exist in a target vehicle, and each controller is related to the control of the corresponding component; acquiring historical communication information of a target controller or a target component, wherein the historical communication information comprises a plurality of bus signals generated by the communication of the target controller or the target component at the moment when a bus signal loss fault occurs, and time sequences exist among the plurality of bus signals; and performing signal recovery on the target bus signal by using the historical communication information. By adopting the technical means, the problem that the lost signal cannot be processed in time in the prior art and potential safety hazards exist can be solved, so that the efficiency of processing the lost signal is improved, and the safety of a user in use of the vehicle is ensured.
In some embodiments, the recovery module 304 is further configured to determine a class of the target controller or target component; when the target controller is a controller which does not influence the driving of the target vehicle, taking a signal for closing the target controller as a target bus signal; when the target controller is a controller affecting the power on and power off of the target vehicle, taking a signal of the target controller in a target state as a target bus signal; when the target component is a component affecting the driving of the target vehicle, determining a target bus signal according to the last signal of the target bus signals in a plurality of bus signals generated by the communication of the target component; and when the target component is a component of the target class, determining a target bus signal according to the received instruction of the target user of the target vehicle.
In some embodiments, the recovery module 304 is further configured to compare a previous signal of the target bus signal with a value corresponding to a preset signal, and use a signal with a smaller corresponding value as the target bus signal at the moment of occurrence of the bus signal loss fault; according to the preset slope and the time length of the current moment from the moment when the bus signal loss fault occurs, carrying out linear attenuation on the smaller value in the values corresponding to the last signal of the target bus signal and the preset signal to obtain the target value; and taking the target value corresponding signal as a target bus signal at the current moment.
In some embodiments, the recovery module 304 is further configured to perform a data fitting process on the plurality of bus signals in the historical communication information and the time when each bus signal is generated with the bus signal in the historical communication information as a dependent variable and the time when the bus signal is generated as an independent variable, so as to obtain a fitting function; determining a target bus signal by a fitting function based on the moment of occurrence of the bus signal loss fault; if the data fitting process is linear fitting, the fitting function is linear, and if the data fitting process is nonlinear fitting, the fitting function is nonlinear.
In some embodiments, the recovery module 304 is further configured to perform wavelet transform on the plurality of bus signals in the historical communication information to obtain wavelet domain signals corresponding to each bus signal; determining a target scale and a target translation amount in a wavelet domain corresponding to the moment of occurrence of the bus signal loss fault; and determining a target wavelet domain signal corresponding to the target scale and the target translation amount by a wavelet domain interpolation method based on the wavelet domain signal corresponding to each bus signal, and determining a target bus signal based on the target wavelet domain signal.
In some embodiments, the recovery module 304 is further configured to predict the target bus signal via a Kalman filtering algorithm based on the plurality of bus signals in the historical communication information, the time of generation of each bus signal, and the time of occurrence of the bus signal loss fault.
In some embodiments, the recovery module 304 is further configured to detect in real time whether a bus signal frame loss fault has occurred in the target vehicle interior communication; when a frame loss fault of a bus signal is detected, performing data fitting processing on other frames and corresponding moments of other frames in a target bus signal to which the lost target frame belongs, so as to obtain a fitting function; and determining a target frame by a fitting function based on the moment of occurrence of the bus signal frame loss fault.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.
Fig. 4 is a schematic diagram of an electronic device 4 provided by an embodiment of the present disclosure. As shown in fig. 4, the electronic apparatus 4 of this embodiment includes: a processor 401, a memory 402 and a computer program 403 stored in the memory 402 and executable on the processor 401. The steps of the various method embodiments described above are implemented by processor 401 when executing computer program 403. Alternatively, the processor 401, when executing the computer program 403, performs the functions of the modules/units in the above-described apparatus embodiments.
The electronic device 4 may include, but is not limited to, a processor 401 and a memory 402. It will be appreciated by those skilled in the art that fig. 4 is merely an example of the electronic device 4 and is not limiting of the electronic device 4 and may include more or fewer components than shown, or different components.
The processor 401 may be a central processing unit (Central Processing Unit, CPU) or other general purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application SpecificIntegrated Circuit, ASIC), field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 402 may be an internal storage unit of the electronic device 4, for example, a hard disk or a memory of the electronic device 4. The memory 402 may also be an external storage device of the electronic device 4, for example, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like, which are provided on the electronic device 4. Memory 402 may also include both internal storage units and external storage devices of electronic device 4. The memory 402 is used to store computer programs and other programs and data required by the electronic device.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, and the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of each of the method embodiments described above. The computer program may comprise computer program code, which may be in source code form, object code form, executable file or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the content of the computer readable medium can be appropriately increased or decreased according to the requirements of the jurisdiction's jurisdiction and the patent practice, for example, in some jurisdictions, the computer readable medium does not include electrical carrier signals and telecommunication signals according to the jurisdiction and the patent practice.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (10)
1. A lost signal recovery method, comprising:
detecting whether a bus signal loss fault occurs in the communication in the target vehicle in real time;
when the bus signal loss fault is detected, judging a target controller or a target component to which the lost target bus signal belongs, wherein a plurality of components and a plurality of controllers exist in the target vehicle, and the controllers are related to the control of the corresponding components;
acquiring historical communication information of the target controller or the target component, wherein the historical communication information comprises a time when the bus signal loss fault happens, a plurality of bus signals generated by the communication of the target controller or the target component exist, and time sequences exist among the plurality of bus signals;
and carrying out signal recovery on the target bus signal by utilizing the historical communication information.
2. The method according to claim 1, wherein upon detecting the bus signal loss failure, after determining a target controller or a target component to which the lost target bus signal belongs, the method further comprises:
judging the category of the target controller or the target component;
when the target controller is a controller which does not affect the driving of the target vehicle, taking a signal for closing the target controller as the target bus signal;
when the target controller is a controller affecting the power on and power off of the target vehicle, taking a signal of the target controller in a target state as the target bus signal;
when the target component is a component affecting the driving of the target vehicle, determining the target bus signal according to the last signal of the target bus signals in a plurality of bus signals generated by the communication of the target component;
and when the target component is a component of a target class, determining the target bus signal according to the received instruction of the target user of the target vehicle.
3. The method of claim 2, wherein when the target component is a component that affects driving of the target vehicle, determining the target bus signal based on a last signal of the target bus signal among a plurality of bus signals generated by communication of the target component comprises:
comparing the last signal of the target bus signal with a value corresponding to a preset signal, and taking a signal with a smaller corresponding value as the target bus signal at the moment of the bus signal loss fault;
according to a preset slope and the time length of the moment when the bus signal loss fault occurs at the current moment, carrying out linear attenuation on the smaller value in the values corresponding to the last signal of the target bus signal and the preset signal to obtain a target value;
and taking the target value corresponding signal as the target bus signal at the current moment.
4. The method of claim 1, wherein using the historical communications information to perform signal recovery on the target bus signal comprises:
taking bus signals in the historical communication information as dependent variables, taking the time of generating the bus signals as independent variables, and carrying out data fitting processing on a plurality of bus signals in the historical communication information and the time of generating each bus signal to obtain a fitting function;
determining the target bus signal by the fitting function based on the moment of occurrence of the bus signal loss fault;
and if the data fitting process is a linear fitting, the fitting function is a linear function, and if the data fitting process is a nonlinear fitting, the fitting function is a nonlinear function.
5. The method of claim 1, wherein using the historical communications information to perform signal recovery on the target bus signal comprises:
performing wavelet transformation on a plurality of bus signals in the historical communication information to obtain wavelet domain signals corresponding to the bus signals;
determining a target scale and a target translation amount in a wavelet domain corresponding to the moment of occurrence of the bus signal loss fault;
and determining a target wavelet domain signal corresponding to the target scale and the target translation amount by a wavelet domain interpolation method based on wavelet domain signals corresponding to each bus signal, and determining the target bus signal based on the target wavelet domain signal.
6. The method of claim 1, wherein using the historical communications information to perform signal recovery on the target bus signal comprises:
and predicting the target bus signal by a Kalman filtering algorithm based on the plurality of bus signals in the historical communication information, the time when each bus signal is generated and the time when the bus signal loss fault occurs.
7. The method according to claim 1, wherein the method further comprises:
detecting whether a bus signal frame loss fault occurs in the communication in the target vehicle in real time;
when the frame loss fault of the bus signal is detected, carrying out data fitting processing on other frames and corresponding moments of other frames in the target bus signal to which the lost target frame belongs, so as to obtain a fitting function;
and determining the target frame through the fitting function based on the moment of occurrence of the bus signal frame loss fault.
8. A lost signal recovery apparatus comprising:
the detection module is configured to detect whether a bus signal loss fault occurs in the internal communication of the target vehicle in real time;
a judging module configured to judge, when the bus signal loss fault is detected, a target controller or a target component to which the lost target bus signal belongs, wherein a plurality of components and a plurality of controllers exist in the target vehicle, and each controller is related to control of its corresponding component;
the acquisition module is configured to acquire historical communication information of the target controller or the target component, wherein the historical communication information comprises a plurality of bus signals generated by communication of the target controller or the target component at the moment when the bus signal loss fault happens, and time sequences exist among the plurality of bus signals;
and the recovery module is configured to perform signal recovery on the target bus signal by using the historical communication information.
9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the method of any one of claims 1 to 7 when executing the computer program.
10. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method according to any one of claims 1 to 7.
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| CN202311113332.6A CN117081907A (en) | 2023-08-31 | 2023-08-31 | Lost signal recovery method, device, electronic equipment and storage medium |
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| CN202311113332.6A CN117081907A (en) | 2023-08-31 | 2023-08-31 | Lost signal recovery method, device, electronic equipment and storage medium |
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