CN1897623B - Method and apparatus for controlling, diagnosing and telecommunication managing locomotive and automobile - Google Patents
Method and apparatus for controlling, diagnosing and telecommunication managing locomotive and automobile Download PDFInfo
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Abstract
The invention uses an embedded real time multi-task operation system, a high speed embedded communication processor and massive high capacity memories to ensure the high performance of the VCM for processing the communication and data. The VCM hardware system is a CPU-based embedded type system that comprises a CPU subsystem, a memory subsystem, a MVB communication subsystem, a power subsystem and a communication interface subsystem that provides multi kinds of field bus interfaces. The VCM software system uses a modularization hierarchical architecture, and the said equipment driver layer is the lowest layer of the system software.
Description
Technical field
The invention belongs to a kind of locomotive/control method for vehicle and device, refer in particular to a kind of based on communication in the dcs of multi-functional locomotive/vehicle bus (MVB) and process control platform, can realize MVB 4 kind equipment functions, comprise the locomotive/vehicle control module and the structure of multi-functional locomotive/vehicle bus (MVB).
Background technology
Vehicle control module (hereinafter to be referred as VCM) mainly is applicable to vehicle and process control, failure diagnosis and the telecommunication management of locomotive/vehicle, also applicable to the PMS of association areas such as subway train or automation control system, its applied environment satisfies relevant industries standard (iron mark TB3021-2001 etc.) regulation.VCM is as the corn module in the Fieldbus Based dcs, on a basic hardware and software platform, by disposing different software and hardware resources, can conveniently realize the function such as process control, failure diagnosis and storage, telecommunication management of the vehicle grade/train level of different automobile types.VCM is mainly used in the vehicle control and treatment platform based on the MVB bus, but in existing vehicle control module (or unit, have following deficiency down together): 1. controlled function is single, and this mainly is not have the abundant control that can be used for control system to cause because the CPU processing speed reaches slowly.2. communication function is limited, is that CPU speed is slow on the one hand, does not satisfy the MVB communicating requirement of littler communication cycle, and the vehicle bus module does not have CAN and Ethernet etc. in the past on the other hand, has limited its application.3. the CPU processing speed is low, and general speed is tens megahertzes, can't take into account communication, control and diagnostic function, has limited its scope of application.4. cost an arm and a leg,, need component number and kind to increase greatly because generally adopt inserter structure.5. device volume is big, and inconvenience is used and installed at the scene, has greatly limited its scope of application.6. limited to the Fault Diagnosis registering capacity, mainly be because speed is low, memory space is little.In sum, be necessary this is improved.
Summary of the invention
The objective of the invention is to deficiency at existing vehicle control module, it is more reasonable, simple to propose a kind of system design, volume structure is more small and exquisite, and vehicle and process control, failure diagnosis and the telecommunication management VCM method and the structure of more convenient locomotive/vehicle is installed.
In order to reach this purpose, the present invention is by adopting embedded real-time multi-task operating system (RTOS), the reliability and the real-time of software have been guaranteed, thereby communication and controlled function are placed in the processor carries out, the function that need could realize by the polylith integrated circuit board before having realized, greatly reduce the quantity of device, simplified the design of circuit.And because the minimizing of device, reduced the power consumption of power supply, make low power dissipation design become possibility.Simultaneously, adopted high speed embedded communication processor, and be equipped with a large amount of jumbo memories, so guaranteed the communications and data disposal ability that VCM is powerful.Simultaneously, provide multiple field-bus interface (MVB, RS485 and Ethernet etc.), by combine the configuration of convenient various application systems and system integration exploitation with various remote I/O devices.For ease of carrying out failure diagnosis and processing, technology and principle and NOR FLASH was different in the past NAND FLASH have been selected first for use.These improve and make employing vehicle control module of the present invention in circuit design patrix blocking, greatly simplified the design of circuit, dwindled the volume of equipment, the reliability and stability of simultaneity factor improve greatly, greatly convenient on-the-spot I﹠M, cost also greatly reduces, and the scope of application is wider.
The VCM hardware system is an embedded system based on microprocessor, and its structure mainly comprises: 1. cpu subsystem; 2. memory sub-system; 3. MVB communication subsystem; 4. power subsystem and 5. other communications interface subsystems.Each subsystem is finished VCM external all communications and controlled function under the coordination and control of CPU.
In the design of VCM, cancel traditional plug-in unit and added the cabinet pattern, and the employing modular organization, can reduce system wiring as far as possible, form by two blocks of plug-in units, finish the light current function for one, realize the integrated of processor core part, MVB communication process part, CAN communication process part, USB and Ethernet interface, RS232, RS485 interface; Another piece is finished interface section integrated of DC/DC power conversion, MVB, CAN, RS485 communication, realizes the isolation of signal.The system that guaranteed has good stable, Electro Magnetic Compatibility.Simultaneously, in circuit design, adopt function more powerful monolithic CPU structure and low energy-consumption electronic device, and between CPU and each functional module, do not had middle plug-in unit, for directly to be connected, made the power consumption of module and volume reduce greatly between CPU and each functional module; Software development is adopted real-time multi-task operating system and is met the applied software development instrument (ISaGRAF) of industrial standard, the reliability and the real-time of software systems have been guaranteed, greatly shorten the construction cycle of application software, finally guaranteed the high performance-price ratio of VCM system.
The structure of described VCM system mainly comprises: cpu subsystem; Memory sub-system; The MVB communication subsystem; Power subsystem and other communications interface subsystems.Each subsystem is finished VCM external all communications and controlled function under the coordination and control of CPU.
Wherein, described cpu subsystem is as the core of VCM, and its performance is directly determining the overall performance of VCM.Cpu subsystem mainly comprises interface circuits such as CPU module and supervision, RTC calendar clock; Processor adopting is popular 32 embedded communication processors of high speed (Intel Xscale IXP425) at present, and dominant frequency reaches 533MHz, to guarantee the powerful communications and data disposal ability of VCM.
Described memory sub-system is as the storage of CPU program, data, according to the function of VCM, for CPU provides memory configurations.
Described power subsystem provides the power supply of 5V, 3.3V and 1.3V for whole VCM.Comprise the DC/DC switch power module and be the low pressure difference linear voltage regulator chip (3.3V and 1.3V) of CPU and peripheral chip thereof power supply.
Described MVB communication subsystem hardware provides interface channel with the MVB bus for VCM.It comprises communication memory (TM), cpu i/f buffering and control logic and the MVB bus physical layer interface of MVB communication controler, 1M byte.
Described other communications interface subsystem mainly is meant the external communication interface of other CPU except that the MVB communication interface, with functions such as the external communication of expansion VCM, debugging, mainly comprises:
1. the RS232 interface of a non-isolation: the VCM debug terminal interface mainly as based on PC, be used for debug functioies such as the download of bottom program, supervision, baud rate is 115.2Kbps to the maximum;
2. photoelectricity RS485 interface of isolating: the communication interface that provides based on multiple spot RS485 standard agreement is provided, and baud rate is 1Mbps to the maximum;
3. 10/100M Ethernet interface: can be used as interfaces such as external network interface or debugging, fault data download.
VCM mechanical structure adopts the standalone module mode, and all circuit all are sealed among dustproof, protection against the tide, vibrationproof, the heat-resisting and well behaved metal shell of EMC, and passes through connector and miscellaneous equipment interface on the module front panel.Its structure mainly comprises: 1. 3. front panel and to outconnector of the 2. inner PCB circuit board of package casing.
The VCM software system design adopts the modularization hierarchy: the bottom-up 1. device drive layer that is followed successively by; 2. operating system nucleus; 3. user task layer; 4. ISaGRAF virtual machine; 5. ISaGRAF application program.Adopt the modularization hierarchy can simplify the exploitation of application software to greatest extent, greatly improve the development efficiency of application item.
Wherein, described device drive layer is mainly operating system layer and user task layer the standard that hardware device is conducted interviews driving interface is provided, thereby can simplify the structure of application program as the bottom of systems soft ware.It mainly comprises: (1) FMM file management driver; (2) FLASH RAW read-write driver; (3) RTC driver; (4) serial port drive program; (5) ethernet driver etc.;
Described operating system nucleus is responsible for the user task on scheduling, the MOS as the core of VCM software.The VCM software systems are selected real-time multi-task operating system and FLASH file system thereof for use, with real-time and the reliability of guaranteeing software systems;
Described user task layer mainly comprises (1) MVB link layer task (containing the BA function) (2) MVB real-time protocol (rtp)s (3) MVB network managements (TNM) and (4) other application task (communication functions such as serial ports, Ethernet).Each user task is finished the specific application function of user according to the predefined task priority of user under the unified scheduling of operating system;
Described ISaGRAF virtual machine is as a kind of special user task, be responsible for to the explanation of ISaGRAF application program (TIC code) carry out, with debug terminal communicate by letter and with the interface of other application task;
Described ISaGRAF application program is as the top layer of VCM software configuration, the ISaGRAF application program is the target independent code (TIC) by the ISaGRAF programming tool exploitation of supporting IEC61131-3 standard industry process control programming language, the TIC code is explained by the ISaGRAF virtual machine and is carried out, and the API and the bottom user task interface that provide by the ISaGRAF virtual machine, thereby finish specific user's application function.
Characteristics of the present invention are
1. employing modular construction, volume is little.The MVB bus manager module volume of realizing said function both at home and abroad is very big, and power consumption is very big, is unfavorable for installing.
2. software system design adopts the modularization hierarchy, adopt embedded real-time multi-task operating system, the programmable calculator programming language that meets IEC61131-3 is adopted in software programming, can realize the graphical user programming, application layer and bottom software are made a distinction, be convenient to user program.
3. adopt Intel network processing unit Xsacle product first, dominant frequency is 533mhz, memory adopts the NOR FLASH of big memory space to combine with NAND FLASH, wherein NOR FLASH realizes procedure stores and failure logging, NANDFLASH realizes failure logging, big capacity SDRAM, the SDRAM bus speed is 133MHZ.
4. can realize multiple communications network interface: MVB, CAN, 10/100M Ethernet, RS485 bus (can adopt Modbus bus or principal and subordinate RS485 bus), USB, RS232 interface.
5. can be used for the railway information construction.
6. inner band temperature sensor detects internal temperature automatically, protects when temperature surpasses certain value.
Description of drawings
Fig. 1 is a principle schematic of the present invention;
Fig. 2 is a VCM hardware block diagram of the present invention.
The invention will be further described below in conjunction with accompanying drawing.
Embodiment
By accompanying drawing as can be seen, the present invention a kind ofly is used for vehicle grade process control, failure diagnosis and the telecommunication management of locomotive/vehicle or is used for subway train or the PMS of association area such as automation control.The present invention is by adopting embedded real-time multi-task operating system, the reliability and the real-time of software have been guaranteed, thereby communication and controlled function are placed in the processor carries out, the function that need could realize by the polylith integrated circuit board before having realized, greatly reduce the quantity of device, simplified the design of circuit.And because the minimizing of device, reduced the power consumption of power supply, make low power dissipation design become possibility.Adopted high speed embedded communication processor, and be equipped with a large amount of jumbo memories, so guaranteed the communications and data disposal ability that VCM is powerful.Simultaneously, provide multiple field-bus interface (MVB, RS485 and Ethernet etc.), by combine the configuration of convenient various application systems and system integration exploitation with various remote I/O devices.These improve and make employing vehicle control module of the present invention in circuit design patrix blocking, greatly simplified the design of circuit, dwindled the volume of equipment, the reliability and stability of simultaneity factor improve greatly, greatly convenient on-the-spot I﹠M, cost also greatly reduces.
The VCM hardware system is an embedded system based on microprocessor, and its structure mainly comprises: 1. cpu subsystem; 2. memory sub-system; 3. MVB communication subsystem; 4. power subsystem and 5. other communications interface subsystems.Each subsystem is finished VCM external all communications and controlled function under the coordination and control of CPU.In the design of VCM, cancel traditional plug-in unit and added the cabinet pattern, and the employing modular organization, can reduce system wiring as far as possible, form by two blocks of plug-in units, finish the light current function for one, realize the integrated of processor core part, MVB communication process part, CAN communication process part, USB and Ethernet interface, RS232, RS485 interface; Another piece is finished interface section integrated of DC/DC power conversion, MVB, CAN, RS485 communication, realizes the isolation of signal.The system that guaranteed has good stable, Electro Magnetic Compatibility.Simultaneously, in circuit design, adopt function more powerful monolithic CPU structure and low energy-consumption electronic device, and between CPU and each functional module, do not had middle plug-in unit, made the power consumption of module and volume reduce greatly; Software development is adopted real-time multi-task operating system and is met the applied software development instrument (ISaGRAF) of industrial standard, the reliability and the real-time of software systems have been guaranteed, greatly shorten the construction cycle of application software, finally guaranteed the high performance-price ratio of VCM system.
The structure of described VCM system mainly comprises: cpu subsystem; Memory sub-system; The MVB communication subsystem; Power subsystem and other communications interface subsystems.Each subsystem is finished VCM external all communications and controlled function under the coordination and control of CPU.
Wherein, described cpu subsystem is as the core of VCM, and its performance is directly determining the overall performance of VCM.Cpu subsystem mainly comprises interface circuits such as CPU module and supervision, RTC calendar clock;
1, CPU module
Select the at present popular in the world Xscale of Intel Company nuclear built-in network processor for use, its dominant frequency reaches as high as 533MHz, it is the very high SOC (system on a chip) of a cost performance (SOC) chip, its main interface has: pci interface, UTOPIA interface, USB interface, high speed serial ports, universal serial port, sdram interface, JTAG debug port and a plurality of universaling I/O port, resources such as the Instructions Cache of inner also integrated No. four timers, 32K and metadata cache; Its core voltage is low to moderate 1.3V, and power consumption only is 2W when high-speed cruising; Be specially adapted to based on network control system.
2, supervision and RTC calendar clock interface circuit
Monitoring interface mainly comprises supply voltage monitoring circuit, general status indication, the supervision of VCM internal temperature and the output (relay) etc. of reporting to the police.
Described memory sub-system is as the storage of CPU program, data, according to the function of VCM, for CPU provides following memory configurations.
1, nonvolatile memory FLASH
According to the function difference, the FLASH EPROM of configuration different capabilities.
A, BOOT LOADER and file system FLASH: be used to deposit guidance code, operating system code and deposit application code, user's configuration data etc. with the file system format of operating system support, capacity is the 16M byte, adopts NOR FLASH;
B, Mishap Database FLASH (optional): be used for the environmental data of storage failure diagnosis usefulness, adopt big capacity NANDFLASH, under the little situation of failure logging district capacity, also available NOR FLASH.
2, dynamic volatile memories SDRAM
The SDRAM memory is mainly used in the dynamic load of program, and a large amount of intermediate data is temporary, and capacity is that 64M～256M byte is optional.
Described power subsystem provides the power supply of 5V, 3.3V and 1.3V for whole VCM.Comprise the DC/DC switch power module and be the low pressure difference linear voltage regulator chip (3.3V and 1.3V) of CPU and peripheral chip thereof power supply.
DC/DC switch power module input voltage range is DC77V ~ 137V, single 5V output, and voltage range is 4.5V ~ 5.5V, rated output power is 10W.The power supply input stage is provided with current inrush limiter and backup electric capacity.The power interruptions tolerance time is greater than 10ms, and provides the power fail interrupt index signal to cpu subsystem.
Described MVB communication subsystem hardware provides interface channel with the MVB bus for VCM.It comprises communication memory (TM), cpu i/f buffering and control logic and the MVB bus physical layer interface of MVB communication controler, 1M byte.
1. MVB communication controler: adopt the MVBC01 chip, VCM has process data, message data and monitoring data communication capacity as MVB 4 kind equipments, and support software is downloaded and MVB bus manager function;
2. communication memory (TM): capacity is 1M byte (a MVBC01 TM configuration mode 4), can provide: maximum 4095 process data ports; Maximum 4095 equipment addressable ports that are used for the accepting device status poll; The storage space that is used for message queue and MVB prime frame can freely be disposed by the user;
3. cushion and control logic: the logics such as level conversion (3.3V becomes 5V), bus signals buffering and visit timing controlled that mainly realize CPU visit MVBC01 and communication memory TM;
4. MVB bus physical layer interface: VCM provides the moderate distance electrical interface based on RS485 (photoelectricity isolation) of a redundancy, and by software setting, VCM both can be operated in redundant mode (line A and line B); Also can be operated in nonredundancy (only line A) pattern.External interface adopts two DIN41652 standard 9 core D connectors, and pinout meets the regulation of TCN standard.
Described other communications interface subsystem mainly is meant the external communication interface of other CPU except that the MVB communication interface, with functions such as the external communication of expansion VCM, debugging, mainly comprises:
1. the RS232 interface of a non-isolation: the VCM debug terminal interface mainly as based on PC, be used for debug functioies such as the download of bottom program, supervision, baud rate is 115.2Kbps to the maximum;
2. photoelectricity RS485 interface of isolating: the communication interface that provides based on multiple spot RS485 standard agreement is provided, and baud rate is 1Mbps to the maximum;
3. 10/100M Ethernet interface: can be used as interfaces such as external network interface or debugging, fault data download.
The VCM software system design adopts the modularization hierarchy: the bottom-up 2. 3. 4. 5. ISaGRAF application program of ISaGRAF virtual machine of user task layer of operating system nucleus of device drive layer that be followed successively by 1..Adopt the modularization hierarchy can simplify the exploitation of application software to greatest extent, greatly improve the development efficiency of application item.
Wherein, described device drive layer is mainly operating system layer and user task layer the standard that hardware device is conducted interviews driving interface is provided, thereby can simplify the structure of application program as the bottom of systems soft ware.It mainly comprises: (1) FMM file management driver (2) FLASH RAW read-write driver (3) RTC driver (4) serial port drive program and (5) ethernet driver etc.;
Described operating system nucleus is responsible for the user task on scheduling, the MOS as the core of VCM software.The VCM software systems are selected real-time multi-task operating system and FLASH file system thereof for use, with real-time and the reliability of guaranteeing software systems;
Described user task layer mainly comprises (1) MVB link layer task (containing the BA function) (2) MVB real-time protocol (rtp)s (3) MVB network managements (TNM) and (4) other application task (communication functions such as serial ports, Ethernet).Each user task is finished the specific application function of user according to the predefined task priority of user under the unified scheduling of operating system;
Described ISaGRAF virtual machine is as a kind of special user task, be responsible for to the explanation of ISaGRAF application program (TIC code) carry out, with debug terminal communicate by letter and with the interface of other application task;
Described ISaGRAF application program is as the top layer of VCM software configuration, the ISaGRAF application program is the target independent code (TIC) by the ISaGRAF programming tool exploitation of supporting IEC61131-3 standard industry process control programming language, the TIC code is explained by the ISaGRAF virtual machine and is carried out, and the API and the bottom user task interface that provide by the ISaGRAF virtual machine, thereby finish specific user's application function.
From above-mentioned example VCM of the present invention as can be seen is a process control platform based on communication, and the method for designing of at present popular embedded system is adopted in its design, and its scheme characteristics are:
Processor adopting is popular 32 embedded communication processors of high speed (Intel Xscale IXP425) at present, and dominant frequency reaches 533MHz, to guarantee the powerful communications and data disposal ability of VCM;
Embedded popular real-time multi-task operating system is to guarantee the reliability and the real-time of software;
The Soft PLC application programming interface and the developing instrument (ISaGRAF) that satisfy the IEC61131-3 standard are provided, greatly make things convenient for the exploitation of application program;
Provide multiple field-bus interface (MVB, RS485 and Ethernet etc.), by combine the configuration of convenient various application systems and system integration exploitation with various remote I/O devices;
Adopt the mechanical structure of distributed power source and standalone module, further improve the reliability and the cost performance of system, greatly convenient on-the-spot I﹠M.
Claims (3)
1. a locomotive/vehicle control, diagnosis and Communications Management Units adopt embedded real-time multi-task operating system and high speed embedded communication processor, will communicate by letter and controlled function be placed in the processor; Memory adopts the NOR FLASH of big memory space to combine with NAND FLASH, wherein NOR FLASH realizes procedure stores and failure logging, NAND FLASH realizes failure logging, adopt big capacity synchronous dynamic random access memory SDRAM, the SDRAM bus speed is 133MHZ, with the communications and data disposal ability that has guaranteed that vehicle control module VCM is powerful; Simultaneously, provide multiple field-bus interface, by combine the configuration of convenient various application systems and system integration exploitation with various remote I/O devices; The hardware system of described VCM is an embedded system based on microprocessor, and its structure mainly comprises: cpu subsystem; Memory sub-system; Multifunction vehicle bus MVB communication subsystem; Power subsystem and other communications interface subsystems; Each subsystem is finished VCM external all communications and controlled function under the coordination and control of CPU; Software development is adopted real-time multi-task operating system and is met the applied software development instrument of industrial standard; Described cpu subsystem comprises CPU module and supervision, real-time timepiece chip RTC calendar clock interface circuit; Described memory sub-system is as the storage of CPU program, data, according to the function of VCM, for CPU provides memory configurations; Described multifunction vehicle bus MVB communication subsystem hardware provides interface channel with the MVB bus for VCM, and it comprises communication memory, cpu i/f buffering and control logic and the MVB bus physical layer interface of MVB communication controler, 1M byte; Described power subsystem provides the power supply of 5V, 3.3V and 1.3V for whole VCM; Described other communications interface subsystem is meant the external communication interface of other CPU except that the MVB communication interface, with external communication, the debug function of expansion VCM; It is characterized in that: the VCM software system design adopts the modularization hierarchy: the bottom-up device drive layer that is followed successively by, operating system nucleus, the user task layer, the applied software development tool software PLC process controller ISaGRAF virtual machine that meets industrial standard, the applied software development instrument ISaGRAF application program that meets industrial standard, wherein, described device drive layer is as the bottom of systems soft ware, for operating system nucleus and user task layer provide the standard that hardware device is conducted interviews driving interface, device drive layer comprises: graphic memory model FMM file management driver, scratch pad memory FLASH RAW reads and writes driver, the RTC driver, serial port drive program and ethernet driver; Described operating system nucleus is responsible for the user task on scheduling, the MOS as the core of VCM software, and the VCM software systems are selected real-time multi-task operating system and FLASH file system thereof for use, with real-time and the reliability of guaranteeing software systems; Described user task layer mainly comprises MVB link layer task, MVB real-time protocol (RTP), MVB network management and other application task, each user task is finished the specific application function of user according to the predefined task priority of user under the unified scheduling of operating system; Described ISaGRAF virtual machine is as a kind of special user task, be responsible for to the explanation of ISaGRAF application program carry out, with the terminal of debug terminal communicate by letter and with the interface of other application task; Described ISaGRAF application program is as the top layer of VCM software configuration, the ISaGRAF application program is the target independent code by the ISaGRAF programming tool exploitation of supporting IEC61131-3 standard industry process control programming language, the target independent code is explained by the ISaGRAF virtual machine and is carried out, and the application programming interface API and the bottom user task interface that provide by the ISaGRAF virtual machine, thereby finish specific user's application function.
2. device as claimed in claim 1 is characterized in that: described CPU module is a flush bonding processor; Described monitoring interface comprises that mainly supply voltage monitoring circuit, general status indication, VCM internal temperature monitor and warning output; Described memory sub-system provides nonvolatile memory FLASH and dynamic volatile memories SDRAM for CPU; Described MVB communication controler adopts the MVBC01 chip, and VCM has process data, message data and monitoring data communication capacity as MVB 4 kind equipments, and support software is downloaded and MVB bus manager function; Described communication memory capacity is the 1M byte, and maximum 4095 process data ports can be provided; Maximum 4095 equipment addressable ports that are used for the accepting device status poll; The storage space that is used for message queue and MVB prime frame is freely disposed by the user; Described buffering and control logic mainly realize level conversion, the bus signals buffering and visit timing control logic of CPU visit MVBC01 and communication memory TM; Described MVB bus physical layer interface is the moderate distance electrical interface based on RS485 that VCM provides a redundancy, and by software setting, VCM both can be operated in redundant mode or non-redundant mode; Described other communications interface subsystem comprises the RS232 interface of a non-isolation, the RS485 interface that photoelectricity is isolated, a 10/100M Ethernet interface.
3. device as claimed in claim 1 is characterized in that: described nonvolatile memory FLASH disposes the FLASH of different capabilities according to the function difference; FLASH adopts the combination of NOR FLASH and NAND FLASH respectively according to the function difference; The SDRAM memory is used for the dynamic load of program, and a large amount of intermediate data is temporary.
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| CN102183952B (en) * | 2011-03-28 | 2012-09-05 | 杭州电子科技大学 | Method for diagnosing embedded nonfatal fault in PLC (programmable logic controller) |
| JP2014058210A (en) * | 2012-09-18 | 2014-04-03 | Hitachi Automotive Systems Ltd | Vehicle control device and vehicle control system |
| FR3033429B1 (en) * | 2015-03-04 | 2018-08-03 | Continental Automotive France | MICROCONTROLLER WITH A DIAGNOSTIC MODULE AND METHOD OF ACCESSING THE MODULE OF THE MICROCONTROLLER |
| CN106843807A (en) * | 2016-12-22 | 2017-06-13 | 天津力神特种电源科技股份公司 | The adjustment method that vehicle-mounted Li-ion batteries piles are quickly analyzed and positioned |
| CN117631639B (en) * | 2023-09-13 | 2024-07-16 | 上海可耐德智能科技有限公司 | Cross-platform vehicle diagnosis system |
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| CN1897623A (en) | 2007-01-17 |
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