WO2017190482A1 - 车辆的电控系统的数据存储方法及电控系统 - Google Patents

车辆的电控系统的数据存储方法及电控系统 Download PDF

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Publication number
WO2017190482A1
WO2017190482A1 PCT/CN2016/104120 CN2016104120W WO2017190482A1 WO 2017190482 A1 WO2017190482 A1 WO 2017190482A1 CN 2016104120 W CN2016104120 W CN 2016104120W WO 2017190482 A1 WO2017190482 A1 WO 2017190482A1
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Prior art keywords
electronic control
variable
control unit
control units
units
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PCT/CN2016/104120
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English (en)
French (fr)
Inventor
韩斌
余军
代康伟
王亮
赵磊
吕玉军
曹文峰
马丽娜
佟世蒙
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北京新能源汽车股份有限公司
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Priority to EP16901004.8A priority Critical patent/EP3454153B1/en
Publication of WO2017190482A1 publication Critical patent/WO2017190482A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
    • G05B23/021—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system adopting a different treatment of each operating region or a different mode of the monitored system, e.g. transient modes; different operating configurations of monitored system
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0426—Programming the control sequence
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
    • G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/23—Pc programming
    • G05B2219/23345—Memory is eeprom
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/24—Pc safety
    • G05B2219/24065—Real time diagnostics

Definitions

  • the present invention relates to the field of automotive technology, and in particular, to a data storage method and an electronic control system for an electronic control system of a vehicle.
  • each controller stores its own required parameters during the working process and during the power-off process.
  • a first object of the present invention is to provide a data storage method for an electronic control system of a vehicle.
  • the method can realize sharing of hardware resources (such as respective storage units), improve resource utilization of the electronic control system, reduce costs, and improve reliability of variable storage.
  • a second object of the present invention is to provide an electronic control system for a vehicle.
  • the electronic control system includes a plurality of electronic control units, and the plurality of electronic control units communicate by a bus, the method includes the following steps: a first one of the plurality of electronic control units writes a first variable, and sends a storage to the other electronic control unit except the first electronic control unit Requesting a message, in addition to the first electronic control of the plurality of electronic control units The other electronic control unit outside the unit determines whether the first variable is allowed to be stored, and sends a first response message to the first electronic control unit; the first electronic control unit is configured according to the first response message.
  • Determining that one or more electronic control units permit storing the first variable transmitting a data frame to the one or more electronic control units, such that the one or more electronic control units write data in the data frame And a node number, and feeding back to the first electronic control unit, wherein the data in the data frame includes a variable number and a variable value of the first variable; the first electronic control unit according to the feedback A corresponding node number and a variable number of the first variable are written into the first electronic control unit.
  • each electronic control unit can realize sharing of hardware resources (such as respective storage units), thereby improving resource utilization of the electronic control system, reducing costs, and improving variable storage. Reliability, effectively reduce the probability of EEPROM read and write errors, improve the reliability of EEPROM data.
  • the data storage method of the electronic control system of the vehicle according to the above embodiment of the present invention may further have the following additional technical features:
  • the method further includes: the first electronic control unit of the plurality of electronic control units reads the node number, the variable number, and the variable value, and divide the first one of the plurality of electronic control units The other electronic control unit sends an read request message, so that the electronic control unit of the plurality of electronic control units except the first electronic control unit determines whether the first electronic control is allowed.
  • the unit reads, and sends a second response message to the first electronic control unit; the first electronic control unit determines, according to the second response message, that the one or more electronic control units allow the first When the control unit reads, send the variable number to the one or more electronic control units, so that the one or more electronic control units read the corresponding variable values and feed back to the first electronic control unit; The first electronic control unit filters the variable values according to the feedback.
  • the method further includes: if the first variable is a specific variable, the first electronic control unit stores the first variable to a plurality of locations when writing the first variable.
  • the plurality of electronic control units each have a memory EEPROM that performs write and read operations from a respective memory EEPROM.
  • the plurality of electronic control units includes at least two of a vehicle controller, a motor controller, a battery management system, and a meter.
  • An embodiment of the second aspect of the present invention discloses an electronic control system for a vehicle, including: a plurality of electronic control units, wherein the plurality of electronic control units communicate via a bus, wherein the first of the plurality of electronic control units
  • the electronic control unit is configured to send, when the first variable is written, a storage request message to the other electronic control unit except the first electronic control unit, so that the plurality of electronic control units
  • the electronic control unit other than the first electronic control unit determines whether the first variable is allowed to be stored, and sends a first response message to the first electronic control unit, and according to the first response Determining, when the one or more electronic control units allow the first variable to be stored, transmitting a data frame to the one or more electronic control units, so that the one or more electronic control units write into the data frame Data and node number, and to the first electronic control unit Line feedback, wherein the data in the data frame includes a variable number and a variable value of the first variable, and the corresponding node number and the variable number of the first variable are
  • each electronic control unit can realize sharing of hardware resources (such as respective storage units), thereby improving resource utilization of the electronic control system, reducing costs, and improving reliability of variable storage. Effectively reduce the probability of EEPROM read and write errors, improve the reliability of EEPROM data.
  • the electronic control system of the vehicle according to the above embodiment of the present invention may further have the following additional technical features:
  • the first electronic control unit is further configured to: in addition to the first electronic control unit, the plurality of electronic control units when reading the node number, the variable number, and the variable value
  • the electronic control unit sends a read request message, so that the electronic control unit other than the first electronic control unit of the plurality of electronic control units determines whether the first electronic control unit is allowed to read, and Sending a second response message to the first electronic control unit, and determining, according to the second response message, that one or more electronic control units allow the first electronic control unit to read, to the one or more
  • the electronic control unit sends the variable number so that the one or more electronic control units read the corresponding variable value, and feeds back to the first electronic control unit, and filters the variable value according to the feedback.
  • the first electronic control unit stores the first variable to a plurality of locations when the first variable is written.
  • the plurality of electronic control units each have a memory EEPROM that performs write and read operations from a respective memory EEPROM.
  • the plurality of electronic control units includes at least two of a vehicle controller, a motor controller, a battery management system, and a meter.
  • a third object of embodiments of the present invention is to provide an apparatus comprising: one or more processors; a memory; one or more programs, the one or more programs being stored in the memory when When one or more processors are executed, the data storage method of the electronic control system of the vehicle described in the above embodiments is executed.
  • a fourth object of an embodiment of the present invention is to provide a nonvolatile computer storage medium storing one or more programs, when the one or more programs are executed by one device,
  • the apparatus performs a data storage method of an electronic control system of a vehicle of the above-described embodiment of the present invention.
  • each electronic control unit can realize sharing of hardware resources (such as respective storage units), thereby improving resource utilization of the electronic control system, reducing cost, and improving reliability of variable storage, thereby effectively reducing EEPROM read and write errors.
  • the probability of improving the reliability of EEPROM data is a probability of improving the reliability of EEPROM data.
  • FIG. 1 is a flow chart of a data storage method of an electronic control system for a vehicle according to an embodiment of the present invention
  • FIG. 2 is a first schematic diagram showing a storage phase of a data storage method of an electronic control system for a vehicle according to an embodiment of the present invention
  • FIG. 3 is a second schematic diagram of a storage phase of a data storage method of an electronic control system for a vehicle according to an embodiment of the present invention
  • FIG. 4 is a third schematic diagram of a storage phase of a data storage method of an electronic control system for a vehicle according to an embodiment of the present invention.
  • FIG. 5 is a fourth schematic diagram of a storage phase of a data storage method of an electronic control system for a vehicle according to an embodiment of the present invention.
  • FIG. 6 is a fifth schematic diagram of a storage phase of a data storage method of an electronic control system for a vehicle according to an embodiment of the present invention.
  • FIG. 7 is a sixth schematic diagram of a storage phase of a data storage method of an electronic control system for a vehicle according to an embodiment of the present invention.
  • FIG. 8 is a seventh schematic diagram of a storage phase of a data storage method of an electronic control system for a vehicle according to an embodiment of the present invention.
  • FIG. 9 is an eighth schematic diagram of a storage phase of a data storage method of an electronic control system for a vehicle according to an embodiment of the present invention.
  • FIG. 10 is a ninth schematic diagram of a storage phase of a data storage method of an electronic control system for a vehicle according to an embodiment of the present invention.
  • FIG. 11 is a first schematic diagram of a reading stage of a data storage method of an electronic control system of a vehicle according to an embodiment of the present invention
  • FIG. 12 is a second schematic diagram of a reading stage of a data storage method of an electronic control system of a vehicle according to an embodiment of the present invention.
  • FIG. 13 is a third schematic diagram of a reading stage of a data storage method of an electronic control system of a vehicle according to an embodiment of the present invention.
  • FIG. 14 is a fourth reading stage of a data storage method of an electronic control system for a vehicle according to an embodiment of the present invention.
  • 15 is a fifth schematic diagram of a reading stage of a data storage method of an electronic control system for a vehicle according to an embodiment of the present invention.
  • 16 is a sixth schematic diagram of a reading stage of a data storage method of an electronic control system of a vehicle according to an embodiment of the present invention.
  • FIG. 1 is a flow chart of a data storage method of an electronic control system of a vehicle in accordance with one embodiment of the present invention.
  • a data storage method for an electronic control system of a vehicle includes: a plurality of electronic control units, wherein the plurality of electronic control units communicate via a bus, for example, communicating via a CAN bus.
  • the method includes the following steps:
  • the first electronic control unit of the plurality of electronic control units writes the first variable, and sends a storage request message to the other electronic control units except the first electronic control unit, so that the plurality of electrical
  • the electronic control unit other than the first electronic control unit determines whether the first variable is allowed to be stored and sends the first response message to the first electronic control unit.
  • the first electronic control unit of the plurality of electronic control units determines, according to the first response message, that one or more electronic control units are allowed to store the first variable, and the plurality of electronic control units are other than the first electronic control unit.
  • the one or more electronic control units send data frames, so that one or more electronic control units of the plurality of electronic control units except the first electronic control unit write data and node numbers in the data frame, and the first electronic control The unit performs feedback, wherein the data in the data frame includes the variable number and the variable of the first variable Measured value.
  • the first electronic control unit of the plurality of electronic control units writes the corresponding node number and the variable number of the first variable into the first electronic control unit according to the feedback.
  • the plurality of electronic control units each have a respective memory EEPROM, and the plurality of electronic control units perform writing and reading operations from the respective memory EEPROMs.
  • the plurality of electronic control units include, but are not limited to, at least two of a vehicle controller, a motor controller, a battery management system, and a meter.
  • the first electronic control unit is described in detail by taking the vehicle controller and other electronic control units with a motor controller, a battery management system, and a meter as an example.
  • variable A For the variable A to be stored, it is stored in different pages of the local EEPROM. As shown in FIG. 2, if the first variable (ie, variable A) is a specific variable, the first electronic control unit will write the first variable when A variable is stored in multiple points. That is to say, for the important variable A to be stored, multiple points need to be stored in each page of the local EEPROM, that is, stored in multiple locations. For EEPROM, there are multiple pages in the EEPROM. .
  • the VCU When an electronic control unit has a storage EEPROM requirement, for example, the VCU needs to store the variable A, and first needs to store it in the corresponding address of the local EEPROM. If the variable is an important variable, multiple pages of storage are required.
  • An example is shown in Figure 4.
  • the VCU first stores the variable A into its own off-chip EEPROM via spi.
  • the VCU sends a message ID_1 to the bus. Its byte0 bit0 is set to 1 to request the use of other controller EEPROM flags.
  • the number of variable bytes to apply for using EEPROM ranging from 0 to 255.
  • An example is shown in Figure 5, where the VCU sends a storage EEPROM request to the bus.
  • each controller When each controller receives the ID_1 request message sent by the VCU, it starts to evaluate the current controller status and returns the respective message ID_2---ID_n, whose byte0 bit1 is the acknowledge bit, and 0 means that it is allowed to share its own EEPROM resource. 1 means rejecting the shared EEPROM. Its byte1 indicates the number of bytes that it is allowed to use. As shown in Figure 6, each controller responds to the request of the VCU according to its own situation.
  • the VCU In the received response message of each controller, if the VCU finds a positive response, the VCU starts to broadcast the data frame through the message ID_n+1.
  • the data frame format is byte0 as the variable number, and byte1 is the variable value corresponding to the variable number.
  • the VCU starts broadcasting data frames on the bus as long as it receives a positive acknowledgement.
  • the nodes that have responded positively start to store the request node number, variable number and variable value into their respective EEPROMs. For example, as shown in Figure 8, the nodes that have acknowledged before the bus are received. To VCU After the data is broadcast, the relevant information is written to its own EEPROM.
  • each node When storing, each node feeds back its storage status to the VCU through its ID_2---ID_n.
  • byte0 bit2-3 indicates four states: 0: standby; 1: storage is complete; 2: storage is in progress; 3: storage failure .
  • Byte0 bit 4-7 indicates the type of failure that the storage failed. An example is shown in Figure 9. Each node feeds back the stored state and fault type to the VCU.
  • the VCU writes the stored node number and variable number to the adjacent address of the variable address according to the storage condition fed back by each node. For example, as shown in FIG. 10, the VCU writes the node number and the variable number according to the storage condition fed back by each node. Into your own EEPROM. At this point, the EEPROM mechanism is written off-site.
  • each electronic control unit can realize sharing of hardware resources (such as respective storage units), thereby improving resource utilization of the entire new energy electronic control system, reducing costs, and capable of Improve the reliability of variable storage, effectively reduce the probability of EEPROM read and write errors, and improve the reliability of EEPROM data.
  • hardware resources such as respective storage units
  • the data storage method of the electronic control system of the vehicle further includes: the first electronic control unit of the plurality of electronic control units reads the node number, the variable number, and the variable value, and The electronic control unit of the plurality of electronic control units except the first electronic control unit sends a read request message, so that the electronic control unit other than the first electronic control unit of the plurality of electronic control units determines whether the electronic control unit allows The first electronic control unit performs reading, and sends a second response message to the first electronic control unit; the first electronic control unit determines, according to the second response message, a plurality of electronic control units One or more electronic control units outside an electronic control unit allow the first electronic control unit to read, and send variable numbers to one or more electronic control units other than the first electronic control unit among the plurality of electronic control units So that the one or more electronic control units read the corresponding variable values and feed back to the first electronic control unit; the first electronic control unit filters the variable values according to the feedback.
  • the following first electronic control unit uses a vehicle controller, other electronic control unit, and a motor controller, a battery management system, and a meter as an example for detailed description, that is, an off-site read EEPROM mechanism description.
  • the VCU When an electronic control unit has the requirement to read the EEPROM, for example, the VCU needs to read the variable A.
  • the node number, variable number and variable value of the variable need to be read at the corresponding address of the local EEPROM, if the variable is an important variable. , you need to read the variable from multiple pages and check it to ensure its reliability.
  • An example is shown in Figure 11.
  • the VCU first reads the node number, variable number, and variable value of the variable A from its own off-chip EEPROM via spi.
  • the VCU will send the message ID_1 to the bus.
  • Its byte2 bit0 is set to 1 to request to read the EEPROM flag from other controllers.
  • Its byte3 indicates the number of variable bytes used to apply for the EEPROM, ranging from 0 to 255.
  • An example is shown in Figure 12, where the VCU sends a read EEPROM request to the bus.
  • each controller When each controller receives the ID_1 request message sent by the VCU, it starts to evaluate the current controller status and returns the respective message ID_2---ID_n, whose byte2 bit1 is the acknowledge bit, and 0 indicates that it is allowed to read its own EEPROM resource. , 1 means to refuse to read the EEPROM. Its byte3 indicates the number of bytes that it is allowed to read. The example is shown in Figure 13. The controller responds to the request of the VCU according to its own situation.
  • the VCU In the received response message of each controller, if the VCU finds a positive response, the VCU starts to broadcast the data frame through the message ID_n+1.
  • the data frame format is byte0 as the variable number, byte1 is 0, and so on.
  • the VCU starts broadcasting a data frame on the bus as long as it can receive a positive acknowledgement, and broadcasts the variable number to be read.
  • each node feeds back to the VCU through its respective ID_2---ID_n, and byte2 bit2-3 indicates four states: 0: standby; 1: reading is completed; 2: reading is in progress; 3: The read failed.
  • Byte2 bit 4-7 indicates the type of failure that the read failed.
  • the node starts to broadcast the data frame through the message ID_n+2——ID_n+m, and the data frame format is byte0 as the variable number, and byte1 is the read variable value. Analogously, an example is shown in Figure 16.
  • Each node feeds back the read status and fault type to the VCU. If the reading is completed, the read variable number and variable value need to be sent at the same time.
  • the VCU filters the values of the variables fed back by each node according to the reading conditions fed back by each node, and selects the value with the best reliability. At this point, the EEPROM read mechanism is completed.
  • each node for the exception processing, during the storage and reading process of each node, it is necessary to monitor the loss of communication of each node on the can line at any time. When a node loses communication, it indicates that the node stores and The read EEPROM value is invalid. If the node feedback read or storage failure occurs, the node data is also discarded.
  • each electronic control unit can realize sharing of hardware resources (such as respective storage units), thereby improving resource utilization of the entire new energy electronic control system, reducing costs, and capable of Improve the reliability of variable storage, effectively reduce the probability of EEPROM read and write errors, and improve the reliability of EEPROM data.
  • hardware resources such as respective storage units
  • the electronic control system of the vehicle of the embodiment of the present invention includes: a plurality of electronic control units, wherein the plurality of electronic control units communicate via a bus, for example, via a CAN bus, wherein the first of the plurality of electronic control units
  • the electronic control unit is configured to send a storage request message to the other electronic control units except the first electronic control unit when the first variable is written, so that the first electronic control unit is included in the plurality of electronic control units
  • the other electronic control unit outside the unit determines whether the first variable is allowed to be stored, and sends a first response message to the first electronic control unit, and determines one or more electric powers according to the first response message.
  • the control unit when storing the first variable, transmits a data frame to the one or more electronic control units, so that the one or more electronic control units write data and node numbers in the data frame, and
  • the first electronic control unit performs feedback, wherein the data in the data frame includes a variable number and a variable value of the first variable, and according to the feedback
  • the corresponding node number and the variable number of the first variable are written into the first electronic control unit.
  • the first electronic control unit of the plurality of electronic control units is further configured to divide the first electrical power into the plurality of electronic control units when reading the node number, the variable number, and the variable value.
  • the other electronic control unit sends a read request message, so that the other electronic control unit except the first electronic control unit determines whether the first electronic control unit is allowed to read. And sending a second response message to the first electronic control unit, and determining, according to the second response message, that one or more electronic control units allow the first electronic control unit to read, to the one or Transmitting, by the plurality of electronic control units, the variable number, so that the one or more electronic control units read the corresponding variable value, and feedback to the first electronic control unit, and filter the variable value according to the feedback .
  • the first electronic control unit stores the first variable in multiple points when writing the first variable, that is, storing To multiple locations, for EEPROM, there are multiple pages in the EEPROM.
  • the plurality of electronic control units each have a memory EEPROM, and the plurality of electronic control units perform write and read operations from respective memory EEPROMs.
  • the plurality of electronic control units include at least two of a vehicle controller, a motor controller, a battery management system, and a meter.
  • each electronic control unit can realize sharing of hardware resources (such as respective storage units), thereby improving resource utilization of the entire new energy electronic control system, reducing costs, and improving variable storage. Reliability, effectively reduce the probability of EEPROM read and write errors, and improve the reliability of EEPROM data.
  • Embodiments of the present invention also disclose an apparatus comprising: one or more processors; a memory; one or more programs, the one or more programs being stored in the memory when the one or more When the processors are executed, the data storage method of the electronic control system of the vehicle as described in the above embodiments is executed.
  • Embodiments of the present invention also disclose a non-volatile computer storage medium storing one or more programs that, when executed by a device, cause the device to perform the operations described in the above embodiments.
  • portions of the invention may be implemented in hardware, software, firmware or a combination thereof.
  • a plurality of steps or methods may be implemented by software stored in a memory and executed by a suitable instruction execution system or Firmware to achieve.
  • a suitable instruction execution system or Firmware to achieve.
  • it can be implemented by any one or combination of the following techniques well known in the art: having logic gates for implementing logic functions on data signals. Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

Abstract

一种车辆的电控系统的数据存储方法及电控系统，该方法包括：第一电控单元写入第一变量，并向其它的电控单元发送存储请求报文，以便其它的电控单元判断是否允许存储第一变量，并向第一电控单元发送第一应答报文(S101)；第一电控单元根据第一应答报文判断一个或多个电控单元允许存储第一变量时，向一个或多个电控单元发送数据帧，以便一个或多个电控单元写入数据帧中的数据和节点号，并向第一电控单元进行反馈，其中，数据帧中的数据包括第一变量的变量号和变量值(S102)；第一电控单元根据反馈将相应的节点号和第一变量的变量号写入第一电控单元中(S103)。本方法可以实现硬件资源的共享，提高电控系统资源利用率并提高变量存储的可靠性。

Description

车辆的电控系统的数据存储方法及电控系统
相关申请的交叉引用
本申请要求北京新能源汽车股份有限公司于2016年5月3日提交的、发明名称为“车辆的电控系统的数据存储方法及电控系统”的、中国专利申请号为“201610285928.8”的优先权。
技术领域
本发明涉及汽车技术领域，特别涉及一种车辆的电控系统的数据存储方法及电控系统。
背景技术
目前，在车辆(如电动汽车)的电控系统中，包括若干个电控单元，例如整车控制器，电机控制器，电池管理系统等，电控单元主要通过总线(如CAN总线)进行信息交互，但是，各个控制器的硬件资源处于各自孤立的状态，以EEPROM的存储为例，各个控制器在工作过程中及下电过程中，对自己需要的参数进行各自存储。
但是，有时候控制器在运行或者下电存储EEPROM时，存在EEPROM存储失败或错误的情况，导致这种情况发生的原因是多方面的，例如，EEPROM某个存储单元失效，或由于存储数据量较大引起调度周期混乱，或由于读写校验故障导致存储的EEPROM数据失效等。这会直接导致某些关键变量读取数据的失效，例如电池管理系统的累积充放电容量、核电状态、续驶里程等，进而，影响车辆安全和用户体验。
发明内容
本发明的第一个目的在于提出一种车辆的电控系统的数据存储方法。该方法可以实现硬件资源(如各自存储单元)的共享，提高电控系统资源利用率，降低成本，并提高变量存储的可靠性。
本发明的第二个目的在于提出一种车辆的电控系统。
为了实现上述目的，本发明的第一方面实施例的车辆的电控系统的数据存储方法，所述电控系统包括多个电控单元，所述多个电控单元通过总线通信，所述方法包括以下步骤：所述多个电控单元中的第一电控单元写入第一变量，并向所述多个电控单元中除所述第一电控单元外其它的电控单元发送存储请求报文，以便所述多个电控单元中除所述第一电控 单元外其它的所述电控单元判断是否允许存储所述第一变量，并向所述第一电控单元发送第一应答报文；所述第一电控单元根据所述第一应答报文判断一个或多个电控单元允许存储所述第一变量时，向所述一个或多个电控单元发送数据帧，以便所述一个或多个电控单元写入所述数据帧中的数据和节点号，并向所述第一电控单元进行反馈，其中，所述数据帧中的数据包括所述第一变量的变量号和变量值；所述第一电控单元根据所述反馈将相应的节点号和所述第一变量的变量号写入所述第一电控单元中。
根据本发明实施例的车辆的电控系统的数据存储方法，各个电控单元可以实现硬件资源(如各自存储单元)的共享，从而提高电控系统资源利用率，降低成本，并能够提高变量存储的可靠性，有效降低如EEPROM读写错误的概率，提高EEPROM数据的可靠性。
另外，根据本发明上述实施例的车辆的电控系统的数据存储方法还可以具有如下附加的技术特征：
在一些示例中，还包括：所述多个电控单元中的第一电控单元读取所述节点号、变量号和变量值，并向所述多个电控单元中除所述第一电控单元外其它的电控单元发送读取请求报文，以便所述多个电控单元中除所述第一电控单元外其它的所述电控单元判断是否允许所述第一电控单元进行读取，并向所述第一电控单元发送第二应答报文；所述第一电控单元根据所述第二应答报文判断一个或多个电控单元允许所述第一电控单元读取时，向所述一个或多个电控单元发送变量号，以便所述一个或多个电控单元读取相应的变量值，并向所述第一电控单元进行反馈；所述第一电控单元根据所述反馈对所述变量值进行筛选。
在一些示例中，还包括：如果所述第一变量为特定变量，则所述第一电控单元在写入所述第一变量时将所述第一变量存储至多个位置。
在一些示例中，所述多个电控单元均具有存储器EEPROM，所述多个电控单元从各自的存储器EEPROM进行写入和读取操作。
在一些示例中，所述多个电控单元包括整车控制器、电机控制器、电池管理系统和仪表中的至少两个。
本发明第二方面的实施例公开了一种车辆的电控系统，包括：多个电控单元，所述多个电控单元通过总线通信，其中，所述多个电控单元中的第一电控单元用于在写入第一变量时，向所述多个电控单元中除所述第一电控单元外其它的电控单元发送存储请求报文，以便所述多个电控单元中除所述第一电控单元外其它的所述电控单元判断是否允许存储所述第一变量，并向所述第一电控单元发送第一应答报文，并根据所述第一应答报文判断一个或多个电控单元允许存储所述第一变量时，向所述一个或多个电控单元发送数据帧，以便所述一个或多个电控单元写入所述数据帧中的数据和节点号，并向所述第一电控单元进 行反馈，其中，所述数据帧中的数据包括所述第一变量的变量号和变量值，以及根据所述反馈将相应的节点号和所述第一变量的变量号写入所述第一电控单元中。
根据本发明实施例的车辆的电控系统，各个电控单元可以实现硬件资源(如各自存储单元)的共享，从而提高电控系统资源利用率，降低成本，并能够提高变量存储的可靠性，有效降低如EEPROM读写错误的概率，提高EEPROM数据的可靠性。
另外，根据本发明上述实施例的车辆的电控系统还可以具有如下附加的技术特征：
在一些示例中，所述第一电控单元还用于在读取所述节点号、变量号和变量值时，向所述多个电控单元中除所述第一电控单元外其它的电控单元发送读取请求报文，以便所述多个电控单元中除所述第一电控单元外其它的所述电控单元判断是否允许所述第一电控单元进行读取，并向所述第一电控单元发送第二应答报文，并根据所述第二应答报文判断一个或多个电控单元允许所述第一电控单元读取时，向所述一个或多个电控单元发送变量号，以便所述一个或多个电控单元读取相应的变量值，并向所述第一电控单元进行反馈，以及根据所述反馈对所述变量值进行筛选。
在一些示例中，如果所述第一变量为特定变量，则所述第一电控单元在写入所述第一变量时将所述第一变量存储至多个位置。
在一些示例中，所述多个电控单元均具有存储器EEPROM，所述多个电控单元从各自的存储器EEPROM进行写入和读取操作。
在一些示例中，所述多个电控单元包括整车控制器、电机控制器、电池管理系统和仪表中的至少两个。
本发明实施例的第三个目的在于提供一种设备，包括：一个或者多个处理器；存储器；一个或者多个程序，所述一个或者多个程序存储在所述存储器中，当被所述一个或者多个处理器执行时，执行上述实施例所述的车辆的电控系统的数据存储方法。
本发明实施例的第四个目的在于提供一种非易失性计算机存储介质，所述计算机存储介质存储有一个或者多个程序，当所述一个或者多个程序被一个设备执行时，使得所述设备执行本发明上述实施例的车辆的电控系统的数据存储方法。
本发明实施例，各个电控单元可以实现硬件资源(如各自存储单元)的共享，从而提高电控系统资源利用率，降低成本，并能够提高变量存储的可靠性，有效降低如EEPROM读写错误的概率，提高EEPROM数据的可靠性。
本发明附加的方面的优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实践了解到
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是根据本发明一个实施例的车辆的电控系统的数据存储方法的流程图；
图2是根据本发明一个实施例的车辆的电控系统的数据存储方法存储阶段的第一个示意图；
图3是根据本发明一个实施例的车辆的电控系统的数据存储方法存储阶段的第二个示意图；
图4是根据本发明一个实施例的车辆的电控系统的数据存储方法存储阶段的第三个示意图；
图5是根据本发明一个实施例的车辆的电控系统的数据存储方法存储阶段的第四个示意图；
图6是根据本发明一个实施例的车辆的电控系统的数据存储方法存储阶段的第五个示意图；
图7是根据本发明一个实施例的车辆的电控系统的数据存储方法存储阶段的第六个示意图；
图8是根据本发明一个实施例的车辆的电控系统的数据存储方法存储阶段的第七个示意图；
图9是根据本发明一个实施例的车辆的电控系统的数据存储方法存储阶段的第八个示意图；
图10是根据本发明一个实施例的车辆的电控系统的数据存储方法存储阶段的第九个示意图；
图11是根据本发明一个实施例的车辆的电控系统的数据存储方法读取阶段的第一个示意图；
图12是根据本发明一个实施例的车辆的电控系统的数据存储方法读取阶段的第二个示意图；
图13是根据本发明一个实施例的车辆的电控系统的数据存储方法读取阶段的第三个示意图；
图14是根据本发明一个实施例的车辆的电控系统的数据存储方法读取阶段的第四个 示意图；
图15是根据本发明一个实施例的车辆的电控系统的数据存储方法读取阶段的第五个示意图；以及
图16是根据本发明一个实施例的车辆的电控系统的数据存储方法读取阶段的第六个示意图。
具体实施方式
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本发明，而不能理解为对本发明的限制。相反，本发明的实施例包括落入所附加权利要求书的精神和内涵范围内的所有变化、修改和等同物。
在本发明的描述中，需要理解的是，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性。在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。此外，在本发明的描述中，除非另有说明，“多个”的含义是两个或两个以上。
以下结合附图描述根据本发明实施实例的车辆的电控系统的数据存储方法及电控系统。
图1是根据本发明一个实施例的车辆的电控系统的数据存储方法的流程图。
如图1所示，根据本发明一个实施例的车辆的电控系统的数据存储方法，电控系统包括多个电控单元，多个电控单元通过总线通信，例如：通过CAN总线通信，该方法包括如下步骤：
S101：多个电控单元中的第一电控单元写入第一变量，并向多个电控单元中除第一电控单元外其它的电控单元发送存储请求报文，以便多个电控单元中除第一电控单元外其它的电控单元判断是否允许存储第一变量，并向第一电控单元发送第一应答报文。
S102：多个电控单元中的第一电控单元根据第一应答报文判断一个或多个电控单元允许存储第一变量时，向多个电控单元中除第一电控单元外的一个或多个电控单元发送数据帧，以便多个电控单元中除第一电控单元外的一个或多个电控单元写入数据帧中的数据和节点号，并向第一电控单元进行反馈，其中，数据帧中的数据包括第一变量的变量号和变 量值。
S103：多个电控单元中的第一电控单元根据反馈将相应的节点号和第一变量的变量号写入第一电控单元中。
其中，多个电控单元均具有各自的存储器EEPROM，多个电控单元从各自的存储器EEPROM进行写入和读取操作。多个电控单元包括但不限于整车控制器、电机控制器、电池管理系统和仪表中的至少两个。
下面第一电控单元以整车控制器、其它电控单元以电机控制器、电池管理系统和仪表为例进行详细说明。
整车控制器的本地EEPROM的存储管理：
对于待存变量A，在本地EEPROM的不同页进行存储，如图2所示，如果第一变量(即：变量A)为特定变量，则第一电控单元在写入第一变量时将第一变量进行多点存储，也就是说，对于重要的待存变量A，需要在本地EEPROM各页中多点存储，即：存储至多个位置，对于EEPROM而言，存在在EEPROM的多个页中。
各电控单元之间EEPROM资源共享机制：
异地写EEPROM机制。其中，电控系统的示意图如图3所示，CAN总线上挂着若干电控单元，每个电控单元拥有自己的EEPROM硬件资源。
当某一个电控单元有存储EEPROM需求的时候，例如VCU需要存储变量A，首先需要在本地EEPROM相应地址存储，如果该变量为重要变量，则需要多页存储。示例如图4所示，VCU首先将变量A通过spi存入自己的片外EEPROM；同时VCU会向总线发送报文ID_1，其byte0 bit0置1表示请求使用其他控制器EEPROM标志位，其byte1表示申请使用EEPROM的变量字节数，范围为0-255个。示例如图5所示，VCU向总线发送存储EEPROM申请。
当各控制器收到VCU发送的ID_1请求报文，开始各自评估当前控制器状态，并返回各自的报文ID_2---ID_n，其byte0 bit1为应答位，0表示允许共享自己的EEPROM资源，1表示拒绝共享EEPROM。其byte1则表示自己允许使用的字节数，示例如图6所示，各控制器根据自身情况对VCU的请求作出应答。
VCU在收到的各控制器应答报文中，如果发现有肯定应答，则开始通过报文ID_n+1广播数据帧，其数据帧格式为byte0为变量编号，byte1为变量编号对应的变量值，以此类推，示例如图7所示，VCU只要能收到一帧肯定应答，则开始在总线上广播数据帧。
总线上之前做出肯定应答的各节点收到数据帧后，开始将请求节点编号，变量编号及变量值存入各自的EEPROM，示例如图8所示，总线上之前肯定应答的各节点，收到VCU 的数据广播后，将相关信息写入自己的EEPROM。
各节点在存储时，通过各自的ID_2---ID_n，向VCU反馈各自存储情况，byte0 bit2-3表示四种状态：0：待机；1：存储完成；2：存储进行中；3：存储失败。byte0 bit4-7表示存储失败的故障类型。示例如图9所示，各节点向VCU反馈存储的状态及故障类型。
VCU根据各节点反馈的存储情况，将存储的节点号和变量号写入自己变量地址的相邻地址，示例如图10所示，VCU根据各节点反馈的存储情况，将节点号和变量号写入自己的EEPROM。至此，异地写EEPROM机制完毕。
根据本发明实施例的车辆的电控系统的数据存储方法，各个电控单元可以实现硬件资源(如各自存储单元)的共享，从而提高整个新能源电控系统资源利用率，降低成本，并能够提高变量存储的可靠性，有效降低如EEPROM读写错误的概率，提高EEPROM数据的可靠性。
在本发明的另一示例中，该车辆的电控系统的数据存储方法，还包括：多个电控单元中的第一电控单元读取所述节点号、变量号和变量值，并向多个电控单元中除第一电控单元外其它的电控单元发送读取请求报文，以便多个电控单元中除第一电控单元外其它的所述电控单元判断是否允许所述第一电控单元进行读取，并向所述第一电控单元发送第二应答报文；所述第一电控单元根据所述第二应答报文判断多个电控单元中除第一电控单元外的一个或多个电控单元允许所述第一电控单元读取时，向多个电控单元中除第一电控单元外的一个或多个电控单元发送变量号，以便所述一个或多个电控单元读取相应的变量值，并向所述第一电控单元进行反馈；所述第一电控单元根据所述反馈对所述变量值进行筛选。
具体而言，下面第一电控单元以整车控制器、其它电控单元以电机控制器、电池管理系统和仪表为例进行详细说明，即：异地读EEPROM机制说明。
当某一个电控单元有读取EEPROM需求的时候，例如VCU需要读取变量A，首先需要在本地EEPROM相应地址读取存储该变量的节点号、变量号和变量值，如果该变量为重要变量，则需要从多页中读取该变量，并作校验，确保其可靠性。示例如图11所示，VCU首先将变量A的节点号、变量号、变量值通过spi从自己的片外EEPROM读出。同时VCU会向总线发送报文ID_1，其byte2 bit0置1表示请求从其他控制器读取EEPROM标志位，其byte3表示申请使用EEPROM的变量字节数，范围为0-255个。示例如图12所示，VCU向总线发送读取EEPROM申请。
当各控制器收到VCU发送的ID_1请求报文，开始各自评估当前控制器状态，并返回各自的报文ID_2---ID_n，其byte2 bit1为应答位，0表示允许读取自己的EEPROM资源，1表示拒绝读取EEPROM。其byte3则表示自己允许读取的字节数，示例如图13所示，各控 制器根据自身情况对VCU的请求作出应答。
VCU在收到的各控制器应答报文中，如果发现有肯定应答，则开始通过报文ID_n+1广播数据帧，其数据帧格式为byte0为变量编号，byte1为0，以此类推，示例如图14所示，VCU只要能收到一帧肯定应答，则开始在总线上广播数据帧，广播需要读取的变量编号。
总线上之前做出肯定应答的各节点收到数据帧后，开始根据请求的变量编号从各自的EEPROM中将变量值读出到BUFFER中，示例如图15所示，总线上之前肯定应答的各节点，收到VCU的数据广播后，将相关信息写入自己的EEPROM。
各节点在读取时，通过各自的ID_2---ID_n，向VCU反馈各自读取情况，byte2 bit2-3表示四种状态：0：待机；1：读取完成；2：读取进行中；3：读取失败。byte2 bit4-7表示读取失败的故障类型。当本节点处于读取完成状态时，该节点开始则开始通过报文ID_n+2——ID_n+m广播数据帧，其数据帧格式为byte0为变量编号，byte1为读取的变量值，以此类推，示例如图16所示，各节点向VCU反馈读取的状态、故障类型，如果读取完毕，同时需要发送读取的变量编号及变量值。
VCU根据各节点反馈的读取情况，将各节点反馈的变量值进行筛选，选出可靠性最好的数值使用。至此，异地读EEPROM机制完毕。
在本发明的一个实施例中，对于异常处理而言，各节点存储和读取过程中，需要随时监控can线上各节点通讯丢失的情况，当出现某节点通讯丢失，则表示该节点存储和读取的EEPROM值无效，如出现该节点反馈读取或存储故障，则同样弃用该节点数据。
根据本发明实施例的车辆的电控系统的数据存储方法，各个电控单元可以实现硬件资源(如各自存储单元)的共享，从而提高整个新能源电控系统资源利用率，降低成本，并能够提高变量存储的可靠性，有效降低如EEPROM读写错误的概率，提高EEPROM数据的可靠性。
进一步地，本发明实施例的车辆的电控系统，包括：多个电控单元，多个电控单元通过总线通信，例如通过CAN总线通信，其中，所述多个电控单元中的第一电控单元用于在写入第一变量时，向多个电控单元中除第一电控单元外其它的电控单元发送存储请求报文，以便多个电控单元中除第一电控单元外其它的所述电控单元判断是否允许存储所述第一变量，并向所述第一电控单元发送第一应答报文，并根据所述第一应答报文判断一个或多个电控单元允许存储所述第一变量时，向所述一个或多个电控单元发送数据帧，以便所述一个或多个电控单元写入所述数据帧中的数据和节点号，并向所述第一电控单元进行反馈，其中，所述数据帧中的数据包括所述第一变量的变量号和变量值，以及根据所述反馈将相 应的节点号和所述第一变量的变量号写入所述第一电控单元中。
在本发明的一个实施例中，多个电控单元中的第一电控单元还用于在读取所述节点号、变量号和变量值时，向多个电控单元中除第一电控单元外其它的电控单元发送读取请求报文，以便多个电控单元中除第一电控单元外其它的所述电控单元判断是否允许所述第一电控单元进行读取，并向所述第一电控单元发送第二应答报文，并根据所述第二应答报文判断一个或多个电控单元允许所述第一电控单元读取时，向所述一个或多个电控单元发送变量号，以便所述一个或多个电控单元读取相应的变量值，并向所述第一电控单元进行反馈，以及根据所述反馈对所述变量值进行筛选。
在本发明的一个实施例中，如果所述第一变量为特定变量，则所述第一电控单元在写入所述第一变量时将所述第一变量进行多点存储，即：存储至多个位置，对于EEPROM而言，存在在EEPROM的多个页中。
在本发明的一个实施例中，所述多个电控单元均具有存储器EEPROM，所述多个电控单元从各自的存储器EEPROM进行写入和读取操作。
在本发明的一个实施例中，所述多个电控单元包括整车控制器、电机控制器、电池管理系统和仪表中至少两个。
根据本发明实施例的车辆的电控系统，各个电控单元可以实现硬件资源(如各自存储单元)的共享，从而提高整个新能源电控系统资源利用率，降低成本，并能够提高变量存储的可靠性，有效降低如EEPROM读写错误的概率，提高EEPROM数据的可靠性。
需要说明的是，本发明实施例的车辆的电控系统的具体实现方式与本发明实施例的车辆的电控系统的数据存储方法的具体实现方式类似，具体请参见方法部分的描述，为了减少冗余，此处不做赘述。
本发明的实施例还公开了一种设备，包括：一个或者多个处理器；存储器；一个或者多个程序，所述一个或者多个程序存储在所述存储器中，当被所述一个或者多个处理器执行时，执行如上述实施例所述的车辆的电控系统的数据存储方法。
本发明的实施例还公开了一种非易失性计算机存储介质，计算机存储介质存储有一个或者多个程序，当一个或者多个程序被一个设备执行时，使得设备执行上述实施例所述的车辆的电控系统的数据存储方法。
另外，本发明实施例的车辆的电控系统的数据存储系统和非易失性计算机存储介质的其它构成以及作用对于本领域的技术人员而言都是已知的，为了减少冗余，不做赘述。
应当理解，本发明的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实施方式中，多个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或 固件来实现。例如，如果用硬件来实现，和在另一实施方式中一样，可用本领域公知的下列技术中的任一项或他们的组合来实现：具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现场可编程门阵列(FPGA)等。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
尽管已经示出和描述了本发明的实施例，本领域的普通技术人员可以理解：在不脱离本发明的原理和宗旨的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由权利要求及其等同物限定。

Claims (12)

  1. 一种车辆的电控系统的数据存储方法，其特征在于，所述电控系统包括多个电控单元，所述多个电控单元通过总线通信，所述方法包括以下步骤：
    所述多个电控单元中的第一电控单元写入第一变量，并向所述多个电控单元中的其它的电控单元发送存储请求报文，以便其它的所述电控单元判断是否允许存储所述第一变量，并向所述第一电控单元发送第一应答报文；
    所述第一电控单元根据所述第一应答报文判断所述多个电控单元中除所述第一电控单元外的一个或多个电控单元允许存储所述第一变量时，向所述一个或多个电控单元发送数据帧，以便所述一个或多个电控单元写入所述数据帧中的数据和节点号，并向所述第一电控单元进行反馈，其中，所述数据帧中的数据包括所述第一变量的变量号和变量值；
    所述第一电控单元根据所述反馈将相应的节点号和所述第一变量的变量号写入所述第一电控单元中。
  2. 根据权利要求1所述的车辆的电控系统的数据存储方法，其特征在于，还包括：
    所述多个电控单元中的第一电控单元读取所述节点号、变量号和变量值，并向所述多个电控单元中的其它的电控单元发送读取请求报文，以便所述多个电控单元中的其它的所述电控单元判断是否允许所述第一电控单元进行读取，并向所述第一电控单元发送第二应答报文；
    所述第一电控单元根据所述第二应答报文判断所述多个电控单元中除所述第一电控单元外的一个或多个电控单元允许所述第一电控单元读取时，向所述一个或多个电控单元发送变量号，以便所述一个或多个电控单元读取相应的变量值，并向所述第一电控单元进行反馈；
    所述第一电控单元根据所述反馈对所述变量值进行筛选。
  3. 根据权利要求1所述的车辆的电控系统的数据存储方法，其特征在于，还包括：
    如果所述第一变量为特定变量，则所述第一电控单元在写入所述第一变量时将所述第一变量存储至多个位置。
  4. 根据权利要求1所述的车辆的电控系统的数据存储方法，其特征在于，所述多个电控单元均具有存储器EEPROM，所述多个电控单元从各自的存储器EEPROM进行写入和读取操作。
  5. 根据权利要求1所述的车辆的电控系统的数据存储方法，其特征在于，所述多个电控单元包括整车控制器、电机控制器、电池管理系统和仪表中的至少两个。
  6. 一种车辆的电控系统，其特征在于，包括：多个电控单元，所述多个电控单元通过总线通信，其中，
    所述多个电控单元中的第一电控单元用于在写入第一变量时，向所述多个电控单元中其它的电控单元发送存储请求报文，以便所述多个电控单元中其它的所述电控单元判断是否允许存储所述第一变量，并向所述第一电控单元发送第一应答报文，并根据所述第一应答报文判断所述多个电控单元中除所述第一电控单元外的一个或多个电控单元允许存储所述第一变量时，向所述一个或多个电控单元发送数据帧，以便所述一个或多个电控单元写入所述数据帧中的数据和节点号，并向所述第一电控单元进行反馈，其中，所述数据帧中的数据包括所述第一变量的变量号和变量值，以及根据所述反馈将相应的节点号和所述第一变量的变量号写入所述第一电控单元中。
  7. 根据权利要求6所述的车辆的电控系统，其特征在于，所述第一电控单元还用于在读取所述节点号、变量号和变量值时，向所述多个电控单元中其它的电控单元发送读取请求报文，以便所述多个电控单元中其它的所述电控单元判断是否允许所述第一电控单元进行读取，并向所述第一电控单元发送第二应答报文，并根据所述第二应答报文判断所述多个电控单元中除所述第一电控单元外的一个或多个电控单元允许所述第一电控单元读取时，向所述一个或多个电控单元发送变量号，以便所述一个或多个电控单元读取相应的变量值，并向所述第一电控单元进行反馈，以及根据所述反馈对所述变量值进行筛选。
  8. 根据权利要求6所述的车辆的电控系统，其特征在于，如果所述第一变量为特定变量，则所述第一电控单元在写入所述第一变量时将所述第一变量存储至多个位置。
  9. 根据权利要求6所述的车辆的电控系统，其特征在于，所述多个电控单元均具有存储器EEPROM，所述多个电控单元从各自的存储器EEPROM进行写入和读取操作。
  10. 根据权利要求6所述的车辆的电控系统，其特征在于，所述多个电控单元包括整车控制器、电机控制器、电池管理系统和仪表中的至少两个。
  11. 一种设备，其特征在于，包括：
    一个或者多个处理器；
    存储器；
    一个或者多个程序，所述一个或者多个程序存储在所述存储器中，当被所述一个或者多个处理器执行时，执行如权利要求1-5任一项所述的车辆的电控系统的数据存储方法。
  12. 一种非易失性计算机存储介质，其特征在于，所述计算机存储介质存储有一个或者多个程序，当所述一个或者多个程序被一个设备执行时，使得所述设备执行如权利要求1-5任一项所述的车辆的电控系统的数据存储方法。
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