WO2021196132A1 - 故障检测方法和装置、故障检测系统和电子设备 - Google Patents

故障检测方法和装置、故障检测系统和电子设备 Download PDF

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Publication number
WO2021196132A1
WO2021196132A1 PCT/CN2020/083009 CN2020083009W WO2021196132A1 WO 2021196132 A1 WO2021196132 A1 WO 2021196132A1 CN 2020083009 W CN2020083009 W CN 2020083009W WO 2021196132 A1 WO2021196132 A1 WO 2021196132A1
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Prior art keywords
nodes
fault
fault information
harness
node
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PCT/CN2020/083009
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English (en)
French (fr)
Inventor
王超
杨宇蒙
王金山
方李明
Original Assignee
华为技术有限公司
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Priority to PCT/CN2020/083009 priority Critical patent/WO2021196132A1/zh
Priority to CN202080098716.3A priority patent/CN115298553A/zh
Publication of WO2021196132A1 publication Critical patent/WO2021196132A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/08—Locating faults in cables, transmission lines, or networks

Definitions

  • the present disclosure relates to the technical field of vehicle fault detection, and in particular to a fault detection method and device, a fault detection system, electronic equipment, and a storage medium.
  • the number of cables and connector cables between the nodes of the vehicle network is more than one pair, and each node can be used. Connect the sensor.
  • a certain node detects the connectivity of the vehicle-mounted network, and sends the detected detection information related to the connectivity to the electronic control unit, and the electronic control unit determines the vehicle-mounted network based on the detection information sent by the node.
  • Network fault information In the prior art, a certain node detects the connectivity of the vehicle-mounted network, and sends the detected detection information related to the connectivity to the electronic control unit, and the electronic control unit determines the vehicle-mounted network based on the detection information sent by the node. Network fault information.
  • the detection information fed back by a certain node is used to determine the fault information of the in-vehicle network, which causes the problem of accuracy skew.
  • the embodiments of the present disclosure provide a fault detection method and device, a fault detection system, electronic equipment, and a storage medium.
  • the embodiments of the present disclosure provide a fault detection method, the method including:
  • the fault information of the target harness is obtained.
  • the fault information of the target harness is determined according to the detection information sent by at least two nodes. Since the fault information is determined from the dimensions of different nodes, the accuracy and reliability of the fault information can be improved.
  • the obtaining the fault information of the target harness according to the fault information detected by the at least two nodes includes:
  • the fault information of the target harness is determined according to the overlapping part of the fault information of two or more nodes on the target harness, taking into account that the detection information of each node may have errors, and passing at least two
  • the overlapping part of the fault information of the node on the target harness can eliminate the part of the detection information of at least two nodes that may have errors, thereby improving the reliability and accuracy of the determined fault information of the target harness.
  • the failure information includes information indicating a failure area.
  • the fault information detected by the at least two nodes does not overlap on the target harness, additional fault information is obtained from other nodes, and the fault information detected by the at least two nodes is compared with The overlapping part of the additional fault information on the target wire harness determines the fault range of the target wire harness.
  • the additional fault information is acquired to determine the overlapping part of the additional fault information and the fault information detected by the at least two nodes on the target cable, thereby achieving the technical effect of flexibility in determining the overlapping part.
  • At least one of the at least two nodes is located on another wire harness coupled with the target wire harness.
  • the at least two nodes are respectively located at two end points of the target harness.
  • the detection distance is shortened, and therefore, the detection efficiency can be improved, and the long distance can be avoided. Accumulation of errors caused, thereby improving the reliability of detection.
  • the detection message carries a monitoring frame
  • the monitoring frame carries fault information detected by the at least two nodes.
  • the network resources for transmitting the detection information can be saved.
  • the fault information of the target harness includes a fault range and/or a fault type.
  • the embodiments of the present disclosure also provide a fault detection device, the device including:
  • a communication module configured to receive detection messages sent by at least two nodes, where the detection information includes fault information detected by the at least two nodes;
  • the processing module is configured to obtain the fault information of the target wire harness according to the fault information detected by the at least two nodes.
  • the processing module is specifically configured to determine the fault range on the target wire harness according to the overlapping portion of the fault information detected by the at least two nodes on the target wire harness.
  • the failure information includes information indicating a failure area.
  • the processing module is further configured to, if the fault information detected by the at least two nodes does not overlap on the target harness, obtain additional fault information from other nodes, and according to the at least The overlapping part of the fault information detected by the two nodes and the additional fault information on the target wire harness determines the fault range of the target wire harness.
  • At least one of the at least two nodes is located on another wire harness coupled with the target wire harness.
  • the at least two nodes are respectively located at two end points of the target harness.
  • the detection message carries a monitoring frame
  • the monitoring frame carries fault information detected by the at least two nodes.
  • the fault information includes a fault scope and/or a fault type.
  • the embodiments of the present disclosure also provide a fault detection system.
  • the system includes a plurality of nodes and a plurality of wiring harnesses arranged between any two nodes.
  • the network system also It includes a fault detection device, wherein the fault detection device is used for:
  • the fault information of the target harness is obtained.
  • At least one of the at least two nodes is located on another wire harness coupled with the target wire harness.
  • the at least two nodes are respectively located at two end points of the target harness.
  • the embodiments of the present disclosure also provide an electronic device, including:
  • At least one processor At least one processor
  • a memory communicatively connected with the at least one processor; wherein,
  • the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute the method described in any of the above embodiments.
  • the embodiments of the present disclosure also provide a computer storage medium.
  • the computer instructions are used to make the computer execute the method described in any of the above embodiments.
  • FIG. 1 is a schematic diagram of a scene of an embodiment of the disclosure
  • FIG. 2 is a schematic diagram of a scene of another embodiment of the present disclosure.
  • FIG. 3 is a schematic flowchart of a fault detection method according to an embodiment of the disclosure.
  • Figure 4 is a schematic diagram of a loop of an embodiment of the disclosure.
  • FIG. 5 is a schematic flowchart of a fault detection method according to another embodiment of the present disclosure.
  • FIG. 6 is a schematic diagram of the principle of determining the fault information of the target wire harness according to the overlapping part according to the embodiment of the disclosure.
  • FIG. 7 is a schematic flowchart of a fault detection method according to another embodiment of the present disclosure.
  • FIG. 8 is a schematic diagram of a fault detection device according to an embodiment of the disclosure.
  • FIG. 9 is a block diagram of an electronic device according to an embodiment of the disclosure.
  • the fault detection method provided by the embodiment of the present disclosure may be applicable to the application scenarios shown in FIG. 1 and FIG. 2.
  • the execution subject of the fault detection method of the embodiment of the present disclosure may be a fault detection device installed on the vehicle.
  • the fault detection device may be an electronic control unit (ECU), an on-board box (Telematics BOX, T-Box), a domain controller (Domian Controller, DC), and a multi-domain Multi-Domian Controller (MDC), Onboard Unit (OBU), processor (CPU), chip, etc.
  • ECU electronice control unit
  • T-Box on-board box
  • DC domain controller
  • MDC multi-domain Multi-Domian Controller
  • OBU Onboard Unit
  • CPU processor
  • the fault detection device is an electronic control unit as an example for exemplarily description.
  • the application scenario shown in FIG. 1 exemplarily describes the process of the vehicle 100 from the stationary state to the starting state, where the stationary state can be understood as the vehicle being in the off state.
  • the vehicle 100 is in a stationary state and is parked in the parking space A.
  • the electronic control unit executes the fault detection method of the embodiment of the present disclosure, so as to ensure the safe driving of the vehicle 100.
  • the vehicle 300 is in a driving state, and the electronic control unit may periodically execute the fault detection method of the embodiment of the present disclosure to ensure the safety of the vehicle 300 during driving.
  • the fault detection method of the embodiment of the present disclosure can be executed by the electronic control unit when the vehicle is started; of course, the fault detection method of the embodiment of the present disclosure can also be periodically executed by the electronic control unit during the running of the vehicle. Way to execute.
  • the embodiments of the present disclosure provide a fault detection method.
  • FIG. 3 is a schematic flowchart of a fault detection method according to an embodiment of the present disclosure.
  • the method includes:
  • S101 Receive detection messages sent by at least two nodes, where the detection messages include fault information detected by the at least two nodes.
  • the fault detection method of the embodiment of the present disclosure may be used to detect the vehicle-mounted network of a vehicle, and based on the above example, it can be known that the vehicle-mounted network may be detected by an electronic control unit or the like.
  • the in-vehicle network is used to characterize the loop structure formed by connecting the physical layer nodes (referred to as nodes) inside the vehicle by wire harnesses, and connecting them by point-to-point connections.
  • the wire harness includes a cable and a connector, and each node communicates through the wire harness, and a connector can be provided on the cable between any two nodes that have a connection relationship.
  • any node can be connected to multiple sensors, including but not limited to cameras and radars.
  • a node is connected to three cameras and three radars, and the three radars include two radio frequency radars and one lidar.
  • FIG. 4 is a schematic diagram of a loop according to an embodiment of the disclosure.
  • node A, node B, node C, and node D form a loop, and node A, node B, node C, and node D are respectively connected to the electronic control unit.
  • node A is connected to node B and node D
  • node C is connected to node B and node D, respectively.
  • node A is also connected to lidar
  • node C is also connected to radio frequency radar
  • node B is also connected to a camera.
  • a connector is provided between node A and node B, and a connector is also provided between node C and node D.
  • Fig. 4 only exemplarily shows the structure of the loop, and cannot be understood as a limitation on the structure of the loop.
  • node A is connected to node C
  • node B is connected to node D, and so on.
  • the cable between the two nodes or between the node and the sensor may be faulty.
  • the connector may also be faulty, making it impossible to connect the cables connected by the connector.
  • the wiring harness between the node A and the node B (hereinafter referred to as the wiring harness AB) in FIG. 4 may be faulty, or the wiring harness between the node A and the lidar may be faulty, and so on.
  • the failure of the wiring harness includes wire harness disconnection and open circuit.
  • the detection message is obtained by at least two nodes sending detection signals to the vehicle-mounted network (specifically to the wiring harness between other nodes), and is obtained according to the feedback information corresponding to the detection signal, and the detection message can be used to characterize at least two nodes Relevant information obtained by detecting whether there is a fault in the vehicle network.
  • the fault information is used to characterize the relevant information of the fault in the vehicle network, and the fault information can be described from at least two aspects.
  • One aspect is the fault range, such as the failure of the wiring harness within a certain range, that is, the possible failure of the wiring harness Range; another aspect is the type of fault, such as a short circuit or an open circuit in the wiring harness.
  • the fault range of the wire harness determines whether it is a cable fault or a connector fault. If it is a cable fault, the fault range is specifically the fault range corresponding to the cable, and if it is a connector fault, the fault range is specifically the connector Corresponding fault range.
  • the connector if the connector is within the fault range of the wire harness, it can be determined that the connector is faulty, and if there is no connector within the fault range of the wire harness, it can be determined that the cable is faulty.
  • a node when a node detects whether a certain wiring harness has a fault, it can send a detection signal to the wiring harness of the wiring harness, and the detection signal carries a monitoring frame, and when the corresponding detection message including the fault information is obtained , The fault information can be written into the blank field of the monitoring frame, and the fault information includes information indicating the fault area.
  • each node can separately detect whether the on-board network fails, and when the on-board network fails, each node obtains its own corresponding failure information, that is, one node corresponds to one failure information.
  • the node A can send a detection signal to the wire harness AB to detect whether the wire harness AB is faulty, obtain a detection message, and send the detection message to the electronic control unit.
  • node A may also share the detection message to other nodes, such as node B, or share it to node C through a wire harness between node B and node C (hereinafter referred to as wire harness BC), and so on.
  • the node A may also send a detection signal to the wiring harness between the node A and the node D (hereinafter referred to as the wiring harness AD) to detect whether the wiring harness AD is faulty, obtain a detection message, and send the detection message to the electronic control unit.
  • the wiring harness AD a detection signal to the wiring harness between the node A and the node D
  • node A can also share the detection message to other nodes.
  • node A can also send a detection signal to the wire harness between node A and lidar to detect the wire harness between node A and lidar (as shown in Figure 4, because there is no connector between node A and lidar, Therefore, the wiring harness between the node A and the lidar is whether the cable between the node A and the lidar is faulty, the detection message is obtained, and the detection message is sent to the electronic control unit. Similarly, node A can also share the detection message to other nodes.
  • the node A may also send a detection signal to the wiring harness between the node A and the node C (hereinafter referred to as the wiring harness AC) to detect whether the wiring harness AC is faulty, obtain a detection message, and send the detection information to the electronic control unit.
  • the wiring harness AC the wiring harness between the node A and the node C
  • node A can also share the detection message to other nodes.
  • node A when node A sends a detection signal to the wiring harness AC to detect whether the wiring harness AC is faulty, it may specifically include:
  • node B If there is an indirect connection between node A and node C, as shown in Figure 4, node B is set between node A and node C, then node A sends a detection signal to harness AB, and the detection signal propagates to harness BC, and The detection message includes the detection message corresponding to the wire harness AB and the detection message corresponding to the wire harness BC; if the node A and the node C are directly connected, the node A directly sends the detection signal to the wire harness AC, and the detection message is obtained.
  • the description of the detection message obtained by other nodes by sending the detection signal can refer to the above example, which will not be repeated here.
  • each node can spontaneously detect whether the vehicle-mounted network fails, and send the detected detection message to the electronic control unit.
  • the trigger condition can be set based on requirements, experience, and experiments in advance.
  • the trigger condition may be a preset time interval, that is, each node detects whether the vehicle-mounted network is faulty every preset time interval.
  • the trigger condition can also be a preset scene, that is, if the current scene is a preset scene, each node detects whether the vehicle network is faulty.
  • the preset scene is vehicle startup, when the vehicle starts, each node detects whether the vehicle network is faulty.
  • the preset scene is vehicle abnormality (information related to vehicle abnormality can be set in advance, such as brake failure, etc.). When an abnormality occurs during the operation of the vehicle, each node detects whether the vehicle network is faulty.
  • the electronic control unit may select at least two nodes from each node, and send a detection instruction for detecting whether the in-vehicle network is faulty to the at least two nodes, and the at least two nodes receive After the detection instruction, detect whether the on-board network is faulty.
  • a detection message corresponding to at least two nodes is generated, and the corresponding detection messages are sent to the electronics by at least two nodes. control unit.
  • the electronic control unit selects node A and node C from the four nodes to detect whether the on-board network is faulty, then the electronic control unit sends detection instructions to node A and node C to detect whether the on-board network is faulty, and the node After receiving the detection instruction, node A and node C can execute the detection process as in the above example.
  • the electronic control unit can select a node that detects whether the on-board network is faulty, and the node selected by the electronic control unit can detect whether the on-board network is faulty.
  • the electronic control unit can be set to select at least two nodes, so that the selected at least two nodes can trigger conditions for detecting whether the vehicle network is faulty.
  • the trigger condition can be set based on requirements, experience, and experiments in advance.
  • the trigger condition may be a preset time interval, that is, the electronic control unit selects at least two nodes every preset time interval, and sends to the selected at least two nodes the information used to detect whether the vehicle network is faulty.
  • the instruction is detected so that at least two selected nodes can detect whether the vehicle-mounted network is faulty.
  • the trigger condition can also be a preset scene, that is, if the current scene is a preset scene, the electronic control unit selects at least two nodes, and sends to the selected at least two nodes whether to check whether the in-vehicle network A detection instruction for detecting a fault occurs, so that at least two selected nodes can detect whether the vehicle network has a fault.
  • the preset scene is the vehicle startup, when the vehicle starts, the electronic control unit selects at least two nodes, and sends a detection instruction for detecting whether the vehicle network is faulty to the selected at least two nodes, so as to At least two selected nodes detect whether the vehicle network is faulty.
  • the preset scene is vehicle abnormality (information related to vehicle abnormality can be set in advance, such as brake failure, etc.), when abnormality occurs during vehicle operation, the electronic control unit selects at least two nodes and selects At least two nodes in the send a detection instruction for detecting whether the vehicle-mounted network is faulty, so that the selected at least two nodes can detect whether the vehicle-end network is faulty.
  • vehicle abnormality information related to vehicle abnormality can be set in advance, such as brake failure, etc.
  • the electronic control unit can select at least two nodes in a variety of ways. For example, the electronic control unit can select at least two nodes at random; it can also select at least two grounding tables for preset mapping and based on The mapping relationship table is selected; it can also be based on the detection message fed back by each node, calculate the accuracy and/or efficiency of the detection message fed back by each node, and select at least two nodes based on the accuracy and/or efficiency, and so on.
  • the selection of at least two nodes by the electronic control unit can also be based on demand.
  • the selection based on demand here refers to the targeted selection of at least two nodes for a certain wire harness.
  • the nodes corresponding to the two end points of a certain wire harness are the first node and the second node respectively
  • the at least two nodes selected by the electronic control unit are the first node and the second node
  • both the first node and the second node are Send a detection signal to the harness.
  • the electronic control unit sends detection instructions to node A and node B to detect whether the vehicle network is malfunctioning. After node A receives the detection instruction, it sends a detection signal to the wiring harness AB. Obtain the detection message, and send the detection message to the electronic control unit; similarly, after receiving the detection instruction, the node B sends a detection signal to the harness AB to obtain the detection message, and sends the detection message to the electronic control unit.
  • each node integrates a digital signal processing module
  • the digital processing module may include at least one register, and the at least one register may be used to store and detect messages. Therefore, in some embodiments, each node and the electronic control unit may pre-appoint the meaning of the number during fault detection, so that each node stores the detection message in the register and sends the detection message to the electronic control unit.
  • FIG. 4 Take node A in FIG. 4 as an example for an exemplary illustration, where a digital signal processing module is integrated in node A, and the digital signal processing module includes four registers, which are respectively labeled as register 1, register x, register y and Register z, and any register can be a 16-bit register, specifically:
  • node A If node A detects that there is no fault in the on-board network, it writes 1 to bit 1 of register 1.
  • node A If node A detects that the vehicle network is faulty, and the fault type is open circuit, write 1 to the 2 bits of register 1.
  • node A If node A detects that the vehicle network is faulty and the fault type is short-circuit, then write 1 to the 3 bits of register 1.
  • node A If node A detects that the on-board network is faulty, and the fault range is XX meters from point A as the starting point, write the binary number corresponding to XX in the 0th to 7th bits of the register y, and if the fault range is The error of is XY meters, then the binary number corresponding to XY is written in the 8th to 11th bits of the register y.
  • node A If node A detects that the wiring harness between it and the lidar is faulty, and the fault range is YY meters, write the binary numbers corresponding to YY in the 0th and 7th bits of the register z, and if the fault error is XZ meters, write the binary number corresponding to XZ in the 8th to 11th bits of the register z.
  • Node A sends a detection signal (specifically, a voltage pulse signal Ui) to the wiring harness AB, and records the time T1 when the node A sends the voltage pulse signal Ui.
  • a detection signal specifically, a voltage pulse signal Ui
  • ⁇ is equal to 1, it means that the wiring harness AB is open, that is, the fault type of the wiring harness AB is an open circuit; if ⁇ is equal to -1, it means that the wiring harness AB is open, that is, the fault type of the wiring harness AB is a short circuit; if ⁇ is neither equal to 1 , Is not equal to -1, it means that the data error of the wiring harness AB may be caused by the virtual welding and other reasons.
  • S102 Obtain the fault information of the target harness according to the fault information detected by the at least two nodes.
  • S102 may specifically include:
  • S21 Obtain, from the fault information detected by the at least two nodes, the fault information on the target harness detected by each of the at least two nodes, where the fault information on the target harness detected by each of the at least two nodes includes the first fault information and the first fault information. 2. Failure information.
  • two of the fault information corresponding to the multiple target harnesses may be selected, and one of the two is the first fault information, and the other of the two is the second fault information.
  • the target harness is harness AB; the fault information sent by node A to the electronic control unit includes the fault information of harness AB; the fault information sent by node B to the electronic control unit includes the fault information of harness BC, and also includes the connection between node C and node D
  • the failure information of the harness (hereinafter referred to as the harness CD); the failure information sent by the node C to the electronic control unit includes the failure information of the harness CD, also includes the failure information of the harness AD, also includes the failure information of the harness AB, and also includes the harness BC
  • the fault information sent by the node D to the electronic control unit includes the fault information of the harness AD and also the fault information of the harness AB; then, the acquired first fault information may be the fault information of the harness AB sent by the node A, The acquired second fault information may be the fault information of the harness AB in the fault information sent by the node C.
  • n is an integer greater than 1.
  • the target harness is harness AB; the fault information sent by node A to the electronic control unit includes the fault information of harness AB; the fault information sent by node B to the electronic control unit includes the fault information of harness BC, and also includes the connection between node C and node D
  • the failure information of the harness (hereinafter referred to as the harness CD); the failure information sent by the node C to the electronic control unit includes the failure information of the harness CD, also includes the failure information of the harness AD, also includes the failure information of the harness AB, and also includes the harness BC
  • the fault information sent by the node D to the electronic control unit includes the fault information of the harness AD and the fault information of the harness AB; then, the acquired first fault information includes the fault information of the harness AB sent by the node A, and The fault information of the harness AB in the fault information sent by the node C is included, and the acquired second fault information may be the fault information of the harness AB in the fault information sent by the node D.
  • this step may specifically include: determining the overlapping part of the first fault information and the second fault information, and determining the fault information of the target harness according to the determined overlapping part.
  • the overlapping part is used to characterize both the fault information contained in the first fault information and the fault information contained in the second fault information.
  • the node A sends a detection signal to the wire harness AB (that is, the target wire harness), and obtains a detection message including the first fault information, and the first fault information includes the first fault range and the first fault type.
  • the wiring harness AB is 15 meters long in total, and as shown in 6-1 in Figure 6, the first range in the first fault information is: starting from the end point A of the wiring harness AB, the 7th to 8th meters And, the first fault type is the wire harness AB open circuit.
  • the node B sends a detection signal to the node A through the wire harness AB, and obtains a detection message including the second fault information, and the second fault information includes the second fault range and the second fault type.
  • the second range in the second fault information is: starting from the end point A of the harness AB, the position from 6.5 meters to 7.5 meters; and the second fault type is the open circuit of the wiring harness AB.
  • the overlapping part of the first fault range and the second fault range is: taking the end point A of the harness AB as the starting point, the position from 7 to 7.5 meters, then the harness AB(
  • the fault range of the target harness is: starting from the end point A of the harness AB, the range from 7 to 7.5 meters; and the fault type of the harness AB (target harness) is an open circuit.
  • FIG. 7 is a schematic flowchart of a fault detection method according to another embodiment of the present disclosure.
  • the method includes:
  • S201 Receive a detection message sent by at least two nodes, where the detection message includes fault information detected by the at least two nodes.
  • S202 Determine whether the number of nodes including the fault information on the target harness is multiple in the fault information detected by the at least two nodes; if yes, execute S203; if not, execute S206.
  • S203 Acquire fault information on the target wire harness detected by each of the at least two nodes, where the fault information on the target wire harness detected by each of the at least two nodes includes first fault information and second fault information.
  • S205 Determine the fault information of the target harness in the overlapping part of the first fault information and the second fault information.
  • the electronic control unit Node D obtains the third fault information.
  • S207 Determine the fault information of the target wire harness according to the first fault information and the third fault information, or determine the fault information of the target wire harness according to the second fault information and the third fault information.
  • the method of this step is similar to S204 and S205, specifically:
  • the fault information of the target harness is determined in the overlapping part of the first fault information and the second fault information.
  • the fault information of the target harness is determined in the overlapping part of the second fault information and the second fault information.
  • first overlapping part partially overlap
  • second fault information and the third fault information also partially overlap
  • the first overlapping part and The union part of the second overlapping part is determined as the failure information of the target harness.
  • the embodiments of the present disclosure also provide a fault detection device.
  • FIG. 8 is a schematic diagram of a fault detection device according to an embodiment of the present disclosure.
  • the fault detection device shown in FIG. 8 can execute the fault detection methods shown in 2, 5 and 7.
  • the device includes:
  • the communication module 11 is configured to receive detection messages sent by at least two nodes, where the detection information includes fault information detected by the at least two nodes;
  • the processing module 12 is configured to obtain the fault information of the target wire harness according to the fault information detected by the at least two nodes.
  • the processing module 12 is specifically configured to determine the fault range on the target wire harness according to the overlapping portion of the fault information detected by the at least two nodes on the target wire harness.
  • the failure information includes information indicating a failure area.
  • the processing module 12 is further configured to: if the fault information detected by the at least two nodes does not overlap on the target harness, obtain additional fault information from other nodes, and then obtain additional fault information according to the The overlapping part of the fault information detected by at least two nodes and the additional fault information on the target wire harness determines the fault range of the target wire harness.
  • At least one of the at least two nodes is located on another wire harness coupled with the target wire harness.
  • the at least two nodes are respectively located at two end points of the target harness.
  • the detection message carries a monitoring frame
  • the monitoring frame carries fault information detected by the at least two nodes.
  • the fault information includes a fault scope and/or a fault type.
  • the embodiments of the present disclosure also provide a fault detection system.
  • the system includes a plurality of nodes and a plurality of wiring harnesses arranged between any two nodes.
  • the network system also includes Fault detection device, where the fault detection device is used for:
  • the fault information of the target harness is obtained.
  • At least one of the at least two nodes is located on another wire harness coupled with the target wire harness.
  • the fault detection system includes a fault detection device, and the fault detection device is specifically an electronic control unit, which also includes four connected to the electronic control unit.
  • Nodes ie, node A, node B, node C, and node D in FIG. 4
  • the wiring harness between nodes such as the wiring harness between node A and node B, the wiring harness between node B and node C, and so on.
  • the fault detection system may also include sensors and/or connectors connected to nodes, such as a lidar connected to node A, connectors connected to node A and node B respectively, and a camera connected to node B , The radio frequency radar connected with node C, and the connectors connected with node C and node D respectively.
  • nodes such as a lidar connected to node A, connectors connected to node A and node B respectively, and a camera connected to node B , The radio frequency radar connected with node C, and the connectors connected with node C and node D respectively.
  • the embodiments of the present disclosure also provide an electronic device and a computer-readable storage medium.
  • FIG. 9 is a block diagram of an electronic device according to an embodiment of the disclosure.
  • the electronic device may be an electronic control unit and a chip installed on the vehicle.
  • the electronic device includes at least one processor 101, a communication bus 102, a memory 103, and at least one communication interface 104.
  • the processor 101 may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more solutions for controlling the embodiments of the present disclosure Integrated circuit for program execution.
  • CPU central processing unit
  • ASIC application-specific integrated circuit
  • the communication bus 102 may include a path for transferring information between the above-mentioned components.
  • the communication interface 104 can be any transceiver or IP port or bus interface, etc., used to communicate with internal or external equipment or devices or communication networks, such as Ethernet, radio access network (RAN), and wireless local area network ( wireless local area networks, WLAN), etc.
  • RAN radio access network
  • WLAN wireless local area network
  • the memory 103 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, random access memory (RAM), or other types that can store information and instructions
  • the dynamic storage device can also be electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disk storage, optical disc storage (Including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or can be used to carry or store desired program codes in the form of instructions or data structures and can be used by a computer Any other media accessed, but not limited to this.
  • the memory can exist independently and is connected to the processor through a bus.
  • the memory can also be integrated with the processor.
  • the memory 103 is the non-transitory computer-readable storage medium provided by the present disclosure, and the memory stores instructions executable by at least one processor, so that the at least one processor executes the fault detection method provided by the present disclosure .
  • the non-transitory computer-readable storage medium of the present disclosure stores computer instructions, and the computer instructions are used to make a computer execute the fault detection method provided by the present disclosure.
  • the memory 103 can be used to store non-transitory software programs, non-transitory computer executable programs, and modules.
  • the processor 101 executes various functional applications and data processing of the server by running non-transitory software programs, instructions, and modules stored in the memory 103, that is, implements the fault handling method in the foregoing method embodiment.
  • the memory 103 may include a program storage area and a data storage area.
  • the program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created according to the use of the electronic device.
  • the memory 103 may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices.
  • the memory 103 may optionally include memories remotely provided with respect to the processor 101, and these remote memories may be connected to the electronic device through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, the Internet of Vehicles, corporate intranets, local area networks, mobile communication networks, and combinations thereof.
  • the processor 101 may include one or more CPUs, such as CPU0 and CPU1 in FIG. 9.
  • the electronic device may include multiple processors, such as the processor 101 and the processor 108 in FIG. 9.
  • processors can be a single-CPU (single-CPU) processor or a multi-core (multi-CPU) processor.
  • the processor here may refer to one or more devices, circuits, and/or processing cores for processing data (for example, computer program instructions).
  • the electronic device may further include an output device 105 and an input device 106.
  • the output device 105 communicates with the processor 101, and can display information in a variety of ways (display interfaces as shown in FIGS. 4 and 6).
  • the output device 105 may be a liquid crystal display (LCD), a light emitting diode (LED) display device, a cathode ray tube (CRT) display device, or a projector (projector) Wait.
  • the input device 106 communicates with the processor 101 and can accept user input in a variety of ways.
  • the input device 106 may be a mouse, a keyboard, a touch screen device, a sensor device, or the like.
  • the function/implementation process of the communication interface 104 can also be realized by pins or circuits, and the memory is a storage unit in the chip, such as a register, a cache, etc.
  • the storage unit may also be a storage unit located outside the chip.
  • the embodiments of the present disclosure further provide a vehicle that includes the fault detection system described in the foregoing example, or includes the electronic device described in the foregoing example.

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Abstract

本公开实施例提供了一种故障检测方法和装置、故障检测系统、电子设备和存储介质，接收至少两个节点发送的检测消息，其中，检测消息包括至少两个节点检测的故障信息，根据至少两个节点检测的故障信息，获得目标线束的故障信息。在本公开实施例中，根据至少两个节点发送的检测信息对目标线束的故障信息进行确定，由于从不同的节点的维度对故障信息进行确定，因此可以提高故障信息的精确性和可靠性。

Description

故障检测方法和装置、故障检测系统和电子设备 技术领域
本公开涉及车辆的故障检测技术领域，尤其涉及一种故障检测方法和装置、故障检测系统、电子设备和存储介质。
背景技术
基于车辆的以太网标准对车载网络中线束(包括线缆和连接器)的要求可知，车载网络的节点之间的线缆和连接器线缆数量多于一对，且每个节点上均可连接传感器。
在现有技术中，由某一个节点对车载网络的连通性进行检测，并将检测到的与连通性相关的检测信息发送至电子控制单元，由电子控制单元根据该节点发送检测信息确定该车载网络的故障信息。
然而，发明人在执行本公开实施例的过程发现至少存在以下问题：通过某一个节点反馈的检测信息对车载网络的故障信息进行确定，造成的精确度偏度的问题。
发明内容
为解决上述技术问题，本公开实施例提供了一种故障检测方法和装置、故障检测系统、电子设备和存储介质。
根据本公开实施例的一个方面，本公开实施例提供了一种故障检测方法，所述方法包括：
接收至少两个节点发送的检测消息，其中，所述检测消息包括所述至少两个节点检测的故障信息；
根据所述至少两个节点检测的故障信息，获得目标线束的故障信息。
在本公开实施例中，根据至少两个节点发送的检测信息对目标线束的故障信息进行确定，由于从不同的节点的维度对故障信息进行确定，因此可以提高故障信息的精确性和可靠性。
在一些实施例中，所述根据所述至少两个节点检测的故障信息，获得目标线束的故障信息，包括：
根据所述至少两个节点检测的故障信息在所述目标线束上的重叠部分，确定所述目标线束上的故障范围。
在本公开实施例中，根据两个或多个节点的故障信息在目标线束上的重叠部分，确定目标线束的故障信息，考虑了每个节点的检测信息均可能存在误差，而通过至少两个节点的故障信息在目标线束上的重叠部分，可以排除至少两个节点的检测信息可能存在的误差的部分，从而提高确定出的目标线束的故障信息的可靠性和准确性。
在一些实施例中，所述故障信息包括指示故障区域的信息。
在一些实施例中，若所述至少两个节点检测的故障信息在所述目标线束上没有重叠，则从其他节点处获得额外的故障信息，并根据所述至少两个节点检测的故障信息 与所述额外的故障信息在所述目标线束上的重叠部分，确定所述目标线束的故障范围。
在本公开实施例中，通过获取额外的故障信息，以便确定额外的故障信息与至少两个节点检测的故障信息在目标线缆上的重叠部分，从而实现确定重叠部分的灵活性的技术效果。
在一些实施例中，所述至少两个节点中的至少一个节点位于与所述目标线束耦合的其他线束上。
在一些实施例中，所述至少两个节点分别位于所述目标线束的两个端点的位置。
在本公开实施例中，通过将目标线束的两个端点的位置的节点，确定为至少两个节点，由于缩短了检测的距离，因此，可以提高检测的效率，且可以避免因距离较长而造成的误差的积累，从而提高检测的可靠性。
在一些实施例中，所述检测消息中携带监控帧，所述监控帧中携带所述至少两个节点检测的故障信息。
在本公开实施例中，通过将检测消息写入至监控帧中，可以节约传输检测信息的网络资源。
在一些实施例中，所述目标线束的故障信息包括故障范围和/或故障类型。
根据本公开实施例的另一个方面，本公开实施例还提供了一种故障检测装置，所述装置包括：
通信模块，用于接收至少两个节点发送的检测消息，其中，所述检测信息包括所述至少两个节点检测的故障信息；
处理模块，用于根据所述至少两个节点检测的故障信息，获得目标线束的故障信息。
在一些实施例中，所述处理模块具体用于，根据所述至少两个节点检测的故障信息在所述目标线束上的重叠部分，确定所述目标线束上的故障范围。
在一些实施例中，所述故障信息包括指示故障区域的信息。
在一些实施例中，所述处理模块还用于，若所述至少两个节点检测的故障信息在所述目标线束上没有重叠，则从其他节点处获得额外的故障信息，并根据所述至少两个节点检测的故障信息与所述额外的故障信息在所述目标线束上的重叠部分，确定所述目标线束的故障范围。
在一些实施例中，所述至少两个节点中的至少一个节点位于与所述目标线束耦合的其他线束上。
在一些实施例中，所述至少两个节点分别位于所述目标线束的两个端点的位置。
在一些实施例中，所述检测消息中携带监控帧，所述监控帧中携带所述至少两个节点检测的故障信息。
在一些实施例中，所述故障信息包括故障范围和/或故障类型。
根据本公开实施例的另一个方面，本公开实施例还提供了一种故障检测系统，所述系统包括多个节点，以及设置于任两个节点之间的多条线束，所述网络系统还包括故障检测装置，其中，所述故障检测装置用于：
接收至少两个节点发送的检测消息，其中，所述检测消息包括所述至少两个节点检测的故障信息；
根据所述至少两个节点检测的故障信息，获得目标线束的故障信息。
在一些实施例中，所述至少两个节点中的至少一个节点位于与所述目标线束耦合的其他线束上。
在一些实施例中，所述至少两个节点分别位于所述目标线束的两个端点的位置。
根据本公开实施例的另一个方面，本公开实施例还提供了一种电子设备，包括：
至少一个处理器；以及
与所述至少一个处理器通信连接的存储器；其中，
所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行如上任一实施例所述的方法。
根据本公开实施例的另一个方面，本公开实施例还提供了一种计算机存储介质所述计算机指令用于使所述计算机执行如上任一实施例所述的方法。
附图说明
附图用于更好地理解本公开实施例，不构成对本公开的限定。其中，
图1为本公开实施例的场景示意图；
图2为本公开另一实施例的场景示意图；
图3为本公开实施例的故障检测方法的流程示意图；
图4为本公开实施例的环路的示意图；
图5为本公开另一实施例的故障检测方法的流程示意图；
图6为本公开实施例根据重叠部分确定目标线束的故障信息的原理示意图；
图7为本公开另一实施例的故障检测方法的流程示意图；
图8为本公开实施例的故障检测装置的示意图；
图9为本公开实施例的电子设备的框图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本公开相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本公开的一些方面相一致的装置和方法的例子。
本公开实施例提供的故障检测方法，可以适用于如图1和图2所示的应用场景。
其中，在如图1和图2所示的应用场景中，本公开实施例的故障检测方法的执行主体可以是设置于车辆上的故障检测装置。
在一些实施例中，故障检测装置可以为设置于车辆上的电子控制单元(Electronic Control Unit，ECU)、车载盒子(Telematics BOX，T-Box)，域控制器(Domian Controller，DC)，多域控制器(Multi-Domian Controller，MDC)，车载单元(On board Unit，OBU)、处理器(CPU)和芯片等。
以下示例中，将以故障检测装置为电子控制单元为例进行示范性地描述。
其中，图1所示的应用场景示范性地描述了车辆100由静止状态至启动状态的过程，其中，静止状态可以理解为车辆处于熄火状态。
具体地，如图1中的1-1所示，车辆100处于静止状态，且泊于车位A。而如图1中的1-2所示，当用户200对车辆100执行启动操作时，电子控制单元执行本公开实施例的故障检测方法，以便确保车辆100安全的行驶。
其中，在如图2所示的应用场景示中，车辆300处于行驶状态，电子控制单元可以周期性地执行本公开实施例的故障检测方法，以确保车辆300在行驶过程中的安全。
基于上述示例可知，本公开实施例的故障检测方法可以在车辆启动时被电子控制单元执行；当然，本公开实施例的故障检测方法还可以在车辆行驶过程中，被电子控制单元以周期性的方式执行。
值得说明地是，上述示例只是用于示范性地说明本公开实施例可以适用的应用场景，而不能理解为对本公开实施例的应用场景的限定。
下面以具体地实施例对本公开的技术方案以及本申请的技术方案如何解决上述技术问题进行详细说明。下面这几个具体的实施例可以相互结合，对于相同或相似的概念或过程可能在某些实施例中不再赘述。下面将结合附图，对本公开的实施例进行描述。
根据本公开实施例的一个方面，本公开实施例提供了一种故障检测方法。
请参阅图3，图3为本公开实施例的故障检测方法的流程示意图。
如图3所示，该方法包括：
S101：接收至少两个节点发送的检测消息，其中，检测消息包括至少两个节点检测的故障信息。
其中，本公开实施例的故障检测方法可以用于对车辆的车载网络进行检测，且基于上述示例可知，对车载网络进行检测的可以为电子控制单元等。
其中，车载网络用于表征车辆内部的各物理层节点(简称为节点)之间通过线束的方式连接，由点对点的连线方式连成的环路结构。其中，线束包括线缆和连接器，各节点之间通过线束进行通信，且任一两个存在连接关系的节点之间的线缆上可以设置连接器。
一般而言，任一节点可以连接多个传感器，传感器包括但不限于摄像头和雷达。如，某一节点连接三个摄像头和三个雷达，且，三个雷达中包括两个射频雷达和一个激光雷达。
请参阅图4，图4为本公开实施例的环路的示意图。
如图4所示，节点A、节点B、节点C和节点D形成环路，且节点A、节点B、节点C和节点D分别与电子控制单元连接。
其中，节点A分别与节点B和节点D连接，节点C分别与节点B和节点D连接。
其中，节点A还连接激光雷达，节点C还连接射频雷达，节点B还连接摄像头。
其中，节点A和节点B之间设置有一个连接器，节点C和节点D之间也设置有一个连接器。
值得说明的是，图4只是示范性地展示了环路的结构，而不能理解为对环路的结构的限定。如，在一些实施例中，节点A与节点C连接，和/或，节点B与节点D连接，等等。
值得说明地是，两节点之间，或者，节点与传感器之间的线缆可能出现故障，当 然，也可能为连接器出现故障，使得连接器连接的线缆之间无法进行连接。如，图4中的节点A和节点B之间的线束(下文简称线束AB)可能出现故障，或者，节点A与激光雷达之间的线束出现故障，等等。为了确保车载网络的正常运行，以确保车辆的安全行驶，需要对车载网络是否出现故障进行检测，得到包括故障信息的检测消息。其中，线束出现故障包括线束断路和开路等。
其中，检测消息为至少两个节点向车载网络(具体为向与其他节点之间的线束)发送检测信号，并根据检测信号对应的反馈信息得到的，且检测消息可以用于表征至少两个节点对车载网络是否出现故障进行检测得到的相关信息。
其中，故障信息用于表征车载网络存在故障的相关信息，且，故障信息可以至少从两个方面进行描述，一个方面为故障范围，如某范围内的线束出现故障，即线束可能存在的故障的范围；另一个方面为故障类型，如线束出现短路，或者开路等。
其中，可以基于线束的故障范围确定是为线缆故障还是连接器故障，如果为线缆故障，则故障范围具体为线缆对应的故障范围，如果为连接器故障，则故障范围具体为连接器对应的故障范围。
具体地，若连接器位于线束故障范围内，则可以确定为连接器出现故障，若线束故障范围内没有连接器，则可以确定为线缆出现故障。
在一些实施例中，在节点对某线束的是否出现故障进行检测时，可以通过向该线束的线束发送检测信号，且检测信号中携带监测帧，而当得到相应的包括故障信息的检测消息时，可将故障信息写入至监测帧的空白字段中，且故障信息包括指示故障区域的信息。
在一些实施例中，可以由各个节点分别对车载网络是否出现故障进行检测，且当车载网络出现故障时，各个节点分别得到各自对应的故障信息，即一个节点对应一个故障信息。
现以图4为例本实施例阐述如下：
节点A可以向线束AB发送检测信号，以检测线束AB是否出现故障，得到检测消息，并将检测消息发送至电子控制单元。在一些实施例中，节点A还可以将该检测消息共享至其他节点，如节点B，或者通过节点B与节点C之间的线束(下文简称线束BC)共享至节点C，等等。
当然，节点A也可以向节点A与节点D之间的线束(下文简称线束AD)发送检测信号，以检测线束AD是否出现故障，得到检测消息，并将检测消息发送至电子控制单元。同理，节点A也可以将该检测消息共享至其他节点。
当然，节点A也可以向节点A与激光雷达之间的线束发送检测信号，以检测节点A与激光雷达之间的线束(如图4所示，由于节点A与激光雷达之间没有连接器，所以，节点A与激光雷达之间的线束即为，节点A与激光雷达之间的线缆)是否出现故障，得到检测消息，并将检测消息发送至电子控制单元。同理，节点A也可以将该检测消息共享至其他节点。
当然，节点A也可以向节点A与节点C之间的线束(下文简称线束AC)发送检测信号，以检测线束AC是否出现故障，得到检测消息，并将检测信息发送至电子控制单元。同理，节点A也可以将该检测消息共享至其他节点。
其中，当为节点A向线束AC发送检测信号，以检测线束AC是否出现故障时，可以具体包括：
如果节点A与节点C之间为间接连接，如图4所示，节点A与节点C之间设置有节点B，则节点A向线束AB发送的检测信号，且检测信号传播至线束BC，且检测消息包括线束AB对应的检测消息，以及线束对BC应的检测消息；如果节点A与节点C之间为直接连接，则直接由节点A向线束AC发送检测信号，并得到检测消息。
其他节点通过发送检测信号得到检测消息的描述可参见上述示例，此处不再赘述。
即，在本公开实施例中，各节点可以自发的对车载网络是否出现故障进行检测，并将检测得到的检测消息发送至电子控制单元。
在一些实施例中，可设置各节点自发的对车载网络是否出现故障进行检测的触发条件。其中，触发条件可以为预先基于需求、经验和试验进行设置的。
具体地，触发条件可以为预先设置的时间间隔，即各节点每隔预设时间间隔对车载网络是否出现故障进行检测。
当然，触发条件也可以为预先设置的场景，即若当前的场景为预先设置的场景时，则各节点对车载网络是否故障进行检测。如，预先设置的场景为车辆启动，则当车辆启动时，各节点对车载网络是否故障进行检测。又如，预先设置的场景为车辆异常(可以预先设置车辆异常相关的信息，如刹车失灵等)，则当车辆运行过程中出现异常时，各节点对车载网络是否故障进行检测。
在另一些实施例中，可以由电子控制单元从各个节点中选取至少两个节点，并向至少两个节点发送用于对车载网络是否出现故障进行检测的检测指令，该至少两个节点接收到检测指令后，对车载网络是否出现故障进行检测，当至少两个节点检测到车载网络出现故障时，生成与至少两个节点对应的检测消息，至少两个节点将对应的检测消息分别发送至电子控制单元。
现以图4为例本实施例阐述如下：
电子控制单元从四个节点中选择节点A和节点C对车载网络是否出现故障进行检测，则电子控制单元分别向节点A和节点C发送用于对车载网络是否出现故障进行检测的检测指令，节点A和节点C在接收到检测指令后，可执行如上述示例的检测流程。
即，在本公开实施例中，电子控制单元可以选取对车载网络是否出现故障进行检测的节点，并由电子控制单元选取出的节点对车载网络是否出现故障进行检测。
同理，在一些实施例中，可设置电子控制单元选取至少两个节点，以便由选取出的至少两个节点对车载网络是否出现故障进行检测的触发条件。其中，触发条件可以为预先基于需求、经验和试验进行设置的。
具体地，触发条件可以为预先设置的时间间隔，即电子控制单元每隔预设时间间隔选取至少两个节点，并向选取出的至少两个节点发送用于对车载网络是否出现故障进行检测的检测指令，以便选取出的至少两个节点对车载网络是否出现故障进行检测。
当然，触发条件也可以为预先设置的场景，即若当前的场景为预先设置的场景时，则电子控制单元选取至少两个节点，并向选取出的至少两个节点发送用于对车载网络是否出现故障进行检测的检测指令，以便选取出的至少两个节点对车载网络是否出现故障进行检测。如，预先设置的场景为车辆启动，则当车辆启动时，电子控制单元选 取至少两个节点，并向选取出的至少两个节点发送用于对车载网络是否出现故障进行检测的检测指令，以便选取出的至少两个节点对车载网络是否出现故障进行检测。又如，预设设置的场景为车辆异常(可以预先设置车辆异常相关的信息，如刹车失灵等)，则当车辆运行过程中出现异常时，电子控制单元选取至少两个节点，并向选取出的至少两个节点发送用于对车载网络是否出现故障进行检测的检测指令，以便选取出的至少两个节点对车端网络是否出现故障进行检测。
值得说明地是，电子控制单元可以通过多种方式选取至少两个节点，如，电子控制单元可以随机选取至少两个节点；也可以为预先设置选取至少两个接地那的映射关系表，并基于映射关系表进行选；也可以为基于各节点反馈的检测消息，对各节点反馈检测消息的准确率和/或效率进行计算，并根据准确率和/或效率选取至少两个节点，等等。
当然，电子控制单元对至少两个节点的选取，也可以为基于需求进行选取。此处的基于需求进行选取是指针对某线束，针对性地选取至少两个节点。
例如，某线束的两个端点对应的节点分别为第一节点和第二节点，则电子控制单元选取出的至少两个节点为第一节点和第二节点，且第一节点和第二节点均向该线束发送检测信号。
现以图4为例对本实施例进行阐述如下：
若需要检测线束AB是否出现故障，则电子控制单元分别向节点A和节点B发送用于对车载网络是否出现故障进行检测的检测指令，节点A接收到检测指令后，向线束AB发送检测信号，得到检测消息，并将检测消息发送至电子控制单元；同理，节点B接收到检测指令后，向线束AB发送检测信号，得到检测消息，并将检测消息发送至电子控制单元。
值得说明的是，各节点均分别集成了数字信号处理模块，且数字处理模块可以包括至少一个寄存器，至少一个寄存器可以用于存储与检测消息。因此，在一些实施例中，各节点与电子控制单元可以预先约定数字在故障检测时的含义，以便各节点将检测消息存储至寄存器，并将检测消息发送至电子控制单元。现以图4中的节点A为例进行示范性地阐述，其中，节点A中集成有数字信号处理模块，且数字信号处理模块包括四个寄存器，分别标记为寄存器1、寄存器x、寄存器y和寄存器z，且任一寄存器均可以为16位寄存器，具体地：
若节点A开始对车载网络是否故障进行检测，则在寄存器1的0位上写入1。
若节点A检测出车载网络没有出现故障，则在寄存器1的1位上写入1。
若节点A检测出车载网络出现故障，且故障类型为开路，则在寄存器1的2位上写入1。
若节点A检测出车载网络出现故障，且故障类型为短路，则在寄存器1的3位上写入1。
若节点A完成对车载网络是否故障的检测，则在寄存器1的4位上写入1。
若节点A正在对车载网络是否故障进行检测，则在寄存器1的4位上写入0。
若车载网络一圈的线束的长度为S米，则在节点A的寄存器1的第5位至第15位上写入S对应的二进制数。
若节点A与激光雷达之间的距离为XX米，则在寄存器x的第0位至第7位上写入与XX对应的二进制数。
若节点A检测出车载网络出现故障，且故障范围为以A点为起点的第XX米，则在寄存器y的第0位至第7位上写入与XX对应的二进制数，且若故障范围的误差为XY米，则在寄存器y的第8位至第11位上写入与XY对应的二进制数。
若节点A检测到其与激光雷达之间的线束出现故障，且故障范围为YY米，则在寄存器z的第0位和第7位上写入与YY对应的二进制数，且若故障误差为XZ米，则在寄存器z的第8位至第11位上写入与XZ对应的二进制数。
为了使读者更深刻地理解本公开实施例，现结合图4(具体以图4中的节点A和节点B为例)示范性地阐述确定检测消息的原理如下：
S1：节点A向线束AB发送检测信号(具体可以为电压脉冲信号Ui)，并记录节点A发送电压脉冲信号Ui的时间T1。
S2：记录节点A接收到通过线束AB传递回来的反射脉冲信号Uf的时间T2。
S3：通过电压脉冲信号Ui的幅度和反射脉冲信号Uf的幅度确定线束AB的电压反射系数β，并获取电压脉冲信号Ui在线束AB中的传播速度v p。
S4：若β等于0，则说明线束AB没有出现故障；若β不等于0，则说明线束AB出现故障。
具体地，若β等于1，则说明线束AB开路，即线束AB的故障类型为开路；若β等于-1，则说明线束AB开路，即线束AB的故障类型为短路；若β既不等于1，也不等于-1，则说明线束AB可能因虚焊等原因造成的数据错误。
且，可通过v p、T1和T2确定故障范围，如，故障范围L＝(v p*(T2-T1))/2。
值得说明地是，上述示例只是用于示范性地说明本公开实施例确定检测信息的原理，而不能理解为确定检测信息的原理的限定。
S102：根据至少两个节点检测的故障信息，获得目标线束的故障信息。
结合图5可知，在一些实施例中，S102可具体包括：
S21：从至少两个节点检测的故障信息中，获取至少两个节点各自检测的目标线束上的故障信息，其中，至少两个节点各自检测的目标线束上的故障信息包括第一故障信息和第二故障信息。
在一些实施例中，可以从多个目标线束对应的故障信息中选取两个，且两个中的一个为第一故障信息，两个中的另一个为第二故障信息。
现以上述示例为基础对该实施例进行示范性地描述：
目标线束为线束AB；节点A发送至电子控制单元的故障信息中包括线束AB的故障信息；节点B发送至电子控制单元的故障信息包括线束BC的故障信息，还包括节点C与节点D之间的线束(下文简称线束CD)的故障信息；节点C发送至电子控制单元的故障信息包括为线束CD的故障信息，还包括线束AD的故障信息，还包括线束AB的故障信息，还包括线束BC的故障信息；节点D发送至电子控制单元的故障信息包括线束AD的故障信息，还包括线束AB的故障信息；则，获取到的第一故障信息可以为节点A发送的线束AB的故障信息，获取到的第二故障信息可以为节点C发送的故障信息中的线束AB的故障信息。
当然，也可以从多个目标线束对应的故障信息中选取(2+n)个，并将其中的某一个部分的故障信息称为第一故障信息，另一部分称为第二故障信息，其中，n为大于1的整数。
现以上述示例为基础对该实施例进行示范性地描述：
目标线束为线束AB；节点A发送至电子控制单元的故障信息中包括线束AB的故障信息；节点B发送至电子控制单元的故障信息包括线束BC的故障信息，还包括节点C与节点D之间的线束(下文简称线束CD)的故障信息；节点C发送至电子控制单元的故障信息包括为线束CD的故障信息，还包括线束AD的故障信息，还包括线束AB的故障信息，还包括线束BC的故障信息；节点D发送至电子控制单元的故障信息包括线束AD的故障信息，还包括线束AB的故障信息；则，获取到的第一故障信息包括节点A发送的线束AB的故障信息，还包括节点C发送的故障信息中的线束AB的故障信息，获取到的第二故障信息可以为节点D发送的故障信息中的线束AB的故障信息。
S22：在第一故障信息和第二故障信息的重叠部分中，确定目标线束的故障信息。
其中，该步骤可具体包括：确定第一故障信息和第二故障信息的重叠部分，并根据确定出的重叠部分确定目标线束的故障信息。
其中，重叠部分用于表征既被包含于第一故障信息中的故障信息，又被包含于第二故障信息中的故障信息。
现结合图4和图6对根据重叠部分确定目标线束的故障信息进行示例性地描述：
若节点A向线束AB(即目标线束)发送检测信号，并得到包括第一故障信息的检测消息，且第一故障信息中包括第一故障范围和第一故障类型。
如图6所述，线束AB总共长十五米，且如图6中的6-1所示，第一故障信息中第一范围为：以线束AB的端点A为起点，第7至8米的位置；且，第一故障类型为线束AB开路。
若节点B通过线束AB向节点A发送检测信号，并得到包括第二故障信息的检测消息，且第二故障信息中包括第二故障范围和第二故障类型。
如图6中的6-2所示，第二故障信息中的第二范围为：以线束AB的端点A为起点，第6.5米至7.5米的位置；且第二故障类型为线束AB开路。
则，基于图6中的6-1和6-2可知，第一故障范围和第二故障范围重叠部分为：以线束AB的端点A为起点，第7至7.5米的位置，则线束AB(目标线束)的故障范围为：以线束AB的端点A为起点，第7至7.5米的范围；且，线束AB(目标线束)的故障类型为开路。
值得说明地是，本公开实施例中只是以15米为例对本公开实施例的方案进行示范性地说明，而不能理解为本公开实施例的线束的长度的限定。
请参阅图7，图7为本公开另一实施例的故障检测方法的流程示意图。
如图7所示，该方法包括：
S201：接收至少两个节点发送的检测消息，其中，检测消息包括至少两个节点检测的故障信息。
其中，关于S201的描述可参见S101，此处不再赘述。
S202：判断至少两个节点检测的故障信息中，包括目标线束上的故障信息的节点 的数量是否为多个，若是，则执行S203；若否，执行S206。
S203：获取至少两个节点各自检测的目标线束上的故障信息，其中，至少两个节点各自检测的目标线束上的故障信息包括第一故障信息和第二故障信息。
其中，关于S203的描述可参见S21，此处不再赘述。
S204：判断第一故障信息和第二故障信息是否存在重叠部分，若是，则执行S205；若否，则执行S206。
S205：在第一故障信息和第二故障信息的重叠部分中，确定目标线束的故障信息。
其中，关于S205的描述可参见S22，此处不再赘述。
S206：从其他节点处获得额外的故障信息(下文简称第三故障信息)。
基于上述示例，若目标线束为线束AB，第一故障信息为节点A发送的，第二故障信息为节点C发送的，而第一故障信息和第二故障信息没有重叠部分，则电子控制单元从节点D处获取第三故障信息。
S207：根据第一故障信息和第三故障信息确定目标线束的故障信息，或者，根据第二故障信息和第三故障信息确定目标线束的故障信息。
该步骤的的方法与S204和S205类似，具体地：
可以判断第一故障信息和第三故障信息是否存在重叠部分，如果有，则在第一故障信息和第二故障信息的重叠部分中，确定目标线束的故障信息。
也可以判断第二故障信息和第三故障信息是否存在重叠部分，如果有，则在第二故障信息和第二故障信息的重叠部分中，确定目标线束的故障信息。
值得说明地是，如果第一故障信息和第三故障信息没有重叠部分，且，第二故障信息和第三故障信息也没有重叠部分，则可重新从其他节点处获得额外的故障信息；如果第一故障信息和第三故障信息有部分重叠(下文简称第一重叠部分)，且第二故障信息和第三故障信息也有部分重叠(下文简称第二重叠部分)，则可将第一重叠部分和第二重叠部分的并集部分确定为目标线束的故障信息。
根据本公开实施例的另一个方面，本公开实施例还提供了一种故障检测装置。
请参阅图8，图8为本公开实施例的故障检测装置的示意图。
其中，图8所示的故障检测装置可以执行如2、图5和图7所示的故障检测方法。
如图8所示，所述装置包括：
通信模块11，用于接收至少两个节点发送的检测消息，其中，所述检测信息包括所述至少两个节点检测的故障信息；
处理模块12，用于根据所述至少两个节点检测的故障信息，获得目标线束的故障信息。
在一些实施例中，所述处理模块12具体用于，根据所述至少两个节点检测的故障信息在所述目标线束上的重叠部分，确定所述目标线束上的故障范围。
在一些实施例中，所述故障信息包括指示故障区域的信息。
在一些实施例中，所述处理模块12还用于，若所述至少两个节点检测的故障信息在所述目标线束上没有重叠，则从其他节点处获得额外的故障信息，并根据所述至少两个节点检测的故障信息与所述额外的故障信息在所述目标线束上的重叠部分，确定所述目标线束的故障范围。
在一些实施例中，所述至少两个节点中的至少一个节点位于与所述目标线束耦合的其他线束上。
在一些实施例中，所述至少两个节点分别位于所述目标线束的两个端点的位置。
在一些实施例中，所述检测消息中携带监控帧，所述监控帧中携带所述至少两个节点检测的故障信息。
在一些实施例中，所述故障信息包括故障范围和/或故障类型。
根据本公开实施例的另一个方面，本公开实施例还提供了一种故障检测系统，所述系统包括包括多个节点，以及设置于任两个节点之间的多条线束，网络系统还包括故障检测装置，其中，故障检测装置用于：
接收至少两个节点发送的检测消息，其中，检测消息包括至少两个节点检测的故障信息；
根据至少两个节点检测的故障信息，获得目标线束的故障信息。
在一些实施例中，至少两个节点中的至少一个节点位于与所述目标线束耦合的其他线束上。
其中，图4可以理解为故障检测系统的一个具体实施例，在该实施例中，故障检测系统包括故障检测装置，且故障检测装置具体为电子控制单元，还包括与电子控制单元连接的四个节点(即图4中的节点A、节点B、节点C和节点D)，以及节点之间的线束，如节点A和节点B之间的线束，节点B与节点C之间的线束等。
且结合图4可知，故障检测系统还可包括与节点连接的传感器和/或连接器，如与节点A连接的激光雷达，分别与节点A和节点B连接的连接器，与节点B连接的摄像头，与节点C连接的射频雷达，分别与节点C和节点D连接的连接器。
根据本公开实施例的另一个方面，本公开实施例还提供了一种电子设备和计算机可读存储介质。
请参阅图9，图9为本公开实施例的电子设备的框图。
其中，电子设备旨在表示各种形式的控制器。本文所示的部件、它们的连接和关系、以及它们的功能仅仅作为示例，并且不意在限制本文中描述的和/或者要求的本公开的实现。
例如，电子设备可以为车辆上设置的电子控制单元和芯片等。
具体地，电子设备包括至少一个处理器101，通信总线102，存储器103以及至少一个通信接口104。
处理器101可以是一个通用中央处理器(central processing unit，CPU)，微处理器，特定应用集成电路(application-specific integrated circuit，ASIC)，或一个或多个用于控制本公开实施例的方案程序执行的集成电路。
通信总线102可包括一通路，在上述组件之间传送信息。
通信接口104，可以是任何收发器或IP端口或总线接口等，用于与内部或外部设备或装置或通信网络通信，如以太网，无线接入网(radio access network，RAN)，无线局域网(wireless local area networks，WLAN)等。
存储器103可以是只读存储器(read-only memory，ROM)或可存储静态信息和指令的其他类型的静态存储设备，随机存取存储器(random access memory，RAM)或者 可存储信息和指令的其他类型的动态存储设备，也可以是电可擦可编程只读存储器(electrically erasable programmable read-only memory，EEPROM)、只读光盘(compact disc read-only memory，CD-ROM)或其他光盘存储、光碟存储(包括压缩光碟、激光碟、光碟、数字通用光碟、蓝光光碟等)、磁盘存储介质或者其他磁存储设备、或者能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算机存取的任何其他介质，但不限于此。存储器可以是独立存在，通过总线与处理器相连接。存储器也可以和处理器集成在一起。
其中，存储器103即为本公开所提供的非瞬时计算机可读存储介质，所述存储器存储有可由至少一个处理器执行的指令，以使所述至少一个处理器执行本公开所提供的故障检测方法。本公开的非瞬时计算机可读存储介质存储计算机指令，该计算机指令用于使计算机执行本公开所提供的故障检测方法。
存储器103作为一种非瞬时计算机可读存储介质，可用于存储非瞬时软件程序、非瞬时计算机可执行程序以及模块。处理器101通过运行存储在存储器103中的非瞬时软件程序、指令以及模块，从而执行服务器的各种功能应用以及数据处理，即实现上述方法实施例中的故障处理方法。
存储器103可以包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需要的应用程序；存储数据区可存储根据电子设备的使用所创建的数据等。此外，存储器103可以包括高速随机存取存储器，还可以包括非瞬时存储器，例如至少一个磁盘存储器件、闪存器件、或其他非瞬时固态存储器件。在一些实施例中，存储器103可选包括相对于处理器101远程设置的存储器，这些远程存储器可以通过网络连接至电子设备。上述网络的实例包括但不限于互联网、车联网、企业内部网、局域网、移动通信网及其组合。
在具体实现中，作为一种实施例，处理器101可以包括一个或多个CPU，例如图9中的CPU0和CPU1。
在具体实现中，作为一种实施例，电子设备可以包括多个处理器，例如图9中的处理器101和处理器108。这些处理器中的每一个可以是一个单核(single-CPU)处理器，也可以是一个多核(multi-CPU)处理器。这里的处理器可以指一个或多个设备、电路、和/或用于处理数据(例如计算机程序指令)的处理核。
在具体实现中，作为一种实施例，电子设备还可以包括输出装置105和输入装置106。输出装置105和处理器101通信，可以以多种方式来显示信息(如图4和6所示的显示界面)。例如，输出装置105可以是液晶显示器(liquid crystal display，LCD),发光二级管(light emitting diode，LED)显示装置，阴极射线管(cathode ray tube，CRT)显示装置，或投影仪(projector)等。输入装置106和处理器101通信，可以以多种方式接受用户的输入。例如，输入装置106可以是鼠标、键盘、触摸屏装置或传感装置等。
当图9所示的电子设备为芯片时，通信接口104的功能/实现过程还可以通过管脚或电路等来实现，所述存储器为所述芯片内的存储单元，如寄存器、缓存等，所述存储单元还可以是位于所述芯片外部的存储单元。
根据本公开实施例的另一个方面，本公开实施例还提供了一种车辆，所述车辆包 括上述示例所述的故障检测系统，或者，包括如上述示例所述的电子设备。
应该理解，可以使用上面所示的各种形式的流程，重新排序、增加或删除步骤。例如，本公开中记载的各步骤可以并行地执行也可以顺序地执行也可以不同的次序执行，只要能够实现本公开的技术方案所期望的结果，本文在此不进行限制。
上述具体实施方式，并不构成对本公开保护范围的限制。本领域技术人员应该明白的是，根据设计要求和其他因素，可以进行各种修改、组合、子组合和替代。任何在本公开的精神和原则之内所作的修改、等同替换和改进等，均应包含在本公开保护范围之内。

Claims (20)

  1. 一种故障检测方法，其特征在于，所述方法包括：
    接收至少两个节点发送的检测消息，其中，所述检测消息包括所述至少两个节点检测的故障信息；
    根据所述至少两个节点检测的故障信息，获得目标线束的故障信息。
  2. 根据权利要求1所述的方法，其特征在于，所述根据所述至少两个节点检测的故障信息，获得目标线束的故障信息包括：
    根据所述至少两个节点检测的故障信息在所述目标线束上的重叠部分，确定所述目标线束上的故障范围。
  3. 根据权利要求2所述的方法，其特征在于，所述故障信息包括指示故障区域的信息。
  4. 根据权利要求2所述的方法，其特征在于，若所述至少两个节点检测的故障信息在所述目标线束上没有重叠，则从其他节点处获得额外的故障信息，并根据所述至少两个节点检测的故障信息与所述额外的故障信息在所述目标线束上的重叠部分，确定所述目标线束的故障范围。
  5. 根据权利要求1至4中任一项所述的方法，其特征在于，所述至少两个节点中的至少一个节点位于与所述目标线束耦合的其他线束上。
  6. 根据权利要求1至4中任一项所述的方法，其特征在于，所述至少两个节点分别位于所述目标线束的两个端点的位置。
  7. 根据权利要求1至4中任一项所述的方法，其特征在于，所述检测消息中携带监控帧，所述监控帧中携带所述至少两个节点检测的故障信息。
  8. 根据权利要求1至4中任一项所述的方法，其特征在于，所述目标线束的故障信息包括故障范围和/或故障类型。
  9. 一种故障检测装置，其特征在于，所述装置包括：
    通信模块，用于接收至少两个节点发送的检测消息，其中，所述检测信息包括所述至少两个节点检测的故障信息；
    处理模块，用于根据所述至少两个节点检测的故障信息，获得目标线束的故障信息。
  10. 根据权利要求9所述的装置，其特征在于，所述处理模块具体用于，根据所述至少两个节点检测的故障信息在所述目标线束上的重叠部分，确定所述目标线束上的故障范围。
  11. 根据权利要求10所述的装置，其特征在于，所述故障信息包括指示故障区域的信息。
  12. 根据权利要求10所述的装置，其特征在于，所述处理模块还用于，若所述至少两个节点检测的故障信息在所述目标线束上没有重叠，则从其他节点处获得额外的故障信息，并根据所述至少两个节点检测的故障信息与所述额外的故障信息在所述目标线束上的重叠部分，确定所述目标线束的故障范围。
  13. 根据权利要求9至12中任一项所述的装置，其特征在于，所述至少两个节点中的至少一个节点位于与所述目标线束耦合的其他线束上。
  14. 根据权利要求9至12中任一项所述的装置，其特征在于，所述至少两个节点分别位于所述目标线束的两个端点的位置。
  15. 根据权利要求9至12中任一项所述的装置，其特征在于，所述检测消息中携带监控帧，所述监控帧中携带所述至少两个节点检测的故障信息。
  16. 根据权利要求9至12中任一项所述的装置，其特征在于，所述故障信息包括故障范围和/或故障类型。
  17. 一种网络系统，其特征在于，包括多个节点，以及设置于任两个节点之间的多条线束，所述网络系统还包括故障检测装置，其中，所述故障检测装置用于：
    接收至少两个节点发送的检测消息，其中，所述检测消息包括所述至少两个节点检测的故障信息；
    根据所述至少两个节点检测的故障信息，获得目标线束的故障信息。
  18. 根据权利要求17所述的系统，其特征在于，所述至少两个节点中的至少一个节点位于与所述目标线束耦合的其他线束上。
  19. 一种电子设备，其特征在于，包括：
    至少一个处理器；以及
    与所述至少一个处理器通信连接的存储器；其中，
    所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行权利要求1-8中任一项所述的方法。
  20. 一种存储有计算机指令的非瞬时计算机可读存储介质，其特征在于，所述计算机指令用于使所述计算机执行权利要求1-8中任一项所述的方法。
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