WO2022121693A1 - 汽车总线的故障定位方法、诊断设备及汽车检测系统、方法 - Google Patents
汽车总线的故障定位方法、诊断设备及汽车检测系统、方法 Download PDFInfo
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- G—PHYSICS
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- 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
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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
- G01R31/50—Testing of electric apparatus, lines, cables or components for short-circuits, continuity, leakage current or incorrect line connections
- G01R31/52—Testing for short-circuits, leakage current or ground faults
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- 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
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- G01R31/50—Testing of electric apparatus, lines, cables or components for short-circuits, continuity, leakage current or incorrect line connections
- G01R31/58—Testing of lines, cables or conductors
Definitions
- the present application relates to the technical field of automobiles, and in particular, to a fault location method, diagnostic equipment, and automobile detection system and method for an automobile bus.
- Controller Area Network is one of the most widely used fieldbuses in the world.
- CAN bus protocol has become the standard bus of automotive computer control system and embedded industrial control local area network, and has J1939 protocol specially designed for large trucks and heavy industrial machinery vehicles with CAN as the underlying protocol.
- J1939 protocol specially designed for large trucks and heavy industrial machinery vehicles with CAN as the underlying protocol.
- the high reliability and good error detection capability of the CAN bus protocol have been paid attention to, and are widely used in automotive computer control systems and industrial environments with harsh ambient temperatures, strong electromagnetic radiation and large vibrations.
- CAN bus plays a very important role in ECU communication of automotive electronic components, especially the powertrain part, which completes the communication between various ECUs through high-speed PT-CAN.
- the high-speed CAN bus is a broadcast network composed of two data buses CAN-H and CAN-L, which transmit differential signals. If any of the data lines fails, is open or short-circuited, the entire network communication will fail. Usually, when the automobile CAN bus is overhauled, the more reliable inspection method is to unplug all the terminal devices, and then insert them one by one, and observe whether the fault recurs. If the fault recurs, the last position where the problem occurred after insertion is where the fault occurred. It is feasible for a miniaturized CAN network, but when the number of terminals on the CAN bus is large, this method will bring some problems. First, the efficiency is low. CAN-L intermixing may bring new problems.
- the current vehicle fault location has the technical problem of low efficiency.
- One object of the embodiments of the present invention is to provide a fault location method, diagnostic device, and vehicle detection system and method for a vehicle bus, which can improve the efficiency of vehicle fault location.
- an embodiment of the present invention provides a fault location method for an automobile bus, the method comprising:
- a reference node is determined in the topology network, and the reference node includes a first reference node and/or a second reference node; wherein, the first reference node is a trunk path directly connected to the topology network and has no child nodes and the adjacent two first reference nodes are separated by M-1 nodes; the second reference node is a node connecting the trunk path through the parent node, and the adjacent two second reference nodes are separated by M -1 node; where M is the search step size and M is a positive integer;
- the determining a reference node in the topological network includes:
- the reference node is determined by searching in the direction from the first terminal node to the second terminal node.
- the determining the weight of each network node between the first terminal node and the second terminal node includes:
- the weight of each network node is determined according to the number of other network nodes connected by the link between the network node and the backbone path.
- determining the weight of each network node according to the number of other network nodes connected by links between the network node and the backbone path includes:
- the weight of the network node is determined to be 1;
- the weight of the network node is determined to be n, where n is a positive integer and n ⁇ 2.
- the searching from the first terminal node to the second terminal node according to the search step size to determine the reference node includes:
- the determining the second reference node according to the weight of the network node of the at least one branch link includes:
- the network node whose weight is an integer multiple of the search step is determined as the second reference node, and other branches of each branch link are recursively searched until all the branches are traversed. All network nodes on the branch link.
- determining the key node according to the location of the reference node includes:
- the disconnectable position corresponding to the position where the reference node is located is acquired, and the disconnectable position is determined as the key node.
- the method further includes:
- the topology network between the electronic control units is divided into at least two sub-network segments
- the method further includes judging whether the network fault is eliminated, specifically including:
- an embodiment of the present invention provides a diagnostic device, the diagnostic device includes: a main controller and a communication interface, where the communication interface is used to communicate with a car, and the car includes a topology network between electronic control units , the topology network includes a plurality of network nodes, and the main controller includes:
- the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the fault location method for an automotive bus as described above.
- an embodiment of the present invention provides an automobile detection system, which is applied to an automobile, where the automobile includes an automobile control unit system, the automobile control unit system includes a plurality of automobile control units, and the automobile detection system includes:
- the diagnostic device is communicatively connected to the vehicle control unit system;
- An oscilloscope connected to the diagnostic equipment, is used for acquiring the bus waveform of the topology network.
- an embodiment of the present invention provides a vehicle detection method, which is applied to the vehicle detection system as described above, and the method includes:
- the diagnostic equipment scans the vehicle control unit system to obtain communication fault codes
- the oscilloscope acquires the communication fault code sent by the diagnostic equipment, and acquires the bus waveform of the topology network to determine the fault category;
- the diagnostic device acquires the topology network between the electronic control units in the vehicle, determines the key nodes in the topology network, and divides the topology network into a plurality of sub-network segments according to the key nodes;
- the diagnostic equipment disconnects the key nodes one by one, and determines the subnet segment where the network fault occurs according to whether the bus waveform of the topology network obtained by the oscilloscope returns to normal;
- the diagnostic device performs troubleshooting on the network nodes in the sub-network segment to determine the failed network node.
- an embodiment of the present invention provides a non-volatile computer-readable storage medium, where the non-volatile computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to make a diagnosis
- the device implements the above-mentioned fault location method for the automobile bus.
- an embodiment of the present invention provides a computer program, the computer program includes program instructions, when the program instructions are executed by one or more processors in a diagnostic device, the diagnostic device is made to execute the above-mentioned A fault location method for automotive buses.
- the embodiments of the present invention provide a method for locating a fault of an automobile bus, the method comprising: acquiring a topology network between electronic control units in the automobile, Wherein, each electronic control unit is connected through a bus; a reference node is determined in the topological network, and the reference node includes a first reference node and/or a second reference node; wherein, the first reference node is directly connected
- the backbone path in the topology network is a node without child nodes, and two adjacent first reference nodes are separated by M-1 nodes; the second reference node is a node connecting the backbone path through a parent node, And two adjacent second reference nodes are separated by M-1 nodes; wherein, M is the search step size and M is a positive integer; according to the reference node, determine the key node, and the key node is in the topological network.
- the embodiment of the present invention can improve the efficiency of fault location of the vehicle.
- FIG. 1 is a schematic structural diagram of a vehicle detection system provided by an embodiment of the present invention.
- FIG. 2 is a schematic flowchart of a method for locating a fault of an automobile bus according to an embodiment of the present invention
- FIG. 3 is a schematic structural diagram of a high-speed CAN network structure provided by an embodiment of the present invention.
- FIG. 4 is a schematic diagram of a controller area network provided by an embodiment of the present invention after being divided;
- Fig. 5 is the refinement flow chart of step S10 in Fig. 2;
- FIG. 6 is a schematic diagram of a topology diagram of a controller area network provided by an embodiment of the present invention.
- Fig. 7 is the refinement flow schematic diagram of step S23 in Fig. 5;
- FIG. 8 is a schematic diagram of a vehicle diagnostic bus and an online CAN bus provided by an embodiment of the present invention.
- FIG. 9 is a schematic flowchart of a vehicle detection method provided by an embodiment of the present invention.
- FIG. 10 is a schematic structural diagram of a diagnostic device provided by an embodiment of the present invention.
- CAN bus namely Controller Area Network (CAN)
- CAN Controller Area Network
- the CAN protocol is used to communicate between the various components in the car, replacing expensive and bulky power distribution wiring harnesses. The robustness of this protocol extends its use to other automation and industrial applications.
- Features of the CAN protocol include complete serial data communication, real-time support, transmission rates up to 1Mb/s, 11-bit addressing and error detection capabilities.
- ECU Electronic Control Unit
- trip computer also known as "trip computer”
- vehicle computer vehicle computer
- ECU Electronic Control Unit
- CPU central processing unit
- ROM read-only memory
- I/O input/output interface
- A/D analog-to-digital converter
- large-scale integrated circuits such as shaping and driving. composition.
- CAN-H refers to the H line of the CAN bus, which is the high-order data line in the CAN bus.
- CAN-L refers to the L line of the CAN bus, which is the low-order data line in the CAN bus.
- PT-CAN refers to the high-speed CAN bus of the automotive powertrain.
- LIN Local Interconnect Network
- SCI UART
- node sync clock line Use only a 12V signal bus and a node sync clock line with no fixed time base.
- FlexRay which refers to an internal network communication protocol in an automobile. FlexRay can also provide many reliability features that CAN networks do not have. In particular, the redundant communication capability of FlexRay enables complete replication of the network configuration through hardware and progress monitoring. FlexRay also offers flexible configurations to support various topologies such as bus, star and hybrid. Designers can configure distributed systems by combining two or more topologies of this type.
- Each FlexRay node includes a controller and a driver component.
- the controller unit includes a host processor and a communications controller.
- the driver component typically includes a bus driver and a bus monitor (optional).
- the bus driver connects the communication controller to the bus, and the bus monitor monitors the connections to the bus.
- the host informs the bus monitor which time slots are allocated by the communication controller. Next, the bus monitor only allows the communication controller to transfer data in these time slots and activates the bus driver. If the bus monitor finds a gap in the time sequence, it disconnects the communication channel.
- the diagnostic device may be a mobile terminal or a personal computer (Personal Computer, PC).
- the mobile terminal may be a smart phone, a tablet computer, a personal digital assistant, etc.
- the hardware device of the operating system is implemented based on one or more processors of the diagnostic device itself.
- FIG. 1 is a schematic structural diagram of an automobile diagnostic system according to an embodiment of the present invention.
- the car diagnostic system 110 is communicatively connected to a car 120 , wherein the car diagnostic system 110 includes a diagnostic device 111 , a communication interface 112 and an oscilloscope 113 .
- the oscilloscope 113 is also communicatively connected to the car 120 through the communication interface 112 .
- the diagnostic device 111 includes a main control CPU, a display screen, a touch screen, a memory, various communication interfaces, and a communication device for communicating with the vehicle (supporting CAN communication protocol).
- the oscilloscope supports measurement of voltage, current, resistance, frequency, etc., supports trigger function, and can store waveform data.
- the application software of the diagnostic instrument includes automobile diagnostic software, oscilloscope measurement software, automobile maintenance data or maintenance wizard. During the running process of the automotive diagnostic software, the oscilloscope measurement function can be invoked to extract data from the oscilloscope application, and cooperate with the maintenance wizard to carry out the next maintenance analysis.
- the communication interface 112 includes a DLC interface.
- the car 120 is connected to the diagnostic device 111 through a DLC interface (standard OBD interface, 16PIN), and the DLC interface supports SAE J1962/ISO 15031-3 standard, usually PIN6 and PIN14 are used as diagnostic CAN data interfaces.
- a DLC interface standard OBD interface, 16PIN
- SAE J1962/ISO 15031-3 standard usually PIN6 and PIN14 are used as diagnostic CAN data interfaces.
- an interface is provided for oscilloscope probe contacts. For the case where the internal CAN bus is not connected to the DLC interface, the oscilloscope probe needs to be connected to the connection point recommended by the diagnostic device 111 .
- the oscilloscope 113 includes an oscilloscope probe, and the oscilloscope probe is used to measure the communication waveform of the network of the controller area network.
- CAN bus plays a very important role in ECU communication of automotive electronic components, especially the powertrain part, which completes the communication between various ECUs through high-speed PT-CAN.
- the high-speed CAN bus is a broadcast network composed of two data buses CAN-H and CAN-L, which transmit differential signals. If any of the data lines fails, is open or short-circuited, the entire network communication will fail.
- the more reliable inspection method is to unplug all the terminal devices, and then insert them one by one, and observe whether the fault recurs. If the fault recurs, the end position where the problem occurred after the last insertion is the position where the fault occurred.
- embodiments of the present invention provide a vehicle bus fault location method, diagnostic equipment, and vehicle detection system and method, so as to improve the efficiency of vehicle fault location.
- FIG. 2 is a schematic flowchart of a method for locating a fault of an automobile bus according to an embodiment of the present invention
- the method for locating the fault of the automobile bus is applied to a Controller Area Network (CAN), wherein the controller area network includes a plurality of network nodes, and the plurality of network nodes are communicated and connected through a CAN bus.
- CAN Controller Area Network
- the fault location method of the automobile bus includes:
- Step S10 obtaining a topology network between electronic control units in the vehicle, wherein each electronic control unit is connected through a bus;
- each electronic control unit is equivalent to a network node in a topological network, and a plurality of electronic control units are directly connected in communication in the manner of a topological network.
- FIG. 3 is a schematic structural diagram of a high-speed CAN network structure provided by an embodiment of the present invention.
- the high-speed CAN bus consists of two lines, CAN-H and CAN-L, and 120 ⁇ resistors are connected to the two terminals respectively. If the CAN network is normal, disconnect the power supply VCC, and measure the resistance R of the entire loop from the gateway ECU X1, X2 endpoints should be around 60 ⁇ . If there is a fault, short or open circuit on the bus, the measured value of the resistance R will vary greatly.
- the waveform on the bus can be analyzed by an oscilloscope in the communication state to determine which bus is faulty, whether it is an open circuit, a short circuit to the ground, a short circuit to the power supply, or a short circuit to each other. After the fault type is known, it is also necessary to locate the specific location where the fault occurs on the network.
- FIG. 4 is a schematic diagram of a controller area network provided by an embodiment of the present invention after being divided;
- the topology network of the controller area network is composed of a total of 15 network nodes Node1-Node15, wherein the four network positions of X01, X02, X03, and X04 divide the controller area network into five subnet segments,
- the four network locations X01, X02, X03, and X04 are the key nodes in the controller area network.
- Step S20 Determine a reference node in the topology network, where the reference node includes a first reference node and/or a second reference node;
- the first reference node is a node directly connected to the backbone path in the topology network and has no child nodes, and two adjacent first reference nodes are separated by M-1 nodes;
- the second reference node is The nodes of the trunk path are connected through the parent node, and two adjacent second reference nodes are separated by M-1 nodes; wherein, M is the search step size and M is a positive integer;
- FIG. 5 is a detailed flowchart of step S10 in FIG. 2 ;
- this step S20 determining a reference node in the topology network, including:
- Step S21 Determine a first terminal node and a second terminal node, wherein, in the topology network, the path between the first terminal node and the second terminal node is the longest, and the first terminal node and the second terminal node have the longest path.
- the link between the two terminal nodes is the backbone path;
- FIG. 6 is a schematic diagram of a topology diagram of a controller area network provided by an embodiment of the present invention.
- the path between the network node Node11 and the network node Node15 is the longest, therefore, the network node Node11 is determined as the first terminal node, and the network node Node15 is determined as the second terminal node, Or, determine that the network node Node15 is the first terminal node, and determine that the network node Node11 is the second terminal node.
- the network node Node11 is the first terminal node and the network node Node Node 15 Taking the second terminal node as an example for description, the link between the network node Node11 and the network node Node15 is a backbone path.
- Step S22 Determine the weight of each network node between the first terminal node and the second terminal node
- the determining the weight of each network node between the first terminal node and the second terminal node includes:
- the weight of each network node is determined according to the number of other network nodes connected by the link between the network node and the backbone path.
- determining the weight of each network node according to the number of other network nodes connected by links between each network node and the backbone path includes:
- the weight of the network node is determined to be 1;
- the weight of the network node is determined to be n, where n is a positive integer and n ⁇ 2.
- the weight of the network node Node1 is determined to be 1, and the link between the network node Node2 and the backbone path is determined.
- the weights of network nodes Node5-10 are all 1, and the weights of network nodes Node12-14 are all 1.
- Step S23 According to the search step size M, search from the direction of the first terminal node to the second terminal node to determine the reference node;
- FIG. 7 is a schematic diagram of the refinement process of step S23 in FIG. 5 ;
- this step S23 according to the search step size M, search from the first terminal node to the direction of the second terminal node, and determine the reference node, including:
- Step S231 set a counter, and initialize the reading of the counter to 1;
- Step S232 judging whether the network node on the backbone path from the first terminal node to the second terminal node has child nodes;
- the child node is the next node connected to a certain network node, for example, the network node Node2 as shown in FIG. 6 is a child node of the network node Node1, and the network node Node3 is a child node of the network node Node2, wherein , the network node on the trunk path from the first terminal node to the second terminal node refers to the network node directly connected to the trunk path and the link between the network node and the trunk path does not include other network nodes, For example: the network nodes Node1, Node5-Node10, Node12-14 and Node16 shown in FIG. 6 .
- step S233 By judging whether the network node on the backbone path from the first terminal node to the second terminal node has child nodes, if yes, go to step S233; if not, go to step S234;
- Step S233 Determine that there is at least one branch link in the topology network, and determine a second reference node according to the weight of the network node of the at least one branch link;
- the determining of the second reference node according to the weight of the network node of the at least one branch link includes:
- the network node whose weight is an integer multiple of the search step is determined as the second reference node, and other branches of each branch link are recursively searched until all the branches are traversed. All network nodes on the branch link.
- the second reference node refers to a reference node on a branch link. Specifically, if a network node on the trunk path from the first terminal node to the second terminal node has child nodes, Then determine that there is at least one branch link in the topology network; according to the weight of each network node on a branch link, determine the network node whose weight is an integer multiple of the search step size as the second reference node, and recursively search Each branch link is traversed until all network nodes on all branch links are traversed.
- the network node Node1 has child nodes, and Node1-Node2-Node3-Node4 constitutes a branch link.
- the weight of each network node on the branch link is obtained. If there is a weight, it is a search step. If the network node is an integer multiple of the length, the network node is determined as a reference node, and each branch link is searched recursively until all network nodes on all branch links are traversed, wherein the recursive search refers to According to each branch link in the search direction from the first terminal node to the second terminal node, all network nodes on a branch link are searched, and then the parent node of the branch link is returned to the branch link.
- Node1-Node2-Node3-Node4 constitutes a branch link, assuming that there are other branches on the branch link, after searching for Node1-Node2-Node3-Node4 , return to Node1 and start searching for other network nodes from Node1, so as to traverse the branch link.
- the present invention can better determine the reference node, which is beneficial to better network segmentation.
- Step S234 start the search from the first terminal node, add 1 to the reading of the counter every time a network node passes through, and determine the network node whose reading of the counter is an integer multiple of the search step size as the first reference node, until the search reaches the second terminal node.
- the search step size is M, where M is a positive integer and M ⁇ 2.
- the search step size M is 3 or 4.
- the first reference node refers to the reference node on the main path
- the first terminal node starts to search for network nodes that do not contain child nodes.
- Step S30 Determine a key node according to the reference node, and when the key node is in a disconnected state in the topology network, there are two mutually disconnected network segments in the topology network;
- determining the key node according to the location of the reference node includes:
- the disconnectable positions include plug positions, and after each plug position is disconnected, the controller area network is divided into two mutually disconnected networks.
- the search algorithm includes the following steps:
- the network node on the trunk path also has child nodes (for example, Node1 has a child node, and the weight is 1, as a child node on the trunk path), then the child node is used as a reference node and recorded, the branch's The search goes to step (5);
- the counter Count is incremented by 1, and if Count is an integer multiple of M, the network node is used as a reference node;
- branch search search from a node with a weight of 1, when the weight is an integer multiple of M, the node is recorded as a reference node; if there is a branch on the branch, recursive search is performed according to step (5);
- the search step M of the reference node is set to 3 or 4, so that the search range between segments can be narrowed and the contraction range within a segment can be narrowed, and in the worst case, N/M can be located. +M-2 times, N is the number of nodes in the controller area network.
- Step S40 if a fault is detected in one of the two network segments when a certain key node is disconnected, locate the fault in the network segment;
- the method further includes:
- the topology network between the electronic control units is divided into at least two sub-network segments
- a plurality of the key nodes divide the controller area network into a plurality of sub-network segments, and when a network failure occurs, the key nodes are disconnected one by one, and the sub-network with the network failure is determined according to whether the network failure is eliminated or not.
- network segment ;
- the method further includes: by performing fault troubleshooting on the network nodes in the sub-network segment, to determine the network node in which the fault occurs.
- each of the key nodes corresponds to at least one subnet segment.
- a method for locating faults of an automobile bus includes: acquiring a topology network between electronic control units in a vehicle, wherein each electronic control unit is connected through a bus; A reference node is determined in the topology network, and the reference node includes a first reference node and/or a second reference node; wherein, the first reference node is a node directly connected to a trunk path in the topology network and has no child nodes, And the two adjacent first reference nodes are separated by M-1 nodes; the second reference node is a node connecting the trunk path through the parent node, and the adjacent two second reference nodes are separated by M-1 nodes node; wherein, M is the search step size and M is a positive integer; the key node is determined according to the reference node, and when the key node is disconnected in the topology network, there are two mutually different nodes in the topology network.
- a connected network segment if a fault is detected in one of the two network segments when a certain key node is disconnected, the fault is located in the network segment.
- FIG. 8 is a schematic diagram of a vehicle diagnostic bus and an online CAN bus provided by an embodiment of the present invention.
- the DLC interface is connected to the gateway through the diagnostic bus.
- the gateway includes CAN bus and LIN bus.
- the gateway also connects other components through the FlexRay communication protocol.
- the diagnostic interface is usually led out through the 16PIN DLC interface.
- the CAN bus is connected to the DLC interface, but for most models, the diagnostic bus needs to go through a gateway to access the internal CAN bus. If you measure the CAN bus waveform with an oscilloscope, you need to provide measurement points, please refer back to Figure 4, you can measure at X3001 and X3002 of the gateway.
- the vehicle detection system includes a diagnostic device, an oscilloscope, and a multimeter.
- the diagnostic equipment includes a main control MCU, a display screen, a touch screen, a memory, various communication interfaces, and a communication device for communicating with the vehicle (supporting CAN communication protocol).
- the oscilloscope supports measurement of voltage, current, resistance, frequency, etc., supports trigger function, and can store waveform data.
- the application software of the diagnostic instrument includes automobile diagnostic software, oscilloscope measurement software, automobile maintenance data or maintenance wizard.
- the diagnostic equipment includes automobile diagnostic application software and oscilloscope software.
- the oscilloscope measurement function can be invoked, data can be extracted from the oscilloscope application, and the next maintenance analysis can be performed with the maintenance wizard.
- the diagnostic device and the oscilloscope may be integrated into an electronic device.
- the diagnostic device includes an oscilloscope for implementing the measurement function of the oscilloscope, or the electronic device includes the diagnostic device and the oscilloscope.
- the oscilloscope is used to realize all the functions of the diagnostic equipment and the oscilloscope.
- the car is connected to the diagnostic equipment through the DLC interface (standard OBD interface, 16PIN), the interface supports the SAE J1962/ISO 15031-3 standard, usually PIN6 and PIN14 are used as the diagnostic CAN data interface.
- DLC interface standard OBD interface, 16PIN
- the interface supports the SAE J1962/ISO 15031-3 standard, usually PIN6 and PIN14 are used as the diagnostic CAN data interface.
- PIN6 and PIN14 are used as the diagnostic CAN data interface.
- diagnostic equipment provides an interface for oscilloscope probe contacts. For cases where the internal CAN bus is not connected to the DLC interface, the oscilloscope probe needs to be connected to the connection points recommended by the diagnostic equipment.
- FIG. 9 is a schematic flowchart of a vehicle detection method provided by an embodiment of the present invention.
- the vehicle detection method is applied to the above-mentioned vehicle detection system, and the method includes:
- Step S91 the diagnostic device scans the vehicle control unit system to obtain a communication fault code
- the vehicle detection method is applied to an automobile, and the automobile includes an automobile control unit system (ECU system), and the diagnostic device is communicatively connected to the automobile control unit system, for example, through a DLC interface to the automobile control unit system Scan to obtain communication fault codes, wherein the diagnostic equipment scans the car ECU system through the DLC interface, and finds that there is a communication fault code or the ECU system cannot be connected, wherein the diagnostic equipment includes a diagnostic software, and the diagnostic software starts a maintenance wizard to guide the user.
- ECU system automobile control unit system
- Step S92 the oscilloscope acquires the communication fault code sent by the diagnostic device, and acquires the bus waveform of the topology network to determine the fault type;
- the maintenance wizard prompts the user to start the measurement tool, capture the waveform on the CAN communication line through the oscilloscope, and through the waveform comparison analysis, it is determined that the CAN fault is a short circuit to ground, a short circuit to the power supply, a short circuit to the wire, an open circuit of the bus, and an abnormal terminal resistance.
- the branch line is too long and other fault categories;
- Step S93 the diagnostic device obtains the topology network between the electronic control units in the vehicle, determines the key nodes in the topology network, and divides the topology network into multiple sub-network segments according to the key nodes;
- a first terminal node and a second terminal node are determined, wherein, in the controller area network, the path between the first terminal node and the second terminal node is the longest, and the first terminal node
- the link between the first terminal node and the second terminal node is the backbone path; determine the weight of each network node between the first terminal node and the second terminal node; preset the search step size, from the first terminal node to the The direction of the second terminal node is searched to determine a reference node; according to the location of the reference node, a key node is determined, and based on the key node, the topology network is divided into a plurality of sub-network segments.
- Step S94 When a network fault occurs, the diagnostic device disconnects the key nodes one by one, and determines the subnet segment where the network fault occurs according to whether the bus waveform of the topology network acquired by the oscilloscope returns to normal;
- the maintenance wizard calculates the key nodes of the CAN bus and the key nodes that need to be verified most through the topology map of the controller area network, that is, the topology network, and prompts the user to disconnect the key node and analyze the bus waveform.
- the diagnostic device determines the faulty subnet segment after the key node is disconnected and the key node whose connection is subsequently disconnected.
- Step S95 The diagnosis device performs fault investigation on the network nodes in the sub-network segment to determine the faulty network node.
- the faulty network node is determined by checking each network node in the sub-network segment.
- the vehicle detection method includes the following steps:
- the diagnostic equipment scans the car ECU system through the DLC interface and finds that there is a communication fault code or the ECU system cannot be connected.
- the diagnostic software starts the maintenance wizard and guides the user to perform communication fault detection;
- the maintenance wizard prompts the user to start the CAN communication mode, or actively send data to the CAN bus through the CAN protocol;
- the maintenance wizard prompts the user to start the measurement tool, capture the waveform on the CAN communication line through the oscilloscope, and through the waveform comparison analysis, it is determined that the CAN fault is a short circuit to ground, a short circuit to the power supply, a short circuit to the wire, an open circuit of the bus, and an abnormal terminal resistance. , the branch line is too long and other fault categories;
- the maintenance wizard calculates the key nodes of the CAN bus and the key points that need to be verified most through the CAN topology diagram, and prompts the user to analyze the bus waveform after disconnecting the key node;
- step (6) The user starts the oscilloscope to measure the communication waveform of the network after disconnection, if the waveform is normal, go to step (7), otherwise go to step (9);
- the maintenance wizard calculates the next key node to be disconnected on the disconnected network side, that is, the disconnection point, and marks the network segment of the current disconnection point and the next disconnection point as X segment;
- a vehicle detection method is provided, which is applied to the vehicle detection system as described in the above-mentioned embodiments.
- the method includes: a diagnostic device scans the vehicle control unit system to obtain a communication fault code
- the oscilloscope acquires the communication fault code sent by the diagnostic equipment, and acquires the bus waveform of the topology network to determine the fault category;
- the diagnostic equipment acquires the topology network between the electronic control units in the vehicle, and determines the key nodes in the topology network, According to the key nodes, the topology network is divided into multiple subnet segments; when a network fault occurs, the diagnostic equipment disconnects the key nodes one by one, and determines whether the bus waveform of the topology network obtained by the oscilloscope returns to normal.
- the diagnosis device performs troubleshooting on the network nodes in the sub-network segment to determine the network node where the failure occurs.
- FIG. 10 is a schematic diagram of a hardware structure of a diagnostic device according to various embodiments of the present invention.
- the diagnostic device 100 includes but is not limited to: a radio frequency unit 101 , a network module 102 , an audio output unit 103 , an input unit 104 , a sensor 105 , a display unit 106 , a user input unit 107 , an interface unit 108 , and a memory 109 , a processor 1010, a power supply 1011 and other components, the diagnostic device 100 further includes a camera.
- a radio frequency unit 101 includes but is not limited to: a radio frequency unit 101 , a network module 102 , an audio output unit 103 , an input unit 104 , a sensor 105 , a display unit 106 , a user input unit 107 , an interface unit 108 , and a memory 109 , a processor 1010, a power supply 1011 and other components
- the diagnostic device 100 further includes a camera.
- the structure of the diagnostic device shown in FIG. 10 does not constitute a limitation on the diagnostic device, and the diagnostic device may include more or less components than
- the diagnostic equipment includes, but is not limited to, a television, a mobile phone, a tablet computer, a notebook computer, a handheld computer, a vehicle-mounted terminal, a wearable device, a pedometer, and the like.
- a processor 1010 configured to obtain a topology network between electronic control units in the vehicle, wherein each electronic control unit is connected through a bus;
- a reference node is determined in the topology network, and the reference node includes a first reference node and/or a second reference node; wherein, the first reference node is a trunk path directly connected to the topology network and has no child nodes and the adjacent two first reference nodes are separated by M-1 nodes; the second reference node is a node connecting the trunk path through the parent node, and the adjacent two second reference nodes are separated by M -1 node; wherein, M is the search step size and M is a positive integer; the key node is determined according to the reference node, and when the key node is disconnected in the topology network, there are two If it is detected that one of the two network segments has a fault when a certain key node is disconnected, the fault is located in the network segment.
- the embodiment of the present invention by determining the key node and locating the network segment where the fault is located, the embodiment of the present invention can improve the efficiency of vehicle fault location.
- the radio frequency unit 101 may be used for receiving and sending signals during sending and receiving of information or during a call. Specifically, after receiving the downlink data from the base station, it is processed by the processor 1010; The uplink data is sent to the base station.
- the radio frequency unit 101 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, and the like.
- the radio frequency unit 101 can also communicate with the network and other devices through a wireless communication system.
- the diagnostic device 100 provides the user with wireless broadband Internet access through the network module 102, such as helping the user to send and receive emails, browse web pages, access streaming media, and the like.
- the audio output unit 103 may convert audio data received by the radio frequency unit 101 or the network module 102 or stored in the memory 109 into audio signals and output as sound. Also, the audio output unit 103 may also provide audio output related to a specific function performed by the diagnostic device 100 (eg, call signal reception sound, message reception sound, etc.).
- the audio output unit 103 includes a speaker, a buzzer, a receiver, and the like.
- the input unit 104 is used to receive audio or video signals.
- the input unit 104 may include a graphics processor (Graphics Processing Unit, GPU) 1041 and a microphone 1042, and the graphics processor 1041 targets still pictures or videos obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode image is processed.
- the processed image frames may be displayed on the display unit 106 .
- the image frames processed by the graphics processor 1041 may be stored in the memory 109 (or other storage medium) or transmitted via the radio frequency unit 101 or the network module 102 .
- the microphone 1042 can receive sound and can process such sound into audio data.
- the processed audio data can be converted into a format that can be transmitted to a mobile communication base station via the radio frequency unit 101 for output in the case of a telephone call mode.
- the diagnostic device 100 also includes at least one sensor 105, such as a light sensor, a motion sensor, and other sensors.
- the light sensor includes an ambient light sensor and a proximity sensor, wherein the ambient light sensor can adjust the brightness of the display panel 1061 according to the brightness of the ambient light, and the proximity sensor can turn off the display panel 1061 and the proximity sensor when the diagnostic device 100 moves to the ear. / or backlight.
- the accelerometer sensor can detect the magnitude of acceleration in all directions (usually three axes), and can detect the magnitude and direction of gravity when stationary, which can be used to identify the posture of diagnostic equipment (such as horizontal and vertical screen switching, related games , magnetometer attitude calibration), vibration recognition related functions (such as pedometer, tapping), etc.; the sensor 105 may also include a fingerprint sensor, a pressure sensor, an iris sensor, a molecular sensor, a gyroscope, a barometer, a hygrometer, a thermometer, Infrared sensors, etc., are not repeated here.
- the display unit 106 is used to display information input by the user or information provided to the user.
- the display unit 106 may include a display panel 1061, and the display panel 1061 may be configured in the form of a Liquid Crystal Display (LCD), an Organic Light-Emitting Diode (OLED), or the like.
- LCD Liquid Crystal Display
- OLED Organic Light-Emitting Diode
- the user input unit 107 may be used to receive input numerical or character information, and generate key signal input related to user setting and function control of the diagnostic device.
- the user input unit 107 includes a touch panel 1071 and other input devices 1072 .
- the touch panel 1071 also referred to as a touch screen, can collect the user's touch operations on or near it (such as the user's finger, stylus, etc., any suitable object or attachment on or near the touch panel 1071). operate).
- the touch panel 1071 may include two parts, a touch detection device and a touch controller.
- the touch detection device detects the user's touch orientation, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into contact coordinates, and then sends it to the touch controller.
- the touch panel 1071 can be implemented in various types such as resistive, capacitive, infrared, and surface acoustic waves.
- the user input unit 107 may also include other input devices 1072.
- other input devices 1072 may include, but are not limited to, physical keyboards, function keys (such as volume control keys, switch keys, etc.), trackballs, mice, and joysticks, which will not be described herein again.
- the touch panel 1071 can be covered on the display panel 1061.
- the touch panel 1071 detects a touch operation on or near it, it transmits it to the processor 1010 to determine the type of the touch event, and then the processor 1010 determines the type of the touch event according to the touch
- the type of event provides corresponding visual output on display panel 1061 .
- the touch panel 1071 and the display panel 1061 are used as two independent components to realize the input and output functions of the diagnostic device, but in some embodiments, the touch panel 1071 and the display panel 1061 may be integrated
- the input and output functions of the diagnostic device are implemented, which is not specifically limited here.
- the interface unit 108 is an interface for connecting an external device to the diagnostic apparatus 100 .
- external devices may include wired or wireless headset ports, external power (or battery charger) ports, wired or wireless data ports, memory card ports, ports for connecting devices with identification modules, audio input/output (I/O) ports, video I/O ports, headphone ports, and more.
- the interface unit 108 may be used to receive input (eg, data information, power, etc.) from external devices and transmit the received input to one or more elements within the diagnostic device 100 or may be used between the diagnostic device 100 and external Transfer data between devices.
- the memory 109 may be used to store software programs as well as various data.
- the memory 109 may mainly include a storage program area and a storage data area, wherein the storage program area may store an application program 1091 required for at least one function (such as a sound playback function, an image playback function, etc.) and an operating system 1092, etc.; the storage data area may Stores data (such as audio data, phonebook, etc.) created according to the use of the mobile phone, and the like.
- memory 109 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
- the processor 1010 is the control center of the diagnostic equipment, using various interfaces and lines to connect various parts of the entire diagnostic equipment, by running or executing the software programs and/or modules stored in the memory 109, and calling the data stored in the memory 109. , perform various functions of the diagnostic equipment and process data, so as to monitor the diagnostic equipment as a whole.
- the processor 1010 may include one or more processing units; preferably, the processor 1010 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, etc., and the modem
- the processor mainly handles wireless communication. It can be understood that, the above-mentioned modulation and demodulation processor may not be integrated into the processor 1010.
- the diagnostic device 100 may also include a power supply 1011 (such as a battery) for supplying power to various components.
- a power supply 1011 (such as a battery) for supplying power to various components.
- the power supply 1011 may be logically connected to the processor 1010 through a power management system, so as to manage charging, discharging, and power consumption management through the power management system and other functions.
- the diagnostic device 100 includes some function modules not shown, which will not be repeated here.
- an embodiment of the present invention further provides a diagnostic device, including a processor 1010 , a memory 109 , a computer program stored in the memory 109 and executable on the processor 1010 , when the computer program is executed by the processor 1010
- a diagnostic device including a processor 1010 , a memory 109 , a computer program stored in the memory 109 and executable on the processor 1010 , when the computer program is executed by the processor 1010
- Embodiments of the present invention further provide a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium.
- a computer program is stored on the computer-readable storage medium.
- the computer-readable storage medium such as read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk, etc.
- the apparatus or device embodiments described above are merely illustrative, wherein the unit modules described as separate components may or may not be physically separated, and components shown as modular units may or may not be physical units , that is, it can be located in one place, or it can be distributed to multiple network module units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
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Abstract
一种汽车总线的故障定位方法、诊断设备(100)及汽车检测系统、方法,涉及终端技术领域,该汽车总线的故障定位方法包括:获取汽车中电子控制单元之间的拓扑网络,其中,各电子控制单元之间通过总线连接(S10);在拓扑网络中确定参考节点,参考节点包括第一参考节点和/或第二参考节点(S20);根据参考节点确定关键节点,关键节点在拓扑网络中处于断开状态时,拓扑网络中存在两个互不连通的网络段(S30);若在断开某一关键节点时,检测出两个网络段中的一网络段存在故障,则定位故障在该网络段(S40)。通过确定关键节点,定位故障所在网络段,能够提高汽车故障定位的效率。
Description
本申请要求于2020年12月7日提交中国专利局、申请号为202011439507.9、申请名称为“汽车总线的故障定位方法、诊断设备及汽车检测系统、方法”的中国专利申请的优先权,其全部内容通过引用结合在本申请中。
本申请涉及汽车技术领域,尤其涉及一种汽车总线的故障定位方法、诊断设备及汽车检测系统、方法。
控制器局域网(Controller Area Network,CAN),是国际上应用最广泛的现场总线之一。CAN总线协议已经成为汽车计算机控制系统和嵌入式工业控制局域网的标准总线,并且拥有以CAN为底层协议专为大型货车和重工机械车辆设计的J1939协议。近年来,CAN总线协议所具有的高可靠性和良好的错误检测能力受到重视,被广泛应用于汽车计算机控制系统和环境温度恶劣、电磁辐射强和振动大的工业环境。在汽车电子部件ECU通信中,CAN总线扮演了非常重要的角色,特别是动力总成部分,通过高速PT-CAN完成各ECU之间的通讯。
高速CAN总线是一种广播网络,由两条数据总线CAN-H与CAN-L组成,传输差分信号,其中任一条数据线故障,开路或者短路,整个网络通信将失效。通常汽车CAN总线检修时,比较稳妥的检查方法是把所有的终端设备拔下,再逐个插入,同时观察故障是否重现。如果故障复现,最后一个插入后出现问题的终端位置就是故障发生的位置。对于小型化的CAN网络是可行的,但当CAN总线上终端个数较多,这种方法将带来一些问题,首先是效率低下,另一个是插入的时候,终端误插、CAN-H与CAN-L混插可能带来新问题。
发明人在实现本发明的过程中,发现现有技术至少存在以下问题:
目前的汽车故障定位存在效率低的技术问题。
发明内容
本发明实施例的一个目的旨在提供一种汽车总线的故障定位方法、诊断设备及汽车检测系统、方法,其能够提高汽车故障定位的效率。
在第一方面,本发明实施例提供一种汽车总线的故障定位方法,所述方法包括:
获取汽车中电子控制单元之间的拓扑网络,其中,各电子控制单元之间通过总线连接;
在所述拓扑网络中确定参考节点,所述参考节点包括第一参考节点和/或 第二参考节点;其中,所述第一参考节点为直接连接所述拓扑网络中的主干路径且无子节点的节点,并且相邻的两个第一参考节点间隔M-1个节点;所述第二参考节点为通过父节点连接所述主干路径的节点,并且相邻的两个第二参考节点间隔M-1个节点;其中,M为搜索步长且M为正整数;
根据所述参考节点确定关键节点,所述关键节点在所述拓扑网络中处于断开状态时,所述拓扑网络中存在两个互不连通的网络段;
若在断开某一所述关键节点时,检测出两个所述网络段中的一网络段存在故障,则定位所述故障在所述网络段。
在一些实施例中,所述在所述拓扑网络中确定参考节点,包括:
确定第一终端节点和第二终端节点,其中,在所述拓扑网络中,所述第一终端节点和第二终端节点之间的路径最长,且所述第一终端节点和第二终端节点之间的链路为主干路径;
确定所述第一终端节点和第二终端节点之间的每一网络节点的权重;
根据所述搜索步长M,从所述第一终端节点向所述第二终端节点的方向进行搜索,确定所述参考节点。
在一些实施例中,所述确定所述第一终端节点和第二终端节点之间的每一网络节点的权重,包括:
根据每一网络节点到所述主干路径之间的链路连接的其他网络节点的数量,确定该网络节点的权重。
在一些实施例中,所述根据每一网络节点到所述主干路径之间的链路连接的其他网络节点的数量,确定该网络节点的权重,包括:
若某一网络节点到所述主干路径之间的链路没有连接其他网络节点,则确定该网络节点的权重为1;
若某一网络节点到所述主干路径之间的链路连接的其他网络节点的数量为n-1,则确定该网络节点的权重为n,其中,n为正整数且n≥2。
在一些实施例中,所述根据所述搜索步长,从所述第一终端节点向所述第二终端节点的方向进行搜索,确定参考节点,包括:
设置计数器,初始化所述计数器的读数为1;
判断所述第一终端节点到所述第二终端节点的主干路径上的网络节点是否存在子节点;
若是,则确定该拓扑网络存在至少一个分支链路,并根据所述至少一个分支链路的网络节点的权重,确定第二参考节点;
若否,则从所述第一终端节点开始搜索,每经过一个网络节点,对所述计数器的读数加1,将计数器的读数为搜索步长的整数倍对应的网络节点确定为第一参考节点,直至搜索到达所述第二终端节点。
在一些实施例中,所述根据所述至少一个分支链路的网络节点的权重,确定第二参考节点,包括:
根据某一分支链路上的每一网络节点的权重,将权重为搜索步长的整数倍 对应的网络节点确定为第二参考节点,并递归搜索每一分支链路的其他分支,直至遍历全部的分支链路上全部的网络节点。
在一些实施例中,所述根据所述参考节点所在的位置,确定关键节点,包括:
获取所述参考节点所在的位置对应的可断开位置,将所述可断开位置确定为所述关键节点。
在一些实施例中,所述方法还包括:
根据所述关键节点,将所述电子控制单元之间的拓扑网络划分为至少两个子网段;
在发生网络故障时,逐一断开所述关键节点,根据网络故障是否消除,以确定发生网络故障的子网段;
对所述子网段中的网络节点进行故障排查,以确定发生故障的网络节点。
在一些实施例中,所述方法还包括判断网络故障是否消除,具体包括:
判断所述拓扑网络中的环路电阻是否正常,若是,则确定所述网络故障消除,若否,则确定所述网络故障未消除;
或者,判断所述拓扑网络的总线波形是否恢复正常,若是,则确定所述网络故障消除,若否,则确定所述网络故障未消除。
在第二方面,本发明实施例提供一种诊断设备,所述诊断设备包括:主控制器以及通信接口,所述通信接口用于通信连接汽车,所述汽车包括电子控制单元之间的拓扑网络,所述拓扑网络包括多个网络节点,所述主控制器包括:
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所述的汽车总线的故障定位方法。
在第三方面,本发明实施例提供一种汽车检测系统,应用于汽车,所述汽车包括汽车控制单元系统,所述汽车控制单元系统包括多个汽车控制单元,所述汽车检测系统包括:
如上所述的诊断设备,所述诊断设备通信连接所述汽车控制单元系统;
示波器,连接所述诊断设备,用于获取拓扑网络的总线波形。
在第四方面,本发明实施例提供一种汽车检测方法,应用于如上所述的汽车检测系统,所述方法包括:
诊断设备对所述汽车控制单元系统进行扫描,获取通信故障码;
示波器获取所述诊断设备发送的通信故障码,并获取拓扑网络的总线波形,以确定故障类别;
诊断设备获取汽车中电子控制单元之间的拓扑网络,确定所述拓扑网络中的关键节点,根据所述关键节点,将所述拓扑网络划分为多个子网段;
诊断设备在发生网络故障时,逐一断开所述关键节点,并根据示波器获取 的拓扑网络的总线波形是否恢复正常,以确定发生网络故障的子网段;
诊断设备对所述子网段中的网络节点进行故障排查,以确定发生故障的网络节点。
在第五方面,本发明实施例提供一种非易失性计算机可读存储介质,所述非易失性计算机可读存储介质存储有计算机可执行指令,所述计算机可执行指令用于使诊断设备执行上述的汽车总线的故障定位方法。
在第六方面,本发明实施例提供一种计算机程序,所述计算机程序包含程序指令,在所述程序指令由诊断设备中的一个或多个处理器执行时,使所述诊断设备执行上述的汽车总线的故障定位方法。
本发明实施例的有益效果是:区别于现有技术的情况下,本发明实施例提供的一种汽车总线的故障定位方法,所述方法包括:获取汽车中电子控制单元之间的拓扑网络,其中,各电子控制单元之间通过总线连接;在所述拓扑网络中确定参考节点,所述参考节点包括第一参考节点和/或第二参考节点;其中,所述第一参考节点为直接连接所述拓扑网络中的主干路径且无子节点的节点,并且相邻的两个第一参考节点间隔M-1个节点;所述第二参考节点为通过父节点连接所述主干路径的节点,并且相邻的两个第二参考节点间隔M-1个节点;其中,M为搜索步长且M为正整数;根据所述参考节点确定关键节点,所述关键节点在所述拓扑网络中处于断开状态时,所述拓扑网络中存在两个互不连通的网络段;若在断开某一所述关键节点时,检测出两个所述网络段中的一网络段存在故障,则定位所述故障在所述网络段。通过确定关键节点,定位故障所在网络段,本发明实施例能够提高汽车故障定位的效率。
一个或多个实施例通过与之对应的附图中的图片进行示例性说明,这些示例性说明并不构成对实施例的限定,附图中具有相同参考数字标号的元件表示为类似的元件,除非有特别申明,附图中的图不构成比例限制。
图1是本发明实施例提供的一种汽车检测系统的结构示意图;
图2是本发明实施例提供的一种汽车总线的故障定位方法的流程示意图;
图3是本发明实施例提供的一种高速CAN网络结构的结构示意图;
图4是本发明实施例提供的一种控制器局域网被分割后的示意图;
图5是图2中的步骤S10的细化流程图;
图6是本发明实施例提供的一种控制器局域网的拓扑图的示意图;
图7是图5中的步骤S23的细化流程示意图;
图8是本发明实施例提供的一种汽车诊断总线和在线CAN总线的示意图;
图9是本发明实施例提供的一种汽车检测方法的流程示意图;
图10是本发明实施例提供的一种诊断设备的结构示意图。
为了使本发明的目的、技术方案及优点更加清楚明白,以下结合附图及实施例,对本发明进行进一步详细说明。应当理解,此处所描述的具体实施例仅用以解释本发明,并不用于限定本发明。基于本发明中的实施例,本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。
需要说明的是,如果不冲突,本发明实施例中的各个特征可以相互结合,均在本发明的保护范围之内。另外,虽然在装置示意图中进行了功能模块划分,在流程图中示出了逻辑顺序,但是在某些情况下,可以以不同于装置中的模块划分,或流程图中的顺序执行所示出或描述的步骤。再者,本发明所采用的“第一”、“第二”、“第三”等字样并不对数据和执行次序进行限定,仅是对功能和作用基本相同的相同项或相似项进行区分。
对本发明进行详细说明之前,对本发明实施例中涉及的名词和术语进行说明,本发明实施例中涉及的名词和术语适用于如下的解释。
(1)CAN总线,即控制器局域网总线(Controller Area Network,CAN),指的是一种用于实时应用的串行通讯协议总线,它可以使用双绞线来传输信号,是世界上应用最广泛的现场总线之一。CAN协议用于汽车中各种不同元件之间的通信,以此取代昂贵而笨重的配电线束。该协议的健壮性使其用途延伸到其他自动化和工业应用。CAN协议的特性包括完整性的串行数据通讯、提供实时支持、传输速率高达1Mb/s、同时具有11位的寻址以及检错能力。
(2)电子控制单元(Electronic Control Unit,ECU),又称“行车电脑”、“车载电脑”等,是一种汽车专用微机控制器,也叫汽车专用单片机。它和普通的单片机一样,由微处理器(CPU)、存储器(ROM或RAM)、输入/输出接口(I/O)、模数转换器(A/D)以及整形、驱动等大规模集成电路组成。
(3)CAN-H,指的是CAN总线H线,其是CAN总线中的高位数据线。
(4)CAN-L,指的是CAN总线L线,其是CAN总线中的低位数据线。
(5)PT-CAN,指的是汽车动力总成高速CAN总线。
(6)局域互联网络,(Local Interconnect Network,LIN),是一种低成本的串行通讯网络,用于实现汽车中的分布式电子系统控制。LIN的目标是为现有汽车网络(例如CAN总线)提供辅助功能,因此LIN总线是一种辅助的总线网络。在不需要CAN总线的带宽和多功能的场合,比如智能传感器和制动装置之间的通讯使用LIN总线可大大节省成本。LIN技术规范中除定义了基本协议和物理层外还定义了开发工具和应用软件接口。LIN通讯是基于SCI(UART)数据格式,采用单主控制器/多从设备的模式。仅使用一根12V信号总线和一个无固定时间基准的节点同步时钟线。
(7)FlexRay,指的是一种汽车内部网络通讯协议,FlexRay还能够提供很多CAN网络所不具有的可靠性特点。尤其是FlexRay具备的冗余通信能力可实现通过硬件完全复制网络配置,并进行进度监测。FlexRay同时提供灵活的 配置,可支持各种拓扑,如总线、星型和混合拓扑。设计人员可以通过结合两种或两种以上的该类型拓扑来配置分布式系统。每个FlexRay节点都包括一个控制器和一个驱动器部件。控制器部件包括一个主机处理器和一个通信控制器。驱动器部件通常包括总线驱动器和总线监控器(可选择)。总线驱动器将通信控制器与总线相连接,总线监控器监视接入总线的连接。主机通知总线监控器通信控制器分配了那些时槽。接下来,总线监控器只允许通信控制器在这些时槽中传输数据,并激活总线驱动器。若总线监控器发现时间时序有间隔,则断开通信信道的连接。
需要说明的是,在本发明的实施例中,诊断设备可以是移动终端,还可以是个人计算机(Personal Computer,PC),该移动终端可以是智能手机、平板电脑、个人数字助理等具有各种操作系统的硬件设备。其中,本发明实施例的汽车总线的故障定位方法是基于诊断设备自身的一个或多个处理器实现的。
请参阅图1,图1是本发明实施例提供的一种汽车诊断系统的结构示意图;
如图1所示,该汽车诊断系统110通信连接一汽车120,其中,该汽车诊断系统110包括诊断设备111、通信接口112以及示波器113,所述诊断设备111通过所述通信接口112通信连接所述汽车120,所述示波器113也通过所述通信接口112通信连接所述汽车120。
在本发明实施例中,所述诊断设备111包括主控CPU、显示屏、触摸屏、存储器、各种通信接口、与汽车通信的通信装置(支持CAN通信协议)。示波器支持电压、电流、电阻、频率等测量,支持触发功能,能够存储波形数据。诊断仪的应用软件包括汽车诊断软件、示波器测量软件、汽车维修资料或者维修向导。在汽车诊断软件的运行过程中,可以调用示波器测量功能,从示波器应用中提取数据,配合维修向导进行下一步维修分析。
在本发明实施例中,所述通信接口112包括DLC接口,在测试过程中,汽车120通过DLC接口(标准的OBD接口,16PIN),与诊断设备111连接,所述DLC接口支持SAE J1962/ISO 15031-3标准,通常PIN6和PIN14作为诊断CAN数据接口。在诊断设备111中,为示波器探针接触提供接口。对于内部CAN总线没有连接到DLC接口的情况,示波器探针需要连接到诊断设备111推荐的连接点上。
在本发明实施例中,所述示波器113包括示波器探针,所述示波器探针用于测量控制器局域网的网络的通信波形。
在汽车电子部件ECU通信中,CAN总线扮演了非常重要的角色,特别是动力总成部分,通过高速PT-CAN完成各ECU之间的通讯。高速CAN总线是一种广播网络,由两条数据总线CAN-H与CAN-L组成,传输差分信号,其中任一条数据线故障,开路或者短路,整个网络通信将失效。通常汽车CAN总线检修时,比较稳妥的检查方法是把所有的终端设备拔下,再逐个插入,同时观察故障是否重现。如果故障复现,最后一个插入后出现问题的终端位置,既是故障发生的位置。对于小型化的CAN网络是可行的,但当CAN总线上终端个数较多,这 种方法将带来一些问题,首先是效率低下,另一个是插入的时候,终端误插、CAN-H与CAN-L混插可能带来新问题。如何提供一个高效、省事的故障点检测方案,对CAN总线故障排查非常重要。
针对现有技术存在的汽车故障定位存在效率低的技术问题,本发明实施例提供一种汽车总线的故障定位方法、诊断设备及汽车检测系统、方法,以提高汽车故障定位的效率。
具体的,请参阅图2,图2是本发明实施例提供的一种汽车总线的故障定位方法的流程示意图;
其中,该汽车总线的故障定位方法,应用于控制器局域网(Controller Area Network,CAN),其中,该控制器局域网包括多个网络节点,多个网络节点之间通过CAN总线进行通信连接。
如图2所示,该汽车总线的故障定位方法,包括:
步骤S10:获取汽车中电子控制单元之间的拓扑网络,其中,各电子控制单元之间通过总线连接;
可以理解的是,每一电子控制单元相当于拓扑网络中的一个网络节点,多个电子控制单元直接以拓扑网络的方式进行通信连接。具体的,请再参阅图3,图3是本发明实施例提供的一种高速CAN网络结构的结构示意图;
如图3所示,高速CAN总线由CAN-H与CAN-L两条线路组成,在两个终端分别连接有120Ω电阻。如果CAN网络正常,断开电源VCC,从网关ECU X1,X2端点处测量整个回路的电阻R应该在60Ω左右。如果总线上发生故障,短路或者开路,那么电阻R的测量值将会变化很大。在总线异常情况下,在通信状态可以通过示波器分析总线上的波形,判断出哪条总线故障,是开路、对地短路、对电源短路或者互相短路。获知故障类型后,还需要定位故障发生在网络的具体位置。
请再参阅图4,图4是本发明实施例提供的一种控制器局域网被分割后的示意图;
如图4所示,CAN总线上,网络节点非常多,如何快速的判断故障发生的具体位置非常具有挑战性。通常在网络中选择一些关键节点,把网络划分成多个子网段,首先排查故障发生在哪个网段,再在有故障的网段中查找,逐步缩小故障发生范围,提高定位故障位置的效率。
如图4所示,该控制器局域网的拓扑网络由Node1-Node15一共15个网络节点构成,其中,X01、X02、X03、X04四个网络位置将所述控制器局域网划分为五个子网段,X01、X02、X03、X04四个网络位置为该控制器局域网中的关键节点,在网络故障发生时,逐步断开这些关键节点,观察网络故障现象是否消失,以判别网络故障发生在哪个子网段,达到缩小搜索范围的目的。比如网络故障发生在网络节点Node7上,在断开关键节点X03后,网关段的总线通信恢复,从而判定网络故障发生在关键节点X03所覆盖的子网段的范围内(包括子网段2和子网段3);继续断开关键节点X02后,连接关键节点X03,网关 段故障重现,可以断定子网段2内有故障,从而可以在子网段2内逐步查找发生故障的网络节点,以排除故障。
步骤S20:在所述拓扑网络中确定参考节点,所述参考节点包括第一参考节点和/或第二参考节点;
其中,所述第一参考节点为直接连接所述拓扑网络中的主干路径且无子节点的节点,并且相邻的两个第一参考节点间隔M-1个节点;所述第二参考节点为通过父节点连接所述主干路径的节点,并且相邻的两个第二参考节点间隔M-1个节点;其中,M为搜索步长且M为正整数;
具体的,请再参阅图5,图5是图2中的步骤S10的细化流程图;
如图5所示,该步骤S20:在所述拓扑网络中确定参考节点,包括:
步骤S21:确定第一终端节点和第二终端节点,其中,在所述拓扑网络中,所述第一终端节点和第二终端节点之间的路径最长,且所述第一终端节点和第二终端节点之间的链路为主干路径;
请再参阅图6,图6是本发明实施例提供的一种控制器局域网的拓扑图的示意图;
如图6所示,所述网络节点Node11和所述网络节点Node15之间的路径最长,因此,确定所述网络节点Node11为第一终端节点,确定所述网络节点Node15为第二终端节点,或者,确定所述网络节点Node15为第一终端节点,确定所述网络节点Node11为第二终端节点,在本发明实施例中,以所述网络节点Node11为第一终端节点、所述网络节点Node15为第二终端节点为例进行说明,所述网络节点Node11与网络节点Node15之间的链路为主干路径。
步骤S22:确定所述第一终端节点和第二终端节点之间的每一网络节点的权重;
具体的,所述确定所述第一终端节点和第二终端节点之间的每一网络节点的权重,包括:
根据每一网络节点到所述主干路径之间的链路连接的其他网络节点的数量,确定该网络节点的权重。
具体的,所述根据每一网络节点到所述主干路径之间的链路连接的其他网络节点的数量,确定该网络节点的权重,包括:
若某一网络节点到所述主干路径之间的链路没有连接其他网络节点,则确定该网络节点的权重为1;
若某一网络节点到所述主干路径之间的链路连接的其他网络节点的数量为n-1,则确定该网络节点的权重为n,其中,n为正整数且n≥2。
其中,如图6所示,网络节点Node1到所述主干路径之间的链路没有连接其他网络节点,则确定网络节点Node1的权重为1,网络节点Node2到所述主干路径之间的链路连接有网络节点Node1,即连接有1个网络节点,因此,确定网络节点Node2的权重为1+1=2,以此类推,分别确定网络节点Node3的权重为3,网络节点Node4的权重为4,网络节点Node5-10的权重均为1,网络 节点Node12-14的权重均为1。
步骤S23:根据所述搜索步长M,从所述第一终端节点向所述第二终端节点的方向进行搜索,确定所述参考节点;
具体的,请再参阅图7,图7是图5中的步骤S23的细化流程示意图;
如图7所示,该步骤S23:根据所述搜索步长M,从所述第一终端节点向所述第二终端节点的方向进行搜索,确定所述参考节点,包括:
步骤S231:设置计数器,初始化所述计数器的读数为1;
具体的,假设所述计数器为Count,则初始化所述计数器Count=1。
步骤S232:判断所述第一终端节点到所述第二终端节点的主干路径上的网络节点是否存在子节点;
具体的,所述子节点为与某一网络节点连接的下一节点,例如:如图6所示的网络节点Node2为网络节点Node1的子节点,网络节点Node3为网络节点Node2的子节点,其中,所述第一终端节点到所述第二终端节点的主干路径上的网络节点指的是直接与主干路径连接的并且该网络节点到所述主干路径之间的链路不包含其他网络节点,例如:图6所示的网络节点Node1、Node5-Node10、Node12-14以及Node16。
通过判断所述第一终端节点到所述第二终端节点的主干路径上的网络节点是否存在子节点,若是,则进入步骤S233;若否,则进入步骤S234;
步骤S233:确定该拓扑网络存在至少一个分支链路,并根据所述至少一个分支链路的网络节点的权重,确定第二参考节点;
具体的,所述根据所述至少一个分支链路的网络节点的权重,确定第二参考节点,包括:
根据某一分支链路上的每一网络节点的权重,将权重为搜索步长的整数倍对应的网络节点确定为第二参考节点,并递归搜索每一分支链路的其他分支,直至遍历全部的分支链路上全部的网络节点。
可以理解的是,所述第二参考节点指的是分支链路上的参考节点,具体的,若所述第一终端节点到所述第二终端节点的主干路径上的网络节点存在子节点,则确定该拓扑网络存在至少一个分支链路;根据某一分支链路上的每一网络节点的权重,将权重为搜索步长的整数倍对应的网络节点确定为第二参考节点,并递归搜索每一分支链路,直至遍历全部的分支链路上全部的网络节点。
具体的,如图6所示,网络节点Node1存在子节点,且Node1-Node2-Node3-Node4构成分支链路,此时获取分支链路上的每一网络节点的权重,若存在权重为搜索步长的整数倍的网络节点,则将该网络节点确定为参考节点,并递归搜索每一分支链路,直至遍历全部的分支链路上的全部的网络节点,其中,所述递归搜索指的是根据第一终端节点到第二终端节点的搜索方向上的每一分支链路,对一个分支链路上的全部网络节点进行搜索之后,再返回该分支链路的父节点,对分支链路上的其他分支进行搜索,以遍历该分支链路,例如:Node1-Node2-Node3-Node4构成分支链路,假设该分支链路上 还存在其他分支,则在对Node1-Node2-Node3-Node4搜索之后,返回Node1再从Node1开始对其他网络节点进行搜索,以实现遍历该分支链路。通过递归搜索,本发明能够更好地确定参考节点,有利于更好地进行网络分段。
步骤S234:从所述第一终端节点开始搜索,每经过一个网络节点,对所述计数器的读数加1,将计数器的读数为搜索步长的整数倍对应的网络节点确定为第一参考节点,直至搜索到达所述第二终端节点。
具体的,假设所述搜索步长为M,其中,M为正整数且M≥2,优选地,所述搜索步长M为3或4。
可以理解的是,所述第一参考节点指的是主干路径上的参考节点,从所述第一终端节点开始搜索不包含子节点的网络节点,假设所述搜索步长为4,则从第一终端节点Node11开始搜索不包含子节点的网络节点,每经过一个网络节点,计数器Count=Count+1,即搜索网络节点Node10时计数器Count=2,搜索网络节点Node9时计数器Count=3,搜索网络节点Node8时计数器Count=4,此时计数器的读数为搜索步长的整数倍,则此时确定网络节点Node8为参考节点。
步骤S30:根据所述参考节点确定关键节点,所述关键节点在所述拓扑网络中处于断开状态时,所述拓扑网络中存在两个互不连通的网络段;
具体的,所述根据所述参考节点所在的位置,确定关键节点,包括:
获取所述参考节点所在的位置附近的可断开位置,将所述可断开位置确定为所述关键节点,其中,所述可断开位置在被断开后,所述拓扑网络中存在两个互不连通的网络段。具体的,所述可断开位置包括插头位置,在每一插头位置被断开后,所述控制器局域网络被划分成两个互不连通的网络。
具体的,结合图6说明本发明实施例中的确定所述控制器局域网中的关键节点的查找算法,该查找算法,包括如下步骤:
(1)在主干路径上,从第一终端节点向第二终端节点方向搜索参考节点,即图6中的从网络节点Node11向网络节点Node15搜索,计数器Count=1,参考节点搜索步长M=4;
(2)如果主干路径上的网络节点还带有子节点(比如Node1有子节点,且权重为1,作为主干路径上的子节点),则该子节点作为参考节点并记录,对该分支的搜索转到步骤(5);
(3)如果主干路径上的网络节点无子节点,计数器Count加1,如果Count是M的整数倍,则该网络节点作为参考节点;
(4)搜索主干路径上每个网络节点,直到到达第二终端节点,即网络节点Node15;
(5)分支搜索:从权重为1的节点搜索,当权重为M的整数倍时,该节点记录为参考节点;如在该分支上还有分支,根据步骤(5)进行递归搜索;
(6)在搜索到的参考节点附近查找可以断开的位置:有插头,且断开后网络被划分成两个不连通的网络,则该插头位置为关键节点。
在本发明实施例中,在实际运算中,参考节点的搜索步长M取3或4,从而能够既缩小段间的搜索范围,又缩小段内的收缩范围,最坏情况下定位N/M+M-2次,N为控制器局域网中的节点个数。
步骤S40:若在断开某一所述关键节点时,检测出两个所述网络段中的一网络段存在故障,则定位所述故障在所述网络段;
在本发明实施例中,所述方法还包括:
根据所述关键节点,将所述电子控制单元之间的拓扑网络划分为至少两个子网段;
在发生网络故障时,逐一断开所述关键节点,根据网络故障是否消除,以确定发生网络故障的子网段;
对所述子网段中的网络节点进行故障排查,以确定发生故障的网络节点。
具体的,多个所述关键节点将所述控制器局域网划分为多个子网段,在发生网络故障时,通过逐一断开所述关键节点,根据网络故障是否消除,以确定发生网络故障的子网段;
具体的,所述根据网络故障是否消除,包括:
判断所述控制器局域网中的环路电阻是否正常,若是,则确定所述网络故障消除,若否,则确定所述网络故障未消除;
或者,判断所述控制器局域网的总线波形是否恢复正常,若是,则确定所述网络故障消除,若否,则确定所述网络故障未消除。
在本发明实施例中,所述方法还包括:通过对所述子网段中的网络节点进行故障排查,以确定发生故障的网络节点。
在本发明实施例中,每一所述关键节点对应至少一个子网段。
在本发明实施例中,通过提供一种汽车总线的故障定位方法,所述方法包括:获取汽车中电子控制单元之间的拓扑网络,其中,各电子控制单元之间通过总线连接;在所述拓扑网络中确定参考节点,所述参考节点包括第一参考节点和/或第二参考节点;其中,所述第一参考节点为直接连接所述拓扑网络中的主干路径且无子节点的节点,并且相邻的两个第一参考节点间隔M-1个节点;所述第二参考节点为通过父节点连接所述主干路径的节点,并且相邻的两个第二参考节点间隔M-1个节点;其中,M为搜索步长且M为正整数;根据所述参考节点确定关键节点,所述关键节点在所述拓扑网络中处于断开状态时,所述拓扑网络中存在两个互不连通的网络段;若在断开某一所述关键节点时,检测出两个所述网络段中的一网络段存在故障,则定位所述故障在所述网络段。通过确定关键节点,定位故障所在网络段,本发明实施例能够提高汽车故障定位的效率。
请再参阅图8,图8是本发明实施例提供的一种汽车诊断总线和在线CAN总线的示意图;
如图8所示,DLC接口通过诊断总线连接网关,网关包括CAN总线和LIN总线,其中,网关还通过FlexRay通信协议连接其他部件,在汽车中,诊断接 口通常经过16PIN的DLC接口引出。对于部分车型,CAN总线连接了DLC接口,但大部分车型,诊断总线需要通过网关才能访问内部CAN总线。如果通过示波器测量CAN总线波形,需要提供测量点,请返回参考图4,可以在网关的X3001和X3002处进行测量。
在本发明实施例中,汽车检测系统包括诊断设备和示波器、万用表。其中,所述诊断设备包括主控MCU、显示屏、触摸屏、存储器、各种通信接口、与汽车通信的通信装置(支持CAN通信协议)。示波器支持电压、电流、电阻、频率等测量,支持触发功能,能够存储波形数据。诊断仪的应用软件包括汽车诊断软件、示波器测量软件、汽车维修资料或者维修向导。在本发明实施例中,诊断设备包括汽车诊断应用软件和示波器软件,在诊断软件运行中,可以调用示波器测量功能,从示波器应用中提取数据,配合维修向导进行下一步维修分析。在本发明实施例中,所述诊断设备和所述示波器可集成为一个电子设备,例如:所述诊断设备包括一个示波器,用于实现示波器的测量功能,或者,电子设备包括所述诊断设备和所述示波器,用于实现所述诊断设备和所述示波器的全部功能。
在测试过程中,汽车通过DLC接口(标准的OBD接口,16PIN),与诊断设备连接,接口支持SAE J1962/ISO 15031-3标准,通常PIN6和PIN14作为诊断CAN数据接口。诊断设备中,为示波器探针接触提供接口。对于内部CAN总线没有连接到DLC接口的情况,示波器探针需要连接到诊断设备推荐的连接点上。
请再参阅图9,图9是本发明实施例提供的一种汽车检测方法的流程示意图;
如图9所示,该汽车检测方法,应用于上述的汽车检测系统,所述方法包括:
步骤S91:诊断设备对所述汽车控制单元系统进行扫描,获取通信故障码;
具体的,所述汽车检测方法应用于汽车,所述汽车包括汽车控制单元系统(ECU系统),所述诊断设备通信连接所述汽车控制单元系统,例如:通过DLC接口对所述汽车控制单元系统进行扫描,获取通信故障码,其中,诊断设备通过DLC接口扫描汽车ECU系统,发现有通信故障码或者ECU系统无法连接,其中,所述诊断设备包括一诊断软件,诊断软件启动维修向导,指导用户做通信故障检测;
步骤S92:示波器获取所述诊断设备发送的通信故障码,并获取拓扑网络的总线波形,以确定故障类别;
具体的,维修向导提示用户启动测量工具,通过示波器抓取CAN通信线路上的波形,并通过波形对比分析,判定CAN故障属于对地短路、对电源短路、对导线短路、总线开路、终端电阻异常、支线过长等故障类别;
步骤S93:诊断设备获取汽车中电子控制单元之间的拓扑网络,确定所述拓扑网络中的关键节点,根据所述关键节点,将所述拓扑网络划分为多个子网 段;
具体的,确定第一终端节点和第二终端节点,其中,在所述控制器局域网之中,所述第一终端节点和第二终端节点之间的路径最长,且所述第一终端节点和第二终端节点之间的链路为主干路径;确定所述第一终端节点和第二终端节点之间的每一网络节点的权重;预设搜索步长,从所述第一终端节点向所述第二终端节点的方向进行搜索,确定参考节点;根据所述参考节点所在的位置,确定关键节点,并基于所述关键节点,将所述拓扑网络划分为多个子网段。
步骤S94:诊断设备在发生网络故障时,逐一断开所述关键节点,并根据示波器获取的拓扑网络的总线波形是否恢复正常,以确定发生网络故障的子网段;
具体的,维修向导通过控制器局域网的拓扑图,即拓扑网络,计算CAN总线的关键节点和当前最需要验证的关键节点,并提示用户断开该关键节点后分析总线波形,通过用户断开关键节点,诊断设备对断开关键节点之后,以及后续连接被断开的关键节点,确定发生故障的子网段。
步骤S95:诊断设备对所述子网段中的网络节点进行故障排查,以确定发生故障的网络节点。
具体的,通过排查子网段中的每一网络节点,确定发生故障的网络节点。
具体的,所述汽车检测方法,包括如下步骤:
(1)诊断设备通过DLC接口扫描汽车ECU系统,发现有通信故障码或者ECU系统无法连接,诊断软件启动维修向导,指导用户做通信故障检测;
(2)维修向导提示用户启动CAN通信模式,或者主动通过CAN协议向CAN总线上发送数据;
(3)维修向导提示用户启动测量工具,通过示波器抓取CAN通信线路上的波形,并通过波形对比分析,判定CAN故障属于对地短路、对电源短路、对导线短路、总线开路、终端电阻异常、支线过长等故障类别;
(4)维修向导通过CAN拓扑图,计算CAN总线的关键节点和当前最需要验证的关键点,并提示用户断开该关键节点后分析总线波形;
(5)用户断开关键节点;
(6)用户启动示波器测量断开后网络的通信波形,如果波形正常,转到步骤(7),否则转到步骤(9);
(7)在断开侧查找故障的网络节点,维修向导在断开网络侧计算下一个需要断开的关键节点,即断开点,标记当前断开点和下一个断开点的网段为X段;
(8)连上当前断开点,继续步骤(5)、(6)方法,判断故障是否在X段。判断原则是示波器波形异常,则故障在X段,否则计算下一个需要断开的关键节点,直到找到故障点或者所有关键节点搜索完毕;
(9)计算下一个需要断开的关键节点,转到步骤(5);
在本发明实施例中,通过提供一种汽车检测方法,应用于如上述实施例中 所述的汽车检测系统,所述方法包括:诊断设备对所述汽车控制单元系统进行扫描,获取通信故障码;示波器获取所述诊断设备发送的通信故障码,并获取拓扑网络的总线波形,以确定故障类别;诊断设备获取汽车中电子控制单元之间的拓扑网络,确定所述拓扑网络中的关键节点,根据所述关键节点,将所述拓扑网络划分为多个子网段;诊断设备在发生网络故障时,逐一断开所述关键节点,并根据示波器获取的拓扑网络的总线波形是否恢复正常,以确定发生网络故障的子网段;诊断设备对所述子网段中的网络节点进行故障排查,以确定发生故障的网络节点。通过确定关键节点,确定发生网络故障的子网段,对所述子网段中的网络节点进行故障排查,以确定发生故障的网络节点,本发明实施例能够提高汽车故障定位的效率。
请参阅图10,图10为本发明各个实施例的一种诊断设备的硬件结构示意图;
如图10所示,该诊断设备100包括但不限于:射频单元101、网络模块102、音频输出单元103、输入单元104、传感器105、显示单元106、用户输入单元107、接口单元108、存储器109、处理器1010、以及电源1011等部件,所述诊断设备100还包括摄像头。本领域技术人员可以理解,图10中示出的诊断设备的结构并不构成对诊断设备的限定,诊断设备可以包括比图示更多或更少的部件,或者组合某些部件,或者不同的部件布置。在本发明实施例中,诊断设备包括但不限于电视机、手机、平板电脑、笔记本电脑、掌上电脑、车载终端、可穿戴设备、以及计步器等。
处理器1010,用于获取汽车中电子控制单元之间的拓扑网络,其中,各电子控制单元之间通过总线连接;
在所述拓扑网络中确定参考节点,所述参考节点包括第一参考节点和/或第二参考节点;其中,所述第一参考节点为直接连接所述拓扑网络中的主干路径且无子节点的节点,并且相邻的两个第一参考节点间隔M-1个节点;所述第二参考节点为通过父节点连接所述主干路径的节点,并且相邻的两个第二参考节点间隔M-1个节点;其中,M为搜索步长且M为正整数;根据所述参考节点确定关键节点,所述关键节点在所述拓扑网络中处于断开状态时,所述拓扑网络中存在两个互不连通的网络段;若在断开某一所述关键节点时,检测出两个所述网络段中的一网络段存在故障,则定位所述故障在所述网络段。
在本发明实施例中,通过确定关键节点,定位故障所在网络段,本发明实施例能够提高汽车故障定位的效率。
应当理解的是,本发明实施例中,射频单元101可用于收发信息或通话过程中,信号的接收和发送,具体的,将来自基站的下行数据接收后,给处理器1010处理;另外,将上行的数据发送给基站。通常,射频单元101包括但不限于天线、至少一个放大器、收发信机、耦合器、低噪声放大器、双工器等。此外,射频单元101还可以通过无线通信系统与网络和其他设备通信。
诊断设备100通过网络模块102为用户提供了无线的宽带互联网访问,如 帮助用户收发电子邮件、浏览网页和访问流式媒体等。
音频输出单元103可以将射频单元101或网络模块102接收的或者在存储器109中存储的音频数据转换成音频信号并且输出为声音。而且,音频输出单元103还可以提供与诊断设备100执行的特定功能相关的音频输出(例如,呼叫信号接收声音、消息接收声音等等)。音频输出单元103包括扬声器、蜂鸣器以及受话器等。
输入单元104用于接收音频或视频信号。输入单元104可以包括图形处理器(Graphics Processing Unit,GPU)1041和麦克风1042,图形处理器1041对在视频捕获模式或图像捕获模式中由图像捕获装置(如摄像头)获得的静态图片或视频的目标图像进行处理。处理后的图像帧可以显示在显示单元106上。经图形处理器1041处理后的图像帧可以存储在存储器109(或其它存储介质)中或者经由射频单元101或网络模块102进行发送。麦克风1042可以接收声音,并且能够将这样的声音处理为音频数据。处理后的音频数据可以在电话通话模式的情况下转换为可经由射频单元101发送到移动通信基站的格式输出。
诊断设备100还包括至少一种传感器105,比如光传感器、运动传感器以及其他传感器。具体地,光传感器包括环境光传感器及接近传感器,其中,环境光传感器可根据环境光线的明暗来调节显示面板1061的亮度,接近传感器可在诊断设备100移动到耳边时,关闭显示面板1061和/或背光。作为运动传感器的一种,加速计传感器可检测各个方向上(一般为三轴)加速度的大小,静止时可检测出重力的大小及方向,可用于识别诊断设备姿态(比如横竖屏切换、相关游戏、磁力计姿态校准)、振动识别相关功能(比如计步器、敲击)等;传感器105还可以包括指纹传感器、压力传感器、虹膜传感器、分子传感器、陀螺仪、气压计、湿度计、温度计、红外线传感器等,在此不再赘述。
显示单元106用于显示由用户输入的信息或提供给用户的信息。显示单元106可包括显示面板1061,可以采用液晶显示器(Liquid Crystal Display,LCD)、有机发光二极管(Organic Light-Emitting Diode,OLED)等形式来配置显示面板1061。
用户输入单元107可用于接收输入的数字或字符信息,以及产生与诊断设备的用户设置以及功能控制有关的键信号输入。具体地,用户输入单元107包括触控面板1071以及其他输入设备1072。触控面板1071,也称为触摸屏,可收集用户在其上或附近的触摸操作(比如用户使用手指、触笔等任何适合的物体或附件在触控面板1071上或在触控面板1071附近的操作)。触控面板1071可包括触摸检测装置和触摸控制器两个部分。其中,触摸检测装置检测用户的触摸方位,并检测触摸操作带来的信号,将信号传送给触摸控制器;触摸控制器从触摸检测装置上接收触摸信息,并将它转换成触点坐标,再送给处理器1010,接收处理器1010发来的命令并加以执行。此外,可以采用电阻式、电容式、红外线以及表面声波等多种类型实现触控面板1071。除了触控面板 1071,用户输入单元107还可以包括其他输入设备1072。具体地,其他输入设备1072可以包括但不限于物理键盘、功能键(比如音量控制按键、开关按键等)、轨迹球、鼠标、操作杆,在此不再赘述。
进一步的,触控面板1071可覆盖在显示面板1061上,当触控面板1071检测到在其上或附近的触摸操作后,传送给处理器1010以确定触摸事件的类型,随后处理器1010根据触摸事件的类型在显示面板1061上提供相应的视觉输出。虽然在图10中,触控面板1071与显示面板1061是作为两个独立的部件来实现诊断设备的输入和输出功能,但是在某些实施例中,可以将触控面板1071与显示面板1061集成而实现诊断设备的输入和输出功能,具体此处不做限定。
接口单元108为外部装置与诊断设备100连接的接口。例如,外部装置可以包括有线或无线头戴式耳机端口、外部电源(或电池充电器)端口、有线或无线数据端口、存储卡端口、用于连接具有识别模块的装置的端口、音频输入/输出(I/O)端口、视频I/O端口、耳机端口等等。接口单元108可以用于接收来自外部装置的输入(例如,数据信息、电力等等)并且将接收到的输入传输到诊断设备100内的一个或多个元件或者可以用于在诊断设备100和外部装置之间传输数据。
存储器109可用于存储软件程序以及各种数据。存储器109可主要包括存储程序区和存储数据区,其中,存储程序区可存储至少一个功能所需的应用程序1091(比如声音播放功能、图像播放功能等)以及操作系统1092等;存储数据区可存储根据手机的使用所创建的数据(比如音频数据、电话本等)等。此外,存储器109可以包括高速随机存取存储器,还可以包括非易失性存储器,例如至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。
处理器1010是诊断设备的控制中心,利用各种接口和线路连接整个诊断设备的各个部分,通过运行或执行存储在存储器109内的软件程序和/或模块,以及调用存储在存储器109内的数据,执行诊断设备的各种功能和处理数据,从而对诊断设备进行整体监控。处理器1010可包括一个或多个处理单元;优选的,处理器1010可集成应用处理器和调制解调处理器,其中,应用处理器主要处理操作系统、用户界面和应用程序等,调制解调处理器主要处理无线通信。可以理解的是,上述调制解调处理器也可以不集成到处理器1010中。
诊断设备100还可以包括给各个部件供电的电源1011(比如电池),优选的,电源1011可以通过电源管理系统与处理器1010逻辑相连,从而通过电源管理系统实现管理充电、放电、以及功耗管理等功能。
另外,诊断设备100包括一些未示出的功能模块,在此不再赘述。
优选的,本发明实施例还提供一种诊断设备,包括处理器1010,存储器109,存储在存储器109上并可在所述处理器1010上运行的计算机程序,该计算机程序被处理器1010执行时实现上述故障定位方法实施例的各个过程,且能达到相同的技术效果,为避免重复,这里不再赘述。
本发明实施例还提供一种计算机可读存储介质,计算机可读存储介质上存储有计算机程序,该计算机程序被一个或多个处理器执行时实现上述故障定位方法实施例的各个过程,且能达到相同的技术效果,为避免重复,这里不再赘述。其中,所述的计算机可读存储介质,如只读存储器(Read-Only Memory,ROM)、随机存取存储器(Random Access Memory,RAM)、磁碟或者光盘等。
需要说明的是,在本文中,术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含,从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素,而且还包括没有明确列出的其他要素,或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下,由语句“包括一个……”限定的要素,并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。
以上所描述的装置或设备实施例仅仅是示意性的,其中所述作为分离部件说明的单元模块可以是或者也可以不是物理上分开的,作为模块单元显示的部件可以是或者也可以不是物理单元,即可以位于一个地方,或者也可以分布到多个网络模块单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。
通过以上的实施方式的描述,本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现,当然也可以通过硬件,但很多情况下前者是更佳的实施方式。基于这样的理解,本发明的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来,该计算机软件产品存储在一个存储介质(如ROM/RAM、磁碟、光盘)中,包括若干指令用以使得一台终端(可以是移动终端,个人计算机,服务器,或者网络设备等)执行本发明各个实施例或者实施例的某些部分所述的方法。
最后应说明的是:以上结合附图描述的实施例仅用以说明本发明的技术方案,本发明并不局限于上述的具体实施方式,上述的具体实施方式仅仅是示意性的,而不是限制性的;在本发明的思路下,以上实施例或者不同实施例中的技术特征之间也可以进行组合,步骤可以以任意顺序实现,并存在如上所述的本发明的不同方面的许多其它变化,为了简明,它们没有在细节中提供;尽管参照前述实施例对本发明进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分技术特征进行等同替换;而这些修改或者替换,并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。
Claims (12)
- 一种汽车总线的故障定位方法,其特征在于,所述方法包括:获取汽车中电子控制单元之间的拓扑网络,其中,各电子控制单元之间通过总线连接;在所述拓扑网络中确定参考节点,所述参考节点包括第一参考节点和/或第二参考节点;其中,所述第一参考节点为直接连接所述拓扑网络中的主干路径且无子节点的节点,并且相邻的两个第一参考节点间隔M-1个节点;所述第二参考节点为通过父节点连接所述主干路径的节点,并且相邻的两个第二参考节点间隔M-1个节点;其中,M为搜索步长且M为正整数;根据所述参考节点确定关键节点,所述关键节点在所述拓扑网络中处于断开状态时,所述拓扑网络中存在两个互不连通的网络段;若在断开某一所述关键节点时,检测出两个所述网络段中的一网络段存在故障,则定位所述故障在所述网络段。
- 根据权利要求1所述的方法,其特征在于,所述在所述拓扑网络中确定参考节点,包括:确定第一终端节点和第二终端节点,其中,在所述拓扑网络中,所述第一终端节点和第二终端节点之间的路径最长,且所述第一终端节点和第二终端节点之间的链路为主干路径;确定所述第一终端节点和第二终端节点之间的每一网络节点的权重;根据所述搜索步长M,从所述第一终端节点向所述第二终端节点的方向进行搜索,确定所述参考节点。
- 根据权利要求2所述的方法,其特征在于,所述确定所述第一终端节点和第二终端节点之间的每一网络节点的权重,包括:根据每一网络节点到所述主干路径之间的链路连接的其他网络节点的数量,确定该网络节点的权重。
- 根据权利要求3所述的方法,其特征在于,所述根据每一网络节点到所述主干路径之间的链路连接的其他网络节点的数量,确定该网络节点的权重,包括:若某一网络节点到所述主干路径之间的链路没有连接其他网络节点,则确定该网络节点的权重为1;若某一网络节点到所述主干路径之间的链路连接的其他网络节点的数量为n-1,则确定该网络节点的权重为n,其中,n为正整数且n≥2。
- 根据权利要求4所述的方法,其特征在于,所述根据所述搜索步长M, 从所述第一终端节点向所述第二终端节点的方向进行搜索,确定参考节点,包括:设置计数器,初始化所述计数器的读数为1;判断所述第一终端节点到所述第二终端节点的主干路径上的网络节点是否存在子节点;若是,则确定该拓扑网络存在至少一个分支链路,并根据所述至少一个分支链路的网络节点的权重,确定第二参考节点;若否,则从所述第一终端节点开始搜索,每经过一个网络节点,对所述计数器的读数加1,将计数器的读数为搜索步长的整数倍对应的网络节点确定为第一参考节点,直至搜索到达所述第二终端节点。
- 根据权利要求5所述的方法,其特征在于,所述根据所述至少一个分支链路的网络节点的权重,确定第二参考节点,包括:根据某一分支链路上的每一网络节点的权重,将权重为搜索步长的整数倍对应的网络节点确定为第二参考节点,并递归搜索每一分支链路的其他分支,直至遍历全部的分支链路上全部的网络节点。
- 根据权利要求2所述的方法,其特征在于,所述根据所述参考节点所在的位置,确定关键节点,包括:获取所述参考节点所在的位置对应的可断开位置,将所述可断开位置确定为所述关键节点。
- 根据权利要求1所述的方法,其特征在于,所述方法还包括:根据所述关键节点,将所述电子控制单元之间的拓扑网络划分为至少两个子网段;在发生网络故障时,逐一断开所述关键节点,根据网络故障是否消除,以确定发生网络故障的子网段;对所述子网段中的网络节点进行故障排查,以确定发生故障的网络节点。
- 根据权利要求8所述的方法,其特征在于,所述方法还包括判断网络故障是否消除,具体包括:判断所述拓扑网络中的环路电阻是否正常,若是,则确定所述网络故障消除,若否,则确定所述网络故障未消除;或者,判断所述拓扑网络的总线波形是否恢复正常,若是,则确定所述网络故障消除,若否,则确定所述网络故障未消除。
- 一种诊断设备,其特征在于,所述诊断设备包括:主控制器以及通信接口,所述通信接口用于通信连接汽车,所述汽车包括电子控制单元之间的拓 扑网络,所述拓扑网络包括多个网络节点,所述主控制器包括: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权利要求1-9任一项所述的汽车总线的故障定位方法。
- 一种汽车检测系统,应用于汽车,其特征在于,所述汽车包括汽车控制单元系统,所述汽车控制单元系统包括多个汽车控制单元,所述汽车检测系统包括:如权利要求10所述的诊断设备,所述诊断设备通信连接所述汽车控制单元系统;示波器,连接所述诊断设备,用于获取拓扑网络的总线波形。
- 一种汽车检测方法,其特征在于,应用于如权利要求11所述的汽车检测系统,所述方法包括:诊断设备对所述汽车控制单元系统进行扫描,获取通信故障码;示波器获取所述诊断设备发送的通信故障码,并获取拓扑网络的总线波形,以确定故障类别;诊断设备获取汽车中电子控制单元之间的拓扑网络,确定所述拓扑网络中的关键节点,根据所述关键节点,将所述拓扑网络划分为多个子网段;诊断设备在发生网络故障时,逐一断开所述关键节点,并根据示波器获取的拓扑网络的总线波形是否恢复正常,以确定发生网络故障的子网段;诊断设备对所述子网段中的网络节点进行故障排查,以确定发生故障的网络节点。
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