CN115840435A - Data transmission method, device, vehicle and storage medium - Google Patents

Abstract

The application discloses a data transmission method, a data transmission device, a vehicle and a storage medium, wherein the method comprises the following steps: under the condition that a first diagnosis module in a gateway node is in an activated state, sending a specified signal to a plurality of electronic control nodes, wherein the specified signal is used for indicating a second diagnosis module in the electronic control nodes to enter an enabled state; receiving a diagnosis request message sent by a diagnosis node, wherein the diagnosis request message is used for requesting to acquire the fault type of a target electronic control node in a plurality of electronic control nodes; sending the diagnosis request message to a target electronic control node; and receiving a diagnosis response message sent by the target electronic control node, and sending the diagnosis response message to the diagnosis node. Because the gateway node can determine the target electronic control node through the diagnosis request message, the process of mapping the logic address of the electronic control node and the multicast address does not exist, and the communication between the gateway node and the electronic control node is more efficient.

Description

Data transmission method, device, vehicle and storage medium

technical field

The present application relates to the technical field of vehicle diagnosis, and more specifically, to a data transmission method, device, vehicle and storage medium.

Background technique

When the vehicle is performing fault diagnosis, the diagnosis node sends a diagnosis request to the gateway node, and the gateway node further forwards the diagnosis request to the corresponding electronic control node (Electronic Control Unit, ECU). In the related art, the gateway node usually implements the forwarding of the diagnosis request by means of IP multicast, for example, based on the mapping between the logical address of the ECU and the multicast address, the gateway node multicasts the diagnosis request to the corresponding ECU.

However, the mapping process between the ECU logical address and the multicast address brings more communication and operation overhead to the gateway node, which reduces the communication efficiency of the gateway node.

Contents of the invention

Embodiments of the present application provide a data transmission method, device, vehicle, and storage medium.

In the first aspect, some embodiments of the present application provide a data transmission method, the method includes: when the first diagnostic module in the gateway node is in an activated state, sending a specified signal to multiple electronic control nodes, the specified signal is used for Instructing the second diagnostic module in the electronic control node to enter the enable state; receiving the diagnostic request message sent by the diagnostic node, the diagnostic request message is used to request to obtain the fault type of the target electronic control node among the multiple electronic control nodes; The request message is sent to the target electronic control node; the diagnosis response message sent by the target electronic control node is received, and the diagnosis response message is sent to the diagnosis node.

In the second aspect, some embodiments of the present application provide another data transmission method, the method includes: receiving a specified signal sent by the gateway node when the first diagnostic module in the gateway node is in an activated state; based on the specified signal, controlling the electronic control node The second diagnosis module in the system enters the enable state; receives the diagnosis request message forwarded by the gateway node, the diagnosis request message is sent from the diagnosis node to the gateway node, and the diagnosis request message is used to request to obtain the fault type of the electronic control node; based on the diagnosis The request message sends the diagnosis response message to the gateway node, and the gateway node is used to forward the diagnosis response message to the diagnosis node.

In a third aspect, some embodiments of the present application provide a data transmission device, including: a first sending module, a first receiving module, a second sending module, and a second receiving module. Wherein, the first sending module is used to send a specified signal to multiple electronic control nodes when the first diagnostic module in the gateway node is in an activated state, and the specified signal is used to instruct the second diagnostic module in the electronic control node to enter the active state. able state. The first receiving module is used for receiving the diagnosis request message sent by the diagnosis node, and the diagnosis request message is used for requesting to acquire the fault type of the target electronic control node among the plurality of electronic control nodes. The second sending module is used to send the diagnosis request message to the target electronic control node. The second receiving module is used for receiving the diagnosis response message sent by the target electronic control node, and sending the diagnosis response message to the diagnosis node.

In a fourth aspect, some embodiments of the present application provide another data transmission device, which includes: a third receiving module, a control module, a fourth receiving module, and a third sending module. Wherein, the third receiving module is used for receiving a specified signal sent by the gateway node when the first diagnosis module in the gateway node is in an activated state. The control module is used for controlling the second diagnosis module in the electronic control node to enter the enabled state based on the designated signal. The fourth receiving module is used to receive the diagnosis request message forwarded by the gateway node. The diagnosis request message is sent from the diagnosis node to the gateway node. The diagnosis request message is used to request to obtain the fault type of the electronic control node. The third sending module is used for sending the diagnosis response message to the gateway node based on the diagnosis request message, and the gateway node is used for forwarding the diagnosis response message to the diagnosis node.

In a fifth aspect, some embodiments of the present application further provide a vehicle, where the vehicle includes: a gateway node, multiple electronic control nodes, one or more processors, memory, and one or more application programs. Wherein, multiple electronic control nodes are connected to the gateway node; one or more application programs are stored in memory and configured to be executed by one or more processors, and one or more program programs are configured to execute the above method.

In a sixth aspect, the embodiment of the present application further provides a computer-readable storage medium, where computer program instructions are stored in the computer-readable storage medium. Wherein, the computer program instructions can be invoked by the processor to execute the above methods.

In a seventh aspect, the embodiment of the present application further provides a computer program product, which implements the above method when the computer program product is executed.

The present application provides a data transmission method, device, vehicle, and storage medium. In this method, when the first diagnostic module in the gateway node is in an active state, it will send a specified signal to multiple electronic control nodes to Making the second diagnosis modules in the plurality of electronic control nodes enter the enabling state, that is, making the electronic control nodes enter the state of preparing to receive the diagnosis request message. When the subsequent gateway node receives the diagnostic request message sent by the diagnostic node, it will determine the target electronic control node among the multiple electronic control nodes based on the relevant information in the diagnostic request message (for example, the destination address of the message) , and then send the diagnosis request message to the target electronic control node, that is, complete the forwarding of the message. Since the gateway node can determine the target electronic control node through the diagnostic request message, there is no process of mapping the logical address of the electronic control node to the multicast address, making the communication between the gateway node and the electronic control node more efficient.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, other drawings can also be obtained based on these drawings without any creative effort.

Fig. 1 shows a schematic structural diagram of a vehicle provided by an embodiment of the present application.

Fig. 2 shows a schematic flowchart of a data transmission method provided by the first embodiment of the present application.

Fig. 3 shows a schematic flow chart of a data transmission method provided by the second embodiment of the present application.

FIG. 4 shows a schematic flow chart of a data transmission method provided by a third embodiment of the present application.

FIG. 5 shows a schematic flowchart of a data transmission method provided by a fourth embodiment of the present application.

FIG. 6 shows a block diagram of a data transmission device provided by an embodiment of the present application.

FIG. 7 shows a block diagram of another data transmission device provided by an embodiment of the present application.

Fig. 8 shows a block diagram of a vehicle provided by an embodiment of the present application.

FIG. 9 shows a block diagram of a computer-readable storage medium provided by an embodiment of the present application.

Detailed ways

Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present application and should not be construed as limiting the present application.

In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Apparently, the described embodiments are only some of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of this application.

The present application provides a data transmission method, device, vehicle, and storage medium. In this method, when the first diagnostic module in the gateway node is in an active state, it will send a specified signal to multiple electronic control nodes to Making the second diagnosis modules in the plurality of electronic control nodes enter the enabling state, that is, making the electronic control nodes enter the state of preparing to receive the diagnosis request message. When the subsequent gateway node receives the diagnostic request message sent by the diagnostic node, it will determine the target electronic control node among the multiple electronic control nodes based on the relevant information in the diagnostic request message (for example, the destination address of the message) , and then send the diagnosis request message to the target electronic control node, that is, complete the forwarding of the message. Since the gateway node can determine the target electronic control node through the diagnostic request message, there is no process of mapping the logical address of the electronic control node to the multicast address, making the communication between the gateway node and the electronic control node more efficient.

For the convenience of describing the solution of the present application in detail, the application environment in the embodiment of the present application will be introduced below with reference to the accompanying drawings. Please refer to Fig. 1. The data transmission method provided by the embodiment of the present application is applied to a vehicle 100. A vehicle 100 refers to a vehicle driven or towed by a power plant for passengers or for transporting items, including but not limited to cars. , minibus, bus and so on. Specifically, the vehicle 100 is communicatively connected to the diagnostic node 50, and the vehicle 100 includes a gateway node 10 and a plurality of electronic control nodes (Electronic Control Unit, ECU) 30, wherein the gateway node 10 respectively establishes communication connections with the plurality of electronic control nodes 30, Diagnostic node 50 establishes a communication link with vehicle 100 via gateway node 10 .

As the core control device in the vehicle network system, the gateway node 10 is responsible for coordinating the protocol conversion, data exchange, fault diagnosis and other work between the Controller Area Network (CAN) and other data networks. In this application, the gateway node 10 establishes communication connections with the diagnosis node 50 and the plurality of electronic control nodes 30 respectively. Specifically, the gateway node 10 is connected to the diagnosis node 50 through Ethernet, and is connected to multiple electronic control nodes 30 through a Controller Area Network (CAN) or through Ethernet. Wherein, the gateway node 10 may be a gateway device arranged in the vehicle 100, or may be a gateway module integrated on a processor of the vehicle 100, which is not specifically limited in this embodiment.

Specifically, the gateway node 10 is provided with a DoIP module based on the automotive open system architecture AUTOSARCP (that is, the first diagnosis module), and the DoIP protocol is stored in the DoIP module. The source address (SourceAddress, SA) of the diagnosis node 50 is added to the DoIP module of the gateway node 10 in the embodiment of the present application, that is, the source ECU address in the header of the diagnosis request message corresponding to the DoIP protocol. In addition, multiple target addresses (Target Address, TA) of the electronic control node 30 are added to the DoIP module of the gateway node 10, that is, the logical address of the target ECU in the header of the diagnosis request message corresponding to the DoIP protocol. This embodiment does not limit the specific development tools of the basic software layer (Basic Software, BSW) protocol stack of AUTOSARCP.

In the embodiment of the present application, in the DoIP configuration of the ECU protocol stack of the gateway node 10, the routing activation mode is set to message activation (that is, DOIP_ROUTING_ACTIVATION_MSG). In addition, the gateway node 10 is also added with a static port number 13400, which is static The port number 13400 is used to monitor the vehicle identification request message, the activation request message and the diagnosis request message sent by the diagnosis node 50 , as well as the diagnosis response message sent by the electronic control node 30 . Wherein, the static port number 13400 includes Transmission Control Protocol (Transmission Control Protocol, TCP) and User Datagram Protocol (User Datagram Protocol, UDP), specifically, the static port number 13400 is specified by the ISO13400 standard, and the embodiment of the present application is no longer repeat.

In the embodiment of the present application, the gateway node 10 is also provided with a first software component (Software Component, SWC), and the first software component is used to enable the DoIP module in the gateway node 10 (ActivationLineSwitchActive), that is, Make the DoIP module in the gateway node 10 enter the working state. In addition, the gateway node 10 is also configured with routing relationship configurations of protocol data units (Protocol Data Unit, PDU) between network layer modules (for example, LdCom modules) associated with the DoIP module.

The electronic control node 30 is a small computer management center, which has functions such as signal (data) collection, calculation processing, analysis and judgment, and decision-making countermeasures. In this application, the electronic control node 30 establishes a communication connection with the gateway node 10 . Wherein, the electronic control node 30 may be an electronic controller arranged in the vehicle 100, or an electronic control module integrated on the processor of the vehicle 100. Specifically, the electronic control node 30 may be used for cruise control, Different types of electronic control nodes 30 may be provided according to different functions for lighting control, airbag control, fuel heating control, exhaust control, brake control, etc., which are not specifically limited in this embodiment.

Likewise, the electronic control node 30 is provided with a DoIP module based on the automotive open system framework AUTOSARCP (that is, the second diagnosis module), and the DoIP protocol is stored in the DoIP module. The source address (SourceAddress, SA) of the diagnosis node 50 is added to the DoIP module of the electronic control node 30 in the embodiment of the present application, that is, the source ECU address in the header of the diagnosis request message corresponding to the DoIP protocol.

In the embodiment of the present application, in the DoIP configuration of the ECU protocol stack of the electronic control node 30, the routing activation mode is set to automatic activation (that is, DOIP_ROUTING_ACTIVATION_AUTOMATIC), therefore, the DoIP module in the electronic control node 30 does not need to pass the message to activate. Similarly, a static port number 13400 is added to the electronic control node 30 , and the static port number 13400 is used to monitor the diagnosis request message sent by the gateway node 10 .

In the embodiment of the present application, the electronic control node 30 is also provided with a second software component (SoftwareComponent, SWC), which is used to enable the electronic control node 30 (ActivationLineSwitchActive), that is, to make the electronic control node The DoIP module in 30 enters the working state. Specifically, a definition of a specified signal is added to the AUTOSAR protocol stack configuration of the electronic control node 30, and the specified signal is used to instruct the electronic control node 30 to enter the enabled state. Therefore, when the electronic control node 30 receives the specified signal, it calls the standard interface provided by the AUTOSAR DoIP module (that is, through SWC) to enable, so that the DoIP module in the electronic control node 30 enters the enabled state.

In the embodiment of the present application, the electronic control node 30 is also configured with a routing relation configuration of a Protocol Data Unit (PDU) between a DoIP module and an associated network layer module (for example, an LdCom module).

The diagnostic node 50 is a troubleshooter for detecting vehicle faults. In this application, the diagnostic node 50 is connected to the gateway node 10 through Ethernet, that is, the gateway node 10 serves as an edge node (DoIP EdgeNode) of the diagnostic node 50 . Therefore, when the diagnosis node 50 requests to initiate a diagnosis request to a certain electronic control node 30, it only needs to write the target logical address (Target Address, TA) of the target electronic control node 30 in the diagnosis request message and report the diagnosis request to The message is sent to the gateway node 10, and then the gateway node 10 sends the diagnosis request message to the corresponding electronic control node 30 based on the target logical address in the diagnosis request message. Therefore, the diagnosis node 50 only needs to determine the device logic address of the target electronic control node 30 to complete the task of sending the diagnosis request message. Specifically, the diagnostic node 50 may be a diagnostic device installed in the vehicle 100, or a diagnostic module integrated on a processor of the vehicle 100, which is not specifically limited in this embodiment.

In the embodiment of the present application, the network segment where the IP address of the network interface controller (Network Interface Controller, NIC) in the diagnosis node 50 is located is the same as the network segment where the IP address configured by the gateway node 10 and the NIC connected to the diagnosis node 50 is located.

Please refer to FIG. 2 , which schematically shows a data transmission method provided in the first embodiment of the present application. The method is applied to a gateway node, and specifically, the method includes the following procedures.

S210, when the first diagnostic module in the gateway node is in an activated state, send a specified signal to multiple electronic control nodes.

When the first diagnosis module is in the active state, the first diagnosis module initializes the Socket, and listens to the diagnosis request message sent by the diagnosis node and the electronic control node through the first designated port (for example, the static port number 13400) . At this point, the gateway node is ready to receive and send the diagnosis request message.

The specified signal indicates that the first diagnostic module in the gateway node has been successfully activated, and is used to instruct the second diagnostic module in the electronic control node to enter an enabled state. In the embodiment of the present application, the gateway node broadcasts the specified signal to multiple electronic control nodes through the CAN network, wherein the specified signal can be a pulse code modulation (Pulse Code Modulation, PCM) signal, and the specific form of the specified signal in this embodiment Not limited. What needs to be explained here is that the definition of the specified signal is added to the AUTOSAR protocol stack configuration of multiple electronic control nodes. When multiple electronic control nodes monitor the specified signal, they control their own second diagnostic module to enable state. An implementation manner in which the electronic control node enables the second diagnostic module based on a specified signal is described in the following embodiments.

It should be noted that, since the routing activation mode of the second diagnostic module in the electronic control node is automatic activation. Therefore, when the second diagnosis module is in the enabled state, the electronic control node has completed the preparation for receiving the diagnosis request message, that is, the electronic control node can communicate with the gateway through the second designated port (for example, the static port number 13400) The diagnostic request message sent by the node is monitored.

S220. Receive a diagnosis request message sent by the diagnosis node.

The diagnosis request message is used to request to obtain the operation data of the target electronic control node among the plurality of electronic control nodes, so as to realize the diagnosis of the target electronic control node. The diagnostic request message includes the following contents: address information, diagnostic data and diagnostic data length. Wherein, the address information includes message type, source address, destination address and address type. The source address is the sending address of the diagnosis request message, that is, the device logical address of the diagnosis node. The destination address is the receiving address of the diagnostic request message, that is, the device logic address of the target electronic control node. The address type may be physical addressing or functional addressing, and in this embodiment of the application, only the address type is physical addressing as an example for illustration. Diagnostic data includes a service ID, which uniquely identifies a diagnostic service.

S230. Send the diagnosis request message to the target electronic control node.

In the embodiment of the present application, after the gateway node determines the target electronic control node, it directly forwards the diagnosis request message to the target electronic control node. The address is then forwarded, and the embodiment of the present application can save the processing overhead of the gateway node when forwarding the diagnosis request message, making the forwarding process of the diagnosis request message more efficient. In some embodiments, S230 may include the following process.

S2310. Obtain the destination address of the diagnosis request message.

After the gateway node receives the diagnosis request message, the network layer unpacks the diagnosis request message through a pre-stored unpacking algorithm to obtain the destination address in the diagnosis request message.

S2320, acquiring device logic addresses of multiple electronic control nodes.

The gateway node can determine the device logic addresses of multiple electronic control nodes by reading the pre-stored information in the internal configuration file.

S2330. Determine, among the plurality of electronic control nodes, the electronic control node whose device logic address is the same as the destination address as the target electronic control node.

The gateway node sequentially compares the destination address with the device logic addresses corresponding to multiple electronic control nodes, and if the destination address is the same as the device logic address, then determines the electronic control node corresponding to the device logic address as the target electronic control node.

S2340. Send the diagnosis request message to the target electronic control node.

As an implementation manner, when the gateway node receives the diagnosis request message, it first unpacks the diagnosis request message through the network layer. Then route the protocol data unit (Protocol Data Unit, PDU) to the DoIP protocol stack and the LdCom module. At this time, the header and data field of the DoIP message have not changed. is the device logical address of the target electronic control node. Finally, the diagnostic request message is forwarded to the target electronic control node after the PDU is framed by the network layer protocol stack.

The embodiment of the present application provides a data transmission method. In the method, the gateway node can quickly determine the target electronic control node, and the communication efficiency between the gateway node and the target electronic control node is improved.

In some possible embodiments, after S220, the gateway node uses a unified protocol data unit (Protocol Data Unit, PDU), and sends the diagnostic request message to multiple Electronic control node. When multiple electronic control nodes receive the diagnostic request message, they obtain the destination address of the diagnostic request message and the local device logical address, wherein the local device logical address can be read from the configuration file of the electronic control node. The electronic control node then judges whether the destination address is the same as its own device logic address. If the destination address is the same as the logical address of the device, the electronic control node is the target electronic control node, and then responds to the diagnosis request message, that is, sends a diagnosis response message to the gateway node. If the destination address is not the same as the logical address of the device, it will not respond to the diagnosis request message.

S240. Receive a diagnosis response message sent by the target electronic control node, and send the diagnosis response message to the diagnosis node.

When the target electronic control node receives the diagnosis request message, it will send a diagnosis response message to the gateway node. At this time, the gateway node receives the diagnosis response message sent by the target electronic control node, and sends the diagnosis response message to the diagnosis node. Specifically, the diagnostic response message includes the operating data of the target electronic control node. The diagnosis response message includes the following contents: address information, operation result data. Wherein, the address information includes message type, source address, destination address and address type. The source address is the sending address of the diagnostic response message, that is, the device logic address of the target electronic control node. The destination address is the receiving address of the diagnostic response message, that is, the device logic address of the diagnostic node. The address type may be physical addressing or functional addressing, and in this embodiment of the application, the address type is physical addressing. The operation result data is the execution result obtained by the target electronic control node calling the service corresponding to the service identifier in the diagnosis request message, and the diagnosis node can determine the fault type of the target electronic control node according to the operation result data.

The embodiment of the present application provides a data transmission method. In this method, when the first diagnostic module in the gateway node is activated, it will send a specified signal to multiple electronic control nodes, so that multiple electronic control nodes The second diagnosis module in the node enters the enable state, that is, the electronic control node enters the state of preparing to receive the diagnosis request message. When the subsequent gateway node receives the diagnostic request message sent by the diagnostic node, it will determine the target electronic control node among the multiple electronic control nodes based on the relevant information in the diagnostic request message (for example, the destination address of the message) , and then send the diagnosis request message to the target electronic control node, that is, complete the forwarding of the message. Since the gateway node can determine the target electronic control node through the diagnostic request message, there is no process of mapping the logical address of the electronic control node to the multicast address, making the communication between the gateway node and the electronic control node more efficient.

As mentioned in the above embodiment, when the first diagnosis module of the gateway node is in the active state, it performs subsequent data forwarding steps (such as forwarding the diagnosis request message to the target electronic control node, or sending the diagnosis response The message is forwarded to the diagnostic node). The activation process of the first diagnostic module will be described below.

Please refer to FIG. 3 , which schematically shows a data transmission method provided by the second embodiment of the present application. The method is applied to a gateway node, and in some embodiments, the following process is also included before S210.

S302. Receive an activation request message sent by the diagnosis node.

The activation request message is used to request routing activation of the first diagnostic module of the gateway node. The activation request message carries working parameters of the diagnosis node, and the above work parameters include at least one item of source address, activation type, and identity information of the diagnosis node, wherein the source address is the device logical address of the diagnosis node.

In some embodiments, after the diagnosis node discovers and identifies the vehicle, the maintenance personnel can add the vehicle as a diagnosis object at the diagnosis node, and then, the diagnosis node establishes a communication connection (for example, a TCPSocket connection) with the gateway node in the vehicle, And send an activation request message to the gateway node through the communication connection. The way in which the diagnosis node discovers and recognizes the vehicle will be described below.

S304. Detect whether the working parameter of the diagnosis node satisfies a preset activation rule.

Wherein, the preset activation rules include at least one of the following: source address registration rules, activation type support rules, online rules, and authentication passing rules. In the embodiment of the present application, after the gateway node receives the activation request message, the protocol stack routes the Protocol Data Unit (PDU) to the first diagnostic module (that is, the DoIP module), and the protocol stack further extracts the DoIP The working parameters of the diagnostic node in the datagram. Wherein, the working parameters of the diagnosis node include one or more items of the diagnosis node's device logic address, activation type and identity information. Specifically, S304 includes the following process.

S3041. Detect whether the configuration file of the first diagnosis module includes the device logic address of the diagnosis node, and if the configuration file of the first diagnosis module includes the device logic address of the diagnosis node, determine that the working parameters of the diagnosis node satisfy the source address registration rule.

In the embodiment of the application, the configuration file of the first diagnosis module is pre-configured with device logical addresses of multiple devices. If the device logical address of the diagnostic node is added to the configuration file, it is determined that the working parameters of the diagnostic node satisfy the source address registration rule. On the contrary, if the configuration file of the first diagnosis module does not add the device logical address of the diagnosis node, it is determined that the working parameters of the diagnosis node do not satisfy the source address registration rule.

S3043, detecting whether the activation type in the diagnosis node is a designated activation type and is the same as the activation type of the first diagnosis module, and whether the activation type in the diagnosis node is a designated activation type and is the same as the activation type of the first diagnosis module In this case, it is determined that the operating parameters of the diagnostic node meet the activation type support rules.

As an implementation manner, the activation type in the diagnosis node can be read based on the activation type bit in the working parameter. The gateway node first determines whether the activation type is the specified activation type, and if it is determined that the activation type is the specified activation type, then judges whether it is the same as the preset activation type of the first diagnosis module, if the activation type in the diagnosis node is the same as the activation type of the first diagnosis module If the types are the same, it is determined that the working parameters of the diagnosis node meet the activation type support rules. On the contrary, if the activation type in the diagnosis node is not the specified activation type, or the activation type in the diagnosis node is not the same as the activation type of the first diagnosis module, it is determined that the working parameters of the diagnosis node do not satisfy the activation type support rule.

Specifically, the specified activation type is a message activation type, and the message activation type may consist of one or more letters or symbols, for example, the message activation type is DOIP_ROUTING_ACTIVATION_MSG. The embodiments of this application do not make specific limitations.

S3045. Detect whether there is an available communication connection between the diagnosis node and the gateway node, and if there is an available communication connection between the diagnosis node and the gateway node, determine that the working parameters of the diagnosis node meet the online rules.

As an implementation manner, whether there is an available communication connection between the diagnosis node and the gateway node is determined based on a heartbeat packet sent by the diagnosis node to the gateway node. If the gateway node receives the heartbeat packet sent by the diagnosis node within the preset time period, it means that there is an available communication connection between the diagnosis node and the gateway node. Specifically, the heartbeat packet is a custom protocol packet based on the heartbeat mechanism, and this application does not limit the specific implementation of the heartbeat packet.

As another implementation manner, whether there is an available communication connection between the diagnosis node and the gateway node is determined based on a preset diagnosis function. If the return value of the diagnosis function is the first preset value, it means that there is an available communication connection between the diagnosis node and the gateway node. On the contrary, if the return value of the diagnosis function is the second preset value, it means that there is no available communication connection between the diagnosis node and the gateway node. Wherein, the diagnostic function may be a select function in non-blocking mode, the first preset value and the second preset value are set by default by the diagnostic function, for example, the first preset value is 1, and the second preset value is 0 .

S3047. Detect whether the identity information in the diagnosis node is the specified identity information, and if the identity information is the specified identity information, determine that the working parameters of the diagnosis node satisfy the identity verification pass rule.

As an implementation manner, if the identity information stored in the configuration file of the first diagnosis module (that is, specified identity information) is the same as the identity information of the diagnosis node, then it is determined that the working parameters of the diagnosis node satisfy the identity authentication pass rule. On the contrary, if the identity information stored in the configuration file of the first diagnosis module is different from the identity information of the diagnosis node, it is determined that the working parameters of the diagnosis node do not satisfy the authentication passing rule. Specifically, the identity information may include account information or/and password information.

S306. Control the first diagnosis module to enter an activation state when the working parameter of the diagnosis node satisfies a preset activation rule.

The gateway node controls the first diagnosis module to enter the activation state when the working parameter of the diagnosis node satisfies a preset activation rule. Conversely, the gateway node does not activate the first diagnostic module when the working parameters of the diagnostic node do not meet the preset activation rules.

After the first diagnosis module enters the activation state, the gateway node calls the AUTOSAR standard interface provided by the first diagnosis module through the Runtime Environment (RTE) in the periodic task to determine whether the first diagnosis module is in the activation state. Specifically, the output parameter of the AUTOSAR standard interface is a Boolean type parameter. For example, if the output parameter of the AUTOSAR standard interface is True, it means that the first diagnostic module is active; if the output parameter of the AUTOSAR standard interface is False, it means that the first The diagnostic module is inactive.

In some embodiments, the gateway node sends an activation response message to the diagnostic node when the working parameters of the diagnostic node meet a preset activation rule. Wherein, the test device address in the activation response message is the source address in the activation request message, that is, the device logic address of the diagnosis node, and the entity address is the device logic address of the gateway node. In the subsequent process, upon receiving the activation response message, the diagnosis node can determine that the first diagnosis module in the gateway node is in an activated state, and then send a diagnosis request message to the gateway node.

In the embodiment of the present application, the embodiment of activating the first diagnosis module through an activation request message is specifically introduced, so that the gateway node after the activation of the first diagnosis module can implement the forwarding work of the diagnosis request message.

Please refer to FIG. 4 , which schematically shows a data transmission method provided by a third embodiment of the present application. The method is applied to an electronic control node, and specifically, the method includes the following process.

S410. Receive a specified signal sent by the gateway node when the first diagnostic module in the gateway node is in an activated state.

For the relevant introduction of the designated signal, refer to the relevant introduction in S210, which will not be repeated here.

S420. Based on the specified signal, control the second diagnostic module in the electronic control node to enter an enabled state.

Since the routing activation mode of the second diagnostic module in the electronic control node is automatic activation. Therefore, when the second diagnosis module is in an enabled state, the electronic control node is ready to receive the diagnosis request message. That is, the electronic control node does not require the gateway node to send an additional activation message to activate the second diagnostic module, which saves communication resources between the gateway node and the electronic control node, and speeds up the second diagnosis in the electronic control node. The activation speed of the module. Specifically, S420 includes the following process.

S4210. Based on the specified signal, set the enable status bit corresponding to the second diagnostic module in the electronic control node to a specified value.

In the embodiment of the present application, when the electronic control node receives the designated signal, it calls the AUTOSAR standard interface provided by the second diagnosis module through the runtime environment (Runtime Environment, RTE), and the AUTOSAR standard interface is used for the second diagnosis The module is enabled. Specifically, when the electronic control node receives a specified signal, the AUTOSAR standard interface sets the activation status bit (Activation Line Status) corresponding to the second diagnostic module to a specified value, for example, the specified value is DOIP_ACTIVATION_LINE_ACTIVE.

S4230, monitor whether a diagnostic request message is received through a designated port in the electronic control node.

When the second diagnosis module is enabled, the second diagnosis module will initialize the Socket, and open the second designated port to monitor whether a diagnosis request message is received. Specifically, the second designated port may be a static port number 13400.

S430. Receive a diagnosis request message forwarded by the gateway node.

The diagnosis request message is sent from the diagnosis node to the gateway node, and the diagnosis request message is used to request to obtain the fault type of the electronic control node. Specifically, after the diagnostic request message arrives at the electronic control node, the electronic control node first unpacks the diagnostic request message through the network layer protocol stack, and sends the unpacked diagnostic request message to the LdCom module. Route the protocol data unit (Protocol Data Unit, PDU) to the DoIP module (that is, the second diagnosis module in the electronic control node), and at this time, the electronic control node completes the receiving work of the diagnosis request message.

S440. Send the diagnosis response message to the gateway node based on the diagnosis request message.

The gateway node is used to forward the diagnosis response message to the diagnosis node. Specifically, after the second diagnostic module in the electronic control node generates a diagnostic response message, it routes the PDU to the LdCom module, and the subsequent network layer protocol stack compresses the diagnostic response message, and sends the compressed diagnostic response message to to the gateway node.

The present application provides a data transmission method. In this method, the electronic control node controls the second diagnostic module in the electronic control node to enter the enabled state when receiving the designated signal sent by the gateway node. Prepared for receiving diagnostic request message. When the subsequent electronic control node receives the diagnostic request message forwarded by the gateway node, it sends a diagnostic response message to the gateway node, and then the gateway node sends the diagnostic response message to the diagnostic node, thus completing the diagnostic node’s control of the electronic control. Node fault diagnosis work. Since the gateway node can determine the target electronic control node through the diagnosis request message, there is no process of mapping the logical address of the electronic control node to the multicast address, so that the gateway node and the multicast address Communication between electronically controlled nodes is more efficient.

Please refer to FIG. 5 , which schematically shows a data transmission method provided by a fifth embodiment of the present application. The method is applied to the diagnosis node, the gateway node and the target electronic control node, specifically, the method includes the following process.

S510, the gateway node sends a vehicle declaration message to the diagnosis node.

The vehicle declaration message includes the identification number of the vehicle. In the embodiment of the present application, when the gateway node determines to establish a communication connection (for example, based on an Ethernet communication connection) with the diagnosis node, the gateway node uses the first software component to connect the first diagnosis module (that is, the DoIP module) Enable it to enter the enabled state, that is (DOIP_ACTIVATION_LINE_ACTIVE state). Specifically, the enabled state of the first diagnostic module is defined by the AUTOSAR DoIP protocol standard, which is not specifically limited in this application.

When the first diagnosis module is in an enabled state, the gateway node sends a vehicle declaration message to the diagnosis node. Wherein, the vehicle declaration message includes the identification code of the vehicle. The vehicle identification code, also known as the vehicle identification number (Vehicle Identification Number, VIN), is a code that indicates the identity of the vehicle, and the VIN code is constrained by ISO13400. The VIN codes of different vehicles are different, that is, the diagnostic node can determine a unique vehicle by identifying the VIN code in the vehicle declaration message. Specifically, the DoIP protocol stack in the gateway node can obtain the VIN code through the AUTOSAR interface.

In some embodiments, in order to ensure that the diagnostic node can successfully receive the vehicle declaration message, the gateway node may send the vehicle declaration message multiple times within a preset time, for example, the number of sending times is 3 times.

In some embodiments, in order to ensure the privacy of data transmission between the gateway node and the diagnosis node, the gateway node may send a vehicle declaration message to the diagnosis node through a restricted broadcast address. For example, a restricted broadcast address is 255.255.255.255.

In this embodiment of the application, when the first diagnostic module is in the enabled state, the DoIP protocol stack in the gateway node also executes the step of initializing UDPSocket, so that the static port number 13400 specified in UDP is in the message monitoring state, and also That is, the first diagnostic module monitors the vehicle identification request message through the static port number 13400.

S515, the diagnostic node sends a vehicle identification request message to the gateway node.

After receiving the vehicle declaration message sent by the gateway node, the diagnostic node sends a vehicle identification request message to the gateway node.

S520, the gateway node sends a vehicle identification response message to the diagnosis node.

The gateway node sends a vehicle identification response message to the diagnosis node when receiving the vehicle identification request message sent by the diagnosis node.

S525. The diagnostic node sends an activation request message to the gateway node.

When the diagnostic node receives the vehicle identification response message, it adds vehicle-related information based on the vehicle identification response message, and then establishes a TCP Socket connection with the gateway node, and sends an activation request message to the gateway node. Specifically, the source address of the activation request message is the device logic address of the diagnosis node.

S530, the gateway node sends an activation response message to the diagnosis node.

Specifically, the gateway node sends an activation response message to the diagnostic node when the working parameters in the activation request message meet the preset activation rules.

S535. The gateway node controls the first diagnosis module to enter an activation state.

It should be noted here that there is no sequence when executing S530 and S535, that is, S530 and S535 can be executed at the same time, or S530 is executed earlier than S535, or S530 is executed later than S535.

S540, the gateway node sends a specified signal to the target electronic control node.

S545. The target electronic control node controls the second diagnostic module to enter an enabled state.

S550, the diagnosis node sends a diagnosis request message to the gateway node.

S555, the gateway node forwards the diagnosis request message to the target electronic control node.

S560, the target electronic control node sends a diagnosis response message to the gateway node.

S565. The gateway node forwards the diagnosis response message to the diagnosis node.

Specifically, for the specific implementation process of S530 to S565, reference may be made to relevant introductions in the above embodiments, and details are not repeated here.

The embodiment of the present application provides a data transmission method. In this method, the process of vehicle identification request and response, route activation request and response between the gateway node and the diagnosis node is specifically introduced, and the gateway node forwards the diagnosis request message and The process of diagnosing response packets. Since the gateway node can determine the target electronic control node through the diagnostic request message, there is no process of mapping the logical address of the electronic control node to the multicast address, making the communication between the gateway node and the electronic control node more efficient.

Referring to FIG. 6 , FIG. 6 schematically shows a structural block diagram of a data transmission device 600 provided by an embodiment of the present application. The data transmission device 600 includes: a first sending module 610 , a first receiving module 620 , a second sending module 630 and a second receiving module 640 . Wherein, the first sending module 610 is used to send a specified signal to multiple electronic control nodes when the first diagnostic module in the gateway node is in an activated state, and the specified signal is used to instruct the second diagnostic module in the electronic control node to enter enable state. The first receiving module 620 is configured to receive a diagnosis request message sent by a diagnosis node, and the diagnosis request message is used to request to obtain a fault type of a target electronic control node among the plurality of electronic control nodes. The second sending module 630 is configured to send the diagnosis request message to the target electronic control node. The second receiving module 640 is configured to receive the diagnosis response message sent by the target electronic control node, and send the diagnosis response message to the diagnosis node.

In some embodiments, the second sending module 630 is also used to obtain the destination address of the diagnosis request message; obtain the device logic addresses of multiple electronic control nodes; The control node is determined as the target electronic control node; and sends the diagnosis request message to the target electronic control node.

In some embodiments, the data transmission device 600 further includes a fifth receiving module (not shown in the figure), a detection module (not shown in the figure) and an activation state control module (not shown in the figure). Wherein, the fifth receiving module is configured to receive an activation request message sent by the diagnostic node, and the activation request message carries working parameters of the diagnostic node. The detection module is used to detect whether the working parameters of the diagnosis node meet the preset activation rules, and the preset activation rules include at least one of the following: source address registration rules, activation type support rules, online rules and identity authentication passing rules. The active state control module is used to control the first diagnostic module to enter the active state when the working parameters of the diagnostic node meet the preset activation rules.

In some embodiments, the detection module is also used to detect whether the configuration file of the first diagnosis module includes the device logic address of the diagnosis node, and if the configuration file of the first diagnosis module includes the device logic address of the diagnosis node, determine The working parameters of the diagnostic node meet the source address registration rules; or/and detect whether the activation type in the diagnostic node is the specified activation type, and whether it is the same as the activation type of the first diagnostic module, and the activation type in the diagnostic node is the specified activation type , and in the case of the same activation type as the first diagnostic module, determine that the working parameters of the diagnostic node meet the activation type support rules; or/and detect whether there is an available communication connection between the diagnostic node and the gateway node, and between the diagnostic node and the gateway When there is an available communication connection between the nodes, determine that the working parameters of the diagnostic node meet the online rules; or/and detect whether the identity information in the diagnostic node is the specified identity information, and if the identity information is the specified identity information, determine The working parameters of the diagnosis node meet the authentication pass rules.

Those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the devices and modules described above can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

In several embodiments provided in the present application, the coupling between the modules may be electrical, mechanical or other forms of coupling.

In addition, each functional module in each embodiment of the present application may be integrated into one processing module, each module may exist separately physically, or two or more modules may be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software function modules.

The present application provides a data transmission device, in which, when the first diagnostic module in the gateway node is in an activated state, it will send a specified signal to multiple electronic control nodes, so that the multiple electronic control nodes The second diagnosis module enters the enabling state, that is, the electronic control node enters the state of preparing to receive the diagnosis request message. When the subsequent gateway node receives the diagnostic request message sent by the diagnostic node, it will determine the target electronic control node among the multiple electronic control nodes based on the relevant information in the diagnostic request message (for example, the destination address of the message) , and then send the diagnosis request message to the target electronic control node, that is, complete the forwarding of the message. Since the gateway node can determine the target electronic control node through the diagnostic request message, there is no process of mapping the logical address of the electronic control node to the multicast address, making the communication between the gateway node and the electronic control node more efficient.

Referring to FIG. 7 , FIG. 7 schematically shows a structural block diagram of another data transmission device 700 provided by an embodiment of the present application. The data transmission device 700 includes: a third receiving module 710 , a control module 720 , a fourth receiving module 730 and a third sending module 740 . Wherein, the third receiving module 710 is configured to receive a designated signal sent by the gateway node when the first diagnosis module in the gateway node is in an activated state. The control module 720 is configured to control the second diagnostic module in the electronic control node to enter an enabled state based on a specified signal. The fourth receiving module 730 is configured to receive a diagnosis request message forwarded by the gateway node. The diagnosis request message is sent from the diagnosis node to the gateway node. The diagnosis request message is used to request to obtain the fault type of the electronic control node. The third sending module 740 is configured to send the diagnosis response message to the gateway node based on the diagnosis request message, and the gateway node is used to forward the diagnosis response message to the diagnosis node.

In some embodiments, the control module 720 is also used to set the enable status bit corresponding to the second diagnostic module in the electronic control node to a specified value based on the specified signal; monitor whether the diagnostic is received through the specified port in the electronic control node request message.

Those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the devices and modules described above can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

In several embodiments provided in the present application, the coupling between the modules may be electrical, mechanical or other forms of coupling.

In addition, each functional module in each embodiment of the present application may be integrated into one processing module, each module may exist separately physically, or two or more modules may be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software function modules.

The present application provides a data transmission device. In this device, the electronic control node controls the second diagnostic module in the electronic control node to enter the enabled state when receiving the designated signal sent by the gateway node. Prepared for receiving diagnostic request message. When the subsequent electronic control node receives the diagnostic request message forwarded by the gateway node, it sends a diagnostic response message to the gateway node, and then the gateway node sends the diagnostic response message to the diagnostic node, thus completing the diagnostic node’s control of the electronic control. Node fault diagnosis work. Since the gateway node can determine the target electronic control node through the diagnostic request message, there is no process of mapping the logical address of the electronic control node to the multicast address, making the communication between the gateway node and the electronic control node more efficient.

Please refer to FIG. 8 , which shows that the embodiment of the present application also provides a vehicle 800, the vehicle 800 includes: one or more processors 810, a memory 820, a gateway node 830, a plurality of electronic control nodes 840 and one or more applications. Wherein, one or more application programs are stored in the memory and configured to be executed by one or more processors, and the one or more application programs are configured to execute the methods described in the above embodiments.

Processor 810 may include one or more processing cores. The processor 810 uses various interfaces and lines to connect various parts in the entire battery management system, by running or executing instructions, programs, code sets or instruction sets stored in the memory 820, and calling data stored in the memory 820, Execute various functions and process data of the battery management system. Optionally, the processor 810 may use at least one of Digital Signal Processing (Digital Signal Processing, DSP), Field-Programmable Gate Array (Field-Programmable Gate Array, FPGA), and Programmable Logic Array (Programmable Logic Array, PLA). implemented in the form of hardware. The processor 810 may integrate one or a combination of a central processing unit 810 (Central Processing Unit, CPU), an image processor 810 (Graphics Processing Unit, GPU), a modem, and the like. Among them, the CPU mainly handles the operating system, user interface and application programs, etc.; the GPU is used to render and draw the displayed content; the modem is used to handle wireless communication. It can be understood that the above modem may also not be integrated into the processor 810, but implemented by a communication chip alone.

The memory 820 may include a random access memory 820 (Random Access Memory, RAM), and may also include a read-only memory 820 (Read-Only Memory, ROM). Memory 820 may be used to store instructions, programs, codes, sets of codes, or sets of instructions. The memory 820 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (for example, a touch function, a sound playback function, an image playback function, etc. ), instructions for implementing the above various method embodiments, and the like. The storage data area can also store data created during use of the electronic device map (for example, phonebook, audio and video data, chat record data) and the like.

A plurality of electronic control nodes 840 are connected to the gateway node 830. Specifically, for the related introduction of the gateway node 830 and the plurality of electronic control nodes 840, please refer to the detailed explanation in the above environmental embodiments, and details are not repeated here.

Please refer to FIG. 9 , which shows that the embodiment of the present application also provides a computer-readable storage medium 900, and the computer-readable storage medium 900 stores computer program instructions 910, and the computer program instructions 910 can be invoked by a processor to execute The method described in the above examples.

The computer-readable storage medium 900 may be, for example, a flash memory, an electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), an electrically programmable read-only memory (Electrical Programmable Read Only Memory, EPROM), a hard disk, or a Read memory (Read-Only Memory, ROM). Optionally, the computer-readable storage medium includes a non-volatile computer-readable storage medium (Non-transitory Computer-readable Storage Medium). The computer-readable storage medium 900 has storage space for computer program instructions 910 for performing any method steps in the methods described above. These computer program instructions 910 may be read from or written into one or more computer program products.

The above are only the preferred embodiments of the application, and do not limit the application in any form. Although the application has been disclosed as above with the preferred embodiments, it is not intended to limit the application. Anyone skilled in the art, Without departing from the scope of the technical solution of the present application, when the technical content disclosed above can be used to make some changes or be modified into equivalent embodiments with equivalent changes, but if it does not deviate from the technical solution of the application, the technical essence of the application will Any brief modifications, equivalent changes and modifications made in the above embodiments still fall within the scope of the technical solutions of the present application.

Claims (10)

1. A method of data transmission, the method comprising:

under the condition that a first diagnostic module in a gateway node is in an activated state, sending a specified signal to a plurality of electronic control nodes, wherein the specified signal is used for indicating a second diagnostic module in the electronic control nodes to enter an enabled state;

receiving a diagnosis request message sent by a diagnosis node, wherein the diagnosis request message is used for requesting to acquire the fault type of a target electronic control node in a plurality of electronic control nodes;

sending the diagnosis request message to the target electronic control node;

and receiving a diagnosis response message sent by the target electronic control node, and sending the diagnosis response message to the diagnosis node.

2. The method of claim 1, wherein sending the diagnostic request message to the target electronic control node comprises:

acquiring a destination address of the diagnosis request message;

acquiring equipment logical addresses of a plurality of electronic control nodes;

determining an electronic control node with the same equipment logical address and the same destination address in a plurality of electronic control nodes as the target electronic control node;

and sending the diagnosis request message to the target electronic control node.

3. The method according to claim 1 or 2, wherein before sending the designation signal to the plurality of electronic control nodes with the first diagnostic module in the gateway node in an active state, further comprising:

receiving an activation request message sent by the diagnosis node, wherein the activation request message carries working parameters of the diagnosis node;

detecting whether working parameters of the diagnosis node meet preset activation rules, wherein the preset activation rules comprise at least one of the following items: a source address registration rule, an activation type support rule, an online rule and an identity verification passing rule;

and controlling the first diagnosis module to enter the activation state under the condition that the working parameters of the diagnosis node meet the preset activation rule.

4. The method of claim 3, wherein said detecting whether an operating parameter of the diagnostic node satisfies a predetermined activation rule comprises:

detecting whether the configuration file of the first diagnosis module comprises the equipment logic address of the diagnosis node or not, and determining that the working parameter of the diagnosis node meets the source address registration rule under the condition that the configuration file of the first diagnosis module comprises the equipment logic address of the diagnosis node; and/or the first and/or second light-emitting diodes are arranged in the light-emitting diode,

detecting whether an activation type in the diagnosis node is a designated activation type and is the same as an activation type of the first diagnosis module, and determining that a working parameter of the diagnosis node meets the activation type support rule under the condition that the activation type in the diagnosis node is the designated activation type and is the same as the activation type of the first diagnosis module; and/or the first and/or second light-emitting diodes are arranged in the light-emitting diode,

detecting whether an available communication connection exists between the diagnosis node and the gateway node, and determining that the working parameters of the diagnosis node meet the online rule under the condition that the available communication connection exists between the diagnosis node and the gateway node; and/or the first and/or second light-emitting diodes are arranged in the light-emitting diode,

and detecting whether the identity information in the diagnosis node is appointed identity information, and determining that the working parameters of the diagnosis node meet the identity verification passing rule under the condition that the identity information is the appointed identity information.

5. A method of data transmission, the method comprising:

receiving a designated signal sent by a gateway node when a first diagnosis module in the gateway node is in an activated state;

controlling a second diagnostic module in the electronic control node to enter an enabled state based on the designated signal;

receiving a diagnosis request message forwarded by the gateway node, wherein the diagnosis request message is sent to the gateway node by the diagnosis node and is used for requesting to acquire the fault type of the electronic control node;

and sending a diagnosis response message to the gateway node based on the diagnosis request message, wherein the gateway node is used for forwarding the diagnosis response message to the diagnosis node.

6. The method of claim 5, wherein said controlling a second diagnostic module in an electronic control node into an enabled state based on said designated signal comprises:

setting an enabling state bit corresponding to a second diagnostic module in the electronic control node to a specified value based on the specified signal;

and monitoring whether the diagnosis request message is received or not through a designated port in the electronic control node.

7. A data transmission apparatus, characterized in that the apparatus comprises:

the gateway node comprises a first sending module, a second sending module and a control module, wherein the first sending module is used for sending a designated signal to a plurality of electronic control nodes under the condition that a first diagnosis module in the gateway node is in an activated state, and the designated signal is used for indicating a second diagnosis module in the electronic control nodes to enter an enabled state;

the system comprises a first receiving module, a second receiving module and a judging module, wherein the first receiving module is used for receiving a diagnosis request message sent by a diagnosis node, and the diagnosis request message is used for requesting to acquire the fault type of a target electronic control node in a plurality of electronic control nodes;

the second sending module is used for sending the diagnosis request message to the target electronic control node;

and the second receiving module is used for receiving the diagnosis response message sent by the target electronic control node and sending the diagnosis response message to the diagnosis node.

8. A data transmission apparatus, characterized in that the apparatus comprises:

a third receiving module, configured to receive a specific signal sent by a gateway node when a first diagnostic module in the gateway node is in an activated state;

the control module is used for controlling a second diagnosis module in the electronic control node to enter an enabling state based on the specified signal;

a fourth receiving module, configured to receive a diagnosis request packet forwarded by the gateway node, where the diagnosis request packet is sent to the gateway node by the diagnosis node, and the diagnosis request packet is used to request to acquire a fault type of the electronic control node;

a third sending module, configured to send a diagnostic response packet to the gateway node based on the diagnostic request packet, where the gateway node is configured to forward the diagnostic response packet to the diagnostic node.

9. A vehicle, characterized by comprising:

one or more processors;

a memory;

one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to perform the method of any of claims 1-6.

10. A computer-readable storage medium having computer program instructions stored therein, the computer program instructions being invokable by a processor to perform the method of any of claims 1-6.

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