CN111382090A - Storage method and device, use method and device of configuration data of vehicle - Google Patents

Storage method and device, use method and device of configuration data of vehicle Download PDF

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Publication number
CN111382090A
CN111382090A CN201811627129.XA CN201811627129A CN111382090A CN 111382090 A CN111382090 A CN 111382090A CN 201811627129 A CN201811627129 A CN 201811627129A CN 111382090 A CN111382090 A CN 111382090A
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configuration data
vehicle
storage area
data
stored
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王少恺
张春美
李雷
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Great Wall Motor Co Ltd
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Great Wall Motor Co Ltd
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    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F12/00Accessing, addressing or allocating within memory systems or architectures
    • G06F12/14Protection against unauthorised use of memory or access to memory
    • G06F12/1416Protection against unauthorised use of memory or access to memory by checking the object accessibility, e.g. type of access defined by the memory independently of subject rights
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F12/00Accessing, addressing or allocating within memory systems or architectures
    • G06F12/14Protection against unauthorised use of memory or access to memory
    • G06F12/1458Protection against unauthorised use of memory or access to memory by checking the subject access rights

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  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Security & Cryptography (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The embodiment of the invention provides a storage method and device, a use method and device of configuration data of a vehicle, and belongs to the field of vehicles. The storage method of the configuration data of the vehicle comprises the following steps: performing preset operation on configuration data to be stored; storing the configuration data to be stored and the data obtained after the preset operation into a storage area of the vehicle; and detecting data stored in the storage area to determine the security of the storage area. The method is equivalent to providing a safe storage mechanism for the configuration data, and ensuring the safety in the configuration data storage process.

Description

Storage method and device, use method and device of configuration data of vehicle
Technical Field
The invention relates to the field of vehicles, in particular to a storage method and device, a use method and device of configuration data of a vehicle.
Background
With the higher and higher safety requirements of the whole vehicle, the functional safety becomes more and more important as an important part. The vehicle control unit is also receiving more and more attention as an important system for functional safety.
The vehicle control unit of the pure electric vehicle is closely related to the configuration of the whole vehicle as the control brain of the whole vehicle. With the continuous enrichment of vehicle configuration and implementation functions, the vehicle controller needs to meet the vehicle requirements through more related configuration data, so that whether the configuration data is safe or not directly affects the safe operation of the vehicle.
Disclosure of Invention
In view of the above, the present invention is directed to a method for storing configuration data of a vehicle, so as to at least solve the technical problem related to the safe storage of the configuration data.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a storage method of configuration data of a vehicle, the storage method of configuration data of a vehicle comprising: performing preset operation on configuration data to be stored; storing the configuration data to be stored and the data obtained after the preset operation into a storage area of the vehicle; and detecting data stored in the storage area to determine the security of the storage area.
Further, the preset operation is a complement operation, and data obtained after the preset operation is complement data of the configuration data to be stored.
Further, the detecting the data stored in the storage area to determine the security of the storage area includes: performing cyclic redundancy check on the storage data in the storage area to obtain a check code; judging whether the check code is the same as a preset check code or not; and if the check code is the same as the preset check code, determining that the storage area is safe, otherwise determining that the storage area is abnormal.
Further, the period for detecting the data stored in the storage area is less than the fault tolerance time interval of the storage area.
Compared with the prior art, the storage method of the configuration data of the vehicle has the following advantages:
according to the storage method of the configuration data of the vehicle, before the configuration data is stored, the configuration data is subjected to preset operation, the original configuration data and the data subjected to the preset operation are stored in the storage area together, and the safety of the storage area is determined by detecting the data stored in the storage area, which is equivalent to providing a safe storage mechanism for the configuration data and ensuring the safety in the storage process of the configuration data.
Another object of the present invention is to propose a method for using configuration data of a vehicle, in order to solve the technical problem regarding the safe use of configuration data.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a method for using configuration data of a vehicle, the configuration data being stored by the above-mentioned method for storing configuration data of a vehicle, the method comprising: under the condition that a storage area of the vehicle is safe, reading configuration data required to be used and data which corresponds to the configuration data required to be used and is obtained after preset operation from the storage area; secondly, verifying the read configuration data required to be used and the data which is obtained after the preset operation and corresponds to the configuration data required to be used by using the preset operation to obtain a verification result; and step three, if the verification result indicates that the verification passes, using the read configuration data.
Further, the method for using the configuration data of the vehicle further comprises the following steps: and if the verification result indicates that the verification is not passed, executing fault processing operation.
Further, the performing the fault handling operation includes: judging whether the number of times of executing reset operation by a controller of the vehicle reaches a preset number of times; if the number of times of the controller of the vehicle executing the reset operation does not reach the preset number of times, triggering the controller of the vehicle to execute the reset operation, and executing the first step to the third step again after the reset operation is executed; and triggering an emergency shutdown path of the controller of the vehicle if the number of times the controller of the vehicle performs the reset operation reaches the preset number of times.
Compared with the prior art, the use method of the configuration data of the vehicle has the following advantages:
in the use method of the configuration data of the vehicle, the data is read from the storage area only under the condition that the storage area is safe, the configuration data and the data of the configuration data after the preset operation are read together, the read configuration data and the data of the configuration data after the preset operation are verified, and the read configuration data can be used only when the verification is passed.
Another object of the present invention is to propose a storage device for configuration data of a vehicle, in order to solve the technical problem regarding the safe storage of configuration data.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a storage device for configuration data of a vehicle, the storage device comprising: the operation module is used for carrying out preset operation on the configuration data to be stored; the storage module is used for storing the configuration data to be stored and the data obtained after the preset operation to a storage area of the vehicle; and the detection module is used for detecting the data stored in the storage area so as to determine the safety of the storage area.
The storage device of the configuration data of the vehicle and the storage method of the configuration data of the vehicle have the same advantages compared with the prior art, and are not repeated herein.
Another object of the present invention is to provide a device for using configuration data of a vehicle, which is related to the technical problem of safe use of the configuration data.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a use device of configuration data of a vehicle, the configuration data being stored according to the above-described storage method, the use device comprising: the reading module is used for reading configuration data to be used and data which corresponds to the configuration data to be used and is obtained after the preset operation from the storage area under the condition that the storage area of the vehicle is safe; the verification module is used for verifying the read configuration data required to be used and the data which is obtained after the preset operation and corresponds to the configuration data required to be used by using the preset operation so as to obtain a verification result; and a using module, configured to use the read configuration data if the verification result indicates that the verification passes.
The using device of the configuration data of the vehicle and the using method of the configuration data of the vehicle have the same advantages compared with the prior art, and are not repeated herein.
Accordingly, embodiments of the present invention also provide a machine-readable storage medium, on which instructions are stored, the instructions being used for enabling a machine to execute the above-mentioned storage method of the configuration data of the vehicle, and/or the instructions being used for enabling the machine to execute the above-mentioned use method of the configuration data of the vehicle.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
fig. 1 shows a flow chart of a method of storing configuration data of a vehicle according to an embodiment of the invention;
FIG. 2 illustrates a flow diagram of a method of using configuration data of a vehicle according to an embodiment of the invention;
fig. 3 is a block diagram showing a configuration of a storage device of configuration data of a vehicle according to an embodiment of the present invention; and
fig. 4 is a block diagram showing a configuration of a device for using configuration data of a vehicle according to an embodiment of the present invention.
Description of the reference numerals
310 operation module 320 storage module
330 detection module 410 reading module
420 verification module 430 use module
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation. In addition, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
Faults caused by failure of configuration data of the vehicle controller bring serious harm to the running of the vehicle, so that setting a reasonable safety mechanism for the configuration data of the vehicle controller becomes more and more important. Based on the above, the embodiment of the invention provides a storage method and device and a use method and device of configuration data of a vehicle to provide a storage safety mechanism and a use safety mechanism for the configuration data.
Fig. 1 shows a flow chart of a storage method of configuration data of a vehicle according to an embodiment of the present invention. As shown in fig. 1, an embodiment of the present invention provides a method for storing configuration data of a vehicle, where the vehicle may be any type of vehicle, such as an electric vehicle or a hybrid vehicle, and the embodiment of the present invention mainly takes the vehicle as an electric vehicle, and then the configuration data is configuration data of a vehicle control unit for the electric vehicle. The method may include: step S110, performing preset operation on configuration data to be stored; step S120, storing the configuration data to be stored and the data obtained after the preset operation into a storage area of the vehicle; and step S130, detecting the data stored in the storage area to determine the safety of the storage area.
The preset operation may be, for example, a complement operation or an inverse operation, and the detection method used in step S130 may be a cyclic redundancy check method, or may be any other suitable check method, for example, a parity check, and the like.
The embodiment of the present invention will be specifically described below by taking an example in which the preset operation is a complement operation and the detection method used in step S130 is a cyclic redundancy check method.
When developing the vehicle control unit, the configuration data may be set corresponding to functions that need to be implemented (e.g., an auto cruise function, a cruise control function, or the like). Since electric vehicles are generally required to implement a plurality of functions, each function may require one or more configuration data, and thus, a corresponding plurality of configuration data needs to be stored. The complement operation is performed for each configuration data that needs to be stored. After the complement operation, the complement data of each configuration data can be obtained.
Each configuration data and the complement data of each configuration data to be stored may be stored later, for example, may be stored in a fixed storage area of a vehicle control unit of the pure electric vehicle, where the fixed storage area is generally a read-only storage area.
After the storage is completed, the cyclic redundancy check method can be used for periodically detecting the data stored in the storage area to determine the safety of the storage area. Optionally, a cycle of performing detection on the data in the storage area should be smaller than a fault tolerance time interval of the storage area, the fault tolerance time interval may be obtained through detection at an initial stage of software development of the vehicle controller, and may be considered as a fixed value, and a set value of the cycle of performing detection on the data in the storage area should be smaller than the fixed value.
In performing detection, a cyclic redundancy check may be performed on a bit-by-bit basis, e.g., a cyclic redundancy check may be performed every predetermined bit (e.g., every eight bits) of data stored in a storage area. And acquiring the check code obtained after each cyclic redundancy check, judging whether the check code is the same as the corresponding preset check code, if so, determining that the storage area is safe, otherwise, determining that the storage area is abnormal. Under the condition that the storage area is determined to be abnormal, the vehicle control unit can control the storage area to reset, and continuously execute cyclic redundancy check after resetting, or the vehicle control unit can send out related prompt information of storage area faults, so that maintenance of workers is facilitated.
It is to be understood that the above-described implementation is illustrative only and is not limiting upon the embodiments of the present invention. The process of performing an inverse operation or detecting the data area using a parity method may be performed similarly to the above-described process.
The storage method of the configuration data of the vehicle provided by the embodiment of the invention provides a safe storage mechanism for the configuration data, and ensures the safety in the storage process of the configuration data.
Fig. 2 shows a flow diagram of a method for using configuration data of a vehicle according to an embodiment of the invention. As shown in fig. 2, an embodiment of the present invention further provides a method for using configuration data of a vehicle, where the configuration data may be configuration data stored according to a storage method of configuration data of a vehicle according to any embodiment of the present invention. Similarly, the vehicle may be any type of vehicle, such as an electric vehicle or a hybrid vehicle, and the embodiment of the present invention is mainly described by taking the vehicle as an electric vehicle, so that the configuration data is configuration data of a vehicle controller for the electric vehicle. The method of using the configuration data for the vehicle may include steps S210 to S230.
In step S210, in a case where the storage area of the vehicle is safe, the configuration data to be used and the data obtained by the preset operation corresponding to the configuration data to be used are read from the storage area.
Before the function application function of the electric vehicle calls the corresponding configuration data, the safety of the storage area needs to be determined first, and for example, whether the storage area is safe or not can be determined by the result fed back after the last cyclic redundancy check. If the memory area is abnormal, which indicates that the data stored in the memory area is not necessarily accurate, the data cannot be read from the memory area. In this case, after waiting for a preset time, it may be determined again whether the storage area is recovered to normal, if so, the data may be read from the stored data, otherwise, the vehicle controller may send out a prompt message related to a failure of the storage area, so as to facilitate maintenance by a worker.
In step S220, the read configuration data that needs to be used and the data obtained after the preset operation corresponding to the configuration data that needs to be used are verified by using the preset operation to obtain a verification result.
For example, if the predetermined operation is a complement operation, the read configuration data to be used may be subjected to an inverse operation, and it may be determined whether the data after the inverse operation is identical to the inverse data read from the memory. If the two are the same, the verification result indicates that the verification is passed. If the two are not the same, it indicates that an exception may occur during the data reading process, in which case the verification result indicates that the verification fails. The execution of the complement operation is similar to the execution of the complement operation.
Step S230, if the verification result indicates that the verification passes, using the read configuration data.
And only in the case that the verification result indicates that the verification is passed, the function application function of the electric vehicle configures the corresponding function by using the configured data.
Further, if the verification result indicates that the verification is not passed, the vehicle control unit may be started to perform a fault handling operation. For example, the vehicle control unit may be triggered to perform the reset operation, but the reset operation of the vehicle control unit cannot be taken as a safe state, and thus, the number of times the reset operation of the vehicle control unit is performed needs to be limited.
Specifically, when the failure processing operation needs to be performed, it may be determined whether the number of times that the vehicle control unit of the vehicle performs the reset operation reaches a preset number of times. Here, the calculation of the number of times the vehicle control unit performs the reset operation is for the configuration data that is currently read, regardless of the number of times the reset operation is performed before the configuration data is currently read. The preset number of times may be set to any suitable value according to actual needs, and the embodiment of the present invention is not particularly limited.
If the number of times that the vehicle control unit of the vehicle executes the reset operation does not reach the preset number of times, the vehicle can be triggered to execute the reset operation. After the execution of the reset operation of the vehicle is completed, steps S210 to S230 are executed again. If the verification result again indicates that the verification failed, the failure handling operation may be performed again.
If the number of times of the vehicle controller of the vehicle executing the reset operation reaches the preset number of times, it indicates that the normal operation of the vehicle controller cannot be recovered through the reset operation at present, and under the condition, the emergency shutdown path of the vehicle controller can be triggered, so that the vehicle controller enters a safe state, and the vehicle is prevented from being dangerous.
According to the method for using the configuration data of the vehicle, provided by the embodiment of the invention, on the premise of determining the storage safety of the configuration data, the configuration data and the corresponding data after the preset operation are read from the storage area, the read data are verified, and the configuration data are only applied under the condition that the verification is passed. That is, a safe-to-use mechanism is provided for configuration data that cooperates with a safe-to-store mechanism to ensure that the configuration data is safe and correct to meet the safety-level requirements of the vehicle.
Fig. 3 shows a block diagram of a configuration data storage device of a vehicle according to an embodiment of the present invention. As shown in fig. 3, an embodiment of the present invention further provides a storage device for configuration data of a vehicle, where the vehicle may be any type of vehicle, such as an electric-only vehicle or a hybrid vehicle, and the embodiment of the present invention mainly takes the vehicle as an electric-only vehicle as an example, and then the configuration data is configuration data of a vehicle controller for the electric-only vehicle. The apparatus may include: an operation module 310, configured to perform a preset operation on configuration data to be stored; the storage module 320 is configured to store the configuration data to be stored and the data obtained through the preset operation in a storage area of the vehicle; and a detection module 330, configured to detect data stored in the storage area to determine security of the storage area.
In an alternative embodiment, the preset operation executed by the operation module 310 may be, for example, a complement operation, and the obtained data is complement data of configuration data that needs to be stored after the preset operation.
In an alternative embodiment, the detection module 330 may perform the following steps to determine the security of the storage area: performing cyclic redundancy check on the storage data in the storage area to obtain a check code; judging whether the check code is the same as a preset check code or not; and if the check code is the same as the preset check code, determining that the storage area is safe, otherwise determining that the storage area is abnormal. It is to be understood that the embodiments of the present invention are not limited to the use of cyclic redundancy check, and for example, parity check and the like may also be used.
In an alternative embodiment, the period of the detection performed by the detection module 330 on the data stored in the storage area may be less than a fault tolerance time interval of the storage area, and the fault tolerance time interval may be detected at an initial stage of software development of the vehicle controller and may be considered as a fixed value.
For more details of the storage device of the configuration data of the vehicle according to the embodiment of the present invention, reference may be made to the above description of the embodiment of the storage method of the configuration data of the vehicle, and the same or corresponding technical effects as those of the above storage method of the configuration data of the vehicle may be obtained, so that no further description is provided herein.
Fig. 4 is a block diagram showing a configuration of a device for using configuration data of a vehicle according to an embodiment of the present invention. As shown in fig. 4, an embodiment of the present invention further provides a device for using configuration data of a vehicle, where the configuration data may be configuration data stored by using the method or the device for storing configuration data of a vehicle according to any embodiment of the present invention. Similarly, the vehicle may be any type of vehicle, such as an electric vehicle or a hybrid vehicle, and the embodiment of the present invention is mainly described by taking the vehicle as an electric vehicle, so that the configuration data is configuration data of a vehicle controller for the electric vehicle. The apparatus may include: a reading module 410, configured to read, from a storage area of the vehicle, configuration data that needs to be used and data obtained after the preset operation and corresponding to the configuration data that needs to be used, in a case that the storage area is safe; a checking module 420, configured to check, by using the preset operation, the read configuration data that needs to be used and data obtained after the preset operation and corresponding to the configuration data that needs to be used, so as to obtain a checking result; and a using module 430, configured to use the read configuration data if the verification result indicates that the verification passes.
In an optional embodiment, the apparatus may further include a failure handling execution module configured to execute a failure handling operation if the verification result indicates that the verification fails.
In an alternative embodiment, the execution module may perform the fault handling operation by: judging whether the number of times of executing reset operation by a controller of the vehicle reaches a preset number of times; if the number of times of the reset operation executed by the controller of the vehicle does not reach the preset number of times, triggering the controller of the vehicle to execute the reset operation, and continuing to execute the corresponding operation steps by the reading module, the checking module and the using module after the reset operation is executed; and triggering an emergency shutdown path of the controller of the vehicle if the number of times the controller of the vehicle performs the reset operation reaches the preset number of times.
For more details of the device for using the configuration data of the vehicle according to the embodiment of the present invention, reference may be made to the above description of the embodiment of the method for using the configuration data of the vehicle, and the same or corresponding technical effects as those of the method for using the configuration data of the vehicle may be obtained, so that no further description is provided herein.
Accordingly, embodiments of the present invention also provide a machine-readable storage medium having stored thereon instructions for enabling a machine to execute the method for storing configuration data of a vehicle according to any of the embodiments of the present invention, and/or instructions for enabling a machine to execute the method for using configuration data of a vehicle according to any of the embodiments of the present invention.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.
Those skilled in the art will understand that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.

Claims (10)

1. A method of storing configuration data of a vehicle, characterized by comprising:
performing preset operation on configuration data to be stored;
storing the configuration data to be stored and the data obtained after the preset operation into a storage area of the vehicle; and
data stored in the storage area is detected to determine the security of the storage area.
2. The method according to claim 1, wherein the predetermined operation is a complement operation, and data obtained by the predetermined operation is complement data of the configuration data to be stored.
3. The method for storing configuration data of a vehicle according to claim 1 or 2, wherein the detecting the data stored in the storage area to determine the safety of the storage area comprises:
performing cyclic redundancy check on the storage data in the storage area to obtain a check code;
judging whether the check code is the same as a preset check code or not; and
and if the check code is the same as the preset check code, determining that the storage area is safe, otherwise, determining that the storage area is abnormal.
4. The method according to claim 1, wherein a cycle of detecting the data stored in the storage area is less than a fault tolerant time interval of the storage area.
5. A method for using configuration data of a vehicle, the configuration data being stored according to the method for storing configuration data of a vehicle of any one of claims 1 to 4, the method comprising:
under the condition that a storage area of the vehicle is safe, reading configuration data required to be used and data which corresponds to the configuration data required to be used and is obtained after preset operation from the storage area;
secondly, verifying the read configuration data required to be used and the data which is obtained after the preset operation and corresponds to the configuration data required to be used by using the preset operation to obtain a verification result; and
and step three, if the verification result indicates that the verification is passed, using the read configuration data.
6. The method of using the configuration data of the vehicle according to claim 5, further comprising:
and if the verification result indicates that the verification is not passed, executing fault processing operation.
7. The method of using configuration data of a vehicle according to claim 6, wherein said performing a fault handling operation comprises:
judging whether the number of times of executing reset operation by a controller of the vehicle reaches a preset number of times;
if the number of times of the controller of the vehicle executing the reset operation does not reach the preset number of times, triggering the controller of the vehicle to execute the reset operation, and executing the first step to the third step again after the reset operation is executed; and
and if the number of times of the controller of the vehicle executing the reset operation reaches the preset number of times, triggering an emergency shutdown path of the controller of the vehicle.
8. A storage device of configuration data of a vehicle, characterized in that the storage device comprises:
the operation module is used for carrying out preset operation on the configuration data to be stored;
the storage module is used for storing the configuration data to be stored and the data obtained after the preset operation to a storage area of the vehicle; and
and the detection module is used for detecting the data stored in the storage area so as to determine the safety of the storage area.
9. A use device of configuration data of a vehicle, the configuration data being stored according to the storage method of any one of claims 1 to 4, the use device comprising:
the reading module is used for reading configuration data to be used and data which corresponds to the configuration data to be used and is obtained after the preset operation from the storage area under the condition that the storage area of the vehicle is safe;
the verification module is used for verifying the read configuration data required to be used and the data which is obtained after the preset operation and corresponds to the configuration data required to be used by using the preset operation so as to obtain a verification result; and
a using module, configured to use the read configuration data if the verification result indicates that the verification passes.
10. A machine-readable storage medium having stored thereon instructions for enabling a machine to perform a method of storing configuration data for a vehicle according to any one of claims 1 to 4 and/or a method of using configuration data for a vehicle according to any one of claims 5 to 7.
CN201811627129.XA 2018-12-28 2018-12-28 Storage method and device, use method and device of configuration data of vehicle Pending CN111382090A (en)

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CN108153611A (en) * 2018-01-10 2018-06-12 芜湖美的厨卫电器制造有限公司 Fault self-detection method, fault self-checking device, microcontroller and readable storage medium storing program for executing
CN108674440A (en) * 2018-04-24 2018-10-19 中车青岛四方机车车辆股份有限公司 Method, apparatus and rail vehicle are hung together with the rail vehicle flexibly organized into groups

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103577332A (en) * 2012-08-10 2014-02-12 日立汽车***株式会社 Control device for vehicle and error processing method in control device for vehicle
CN103678028A (en) * 2013-12-16 2014-03-26 重庆川仪自动化股份有限公司 RAM internal storage detection method and device
CN108153611A (en) * 2018-01-10 2018-06-12 芜湖美的厨卫电器制造有限公司 Fault self-detection method, fault self-checking device, microcontroller and readable storage medium storing program for executing
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