WO2020135863A1 - 车辆中的电子控制单元的扫描方法及其汽车诊断设备 - Google Patents

车辆中的电子控制单元的扫描方法及其汽车诊断设备 Download PDF

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Publication number
WO2020135863A1
WO2020135863A1 PCT/CN2019/129859 CN2019129859W WO2020135863A1 WO 2020135863 A1 WO2020135863 A1 WO 2020135863A1 CN 2019129859 W CN2019129859 W CN 2019129859W WO 2020135863 A1 WO2020135863 A1 WO 2020135863A1
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Prior art keywords
electronic control
control unit
vehicle
scanned
buses
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PCT/CN2019/129859
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English (en)
French (fr)
Inventor
蒋云
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深圳市道通科技股份有限公司
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Publication of WO2020135863A1 publication Critical patent/WO2020135863A1/zh
Priority to US17/235,368 priority Critical patent/US11995921B2/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
    • G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0808—Diagnosing performance data
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/40006—Architecture of a communication node
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
    • H04L69/30—Definitions, standards or architectural aspects of layered protocol stacks
    • H04L69/32—Architecture of open systems interconnection [OSI] 7-layer type protocol stacks, e.g. the interfaces between the data link level and the physical level
    • H04L69/322—Intralayer communication protocols among peer entities or protocol data unit [PDU] definitions
    • H04L69/323—Intralayer communication protocols among peer entities or protocol data unit [PDU] definitions in the physical layer [OSI layer 1]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
    • H04L69/30—Definitions, standards or architectural aspects of layered protocol stacks
    • H04L69/32—Architecture of open systems interconnection [OSI] 7-layer type protocol stacks, e.g. the interfaces between the data link level and the physical level
    • H04L69/322—Intralayer communication protocols among peer entities or protocol data unit [PDU] definitions
    • H04L69/324—Intralayer communication protocols among peer entities or protocol data unit [PDU] definitions in the data link layer [OSI layer 2], e.g. HDLC
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
    • H04L69/30—Definitions, standards or architectural aspects of layered protocol stacks
    • H04L69/32—Architecture of open systems interconnection [OSI] 7-layer type protocol stacks, e.g. the interfaces between the data link level and the physical level
    • H04L69/322—Intralayer communication protocols among peer entities or protocol data unit [PDU] definitions
    • H04L69/329—Intralayer communication protocols among peer entities or protocol data unit [PDU] definitions in the application layer [OSI layer 7]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/24—Accounting or billing
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/24—Pc safety
    • G05B2219/24065—Real time diagnostics
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0841—Registering performance data
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/40208—Bus networks characterized by the use of a particular bus standard
    • H04L2012/40215—Controller Area Network CAN
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/40267—Bus for use in transportation systems
    • H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle

Definitions

  • the present application relates to the technical field of automotive diagnostic products, in particular to a scanning method of an electronic control unit in a vehicle and its automotive diagnostic equipment.
  • the car diagnostic equipment In the process of vehicle maintenance and inspection, after connecting with the external interface provided by the car (such as the OBD interface), the car diagnostic equipment usually performs an automatic scan to detect all the electronic control units on the car and sends it to the user in the form of a fault code. Display the operating status or presence of each electronic control unit.
  • the embodiment of the present invention aims to provide a scanning method of an electronic control unit in a vehicle that can solve the time for an existing car diagnostic device to complete the automatic scanning for too long and a car diagnostic device thereof.
  • the embodiments of the present invention provide the following technical solutions:
  • a scanning method of an electronic control unit wherein the scanning method includes:
  • each of the at least two types of vehicle buses is used to connect at least one electronic control unit in the vehicle;
  • scan signals are sent in parallel on the at least two vehicle buses to confirm whether the electronic control unit to be scanned in the scan list exists in the vehicle.
  • the method further includes:
  • the determination of the scan list corresponding to each of the at least two types of automobile buses includes:
  • a scan list corresponding to each of the at least two types of automobile buses is determined.
  • the scan signal is sent in parallel on the at least two types of car buses according to the scan list corresponding to each of the car buses to confirm whether the electronic control unit to be scanned in the scan list is
  • the steps present in the vehicle specifically include:
  • the method further includes:
  • the sending of scan signals in parallel on the at least two automobile buses includes:
  • each of the automobile buses corresponds to a communication protocol
  • Each communication protocol corresponds to a car bus.
  • the embodiments of the present invention also provide the following technical solution: An automobile diagnostic device.
  • the vehicle diagnostic equipment includes: a host of equipment and a diagnostic connector;
  • the diagnostic connector is used to connect the device host and the car bus, integrating at least two sets of pins; each set of pins is connected to a car bus; each car bus is used to connect at least one electronic control unit in the vehicle Each car bus has a corresponding scan list, the scan list includes the electronic control unit to be scanned;
  • the device host is communicatively connected to at least two automobile buses through the diagnostic connector, and the at least two automobile buses send scan signals in parallel to confirm whether the electronic control unit to be scanned in the scan list exists in the In the vehicle.
  • the device host is further configured to: according to vehicle model information of the vehicle to be scanned, determine a scan list corresponding to each of the at least two types of automobile buses.
  • the device host is composed of an upper computer and a lower computer; the lower computer is electrically connected to the diagnostic connector;
  • a communication connection between the upper computer and the lower computer, and a scan signal is sent in parallel on the at least two automobile buses through the lower computer;
  • the upper computer includes a scanning main thread and several communication threads; the scanning main thread is used to create a corresponding communication thread for each type of automobile bus, and all of the to-be-scanned in the to-be-scanned list of the automobile bus After the electronic control unit is scanned, delete the corresponding communication thread;
  • the different communication threads are executed in parallel; the communication threads are used to send an inquiry command to the electronic control unit to be scanned in the scan list on the corresponding car bus; and to determine whether the to-be-scanned is received within a predetermined time
  • the communication thread is also used to: when receiving the reply information returned by the electronic control unit to be scanned based on the query command within a predetermined time, determine that the electronic control unit to be scanned exists; and , Analyze the reply information, and determine the running state of the electronic control unit to be scanned.
  • the lower-level computer includes a link layer and a physical layer, each vehicle bus corresponds to a communication protocol, and each communication protocol corresponds to a vehicle bus;
  • the link layer is used to convert the query command and reply information into corresponding binary signals according to the communication protocol corresponding to each automobile bus;
  • the physical layer is used to convert a binary signal into a physical electrical signal and transmit it on a corresponding automobile bus, or receive the physical electrical signal returned by the automobile bus and convert it into a corresponding binary signal.
  • the scanning method provided by the embodiment of the present invention utilizes the independent characteristics of multiple automobile buses to simultaneously detect multiple electronic control units in a parallel scanning manner.
  • This parallel scanning method can effectively improve the efficiency of automatic scanning, greatly shorten the time required to complete the automatic scanning, and improve the user experience.
  • FIG. 1 is a schematic diagram of an application scenario of a car diagnostic device according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a diagnostic connector provided by one embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a scan list provided by one embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of an automobile diagnostic device provided by one embodiment of the present invention.
  • FIG. 5 is a method flowchart of a scanning method of an electronic control unit provided by an embodiment of the present invention.
  • FIG. 6 is a flowchart of a scanning method of an electronic control unit according to another embodiment of the present invention.
  • FIG. 7 is a schematic diagram of the car diagnostic device of the scan list shown in FIG. 3.
  • the electronic control unit can also be called a driving computer or an on-board computer, etc. It is a special microcomputer controller on the car, which is used in conjunction with other mechanical hardware devices to achieve a certain function (such as automatic braking, tire pressure detection or parallel Line prompts, etc.).
  • FIG. 1 is a schematic diagram of an application scenario of a car diagnostic device provided by an embodiment of the present invention.
  • the entire application scenario includes a car 10 and a car diagnostic device 20 connected to the car.
  • the car 10 can be any type of motor vehicle, such as a truck, a car, etc., with an electronic control system composed of multiple electronic control units to coordinate and control the vehicle according to the operation instructions of the driver, and Real-time monitoring of one or more vehicle parameters ensures the reliable and safe operation of the vehicle 10.
  • an electronic control system composed of multiple electronic control units to coordinate and control the vehicle according to the operation instructions of the driver, and Real-time monitoring of one or more vehicle parameters ensures the reliable and safe operation of the vehicle 10.
  • the electronic control unit is different according to the difference in structure and function.
  • the electronic control units in the vehicle usually use a bus to communicate with each other.
  • Each electronic control unit uses a specific communication protocol. According to the communication protocol used by the electronic control unit, it will communicate on the corresponding car bus to avoid conflicts and improve efficiency. That is, electronic control units that use the same communication protocol communicate on a car bus, and a car bus corresponds to a communication protocol.
  • the automobile 10 may also have at least one hardware communication interface (such as an OBD interface).
  • the hardware communication interface and the automobile 10 may be connected to one or more automobile buses, which are used to establish a communication connection with an external device to complete data interaction with the electronic control unit.
  • the car diagnostic device 20 may be any type of vehicle diagnostic product, including at least one device host and a connecting cable extending outward from the device host.
  • the end of the connection cable is a diagnostic connector that matches the hardware communication interface of the automobile 10.
  • the car diagnostic device 20 establishes a physical communication connection with various car buses in the vehicle through a diagnostic connector and a hardware communication interface, and loads a suitable or paired protocol configuration to achieve communication with the electronic control system Data interaction, such as sending scan signals or receiving reply packets.
  • FIG. 2 is a schematic diagram of a diagnostic connector provided by an embodiment of the present invention. As shown in FIG. 2, many pins are integrated on the diagnostic connector, and each pin has its own specific function or role.
  • these pins can be divided into several different groups.
  • the communication pins of the CAN protocol are 6 and 14 feet
  • the communication pins of the ISO9141 protocol are 7 and 15 feet
  • the communication pins of the PWM protocol are 2 and 10 feet.
  • the diagnostic device 20 uses the diagnostic connector to connect to the car 10, it will establish a physical connection with two or more car buses. After calling the communication protocol integrated in the diagnostic device 20, it can be on a different car bus. Data exchange with each electronic control unit separately.
  • the scan list is a list including all electronic control units to be scanned. It can be determined according to the actual situation (for example, the car model of the car), which is usually integrated and built into the car diagnostic equipment, and it can be called by itself when used.
  • the device host determines one or more scan lists based on the vehicle model of the connected vehicle, according to the communication protocol used by the electronic control unit or the connected car bus. That is to say, to communicate on the same car bus, the connected electronic control units belong to the same scan list.
  • FIG. 3 is a schematic diagram of a scan list provided by an embodiment of the present invention. As shown in FIG. 3, the vehicle includes a total of 9 items to be scanned from the electronic control unit A to the electronic control unit H. According to the different communication protocols used, it is divided into the following three categories:
  • the electronic control units A to D are the scan list 1
  • the electronic control units E to F are the scan list 2
  • the electronic control units G and H are the scan list 3.
  • the device host can send scan signals in parallel on different car buses according to the scan list corresponding to each type of car bus to confirm whether the electronic control unit to be scanned in the scan list exists in the vehicle.
  • Sending scan signals in parallel can simultaneously detect the presence of two or more electronic control units.
  • the parallel scanning method can detect two or more electronic control units at the same time, which is doubled. Improve the efficiency of automatic scanning.
  • the device host may adopt the structure of the upper computer 41 and the lower computer 42.
  • the upper computer 41 and the lower computer 42 are communicatively connected.
  • the lower computer 42 is electrically connected to the diagnostic connector 43 and is connected to various automobile buses through a hardware communication interface of the automobile.
  • the upper computer 41 refers to a computer device that can directly issue control commands. It is located at the top layer of user interaction and can display various feedback information (such as automatic scan results) to the user on the screen or collect user's instructions to issue corresponding manipulation instructions. Specifically, the host computer 41 may choose to use any other type of computer equipment, such as a personal computer, tablet computer, mobile phone, or other intelligent electronic terminal with input/output devices.
  • the lower computer 42 is a computer that directly controls the device to obtain the vehicle status or related parameters. It is usually used to receive the control commands issued by the host computer to interpret the corresponding timing signals to directly control the car, or to read the status data of the vehicle (generally analog), and then convert it into a digital signal to feed back to the host computer.
  • the lower computer 42 may be implemented by a PLC, a single-chip microcomputer, a microprocessor, or some other low-level processor devices, and is located at the bottom of user interaction.
  • the upper computer 41 and the lower computer 42 respectively include at least one processor and memory. Both the upper computer 41 and the lower computer 42 can execute one or more functional steps by the processor calling relevant computer software program instructions stored in the memory.
  • the diagnostic device when the diagnostic device implements automatic scanning, it can be roughly divided into three different levels of data processing: the application layer, the link layer, and the physical layer. As shown in FIG. 4, the upper part of the application layer is in charge of the host computer, including scanning the main thread 411 and several communication threads 412.
  • the scanning main thread 411 is the main control part, which is used to create a corresponding communication thread for each type of vehicle bus, and after all the electronic control units to be scanned in the list to be scanned which the vehicle bus has are scanned, Delete the corresponding communication thread.
  • n communication threads 412 are created to match n types of automobile buses, and after a certain scanning task of the automobile bus is completed, the corresponding communication threads 412 are closed or deleted.
  • Each communication thread 412 corresponds to a kind of automobile bus, and different communication threads 412 are independent of each other and are executed in parallel to be responsible for data interaction on this kind of automobile bus, for example, on the corresponding automobile bus, to scan
  • the electronic control unit to be scanned in the list sends an inquiry command; and it is determined whether the reply information returned by the electronic control unit to be scanned based on the inquiry command is received within a predetermined time.
  • the communication thread 412 may determine that the electronic control unit to be scanned does not exist.
  • the reply information is received, it can be determined that the electronic control unit to be scanned exists, and the reply information is parsed to determine the operating state of the electronic control unit to be scanned.
  • the application layer further includes a display thread 413, which is mainly used to display the analysis result obtained by the communication thread 412 determining whether the electronic control unit exists and analyzing the reply information on the display screen of the host computer.
  • the display thread 413 may be specifically displayed in any suitable manner, for example, simply indicating whether the electronic control unit exists and the specific operating state of the existing electronic control unit in the form of a fault code.
  • the fault code can be any suitable identification system. There is a corresponding relationship between the operating state of the electronic control unit in various situations and a specific identification, so that the operating state of the electronic control unit can be simply expressed.
  • Both the link layer 421 and the physical layer are arranged in the lower computer.
  • the link layer of the lower computer uses multiple communication protocols at the same time, converts the query command that the communication thread 412 needs to send according to the communication protocol used on the corresponding automobile bus, and generates a series of binary signals.
  • each vehicle bus corresponds to a communication protocol
  • each communication protocol corresponds to a vehicle bus.
  • n communication protocols corresponding to n communication threads are used to convert them into appropriate binary signals.
  • the physical layer 422 is the data processing located at the bottom layer, which directly communicates with the physical connection channel formed by the diagnosis connector, and is used to realize the mutual conversion between the physical electrical signal and the binary signal. That is, the binary signal corresponding to the query command is converted into the form of a physical electrical signal, which is transmitted to the electronic control unit by the corresponding car bus, or the physical electrical signal fed back by the electronic control unit is received, and the corresponding response information is extracted and converted. Binary signal.
  • circuit structure described in the embodiments of the present invention can be implemented by electronic hardware, computer software, or a combination of the two.
  • the above The description has generally described the steps performed by the exemplary circuits in terms of function. Whether these functions are executed in hardware or software depends on the specific application of the technical solution and design constraints.
  • the computer software can be stored in a computer-readable storage medium.
  • the storage medium may be a magnetic disk, an optical disk, a read-only storage memory or a random storage memory.
  • FIG. 5 is a flowchart of an automatic scanning method according to an embodiment of the present invention. As shown in FIG. 5, the automatic scanning method includes the following steps:
  • each of the at least two types of automobile buses is used to connect at least one electronic control unit in the vehicle.
  • a car diagnostic device that integrates multiple communication protocols can be connected to multiple car buses through any type of diagnostic connector that integrates multiple pins.
  • the number of car bus communication connections is determined by the specific conditions of the car diagnostic equipment. In this embodiment, a communication link is established on the automobile bus corresponding to each scan list.
  • the scan list includes the electronic control unit to be scanned.
  • the specific scan list can be determined based on the vehicle model information of the vehicle connected to the diagnostic connector.
  • Each type of car bus has its own corresponding scan list.
  • the method of determining the scan list according to the vehicle model can adjust the electronic control unit that needs to be scanned according to the specific connected vehicle, which is conducive to improving the scanning efficiency.
  • the parallel scanning method may specifically include:
  • the inquiry command is preset and is an instruction sent to a specific electronic control unit to request the electronic control unit to feedback its current operating state. It can adopt any suitable structure.
  • step 620 Determine whether the response information returned by the electronic control unit to be scanned based on the query command is received within a predetermined time. If not, go to step 630, if yes, go to step 640.
  • the electronic control unit After receiving the inquiry command, the electronic control unit responds and feeds back reply information, so that its own operating status can be read or learned. Similarly, the reply information fed back by electronic control units belonging to different categories will not conflict with each other, and can be transmitted and analyzed at the same time.
  • the non-existent state can be indicated by an appropriate fault code.
  • the operating status indicates the current equipment status of the electronic control unit, and can be used as auxiliary information to help maintenance or repair personnel better understand the status of the automobile 10.
  • each automobile bus corresponds to a communication protocol
  • each communication protocol corresponds to a automobile bus.
  • scan signals can be sent in parallel according to the communication protocol corresponding to each of the at least two types of automobile buses.
  • the scanning method provided by the embodiments of the present invention adopts a parallel scanning method for electronic control units belonging to different scan lists, and scans multiple electronic control units belonging to the same scan list one by one, as opposed to controlling all electronic controls.
  • the units are scanned one by one, and the scanning speed has been effectively improved.
  • FIG. 7 is a specific example of automatically scanning the scan list shown in FIG. 3. As shown in FIG. 7, based on the communication protocol integrated in the car diagnostic equipment and the physical wire connection provided by the diagnostic connector, the car diagnostic equipment establishes three independent and independent communication links.
  • the main scanning thread at the application layer creates communication thread 1, communication thread 2 and communication thread 3, which are used to manage the communication interaction of the electronic control units of scan list 1, scan list 2 and scan list 3, respectively.
  • the link layer has CAN protocol, ISO9141 protocol and PWM protocol corresponding to scan list 1, scan list 2 and scan list 3, respectively, and realizes the conversion between data information and binary signal according to the corresponding communication protocol.
  • the physical layer takes over the link layer and realizes the conversion between binary signals and physical electrical signals, which are transmitted via the automobile bus 1, the automobile bus 2, and the automobile bus 3.
  • the communication thread 1, the communication thread 2 and the communication thread 3 simultaneously send query commands through the link layer and the physical layer to transmit to the corresponding form in the form of physical electrical signals
  • Electronic control unit such as electronic control unit A, electronic control unit E, electronic control unit G.
  • the display thread can display the running status of the electronic control units A, E, and F in the form of fault codes.
  • the communication thread 1, the communication thread 2, and the communication thread 3 can continue to scan other electronic control units in the corresponding category.
  • the communication threads of this category can be closed. For example, after all the electronic control units of the scan list 2 are scanned, the communication thread 2 can be closed.
  • the scan list is determined according to the vehicle model, based on multiple independent and unaffected communication links, different scan lists are scanned in parallel, and the operating status of multiple electronic control units is simultaneously queried , Reduce the time required for automatic scanning and provide a better user experience.

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Abstract

本发明涉及一种车辆中的电子控制单元的扫描方法及其汽车诊断设备。所述扫描方法包括：与车辆中的至少两种汽车总线通信连接，所述至少两种汽车总线中的每种汽车总线用于连接所述车辆中的至少一个电子控制单元；确定所述至少两种汽车总线中每一种汽车总线对应的扫描列表，所述扫描列表包括待扫描的电子控制单元；根据所述每一种汽车总线对应的扫描列表，在所述至少两种汽车总线上并行发送扫描信号，以确认所述扫描列表中的待扫描的电子控制单元是否存在于所述车辆中。这样并行扫描的方式能够有效的提升自动扫描的效率，极大的缩短了完成自动扫所需要的时间，提升了用户使用的体验。

Description

车辆中的电子控制单元的扫描方法及其汽车诊断设备
本申请要求于2018年12月29日提交中国专利局、申请号为201811636856.2、申请名称为“车辆中的电子控制单元的扫描方法及其汽车诊断设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及汽车诊断产品技术领域，尤其涉及一种车辆中的电子控制单元的扫描方法及其汽车诊断设备。
背景技术
在车辆维护检修过程中，在与汽车提供的外部接口(如OBD接口)连接以后，汽车诊断设备通常会执行一次自动扫描，对汽车上所有的电子控制单元进行检测，以故障代码等形式向用户显示各个电子控制单元的运行状态或者是否存在。
但随着电子信息技术的不断发展，现有的汽车为了简化用户的驾驶负担，提高行车安全性等目的，安装设置的电子控制单元的数量呈现出爆发性的增长。
电子控制单元的数量激增导致了汽车诊断设备执行自动扫描时，需要经过较长的等待时间才能完成，对用户的日常使用造成一定的不便。
发明内容
本发明实施例旨在提供一种能够解决现有汽车诊断设备完成自动扫描的时间过长的车辆中的电子控制单元的扫描方法及其汽车诊断设备。
为解决上述技术问题，本发明实施例提供以下技术方案：
一种电子控制单元的扫描方法，其中，所述扫描方法包括：
与车辆中的至少两种汽车总线通信连接，所述至少两种汽车总线中的每种汽车总线用于连接所述车辆中的至少一个电子控制单元；
确定所述至少两种汽车总线中每一种汽车总线对应的扫描列表，所述扫描列表包括待扫描的电子控制单元；
根据所述每一种汽车总线对应的扫描列表，在所述至少两种汽车总线上并行发送扫描信号，以确认所述扫描列表中的待扫描的电子控制单元是否存在于所述车辆中。
在一些实施例中，所述方法还包括：
确定所述车辆的车型车款信息；
所述确定所述至少两种汽车总线中每一种汽车总线对应的扫描列表，包 括：
根据所述车辆的车型车款信息，确定所述至少两种汽车总线中每一种汽车总线对应的扫描列表。
在一些实施例中，所述根据所述每一种汽车总线对应的扫描列表，在所述至少两种汽车总线上并行发送扫描信号，以确认所述扫描列表中的待扫描的电子控制单元是否存在于所述车辆中的步骤具体包括：
同时向属于不同扫描列表中的待扫描的电子控制单元发送询问命令；
判断在预定时间内，是否接收到所述待扫描电子控制单元基于询问命令而返回的回复信息；
若否，确定所述待扫描的电子控制单元不存在。
在一些实施例中，在所述同时向属于不同类别的电子控制单元发送询问命令的步骤之后，所述方法还包括：
在预定的时间内接收到所述待扫描电子控制单元基于询问命令而返回的回复信息时，确定所述待扫描的电子控制单元存在；
解析所述回复信息，确定所述待扫描的电子控制单元的运行状态。
在一些实施例中，所述在所述至少两种汽车总线上并行发送扫描信号，包括：
在所述至少两种汽车总线上，按照所述至少两种汽车总线中每一种汽车总线对应的通信协议，并行发送扫描信号；其中，所述每一种汽车总线对应一种通信协议，且每一种通信协议对应一种汽车总线。
为解决上述技术问题，本发明实施例还提供以下技术方案：一种汽车诊断设备。
所述汽车诊断设备包括：设备主机以及诊断接头；
所述诊断接头用于连接所述设备主机和汽车总线，集成至少两组引脚；每一组引脚与一种汽车总线连接；每一种汽车总线用于连接车辆中的至少一个电子控制单元；每一种汽车总线具有对应的扫描列表，所述扫描列表包括待扫描的电子控制单元；
所述设备主机通过所述诊断接头与至少两种汽车总线通信连接，所述至少两种汽车总线上并行发送扫描信号，以确认所述扫描列表中的待扫描的电子控制单元是否存在于所述车辆中。
在一些实施例中，所述设备主机还用于：根据待扫描车辆的车型车款信息，确定所述至少两种汽车总线中每一种汽车总线对应的扫描列表。
在一些实施例中，所述设备主机由上位机和下位机组成；所述下位机与所述诊断接头电性连接；
所述上位机与所述下位机之间通信连接，通过所述下位机在所述至少两种汽车总线上并行发送扫描信号；
所述上位机包括扫描主线程和若干个通信线程；所述扫描主线程用于为每一种汽车总线创建对应的通信线程，并且在所述汽车总线具有的待扫描列表中 所有的待扫描的电子控制单元被扫描完成后，删除对应的通信线程；
不同的所述通信线程并行执行；所述通信线程用于在对应的汽车总线上，向扫描列表中待扫描的电子控制单元发送询问命令；并且判断在预定时间内，是否接收到所述待扫描电子控制单元基于询问命令而返回的回复信息；若否，确定所述待扫描的电子控制单元不存在。
在一些实施例中，所述通信线程还用于：在预定的时间内接收到所述待扫描电子控制单元基于询问命令而返回的回复信息时，确定所述待扫描的电子控制单元存在；并且，解析所述回复信息，确定所述待扫描的电子控制单元的运行状态。
在一些实施例中，所述下位机包括链路层和物理层，每一种汽车总线对应一种通信协议，且每一种通信协议对应一种汽车总线；
所述链路层用于根据每种汽车总线对应的通信协议，转换所述询问命令和回复信息为对应的二进制信号；
所述物理层用于将二进制信号转换为物理电信号，在对应的汽车总线上传输，或者接收所述汽车总线返回的物理电信号并转换为对应的二进制信号。
与现有技术相比较，本发明实施例提供的扫描方法利用多种汽车总线相互独立的特性，以并行扫描的方式同时对多个电子控制单元进行检测。这样并行扫描的方式能够有效的提升自动扫描的效率，极大的缩短了完成自动扫所需要的时间，提升了用户使用的体验。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1为本发明实施例的汽车诊断设备的应用场景的示意图；
图2为本发明其中一个实施例提供的诊断接头的示意图；
图3为本发明其中一个实施例提供的扫描列表的示意图；
图4为本发明其中一个实施例提供的汽车诊断设备的结构示意图；
图5为本发明实施例提供的电子控制单元的扫描方法的方法流程图；
图6为本发明另一实施例提供的电子控制单元的扫描方法的方法流程图；
图7为图3所示的扫描列表的汽车诊断设备的示意图。
具体实施方式
为了便于理解本发明，下面结合附图和具体实施例，对本发明进行更详细的说明。需要说明的是，当元件被表述“固定于”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一 个或多个居中的元件。本说明书所使用的术语“上”、“下”、“内”、“外”、“底部”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”“第三”等仅用于描述目的，而不能理解为指示或暗示相对重要性。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本说明书中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是用于限制本发明。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
此外，下面所描述的本发明不同实施例中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
电子控制单元(ECU)又可以被称为行车电脑或者车载电脑等，是汽车上专用的微机控制器，与其它机械硬件设备配合，用于实现某项功能(如自动刹车、胎压检测或者并线提示等)。
汽车诊断设备的自动扫描是指对汽车上所有的电子控制单元均进行检测，获得最终检测结果的过程。在此，使用“扫描”这样的术语来表示获取车辆中的电子控制单元是否存在及其具体状态的过程。图1为本发明实施例提供的汽车诊断设备的应用场景示意图。
如图1所示，在整个应用场景中包括汽车10以及与汽车连接的汽车诊断设备20。
其中，汽车10具体可以是任何车型车款的机动车辆，例如货车、小汽车等，具有由多个电子控制单元组成的电子控制***，用以协调和控制车辆按照驾驶员等的操作指令，并对一个或者多项车辆参数进行实时监测，确保汽车10可靠并安全的运行。
当然，在不同车型或者车款的汽车中，根据其结构设置和承担功能的区别，所具有的电子控制单元是不相同的。
车辆中的各个电子控制单元之间通常采用总线的方式通信连接。每个电子控制单元使用特定的通信协议。电子控制单元按照自身使用的通信协议，会在相应的汽车总线上进行通信，以避免冲突和提升效率。亦即，使用同一种通信协议的电子控制单元在一种汽车总线上通信，一种汽车总线与一种通信协议对应。
为了便于日常检修和维护，汽车10还可以具有至少一个硬件通信接口(如OBD接口)。该硬件通信接口与汽车10可以与一种或者多个汽车总线连接，用于与外部设备建立通信连接，使其与电子控制单元完成数据交互等过程。
汽车诊断设备20可以是任何类型的车辆诊断产品，包括至少一个设备主机以及从设备主机向外延伸的连接线缆。该连接线缆的末端为与汽车10的硬 件通信接口相匹配诊断接头。
在实际使用过程中，汽车诊断设备20通过诊断接头和硬件通信接口，与车辆中的多种汽车总线建立物理上的通信连接，并加载合适或者配对的协议配置来实现与电子控制***之间的数据交互，例如发送扫描信号或者接收回复数据包。
图2为本发明实施例提供的诊断接头的示意图。如图2所示，该诊断接头上集成了许多的引脚，每个引脚都具有自身的特定功能或者作用。
按照不同的通信协议和功能，可以将这些引脚分为几个不同的组。例如，CAN协议的通信引脚是6脚和14脚，ISO9141协议的通信引脚是7脚和15脚，PWM协议的通信引脚为2脚和10脚。
因此，在诊断设备20使用诊断接头与汽车10连接以后，会与两种或以上的汽车总线建立物理连接，调用集成在诊断设备20内的通信协议以后，便可以分别在不同的汽车总线上，分别与各个电子控制单元进行数据交互。
每一种汽车总线都具有对应的扫描列表，扫描列表是包括了所有待扫描的电子控制单元的列表。其具体可以根据实际情况而确定(例如汽车的车型车款)，其通常集成内置于汽车诊断设备中，使用时自行调用。
在一些实施例中，设备主机基于连接车辆的车型车款，按照电子控制单元使用的通信协议或者连接的汽车总线来确定一个或者多个扫描列表。亦即，在相同的汽车总线上进行通信，相互连接的电子控制单元属于同一个扫描列表。
通过这样的方式，可以针对不同的车型车款形成对应的扫描列表，有利于提高扫描的效率。
图3为本发明实施例提供的扫描列表的示意图。如图3所示，在该车辆中包括了电子控制单元A到电子控制单元H一共9个待扫描的项目。按照使用的通信协议的不同，其被分为如下的三个类别：
电子控制单元A至D为扫描列表1，电子控制单元E至F为扫描列表2，电子控制单元G和H为扫描列表3。
考虑到不同的汽车总线相互之间的信息传递是相互独立，互不干扰的。由此，设备主机可以根据每一种汽车总线对应的扫描列表，在不同汽车总线上并行发送扫描信号，以确认所述扫描列表中的待扫描的电子控制单元是否存在于所述车辆中。
并行发送扫描信号可以同时检测两个或以上的电子控制单元是否存在的。这样并行扫描的方式与汽车诊断设备在自动扫描过程中惯常使用的依次序逐个对电子控制单元进行检测的方式相比，可以在同一时刻进行两个或以上的电子控制单元进行检测，成倍的提高了自动扫描的效率。
在一些实施例中，如图4所示，该设备主机可以采用上位机41和下位机42这样的结构。上位机41与下位机42之间通信连接，下位机42与诊断接头43电性连接，通过汽车的硬件通信接口与多种汽车总线连接。
其中，上位机41是指可以直接发出操控命令的计算机设备。其位于用户 交互的最上层，可以在屏幕上向用户显示各种反馈信息(例如自动扫描结果)或者采集用户的指令以发出相应的操控指令。具体的，上位机41可以选择使用任何其它类型的计算机设备，例如个人电脑、平板电脑、手机或者其它具有输入/输出设备的智能电子终端。
下位机42是直接控制设备获取汽车状况或者相关参数的计算机。其通常用于接收上位机发出的操控指令解释成相应时序信号直接对汽车进行控制，或者是用于读取车辆的状态数据(一般为模拟量)后，转换成数字信号反馈给上位机。具体的，下位机42可以由PLC、单片机、微处理器或者其它一些低级处理器设备实现，位于用户交互的底层。
上位机41和下位机42分别包括至少一个处理器和存储器。上位机41和下位机42都可以通过处理器调用存储在存储器中的相关计算机软件程序指令来执行一个或者多个功能步骤。
在本实施例中，诊断设备在实现自动扫描时，可以大致的被分为应用层、链路层和物理层三个不同层次的数据处理。如图4所示，应用层的部分由上位机所负责，包括扫描主线程411和若干个通信线程412。
其中，扫描主线程411是主要的控制部分，用于每一种汽车总线创建对应的通信线程，并且在所述汽车总线具有的待扫描列表中所有的待扫描的电子控制单元被扫描完成后，删除对应的通信线程。
例如如图4所示的，创建n个通信线程412与n种汽车总线相匹配并且，在某种汽车总线的扫描工作任务完成以后，关闭或者删除对应的通信线程412。
每一个通信线程412都与一种汽车总线相对应，不同的通信线程412之间相互独立，而且并行执行，用于负责该种汽车总线上的数据交互，例如在对应的汽车总线上，向扫描列表中待扫描的电子控制单元发送询问命令；并且判断在预定时间内，是否接收到所述待扫描电子控制单元基于询问命令而返回的回复信息。
具体的，该通信线程412在没有接收到回复信息时，可以确定所述待扫描的电子控制单元不存在。而在接收到回复信息时，则可以确定所述待扫描的电子控制单元存在，并且解析所述回复信息，确定所述待扫描的电子控制单元的运行状态。
在另一些实施例中，应用层内还包括显示线程413，其主要用于将通信线程412确定电子控制单元是否存在以及解析回复信息获得的解析结果，在上位机的显示屏上显示。显示线程413具体可以采用任何合适的方式显示，例如简单的以故障代码的形式来表示电子控制单元是否存在以及存在的电子控制单元具体的运行状态。
该故障代码可以是任何合适的标识体系。电子控制单元各种情况下的运行状态与特定的标识之间具有对应关系，以使电子控制单元的运行状态可以被简单的表示。
链路层421和物理层都被安排设置在下位机。其中，下位机的链路层同时使用与多个通信协议，将通信线程412需要发送的询问命令按照其对应的汽车总线上使用的通信协议进行转换，生成一系列的二进制信号。在本实施中，每一种汽车总线对应一种通信协议，且每一种通信协议对应一种汽车总线。
例如，如图4所示的，分别使用与n个通信线程对应的n个通信协议，使其转换为合适的二进制信号。
物理层422是位于最底层的数据处理，其直接与诊断接头形成的物理连接通道交流，用于实现物理电信号与二进制信号之间的相互转换。亦即，将询问命令对应的二进制信号转换为物理电信号的形式，由对应的汽车总线传输到电子控制单元中，或者是接收电子控制单元反馈的物理电信号，提取转换出相应的回复信息的二进制信号。
基于以上应用层、链路层和物理层的设置，可以在诊断接头43的物理连接基础上，建立多个通信信道用于同时发送询问命令和接收回复消息，实现对电子控制单元的并行扫描，从而有效的提高自动扫描的效率，降低自动扫描所需要的时间。
本领域技术人员应该还可以进一步意识到，本发明实施例中描述的电路结构能够以电子硬件、计算机软件或者二者的结合来实现，为了清楚地说明硬件和软件的可互换性，在上述说明中已经按照功能一般性地描述了各示例性电路所执行的步骤。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。
对每个特定的应用可以使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。所述的计算机软件可存储于计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体或随机存储记忆体等。
基于上述实施例揭露的汽车诊断设备执行自动扫描的过程，本发明实施例还提供了一种电子控制单元的自动扫描方法。图5为本发明一实施例提供的自动扫描方法的方法流程图。如图5所示，所述自动扫描方法包括如下步骤：
510、与车辆中的至少两种汽车总线通信连接。
其中，所述至少两种汽车总线中的每种汽车总线用于连接所述车辆中的至少一个电子控制单元。
在实际操作过程中，集成有多种通信协议的汽车诊断设备可以通过任何类型的，集成有多个引脚的诊断接头来实现与多种汽车总线的通信连接。
汽车总线通信连接的数量由汽车诊断设备的具体情况所决定。在本实施例中，每一个扫描列表对应的汽车总线都建立有通信链路。
520、确定所述至少两种汽车总线中每一种汽车总线对应的扫描列表。
其中，所述扫描列表包括待扫描的电子控制单元。具体的扫描列表可以根据诊断接头所连接的车辆的车型车款信息所决定。每一种汽车总线都有自己对应的扫描列表。
这样根据车型车款来确定扫描列表的方式，可以针对具体连接车辆的不同而针对性的调整需要扫描的电子控制单元，有利于提高扫描的效率。
530、根据所述每一种汽车总线对应的扫描列表，在所述至少两种汽车总线上并行发送扫描信号，以确认所述扫描列表中的待扫描的电子控制单元是否存在于所述车辆中。
由于不同的汽车总线之间是相互独立并存在物理隔离的。因此，在不同汽车总线上的信息传输并不会相互影响。基于这样的特性，对于在不同汽车总线上通信的电子控制单元，可以并行或者同时发送扫描信号，以确认所述扫描列表中的待扫描的电子控制单元是否存在于所述车辆中。
在一些实施例中，如图6所示，所述并行扫描的方法具体可以包括：
610、同时向属于不同扫描列表中的待扫描的电子控制单元发送询问命令。
询问命令是预先设置的，向某个特定的电子控制单元发送的指令，用于请求电子控制单元反馈自己当前的运行状态。其具体可以采用任何合适的结构形式。
620、判断在预定时间内，是否接收到所述待扫描电子控制单元基于询问命令而返回的回复信息。若否，执行步骤630，若是，执行步骤640。
电子控制单元在接收到询问命令后，会响应并反馈回复信息，使得自身的运行状态可以被读取或者获知。相类似的，属于不同类别的电子控制单元反馈的回复信息也不会相互冲突，可以同时传输并被解析。
630、确定所述待扫描的电子控制单元不存在。
具体可以通过合适的故障代码来表示其不存在的状态。
640、确定所述待扫描的电子控制单元存在。
650、解析所述回复信息，确定所述待扫描的电子控制单元的运行状态。
运行状态表明了电子控制单元的当前的设备状态，可以作为辅助信息，帮助维护或者维修人员更好的了解汽车10的状态。
具体的，每一种汽车总线对应一种通信协议，且每一种通信协议对应一种汽车总线。由此，在所述至少两种汽车总线上，可以按照所述至少两种汽车总线中每一种汽车总线对应的通信协议，并行发送扫描信号。
综上所述，本发明实施例提供的扫描方法对属于不同扫描列表的电子控制单元采用并行扫描的方式，而对属于同一扫描列表的多个电子控制单元则逐次扫描，相对于对所有电子控制单元都逐次扫描的方式，扫描速度得到了有效的提升。
图7为对图3所示的扫描列表进行自动扫描的具体实例。如图7所示，基于汽车诊断设备集成的通信协议和诊断接头提供的物理电线连接，汽车诊断设备建立了三种相互独立并且互不影响的通信链路。
其中，位于应用层的扫描主线程根据分类结果，创建了通信线程1、通信线程2以及通信线程3，分别用于管理扫描列表1、扫描列表2以及扫描列表3的电子控制单元的通信交互。
链路层具有与扫描列表1、扫描列表2以及扫描列表3对应的CAN协议、ISO9141协议以及PWM协议，分别按照对应的通信协议，实现数据信息与二进制信号之间的转换。物理层承接链路层，实现二进制信号与物理电信号之间的转换，经由汽车总线1、汽车总线2以及汽车总线3传输。
基于三个相互独立的通信链路，在实际扫描过程中，通信线程1、通信线程2以及通信线程3同时的发送询问命令，通过链路层和物理层，以物理电信号的形式传输到相应的电子控制单元(如电子控制单元A、电子控制单元E、电子控制单元G)。
然后，通过物理层和链路层，接收到这些电子控制单元返回的回复信息并解析这些回复信息的内容提供给显示线程。显示线程可以以故障代码等形式，显示电子控制单元A、E和F的运行状态。
在完成了首个电子控制单元的扫描以后，通信线程1、通信线程2以及通信线程3可以继续的扫描对应类别中的其它电子控制单元。
扫描主线程在某个类别中的电子控制单元全部扫描完毕以后，可以关闭该类别的通信线程。例如扫描列表2的电子控制单元全部扫描完成以后，可以关闭通信线程2。
在本发明实施例中，按照车型车款确定扫描列表，基于多个相互独立并且互不影响的通信链路，对不同的扫描列表采用并行扫描的方式，同时询问多个电子控制单元的运行状态，减少自动扫描所需要的时间，提供更好的使用体验。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；在本发明的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本发明的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (10)

  1. 一种车辆中的电子控制单元的扫描方法，其特征在于，包括：
    与车辆中的至少两种汽车总线通信连接，所述至少两种汽车总线中的每种汽车总线用于连接所述车辆中的至少一个电子控制单元；
    确定所述至少两种汽车总线中每一种汽车总线对应的扫描列表，所述扫描列表包括待扫描的电子控制单元；
    根据所述每一种汽车总线对应的扫描列表，在所述至少两种汽车总线上并行发送扫描信号，以确认所述扫描列表中的待扫描的电子控制单元是否存在于所述车辆中。
  2. 根据权利要求1所述的扫描方法，其特征在于，所述方法还包括：
    确定所述车辆的车型车款信息；
    所述确定所述至少两种汽车总线中每一种汽车总线对应的扫描列表，包括：
    根据所述车辆的车型车款信息，确定所述至少两种汽车总线中每一种汽车总线对应的扫描列表。
  3. 根据权利要求2所述的扫描方法，其特征在于，所述根据所述每一种汽车总线对应的扫描列表，在所述至少两种汽车总线上并行发送扫描信号，以确认所述扫描列表中的待扫描的电子控制单元是否存在于所述车辆中的步骤具体包括：
    同时向属于不同扫描列表中的待扫描的电子控制单元发送询问命令；
    判断在预定时间内，是否接收到所述待扫描电子控制单元基于询问命令而返回的回复信息；
    若否，确定所述待扫描的电子控制单元不存在。
  4. 根据权利要求3所述的扫描方法，其特征在于，在所述同时向属于不同类别的电子控制单元发送询问命令的步骤之后，所述方法还包括：
    在预定的时间内接收到所述待扫描电子控制单元基于询问命令而返回的回复信息时，确定所述待扫描的电子控制单元存在；
    解析所述回复信息，确定所述待扫描的电子控制单元的运行状态。
  5. 根据权利要求1至4任一项所述的扫描方法，其特征在于，所述在所述至少两种汽车总线上并行发送扫描信号，包括：
    在所述至少两种汽车总线上，按照所述至少两种汽车总线中每一种汽车总线对应的通信协议，并行发送扫描信号；其中，所述每一种汽车总线对应一种通信协议，且每一种通信协议对应一种汽车总线。
  6. 一种汽车诊断设备，其特征在于，包括：设备主机以及诊断接头；
    所述诊断接头用于连接所述设备主机和汽车总线，集成至少两组引脚；每一组引脚与一种汽车总线连接；每一种汽车总线用于连接车辆中的至少一个电子控制单元；每一种汽车总线具有对应的扫描列表，所述扫描列表包括待扫描 的电子控制单元；
    所述设备主机通过所述诊断接头与至少两种汽车总线通信连接，根据每一种汽车总线对应的扫描列表，在所述至少两种汽车总线上并行发送扫描信号，以确认所述扫描列表中的待扫描的电子控制单元是否存在于所述车辆中。
  7. 根据权利要求6所述的汽车诊断设备，其特征在于，所述设备主机还用于：根据待扫描车辆的车型车款信息，确定所述至少两种汽车总线中每一种汽车总线对应的扫描列表。
  8. 根据权利要求6所述的汽车诊断设备，其特征在于，所述设备主机由上位机和下位机组成；所述下位机与所述诊断接头电性连接；
    所述上位机与所述下位机之间通信连接，通过所述下位机在所述至少两种汽车总线上并行发送扫描信号；所述上位机包括扫描主线程和若干个通信线程；
    所述扫描主线程用于为每一种汽车总线创建对应的通信线程，并且在所述汽车总线具有的待扫描列表中所有的待扫描的电子控制单元被扫描完成后，删除对应的通信线程；
    不同的所述通信线程并行执行；所述通信线程用于在对应的汽车总线上，向扫描列表中待扫描的电子控制单元发送询问命令；并且判断在预定时间内，是否接收到所述待扫描电子控制单元基于询问命令而返回的回复信息；若否，确定所述待扫描的电子控制单元不存在。
  9. 根据权利要求8所述的汽车诊断设备，其特征在于，所述通信线程还用于：在预定的时间内接收到所述待扫描电子控制单元基于询问命令而返回的回复信息时，确定所述待扫描的电子控制单元存在；并且，解析所述回复信息，确定所述待扫描的电子控制单元的运行状态。
  10. 根据权利要求8或9所述的汽车诊断设备，其特征在于，所述下位机包括链路层和物理层，每一种汽车总线对应一种通信协议，且每一种通信协议对应一种汽车总线；
    所述链路层用于根据每种汽车总线对应的通信协议，转换所述询问命令和回复信息为对应的二进制信号；
    所述物理层用于将二进制信号转换为物理电信号，在对应的汽车总线上传输，或者接收所述汽车总线返回的物理电信号并转换为对应的二进制信号。
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