CN114363229A - A self-checking method and self-checking device for vehicle-machine testing - Google Patents

Abstract

The invention discloses a vehicle-mounted test-oriented self-checking method and a vehicle-mounted test-oriented self-checking device, which are used for detecting communication of a CAN bus between test equipment and a vehicle-mounted system. The self-checking method comprises the following steps: acquiring a data frame containing the CAN message to be sent from the test equipment or the vehicle-mounted machine system from the data channel, decoding to obtain the CAN message and storing the decoded CAN message; acquiring CAN information to be verified in real time from a CAN bus, and storing the CAN information to be verified; comparing the CAN message to be verified with the decoded CAN message, arbitrating to determine whether the CAN message is correctly transmitted through a CAN bus, and recording failure times; and if the failure times of the CAN messages sent on the CAN bus are judged to exceed the threshold value, the CAN messages corresponding to the failure times are packaged and sent again through the CAN bus. The invention CAN quickly and efficiently locate the reason of CAN message sending failure, save the test cost and improve the test efficiency.

Description

A self-checking method and self-checking device for vehicle-machine testing

technical field

The invention relates to a self-inspection method for vehicle and machine testing, and also relates to a corresponding self-inspection device, belonging to the technical field of automotive electronics.

Background technique

CAN (Controller Area Network) is the abbreviation of Controller Area Network, which is one of the most widely used field buses in the world. As an electronic product, an electric vehicle has complex communication equipment inside the vehicle-machine system, and needs to use the CAN protocol for internal communication. However, in the process of using the vehicle-machine system, there are many failures in CAN message transmission caused by difficult to determine the reasons, and special testing work is required.

Usually, in the process of vehicle-machine testing, the vehicle-machine test system (referred to as the test system, usually implemented by a computer with test software) is usually used to send test instructions, and the log files returned by the vehicle-machine system are analyzed, or other verification methods are used. Verify the rationality of the instructions processed by the vehicle-machine system. This requires analyzing a large number of test cases triggered by the CAN bus. Since the CAN bus is composed of two signal lines CAN_High and CAN_Low together to form a set of differential signal lines, if you want to analyze whether it has an output signal, you need to connect a logic analyzer to view the output waveform, and you cannot simply close the loop to complete the self-test. And in the process of verification, if the receiving end does not receive the CAN information, it cannot judge whether an error occurs at the transmitting end or the receiving end receives an error, so the problem cannot be solved quickly.

Therefore, how to avoid errors caused by the failure of CAN message transmission, or how to quickly solve the problem caused by the failure of CAN message transmission, is still one of the pain points to be solved urgently in the existing vehicle-machine test scenarios.

SUMMARY OF THE INVENTION

The primary technical problem to be solved by the present invention is to provide a self-inspection method for vehicle and machine testing.

Another technical problem to be solved by the present invention is to provide a self-inspection device for vehicle and machine testing.

For realizing the above-mentioned technical purpose, the present invention adopts the following technical solutions:

According to a first aspect of the embodiments of the present invention, a self-checking method for vehicle-machine testing is provided, which is used to detect the communication of the CAN bus between the test equipment and the vehicle-machine system, including the following steps:

Obtain the data frame containing the CAN message to be sent from the test equipment or the vehicle-machine system from the data channel, obtain the CAN message after decoding, and store the decoded CAN message;

Obtain the CAN message to be verified in real time from the CAN bus, and store the CAN message to be verified;

Compare the CAN message to be verified and the decoded CAN message, conduct arbitration, confirm whether the CAN message is correctly sent through the CAN bus, and record the number of failures;

If it is determined that the number of failures of the CAN message sent on the CAN bus exceeds the threshold value, the CAN message corresponding to the number of failures is packaged and reissued through the CAN bus.

Preferably, compare the CAN message to be verified and the decoded CAN message, conduct arbitration, and confirm whether the CAN message is correctly sent through the CAN bus, including the following sub-steps:

When obtaining the to-be-verified CAN message from the CAN bus, record the receiving time t2 and the received content c2 received from the CAN bus;

After receiving the data frame from the data channel, parse out the expected sending time t1 and sending content c1 of the CAN message;

According to the receiving time t2, determine the sending time corresponding to the receiving content c2, and then determine the decoded CAN message corresponding to the receiving content c2;

Comparing the to-be-verified CAN message in the received content c2 with the decoded CAN message corresponding to the received content c2, if they are consistent, it is judged as success; if they are inconsistent, it is judged as failure.

Preferably, the number of failures refers to the number of consecutive failures, and if there is one successful transmission, the number of failures is reset to zero.

Preferably, the packaged reissue refers to encapsulating all CAN messages that fail to be sent from the test device or the vehicle-machine system into message frames, and in the form of a data packet, sent to the CAN bus through the CAN bus. The receiver of the failed CAN message.

Preferably, the packaged reissue also includes informing the testing system by the data channel that reissue of the CAN message has been completed.

According to a second aspect of the embodiments of the present invention, a self-checking device for vehicle-machine testing is provided, which is used to detect the communication of the CAN bus between the test equipment and the vehicle-machine system, including:

The self-checking device includes a CAN transceiver module and a CAN self-checking monitoring module;

The CAN transceiver module is connected with the test equipment and the vehicle-machine system through the CAN bus;

The CAN self-test monitoring module is connected with the test equipment and the vehicle-machine system through a data channel, and is connected with the test equipment and the vehicle-machine system through a CAN bus.

Preferably, the CAN self-inspection monitoring module is connected to the test equipment and the vehicle-machine system through a data server using the data channel to obtain data frames from the test equipment and the vehicle-machine system .

Preferably, the CAN self-check monitoring module obtains the data frame containing the CAN message from the test equipment or the vehicle-machine system from the data channel, obtains the CAN message after decoding, and stores the decoded CAN message;

The CAN transceiver module obtains the CAN message to be verified in real time from the CAN bus, and stores the CAN message to be verified;

The CAN self-check monitoring module compares the CAN message to be verified and the decoded CAN message, conducts arbitration, confirms whether the CAN message is correctly sent through the CAN bus, and records the number of failures; If the number of failures of the CAN message sent on the CAN bus exceeds the threshold value, the CAN message corresponding to the number of failures is packaged and reissued through the CAN bus.

Preferably, the CAN self-check monitoring module is configured to perform the following operations:

When obtaining the to-be-verified CAN message from the CAN bus, record the receiving time t2 and the received content c2 received from the CAN bus;

After receiving the data frame from the data channel, parse out the expected sending time t1 and sending content c1 of the CAN message;

According to the receiving time t2, determine the sending time corresponding to the receiving content c2, and then determine the decoded CAN message corresponding to the receiving content c2;

Comparing the to-be-verified CAN message in the received content c2 with the decoded CAN message corresponding to the received content c2, if they are consistent, it is judged as success; if they are inconsistent, it is judged as failure.

Preferably, the packaged reissue refers to encapsulating all CAN messages that fail to be sent from the test device or the vehicle-machine system into message frames, and in the form of a data packet, sent to the CAN bus through the CAN bus. The receiver of the failed CAN message.

Compared with the prior art, the self-inspection method and self-inspection device for vehicle and machine testing provided by the present invention have the following technical effects: (1) quickly and efficiently locate the cause of the failure of CAN message transmission, saving human resources and time cost and test cost; (2) make the test system continue to work normally, automatic disaster recovery, and effectively improve the test efficiency.

Description of drawings

1A is a schematic diagram of the overall structure of a testing system in an embodiment of the present invention;

1B is a schematic diagram of a connection relationship of a test system in an embodiment of the present invention;

2 is a schematic diagram of the hardware configuration of the test system in the embodiment shown in FIG. 1;

3 is a schematic structural diagram of a CAN self-check monitoring module in the embodiment shown in FIG. 1;

4 is a flowchart of a self-checking method for vehicle-machine testing in an embodiment of the present invention;

Fig. 5 is in the embodiment shown in Fig. 4, the flow chart of judging whether the CAN message in the CAN bus meets the expectation;

FIG. 6 is a partial flowchart of another example of the self-checking method in the embodiment shown in FIG. 4;

7 is a schematic structural diagram of a CAN self-check monitoring module in another embodiment of the present invention;

FIG. 8 is a flowchart of a self-checking method for vehicle-machine testing in another embodiment of the present invention.

Detailed ways

The technical content of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

As shown in FIG. 1A , a typical vehicle-machine testing system 100 includes a test equipment 1100 , a self-checking device 1200 and a vehicle-machine system 1300 . The self-checking device 1200 includes a CAN transceiver module 1210 and a CAN self-checking monitoring module 1220 .

The test equipment 1100 is connected to the CAN transceiver module 1210 through wired or wireless communication. At the same time, the test equipment 1100 is connected with the CAN self-test monitoring module 1220 through the communication network 1230 . The CAN transceiver module 1210 is connected to the test equipment 1100 and the vehicle-machine system 1300 through the CAN bus. In addition, the CAN self-test monitoring module 1220 is connected to the vehicle-machine system 1300 through a data channel, and is also connected to the test equipment 1100 and the vehicle-machine system 1300 through a CAN bus. As shown in FIG. 1B , the CAN transceiver module can also be replaced by a CAN module, which serves as the CAN interface of the test system, and the test system communicates with the vehicle-machine system on the CAN bus through the CAN module. The CAN self-test monitoring module communicates with the CAN module through a USB cable or a network cable, and also communicates with the vehicle-machine system and the test system through the CAN bus.

In this embodiment of the present invention, the testing device 1100 is an electronic device having a communication function and a service processing function. As shown in FIG. 2 , the test equipment 1100 includes a processor 1210 , a memory 1220 , an interface device 1230 , a communication device 1240 , a display device 1250 , an input device 1260 , a speaker 1270 , and a microphone 1280 . The processor 1210 includes a central processing unit CPU, a microprocessor MCU, and the like. The memory 1220 includes a ROM (Read Only Memory), a RAM (Random Access Memory), a non-volatile memory such as a hard disk, etc., for storing data including CAN messages provided by the control processor 1210 to operate to execute the embodiments of the present invention frame command. The interface device 1230 includes a USB interface, an earphone interface, and the like. The communication device 1240 includes wired communication and wireless communication. The display device 1250 includes a liquid crystal display, a touch display, and the like. The input device 1260 includes a touch screen, a keyboard, and the like. The speaker 1270 and the microphone 1280 are used to input/output voice information.

As shown in FIG. 3 , which is a structural block diagram of the CAN self-check monitoring module 1220 in FIG. 1 . The CAN self-check monitoring module 1220 includes a data frame acquisition module 7100 , a CAN message acquisition module 7200 , a data verification module 7300 , a CAN message transmission module 7400 and a data frame transmission module 7500 . The data frame acquisition module 7100 , the data verification module 7300 and the data frame transmission module 7500 of the CAN self-check monitoring module 1220 communicate with the locomotive system 1300 or the test equipment 1100 through the data channel; the CAN message acquisition module 7200 of the CAN self-check monitoring module 1220 The CAN message sending module 7400 communicates with the locomotive system 1300 or the test equipment 1100 through the CAN bus, so two independent communications are realized, so that the CAN self-check monitoring module 1220 can monitor the data transmission on the CAN bus, and timely Reissue CAN messages.

The data frame obtaining module 7100 is used for obtaining the data frame to be verified from the data communication, and the data frame is included in the CAN message to be transmitted on the CAN bus. The CAN message obtaining module 7200 is configured to obtain the CAN message corresponding to the data frame from the CAN bus. The data verification module 7300 is used to verify the consistency of the CAN message received from the CAN bus and the CAN message carried in the data frame obtained from data communication, that is, to verify the correctness of sending the CAN message frame.

When the data verification module 7300 verifies that the number of CAN message frames that cannot be successfully sent continuously on the CAN bus exceeds the preset threshold, the data frame received by the data frame acquisition module 7100 is used to convert it into a corresponding CAN message frame (ie, unsent message frames), and are packaged and sent to the locomotive system 1300 (or the test equipment 1100) by the CAN message sending module 7400. The data frame sending module 7500 is used for sending the verified test result to the test equipment 1100 (or the locomotive system 1300).

As shown in FIG. 4 , the present invention also provides a self-inspection method for vehicle-machine testing, which specifically includes the following steps:

S4100: Obtain a data frame containing a CAN message (the data frame carries a CAN message) to be sent from the test equipment or the vehicle-machine system from the data channel through the data frame obtaining module 7100, decode the CAN message and obtain the CAN message. to store.

The data frame generally includes a frame header, a data part and a frame trailer. The frame header and frame trailer contain some necessary control information, such as synchronization information, error control information, etc., and the data part contains the actual CAN messages to be transmitted, such as vehicle driving. Speed, interior temperature, window and door opening and closing conditions, etc.

In specific implementation, the data frame can be controlled by the user to communicate with the application server during the software testing process, the data frame generated in the log file generated by the terminal device is sent to the data verification server implementing the method, and the data The validation server verifies that its encoding process is correct based on the data frame. In addition, the data frame can also be directly deployed by the user on the data verification server for encoding processing, and the data verification server automatically acquires the data frame during the communication between the application and the application server, and communicates with the CAN The self-checking monitoring module 1220 or the testing equipment 1100 performs information comparison, and the detailed processing process thereof will not be repeated here.

Through the data frame acquisition module 7100, the data frame containing the CAN message to be sent from the test equipment 1100 or the vehicle-machine system 1300 is obtained from the data channel (the data frame carries the CAN message), and the CAN message is obtained after decoding and used as the decoding After CAN messages are stored.

S4200: Obtain the CAN message to be verified from the CAN bus in real time through the CAN message obtaining module 7200, and store the CAN message detected in real time.

The CAN message acquisition module 7200 acquires the CAN message to be verified on the CAN bus in real time from the CAN bus, and stores it as the CAN message to be verified.

S4300: The data verification module 7300 compares the CAN message to be verified and the decoded CAN message, performs arbitration, confirms whether the CAN message is correctly sent through the CAN bus, and records the number of failures.

The CAN message to be verified comes from the CAN bus, so it is necessary to judge whether the CAN message to be verified (from the test equipment 1100 or the vehicle system 1300 ) is sent as expected, and then it can be analyzed whether the test system sends (receives) the test message correctly.

As shown in FIG. 5 , after the data frame is received from the data channel, the expected sending time t1 of the CAN message and the sending content (ie, the decoded CAN message) c1 are parsed. Since the data channel obtains data directly from the test equipment 1100 through the microcontroller, not from the CAN bus, the accuracy of the data frame obtained from the data channel is reliable and can be used as a benchmark for arbitration.

The CAN message to be verified is obtained from the CAN bus, and the reception time t2 and the received content (ie the CAN message to be verified) c2 received from the CAN bus have been recorded.

Firstly, according to the receiving time t2 of the CAN message to be verified and the sending time of the data frame obtained in real time, compare the data frame with the interval from t2-1s to t2+1s related to the receiving time t2 to find the data frame for comparison, and determine the waiting time. The sending time t1 corresponding to the CAN message is verified, so as to further determine the corresponding decoded CAN message according to the sending time t1. It is also preferable to search for the data frame corresponding to the CAN message to be verified within this time range through a time range value (t2-Δt, t2+Δt) set by the user, and compare the data frame with the CAN message to be verified. messages are compared.

In this way, the time-corresponding CAN message to be verified (from the CAN bus) is compared with the decoded CAN message (from the data channel). Here, the error codes for detecting CAN messages are defined as follows:

0001: The message sent by the vehicle system side is lost

0002: The message sent by the test device side is lost

0003: Delay exceeds preset threshold

0004: The protocol frame parsing failed, and an error alarm occurred.

If the data verification module 7300 determines that the data frame is sent at the sending time t1, but the CAN message to be verified from the CAN bus is not received within the time range of the receiving time t2 corresponding to the sending time t1, then it is determined that the failure reason is 0001 or 0002. The verification result will be displayed on the web page as 0001 (if the vehicle-machine system 1300 sends a CAN message at time t1) or 0002 (if the test device 1100 sends a CAN message at time t1).

If the CAN message to be verified from the CAN bus is received at the receiving time t2 corresponding to the sending time t1, the next step is performed: verifying whether the content of the message frame is consistent.

If the CAN bus is successfully received, the data verification module 7300 will verify whether the content of the message frame is consistent. If the sent content c1 and the received content c2 are inconsistent, that is, the CAN message to be verified is different from the decoded CAN message, it can be judged that the reason for the failure may be that the delay (t2-t1) exceeds the preset threshold (depending on whether the CAN bus is high-speed or low-speed to set the threshold) or the failure to parse the protocol frame results in a bit error alarm, and the verification result will display 0003 or 0004 on the web page. If it is determined that the reason for the failure may be that the delay (t2-t1) exceeds the preset threshold (the threshold is set according to whether the CAN bus is high-speed or low-speed), the verification result will be displayed as 0003 on the network page; if it is a protocol frame If the parsing fails and a bit error alarm occurs, the verification result will be displayed as 0004 on the web page.

If the sent content c1 is consistent with the received content c2, it means that the CAN bus is successfully received.

S4400: Provide the verification result to the web page of the access self for display.

As shown in FIG. 6 , another embodiment of the self-checking method provided by the present invention further includes the following steps on the basis of the foregoing steps:

S5100: It is judged that the number of consecutive failures of CAN messages sent by the CAN transceiver module of the test equipment on the CAN bus exceeds a preset threshold value.

In step S4300, the number of failures of CAN bus message transmission failures has been determined and recorded. In step S5100, it is determined whether the number of failures exceeds a predetermined threshold value. If the number of failures has exceeded the predetermined threshold, proceed to the next step; if the number of failures does not exceed the predetermined threshold, wait for the next judgment.

The reasons for failure are not distinguished here. Whether the number of CAN bus reception failures exceeds the threshold value, the number of times that the transmitted content c1 and the received content c2 are inconsistent exceeds the threshold value, and the sum of the number of failures in both cases exceeds the threshold value, the entry will be entered. Next step. In addition, the aforementioned number of failures is the number of consecutive failures, that is, if there is a successful transmission, the number of failures is cleared to zero.

S5200: The monitoring module starts the emergency mode, and packages and reissues the CAN messages corresponding to the number of failures.

The CAN message that fails to be sent from the test equipment 1100 or the vehicle system 1300 is packaged and sent to the CAN bus through the CAN message sending module 7400 in the form of a message frame (carrying the CAN message to be sent), and the test system is notified by the data channel. Complete the sending of the CAN message.

Packing and re-issuing means that each CAN message that fails to be sent from the test equipment or the vehicle-machine system is encapsulated into a message frame, and in the form of a data packet, within the set time after the failure is judged, through the The CAN bus is sent to the receiver of the failed CAN message

Thus, the present invention sets the threshold value of CAN receiving failure, and this value represents the number of consecutive failures in sending CAN messages by the testing system. Start the sending mechanism. The CAN message that fails to be sent from the test system will be sent to the CAN bus from the self-test monitoring module, and the test system will be informed by the data channel that it has completed the sending of the CAN message.

S5300: Provide the disaster recovery processing result to the web page of the access self for display.

FIG. 7 is a schematic structural diagram of a CAN self-check monitoring module in another embodiment of the present invention. Among them, the CAN self-check monitoring module constitutes a node of the CAN bus protocol, including the CAN controller and the CAN transceiver. The CAN controller includes a single-chip microcomputer (for example, an independent CAN communication controller MCP2515, which may also be an Arduino or other single-chip computers), and a Raspberry Pi system is used in the embodiment of the present invention. Since the Raspberry Pi itself does not support the CAN bus, the CAN controller with the SP I interface is used with a transceiver to complete the CAN function. This is a well-known technology in the art, so it will not be described in detail here. The CAN controller in the CAN self-check monitoring module exchanges information with the test equipment 1100 through USB, wired or wireless connection, and controls the CAN transceiver to receive or send CAN messages from the CAN bus, so as to communicate with the vehicle system 1300 or the test equipment 1100 communication.

As shown in FIG. 8 , the test system 1 sends a test command on the CAN bus, and the CAN self-check monitoring module 1220 monitors the test command or CAN message through the CAN bus interface, and transmits it to the controller (for example, Raspberry Pi); at the same time, the test System 1 sends the CAN message sent by system 1 on the CAN bus in the form of a data frame (that is, taking the CAN message as the data part of the data frame) through a data channel (such as a network cable or a USB cable) to the controller (Raspberry Pi). (test command). The controller (Raspberry Pi) receives this information through the WebSocket interface or the USB transmission line. The controller judges whether the CAN message sent by the test system conforms to the preset instruction, and feeds back the comparison result to the test system.

If the number of consecutive CAN messages in the test system exceeds the preset number, the CAN self-check monitoring module can send preset CAN messages to the CAN bus to complete disaster recovery.

The data verification in the embodiment of the present invention is implemented by a controller (Raspberry Pi). That is, the controller implements data frame acquisition, data verification, and data frame transmission. At the same time, the CAN controller and the CAN transceiver are used to cooperate to realize sending and receiving CAN messages from the CAN bus.

Before the test case starts (but not limited to this), the test system sends a test command to the vehicle, and the test system informs the CAN self-test monitoring through USB communication or network communication (data communication is one way, but not limited to this). module, the data sent by the CAN bus is used for comparison.

The CAN self-inspection monitoring module compares the data monitored from the CAN bus with the CAN sent comparison data from the data communication. If the comparison is successful, it is judged that the communication test system is sent successfully. If the comparison fails, the count of the failure to be sent by the test system is stored in the database of the CAN self-check monitoring module, and the failure is sent back to the test system at the same time.

To sum up, the self-checking method and self-checking device for vehicle-machine testing provided by the present invention have the following technical effects: (1) quickly and efficiently locate the cause of CAN message sending failure, saving human resources, time cost and Test cost; (2) Make the test system continue to work normally, automatic disaster recovery, and effectively improve the test efficiency.

The self-inspection method and self-inspection device for vehicle-machine testing provided by the present invention have been described in detail above. For those of ordinary skill in the art, any obvious changes made to the present invention without departing from the essential content of the present invention will constitute an infringement of the patent right of the present invention, and will bear corresponding legal responsibilities.

Claims (10)

1. a self-inspection method oriented to vehicle-machine testing, for detecting the communication of the CAN bus between test equipment and vehicle-machine system, it is characterized in that comprising the following steps: Obtain the data frame containing the CAN message to be sent from the test equipment or the vehicle-machine system from the data channel, obtain the CAN message after decoding, and store the decoded CAN message; Obtain the CAN message to be verified in real time from the CAN bus, and store the CAN message to be verified; Compare the CAN message to be verified and the decoded CAN message, conduct arbitration, confirm whether the CAN message is correctly sent through the CAN bus, and record the number of failures; If it is determined that the number of failures of the CAN message sent on the CAN bus exceeds the threshold value, the CAN message corresponding to the number of failures is packaged and reissued through the CAN bus. 2. The self-checking method according to claim 1, characterized in that, Compare the CAN message to be verified and the decoded CAN message, conduct arbitration, and confirm whether the CAN message is correctly sent through the CAN bus, including the following sub-steps: When obtaining the to-be-verified CAN message from the CAN bus, record the receiving time t2 and the received content c2 received from the CAN bus; After receiving the data frame from the data channel, parse out the expected sending time t1 and sending content c1 of the CAN message; According to the receiving time t2, determine the sending time corresponding to the receiving content c2, and then determine the decoded CAN message corresponding to the receiving content c2; Comparing the to-be-verified CAN message in the received content c2 with the decoded CAN message corresponding to the received content c2, if they are consistent, it is judged as success; if they are inconsistent, it is judged as failure. 3. self-checking method as claimed in claim 2, is characterized in that: The number of failures refers to the number of consecutive failures. If there is one successful transmission, the number of failures is cleared to zero. 4. self-checking method as claimed in claim 1, is characterized in that: The packaged and reissued means that each CAN message that fails to be sent from the test equipment or the vehicle-machine system is encapsulated into a message frame. The CAN bus is sent to the receiver of the failed CAN message. 5. self-checking method as claimed in claim 4, is characterized in that: The packaged reissue also includes informing the testing system through the data channel that the reissue of the CAN message has been completed. 6. A self-checking device for vehicle-machine testing, for detecting the communication of the CAN bus between the test equipment and the vehicle-machine system, it is characterized in that comprising: The self-checking device includes a CAN transceiver module and a CAN self-checking monitoring module; The CAN transceiver module is connected with the test equipment and the vehicle-machine system through the CAN bus; The CAN self-test monitoring module is connected with the test equipment and the vehicle-machine system through a data channel, and is connected with the test equipment and the vehicle-machine system through a CAN bus. 7. The self-checking device of claim 6, wherein: The CAN self-inspection monitoring module is connected with the test equipment and the vehicle-machine system through the data server and the data channel, so as to obtain data frames from the test equipment and the vehicle-machine system. 8. The self-checking device of claim 6, wherein: The CAN self-check monitoring module obtains the data frame containing the CAN message from the test equipment or the vehicle-machine system from the data channel, obtains the CAN message after decoding, and stores the decoded CAN message; The CAN transceiver module obtains the CAN message to be verified in real time from the CAN bus, and stores the CAN message to be verified; The CAN self-check monitoring module compares the CAN message to be verified and the decoded CAN message, conducts arbitration, confirms whether the CAN message is correctly sent through the CAN bus, and records the number of failures; If the number of failures of the CAN message sent on the CAN bus exceeds the threshold value, the CAN message corresponding to the number of failures is packaged and reissued through the CAN bus. 9. The self-checking device of claim 8, wherein: The CAN self-test monitoring module is configured to perform the following operations: When obtaining the to-be-verified CAN message from the CAN bus, record the receiving time t2 and the received content c2 received from the CAN bus; After receiving the data frame from the data channel, parse out the expected sending time t1 and sending content c1 of the CAN message; According to the receiving time t2, determine the sending time corresponding to the receiving content c2, and then determine the decoded CAN message corresponding to the receiving content c2; Comparing the to-be-verified CAN message in the received content c2 with the decoded CAN message corresponding to the received content c2, if they are consistent, it is judged to be successful; if they are inconsistent, it is judged to be a failure. 10. The self-checking device according to claim 9, characterized in that: The packaged and reissued means that all CAN messages that have failed to be sent from the test equipment or the vehicle-machine system are encapsulated into message frames, and sent to the failed sender in the form of a data packet through the CAN bus. Receiver of CAN messages.

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