CN115047852A - Vehicle software flashing method and system - Google Patents

Abstract

The invention discloses a vehicle software flashing method and system, which periodically broadcasts a function frame for making an electronic control unit ECU enter an "electronic integration mode" on a network, and when the electronic control unit ECU on the network receives multiple consecutive In this function frame, the electronic control unit ECU enters the "electronic integration mode", the DTC fault storage of the electronic control ECU entering the "electronic integration mode" is disabled, the electronic control unit ECU stops sending function messages and no longer conducts network communication. Diagnosis, when the software flashing is completed, the electronic control unit ECU exits the "electronic integration mode". The invention can quickly restore the maximum bandwidth of the ECU network communication, and quickly perform configuration operations on the target ECU; at the same time, when the ECU on the network is in the configuration stage, the fault DTC storage connected to the vehicle communication network ECU is closed to effectively ensure the electronic control unit. Software flashing stability, high reliability, improve data transmission efficiency.

Description

Method and system for flashing vehicle software

technical field

The invention belongs to the technical field of automobile communication, and in particular relates to a vehicle software flashing method and system.

Background technique

At present, each electronic control unit ECU on the car mainly adopts the communication mode of CAN/LIN bus, and carries out diagnostic communication based on the UDS protocol. ISO14229 defines 6 types of functions and 26 types of services. Before flashing the vehicle software, the diagnostic equipment usually uses functional addressing to broadcast and send 0x85 and 0x28 service messages on the CAN network, respectively enabling/disabling the DTC fault storage for the electronic control unit ECU on the CAN bus. The target ECU function message sends the enable/disable operation to reduce the load rate of the CAN bus bandwidth. However, if a certain electronic control unit ECU on the CAN bus fails to receive the 0x28 or 0x85 message normally, these electronic control unit ECUs will not be able to normally perform the enabling/disabling of fault storage or the closing/opening of communication. Affects software flashing of other ECUs. For example, if the electronic control unit ECU1 on the CAN network does not normally receive the 0x85 or 0x28 command (such as an abnormal situation such as frame loss in reception) to prohibit DTC storage/close communication, because ECU1 is still in a normal communication state at this time (can Receive and send messages on the network), if other ECUs receive the 0x28 command to close the communication at this time, ECU1 will report a large number of communication failure DTCs because it cannot receive the messages fed back by other ECUs. At the same time, since ECU1 can communicate normally, ECU1 will continue to send application messages or network management messages on the CAN bus, occupying bandwidth, affecting the software flashing of other ECUs, and even causing the software flashing of other ECUs to fail. Therefore, an improved vehicle software flashing method is required, so that the ECU that can communicate normally on the CAN/LIN bus can stably receive the DTC fault storage enable/disable, function message transmission enable/disable commands, and ensure the stability of the software. Reliable flashing.

SUMMARY OF THE INVENTION

In order to solve the above problems, the present invention provides a method and system for flashing vehicle software.

A vehicle software flashing method for realizing one of the objectives of the present invention comprises the following steps:

S1. Periodically broadcast a function frame for making the electronic control unit enter the "electronic integration mode" on the network;

Periodic broadcasting of this function frame can ensure that all electronic control units on the network can receive it, which overcomes the fact that the existing industry technology only broadcasts 0x85 and 0x28 services (function commands defined by ISO14229) on the CAN network once. The ECU did not receive the problem;

The function frame can be sent by the diagnostic equipment, or sent by the vehicle controller;

S2. When the electronic control unit on the network receives multiple consecutive functional frames, the electronic control unit enters the "electronic integration mode", and the DTC fault storage of the electronic control unit entering the "electronic integration mode" is disabled, and the electronic control unit Stop sending function messages and no longer diagnose network communication;

The electronic control unit ECU on the network enters the "electronic integration mode" after receiving multiple consecutive frames of this function, which can avoid the situation that the electronic control unit accidentally enters the "electronic integration mode" during the process of transmitting or receiving function messages;

After the preset time has elapsed, stop sending the function frame that makes the electronic control unit enter the "electronic integration mode";

S3. After all the electronic control units enter the "electronic integration mode", start the software flashing process for the target electronic control units that need software flashing in turn;

S4. Perform software flashing on all target electronic control units in sequence, which specifically includes the following steps:

The diagnostic equipment sends an instruction to the target electronic control unit to obtain the Authentication Zone and Identification Zone information of the target electronic control unit by means of physical addressing;

The diagnostic equipment sends instructions for data request download and data transmission to the target electronic control unit;

The Authentication Zone includes parameters required for identifying the target electronic control unit ECU, such as function number, supplier code, and part number; the Identification Zone includes parameters required for identifying software, such as software download date, software number;

The diagnostic device unlocks the target electronic control unit ECU;

The diagnostic equipment erases the to-be-storage area of the target electronic control unit ECU software through routine services;

The diagnostic device sends an instruction for data request download and data transmission to the target electronic control unit ECU, until all data in the flash file is sent, and the diagnostic device sends an instruction to request to quit the transmission to make the target electronic control unit ECU end the data transmission;

The diagnostic equipment enables the target electronic control unit ECU to verify the storage area through routine services;

After the verification is completed, the diagnostic equipment generates new Identification Zone information, and sends an instruction to write the Identification Zone information into the target electronic control unit ECU;

The diagnostic equipment uses the functional addressing mode to send instructions to switch all the electronic control units in the CAN network to the extended session mode;

S5. After the software flashing of all target electronic control units is completed, the function frame for making all electronic control units exit the "electronic integration mode" is periodically broadcast on the network;

S6. When the electronic control unit on the network receives a plurality of consecutive functional frames as described in step S5, the electronic control unit exits the "electronic integration mode", resumes the sending and receiving of function messages, and allows the DTC to be updated and recorded.

Further, before the step S1, it also includes:

Switch the session mode of the target electronic control unit of the software to be flashed to the extended session mode;

It is judged whether the target electronic control unit of the software to be flashed meets the flashing conditions, and the next step is continued after the flashing conditions are met.

The flashing conditions include: the vehicle speed is less than the set value and the vehicle is in a non-Ready state; the set value may be 5Km/h, but is not limited to this value; the Ready state means that the vehicle has been prepared and started Success, you can start at any time.

Further, the function frame for controlling the electronic control unit to enter/or exit the "electronic integration mode" includes a first function frame and a second function frame, the first function frame is used to indicate the network state of CAN bus communication, and the second function frame. Used to enable and disable the ECU to update the memory fault DTC.

Further, the states of the CAN bus communication referred to by the first function frame include the following: Standby, Normal_Mode, Switch_to_standby, Wake, COM_OFF, respectively representing waiting state, normal state, switching to waiting state, wake-up state, communication Closed state; the enabled state referred to by the second function frame includes the following two: NOT_ACTIVATED and ACTIVATED, which respectively represent the enabling ECU to update the storage fault DTC and the non-enable ECU to update the storage fault DTC.

Further, when the electronic control unit on the CAN network receives multiple consecutive first function frames and second function frames, and the instructions represented by the first function frame and the second function frame are respectively "communication off state" and " When the electronic control unit is not enabled to update the storage fault DTC", the electronic control unit enters the "electronic integration mode"; the DTC fault storage of the electronic control unit in the "non-enabled electronic control unit update storage fault DTC" state is disabled. .

Further, when the software is flashed, the CAN network periodically broadcasts a function frame for the electronic control unit to exit the "electronic integration mode". When the electronic control unit on the network receives multiple consecutive first function frames and When the second function frame, and the command represented by the first function frame is not "communication off state", and the command represented by the second function frame is "enable ECU to update storage fault DTC", the electronic control unit exits the "electronic integration" model".

Further, the functional frame in which the electronic control unit enters/or exits the "electronic integration mode" also includes a third functional frame and a fourth functional frame, and the third functional frame is used to request the target electronic control unit on the LIN bus to enable/ Limp mode is disabled; the fourth functional frame is used to enable and disable the ECU on the LIN bus to update the memory fault DTC.

Further, when the electronic control unit on the LIN network receives multiple consecutive third function frames and fourth function frames, and the instructions represented by the third function frame and the fourth function frame are "non-enabled limp mode" and When "the electronic control unit on the LIN bus is not enabled to update the storage fault DTC", the electronic control unit enters the "electronic integration mode"; after the software is refreshed, the LIN network periodically sends the electronic control unit to exit the "electronic integration mode". ” function frame; when the electronic control unit on the LIN network receives multiple consecutive third and fourth function frames, and the commands represented by the third and fourth function frames are “enable limp mode” and "enable the ECU on the LIN bus to update the memory fault DTC", the ECU exits the "electronic integration mode".

The ECU in the above-mentioned "non-enabled limp mode" state is prohibited from activating the limp mode; the ECU in the "non-enabled LIN bus update storage fault DTC" state of the ECU is disabled for DTC fault storage.

The limp mode of the electronic control unit in the above-mentioned state of "enable limp mode" is activated; the DTC fault storage of the electronic control unit in the state of "enable the electronic control unit on the LIN bus to update the storage fault DTC" is turned on.

Further, the third function frame and the fourth function frame are sent by the vehicle controller and output to the ECU LIN bus; they can also be sent through the CAN ECU on the CAN bus and output to the ECU LIN bus; the CAN ECU is also a LIN bus. master node.

Further, when the electronic control unit on the bus is switched to the "electronic integration mode", the transmission of all fault events is stopped after the transmission of the fault event information that has not been sent before the storage of the fault event information is stopped.

The vehicle software flashing system for realizing the second objective of the present invention includes a broadcast module, a function frame judgment module, a mode switching module, a software flashing and verification module;

The broadcast module is used to periodically broadcast function frames used to make the electronic control unit enter/exit the "electronic integration mode" on the network;

The function frame judgment module is used for judging whether the electronic control unit has received a plurality of consecutive function frames; when the electronic control unit receives a plurality of consecutive function frames, the mode switching module makes the electronic control unit enter/exit the "electronic integration mode". ";

Further, when the electronic control unit receives a plurality of consecutive first function frames and second function frames, the mode switching module enables the electronic control unit on the CAN network to enter/exit the "electronic integration mode"; when the electronic control unit receives When there are multiple consecutive third function frames and fourth function frames, the mode switching module makes the electronic control unit on the LIN network enter/exit the "electronic integration mode";

Further, when the electronic control unit on the CAN network receives multiple consecutive first function frames and second function frames: if the instructions represented by the first function frame and the second function frame are respectively "communication closed state" and "non-enable electronic control unit to update storage fault DTC", the electronic control unit enters "electronic integration mode"; if the command represented by the first function frame is not "communication off state", the command represented by the second function frame For "enable ECU update storage fault DTC", the electronic control unit on the CAN network exits "electronic integration mode".

Further, when the electronic control unit on the LIN network receives a plurality of consecutive third and fourth function frames: if the commands represented by the third and fourth function frames are "disable limp mode" ” and “Non-enable the ECU on the LIN bus to update the storage fault DTC”, the ECU on the LIN network enters the “electronic integration mode”; if the commands represented by the third and fourth function frames are “ When "enable limp mode" and "enable ECU on LIN bus to update storage fault DTC", the ECU exits "electronic integration mode";

The mode switching module is used to make the electronic control unit enter or exit the "electronic integration mode";

The DTC fault storage of the electronic control unit in "electronic integration mode" is disabled, the electronic control unit stops sending function messages and no longer diagnoses network communication;

The software flashing and verification module is used for flashing the software of the target electronic control unit, and after the software flashing is completed, the storage area of the target electronic control unit is verified.

Further, it also includes a flashing condition judgment module, which is used to judge whether the target electronic control unit of the software to be flashed meets the flashing condition. The control unit enters the function frame of "electronic integration mode".

Beneficial effects:

The invention innovatively increases the "electronic integration mode" of the electronic control unit, which can quickly restore the maximum bandwidth of the network communication of the electronic control unit, so as to quickly configure the target electronic control unit; at the same time, when the electronic control unit on the network In the configuration stage, close the fault DTC storage connected to the vehicle CAN and LIN communication network ECUs (all ECUs have a communication layer diagnostic function to ensure monitoring of information transmitted by other ECUs), which can effectively ensure that the The stability and high reliability of the control unit software flashing and writing, improve the data transmission efficiency.

Description of drawings

Fig. 1 is the flow chart of the method of the present invention;

Figure 2 is a schematic diagram of the data flow of the "electronic integration mode" of the present invention.

Detailed ways

The following specific embodiments are used to explain the technical solutions of the claims of the present invention, so that those skilled in the art can understand the claims. The protection scope of the present invention is not limited to the following specific implementation structures. The technical solutions made by those skilled in the art that include the technical solutions of the claims of the present invention and are different from the following specific embodiments are also the protection scope of the present invention.

The diagnostic equipment is connected to the vehicle gateway through the vehicle OBD diagnostic port. The vehicle software is flashed based on the UDS diagnostic protocol, and services such as 0x10, 0x31, 0x22, 0x27, 0x34, 0x36, 0x37, and 0x11 are required. The services are described below.

The 0x10 service is used to switch the session mode of the current ECU (Electronic Control Unit). The default session mode can be switched to the extended session mode before the software flashing starts; when the flashing conditions are met, the extended mode can be switched to the programming session mode; after the data flashing, the session mode can be switched from the programming session mode to the extended session mode Session mode; after enabling ECU DTC recording, switch session mode to default session mode to complete all software flashing operations.

The 0x31 service is mainly used as a routine service and has three purposes: checking the flashing conditions, erasing the storage area to be written, and checking the sum.

The 0x22 service is used to read the software and hardware numbers of the target electronic control unit ECU.

The 0x27 service is used for secure access to the ECU.

0x34, 0x36, and 0x37 services are used for data request download, data transfer and exit data transfer respectively.

The 0x11 service is used to restart the ECU.

The invention combines the principle of UDS protocol and CAN bus communication, and introduces "electronic integration mode" in vehicle software flashing.

The following describes an embodiment of a vehicle software flashing method provided by the present invention with reference to FIG. 1 .

Vehicle software flashing is based on the UDS diagnostic protocol and CAN bus communication principle, using 0x10, 0x31, 0x22, 0x27, 0x34, 0x36, 0x37, 0x11 and other diagnostic services, and the concept of "electronic integration mode" is introduced into the vehicle software flashing. The specific steps are as follows:

Step1, the 0x10 service is used to switch the session mode of the ECU on the CAN network. The diagnostic equipment adopts the method of functional addressing, which makes all the electronic control unit ECUs on the CAN network switch to the extended session mode.

Step2, the 0x31 service is mainly used as a routine service. The diagnostic device sends a 0x31 request message through physical addressing to check whether the target electronic control unit ECU meets the flashing conditions. When the flashing conditions are met, the target electronic control unit ECU replies with a positive response 0x71 message. When the flashing conditions are not satisfied, the target electronic control unit ECU replies with a negative response NRC (Negative Response Codes) 0x22 message. When the flashing conditions are not met, exit the subsequent software flashing process.

Step3&Step4, the diagnostic equipment adopts the function addressing method to periodically send the first function frame and the second function frame. When the electronic control unit ECU on the CAN network receives the first function frame and the second function frame for three consecutive times, and the first function frame When the values of the frame and the second function frame are COM_OFF and ACTIVATED respectively, all electronic control unit ECUs on the CAN network enter the "electronic integration mode" to prohibit the electronic control unit ECU from updating the stored DTC and prohibiting the electronic control unit ECU from sending non-diagnostic reports. file, and set aside the maximum network bandwidth for flashing software. When all the ECUs whose software is to be flashed enter the electronic integration mode, go to the next step.

Step 5, the diagnostic device sends a 0x10 request message through the physical addressing mode, so that the target electronic control unit enters the programming session mode.

Step 6, the 0x22 service is used to read information such as ZA (Authentication Zone) and ZI (Identification Zone) of the target electronic control unit ECU. ZA includes parameters required to identify the target electronic control unit ECU, such as function number, supplier code, part number, etc. ZI includes parameters required to identify the software, such as software download date, software number and other information. The diagnostic device sends a request message 0x22 to the target electronic control unit ECU to obtain the ZA and ZI information of the electronic control unit by means of physical addressing.

Step7, the 0x27 service is used to securely access the ECU and unlock the target electronic control unit ECU.

Step8, the diagnostic equipment erases the target electronic control unit ECU software to be stored area through the routine service 0x31.

Step 9, the 0x34, 0x36, and 0x37 services are respectively used for data request download, data transmission and request to exit data transmission. The diagnostic device will cyclically send the data transmission service (0x36) until all the data in the flash file is sent. When all the data is sent, the diagnostic device sends a service message (0x37) requesting to quit the transmission to end the data transmission.

Step10, the diagnostic equipment requests the target electronic control unit ECU to verify the storage area through the routine service (0x31).

Step11, after the verification is completed normally, the diagnostic equipment generates new ZI information, and writes the ZI information into the target electronic control unit ECU through the 0x34 service.

Step 12, the diagnostic device uses physical addressing to restart the target electronic control unit ECU by serving 0x11.

Step 13, the diagnostic equipment adopts the functional addressing mode, and switches all the electronic control units in the CAN network to the extended session mode through the 0x10 service.

Step14&15, the diagnostic equipment uses the function addressing method to periodically send the first function frame and the second function frame. When the ECU on the CAN bus receives the second function frame periodically sent by the diagnostic equipment for three consecutive times, the value of the second function frame is "NOT_ACTIVATED" ”, and when the value of the first function frame is not COM_OFF, all electronic control unit ECUs on the CAN network jump out of the “electronic integration mode”, enable the DTC update storage function, enable the electronic control unit ECU to send and receive messages, restore Communication of non-diagnostic and/or functional messages.

Step16, the diagnostic equipment adopts the functional addressing mode, and switches all the electronic control units in the CAN network to the default session mode through the 0x10 (command) service. At this point, the entire software download process ends.

The "electronic integration mode" in the present invention refers to the input data stream sent to the electronic control unit ECU on the CAN network by using the first function frame and the second function frame as the diagnostic equipment cycle. The first function frame is used to indicate the network state of CAN bus communication, there are five network states: Standby, Normal_Mode, Switch_to_standby, Wake, COM_OFF (close communication). The second function frame is used to request to prohibit the ECU from updating the storage fault DTC, and there are two states: NOT_ACTIVATED, ACTIVATED.

The electronic control unit ECU uses the third function frame and the fourth function frame as the output data flow of the ECU CAN bus communication and the input data flow of the ECU LIN bus communication. The third function frame is used to request the ECU on the LIN bus to enter/exit the limphome mode. The third function frame encodes two states by one bit: 0NOT_ACTIVATED, 1ACTIVATED. The initial value is 0NOT_ACTIVATED when the ECU wakes up. The fourth function frame is used to request the ECU on the LIN bus to be enabled/disabled to update the storage fault DTC. The fourth functional frame encodes two states by one bit: 0NOT_ACTIVATED, 1ACTIVATED. The initial value is 0NOT_ACTIVATED when the ECU wakes up.

When the flashing conditions are met, when the electronic control unit ECU on the CAN bus receives the first function frame and the second function frame sent by the diagnostic equipment cycle three times in a row, and the values of the first function frame and the second function frame are respectively When COM_OFF and ACTIVATED, the electronic control unit ECU on the CAN network enters the "electronic integration mode"; when the electronic control unit ECU on the LIN bus receives the third and fourth function frames sent by the diagnostic equipment cycle for three consecutive times, And when the values of the third function frame and the fourth function frame are both "ACTIVATED", the electronic control unit ECU on the LIN bus enters the "electronic integration mode". All electronic control unit ECUs will stop transmitting function information on the network (except information related to electronic integration mode and anti-theft functions), and stop transmitting fault event information to the vehicle's "defect event history" fault log. However, when the target ECU on the bus switches to "electronic integration mode", the last fault event information that has not been sent is transmitted before the fault event information storage is stopped.

When the ECU on the CAN bus receives the second function frame value of “NOT_ACTIVATED” sent by the diagnostic equipment cycle three times in a row and the value of the first function frame is not COM_OFF, the ECU jumps out of the “electronic integration mode”; When the ECU of the ECU receives the third and fourth function frames periodically sent by the diagnostic equipment for three consecutive times, and the values of the third and fourth function frames are both "NOT_ACTIVATED", the LIN bus is powered on The control unit ECU jumps out of "electronic integration mode". The diagnostic equipment enables the electronic control unit in the CAN/LIN network to send and receive messages, and allows the electronic control unit in the network to update the record DTC.

It should be understood that the size of the sequence numbers of the steps in the above embodiments does not mean the sequence of execution, and the execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

The present application also provides an embodiment of a vehicle software flashing system, including a broadcast module, a function frame judgment module, a mode switching module, a software flashing and verification module;

The broadcast module is used to periodically broadcast function frames used to make the electronic control unit enter/exit the "electronic integration mode" on the network;

The function frame judgment module is used for judging whether the electronic control unit has received a plurality of consecutive function frames; when the electronic control unit receives a plurality of consecutive function frames, the mode switching module makes the electronic control unit enter/exit the "electronic integration mode". ";

The mode switching module is used to make the electronic control unit enter or exit the "electronic integration mode";

The DTC fault storage of the electronic control unit in "electronic integration mode" is disabled, the electronic control unit stops sending function messages and no longer diagnoses network communication;

The software flashing and verification module is used for flashing the software of the target electronic control unit of the software to be flashed. After the software flashing is completed, the storage area of the target electronic control unit is verified.

In another embodiment, a flashing condition judgment module is further included, which is used for judging whether the target electronic control unit of the software to be flashed meets the flashing condition. The flashing conditions are: the vehicle speed is less than 5km/h and the vehicle is in a non-Ready state. When the flashing conditions are not met, the broadcasting module stops periodically broadcasting the function frame used to make the electronic control unit enter the "electronic integration mode" on the CAN/LIN network.

The content not described in detail in this specification belongs to the prior art known to those skilled in the art.

Claims (10)

1. A vehicle software flashing method is characterized by comprising the following steps:

s1, periodically broadcasting a function frame for enabling the electronic control unit to enter an electronic integration mode on the network;

s2, when the electric control unit on the network receives a plurality of continuous function frames, the electric control unit enters an electronic integration mode, DTC fault storage of the electric control unit entering the electronic integration mode is forbidden, the electric control unit stops sending the function message and does not diagnose network communication any more;

s3, when all the electric control units enter an electronic integration mode, starting a software flashing flow for the target electric control unit needing software flashing in sequence;

s4, sequentially performing software flashing on all target electric control units;

s5, after the software of all target electric control units is refreshed, periodically broadcasting a function frame for enabling the electric control units to exit from the electronic integration mode on the network;

and S6, when the electronic control unit on the network receives a plurality of continuous function frames described in the step S5, the electronic control unit exits the electronic integration mode, resumes the transceiving of the function messages and allows the DTC to be updated and recorded.

2. The vehicle software flashing method as recited in claim 1, wherein the function frames for controlling the ecu to enter and/or exit the electronic integration mode include a first function frame for indicating a network status of CAN bus communication, and a second function frame for enabling and disabling the ecu to update the storage fault DTC.

3. The vehicle software flashing method as recited in claim 2, wherein the ecu enters the "electronic integration mode" when the ecu on the CAN network receives a plurality of consecutive first and second function frames, and the commands represented by the first and second function frames are "communication off state" and "no-enable ecu updates the storage fault DTC", respectively.

4. The vehicle software flashing method of claim 2, wherein the electronic control unit periodically broadcasts a function frame for causing the electronic control unit to exit the "electronic integration mode" after the software flashing is completed, and the electronic control unit exits the "electronic integration mode" when the electronic control unit on the network receives a plurality of consecutive first function frames and second function frames, and the command represented by the first function frame is not in the "communication off state" and the command represented by the second function frame is "enable ECU update storage failure DTC".

5. The vehicle software flashing method as defined in claim 1, wherein the functional frames in which the ecu enters and/or exits the "electronic integration mode" further include a third functional frame requesting that the target ecu on the LIN bus enable/disable the limp-home mode; the fourth function frame is used to enable and disable the electronic control unit on the LIN bus to update the memory failure DTC.

6. The vehicle software flashing method as recited in claim 5, wherein the ecu enters the "electronic integration mode" when the ecu on the LIN network receives a plurality of consecutive third and fourth function frames, and the commands represented by the third and fourth function frames are "non-enabled limp home mode" and "the ecu on the non-enabled LIN bus updates the storage failure DTC"; after the software is written, periodically sending a functional frame which enables the electric control unit to exit from the electronic integration mode on the LIN network; when the electronic control unit on the LIN network receives a plurality of times of continuous third and fourth function frames, and the instructions represented by the third and fourth function frames are 'enable limp home mode' and 'the electronic control unit on the non-enable LIN bus updates the storage fault DTC', the electronic control unit exits from the 'electronic integration mode'.

7. The vehicle software flashing method according to claim 1, wherein the third functional frame and the fourth functional frame are transmitted by the vehicle controller and output to the ECU LIN bus; CAN also be sent out through the CAN ECU on the CAN bus and output to the ECU LIN bus.

8. The vehicle software flashing method of claim 1, wherein step S1 is preceded by:

switching a session mode of an electric control unit of software to be flashed into an extended session mode;

and judging whether the electric control unit of the software to be flashed meets the flashing condition or not, and continuing the next operation after meeting the flashing condition.

9. The vehicle software flashing method according to claim 1, wherein in the step S4, the method for sequentially flashing the target electronic control units of all the software to be flashed comprises the following steps:

sending an instruction to a target electric control unit in a physical addressing mode to acquire the information of the Authentication Zone and the Identification Zone of the target electric control unit;

unlocking the target electronic control unit;

sending instructions for requesting downloading and transmitting data to a target electronic control unit;

after all the data in the flash file are sent, sending an instruction for requesting to quit transmission to enable the target electronic control unit to finish data transmission;

verifying a storage area of the target electronic control unit;

after the verification is finished, generating new Identification Zone information, and writing the Identification Zone information into a target electronic control unit;

and sending an instruction by adopting a function addressing mode to switch all the electric control units in the CAN network to an extended session mode.

10. A vehicle software flashing system according to the method of claim 1, comprising a broadcasting module, a function frame judging module, a mode switching module, a software flashing and checking module;

the broadcasting module is used for periodically broadcasting a functional frame for enabling the electric control unit to enter/exit an electronic integration mode on the network;

the function frame judging module is used for judging whether the electric control unit receives a plurality of continuous function frames;

the mode switching module is used for enabling the electric control unit to enter or exit an electronic integration mode;

the DTC fault storage of the electric control unit in the 'electronic integration mode' is forbidden, the electric control unit stops sending the function message and does not diagnose the network communication any more;

the software flashing and verifying module is used for flashing software of the target electric control unit and verifying the storage area of the target electric control unit after the software flashing is finished.

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