CN112925546B - Multistage verification method and system for preventing vehicle-mounted ECU from refreshing errors - Google Patents
Multistage verification method and system for preventing vehicle-mounted ECU from refreshing errors Download PDFInfo
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Abstract
The invention relates to a multistage verification method and a multistage verification system for preventing vehicle-mounted ECU refreshing errors, comprising the following steps that a controller executes automobile software updating and reprogramming is carried out; in the reprogramming process of the controller, data verification of more than three levels is carried out, namely, first-level data verification, second-level data verification and third-level data verification, and after the controller receives all data, the first CRC check value is compared with the fourth CRC check value; if the first-level data check, the second-level data check and the third-level data check pass the check, the application program written into the controller can be started normally, and if any one level fails the check, the reprogramming process is stopped, and the software update fails. Different from the prior art, the invention can confirm that all levels of data are transmitted without problems through multiple times of verification. And (3) performing multistage verification, ensuring the safety of the file and the safety of data in the transmission process, and realizing the safety reprogramming of the controller.
Description
Technical Field
The invention relates to the technical field of vehicle software, in particular to a multistage verification method and system for preventing vehicle-mounted ECU refreshing errors.
Background
In the prior art, after a pure electric vehicle is sold to a user, the software of the ECU can be remotely updated through the special ECU of the T-Box of the electric vehicle, but the risk of failure in remote updating exists, and the vehicle can not normally run.
In the prior art, in the reprogramming process of the controller, the upper computer performs service of a downloading request according to an address recorded in a flash file of the controller, after the downloading request passes, the upper computer transmits data to a corresponding address of the controller, and after transmitting data of one logic block address, the upper computer performs verification of data transmission in a routine service mode, and the controller judges whether the logic block data transmission is correct.
In general, the data transmission is checked by issuing a CRC value through the upper computer, the controller calculates the CRC value, and then the two check values are compared; the CRC value of a known file is a known fixed value, and whether the data transmission is accurate can be obtained by comparing the CRC value calculated by the controller with the known fixed value.
More information about the above solutions can also be found in the following documents:
in the Chinese patent with publication number CN 107992321A, an ECU software updating method, an ECU software updating device, a vehicle-mounted T-BOX and a vehicle are disclosed, wherein the method comprises the following steps: after the update detection is completed, receiving a positive response sent by the target ECU, and sending the positive response to the cloud server; receiving a software update package pushed by a cloud server, and performing CRC byte by byte in the transmission and receiving processes; transmitting an update software package to the target ECU when the second CRC checksum transmitted by the cloud server is the same as the first CRC checksum; after the target ECU updates the software to the update area through byte-by-byte CRC operation, reading the data of the update area to a buffer area of the vehicle-mounted T-BOX, and receiving and sending a switching instruction to the target software when the data of the update area is identical to the cloud server, so as to complete the software update. According to the method, the software update package is compared byte by byte for multiple times, CRC (cyclic redundancy check) protection is adopted, so that the software update is completed, the safety and the high efficiency of the updated software are improved, and the use experience of a user is improved.
In the Chinese patent with publication number of CN 110597792A, a multistage redundant data fusion method and device based on synchronous line loss data fusion are disclosed, wherein the method comprises the following steps: cleaning the power grid data by using a Kettle tool; carrying out abnormal data identification, systematic cluster analysis and positive and negative correlation analysis on the cleaned power grid data to obtain an abnormal data discrimination result; and performing multi-stage redundancy data verification and correction according to the abnormal data discrimination result to finish correction of power grid equipment parameters, calculation models, topology data and electric quantity data. According to the fusion method provided by the embodiment of the invention, multi-level redundant data fusion can be utilized to treat multi-source data, so that the data quality is improved, and the use requirement is effectively met.
In the process of implementing the present invention, the inventor finds that the following problems exist in the prior art:
1. in the data transmission process, the data transmitted to the inside of the controller changes due to factors such as environment and the like, and the CRC check value also changes correspondingly; the CRC value at this point is matched to the erroneous data, so the controller may misjudge that the data is correct, and writing the erroneous data to the controller may lead to uncontrollable consequences.
2. The server is utilized to compare the check values twice, and uncontrollable data migration can occur in the intermediate link depending on the connection quality of the server; the data accuracy cannot be ensured without multi-stage verification.
Disclosure of Invention
Therefore, a multi-stage verification method and a system for preventing the refresh error of the vehicle-mounted ECU are needed to be provided, so that the problem that in the prior art, a server is utilized to carry out verification value twice comparison, and uncontrollable data offset can occur in an intermediate link depending on the connection quality of the server is solved; the technical problem that the data accuracy cannot be guaranteed because multistage verification is not performed.
To achieve the above object, the present inventors provide a multistage verification method for preventing refresh errors of a vehicle-mounted ECU, comprising the steps of:
the method comprises the steps that a server sends a software update request to a vehicle-mounted T-Box, the vehicle-mounted T-Box sends the software update request to a vehicle-mounted ECU, the vehicle-mounted ECU receives the update request, responds to the software update, a controller executes the vehicle software update, and the controller is reprogrammed;
in the reprogramming process of the controller, more than three stages of data verification are performed:
the method comprises the steps of first-stage data checking, reserving a preset address in an upgrade file of a controller, writing a first CRC check value of the refreshing data, calculating a second CRC check value of the data of the upgrade file by a vehicle-mounted T-Box, and comparing the second CRC check value with the first CRC check value in the upgrade file of the controller;
the second-stage data verification, the vehicle-mounted T-Box reads back the data written into the controller in real time in the reprogramming process of the controller, and after the transmission of the data is completed, the vehicle-mounted T-Box calculates a third CRC check value of the transmitted data and sends the third CRC check value to the controller in a routine service mode;
after the controller receives the transmitted data, calculating a fourth CRC check value, and comparing the fourth CRC check value with a third CRC check value sent by a received vehicle-mounted T-Box;
third-stage data checking, wherein after the controller receives all data, the first CRC check value is compared with the fourth CRC check value;
if the first-level data check, the second-level data check and the third-level data check pass the check, the application program written into the controller can be started normally, and if any one level fails the check, the reprogramming process is stopped, and the software update fails.
As an embodiment of the present invention, in the first-stage data verification step, it is necessary to determine whether preset addresses are consecutive;
if the addresses are discontinuous, writing a first CRC check value of the logic block data into each logic block respectively; if the addresses are continuous, only one position is reserved for writing the first CRC check value.
As an embodiment of the present invention, in the second data verification step, it is necessary to determine whether the preset addresses are consecutive again;
if the addresses are discontinuous, a fourth CRC check value needs to be calculated in each logic block; if the addresses are consecutive, only one fourth CRC check value needs to be calculated.
As one embodiment of the invention, the controller is upgraded by BootLoader based on diagnosis, the data transmission is performed in the form of diagnostic service, and after the data transmission is completed, the transmitted data is subjected to CRC check by using a check routine diagnostic service.
As one implementation mode of the invention, the vehicle-mounted T-Box calculates a third CRC check value of the transmitted data, then sends the third CRC check value to the controller through routine service, and after receiving the third CRC check value, the controller calculates a fourth CRC check value of the received data, then compares the fourth CRC check value with the third CRC check value transmitted by the vehicle-mounted T-Box, if the third CRC check value is consistent with the third CRC check value, the vehicle-mounted T-Box transmits a passing reply, and if the third CRC check value is inconsistent with the third CRC check value, the controller transmits an failed reply.
As an embodiment of the present invention, the method further comprises the steps of:
a fourth data check, after the controller receives all the data, comparing the second CRC check value with the fourth CRC check value;
if the fourth data verification fails, stopping the reprogramming process, and failing to update the software.
As an embodiment of the present invention, the method further comprises the steps of:
the fifth data checking, after the controller receives all the data, comparing the first CRC check value, the second CRC check value, the third CRC check value and the fourth CRC check value;
if the verification of the fifth data passes the verification, the application program written into the controller can be started normally, otherwise, the reprogramming process is stopped, and the software update fails.
Compared with the prior art, the technical scheme is characterized in that more than three levels of data verification are carried out in the reprogramming process of the controller, the first level of data verification is carried out, and before data are transmitted, the vehicle-mounted T-Box carries out second CRC (cyclic redundancy check) values on the data of the upgrade file and the first CRC values in the upgrade file of the controller; the second stage data checking, after the data transmission, the vehicle-mounted T-Box calculates a third CRC check value of the transmitted data after the data transmission is completed, and the controller calculates a fourth CRC check value and compares the fourth CRC check value after the transmitted data is received; third-stage data checking, wherein after the controller receives all data, the first CRC check value is compared with the fourth CRC check value; thus, through the three-level verification process, the whole process coverage is realized; the CRC check value of a known file is a known fixed value, and by checking multiple times, it can be confirmed that the transmission of each level of data is not problematic. And (3) performing multistage verification, ensuring the safety of the file and the safety of data in the transmission process, and realizing the safety reprogramming of the controller. The method can be realized by adding corresponding mechanisms in the existing upper computer and controller, multi-party linkage is not needed, and additional hardware resources are not needed to be added.
In order to achieve the above object, the present inventors also provide a multi-stage verification system for preventing refresh errors of an ECU in a vehicle, which includes an execution unit for executing the multi-stage verification method for preventing refresh errors of an ECU in a vehicle according to any one of the present inventors.
Different from the prior art, the technical scheme realizes the coverage of the whole flow through a three-level verification process; the CRC check value of a known file is a known fixed value, and by checking multiple times, it can be confirmed that the transmission of each level of data is not problematic. And (3) performing multistage verification, ensuring the safety of the file and the safety of data in the transmission process, and realizing the safety reprogramming of the controller. The method can be realized by adding corresponding mechanisms in the existing upper computer and controller, multi-party linkage is not needed, and additional hardware resources are not needed to be added.
Drawings
Fig. 1 is a logic diagram of a multi-stage verification method for preventing refresh errors of an onboard ECU according to an embodiment.
Detailed Description
In order to describe the technical content, constructional features, achieved objects and effects of the technical solution in detail, the following description is made in connection with the specific embodiments in conjunction with the accompanying drawings.
In the description of the present application, the terms "first," "second," and "second," are used for descriptive purposes only and are not to be construed as indicating or implying relative importance unless explicitly specified and defined otherwise; the term "plurality" means two or more, unless specified or indicated otherwise; the terms "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, integrally connected, or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present specification, it should be understood that the terms "upper," "lower," "left," "right," and the like in the embodiments of the present application are described in terms of angles shown in the drawings, and should not be construed as limiting the embodiments of the present application. In the context of this document, it will also be understood that when an element is referred to as being "on" or "under" another element, it can be directly on the other element or be indirectly on the other element through intervening elements.
ECU (Electronic Control Unit), also known as "car computer", etc.
The Telematics BOX is short for vehicle-mounted T-BOX, and the vehicle networking system comprises four parts, namely a host, a vehicle-mounted T-BOX, a mobile phone APP and a background system.
The CRC check (i.e., cyclic redundancy check) is a check mode most commonly used in data communication, and is widely applied to data transmission in a data link layer to ensure an error detection measure of data transmission reliability.
In an embedded operating system, bootLoader is run before the operating system kernel runs. The hardware device may be initialized and a memory space map established to bring the system's software and hardware environment to a proper state to prepare the correct environment for the final invocation of the operating system kernel.
Referring to fig. 1, the present embodiment relates to a multi-stage verification method for preventing refresh errors of an ECU in a vehicle, including the steps of:
s101, a server sends a software update request to a vehicle-mounted T-Box, the vehicle-mounted T-Box sends the software update request to a vehicle-mounted ECU, the vehicle-mounted ECU receives the update request, responds to the software update, a controller executes the vehicle software update, and the controller performs reprogramming;
s102, in the reprogramming process of the controller, data verification with more than three stages is carried out:
the method comprises the steps of first-stage data checking, reserving a preset address in an upgrade file of a controller, writing a first CRC check value of the refreshing data, calculating a second CRC check value of the data of the upgrade file by a vehicle-mounted T-Box, and comparing the second CRC check value with the first CRC check value in the upgrade file of the controller;
optionally, in the first-stage data verification step, whether the preset address is continuous or not needs to be judged;
if the addresses are discontinuous, writing a first CRC check value of the logic block data into each logic block respectively; if the addresses are continuous, only one position is reserved for writing the first CRC check value. Therefore, in order to prevent the situation that the addresses are discontinuous, whether the addresses are continuous or not needs to be judged first, if the addresses are discontinuous, a first CRC check value needs to be written into each logic block, and if the addresses are continuous, only one first CRC check value needs to be written into the logic blocks, so that the accuracy of the first CRC check value is improved.
The second-stage data verification, the vehicle-mounted T-Box reads back the data written into the controller in real time in the reprogramming process of the controller, and after the transmission of the data is completed, the vehicle-mounted T-Box calculates a third CRC check value of the transmitted data and sends the third CRC check value to the controller in a routine service mode;
after the controller receives the transmitted data, calculating a fourth CRC check value, and comparing the fourth CRC check value with a third CRC check value sent by a received vehicle-mounted T-Box;
optionally, in the second data checking step, whether the preset address is continuous or not needs to be judged again;
if the addresses are discontinuous, a fourth CRC check value needs to be calculated in each logic block; if the addresses are consecutive, only one fourth CRC check value needs to be calculated. At this time, in order to ensure that the data received by each logic block is accurate, if the addresses are discontinuous, the fourth CRC check value needs to be calculated for each logic block, and if the addresses are continuous, only one fourth CRC check value needs to be calculated.
Third-stage data checking, wherein after the controller receives all data, the first CRC check value is compared with the fourth CRC check value;
if the first-level data check, the second-level data check and the third-level data check pass the check, the application program written into the controller can be started normally, and if any one level fails the check, the reprogramming process is stopped, and the software update fails.
Optionally, the controller is upgraded by BootLoader based on diagnosis, the data transmission is performed in the form of diagnostic service, and after the data transmission is completed, the transmitted data is subjected to CRC check by using a check routine diagnostic service.
Specifically, the vehicle-mounted T-Box calculates a third CRC check value of the transmitted data, then sends the third CRC check value to the controller through routine service, after receiving the third CRC check value, the controller calculates a fourth CRC check value of the received data, compares the fourth CRC check value with the third CRC check value transmitted by the vehicle-mounted T-Box, if the third CRC check value is consistent with the third CRC check value transmitted by the vehicle-mounted T-Box, a passing reply is sent, and if the third CRC check value is inconsistent with the third CRC check value, a non-passing reply is sent. Therefore, the transmission data can be calculated once in the vehicle-mounted T-Box and calculated once in the controller, the accuracy of transmission between the vehicle-mounted T-Box and the controller is ensured, and the situation that the uncontrollable result is caused by writing error data in the controller is prevented. The existing checking mode is improved, and false data checking passing is avoided.
Optionally, the method further comprises the following steps:
a fourth data check, after the controller receives all the data, comparing the second CRC check value with the fourth CRC check value;
if the fourth data verification fails, stopping the reprogramming process, and failing to update the software.
At this time, before transmission, the known first CRC check value is compared with a second CRC check value calculated by the vehicle-mounted T-Box, and consistency of the first CRC check value and the second CRC check value is checked; after transmission, comparing the third CRC check value calculated by the vehicle-mounted T-Box with the fourth CRC check value calculated by the controller, and checking the consistency of the third CRC check value and the fourth CRC check value; and comparing the first CRC check value with the fourth CRC check value of the original data to check whether the data are consistent after transmission. At this time, in order to ensure the consistency of the data, the second CRC check value is further compared with the fourth CRC check value to check whether the calculated values before and after transmission are consistent, and checking is performed for multiple times, so that the error data is prevented from being written into the controller, and uncontrollable results are caused. The existing checking mode is improved, and false data checking passing is avoided.
As an embodiment of the present invention, the method further comprises the steps of:
the fifth data checking, after the controller receives all the data, comparing the first CRC check value, the second CRC check value, the third CRC check value and the fourth CRC check value;
if the verification of the fifth data passes the verification, the application program written into the controller can be started normally, otherwise, the reprogramming process is stopped, and the software update fails. Thus, the first CRC check value, the second CRC check value, the third CRC check value and the fourth CRC check value are compared, so that the whole flow data are accurate from beginning to end, and only the transmitted data are accurate, the software is updated.
The embodiment also relates to a multistage verification system for preventing vehicle-mounted ECU refreshing errors, which comprises an execution unit, wherein the execution unit is used for executing the multistage verification method for preventing vehicle-mounted ECU refreshing errors.
Compared with the prior art, the technical scheme is characterized in that more than three levels of data verification are carried out in the reprogramming process of the controller, the first level of data verification is carried out, and before data are transmitted, the vehicle-mounted T-Box carries out second CRC (cyclic redundancy check) values on the data of the upgrade file and the first CRC values in the upgrade file of the controller; the second stage data checking, after the data transmission, the vehicle-mounted T-Box calculates a third CRC check value of the transmitted data after the data transmission is completed, and the controller calculates a fourth CRC check value and compares the fourth CRC check value after the transmitted data is received; third-stage data checking, wherein after the controller receives all data, the first CRC check value is compared with the fourth CRC check value; thus, through the three-level verification process, the whole process coverage is realized; the CRC check value of a known file is a known fixed value, and by checking multiple times, it can be confirmed that the transmission of each level of data is not problematic. And (3) performing multistage verification, ensuring the safety of the file and the safety of data in the transmission process, and realizing the safety reprogramming of the controller. The method can be realized by adding corresponding mechanisms in the existing upper computer and controller, multi-party linkage is not needed, and additional hardware resources are not needed to be added.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the statement "comprising … …" or "comprising … …" does not exclude the presence of additional elements in a process, method, article or terminal device comprising the element. Further, herein, "greater than," "less than," "exceeding," and the like are understood to not include the present number; "above", "below", "within" and the like are understood to include this number.
It will be appreciated by those skilled in the art that the various embodiments described above may be provided as methods, apparatus, or computer program products. These embodiments may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. All or part of the steps in the methods according to the above embodiments may be implemented by a program for instructing related hardware, and the program may be stored in a storage medium readable by a computer device, for performing all or part of the steps in the methods according to the above embodiments. The computer device includes, but is not limited to: personal computers, servers, general purpose computers, special purpose computers, network devices, embedded devices, programmable devices, intelligent mobile terminals, intelligent home devices, wearable intelligent devices, vehicle-mounted intelligent devices and the like; the storage medium includes, but is not limited to: RAM, ROM, magnetic disk, magnetic tape, optical disk, flash memory, usb disk, removable hard disk, memory card, memory stick, web server storage, web cloud storage, etc.
The embodiments described above are described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a computer device to produce a machine, such that the instructions, which execute via the processor of the computer device, create means for implementing the functions specified in the flowchart block or blocks and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer device-readable memory that can direct a computer device to function in a particular manner, such that the instructions stored in the computer device-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer apparatus to cause a series of operational steps to be performed on the computer apparatus to produce a computer implemented process such that the instructions which execute on the computer apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should be noted that, although the foregoing embodiments have been described herein, the scope of the present invention is not limited thereby. Therefore, based on the innovative concepts of the present invention, alterations and modifications to the embodiments described herein, or equivalent structures or equivalent flow transformations made by the present description and drawings, apply the above technical solution, directly or indirectly, to other relevant technical fields, all of which are included in the scope of the invention.
Claims (7)
1. The multistage verification method for preventing the vehicle-mounted ECU from refreshing errors is characterized by comprising the following steps of:
the method comprises the steps that a server sends a software update request to a vehicle-mounted T-Box, the vehicle-mounted T-Box sends the software update request to a vehicle-mounted ECU, the vehicle-mounted ECU receives the update request, responds to the software update, a controller executes the vehicle software update, and the controller is reprogrammed;
in the reprogramming process of the controller, more than three stages of data verification are performed:
the method comprises the steps of first-stage data checking, reserving a preset address in an upgrade file of a controller, writing a first CRC check value of the refreshing data, calculating a second CRC check value of the data of the upgrade file by a vehicle-mounted T-Box, and comparing the second CRC check value with the first CRC check value in the upgrade file of the controller;
the second-stage data verification, the vehicle-mounted T-Box reads back the data written into the controller in real time in the reprogramming process of the controller, and after the transmission of the data is completed, the vehicle-mounted T-Box calculates a third CRC check value of the transmitted data and sends the third CRC check value to the controller in a routine service mode;
after the controller receives the transmitted data, calculating a fourth CRC check value, and comparing the fourth CRC check value with a third CRC check value sent by a received vehicle-mounted T-Box;
third-stage data checking, wherein after the controller receives all data, the first CRC check value is compared with the fourth CRC check value;
if the first-level data verification, the second-level data verification and the third-level data verification pass the verification, the application program written into the controller can be normally started, and if any one level does not pass the verification, the reprogramming process is stopped, and the software update fails;
in the first-stage data verification step, whether preset addresses are continuous or not needs to be judged;
if the addresses are discontinuous, writing a first CRC check value of the logic block data into each logic block respectively; if the addresses are continuous, only one position is reserved for writing the first CRC check value.
2. The multi-stage verification method for preventing a refresh error of an on-vehicle ECU according to claim 1, wherein in the second stage data verification step, it is necessary to determine again whether the preset addresses are consecutive;
if the addresses are discontinuous, a fourth CRC check value needs to be calculated in each logic block; if the addresses are consecutive, only one fourth CRC check value needs to be calculated.
3. The multi-stage verification method for preventing refresh errors of an on-vehicle ECU according to claim 1, wherein the controller is upgraded by a BootLoader based on diagnosis, the data transmission is performed in the form of a diagnosis service, and the transmitted data is CRC-checked by a check routine diagnosis service after the data transmission is completed.
4. A multistage check method for preventing vehicle-mounted ECU refresh errors according to claim 3, wherein the vehicle-mounted T-Box calculates a third CRC check value of the transmitted data, then sends the third CRC check value to the controller through routine service, and after receiving the third CRC check value, the controller calculates a fourth CRC check value of the received data, and then compares the fourth CRC check value with the third CRC check value sent from the vehicle-mounted T-Box, if the third CRC check value is consistent with the third CRC check value, a passing reply is sent, and if the third CRC check value is inconsistent with the third CRC check value, a failed reply is sent.
5. The multi-stage verification method for preventing a refresh error of an on-vehicle ECU according to claim 1, further comprising the steps of:
a fourth data check, after the controller receives all the data, comparing the second CRC check value with the fourth CRC check value;
if the fourth data verification fails, stopping the reprogramming process, and failing to update the software.
6. The multi-stage verification method for preventing a refresh error of an on-vehicle ECU according to claim 1, further comprising the steps of:
the fifth data checking, after the controller receives all the data, comparing the first CRC check value, the second CRC check value, the third CRC check value and the fourth CRC check value;
if the verification of the fifth data passes the verification, the application program written into the controller can be started normally, otherwise, the reprogramming process is stopped, and the software update fails.
7. A multistage verification system for preventing a vehicle-mounted ECU refresh error, comprising an execution unit for executing the multistage verification method for preventing a vehicle-mounted ECU refresh error according to any one of claims 1 to 6.
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| CN112152825B (en) * | 2019-06-27 | 2023-09-12 | 广东美的制冷设备有限公司 | Multi-level module upgrade method, device and electronic equipment for home appliances |
| CN111930407B (en) * | 2020-10-19 | 2021-08-24 | 广州汽车集团股份有限公司 | Vehicle ECU software upgrade method, system, microcontroller and SOC terminal of vehicle TBOX |
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| CN107632862A (en) * | 2017-09-20 | 2018-01-26 | 江苏兆能电子有限公司 | A kind of multistage start-up loading method of vehicle electronic control unit ECU |
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