】系统地论述了检测滤波器、双阶段检测滤波器、自适应非线性观测器、基于非线性等价方程的残差生成器等故障检测与诊断方法的原理以及在车辆电控系统中的具体应用，并提出了汽车电控系统故障检测与诊断面临的问题和发展方向 ] Systematically discusses the principle of fault detection and diagnosis methods such as detection filter, two-stage detection filter, adaptive nonlinear observer, residual generator based on nonlinear equivalence equations and the specifics in the vehicle electronic control system Application, and put forward the car electronic control system fault detection and diagnosis of the problems and development direction