Fault determination method, fault determination device, processor and electronic control unit

Abstract

The present application provides a fault determination method, a fault determination device, a processor and an electronic control unit, the fault determination method comprising: using multiple preset calculation formulas to respectively calculate the voltage value of a target detection point at a collection time point to obtain multiple voltage calculation values; calculating the difference between each voltage calculation value and the voltage collection value to obtain a target difference, and calculating the ratio of the target difference to the voltage collection value to obtain multiple target percentages; determining the target fault type of the sensor based on at least multiple target percentages corresponding to one collection cycle and a preset deviation range, or determining the target fault type of the connector based on at least the voltage calculation values ​​and the voltage collection values ​​of multiple collection cycles, the target fault type including at least one of the following: sensor short circuit to ground, sensor short circuit to power supply, sensor open circuit, connector virtual connection, thereby solving the problem in the prior art that it is difficult to determine the fault type of the connector or sensor.

Description

Technical Field

[0001] The present application relates to the field of vehicle control, and in particular, to a fault determination method, a fault determination device, a computer-readable storage medium, a processor, and an electronic control unit. Background Art

[0002] The Electronic Control Unit (ECU) is generally connected to multiple sensors to obtain data information from multiple sensors, thereby performing logical control on the engine. The connection between the ECU and the corresponding sensors generally requires the use of connectors and wiring harnesses. For example, connectors are connected to both ends of the wiring harness, wherein one end of the wiring harness connected to the connector is connected to the sensor, and the other end of the wiring harness connected to the connector is connected to the ECU.

[0003] In the prior art, in order to determine whether a connector connected to one end of an electronic control unit or a sensor connected to an electronic control unit is faulty, an RC circuit (resistor-capacitancestry circuit, referred to as RC circuit) and an analog quantity acquisition module are generally set in the electronic control unit, wherein the analog quantity acquisition module is used to collect the voltage on the branch between the filter capacitor and the filter resistor in the RC circuit. Then, the voltage collected by the analog quantity acquisition module is used to determine whether the connector or sensor is faulty. For example, a typical analog quantity signal is a voltage type signal or a resistance type signal of 0 to 5V. When the analog quantity acquisition module collects 0V or 5V, a fault of a voltage value exceeding the lower limit or the upper limit can be reported. However, in this case, the specific fault type of the voltage value exceeding the lower limit or the upper limit cannot be distinguished. For example, it cannot be determined whether the voltage value exceeding the upper limit or the lower limit is caused by an external short circuit or an open circuit. In addition, in the case of a virtual connection of the connector, since the voltage value of the RC circuit fluctuates all the time, it cannot reach the upper limit or the lower limit, and it is also impossible to determine whether the connector is virtual.

[0004] Therefore, a method for determining the fault type of a connector or a sensor is urgently needed.

[0005] The above information disclosed in the background technology section is only used to enhance the understanding of the background technology of the technology described in this article. Therefore, the background technology may contain certain information that does not form the prior art known in this country for those skilled in the art. Summary of the invention

[0006] The main purpose of the present application is to provide a fault determination method, a fault determination device, a computer-readable storage medium, a processor and an electronic control unit to solve the problem in the prior art that it is difficult to determine the fault type of a connector or a sensor.

[0007] According to one aspect of an embodiment of the present invention, a fault determination method is provided, wherein an electronic control unit is connected to a sensor at least through a connector, the electronic control unit includes an RC circuit and an analog quantity acquisition module, wherein the analog quantity acquisition module is used to acquire a voltage acquisition value of a target detection point, the target detection point is located on a branch between a filter resistor and a filter capacitor in the RC circuit, and the fault determination method includes: using multiple preset calculation formulas to respectively calculate the voltage value of the target detection point at a collection time point to obtain multiple voltage calculation values, wherein one preset calculation formula corresponds to one voltage calculation value, and multiple collection time points constitute one collection cycle; calculating the difference between each voltage calculation value and the voltage collection value to obtain a target difference, and calculating the ratio of the target difference to the voltage collection value to obtain multiple target percentages; determining a target fault type of the sensor based on at least the multiple target percentages corresponding to one collection cycle and a preset deviation range, or determining the target fault type of the connector based on at least the voltage calculation values ​​and the voltage collection values ​​of multiple collection cycles, wherein the target fault type includes at least one of the following: sensor short circuit to ground, sensor short circuit to power supply, sensor open circuit, and connector virtual connection.

[0008] Optionally, the voltage calculation value includes a first voltage calculation value, a second voltage calculation value and a third voltage calculation value, and multiple preset calculation formulas are used to calculate the voltage value of the target detection point at a collection time point respectively to obtain multiple voltage calculation values, including: using Calculate the voltage value of the target detection point to obtain the first voltage calculation value, wherein R2 is the resistance value of the filter resistor, C2 is the capacitance value of the filter capacitor, t is the time interval between the current acquisition time point and the last acquisition time point, U1 is the input voltage of the sensor, and VF1 is the voltage calculation value; adopt Calculate the voltage value of the target detection point to obtain the second voltage calculation value, wherein R1 is the resistance value of the pull-up resistor or the pull-down resistor in the RC circuit, and VF2 is the second voltage calculation value; adopt The voltage value of the target detection point is calculated to obtain the third voltage calculation value, where VF3 is the third voltage calculation value.

[0009] Optionally, the target fault type of the sensor is determined based on at least a plurality of the target percentages and a preset deviation range corresponding to one of the acquisition cycles, including: at the current acquisition time point, the preset calculation formula corresponding to the voltage calculation value lower than a first preset threshold is determined as the target calculation formula, or the preset calculation formula corresponding to the voltage calculation value higher than a second preset threshold is determined as the target calculation formula; at the N acquisition time points before the current acquisition time point, if each of the target percentages corresponding to the target calculation formula is within the corresponding preset deviation range, the target fault type of the sensor is determined based on the fault type corresponding to the target calculation formula, wherein N is less than or equal to the total number of the acquisition time points in one of the acquisition cycles.

[0010] Optionally, determining the target fault type of the sensor according to the fault type corresponding to the target calculation formula includes: when the target calculation formula is In the case of , determining the target fault type is that the sensor is short-circuited to ground; in the target calculation formula In the case of , determining the target fault type is the sensor open circuit; in the target calculation formula is In the case of the above, it is determined that the target fault type is that the sensor is short-circuited to the power supply.

[0011] Optionally, the electronic control unit further comprises a counter, which determines the target fault type of the connector at least according to the voltage calculation values ​​and the voltage collection values ​​of the plurality of collection cycles, including: determining within the plurality of collection cycles, Whether the corresponding voltage calculation values ​​are all the same as the voltage acquisition values; when all the voltage calculation values ​​are the same as the voltage acquisition values, control the counter to increase the predetermined value to obtain the target counting number; when the target counting number exceeds the predetermined counting number within the predetermined time, determine that the target fault type is the virtual connection of the connector.

[0012] Optionally, the fault determination method further includes: controlling the counter to reset when the time counted by the counter exceeds the predetermined time.

[0013] According to another aspect of an embodiment of the present invention, a fault determination device is further provided, wherein an electronic control unit is connected to a sensor at least through a connector, wherein the electronic control unit includes an RC circuit and an analog quantity acquisition module, wherein the analog quantity acquisition module is used to acquire a voltage acquisition value of a target detection point, wherein the target detection point is located on a branch between a filter resistor and a filter capacitor in the RC circuit, and wherein the fault determination device includes: a first calculation unit, which is used to use a plurality of preset calculation formulas to respectively calculate a voltage value of the target detection point at a collection time point, to obtain a plurality of voltage calculation values, wherein one of the preset calculation formulas corresponds to one of the voltage calculation values, and a plurality of the collection time points correspond to one of the voltage calculation values. points constitute an acquisition cycle; a second calculation unit is used to calculate the difference between each of the voltage calculation values ​​and the voltage acquisition value to obtain a target difference, and calculate the ratio of the target difference to the voltage acquisition value to obtain multiple target percentages; a determination unit is used to determine the target fault type of the sensor according to at least a plurality of the target percentages corresponding to one acquisition cycle and a preset deviation range, or, at least according to the voltage calculation values ​​and the voltage acquisition values ​​of multiple acquisition cycles, determine the target fault type of the connector, and the target fault type includes at least one of the following: sensor short circuit to ground, sensor short circuit to power supply, sensor open circuit, and connector virtual connection.

[0014] According to another aspect of the embodiments of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein the program executes any one of the fault determination methods.

[0015] According to yet another aspect of the embodiments of the present invention, a processor is provided, wherein the processor is used to run a program, wherein the program executes any one of the fault determination methods when running.

[0016] According to one aspect of an embodiment of the present invention, there is further provided an electronic control unit, comprising a fault determination device, wherein the fault determination device is used to execute any one of the fault determination methods described above.

[0017] In an embodiment of the present invention, the fault determination method, first, at a collection time point, using multiple preset calculation formulas, respectively calculate the voltage value of the target detection point to obtain multiple voltage calculation values; then, according to the multiple voltage calculation values ​​and voltage collection values ​​corresponding to the collection time point, determine multiple target differences, and according to each of the target differences and the voltage collection values, determine multiple target percentages; finally, according to at least the multiple target percentages corresponding to one collection cycle and the preset deviation range, determine the target fault type of the sensor, or, according to at least the voltage calculation values ​​and the voltage collection values ​​of multiple collection cycles, determine the target fault type of the connector. In this solution, multiple preset calculation formulas are collected to respectively calculate multiple voltage calculation values ​​of the target detection point at the same collection time point; then, according to the multiple voltage calculation values ​​and the voltage collection values, determine multiple target percentages at the same collection time point; finally, according to at least the multiple target percentages corresponding to one collection cycle and the preset deviation range, determine the target fault type of the sensor, or, according to at least the voltage calculation values ​​and the voltage collection values ​​corresponding to multiple collection cycles, determine the target fault type of the connector. That is, this solution cleverly determines the target fault type of the sensor or connector by calculating the voltage calculation value of the target detection point. Since this solution does not need to change the internal circuit of the electronic control unit and does not need to increase the hardware cost, this ensures that the fault determination method of this solution has a low cost. The fault type of the sensor or connector can be determined only by the above fault determination method, thereby solving the problem of difficulty in determining the fault type of the connector or sensor in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0019] Figure 1 A flowchart of a fault determination method according to an embodiment of the present application is shown;

[0020] Figure 2 A schematic diagram of the structure of a voltage-type analog quantity acquisition circuit according to an embodiment of the present application is shown;

[0021] Figure 3 A schematic diagram of the structure of a resistance-type analog quantity acquisition circuit according to an embodiment of the present application is shown;

[0022] Figure 4 A schematic structural diagram of a fault determination device according to an embodiment of the present application is shown.

[0023] The above drawings include the following reference numerals:

[0024] 10. First calculation unit; 20. Second calculation unit; 30. Determination unit; 100. Electronic control unit; 200. Analog quantity acquisition module; 300. Filter capacitor; 400. Filter resistor; 500. Pull-down resistor; 600. Electrostatic capacitor; 700. Sensor; 800. Pull-up resistor; 900. Target detection point. DETAILED DESCRIPTION

[0025] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0026] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] As mentioned in the background technology, it is difficult to determine the fault type of a connector or sensor in the prior art. In order to solve the above problem, in a typical embodiment of the present application, a fault determination method, a fault determination device, a computer-readable storage medium, a processor and an electronic control unit are provided.

[0029] According to an embodiment of the present application, a fault determination method is provided.

[0030] Figure 1The electronic control unit is connected to the sensor at least through a connector, and the electronic control unit includes an RC circuit and an analog quantity acquisition module, wherein the analog quantity acquisition module is used to collect the voltage acquisition value of the target detection point, and the target detection point is located on the branch between the filter resistor and the filter capacitor in the RC circuit. Figure 1 As shown, the fault determination method includes the following steps:

[0031] Step S101, using multiple preset calculation formulas to respectively calculate the voltage value of the target detection point at a collection time point to obtain multiple voltage calculation values, wherein one of the preset calculation formulas corresponds to one of the voltage calculation values, and multiple of the collection time points constitute one collection cycle;

[0032] Step S102, calculating the difference between each of the voltage calculation values ​​and the voltage acquisition value to obtain a target difference, and calculating the ratio of the target difference to the voltage acquisition value to obtain a plurality of target percentages;

[0033] Step S103, determining the target fault type of the sensor at least based on the multiple target percentages corresponding to one acquisition cycle and the preset deviation range, or determining the target fault type of the connector at least based on the voltage calculation values ​​and the voltage acquisition values ​​of the multiple acquisition cycles, wherein the target fault type includes at least one of the following: sensor short circuit to ground, sensor short circuit to power supply, sensor open circuit, and connector virtual connection.

[0034] In the above fault determination method, first, at a collection time point, multiple preset calculation formulas are used to calculate the voltage value of the target detection point respectively to obtain multiple voltage calculation values; then, multiple target differences are determined according to the multiple voltage calculation values ​​and voltage collection values ​​corresponding to the above collection time point, and multiple target percentages are determined according to each of the above target differences and the above voltage collection values; finally, the target fault type of the above sensor is determined according to at least the multiple target percentages corresponding to the above collection cycle and the preset deviation range, or the target fault type of the above connector is determined according to at least the voltage calculation values ​​and the above voltage collection values ​​of the above collection cycles. In this scheme, multiple preset calculation formulas are collected to calculate the multiple voltage calculation values ​​of the target detection point at the same collection time point respectively; then, multiple target percentages at the same collection time point are determined according to the multiple voltage calculation values ​​and the voltage collection values; finally, the target fault type of the sensor is determined according to at least the multiple target percentages and the preset deviation range corresponding to the above collection cycle, or the target fault type of the connector is determined according to at least the voltage calculation values ​​and the voltage collection values ​​corresponding to the multiple collection cycles. That is, this solution cleverly determines the target fault type of the sensor or connector by calculating the voltage calculation value of the target detection point. Since this solution does not need to change the internal circuit of the electronic control unit and does not need to increase the hardware cost, this ensures that the fault determination method of this solution has a low cost. The fault type of the sensor or connector can be determined only by the above fault determination method, thereby solving the problem of difficulty in determining the fault type of the connector or sensor in the prior art.

[0035] Specifically, the sensor is a sensor connected to an electronic control unit via a connector and a wiring harness. The connector is a connector connected to an electronic control unit.

[0036] Specifically, Figure 2 and Figure 3 As shown, the electronic control unit 100 has an RC circuit and an analog quantity acquisition module 200 inside, wherein the RC circuit includes a filter capacitor 300 and a filter resistor 400, wherein the target detection point 900 is located on the branch between the filter capacitor 300 and the filter resistor 400. In addition, the RC circuit may also include an electrostatic capacitor 600 and a pull-down resistor 500 (such as Figure 2 ), or a pull-up resistor 800 (as shown Figure 3 The sensor 700 has connectors at both ends ( Figure 2 and Figure 3 A wiring harness (not shown) is connected to the electronic control unit 100.

[0037] In a specific embodiment of the present application, for example, if a collection cycle is 10 minutes, the voltage calculation value of the target detection point is calculated every 1 minute, that is, a collection cycle includes 10 collection time points, and at each collection time point, multiple preset calculation formulas are used to calculate the voltage value of the target detection point respectively, so that a collection time point corresponds to multiple voltage calculation values ​​and one voltage collection value, and then the difference between each voltage calculation value and the voltage collection value is calculated respectively to obtain multiple target differences, and then the ratio of each target difference to the voltage collection value is calculated to obtain multiple target percentages, so that a collection time point corresponds to multiple target percentages. Subsequently, the target fault type of the sensor can be determined based on at least the multiple target percentages corresponding to a collection cycle and the preset deviation range, or the target fault type of the connector can be determined based on at least the voltage calculation values ​​and the voltage collection values ​​of multiple collection cycles, so as to further ensure that the determined target fault type of the sensor or connector is relatively accurate.

[0038] Of course, in actual application, a collection cycle and the number of multiple collection time points included in a collection cycle can be adjusted according to actual application conditions.

[0039] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0040] In one embodiment of the present application, the voltage calculation value includes a first voltage calculation value, a second voltage calculation value and a third voltage calculation value, and multiple preset calculation formulas are used to calculate the voltage values ​​of the target detection points at the same acquisition time point, respectively, to obtain multiple voltage calculation values, including: using Calculate the voltage value of the target detection point to obtain the first voltage calculation value, wherein R2 is the resistance value of the filter resistor, C2 is the capacitance value of the filter capacitor, t is the time interval between the current acquisition time point and the previous acquisition time point, U1 is the input voltage of the sensor, and VF1 is the first voltage calculation value; adopt Calculate the voltage value of the target detection point to obtain the second voltage calculation value, wherein R1 is the resistance value of the pull-up resistor or the pull-down resistor in the RC circuit, and VF2 is the second voltage calculation value; The voltage value of the target detection point is calculated to obtain the third voltage calculation value, and VF3 is the third voltage calculation value. In this embodiment, for the same acquisition time point, different preset calculation formulas are used to calculate the voltage calculation value of the target detection point, and then the target fault type of the sensor is determined according to multiple voltage calculation values ​​and multiple voltage acquisition values ​​at multiple acquisition time points, so that the target fault type of the sensor can be further determined more cleverly.

[0041] In order to further determine the target fault type of the sensor more simply, in another embodiment of the present application, the target fault type of the sensor is determined based on at least a plurality of the target percentages and the preset deviation range corresponding to one of the acquisition cycles, including: at the current acquisition time point, the preset calculation formula corresponding to the voltage calculation value lower than the first preset threshold is determined as the target calculation formula, or the preset calculation formula corresponding to the voltage calculation value higher than the second preset threshold is determined as the target calculation formula; at the N acquisition time points before the current acquisition time point, if each of the target percentages corresponding to the target calculation formula is within the corresponding preset deviation range, the target fault type of the sensor is determined based on the fault type corresponding to the target calculation formula, wherein N is less than or equal to the total number of acquisition time points in one of the acquisition cycles.

[0042] Specifically, the first preset threshold value may be a voltage threshold value exceeding the lower limit of the target detection point, and the second preset threshold value may be a voltage threshold value exceeding the upper limit of the target detection point. When the typical analog signal is a voltage type signal of 0 to 5V or a resistance type signal, the first preset threshold value may be 0V, and the second preset threshold value may be 5V.

[0043] Specifically, one acquisition cycle may correspond to one preset deviation range, and of course, each acquisition time point may also correspond to one preset deviation range. This is not limited in the present application.

[0044] Specifically, in the above embodiment, if the current acquisition time point is the first acquisition time point of an acquisition cycle, then the N acquisition time points before the acquisition time point can be the N acquisition time points in the previous acquisition cycle. If in the same acquisition cycle, the total number of all acquisition time points before the current acquisition time point does not meet N, then multiple acquisition time points in the previous acquisition cycle can also be taken. In the present application, there is no limitation on this. In the actual application process, N can be adjusted according to the actual situation.

[0045] In another embodiment of the present application, according to the fault type corresponding to the target calculation formula, determining the target fault type of the sensor includes: when the target calculation formula is In the case of , it is determined that the above target fault type is the above sensor short circuit to ground; in the above target calculation formula is In the case of , the target fault type is determined to be the sensor open circuit; in the case of the target calculation formula is In the case of, the target fault type is determined to be the sensor short circuit to the power supply. In this embodiment, the target fault type of the sensor is determined according to the fault type corresponding to the preset calculation formula, so that the target fault type of the sensor can be further determined relatively simply.

[0046] In another embodiment of the present application, the electronic control unit further includes a counter, which determines the target fault type of the connector at least according to the voltage calculation values ​​and the voltage collection values ​​at the plurality of collection time points, including: determining within the plurality of collection cycles, Whether the corresponding voltage calculation values ​​are all the same as the voltage acquisition values; when all the voltage calculation values ​​are the same as the voltage acquisition values, control the counter to increase the preset value to obtain the target count number; when the target count number exceeds the preset count number within the preset time, determine the target fault type as the connector virtual connection. If the connector is virtual connection, the calculated voltage calculation value will fluctuate. Therefore, when the voltage calculation values ​​corresponding to multiple acquisition cycles are the same as the voltage acquisition values ​​when the sensor is open, control the counter to increase the preset value to obtain the target count number. If the target count number exceeds the preset count number within the preset time, determine the target fault type of the connector as the connector virtual connection, so that the fault type of the connector can be further determined more accurately.

[0047] Specifically, in the above embodiment, the above counter increases by a predetermined value, specifically, by 1. That is, in each acquisition cycle, When the corresponding voltage calculation values ​​are the same as the voltage acquisition values, the control counter increases by 1.

[0048] Specifically, the size of the above-mentioned predetermined time can be adjusted according to actual application conditions, and is not limited to this in the present application.

[0049] In one embodiment of the present application, the fault determination method further includes: when the time counted by the counter exceeds the predetermined time, controlling the counter to reset. This can further avoid errors in the target count times of the counter and further avoid inaccurate judgment of the target fault type of the docking plug-in.

[0050] The embodiment of the present application also provides a fault determination device. It should be noted that the fault determination device of the embodiment of the present application can be used to execute the fault determination method provided by the embodiment of the present application. The fault determination device provided by the embodiment of the present application is introduced below.

[0051] Figure 4 : is a schematic diagram of the structure of a fault determination device according to an embodiment of the present application. The electronic control unit is connected to the sensor at least through a connector, and the electronic control unit includes an RC circuit and an analog quantity acquisition module, wherein the analog quantity acquisition module is used to collect the voltage acquisition value of the target detection point, and the target detection point is located on the branch between the filter resistor and the filter capacitor in the RC circuit, such as Figure 4 As shown, the fault determination device includes:

[0052] A first calculation unit 10 is used to use multiple preset calculation formulas to respectively calculate the voltage value of the target detection point at a collection time point to obtain multiple voltage calculation values, wherein one of the preset calculation formulas corresponds to one of the voltage calculation values, and multiple of the collection time points constitute one collection cycle;

[0053] A second calculation unit 20 is used to calculate the difference between each of the above voltage calculation values ​​and the above voltage acquisition value to obtain a target difference, and calculate the ratio of the above target difference to the above voltage acquisition value to obtain multiple target percentages;

[0054] The determination unit 30 is used to determine the target fault type of the above-mentioned sensor based on at least the multiple target percentages corresponding to the above-mentioned acquisition cycle and the preset deviation range, or, at least based on the above-mentioned voltage calculation values ​​and the above-mentioned voltage acquisition values ​​of the above-mentioned multiple acquisition cycles, determine the above-mentioned target fault type of the above-mentioned connector, and the above-mentioned target fault type includes at least one of the following: sensor short circuit to ground, sensor short circuit to power supply, sensor open circuit, and connector virtual connection.

[0055] In the above-mentioned fault determination device, the first calculation unit is used to use multiple preset calculation formulas to respectively calculate the voltage value of the above-mentioned target detection point at a collection time point to obtain multiple voltage calculation values; the second calculation unit is used to calculate the difference between each of the above-mentioned voltage calculation values ​​and the above-mentioned voltage collection value to obtain a target difference, and calculate the ratio of the above-mentioned target difference to the above-mentioned voltage collection value to obtain multiple target percentages; the determination unit is used to determine the target fault type of the above-mentioned sensor according to at least the multiple target percentages corresponding to one of the above-mentioned collection cycles and the preset deviation range, or, at least according to the above-mentioned voltage calculation values ​​and the above-mentioned voltage collection values ​​of multiple collection cycles, determine the above-mentioned target fault type of the above-mentioned connector. In this scheme, multiple preset calculation formulas are collected to respectively calculate multiple voltage calculation values ​​of the target detection point at the same collection time point; then, multiple target percentages at the same collection time point are determined according to the multiple voltage calculation values ​​and the voltage collection values; finally, the target fault type of the sensor is determined according to at least the multiple target percentages corresponding to one collection cycle and the preset deviation range, or the target fault type of the connector is determined according to at least the voltage calculation values ​​and the voltage collection values ​​corresponding to multiple collection cycles. That is, this solution cleverly determines the target fault type of the sensor or connector by calculating the voltage calculation value of the target detection point. Since this solution does not need to change the internal circuit of the electronic control unit and does not need to increase the hardware cost, this ensures that the fault determination method of this solution has a low cost. The fault type of the sensor or connector can be determined only by the above fault determination method, thereby solving the problem of difficulty in determining the fault type of the connector or sensor in the prior art.

[0056] Specifically, the sensor is a sensor connected to an electronic control unit via a connector and a wiring harness. The connector is a connector connected to an electronic control unit.

[0057] Specifically, Figure 2 and Figure 3 As shown, the electronic control unit 100 has an RC circuit and an analog quantity acquisition module 200 inside, wherein the RC circuit includes a filter capacitor 300 and a filter resistor 400, wherein the target detection point 900 is located on the branch between the filter capacitor 300 and the filter resistor 400. In addition, the RC circuit may also include an electrostatic capacitor 600 and a pull-down resistor 500 (such as Figure 2 ), or a pull-up resistor 800 (as shown Figure 3 The sensor 700 has connectors at both ends ( Figure 2 and Figure 3 A wiring harness (not shown) is connected to the electronic control unit 100.

[0058] In a specific embodiment of the present application, for example, if a collection cycle is 10 minutes, the voltage calculation value of the target detection point is calculated every 1 minute, that is, a collection cycle includes 10 collection time points, and at each collection time point, multiple preset calculation formulas are used to calculate the voltage value of the target detection point respectively, so that a collection time point corresponds to multiple voltage calculation values ​​and one voltage collection value, and then the difference between each voltage calculation value and the voltage collection value is calculated respectively to obtain multiple target differences, and then the ratio of each target difference to the voltage collection value is calculated to obtain multiple target percentages, so that a collection time point corresponds to multiple target percentages. Subsequently, the target fault type of the sensor can be determined based on at least the multiple target percentages corresponding to a collection cycle and the preset deviation range, or the target fault type of the connector can be determined based on at least the voltage calculation values ​​and the voltage collection values ​​of multiple collection cycles, so as to further ensure that the determined target fault type of the sensor or connector is relatively accurate.

[0059] Of course, in actual application, a collection cycle and the number of multiple collection time points included in a collection cycle can be adjusted according to actual application conditions.

[0060] In one embodiment of the present application, the voltage calculation value includes a first voltage calculation value, a second voltage calculation value and a third voltage calculation value, and the first calculation unit includes a first calculation module, a second calculation module and a third calculation module, wherein the first calculation module is used to adopt Calculate the voltage value of the target detection point to obtain the first voltage calculation value, wherein R2 is the resistance value of the filter resistor, C2 is the capacitance value of the filter capacitor, t is the time interval between the current acquisition time point and the last acquisition time point, U1 is the input voltage of the sensor, and VF1 is the first voltage calculation value; the second calculation module is used to adopt Calculate the voltage value of the target detection point to obtain the second voltage calculation value, wherein R1 is the resistance value of the pull-up resistor or the pull-down resistor in the RC circuit, and VF2 is the second voltage calculation value; the third calculation module is used to adopt The voltage value of the target detection point is calculated to obtain the third voltage calculation value, and VF3 is the third voltage calculation value. In this embodiment, for the same acquisition time point, different preset calculation formulas are used to calculate the voltage calculation value of the target detection point, and then the target fault type of the sensor is determined according to multiple voltage calculation values ​​and multiple voltage acquisition values ​​at multiple acquisition time points, so that the target fault type of the sensor can be further determined more cleverly.

[0061] In order to further determine the target fault type of the sensor more simply, in another embodiment of the present application, the target fault type of the sensor is determined based on at least a plurality of the target percentages and the preset deviation range corresponding to one of the acquisition cycles, including: at the current acquisition time point, the preset calculation formula corresponding to the voltage calculation value lower than the first preset threshold is determined as the target calculation formula, or the preset calculation formula corresponding to the voltage calculation value higher than the second preset threshold is determined as the target calculation formula; at the N acquisition time points before the current acquisition time point, if each of the target percentages corresponding to the target calculation formula is within the corresponding preset deviation range, the target fault type of the sensor is determined based on the fault type corresponding to the target calculation formula, wherein N is less than or equal to the total number of acquisition time points in one of the acquisition cycles.

[0062] Specifically, the first preset threshold value may be a voltage threshold value exceeding the lower limit of the target detection point, and the second preset threshold value may be a voltage threshold value exceeding the upper limit of the target detection point. When the typical analog signal is a voltage type signal of 0 to 5V or a resistance type signal, the first preset threshold value may be 0V, and the second preset threshold value may be 5V.

[0063] Specifically, one acquisition cycle may correspond to one preset deviation range, and of course, each acquisition time point may also correspond to one preset deviation range. This is not limited in the present application.

[0064] Specifically, in the above embodiment, if the current acquisition time point is the first acquisition time point of an acquisition cycle, then the N acquisition time points before the acquisition time point can be the N acquisition time points in the previous acquisition cycle. If in the same acquisition cycle, the total number of all acquisition time points before the current acquisition time point does not meet N, then multiple acquisition time points in the previous acquisition cycle can also be taken. In the present application, there is no limitation on this. In the actual application process, N can be adjusted according to the actual situation.

[0065] In another embodiment of the present application, the second determination module includes a first determination submodule, a second determination submodule and a third determination submodule, wherein the first determination submodule is used for the target calculation formula: In the case of, determining the target fault type is the sensor short circuit to ground; the second determination submodule is used for the target calculation formula: In the case of, determining the target fault type as the sensor open circuit; the third determination submodule is used to calculate the target formula as In the case of, the target fault type is determined to be the sensor short circuit to the power supply. In this embodiment, the target fault type of the sensor is determined according to the fault type corresponding to the preset calculation formula, so that the target fault type of the sensor can be further determined relatively simply.

[0066] In another embodiment of the present application, the electronic control unit further includes a counter, and the determination unit further includes a third determination module, a control module and a fourth determination module, wherein the third determination module is used to determine within the plurality of acquisition cycles, Whether the corresponding voltage calculation values ​​are all the same as the voltage acquisition values; the control module is used to control the counter to increase the predetermined value to obtain the target count number when the voltage calculation values ​​are all the same as the voltage acquisition values; the fourth determination module is used to determine that the target fault type is the connector virtual connection when the target count number exceeds the predetermined count number within the predetermined time. If the connector is in a virtual connection, the calculated voltage calculation value will fluctuate. Therefore, when the voltage calculation values ​​corresponding to multiple acquisition cycles are the same as the voltage acquisition values ​​when the sensor is open, the counter is controlled to increase the predetermined value to obtain the target count number. If the target count number exceeds the predetermined count number within the predetermined time, the target fault type of the connector is determined to be the connector virtual connection, so that the fault type of the connector can be further determined more accurately.

[0067] Specifically, in the above embodiment, the above counter increases by a predetermined value, specifically, by 1. That is, in each acquisition cycle, When the corresponding voltage calculation values ​​are the same as the voltage acquisition values, the control counter increases by 1.

[0068] Specifically, the size of the above-mentioned predetermined time can be adjusted according to actual application conditions, and is not limited to this in the present application.

[0069] In one embodiment of the present application, the fault determination device further includes a control unit, which is used to control the counter to reset when the time counted by the counter exceeds the predetermined time. This can further avoid errors in the target count times of the counter and further avoid inaccurate judgment of the target fault type of the docking plug-in.

[0070] The above-mentioned fault determination device includes a processor and a memory. The above-mentioned first calculation unit, second calculation unit and determination unit, etc. are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize corresponding functions.

[0071] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be provided, and the problem of difficulty in determining the fault type of the connector or sensor in the prior art can be solved by adjusting kernel parameters.

[0072] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0073] An embodiment of the present invention provides a computer-readable storage medium on which a program is stored. When the program is executed by a processor, the above-mentioned fault determination method is implemented.

[0074] An embodiment of the present invention provides a processor, and the processor is used to run a program, wherein the fault determination method is executed when the program is running.

[0075] In a typical embodiment of the present application, an electronic control unit is further provided. The electronic control unit includes a fault determination device. The fault determination device is used to execute any one of the above-mentioned fault determination methods.

[0076] The above-mentioned electronic control unit includes the above-mentioned fault determination device, which is used to execute any one of the above-mentioned fault determination methods. In the above-mentioned fault determination method, first, at a collection time point, multiple preset calculation formulas are used to calculate the voltage value of the target detection point respectively to obtain multiple voltage calculation values; then, multiple target differences are determined according to the multiple voltage calculation values ​​and voltage collection values ​​corresponding to the above-mentioned collection time point, and multiple target percentages are determined according to each of the above-mentioned target differences and the above-mentioned voltage collection values; finally, the target fault type of the above-mentioned sensor is determined according to at least the multiple target percentages corresponding to the above-mentioned collection cycle and the preset deviation range, or the target fault type of the above-mentioned connector is determined according to at least the voltage calculation values ​​and the above-mentioned voltage collection values ​​of the above-mentioned collection cycles. In this scheme, multiple preset calculation formulas are collected to calculate the multiple voltage calculation values ​​of the target detection point at the same collection time point respectively; then, multiple target percentages at the same collection time point are determined according to the multiple voltage calculation values ​​and the voltage collection values; finally, the target fault type of the sensor is determined according to at least the multiple target percentages and the preset deviation range corresponding to the above-mentioned collection cycle, or the target fault type of the connector is determined according to at least the voltage calculation values ​​and the voltage collection values ​​corresponding to the multiple collection cycles. That is, this solution cleverly determines the target fault type of the sensor or connector by calculating the voltage calculation value of the target detection point. Since this solution does not need to change the internal circuit of the electronic control unit and does not need to increase the hardware cost, this ensures that the fault determination method of this solution has a low cost. The fault type of the sensor or connector can be determined only by the above fault determination method, thereby solving the problem of difficulty in determining the fault type of the connector or sensor in the prior art.

[0077] An embodiment of the present invention provides a device, the device including a processor, a memory, and a program stored in the memory and executable on the processor, and when the processor executes the program, at least the following steps are implemented:

[0078] Step S101, using multiple preset calculation formulas to respectively calculate the voltage value of the target detection point at a collection time point to obtain multiple voltage calculation values, wherein one of the preset calculation formulas corresponds to one of the voltage calculation values, and multiple of the collection time points constitute one collection cycle;

[0079] Step S102, calculating the difference between each of the voltage calculation values ​​and the voltage acquisition value to obtain a target difference, and calculating the ratio of the target difference to the voltage acquisition value to obtain a plurality of target percentages;

[0080] Step S103, determining the target fault type of the sensor at least based on the multiple target percentages corresponding to one acquisition cycle and the preset deviation range, or determining the target fault type of the connector at least based on the voltage calculation values ​​and the voltage acquisition values ​​of the multiple acquisition cycles, wherein the target fault type includes at least one of the following: sensor short circuit to ground, sensor short circuit to power supply, sensor open circuit, and connector virtual connection.

[0081] The devices in this article can be servers, PCs, PADs, mobile phones, etc.

[0082] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initializing at least the following method steps:

[0083] Step S101, using multiple preset calculation formulas to respectively calculate the voltage value of the target detection point at a collection time point to obtain multiple voltage calculation values, wherein one of the preset calculation formulas corresponds to one of the voltage calculation values, and multiple of the collection time points constitute one collection cycle;

[0084] Step S102, calculating the difference between each of the voltage calculation values ​​and the voltage acquisition value to obtain a target difference, and calculating the ratio of the target difference to the voltage acquisition value to obtain a plurality of target percentages;

[0085] Step S103, determining the target fault type of the sensor at least based on the multiple target percentages corresponding to one acquisition cycle and the preset deviation range, or determining the target fault type of the connector at least based on the voltage calculation values ​​and the voltage acquisition values ​​of the multiple acquisition cycles, wherein the target fault type includes at least one of the following: sensor short circuit to ground, sensor short circuit to power supply, sensor open circuit, and connector virtual connection.

[0086] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0087] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the above-mentioned units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0088] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0089] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0090] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the above-mentioned methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0091] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0092] 1) In the fault determination method of the present application, first, at a collection time point, multiple preset calculation formulas are used to calculate the voltage value of the target detection point respectively to obtain multiple voltage calculation values; then, multiple target differences are determined according to the multiple voltage calculation values ​​and voltage collection values ​​corresponding to the above-mentioned collection time point, and multiple target percentages are determined according to each of the above-mentioned target differences and the above-mentioned voltage collection values; finally, the target fault type of the above-mentioned sensor is determined according to at least the multiple target percentages corresponding to the above-mentioned collection cycle and the preset deviation range, or the target fault type of the above-mentioned connector is determined according to at least the voltage calculation values ​​and the above-mentioned voltage collection values ​​of the above-mentioned collection cycles. In this scheme, multiple preset calculation formulas are collected to calculate the multiple voltage calculation values ​​of the target detection point at the same collection time point respectively; then, multiple target percentages at the same collection time point are determined according to the multiple voltage calculation values ​​and the voltage collection values; finally, the target fault type of the sensor is determined according to at least the multiple target percentages and the preset deviation range corresponding to the above-mentioned collection cycle, or the target fault type of the connector is determined according to at least the voltage calculation values ​​and the voltage collection values ​​corresponding to the multiple collection cycles. That is, this solution cleverly determines the target fault type of the sensor or connector by calculating the voltage calculation value of the target detection point. Since this solution does not need to change the internal circuit of the electronic control unit and does not need to increase the hardware cost, this ensures that the fault determination method of this solution has a low cost. The fault type of the sensor or connector can be determined only by the above fault determination method, thereby solving the problem of difficulty in determining the fault type of the connector or sensor in the prior art.

[0093] 2) In the fault determination device of the present application, the first calculation unit is used to use multiple preset calculation formulas to calculate the voltage value of the above-mentioned target detection point at a collection time point respectively, and obtain multiple voltage calculation values; the second calculation unit is used to calculate the difference between each of the above-mentioned voltage calculation values ​​and the above-mentioned voltage collection value to obtain a target difference, and calculate the ratio of the above-mentioned target difference to the above-mentioned voltage collection value to obtain multiple target percentages; the determination unit is used to determine the target fault type of the above-mentioned sensor according to at least the multiple target percentages corresponding to one of the above-mentioned collection cycles and the preset deviation range, or, at least according to the above-mentioned voltage calculation values ​​and the above-mentioned voltage collection values ​​of multiple collection cycles, determine the above-mentioned target fault type of the above-mentioned connector. In this scheme, multiple preset calculation formulas are collected to calculate multiple voltage calculation values ​​of the target detection point at the same collection time point respectively; then, multiple target percentages at the same collection time point are determined according to the multiple voltage calculation values ​​and the voltage collection values; finally, the target fault type of the sensor is determined according to at least the multiple target percentages corresponding to one collection cycle and the preset deviation range, or the target fault type of the connector is determined according to at least the voltage calculation values ​​and the voltage collection values ​​corresponding to multiple collection cycles. That is, this solution cleverly determines the target fault type of the sensor or connector by calculating the voltage calculation value of the target detection point. Since this solution does not need to change the internal circuit of the electronic control unit and does not need to increase the hardware cost, this ensures that the fault determination method of this solution has a low cost. The fault type of the sensor or connector can be determined only by the above fault determination method, thereby solving the problem of difficulty in determining the fault type of the connector or sensor in the prior art.

[0094] 3) The electronic control unit of the present application includes the above-mentioned fault determination device, which is used to execute any one of the above-mentioned fault determination methods. In the above-mentioned fault determination method, first, at a collection time point, multiple preset calculation formulas are used to respectively calculate the voltage value of the target detection point to obtain multiple voltage calculation values; then, multiple target difference values ​​are determined based on multiple voltage calculation values ​​and voltage collection values ​​corresponding to the above-mentioned collection time point, and multiple target percentages are determined based on each of the above-mentioned target difference values ​​and the above-mentioned voltage collection values; finally, the target fault type of the above-mentioned sensor is determined based on at least the multiple target percentages corresponding to one of the above-mentioned collection cycles and the preset deviation range, or, at least based on the above-mentioned voltage calculation values ​​and the above-mentioned voltage collection values ​​of multiple above-mentioned collection cycles, the above-mentioned target fault type of the above-mentioned connector is determined. In this solution, multiple preset calculation formulas are collected to calculate multiple voltage calculation values ​​of the target detection point at the same collection time point; then, multiple target percentages at the same collection time point are determined based on the multiple voltage calculation values ​​and the voltage collection values; finally, the target fault type of the sensor is determined based on at least the multiple target percentages corresponding to one collection cycle and the preset deviation range, or the target fault type of the connector is determined based on at least the voltage calculation values ​​and the voltage collection values ​​corresponding to multiple collection cycles. That is, this solution cleverly determines the target fault type of the sensor or connector by calculating the voltage calculation value of the target detection point. Since this solution does not require changing the internal circuit of the electronic control unit and does not require additional hardware costs, this ensures that the fault determination method of this solution is low in cost. The fault type of the sensor or connector can be determined only by the above fault determination method, thereby solving the problem of difficulty in determining the fault type of the connector or sensor in the prior art.

[0095] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A fault determination method, wherein an electronic control unit is connected to a sensor at least through a connector, and the electronic control unit includes an RC circuit and an analog quantity acquisition module, wherein: The analog quantity acquisition module is used to acquire the voltage acquisition value of the target detection point, and the target detection point is located on the branch between the filter resistor and the filter capacitor in the RC circuit, characterized in that the fault determination method includes: Using multiple preset calculation formulas, respectively calculate the voltage value of the target detection point at a collection time point to obtain multiple voltage calculation values, wherein one preset calculation formula corresponds to one voltage calculation value, and multiple collection time points constitute one collection cycle; Calculating the difference between each of the voltage calculation values ​​and the voltage acquisition value to obtain a target difference, and calculating the ratio of the target difference to the voltage acquisition value to obtain a plurality of target percentages; The target fault type of the sensor is determined based on at least a plurality of the target percentages corresponding to one of the acquisition cycles and a preset deviation range, or the target fault type of the connector is determined based on at least the voltage calculation values ​​and the voltage acquisition values ​​of a plurality of the acquisition cycles, wherein the target fault type includes at least one of the following: sensor short circuit to ground, sensor short circuit to power supply, sensor open circuit, connector virtual connection, The voltage calculation value includes a first voltage calculation value, a second voltage calculation value and a third voltage calculation value. A plurality of preset calculation formulas are used to calculate the voltage value of the target detection point at a collection time point respectively, to obtain a plurality of voltage calculation values, including: use Calculate the voltage value of the target detection point to obtain the first voltage calculation value, wherein R2 is the resistance value of the filter resistor, C2 is the capacitance value of the filter capacitor, t is the time interval between the current acquisition time point and the previous acquisition time point, and U1 is the input voltage of the sensor. VF1 is the first voltage calculated value; use Calculate the voltage value of the target detection point to obtain the second voltage calculation value, wherein R1 is the resistance value of the pull-up resistor or the pull-down resistor in the RC circuit, and VF2 is the second voltage calculation value; use Calculate the voltage value of the target detection point to obtain the third voltage calculation value, VF3 is the third voltage calculation value, Determining a target fault type of the sensor according to at least a plurality of the target percentages corresponding to one of the acquisition cycles and a preset deviation range includes: At the current acquisition time point, the preset calculation formula corresponding to the voltage calculation value lower than the first preset threshold is determined as the target calculation formula, or the preset calculation formula corresponding to the voltage calculation value higher than the second preset threshold is determined as the target calculation formula; In the N acquisition time points before the current acquisition time point, if each of the target percentages corresponding to the target calculation formula is within the corresponding preset deviation range, the target fault type of the sensor is determined according to the fault type corresponding to the target calculation formula, wherein N is less than or equal to the total number of the acquisition time points in one acquisition cycle, Determining the target fault type of the sensor according to the fault type corresponding to the target calculation formula includes: The target calculation formula is In the case of , determining that the target fault type is a short circuit of the sensor to ground; The target calculation formula is In the case of , determining the target fault type is the sensor open circuit; The target calculation formula is In the case of , determining that the target fault type is that the sensor is short-circuited to the power supply, The electronic control unit further includes a counter, which determines the target fault type of the connector at least according to the voltage calculation values ​​and the voltage acquisition values ​​of a plurality of acquisition cycles, including: Determine a plurality of said acquisition cycles, Whether the corresponding voltage calculation values ​​are all the same as the voltage acquisition values; When all the voltage calculation values ​​are the same as the voltage acquisition values, controlling the counter to increase a predetermined value to obtain a target count number; When the target count times exceed the predetermined count times within the predetermined time, the target fault type is determined to be a virtual connection of the connector.

2. The fault determination method according to claim 1, characterized in that: The fault determination method further comprises: When the time counted by the counter exceeds the predetermined time, the counter is controlled to be reset.

3. A fault determination device, wherein an electronic control unit is connected to a sensor at least through a connector, and the electronic control unit includes an RC circuit and an analog quantity acquisition module, wherein: The analog quantity acquisition module is used to acquire the voltage acquisition value of the target detection point, and the target detection point is located on the branch between the filter resistor and the filter capacitor in the RC circuit, characterized in that the fault determination device includes: A first calculation unit, configured to use a plurality of preset calculation formulas to respectively calculate the voltage value of the target detection point at a collection time point to obtain a plurality of voltage calculation values, wherein one of the preset calculation formulas corresponds to one of the voltage calculation values, and a plurality of the collection time points constitutes one collection cycle; a second calculation unit, configured to calculate a difference between each of the voltage calculation values ​​and the voltage acquisition value to obtain a target difference, and calculate a ratio of the target difference to the voltage acquisition value to obtain a plurality of target percentages; a determination unit, configured to determine a target fault type of the sensor based on at least a plurality of the target percentages corresponding to one of the acquisition cycles and a preset deviation range, or to determine the target fault type of the connector based on at least the voltage calculation values ​​and the voltage acquisition values ​​of a plurality of the acquisition cycles, wherein the target fault type includes at least one of the following: a sensor short circuit to ground, a sensor short circuit to power supply, a sensor open circuit, and a connector virtual connection; The first calculation unit includes a first calculation module, a second calculation module and a third calculation module, and the voltage calculation value includes a first voltage calculation value, a second voltage calculation value and a third voltage calculation value, wherein the first calculation module is used to adopt Calculate the voltage value of the target detection point to obtain the first voltage calculation value, wherein R2 is the resistance value of the filter resistor, C2 is the capacitance value of the filter capacitor, t is the time interval between the current acquisition time point and the previous acquisition time point, U1 is the input voltage of the sensor, and VF1 is the first voltage calculation value; the second calculation module is used to adopt Calculate the voltage value of the target detection point to obtain the second voltage calculation value, wherein R1 is the resistance value of the pull-up resistor or the pull-down resistor in the RC circuit, and VF2 is the second voltage calculation value; the third calculation module is used to adopt Calculate the voltage value of the target detection point to obtain the third voltage calculation value, VF3 is the third voltage calculation value, The determination unit includes a fifth determination module and a sixth determination module, wherein the fifth determination module is used to determine the preset calculation formula corresponding to the voltage calculation value lower than the first preset threshold as the target calculation formula at the current acquisition time point, or to determine the preset calculation formula corresponding to the voltage calculation value higher than the second preset threshold as the target calculation formula; the sixth determination module is used to determine the target fault type of the sensor according to the fault type corresponding to the target calculation formula at the N acquisition time points before the current acquisition time point, if each of the target percentages corresponding to the target calculation formula is within the corresponding preset deviation range, wherein N is less than or equal to the total number of the acquisition time points in one acquisition cycle, The second determination module includes a first determination submodule, a second determination submodule and a third determination submodule, wherein the first determination submodule is used for the target calculation formula to be In the case of, determining the target fault type is the sensor short circuit to ground; the second determination submodule is used for the target calculation formula is In the case of, determining the target fault type is the sensor open circuit; the third The submodule is used to determine the target calculation formula: In the case of , determining that the target fault type is that the sensor is short-circuited to the power supply, The electronic control unit further includes a counter, and the determination unit further includes a third determination module, a control module and a fourth determination module, wherein the third determination module is used to determine within a plurality of the acquisition cycles, whether the corresponding voltage calculation values ​​are all the same as the voltage acquisition values; the control module is used to control the counter to increase the predetermined value to obtain the target counting number when the voltage calculation values ​​are all the same as the voltage acquisition values; the fourth determination module is used to determine that the target fault type is the connector virtual connection when the target counting number exceeds the predetermined counting number within a predetermined time.

4. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program executes the fault determination method of claim 1 or 2.

5. A processor, characterized in that: The processor is used to run a program, wherein the fault determination method according to claim 1 or 2 is executed when the program is run.

6. An electronic control unit, characterized in that: include: A fault determination device, wherein the fault determination device is used to execute the fault determination method according to claim 1 or 2.

Images