Fault detection method, device, equipment and vehicle for vehicle braking system

Abstract

The present invention relates to a fault detection method, device, equipment, and vehicle for a vehicle brake system. The method comprises: acquiring a pedal signal from a pedal sensor, a brake signal from a brake sensor, and a first on-board diagnostic (OBD) system (OBD) signal from an OBD interface at various moments during vehicle operation using the same timeline; detecting the abnormal moment at which a braking abnormality occurs at each moment based on changes in at least one of the pedal signal, brake signal, and first OBD signal at different moments; and determining the cause and location of the braking abnormality based on the pedal signal, brake signal, and first OBD signal at the abnormal moment in response to detecting the abnormal moment. By integrating and processing the signals detected by the pedal sensor and brake sensor and the signals read by the OBD interface using the same timeline, the present invention can quickly and accurately confirm vehicle faults.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle detection technology, and more particularly, to a fault detection method, device, apparatus, and vehicle for a vehicle brake system. Background Art

[0002] The following describes the relevant technical background of the present invention, but these descriptions do not necessarily constitute the prior art of the present invention.

[0003] The vehicle braking system is mainly composed of energy supply device, control device, transmission device and brake, such as brake pedal, vacuum booster or boost motor, master brake cylinder, brake oil pipe, brake slave cylinder, brake disc, drum or disc brake and many other components.

[0004] Currently, vehicle brake system fault analysis typically involves replacing parts sequentially until the problem is identified. For example, existing brake system fault diagnosis relies primarily on DTCs (Disturbance Trouble Codes). DTCs primarily detect brake problems such as software anomalies related to braking and functional impairments caused by physical damage to brake system components. Beyond these types of brake problems, if the brake system malfunction is sporadic or involves issues such as uneven friction pad wear or weak brakes, it can be difficult to pinpoint the problem using DTCs and part replacement testing. Summary of the Invention

[0005] The purpose of the present invention is to overcome the above-mentioned defects and provide a fault detection method, device, equipment and vehicle for a vehicle braking system.

[0006] According to a first aspect of the present invention, a fault detection method for a vehicle braking system is provided, comprising: acquiring a pedal signal from a pedal sensor, a brake signal from a brake sensor, and a first OBD signal from an on-board diagnostics system (OBD) interface at various moments during the operation of the vehicle on the same time axis; detecting an abnormal moment at which a braking abnormality occurs at each moment based on changes in at least one of the pedal signal, the brake signal, and the first OBD signal at different moments; and determining, in response to detecting the abnormal moment, a fault cause and location of the braking abnormality based on the pedal signal, the brake signal, and the first OBD signal at the abnormal moment.

[0007] According to an optional embodiment of the present invention, the method further includes: analyzing a fault type associated with the braking abnormality based on the braking abnormality occurring during the operation; and determining a fault cause and location of the braking abnormality based on the pedal signal, the brake signal and the first OBD signal at the abnormal moment, including: determining a fault cause and location of the braking abnormality based on the pedal signal, the brake signal, the first OBD signal and the fault type at the abnormal moment.

[0008] According to an optional embodiment of the present invention, the fault type includes one or more of the following: hard braking, soft braking, reduced braking performance, braking deviation, user complaints of no braking, brake dragging, and uneven brake wear.

[0009] According to an optional embodiment of the present invention, the pedal signal includes a pedal force signal and a pedal travel signal.

[0010] According to an optional embodiment of the present invention, the first OBD signal includes one or more of the following: brake pedal switch signal, vehicle speed, vehicle acceleration, vehicle inertia data, steering wheel angle signal, vacuum signal or power assist motor status, brake master cylinder pressure signal, valve status of each branch of ABS or ESP.

[0011] According to an optional embodiment of the present invention, the method further includes: obtaining the driving intention of the driver of the vehicle at the abnormal moment; and determining the fault cause and location of the braking abnormality based on the pedal signal, the brake signal and the first OBD signal at the abnormal moment, including: determining the fault cause and location of the braking abnormality based on the pedal signal, the brake signal, the first OBD signal and the driving intention at the abnormal moment.

[0012] According to an optional embodiment of the present invention, determining the fault cause and location of the braking abnormality based on the pedal signal, the brake signal, the first OBD signal and the driving intention at the abnormal moment includes: analyzing whether the pedal signal, the brake signal and the first OBD signal at the abnormal moment are normal based on the driving intention at the abnormal moment; and determining the fault cause and location of the braking abnormality based on the result of the analysis.

[0013] According to an optional embodiment of the present invention, acquiring the driving intention includes: determining the driving intention based on operation information of the driver at a time set including the abnormal time.

[0014] According to an optional embodiment of the present invention, the driver's operation information includes information related to a predetermined operation designated to be performed by the driver and / or an actual operation performed by the driver.

[0015] According to an optional embodiment of the present invention, determining the fault cause and location of the braking abnormality based on the pedal signal, the brake signal, the first OBD signal and the fault type at the abnormal moment includes: based on the fault type, determining at least one associated signal among the pedal signal, the brake signal and the first OBD signal associated with the fault type; and determining the fault cause and location of the braking abnormality based on the at least one associated signal at the abnormal moment.

[0016] According to an optional embodiment of the present invention, the method further includes: acquiring a second OBD signal from the OBD interface at each moment during the operation process on the same time axis, the second OBD signal including an auxiliary signal that acts on the vehicle braking system; and in response to detecting the abnormal moment, determining the fault cause and location of the braking abnormality based on the pedal signal, the brake signal and the first OBD signal at the abnormal moment, including: determining the fault cause and location of the braking abnormality based on the pedal signal, the brake signal, the first OBD signal and the second OBD signal at the abnormal moment.

[0017] According to an optional embodiment of the present invention, the method further comprises: sending a notification indicating the determined cause and location of the fault.

[0018] According to a second aspect of the present invention, a fault detection device for a vehicle braking system is provided, comprising: a signal acquisition unit configured to acquire a pedal signal from a pedal sensor, a brake signal from a brake sensor, and a first OBD signal from an on-board diagnostic system (OBD) interface at various moments during the operation of the vehicle on the same time axis; an abnormality detection unit configured to detect the abnormal moment at which the abnormal braking phenomenon occurs at each moment based on changes in at least one of the pedal signal, the brake signal, and the first OBD signal at different moments; a fault determination unit configured to determine the fault cause and location of the abnormal braking phenomenon based on the pedal signal, the brake signal, and the first OBD signal at the abnormal moment in response to detecting the abnormal moment.

[0019] According to a third aspect of the present invention, a fault detection device for a vehicle braking system is provided, comprising: at least one processor; and a memory storing machine-readable instructions, which, when executed by the at least one processor, enables the at least one processor to execute the fault diagnosis method for a vehicle braking system according to the first aspect described above.

[0020] According to a fourth aspect of the present invention, a vehicle is provided, comprising the fault detection device for a vehicle brake system according to the second aspect or the fault detection apparatus for a vehicle brake system according to the third aspect.

[0021] The present invention obtains signals from the pedal sensor, brake sensor and on-board automatic diagnostic system interface on the same time axis, thereby realizing coordinated processing of the three signals, and can quickly and accurately confirm vehicle faults. Compared with replacing parts for testing, and compared with using the on-board automatic diagnostic system alone, collecting brake pedal signals alone, or collecting wheel-end brake signals alone, the efficiency of accurately judging vehicle faults is further improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Other features and advantages of the present invention will be better understood from the following detailed description of preferred embodiments with reference to the accompanying drawings, in which the same reference numerals represent the same or similar components.

[0023] Figure 1 A schematic structural diagram of an exemplary vehicle braking system data acquisition device according to an embodiment of the present disclosure is shown.

[0024] Figure 2 A flowchart illustrating an exemplary fault detection method for a vehicle braking system according to an embodiment of the present disclosure is shown.

[0025] Figure 3 Exemplary fault detection logic according to an embodiment of the present disclosure is shown.

[0026] Figure 4 A block diagram illustrating an exemplary fault detection apparatus for a vehicle brake system according to an embodiment of the present disclosure is shown.

[0027] Figure 5 A block diagram illustrating an exemplary fault detection apparatus for a vehicle brake system according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0029] As previously mentioned, existing brake system fault diagnosis relies primarily on DTCs (Disturbance Trouble Codes) or part replacement testing. However, these methods struggle to identify certain types of brake system faults and their specific causes and locations. The present invention integrates and processes signals detected by the pedal sensor and brake sensor, along with signals read by the on-board diagnostic system interface, on the same timeline, enabling rapid and accurate vehicle fault location.

[0030] Reference Figure 1 , shows a schematic structural diagram of an exemplary vehicle brake system data acquisition device 100 according to an embodiment of the present disclosure. Device 100 includes a signal processor or processing device 1, a pedal sensor 2, a brake sensor 3, and an on-board diagnostic system (OBD) interface 4. Pedal sensor 2 and brake sensor 3 are connected to the vehicle's brake system.

[0031] Specifically, a vehicle's braking system generally includes a brake pedal 10, a booster 11, an ABS or ESP device 12, a brake line 13, and a brake 14 (only one wheel brake is shown, for example, not by way of limitation). Booster 11 can be, for example, a vacuum booster, a hydraulic booster, or a booster motor. ABS / ESP device 12 generally includes three components (not shown): a wheel speed sensor, a controller (ABS-ECU or ESP-ECU), and an actuator (ABS / ESP pump). Brake line 13 is used to transfer brake fluid and includes a brake hose and a brake pipe. The brake pipe is located in locations such as the vehicle body or frame, while the brake hose is located between parts with relative motion, such as the wheels. Brake line 13 runs from booster 11 through the ABS / ESP pump to the wheel brake 14. Brake 14 can be, for example, a disc brake or a drum brake. The braking process of the vehicle is roughly as follows: the braking force of the brake pedal 10 is transmitted to the ABS / ESP device 12 via the booster 11, and the ABS / ESP device 12 transmits the hydraulic pressure to the brake 14 of each wheel via the brake line 13. The brake 14 uses friction to apply braking effect to the wheel.

[0032] The signal processor 1 acquires (e.g., receives) the pedal signal from the pedal sensor 2, the brake signal from the brake sensor 3, and the first OBD signal from the OBD interface 4 at the same time axis at each moment during the operation of the vehicle. For example, the signal processor 1 can receive signals from the pedal sensor 2, the brake sensor 3, and the OBD interface 4 and record and save the received signals on the same time axis. The signal processor 1 can be, for example, an electronic control unit (ECU) of a vehicle, including a microprocessor (MCU), memory (ROM, RAM), input / output interface (I / O), analog-to-digital converter (A / D), and large-scale integrated circuits such as shaping and driving. It can be seen that the electronic control unit (ECU) is a digital signal processor that needs to convert the signal from the analog domain to the digital domain before performing digital signal processing. In this case, the pedal sensor 2, the brake sensor 3, and the OBD interface 4 are connected to the respective input interfaces of the electronic control unit.

[0033] The pedal sensor 2 may include a pedal force sensor and / or a pedal stroke sensor for detecting the brake pedal force and / or pedal stroke applied to the brake pedal 10, and the pedal sensor 2 transmits the detected pedal force and / or pedal stroke signals to the signal processor 1. Optionally, the pedal force sensor and the pedal stroke sensor may be provided separately. Preferably, the pedal force sensor and the pedal stroke sensor may be provided integrally, such as in the PA-10 pedal force and stroke tester.

[0034] The brake signal detected by the brake sensor 3 may be, for example, a brake wheel end brake hydraulic pressure. The brake sensor 3 may be a pressure sensor adapted to detect the hydraulic pressure of the brake 14 for the wheel 15. Figure 1 In the embodiment, the brake sensors 3 include a right front wheel brake sensor 31, a left front wheel brake sensor 32, a left rear wheel brake sensor 33, and a right rear wheel brake sensor 34, respectively detecting the hydraulic pressure of the brakes 14 for the right front wheel, left front wheel, left rear wheel, and right rear wheel, for example, not limitation. For example, the brake sensors 3 may be connected to the exhaust valve of the brake 14 via a threaded connector, or may be connected between a brake hose and a brake pipe via a T-connector.

[0035] The OBD interface 4 is connected to the vehicle's onboard diagnostic system to obtain (e.g., read) data (e.g., a first OBD signal) from the onboard diagnostic system. For example, the first OBD signal may include, but is not limited to, at least one of the following: a brake pedal switch signal, vehicle speed, vehicle acceleration, vehicle inertia data, a steering wheel angle signal, a vacuum signal or power assist motor status, a brake master cylinder pressure signal, valve status of each ABS or ESP branch, and the like. Optionally, a second OBD signal from the onboard diagnostic system may also be obtained (e.g., read) via the OBD interface 4. The second OBD signal includes auxiliary signals that act on the vehicle's braking system, such as, but not limited to, at least one of the following: an accelerator pedal signal, a parking brake signal, or other signals that act on the braking system.

[0036] like Figure 1 As shown, the signal processor 1 may also be connected (e.g., via a wired or wireless connection) to a display terminal 5, which is connected to an output interface of the signal processor 1 and receives signals from the signal processor 1. Optionally, the display terminal 5 is a data acquisition display, a computer, or a portable mobile communication device. Optionally, the signal processor 1 also includes a process for converting and processing signals, and displays the processed results on the display terminal 5, allowing the driver or maintenance personnel to easily determine whether a brake system fault has occurred.

[0037] Reference Figure 2 , shows a flow chart of an exemplary fault detection method 200 for a vehicle brake system. The method 200 may be applicable to Figure 1 The braking system in the Figure 1 Signal processor 1, Figure 4 Fault detection device 300 for vehicle braking system, Figure 5 Any one of the fault detection devices 400 for vehicle brake systems is implemented. Figure 2 As shown, the method 200 includes steps 210 to 230 .

[0038] In step 210, a pedal signal from the pedal sensor, a brake signal from the brake sensor, and a first OBD signal from the OBD interface are acquired at various moments during the operation of the vehicle using the same timeline. In some examples, the pedal signal, brake signal, and first OBD signal can be acquired in the manner described above in conjunction with the signal processor 1. In other examples, a signal processor or processing device other than the signal processor 1 can acquire the recorded and stored pedal signal, brake signal, and first OBD signal from the signal processor 1. For example, the vehicle can be started and operated until a fault occurs, and the pedal signal, brake signal, and first OBD signal can be collected at various moments during the process using the same timeline.

[0039] In step 220, based on the changes in at least one of the pedal signal, the brake signal, and the first OBD signal at different times, the abnormal time at which the braking abnormality occurs at each time is detected. In this step, the data can be compared horizontally on the time axis to confirm the time when the fault occurs. The changes in each data before and after the fault time can be analyzed to find abnormal points. For example, the changes in at least one signal at different times (for example, the changes between the data at each moment and the adjacent moments) can be detected. When the change in the signal value at a certain moment exceeds the threshold change range or when the signal value at a certain moment exceeds the threshold setting range, it can be considered that a braking abnormality has occurred at that moment, that is, the fault is confirmed to have occurred.

[0040] In step 230 , in response to detecting the abnormal moment, the cause and location of the abnormal braking phenomenon are determined based on the pedal signal, the brake signal, and the first OBD signal at the abnormal moment.

[0041] Compared with the existing technology, the above method 200 realizes the coordinated processing of three signals by acquiring signals from the pedal sensor, brake sensor and on-board automatic diagnostic system interface on the same time axis, and can quickly and accurately confirm vehicle faults. Compared with replacing parts for testing, and compared with using the on-board automatic diagnostic system alone, collecting brake pedal signals alone, or collecting brake signals alone, the efficiency of accurately judging vehicle faults is further improved.

[0042] Furthermore, method 200 can be executed with or without knowing the fault type associated with the abnormal braking phenomenon to identify the problem point of the fault type (e.g., the cause and location of the fault). The fault type may include, but is not limited to, at least one of the following: hard braking, soft braking, reduced braking performance (or worsening braking effect), brake deviation, user complaints of no braking, brake dragging, brake wear, etc. As previously mentioned, these fault types are difficult to identify using DTC and parts replacement testing methods.

[0043] Optionally, method 200 may further include: analyzing the fault type associated with the braking abnormality based on the braking abnormality that occurs during the operation of the vehicle. Furthermore, step 230 may include: determining the fault cause and location of the braking abnormality based on the pedal signal, brake signal, first OBD signal, and fault type at the abnormal moment. For example, the fault type associated with the braking abnormality can be analyzed based on the braking abnormality that occurs according to a subjective evaluation method for vehicle braking performance. Furthermore, the fault cause and location are determined based on the fault type and the acquired pedal signal, brake signal, and first OBD signal. In this step, method 200 can locate the vehicle braking fault more quickly and accurately when the fault type is known.

[0044] Optionally, determining the fault cause and location based on the fault type and the acquired pedal signal, brake signal, and first OBD signal in step 230 may include: determining, based on the fault type, at least one associated signal among the pedal signal, brake signal, and first OBD signal associated with the fault type; and determining the fault cause and location of the abnormal braking phenomenon based on the at least one associated signal at the time of the abnormality. In this step, method 200 can more quickly and accurately locate the vehicle brake fault by reducing the detected signals after knowing the fault type.

[0045] Optionally, method 200 may further include obtaining the driver's driving intent at the time of the abnormality. Furthermore, step 230 may include determining the cause and location of the abnormal braking phenomenon based on the pedal signal, brake signal, first OBD signal, and driver intent at the time of the abnormality. In this step, method 200 can more quickly and accurately locate vehicle faults based on the logical association between the braking abnormality and the driver's intent. For example, the location of a vehicle's braking fault can be determined based on the occurrence of the braking abnormality and whether the driver's driving intent was met.

[0046] Optionally, determining the cause and location of the abnormal braking phenomenon based on the pedal signal, brake signal, first OBD signal, and driving intent at the time of the abnormality in step 230 may include: analyzing whether the pedal signal, brake signal, and first OBD signal at the time of the abnormality are normal based on the driving intent at the time of the abnormality; and determining the cause and location of the abnormal braking phenomenon based on the analysis results. In this step, method 200 can more quickly and accurately locate vehicle faults based on whether the acquired pedal signal, brake signal, and first OBD signal perform normally under the driver's intent.

[0047] Optionally, obtaining the driving intention may include: determining the driving intention based on the driver's operation information on a set of moments including the abnormal moment. Further, the driver's operation information may include: information related to a predetermined operation designated to be performed by the driver and / or an actual operation performed by the driver. For example, the driving intention may be determined based on the driver's operation information in a time period before and after the determined abnormal moment. The operation information may be information related to a predetermined operation (for example, a driving operation to execute a predetermined route by navigation) that is instructed to be completed by the driver, for example, by voice, image or other means, and / or may be information related to an actual operation performed by the driver, for example, captured by a camera. In addition, the driving intention may also be determined in combination with the driver's operation information and the driving road conditions. In this step, by considering the impact of the second OBD signal on braking, the method 200 can locate the vehicle fault more quickly and accurately.

[0048] Optionally, method 200 may further include acquiring a second OBD signal from the OBD interface at various times during vehicle operation on the same timeline, the second OBD signal including an auxiliary signal that affects the vehicle's braking system. Furthermore, step 230 may include determining the cause and location of the braking anomaly based on the pedal signal, brake signal, first OBD signal, and second OBD signal at the time of the anomaly.

[0049] Optionally, the method 200 may further include sending a notification indicating the determined cause and location of the fault. Figure 1 The signal processor 1 may send a notification indicating the determined fault cause and location to the display terminal 5, so that the fault cause and location are displayed on the display terminal 5, so that the driver or maintenance personnel can easily and promptly understand the fault of the brake system. In other examples, a notification (e.g., text or text-to-speech) indicating the determined fault cause and location may also be sent to an audio system in communication with the processor, so that the notification is output in an audio manner by one or more speakers of the audio system, so that the driver or maintenance personnel can easily and promptly understand the fault of the brake system.

[0050] The following will be combined Figure 3 The implementation process of the above fault detection method 200 is described with an example. Figure 3 , shows an exemplary fault detection logic table according to an embodiment of the present disclosure.

[0051] The first column of the logic table shows the various possible brake fault types (see above for Figure 2), the 2nd to 14th columns respectively show the pedal signal from the pedal sensor, the brake signal from the brake sensor, and the first OBD signal and the second OBD signal from the OBD interface (refer to the above Figure 1 ), and the 15th column shows the conclusion about the brake failure (e.g., the cause and location of the failure). For each failure type, the data in columns 2 to 14 indicates whether the signal at the time of the abnormality was normal (indicated by "OK") or abnormal (indicated by "NG") under the driver's driving intention.

[0052] For example, brake pedal travel, brake pedal force, brake pedal switch signal, and accelerator pedal signal can reflect the driver's control status of the vehicle; active safety intervention also produces a braking effect; brake master cylinder pressure and ABS / ESP valve opening signals reflect the braking action of active braking in response to brake input; intake manifold vacuum signal or electric power assist motor status signal reflects the magnitude of the power assist; wheel-end brake pressure reflects the effect on the basic brake; vehicle speed, vehicle acceleration, wheel speed, and vehicle inertia data (body posture) represent the vehicle's reaction before and after the basic brake is applied. Analysis of this data can restore the process of the braking problem and whether the driver's intention was met, thereby determining the cause and location of the fault.

[0053] Case of unknown fault type

[0054] For example, for each row in the first four fault types (soft brake, hard brake, degraded brake performance, and brake deviation) and each row in the last three fault types (user complaint of no brake, dragging brake, and uneven brake wear), excluding rows with all "OK" values, these rows are different in the logic table. In this case, even if the fault type is unknown, the fault type, cause, and location can be determined based on the detected signal's behavior at the time of the abnormality.

[0055] Situations where the fault type is known

[0056] Each row in the logic table is unique for each of the seven fault types. In this case, the fault cause and location can be determined based on the detected signal's behavior at the time of the abnormality. Furthermore, if the fault type is known, the detected signals can be narrowed down to a set of signal columns that display "NG" (i.e., at least one associated signal determined to be associated with that fault type) to quickly determine the fault cause and location.

[0057] Therefore, a fault type-signal logic table can be established, and based on the established fault type-signal logic table, the cause and location of the fault can be determined according to the acquired signals (for example, pedal signal, brake signal and OBD signal).

[0058] Reference Figure 4 , shows a block diagram of an exemplary fault detection device 300 for a vehicle brake system according to an embodiment of the present disclosure. The device 300 may be, for example Figure 1 The signal processor or processing device 100 is communicatively connected to the device 100 (e.g., via a bus, such as a vehicle communication network such as a CAN, LIN, Flex Ray, MOST, LVDS, or Ethernet bus) to obtain the pedal signal, brake signal, and OBD signal. The device 300 may include a signal acquisition unit 310, an abnormality detection unit 320, and a fault determination unit 330.

[0059] The signal acquisition unit 310 is configured to acquire a pedal signal from a pedal sensor, a brake signal from a brake sensor, and a first on-board diagnostic (OBD) signal from an OBD interface at various moments during the operation of the vehicle on the same time axis.

[0060] The abnormality detecting unit 320 is configured to detect an abnormal time at which a braking abnormality occurs at each time based on changes in at least one of the pedal signal, the brake signal, and the first OBD signal at different times.

[0061] The fault determination unit 330 is configured to, in response to detecting the abnormal time, determine a fault cause and location of the braking abnormality based on the pedal signal, the brake signal, and the first OBD signal at the abnormal time.

[0062] Optionally, the apparatus 300 may further include an analysis unit 340 configured to analyze a fault type associated with the abnormal braking phenomenon based on the abnormal braking phenomenon occurring during operation. Furthermore, the fault determination unit 330 may be configured to determine the cause and location of the abnormal braking phenomenon based on the pedal signal, brake signal, first OBD signal, and fault type at the time of the abnormality.

[0063] Optionally, the device 300 may further include an intention acquisition unit 350, and the intention acquisition unit 350 is configured to: acquire the driving intention of the driver of the vehicle at the abnormal moment. In addition, the fault determination unit 330 may be configured to: determine the fault cause and location of the braking abnormality based on the pedal signal, brake signal, first OBD signal and driving intention at the abnormal moment. Further, the intention acquisition unit 350 may be configured to: determine the driving intention based on the driver's operation information at a time set including the abnormal moment. Further, the fault determination unit 330 may be configured to: analyze whether the pedal signal, brake signal, and first OBD signal at the abnormal moment are normal based on the driving intention at the abnormal moment; and determine the fault cause and location of the braking abnormality based on the analysis result.

[0064] Optionally, the fault determination unit 330 can be configured to: determine at least one associated signal among the pedal signal, brake signal and first OBD signal associated with the fault type based on the fault type; and determine the fault cause and location of the braking abnormality based on at least one associated signal at the abnormal moment.

[0065] Optionally, the signal acquisition unit 310 may be configured to acquire a second OBD signal from the OBD interface at various times during the operation using the same timeline, the second OBD signal including an auxiliary signal that affects the vehicle's braking system. Furthermore, the fault determination unit 330 may be configured to determine the cause and location of the braking abnormality based on the pedal signal, brake signal, first OBD signal, and second OBD signal at the time of the abnormality.

[0066] Optionally, the apparatus 300 may further include a transmission unit 360 configured to send a notification indicating the determined cause and location of the fault.

[0067] Reference Figure 5 , shows a block diagram of an exemplary fault detection device 400 for a vehicle brake system according to an embodiment of the present disclosure. The device 400 includes at least one processor 410 and a memory 420 coupled to the at least one processor 410. The memory 420 is used to store machine-readable instructions, which, when executed by the at least one processor 410, causes the processor 420 to perform the method in the above embodiment (e.g., any one or more steps in the aforementioned method 200). The device 400 may be, for example Figure 1The signal processor or processing device 100 is communicatively connected to the device 100 (for example, via a bus, such as a vehicle communication network such as a CAN, LIN, Flex Ray, MOST, LVDS or an Ethernet bus) to obtain a pedal signal, a brake signal and an OBD signal.

[0068] In addition, one aspect of the present invention provides a vehicle comprising the above-mentioned Figures 1 to 5 A fault detection device or apparatus for a vehicle brake system is described.

[0069] Although some embodiments are described herein by way of example, various modifications may be made to these embodiments without departing from the essence of the invention. All such modifications shall still fall within the scope of the invention and the protection scope defined by the claims of the invention.

[0070] The specific embodiments disclosed herein are only used to illustrate the present invention. It is obvious to those skilled in the art that various modifications can be made according to the teachings of this document, and the present invention can be implemented in various equivalent ways. Therefore, the specific embodiments disclosed above of the present invention are merely exemplary, and their scope of protection is not limited by the details of the structure or design disclosed herein, unless otherwise stated in the claims. Therefore, the specific exemplary embodiments disclosed above can be replaced, combined or modified in various ways, and all variations thereof fall within the scope disclosed herein. All numerical values ​​and ranges disclosed above can also be changed to a certain extent.

[0071] In addition, the number of components in the claims includes one or at least one unless otherwise specified. If there is any inconsistency between the usage or meaning of a word or term in the present invention and that in other documents, the definition in the present invention shall prevail.

Claims

1. A fault detection method for a vehicle braking system, comprising: Acquire a pedal signal from a pedal sensor, a brake signal from a brake sensor, and a first OBD signal from an on-board diagnostic system (OBD) interface at various moments during the operation of the vehicle using the same time axis; detecting an abnormal moment at which a braking abnormality occurs at each moment based on changes in at least one of the pedal signal, the brake signal, and the first OBD signal at different moments; In response to detecting the abnormal moment, determining a fault cause and location of the abnormal braking phenomenon based on the pedal signal, the brake signal, and the first OBD signal at the abnormal moment; obtaining a driving intention of the driver of the vehicle at the abnormal moment; and Wherein, determining the fault cause and location of the abnormal braking phenomenon based on the pedal signal, the brake signal, and the first OBD signal at the abnormal moment includes: determining the fault cause and location of the abnormal braking phenomenon based on the pedal signal, the brake signal, the first OBD signal, and the driving intention at the abnormal moment, which includes: analyzing, based on the driving intention at the abnormal moment, whether the pedal signal, the brake signal, and the first OBD signal at the abnormal moment are normal; Based on the analysis result, the fault cause and location of the abnormal braking phenomenon are determined.

2. The method according to claim 1, further comprising: analyzing a fault type associated with the abnormal braking phenomenon based on the abnormal braking phenomenon occurring during the operation; and Determining the cause and location of the braking abnormality based on the pedal signal, the brake signal and the first OBD signal at the abnormal moment includes: determining the cause and location of the braking abnormality based on the pedal signal, the brake signal, the first OBD signal and the fault type at the abnormal moment.

3. The method according to claim 2, wherein: The fault type includes one or more of the following: hard braking, soft braking, reduced braking performance, brake deviation, user complaints of no braking, brake dragging, and brake uneven wear.

4. The method according to any one of claims 1 to 3, wherein The pedal signal includes a pedal force signal and a pedal travel signal.

5. The method according to any one of claims 1 to 3, wherein The first OBD signal includes one or more of the following: brake pedal switch signal, vehicle speed, vehicle acceleration, vehicle inertia data, steering wheel angle signal, vacuum signal or power assist motor status, brake master cylinder pressure signal, and valve status of each ABS or ESP branch.

6. The method according to claim 1, wherein Acquiring the driving intention includes: The driving intention is determined based on the driver's operation information at a set of times including the abnormal time.

7. The method according to claim 6, wherein: The driver's operation information includes information related to a predetermined operation designated to be performed by the driver and / or an actual operation performed by the driver.

8. The method according to claim 2 or 3, wherein: Determining a fault cause and location of the abnormal braking phenomenon based on the pedal signal, the brake signal, the first OBD signal, and the fault type at the abnormal moment includes: Based on the fault type, determining at least one associated signal among the pedal signal, the brake signal, and the first OBD signal associated with the fault type; and Based on the at least one correlation signal at the abnormal moment, a fault cause and a location of the abnormal braking phenomenon are determined.

9. The method according to claim 1, further comprising: Acquire a second OBD signal from the OBD interface at each moment during the operation using the same time axis, the second OBD signal including an auxiliary signal that acts on a vehicle braking system; and In response to detecting the abnormal moment, determining the fault cause and location of the braking abnormality based on the pedal signal, the brake signal and the first OBD signal at the abnormal moment includes: determining the fault cause and location of the braking abnormality based on the pedal signal, the brake signal, the first OBD signal and the second OBD signal at the abnormal moment.

10. The method according to claim 1, further comprising: A notification is sent indicating the determined cause and location of the fault.

11. A fault detection device for a vehicle braking system, comprising: a signal acquisition unit configured to acquire a pedal signal from a pedal sensor, a brake signal from a brake sensor, and a first OBD signal from an on-board diagnostic system (OBD) interface at various moments during operation of the vehicle on the same time axis; an abnormality detection unit configured to detect an abnormal moment at which a braking abnormality occurs at each moment based on changes in at least one of the pedal signal, the brake signal, and the first OBD signal at different moments; an intention acquisition unit configured to acquire a driving intention of the driver of the vehicle at the abnormal moment; A fault determination unit is configured to, in response to detecting the abnormal moment, determine a fault cause and location of the abnormal braking phenomenon based on the pedal signal, the brake signal, and the first OBD signal at the abnormal moment, including: Determining a fault cause and location of the abnormal braking phenomenon based on the pedal signal, the brake signal, the first OBD signal, and the driving intention at the abnormal moment, which includes: Based on the driving intention at the abnormal moment, analyzing whether the pedal signal, the brake signal, and the first OBD signal at the abnormal moment are normal, and Based on the analysis result, the fault cause and location of the abnormal braking phenomenon are determined.

12. A fault detection device for a vehicle braking system, comprising: at least one processor; as well as A memory storing machine-readable instructions, which, when executed by the at least one processor, causes the at least one processor to execute the fault diagnosis method for a vehicle brake system according to any one of claims 1 to 10.

13. A vehicle comprising the fault detection device for a vehicle brake system according to claim 11 or the fault detection apparatus for a vehicle brake system according to claim 12.

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