Methods, devices, vehicles, and storage media for determining the state of the brake pedal mechanism

Abstract

This disclosure relates to a method, apparatus, vehicle, and storage medium for determining the state of a brake pedal mechanism. The method is applied to a vehicle, wherein the brake pedal mechanism of the vehicle includes a first sensor, a second sensor, and a third sensor. The brake pedal mechanism is connected to the brake pedal of the vehicle. The first sensor and the second sensor are used to sense the pedal travel of the brake pedal, and the third sensor is used to sense the pedal force. The method includes: acquiring first target data from the first sensor, second target data from the second sensor, and third target data from the third sensor; and determining the state of the brake pedal mechanism based on the first target data, the second target data, the third target data, and a first preset data range. The state includes a normal state or an abnormal state, and the target sensor is either the first sensor or the second sensor.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle technology, and in particular to a method, apparatus, vehicle, and storage medium for determining the state of a brake pedal mechanism. Background Technology

[0002] The vehicle's braking system is the direct device for achieving vehicle braking control, playing a crucial role in vehicle stability and safety. It's a system that applies a certain braking force to the vehicle's wheels to achieve a certain degree of forced braking. The brake pedal mechanism is a vital component of the braking system; if structural components within this mechanism malfunction, it will affect the braking effect and may even lead to brake system failure, posing serious safety hazards during vehicle operation. Therefore, how to inspect the vehicle's brake pedal mechanism to determine its condition is an urgent problem to be solved. Summary of the Invention

[0003] To overcome the problems existing in the related technologies, this disclosure provides a method, apparatus, vehicle and storage medium for determining the state of a brake pedal mechanism.

[0004] According to a first aspect of the present disclosure, a method for determining the state of a brake pedal mechanism is provided, applied to a vehicle. The brake pedal mechanism of the vehicle includes a first sensor, a second sensor, and a third sensor. The brake pedal mechanism is connected to the brake pedal of the vehicle. The first sensor and the second sensor are used to sense the pedal travel of the brake pedal, and the third sensor is used to sense the pedal force. The method includes:

[0005] Acquire the first target data from the first sensor, the second target data from the second sensor, and the third target data from the third sensor;

[0006] Based on the first target data, the second target data, the third target data, and the first preset data range, the state of the brake pedal mechanism is determined. The state includes a normal state or an abnormal state. The first preset data range includes the correspondence between the data of the target sensor and the data of the third sensor when the brake pedal mechanism is in a normal state. The target sensor is either the first sensor or the second sensor.

[0007] Optionally, determining the state of the brake pedal mechanism based on the first target data, the second target data, the third target data, and the first preset data range includes:

[0008] Based on the first target data and the third target data, a first combination of data is determined;

[0009] Based on the second target data and the third target data, determine the second combined data;

[0010] The state of the brake pedal mechanism is determined based on the first combination data, the second combination data, and the first preset data range.

[0011] Optionally, determining the state of the brake pedal mechanism based on the first combined data, the second combined data, and the first preset data range includes:

[0012] If it is determined that both the first combination data and the second combination data are within the first preset data range, the brake pedal mechanism is determined to be in a normal state.

[0013] If it is determined that the target combination data is not within the first preset data range, the state of the sensor corresponding to the target combination data is determined to be an abnormal state, and the target combination data is the first combination data or the second combination data;

[0014] If it is determined that neither the first combination data nor the second combination data is within the first preset data range, the state of the brake pedal mechanism is determined based on the first combination data, the second combination data, and a preset data threshold, wherein the preset data threshold is the maximum value of the first preset data range.

[0015] Optionally, determining the state of the brake pedal mechanism based on the first combined data, the second combined data, and a preset data threshold includes:

[0016] If it is determined that both the first combined data and the second combined data are greater than or equal to the preset data threshold, the state of the brake pedal mechanism is determined according to the rate of change of the first combined data.

[0017] If both the first combined data and the second combined data are less than the preset data threshold, the state of the brake pedal mechanism is determined based on the first combined data, the second combined data, and the second preset data range.

[0018] Optionally, determining the state of the brake pedal mechanism based on the rate of change of the first combined data includes:

[0019] If the rate of change of the first combination of data is greater than or equal to a preset speed threshold, the brake pedal mechanism is determined to be in a normal state.

[0020] If the rate of change of the first combined data is determined to be less than the preset speed threshold, the state of the third sensor is determined to be abnormal.

[0021] Optionally, the brake pedal mechanism further includes a pedal feel simulator, which is connected to the third sensor; determining the state of the brake pedal mechanism based on the first combined data, the second combined data, and the second preset data range includes:

[0022] If it is determined that both the first combination data and the second combination data are within the range of the second preset data, the state of the pedal feel simulator is determined to be an abnormal state;

[0023] If it is determined that neither the first combined data nor the second combined data is within the second preset data range, the state of the third sensor is determined to be abnormal.

[0024] Optionally, determining the first combined data based on the first target data and the third target data includes:

[0025] Multiple first preset combination data are acquired, the first preset combination data including first preset data and third preset data; the first preset combination data is the data of the first sensor and the third sensor at the same time when the brake pedal mechanism is in the normal state.

[0026] If it is determined that the first target data is the same as the first target preset data, then the third preset data corresponding to the first target data and the first target preset data is used as the first combined data, wherein the first target preset data is any one of a plurality of first preset data; or...

[0027] If the third target data is determined to be the same as the third target preset data, the first preset data corresponding to the third target data and the third target preset data is used as the first combined data, and the third target preset data is any one of the multiple third preset data.

[0028] According to a second aspect of the present disclosure, an apparatus for determining the state of a brake pedal mechanism is provided, applied to a vehicle. The brake pedal mechanism of the vehicle includes a first sensor, a second sensor, and a third sensor. The brake pedal mechanism is connected to the brake pedal of the vehicle. The first sensor and the second sensor are used to sense the pedal travel of the brake pedal, and the third sensor is used to sense the pedal force of the brake pedal.

[0029] The acquisition module is configured to acquire first target data from the first sensor, second target data from the second sensor, and third target data from the third sensor;

[0030] The determination module is configured to determine the state of the brake pedal mechanism based on the first target data, the second target data, the third target data, and a first preset data range. The state includes a normal state or an abnormal state. The first preset data range includes the correspondence between the data of the target sensor and the data of the third sensor when the state of the brake pedal mechanism is normal. The target sensor is either the first sensor or the second sensor.

[0031] Optionally, the determining module is further configured to:

[0032] Based on the first target data and the third target data, a first combination of data is determined;

[0033] Based on the second target data and the third target data, determine the second combined data;

[0034] The state of the brake pedal mechanism is determined based on the first combination data, the second combination data, and the first preset data range.

[0035] Optionally, the determining module is further configured to:

[0036] If it is determined that both the first combination data and the second combination data are within the first preset data range, the brake pedal mechanism is determined to be in a normal state.

[0037] If it is determined that the target combination data is not within the first preset data range, the state of the sensor corresponding to the target combination data is determined to be an abnormal state, and the target combination data is the first combination data or the second combination data;

[0038] If it is determined that neither the first combination data nor the second combination data is within the first preset data range, the state of the brake pedal mechanism is determined based on the first combination data, the second combination data, and a preset data threshold, wherein the preset data threshold is the maximum value of the first preset data range.

[0039] Optionally, the determining module is further configured to:

[0040] If it is determined that both the first combined data and the second combined data are greater than or equal to the preset data threshold, the state of the brake pedal mechanism is determined according to the rate of change of the first combined data.

[0041] If both the first combined data and the second combined data are less than the preset data threshold, the state of the brake pedal mechanism is determined based on the first combined data, the second combined data, and the second preset data range.

[0042] Optionally, the determining module is further configured to:

[0043] If the rate of change of the first combination of data is greater than or equal to a preset speed threshold, the brake pedal mechanism is determined to be in a normal state.

[0044] If the rate of change of the first combined data is determined to be less than the preset speed threshold, the state of the third sensor is determined to be abnormal.

[0045] Optionally, the brake pedal mechanism further includes a pedal feel simulator connected to the third sensor; the determining module is further configured to:

[0046] If it is determined that both the first combination data and the second combination data are within the range of the second preset data, the state of the pedal feel simulator is determined to be an abnormal state;

[0047] If it is determined that neither the first combined data nor the second combined data is within the second preset data range, the state of the third sensor is determined to be abnormal.

[0048] Optionally, the determining module is further configured to:

[0049] Multiple first preset combination data are acquired, the first preset combination data including first preset data and third preset data; the first preset combination data is the data of the first sensor and the third sensor at the same time when the brake pedal mechanism is in the normal state.

[0050] If it is determined that the first target data is the same as the first target preset data, the third preset data corresponding to the first target data and the first target preset data is used as the first combined data, and the first target preset data is any one of the multiple first preset data;

[0051] If the third target data is determined to be the same as the third target preset data, the first preset data corresponding to the third target data and the third target preset data is used as the first combined data, and the third target preset data is any one of the multiple third preset data.

[0052] According to a third aspect of the present disclosure, a vehicle is provided, comprising:

[0053] First processor;

[0054] Memory used to store instructions executable by the first processor;

[0055] The first processor is configured as follows:

[0056] The steps for implementing the method described in the first aspect of this disclosure.

[0057] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided that stores computer program instructions thereon, which, when executed by a second processor, implement the steps of the method described in the first aspect of the present disclosure.

[0058] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects:

[0059] The method for determining the state of a brake pedal mechanism disclosed herein is applied to a vehicle. The vehicle's brake pedal mechanism includes a first sensor, a second sensor, and a third sensor. The brake pedal mechanism is connected to the vehicle's brake pedal. The first and second sensors are used to sense the pedal travel, and the third sensor is used to sense the pedal force. The method includes: acquiring first target data from the first sensor, second target data from the second sensor, and third target data from the third sensor; and determining the state of the brake pedal mechanism based on the first target data, the second target data, the third target data, and a first preset data range. The state includes a normal state or an abnormal state. The first preset data range includes the correspondence between the data from the target sensor and the data from the third sensor when the brake pedal mechanism is in a normal state. The target sensor is either the first sensor or the second sensor. In other words, this disclosure can determine the state of the vehicle's brake pedal mechanism based on the first target data from the first sensor, the second target data from the second sensor, and the third target data from the third sensor, thereby determining the operating status of the brake pedal mechanism and reducing safety hazards during vehicle operation.

[0060] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0061] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0062] Figure 1 This is a flowchart illustrating a method for determining the state of a brake pedal mechanism according to an exemplary embodiment of the present disclosure;

[0063] Figure 2 This is a schematic diagram illustrating a vehicle braking system according to an exemplary embodiment of the present disclosure;

[0064] Figure 3 This is a schematic diagram illustrating a first preset data range according to an exemplary embodiment of the present disclosure;

[0065] Figure 4 This is a flowchart illustrating another method for determining the state of a brake pedal mechanism according to an exemplary embodiment of the present disclosure;

[0066] Figure 5 It is based on Figure 3 The illustrated embodiment shows a schematic diagram of another first preset data range;

[0067] Figure 6 It is based on Figure 3 The illustrated embodiment presents a schematic diagram of a preset data range;

[0068] Figure 7 This is a flowchart illustrating another method for determining the state of a brake pedal mechanism according to an exemplary embodiment of the present disclosure;

[0069] Figure 8 This is a schematic diagram of sensor data according to an exemplary embodiment of the present disclosure;

[0070] Figure 9 This is another schematic diagram of sensor data according to an exemplary embodiment of the present disclosure;

[0071] Figure 10 This is another schematic diagram of sensor data according to an exemplary embodiment of the present disclosure;

[0072] Figure 11 This is another schematic diagram of sensor data according to an exemplary embodiment of the present disclosure;

[0073] Figure 12 This is another schematic diagram of sensor data according to an exemplary embodiment of the present disclosure;

[0074] Figure 13 This is another schematic diagram of sensor data according to an exemplary embodiment of the present disclosure;

[0075] Figure 14 This is a block diagram illustrating an apparatus for determining the state of a brake pedal mechanism according to an exemplary embodiment of the present disclosure;

[0076] Figure 15 This is a block diagram illustrating a vehicle according to an exemplary embodiment of the present disclosure. Detailed Implementation

[0077] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0078] First, the application scenario of this disclosure will be explained. In the field of vehicle drive-by-wire technology, an independent brake pedal mechanism is generally used. This type of brake pedal mechanism requires two sensors and a pedal feel simulator. One sensor is used to sense the driver's depressor travel on the brake pedal, and the other sensor is used to sense the driver's depressor force on the brake pedal. The pedal feel simulator is used to provide the driver with a suitable pedal feel. Failure of these two sensors and the pedal feel simulator will lead to abnormal functioning of the brake pedal mechanism, affecting the vehicle's braking performance and thus posing a serious safety hazard during vehicle operation.

[0079] To overcome the technical problems existing in the above-mentioned related technologies, this disclosure provides a method, apparatus, vehicle and storage medium for determining the state of a brake pedal mechanism. The state of the vehicle's brake pedal mechanism is determined based on the first target data of the first sensor, the second target data of the second sensor and the third target data of the third sensor. Thus, the operating status of the brake pedal mechanism can be determined based on the state, reducing safety hazards during vehicle operation.

[0080] The present disclosure will now be described in conjunction with specific embodiments.

[0081] Figure 1 This is a flowchart illustrating a method for determining the state of a brake pedal mechanism according to an exemplary embodiment of the present disclosure, such as... Figure 1 As shown, the method is applied to a vehicle, and the vehicle's brake pedal mechanism includes a first sensor, a second sensor, and a third sensor. The brake pedal mechanism is connected to the vehicle's brake pedal. The first sensor and the second sensor are used to sense the pedal travel of the brake pedal, and the second sensor and the third sensor are used to sense the pedal force. Figure 2 This is a schematic diagram of a vehicle braking system according to an exemplary embodiment of the present disclosure, such as... Figure 2As shown, the braking system includes a brake pedal, a brake pedal mechanism, a braking intent arbitration module, and a controller module. The brake pedal mechanism may include a first sensor, a second sensor, a third sensor, and a pedal feel simulator. The pedal feel simulator is connected to the third sensor. The braking intent arbitration module can acquire data from the first sensor, the second sensor, and the third sensor, and send the arbitration result based on the data from the first sensor, the second sensor, and the third sensor to the controller module, which then performs braking control on the vehicle.

[0082] The method may include:

[0083] S101. Acquire the first target data from the first sensor, the second target data from the second sensor, and the third target data from the third sensor.

[0084] In this step, the first target data can be acquired according to the first signal period of the first sensor, the second target data according to the second signal period of the second sensor, and the third target data according to the third signal period of the third sensor. The first signal period can be determined based on the hardware characteristics of the first sensor, the second signal period can be determined based on the hardware characteristics of the second sensor, and the third signal period can be determined based on the hardware characteristics of the third sensor.

[0085] S102. Determine the state of the brake pedal mechanism based on the first target data, the second target data, the third target data, and the first preset data range.

[0086] The state can include a normal state or an abnormal state. The first preset data range includes the correspondence between the data of the target sensor and the data of the third sensor when the brake pedal mechanism is in a normal state. The target sensor can be either the first sensor or the second sensor. That is, the first preset data range can be the correspondence between the data of the first sensor and the data of the third sensor when the brake pedal mechanism is in a normal state, or it can be the correspondence between the data of the second sensor and the data of the third sensor when the brake pedal mechanism is in a normal state. For example, the first preset data range can be obtained in advance by testing the mechanical properties of the brake pedal mechanism.

[0087] In this step, after acquiring the first target data, the second target data, and the third target data at the target time, the first preset data range pre-stored in the vehicle can be obtained, and it can be determined whether the first target data, the second target data, and the third target data belong to the first preset data range. If the first target data, the second target data, and the third target data belong to the preset data range, the brake pedal mechanism can be determined to be in a normal state; if the first target data and the second target data do not belong to the preset data range, the device in the brake pedal mechanism that is in an abnormal state can be further identified.

[0088] The first preset data range may include multiple preset data, which are the data of the brake pedal mechanism in normal state. Different preset data correspond to different pressing forces of the brake pedal.

[0089] In one possible implementation, the preset data can be a preset coordinate system, represented as (x, y), where x is the data from the first or second sensor, and y is the data from the third sensor. After determining the first target data, the second target data, and the third target data, the first current coordinate system formed by the first and third target data, and the second current coordinate system formed by the second and third target data, can be compared with the preset data range. If the first current coordinate system is the same as any preset coordinate system within the first preset data range, the state of the first sensor can be determined to be normal. If the second current coordinate system is the same as any preset coordinate system within the first preset data range, the state of the second sensor can be determined to be normal. If the current coordinate system is different from every preset coordinate system within the first preset data range, the state of the brake pedal mechanism can be determined to be potentially abnormal.

[0090] In another possible implementation, the first preset data range can be represented as a curve. Figure 3 This is a schematic diagram illustrating a first preset data range according to an exemplary embodiment of the present disclosure, such as... Figure 3As shown, the curve represents the first preset data range, which is the correspondence between the target preset data of the target sensor and the third preset data of the third sensor when the vehicle's brake pedal mechanism is operating normally. If the target sensor is the first sensor, then the target preset data is the first preset data; if the target sensor is the second sensor, then the target preset data is the second preset data. After acquiring the first target data, the second target data, and the third target data, a first current coordinate can be determined based on the first target data and the third target data, and a second current coordinate can be determined based on the second target data and the third target data. Then, it is determined whether the first current coordinate and the second current coordinate are within the first preset data range. Figure 3 For example, it can be determined whether the first current coordinate and the second current coordinate are on the curve. If both the first and second current coordinates are on the curve, the brake pedal mechanism is considered to be in a normal state. If the first current coordinate is not on the curve but the second current coordinate is, the first sensor is considered to be in an abnormal state. If the second current coordinate is not on the curve but the first current coordinate is, the second sensor is considered to be in an abnormal state. If neither the first nor the second current coordinate is on the curve, the rate of change of the first target data and the third target data can be determined. If the rate of change is greater than or equal to a preset speed threshold, it indicates that the brake pedal is being pressed too quickly, and the brake pedal mechanism is considered to be in a normal state. If the rate of change is less than the preset speed threshold, it indicates that the third sensor or the pedal feel simulator is malfunctioning.

[0091] If the brake pedal mechanism is determined to be in an abnormal state, an abnormality warning message is output so that the driver can promptly detect the vehicle's braking malfunction, thereby reducing potential safety hazards during vehicle operation.

[0092] Using the above method, the state of the vehicle's brake pedal mechanism can be determined based on the first target data from the first sensor, the second target data from the second sensor, and the third target data from the third sensor. This state can then be used to determine the operating status of the brake pedal mechanism, thereby reducing safety hazards during vehicle operation.

[0093] Figure 4 This is a flowchart illustrating another method for determining the state of a brake pedal mechanism according to an exemplary embodiment of the present disclosure, such as... Figure 4 As shown, the implementation of step S102 may include:

[0094] S1021. Determine the first combination data based on the first target data and the third target data.

[0095] The first set of combined data can be represented as a coordinate system, for example, (x, y), where x is the first target data and y is the third target data. Considering that the first set of combined data consists of two data points, during the actual braking process, the first target data and the third target data may not both coincide with the first preset data range. For example, ideally, after braking, the first preset data is 'a' and the third preset data is 'b'. However, during actual driving, after braking, the first target data is 'a', while the third target data is less than 'b', even though there is no malfunction in the brake pedal. Therefore, this disclosure can avoid misjudgments caused by data errors due to incorrect braking.

[0096] In one possible implementation, multiple first preset combination data can be acquired. These first preset combination data include first preset data and third preset data. The first preset combination data represents the data from the first sensor and the third sensor at the same time when the brake pedal mechanism is in a normal state. For example, the first preset data could be the data from the first sensor at time t, and the third preset data could be the data from the third sensor at time t. If it is determined that the first target data is the same as the first target preset data, the first target data and the corresponding third preset data are used as the first combination data. The first target preset data can be any one of the multiple first preset data sets. If it is determined that the third target data is the same as the third target preset data, the third target data and the corresponding first preset data are used as the first combination data. The third target preset data can be any one of the multiple third preset data sets.

[0097] Figure 5 It is based on Figure 3 The illustrated embodiment shows another schematic diagram of a first preset data range, as shown in the figure. Figure 5 As shown, in Figure 3 The curve shown ( Figure 5 Based on the solid lines in the text, dashed lines were added to make... Figure 3 The first preset data range shown is expanded to Figure 5 The area enclosed by the dashed line is to avoid errors introduced when actually pressing the brake pedal. Figure 5 [X1,Y1], [X2,Y2], [X3,Y3], [X4,Y4], and [X5,Y5] are five first preset combination data, which can be... Figure 3 Any point on the curve shown.

[0098] For example, as the driver depresses the brake pedal, the first target data and the third target data will gradually change. Figure 5 As shown, before the third preset data increases to a certain value, the first and second preset data remain at 0, indicating that the first and second sensors will only be triggered after the brake pedal is pressed to a certain force. In this case, for [X1, Y1], the third target data can be used as a reference. When the third target data Y reaches Y1, [X1, Y] can be used as the first combined data, or [X, Y] can be used as the first combined data, where X is the first target data of the first sensor when the third target data reaches Y1. As the driver continues to press the brake pedal, the first and third target data will continue to change. If the first target data reaches X2 and the third target data is less than Y2, then [X, Y2] can be used as the first combined data; if the third target data reaches Y2 and the first target data is less than X2, then [X2, Y] can be used as the first combined data.

[0099] S1022. Determine the second combined data based on the second target data and the third target data.

[0100] In this step, the method for determining the first combination of data in step S1021 can be used to determine the second combination of data, which will not be repeated here.

[0101] S1023. Determine the state of the brake pedal mechanism based on the first combination data, the second combination data, and the first preset data range.

[0102] In this step, after determining the first combination data and the second combination data, if both the first combination data and the second combination data are within the first preset data range, the brake pedal mechanism is determined to be in a normal state; if the target combination data is not within the first preset data range, the sensor corresponding to the target combination data is determined to be in an abnormal state, and the target combination data is either the first combination data or the second combination data; if neither the first combination data nor the second combination data is within the first preset data range, the brake pedal mechanism is determined based on the first combination data, the second combination data, and a preset data threshold, where the preset data threshold is the maximum value of the first preset data range. For example, the preset data threshold may be the upper edge of the first preset data range.

[0103] For example, with Figure 5Taking the first preset data range as an example, if both the first combined data and the second combined data are within the dashed line range, the brake pedal mechanism can be determined to be in a normal state. If the first combined data is outside the dashed line range but the second combined data is within the dashed line range, the first sensor can be determined to be in an abnormal state. If the second combined data is outside the dashed line range but the first combined data is within the dashed line range, the second sensor can be determined to be in an abnormal state. If both the first combined data and the second combined data are outside the dashed line range, they can be compared with the preset data threshold to further determine the state of the brake pedal mechanism.

[0104] In one possible implementation, if it is determined that both the first combination data and the second combination data are greater than or equal to the preset data threshold, the state of the brake pedal mechanism is determined based on the rate of change of the first combination data; if it is determined that both the first combination data and the second combination data are less than the preset data threshold, the state of the brake pedal mechanism is determined based on the first combination data, the second combination data, and the second preset data range.

[0105] For example, if both the first combination data and the second combination data are above the first preset data range, it means that both the first combination data and the second combination data are greater than or equal to the preset data threshold. The rate of change of the first combination data can be determined. For instance, the first historical combination data obtained before the first combination data during the vehicle's current braking process can be acquired, and the rate of change of the first combination data can be determined based on the first historical combination data and the first combination data. If the first combination data is [X3,Y], the first historical combination data [X,Y1] and [X2,Y] can be acquired, and the rate of change of the curve formed by [X,Y1], [X2,Y], and [X3,Y] over time can be determined. This rate of change is used as the rate of change of the first combination data.

[0106] If the rate of change of the first set of data is greater than or equal to a preset speed threshold, the brake pedal mechanism is determined to be in a normal state; if the rate of change of the first set of data is less than the preset speed threshold, the third sensor is determined to be in an abnormal state. The preset speed threshold can be obtained through prior testing. For example, if the rate of change of the first set of data is greater than or equal to the preset speed threshold, it indicates that the data anomaly during braking is caused by the driver pressing the brake pedal too quickly, and the brake pedal mechanism is in a normal state; if the rate of change of the first set of data is less than the preset speed threshold, the third sensor is determined to be in an abnormal state.

[0107] If it is determined that both the first combination of data and the second combination of data are less than the preset data threshold, for example, if both the first combination of data and the second combination of data are below the first preset data range, then the second preset data range can be further obtained, and the state of the brake pedal mechanism can be determined based on the second preset data range.

[0108] In one possible implementation, the brake pedal mechanism further includes a pedal feel simulator connected to the third sensor; if it is determined that both the first combination data and the second combination data are within the second preset data range, the state of the pedal feel simulator is determined to be abnormal; if it is determined that neither the first combination data nor the second combination data are within the second preset data range, the state of the third sensor is determined to be abnormal.

[0109] For example, Figure 6 It is based on Figure 3 The illustrated embodiment presents a schematic diagram of a preset data range, as shown below. Figure 6 As shown, the upper dashed box represents the first preset data range, and the lower dashed box represents the second preset data range. If both the first and second combined data are below the first preset data range, it can be determined whether the first and second combined data are within the second preset data range. If the first and second combined data are within the second preset data range, it can be determined that the pedal feel simulator is in an abnormal state; if the first and second combined data are within the second preset data range, it can be determined that the third sensor is in an abnormal state.

[0110] Figure 7 This is a flowchart illustrating another method for determining the state of a brake pedal mechanism according to an exemplary embodiment of the present disclosure, such as... Figure 7 As shown, the method also includes:

[0111] S701. Acquire the first target data of the first sensor, the second target data of the second sensor, and the third target data of the third sensor.

[0112] S702. Determine the first combination data based on the first target data and the third target data.

[0113] S703. Determine the second combined data based on the second target data and the third target data.

[0114] S704. Determine whether the first combination data is within the first preset data range. If the first combination data is within the first preset data range, then execute step S705. If the first combination data is not within the first preset data range, then execute step S708.

[0115] S705. Determine whether the second combination data is within the first preset data range. If the second combination data is within the first preset data range, then execute step S706. If the second combination data is not within the first preset data range, then execute step S707.

[0116] S706. Determine that the brake pedal mechanism is in a normal state.

[0117] S707. Determine that the state of the second sensor is abnormal.

[0118] S708. Determine whether the second combination data is within the first preset data range. If the second combination data is within the first preset data range, then execute step S709. If the second combination data is not within the first preset data range, then execute step S710.

[0119] S709. Determine that the state of the first sensor is abnormal.

[0120] S710. Determine whether the first combination data and the second combination data are above the first preset data range. If the first combination data and the second combination data are above the first preset data range, then execute step S711. If the first combination data and the second combination data are below the first preset data range, then execute step S714.

[0121] S711. Determine whether the rate of change of the first combination data is greater than or equal to a preset speed threshold. If the rate of change of the first combination data is greater than or equal to the preset speed threshold, then execute step S712. If the rate of change of the first combination data is less than the preset speed threshold, then execute step S713.

[0122] S712. Determine that the brake pedal mechanism is in a normal state.

[0123] S713. Determine that the state of the third sensor is abnormal.

[0124] S714. Determine whether the first combination data and the second combination data are within the second preset data range. If the first combination data and the second combination data are within the second preset data range, then execute step S715. If the first combination data and the second combination data are not within the second preset data range, then execute step S716.

[0125] S715, Determine that the pedal feel simulator is in an abnormal state.

[0126] S716. Determine that the state of the third sensor is abnormal.

[0127] It should be noted that if the first sensor malfunctions, the data from the second and third sensors can be used; if the second sensor malfunctions, the data from the first and third sensors can be used; and if the third sensor malfunctions, the data from the first and second sensors can be used.

[0128] Figure 8 This is a schematic diagram of sensor data according to an exemplary embodiment of the present disclosure, such as... Figure 8 As shown, curve 1 is the curve formed by the first target data and the third target data, and curve 2 is the curve formed by the second target data and the third target data. Figure 8 It can be seen that the value of the first target data is always the minimum value, and curve 2 is within the range of the first preset data. Therefore, it can be determined that the first sensor is faulty.

[0129] Figure 9 This is another schematic diagram of sensor data illustrated according to an exemplary embodiment of the present disclosure, such as... Figure 9 As shown, curve 1 is the curve formed by the first target data and the third target data, and curve 2 is the curve formed by the second target data and the third target data. Figure 9 It can be seen that the value of the first target data is constant at the maximum value, and curve 2 is within the range of the first preset data. Therefore, it can be determined that the first sensor is faulty.

[0130] Figure 10 This is another schematic diagram of sensor data illustrated according to an exemplary embodiment of the present disclosure, such as... Figure 10 As shown, curve 1 is the curve formed by the first target data and the third target data, and curve 2 is the curve formed by the second target data and the third target data. Figure 10 As can be seen, when the first target data is scaled down proportionally, curve 2 falls within the first preset data range. Therefore, it can be determined that the first sensor is faulty. It should be noted that the first segment of curve 1 is within the first preset data range, while the latter segment is outside of it. In this case, when the brake pedal is pressed with relatively light force, the first combined data will not be reported as faulty because it falls within the first preset data range. However, as the brake pedal is pressed with increasing force, and the first combined data exceeds the first preset data range, a faulty status for the first sensor will be reported.

[0131] Figure 11 This is another schematic diagram of sensor data illustrated according to an exemplary embodiment of the present disclosure, such as... Figure 11As shown, curve 1 is the curve formed by the first target data and the third target data, and curve 2 is the curve formed by the second target data and the third target data. Figure 11 It can be seen that the first target data is biased, and curve 2 is within the range of the first preset data. Therefore, it can be determined that the first sensor is faulty.

[0132] Figure 12 This is another schematic diagram of sensor data illustrated according to an exemplary embodiment of the present disclosure, such as... Figure 12 As shown, curve 1 is the curve formed by the first target data and the third target data, and curve 2 is the curve formed by the second target data and the third target data. Figure 12 It can be seen that the proportion of the third target data is too large. The first part of curve 1 and curve 2 is within the first preset data range, while the second part is outside the first preset data range. In this case, when the force of pressing the brake pedal is relatively small, since the first combination data and the second combination data are both within the first preset data range, the fault status of the third sensor will not be reported. As the force of pressing the brake pedal gradually increases, and the first combination data and the second combination data both exceed the first preset data range, the fault status of the third sensor will be reported.

[0133] Figure 13 This is another schematic diagram of sensor data illustrated according to an exemplary embodiment of the present disclosure, such as... Figure 13 As shown, curve 1 is the curve formed by the first target data and the third target data, and curve 2 is the curve formed by the second target data and the third target data. Figure 13 As can be seen, curves 1 and 2 remain within the second preset data range. Therefore, it can be determined that the pedal feel simulator is malfunctioning; for example, the pedal feel simulator may be experiencing significant oil leakage.

[0134] Figure 14 This is a block diagram illustrating a device for determining the state of a brake pedal mechanism according to an exemplary embodiment of the present disclosure, such as... Figure 14 As shown, the device is applied to a vehicle. The vehicle's brake pedal mechanism includes a first sensor, a second sensor, and a third sensor. The brake pedal mechanism is connected to the vehicle's brake pedal. The first and second sensors are used to sense the brake pedal's depressor travel, and the third sensor is used to sense the brake pedal's depressor force. The sensor includes:

[0135] The acquisition module 1401 is configured to acquire the first target data of the first sensor, the second target data of the second sensor, and the third target data of the third sensor;

[0136] The determination module 1402 is configured to determine the state of the brake pedal mechanism based on the first target data, the second target data, the third target data, and a first preset data range. The state includes a normal state or an abnormal state. The first preset data range includes the correspondence between the data of the target sensor and the data of the third sensor when the state of the brake pedal mechanism is normal. The target sensor is the first sensor or the second sensor.

[0137] Optionally, the determining module 1402 is also configured to:

[0138] Based on the first target data and the third target data, the first combination data is determined;

[0139] Based on the second target data and the third target data, determine the second combination data;

[0140] The state of the brake pedal mechanism is determined based on the first combination of data, the second combination of data, and the first preset data range.

[0141] Optionally, the determining module 1402 is also configured to:

[0142] If it is determined that both the first combination of data and the second combination of data are within the range of the first preset data, the brake pedal mechanism is determined to be in a normal state.

[0143] If it is determined that the target combination data is not within the first preset data range, the state of the sensor corresponding to the target combination data is determined to be abnormal, and the target combination data is the first combination data or the second combination data;

[0144] If neither the first combination of data nor the second combination of data is within the first preset data range, the state of the brake pedal mechanism is determined based on the first combination of data, the second combination of data, and a preset data threshold, where the preset data threshold is the maximum value of the first preset data range.

[0145] Optionally, the determining module 1402 is also configured to:

[0146] When it is determined that both the first combination data and the second combination data are greater than or equal to the preset data threshold, the state of the brake pedal mechanism is determined according to the rate of change of the first combination data.

[0147] If both the first combination of data and the second combination of data are less than the preset data threshold, the state of the brake pedal mechanism is determined based on the first combination of data, the second combination of data, and the second preset data range.

[0148] Optionally, the determining module 1402 is also configured to:

[0149] If the rate of change of the first combination of data is greater than or equal to a preset speed threshold, the brake pedal mechanism is determined to be in a normal state.

[0150] If the rate of change of the first set of data is determined to be less than the preset speed threshold, the state of the third sensor is determined to be abnormal.

[0151] Optionally, the brake pedal mechanism further includes a pedal feel simulator connected to the third sensor; the determining module 1402 is also configured to:

[0152] If it is determined that both the first combination of data and the second combination of data are within the second preset data range, the state of the pedal feel simulator is determined to be abnormal.

[0153] If it is determined that neither the first combination of data nor the second combination of data is within the second preset data range, the state of the third sensor is determined to be abnormal.

[0154] Optionally, the determining module 1402 is also configured to:

[0155] Acquire multiple first preset combination data, which includes first preset data and third preset data; the first preset combination data is the data of the first sensor and the third sensor at the same moment when the brake pedal mechanism is in the normal state.

[0156] If it is determined that the first target data is the same as the first target preset data, the third preset target data corresponding to the first target data and the first target preset data is used as the first combined data, and the first target preset data is any one of the multiple first preset data;

[0157] If it is determined that the third target data is the same as the third target preset data, the first preset target data corresponding to the third target data and the third target preset data is taken as the first combination data, and the third target preset data is any third preset data among a plurality of third preset data.

[0158] The above-mentioned device can determine the state of the vehicle's brake pedal mechanism based on the first target data from the first sensor, the second target data from the second sensor, and the third target data from the third sensor. This state can then be used to determine the operating status of the brake pedal mechanism, thereby reducing safety hazards during vehicle operation.

[0159] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0160] This disclosure also provides a computer-readable storage medium having stored thereon computer program instructions that, when executed by a second processor, implement the steps of the method for determining the brake pedal state provided in this disclosure.

[0161] Figure 15 This is a block diagram illustrating a vehicle 600 according to an exemplary embodiment of the present disclosure. For example, vehicle 600 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicle. Vehicle 600 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0162] Reference Figure 15 The vehicle 600 may include various subsystems, such as an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. The vehicle 600 may also include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and each component of the vehicle 600 can be interconnected via wired or wireless means.

[0163] In some embodiments, the infotainment system 610 may include a communication system, an entertainment system, and a navigation system, etc.

[0164] The perception system 620 may include several sensors for sensing information about the environment surrounding the vehicle 600. For example, the perception system 620 may include a global positioning system (which may be GPS, BeiDou, or other positioning systems), an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0165] The decision control system 630 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0166] The drive system 640 may include components that provide powered motion to the vehicle 600. In one embodiment, the drive system 640 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of internal combustion engines, electric motors, and compressed air engines. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0167] Some or all of the functions of vehicle 600 are controlled by computing platform 650. Computing platform 650 may include at least one first processor 651 and memory 652, the first processor 651 being able to execute instructions 653 stored in memory 652.

[0168] The first processor 651 can be any conventional processor, such as a commercially available CPU. The processor may also include, for example, a Graphics Processing Unit (GPU), a Field Programmable Gate Array (FPGA), a System on Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof.

[0169] The memory 652 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0170] In addition to instruction 653, memory 652 can also store data, such as road maps, route information, vehicle position, direction, speed, and other data. The data stored in memory 652 can be used by computing platform 650.

[0171] In this embodiment of the disclosure, the first processor 651 may execute instruction 653 to complete all or part of the steps of the method for determining the brake pedal state described above.

[0172] In another exemplary embodiment, a computer program product is also provided, comprising a computer program executable by a programmable device, the computer program having a code portion for performing the method described above for determining the brake pedal state when executed by the programmable device.

[0173] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of this disclosure. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0174] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A method for determining the state of a brake pedal mechanism, characterized in that, Applied to vehicles, the vehicle's brake pedal mechanism includes a first sensor, a second sensor, and a third sensor. The brake pedal mechanism is connected to the vehicle's brake pedal. The first and second sensors are used to sense the brake pedal's depressor travel, and the third sensor is used to sense the brake pedal's depressor force. The mechanism includes: Acquire the first target data from the first sensor, the second target data from the second sensor, and the third target data from the third sensor; Based on the first target data and the third target data, a first combination of data is determined; Based on the second target data and the third target data, determine the second combined data; If it is determined that both the first combination data and the second combination data are within the first preset data range, the brake pedal mechanism is determined to be in a normal state. If it is determined that the target combination data is not within the first preset data range, the state of the sensor corresponding to the target combination data is determined to be an abnormal state, and the target combination data is the first combination data or the second combination data; If it is determined that neither the first combined data nor the second combined data is within the first preset data range, the state of the brake pedal mechanism is determined based on the first combined data, the second combined data, and a preset data threshold. The preset data threshold is the maximum value of the first preset data range. The state includes a normal state or an abnormal state. The first preset data range includes the correspondence between the data of the target sensor and the data of the third sensor when the state of the brake pedal mechanism is normal. The target sensor is either the first sensor or the second sensor.

2. The method according to claim 1, characterized in that, Determining the state of the brake pedal mechanism based on the first combination of data, the second combination of data, and a preset data threshold includes: If it is determined that both the first combined data and the second combined data are greater than or equal to the preset data threshold, the state of the brake pedal mechanism is determined according to the rate of change of the first combined data. If both the first combined data and the second combined data are less than the preset data threshold, the state of the brake pedal mechanism is determined based on the first combined data, the second combined data, and the second preset data range.

3. The method according to claim 2, characterized in that, Determining the state of the brake pedal mechanism based on the rate of change of the first combined data includes: If the rate of change of the first combination of data is greater than or equal to a preset speed threshold, the brake pedal mechanism is determined to be in a normal state. If the rate of change of the first combined data is determined to be less than the preset speed threshold, the state of the third sensor is determined to be abnormal.

4. The method according to claim 2, characterized in that, The brake pedal mechanism further includes a pedal feel simulator, which is connected to the third sensor; determining the state of the brake pedal mechanism based on the first combined data, the second combined data, and the second preset data range includes: If it is determined that both the first combination data and the second combination data are within the range of the second preset data, the state of the pedal feel simulator is determined to be an abnormal state; If it is determined that neither the first combined data nor the second combined data is within the second preset data range, the state of the third sensor is determined to be abnormal.

5. The method according to claim 1, characterized in that, The step of determining the first combined data based on the first target data and the third target data includes: Multiple first preset combination data are acquired, the first preset combination data including first preset data and third preset data; the first preset combination data is the data of the first sensor and the third sensor at the same time when the brake pedal mechanism is in the normal state. If it is determined that the first target data is the same as the first target preset data, then the third preset data corresponding to the first target data and the first target preset data is used as the first combined data, wherein the first target preset data is any one of a plurality of first preset data; or... If the third target data is determined to be the same as the third target preset data, the first preset data corresponding to the third target data and the third target preset data is used as the first combined data, and the third target preset data is any one of the multiple third preset data.

6. A device for determining the state of a brake pedal mechanism, characterized in that, Applied to vehicles, the vehicle's brake pedal mechanism includes a first sensor, a second sensor, and a third sensor. The brake pedal mechanism is connected to the vehicle's brake pedal. The first and second sensors are used to sense the brake pedal's depressor travel, and the third sensor is used to sense the brake pedal's depressor force. The mechanism includes: The acquisition module is configured to acquire first target data from the first sensor, second target data from the second sensor, and third target data from the third sensor; The determining module is configured to: determine first combined data based on the first target data and the third target data; determine second combined data based on the second target data and the third target data; determine the state of the brake pedal mechanism as normal if both the first combined data and the second combined data are within a first preset data range; determine the state of the sensor corresponding to the target combined data as abnormal if the target combined data is not within the first preset data range, wherein the target combined data is either the first combined data or the second combined data; and determine the state of the brake pedal mechanism based on the first combined data, the second combined data, and a preset data threshold if both the first combined data and the second combined data are not within the first preset data range, wherein the state includes a normal state or an abnormal state, and the first preset data range includes the correspondence between the data of the target sensor and the data of the third sensor when the brake pedal mechanism is in a normal state, wherein the target sensor is either the first sensor or the second sensor.

7. A vehicle, characterized in that, include: First processor; Memory used to store instructions executable by the first processor; The first processor is configured as follows: The steps of implementing the method according to any one of claims 1-5.

8. A computer-readable storage medium having computer program instructions stored thereon, characterized in that, When executed by a second processor, the program instructions implement the steps of the method described in any one of claims 1-5.

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