Vehicle fault warning method, device, computer equipment and storage medium

Abstract

The present application relates to a vehicle fault warning method, apparatus, computer equipment and storage medium, the method comprising obtaining mapping information of wheel speed and time; determining the vibration starting time of the front wheel speed and the rear wheel speed respectively according to the mapping information, and obtaining the vibration starting time difference; when the vibration starting time difference is less than or equal to a time threshold, determining a target monitoring time according to the vibration amplitude parameter of the front wheel speed or the rear wheel speed, and determining a target monitoring time period based on the target monitoring time; obtaining a monitoring value of an obstacle monitoring parameter within the target monitoring time period, and determining vehicle warning information according to the monitoring value. The use of this method can improve the problem in the prior art of being unable to provide warnings for hidden damage caused by road factors such as potholes and obstacles.

Description

Technical Field

[0001] The present application relates to the field of vehicle safe driving technology, and in particular to a vehicle fault warning method, device, computer equipment and storage medium. Background Art

[0002] Vehicles may be damaged due to road conditions while driving. For example, driving at high speed through bumpy roads or over speed bumps and other obstacles may cause vehicle failure and damage. The damage is often hidden and will not appear directly in the short term, and it is difficult to detect.

[0003] The current vehicle diagnosis method is to report the fault for diagnosis after the vehicle has failed, but it cannot provide early warning of potential hidden damage caused by potholes, obstacles, etc. Summary of the Invention

[0004] Based on this, a vehicle fault warning method, device, computer equipment and storage medium are provided to improve the problem in the existing technology that it is impossible to warn of hidden damage caused by road factors such as potholes and obstacles.

[0005] In one aspect, a vehicle fault warning method is provided, the method comprising:

[0006] Obtaining mapping information of wheel speed and time, wherein the wheel speed includes front wheel speed and rear wheel speed;

[0007] Determining the vibration start time of the front wheel speed and the rear wheel speed respectively according to the mapping information, and obtaining the vibration start time difference;

[0008] When the vibration start time difference is less than or equal to a time threshold, determining a target monitoring time according to a vibration amplitude parameter of the front wheel speed or the rear wheel speed, and determining a target monitoring time period based on the target monitoring time;

[0009] Obtain monitoring values ​​of obstacle monitoring parameters within the target monitoring time period to determine vehicle warning information based on the monitoring values.

[0010] In one embodiment, determining the vibration start time of the front wheel speed and the rear wheel speed respectively according to the mapping information includes:

[0011] A vibration frequency parameter is determined according to the mapping information between the wheel speed and time, and a moment when the vibration frequency parameter is greater than or equal to a frequency threshold is determined as the vibration start moment of the wheel speed.

[0012] In one embodiment, determining the vibration frequency parameter according to the mapping information between the wheel speed and time includes:

[0013] The number of increases and decreases of the wheel speed in a first sampling time period is obtained, and when the number of increases and decreases is greater than or equal to a frequency threshold, a start time of the first sampling time period is determined as the vibration start time of the wheel speed.

[0014] In one embodiment, determining the target monitoring time according to the vibration amplitude parameter of the front wheel speed or the rear wheel speed includes:

[0015] Obtaining the wheel speed within a second sampling period starting from the vibration start moment of the front wheel speed or the rear wheel speed;

[0016] Determining the target monitoring moment from within the second sampling time period includes: polling a first difference between the wheel speed at each moment in the second sampling time period and the wheel speed at the previous moment, and a second difference between the wheel speed at each moment and the wheel speed at the next moment; determining a moment when both the first difference and the second difference are greater than an amplitude threshold as the target monitoring moment, wherein the time interval between adjacent moments is a fixed value.

[0017] In one embodiment, determining the target monitoring time period based on the target monitoring time includes:

[0018] A time period of a first duration before the target monitoring moment and / or a second duration after the target monitoring moment is determined as the target monitoring time period, and the first duration and / or the second duration is equal to the vibration start time difference.

[0019] In one embodiment, the obstacle monitoring parameter includes at least one of longitudinal acceleration, vehicle speed, master cylinder pressure, and anti-lock braking system status.

[0020] In one embodiment, determining vehicle warning information based on the monitoring value includes:

[0021] When the monitoring value is within the warning range, determining a warning count and adjusting the count value;

[0022] When the count value is greater than the count threshold, the early warning instruction is executed.

[0023] In another aspect, a vehicle fault warning device is provided, comprising:

[0024] A wheel speed acquisition module, configured to acquire mapping information between wheel speed and time, wherein the wheel speed includes the front wheel speed and the rear wheel speed;

[0025] a calculation module, configured to determine, based on the mapping information, the vibration start time of each of the front wheel speed and the rear wheel speed, and obtain a vibration start time difference; when the vibration start time difference is less than or equal to a time threshold, determine a target monitoring time based on the vibration amplitude parameter of the front wheel speed or the rear wheel speed, and determine a target monitoring time period based on the target monitoring time;

[0026] The monitoring and warning module is used to obtain the monitoring value of the obstacle monitoring parameter within the target monitoring time period to determine the vehicle warning information according to the monitoring value.

[0027] In another aspect, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the steps of the method are implemented when the processor executes the computer program.

[0028] A computer-readable storage medium is also provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method are implemented.

[0029] The above-mentioned vehicle fault warning method, device, computer equipment and storage medium respectively determine the vibration start time of the front wheel speed and the rear wheel speed through the mapping information of the wheel speed and time. When the difference in the vibration start time is less than or equal to the time threshold, it is considered that the vehicle has passed through an obstacle road such as a pothole, and the obstacle monitoring parameters associated with the obstacle are monitored. The possibility of hidden damage is further determined based on the size of the monitoring value. Based on this, vehicle warning information is given, thereby realizing the function of warning hidden damage caused by road factors such as potholes and obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 Schematic diagram of a vehicle fault warning method according to an embodiment;

[0031] Figure 2 is a schematic diagram of wheel speed vibration in one embodiment;

[0032] Figure 3 Schematic diagram of the vibration starting moment in one embodiment;

[0033] Figure 4 Schematic diagram of target monitoring time in one embodiment;

[0034] Figure 5 A schematic diagram of determining a target monitoring time period based on a target monitoring time determined based on a front wheel speed in one embodiment;

[0035] Figure 6 A schematic diagram of determining a target monitoring time period based on a target monitoring time determined based on rear wheel speeds in one embodiment;

[0036] Figure 7 A schematic diagram of determining a target monitoring time period in another embodiment;

[0037] Figure 8 This is a structural block diagram of a vehicle fault warning device in one embodiment;

[0038] Figure 9 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0040] Vehicles are often damaged due to road conditions. For example, potholes caused by road damage due to various reasons are a major threat to vehicle condition and traffic safety. Potholes can cause tire wear and scrapping at the very least, and can cause dangerous conditions such as tire blowouts, suspension breakage, or vehicle loss of control at the worst. Speed ​​bumps or gravel on the road, for example, may cause damage to the vehicle chassis, engine, and suspension system, and even cause the vehicle to lose control, run off the road, or suffer tire damage.

[0041] However, in most cases, vehicle damage caused by potholes, speed bumps, gravel, etc. is hidden, such as slight deformation of vehicle suspension and other structures, metal fatigue, hidden tire scratches, etc. These hidden damages are difficult to be discovered directly, but may bring unpredictable driving hazards in later driving.

[0042] This application provides a vehicle fault warning method for warning of possible hidden damage after the vehicle passes through potholes, obstacles, etc. Figure 1 As shown, the following steps are included:

[0043] Step 101: Obtain mapping information between wheel speed and time, where the wheel speed includes the front wheel speed and the rear wheel speed.

[0044] For example, the mapping information of wheel speed and time can be a continuous wheel speed time curve. In some embodiments, the data of each wheel of the vehicle is collected and calculated by an ESC (Electronic-Stability-Controller) controller and broadcast to a CAN matrix via a CAN (Controller Area Network) message in a periodic form (for example, a periodic time interval of 20ms). By collecting periodic messages from the CAN matrix of the vehicle, the wheel speed data can be obtained, and then a wheel speed time curve composed of discrete points can be obtained.

[0045] It can be understood that the front wheel speed indicated in this application can be the wheel speed of any one of the front wheels of the vehicle, and the rear wheel speed can be the wheel speed of any one of the rear wheels of the vehicle.

[0046] Step 102 : determining the vibration start time of the front wheel speed and the rear wheel speed respectively according to the mapping information, and obtaining the vibration start time difference.

[0047] When a vehicle passes through a pothole section, for example, the front and rear wheels of the vehicle pass through the potholes in turn, and the wheel speed time curves of the two wheels vibrate in turn. Usually, Figure 2 In some embodiments, the sudden decrease shown can be determined by calculating the slope of the wheel speed time curve and comparing the calculated slope with a certain threshold to determine the time when the sudden decrease occurs. In this way, the time when the front and rear wheels pass through the pothole can be determined respectively, and the vibration start time difference Δt can be further obtained.

[0048] Step 103 : When the vibration start time difference Δt is less than or equal to a time threshold, a target monitoring time T is determined according to the vibration amplitude parameter of the front wheel speed or the rear wheel speed, and a target monitoring time period is determined based on the target monitoring time.

[0049] For example, the time threshold may be a fixed value, such as a typical value of 0.5s, which may be determined by actual vehicle calibration, by testing the front and rear wheels passing through the same pothole in sequence at a safe vehicle speed.

[0050] The wheel speeds of the front and rear wheels of the vehicle vibrate in sequence, thereby determining whether the vehicle has passed through a pothole. When the difference in the start time of the vibration is less than or equal to a time threshold, it can be considered that the vehicle has passed through the pothole at a speed higher than the safe speed.

[0051] In this embodiment, the target monitoring time is determined based on the vibration amplitude parameter of the front wheel speed or the rear wheel speed. For example, the target monitoring time is determined based on the front wheel speed. For example, the vibration amplitude parameter of the front wheel speed is Figure 2 When the instantaneous sudden drop in the extreme value exceeds the amplitude threshold, it can be considered that at this moment, the impact of the pothole on the vehicle exceeds the safety threshold and is typical. Therefore, it is taken as the moment when the front wheel passes through the pothole.

[0052] It is understandable that the target monitoring time may not be consistent with the vibration start time.

[0053] Based on the target monitoring moment, a certain time before or after the target monitoring moment is determined as the target monitoring time period. For example, the target monitoring moment is determined by the front wheel speed, and the target monitoring time period is determined a certain time after the target monitoring moment. The target monitoring time period may include the vibration period of the rear wheel speed. Alternatively, the target monitoring moment is determined by the rear wheel speed, and the target monitoring time period is determined a certain time before the target monitoring moment. The target monitoring time period may include the vibration period of the front wheel speed. In another embodiment, the time period before and after the target monitoring moment may be jointly used as the target monitoring time period.

[0054] Step 104 : Acquire monitoring values ​​of obstacle monitoring parameters within the target monitoring time period to determine vehicle warning information according to the monitoring values.

[0055] The obstacle monitoring parameters may be parameters related to obstacles such as potholes obtained through direct monitoring, such as the type of obstacle, the volume of the obstacle, or the size and depth of the pothole. By way of example, in some embodiments, a detection device such as a radar or an image recognition device is used to obtain a monitoring data stream of the pothole depth on the road surface in front of the vehicle, and the data within a target monitoring time period is intercepted. If a pothole with a depth exceeding a certain threshold exists within this time period, a fault warning message may be issued.

[0056] The above-mentioned direct monitoring of obstacles usually requires the use of additional devices, which increases the warning cost and the difficulty of data processing.

[0057] In some implementations, periodic messages from the vehicle's CAN matrix are collected to obtain CAN matrix signals, extract valid information, and indirectly assess the risk of hidden damage to the vehicle by monitoring the vehicle's status.

[0058] Exemplarily, the obstacle monitoring parameter includes at least one of longitudinal acceleration, vehicle speed, master cylinder pressure, and anti-lock braking system status.

[0059] For example, longitudinal acceleration is used as an obstacle monitoring parameter. When the longitudinal acceleration exceeds the set threshold at any time during the target monitoring period, it can be considered that there is a high risk of hidden damage when crossing a pothole. Based on this monitoring result, an early warning information can be sent to the driver or the cloud-based fault diagnosis platform.

[0060] The vehicle speed can be obtained by taking the average of the four-wheel speeds, and when the vehicle speed is higher than a set range, there is a higher risk of failure; when the brake master cylinder pressure is higher than a set range or the anti-lock braking system is activated, it can be considered that the vehicle has possible hidden damage.

[0061] In actual implementation, a combination of multiple parameters can be used to improve the accuracy of judgment. When the above conditions are met simultaneously within the target monitoring time period, it can be regarded as a possible fault and an early warning information will be sent.

[0062] The present application provides a vehicle fault warning method, which first determines the possible pit-crossing time of the vehicle through the continuous fluctuation of the front wheel speed and the rear wheel speed of the vehicle within a time threshold, and determines the target monitoring time period, and further combines the value of the obstacle monitoring parameter within the target monitoring time period to determine whether the vehicle has a possible fault, so as to provide warning information, and the dual judgment method improves the accuracy of the warning.

[0063] In one embodiment, determining the vibration start time of the front wheel speed and the rear wheel speed respectively according to the mapping information includes determining a vibration frequency parameter according to the mapping information of the wheel speed and time, and determining the moment when the vibration frequency parameter is greater than or equal to a frequency threshold as the vibration start time of the wheel speed.

[0064] It is understandable that when the vehicle is driving normally, the wheel speed of the vehicle remains stable or changes at a low frequency. Due to the influence of potholes or obstacles, the wheel speed will drop sharply and fluctuate repeatedly, such as Figure 2 As shown, this results in an increase in the vibration frequency parameter of the wheel speed.

[0065] In some embodiments, the vibration frequency parameter is determined by obtaining the number of increases and decreases in the wheel speed within a first sampling time period. When the number of increases and decreases is greater than or equal to a frequency threshold, the starting time of the first sampling time period is determined to be the vibration starting time of the wheel speed.

[0066] For example, Figure 3 The front wheel speed shown is explained in the following example. Figure 3 In the discrete wheel speed time curve shown, each coordinate point is regarded as the wheel speed value of one frame of the message. The time of 6 frames of messages (i.e., 120ms) is used as the first sampling period A. The wheel speed of 6 consecutive frames of messages is obtained, and it is determined whether the number of increases or decreases in the wheel speed in the 6 frames of messages is greater than a number threshold. The number threshold is typically 3. The increase or decrease in the wheel speed can be determined by the regularity of the slopes of the 6 points changing from positive to negative or from negative to positive. When the number of times the slopes of the 6 points change from positive to negative or from negative to positive is greater than or equal to 3 times, the time corresponding to the first frame of the 6 frames of messages can be determined as the vibration start time. Using this method, the vibration start time T1 of the front wheel and the vibration start time T2 of the rear wheel can be determined respectively.

[0067] In one embodiment, determining the target monitoring time according to the vibration amplitude parameter of the front wheel speed or the rear wheel speed includes:

[0068] Obtaining the wheel speed within a second sampling period starting from the vibration start moment of the front wheel speed or the rear wheel speed;

[0069] Determining the target monitoring moment from within the second sampling time period includes: polling a first difference between the wheel speed at each moment in the second sampling time period and the wheel speed at the previous moment, and a second difference between the wheel speed at each moment and the wheel speed at the next moment; determining a moment when both the first difference and the second difference are greater than an amplitude threshold as the target monitoring moment, wherein the time interval between adjacent moments is a fixed value.

[0070] As Figure 4Taking the discrete wheel speed time curve shown as an example, after determining the vibration start time, a period of time after the vibration start time, such as 3 seconds, can be used as the second sampling period B. All data within 3 seconds after the vibration start time can be recorded and analyzed. The three consecutive frames of messages are compared as follows: if the value of the wheel speed message in the second frame minus the value of the wheel speed message in the first frame is greater than or equal to an amplitude threshold, such as 2 km / h, and the value of the wheel speed message in the second frame minus the value of the wheel speed message in the third frame is greater than or equal to 2 km / h, the time corresponding to the second frame of the message can be determined as the target monitoring time T.

[0071] By adopting the above method, the earliest time when a pothole or obstacle causes an impact on the vehicle exceeding a safety threshold can be obtained.

[0072] In one embodiment, the target monitoring time period is determined based on the target monitoring time determined by the previous wheel speed as the starting value and the second time period thereafter, such as Figure 5 The D time period shown, the second time length is equal to the vibration start time difference; in another embodiment, the target monitoring time period is determined based on the target monitoring time determined by the rear wheel speed as the end value and the first time length forward, such as Figure 6 In the C time period shown, the first time length is equal to the vibration start time difference; in another embodiment, the target monitoring time period is determined based on the target monitoring time determined by the front wheel speed or the rear wheel speed as the intermediate value, and the time periods of the first time length in front and the second time length in the back are jointly determined, such as Figure 7 In the C+D time period shown, the first duration and the second duration are both equal to the vibration start time difference.

[0073] The above method can eliminate invalid data before and after the vehicle passes through the pothole, reduce the amount of calculation, and improve monitoring accuracy.

[0074] In some embodiments, a counting monitoring approach is used to reduce the frequency of early warning reports. This includes when the monitored values ​​of obstacle monitoring parameters fall within the early warning range—for example, when longitudinal acceleration, vehicle speed, master cylinder pressure exceeds a threshold, or when the anti-lock braking system is activated—a warning count is initiated, incrementing the count by 1. When the count exceeds the threshold, an early warning instruction is executed, such as sending a warning message to the user. The count value can also be reset to zero after the early warning instruction is executed, and the next counting cycle begins.

[0075] It should be understood that although Figure 1 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 1At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0076] In one embodiment, Figure 8 As shown, a vehicle fault warning device is provided, comprising: a wheel speed acquisition module 201, a calculation module 202 and a monitoring and warning module 203, wherein:

[0077] The wheel speed acquisition module 201 is used to acquire mapping information between wheel speed and time, where the wheel speed includes the front wheel speed and the rear wheel speed;

[0078] The calculation module 201 is configured to determine the vibration start time of the front wheel speed and the rear wheel speed respectively based on the mapping information, and obtain a vibration start time difference; when the vibration start time difference is less than or equal to a time threshold, determine a target monitoring time based on the vibration amplitude parameter of the front wheel speed or the rear wheel speed, and determine a target monitoring time period based on the target monitoring time;

[0079] The monitoring and warning module 203 is used to obtain the monitoring value of the obstacle monitoring parameter within the target monitoring time period to determine the vehicle warning information based on the monitoring value. The obstacle monitoring parameter includes at least one of the longitudinal acceleration, vehicle speed, brake master cylinder pressure and anti-lock braking system status.

[0080] The above-mentioned vehicle fault warning device determines the vibration starting time of the front wheel speed and the rear wheel speed respectively through the mapping information of wheel speed and time. When the difference in the vibration starting time is less than or equal to the time threshold, it is considered that the vehicle has passed through an obstacle road such as a pothole, and the obstacle monitoring parameters associated with the obstacle are monitored. The possibility of hidden damage is further determined based on the size of the monitoring value, and vehicle warning information is given based on this, thereby realizing the function of warning hidden damage caused by road reasons such as potholes and obstacles.

[0081] In one embodiment, the calculation module 202 determines a vibration frequency parameter based on the mapping information between the wheel speed and time, and determines the moment when the vibration frequency parameter is greater than or equal to a frequency threshold as the vibration start moment of the wheel speed.

[0082] In another embodiment, the calculation module 202 obtains the number of increases and decreases in the wheel speed within the first sampling time period, and determines the starting time of the first sampling time period as the vibration starting time of the wheel speed when the number of increases and decreases is greater than or equal to a frequency threshold.

[0083] In one embodiment, the calculation module 202 obtains the wheel speed within a second sampling time period starting from the vibration start moment of the front wheel speed or the rear wheel speed; determines the target monitoring moment from the second sampling time period, including polling a first difference between the wheel speed at each moment in the second sampling time period and the wheel speed at the previous moment, and a second difference between the wheel speed at each moment and the wheel speed at the next moment; and determines the moment when both the first difference and the second difference are greater than the amplitude threshold as the target monitoring moment, wherein the time interval between adjacent moments is a fixed value.

[0084] In one embodiment, the calculation module 202 determines a first time period before the target monitoring moment and / or a second time period after the target monitoring moment as the target monitoring time period, and the first time period and / or the second time period is equal to the vibration start time difference.

[0085] When the monitoring value is detected to be within the warning range, the monitoring and warning module 203 determines a warning count and adjusts the count value; when the count value is greater than a count threshold, the warning instruction is executed.

[0086] The specific definitions of the vehicle fault warning device can be found in the definitions of the vehicle fault warning method above and will not be repeated here. Each module in the aforementioned vehicle fault warning device may be implemented in whole or in part through software, hardware, or a combination thereof. Each of these modules may be embedded in or independent of a processor in a computer device in hardware form, or may be stored in a computer device memory in software form, allowing the processor to call and execute the corresponding operations of each module.

[0087] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 9 As shown. The computer device includes a processor, a memory, a network interface, a display screen and an input device connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a vehicle fault warning method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad provided on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0088] Those skilled in the art will understand that Figure 9The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0089] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the following steps are performed:

[0090] Step a, obtaining mapping information of wheel speed and time, wherein the wheel speed includes the front wheel speed and the rear wheel speed;

[0091] Step b, determining the vibration start time of the front wheel speed and the rear wheel speed respectively according to the mapping information, and obtaining the vibration start time difference;

[0092] Step c, when the vibration start time difference is less than or equal to a time threshold, determining a target monitoring time according to a vibration amplitude parameter of the front wheel speed or the rear wheel speed, and determining a target monitoring time period based on the target monitoring time;

[0093] Step d: obtaining monitoring values ​​of the obstacle monitoring parameters within the target monitoring time period, and determining vehicle warning information according to the monitoring values.

[0094] By using the computer equipment of the present application, specific parameters can be monitored when a vehicle passes through potholes, speed bumps, and other road surfaces, thereby providing early warning of hidden faults.

[0095] In one embodiment, when the processor executes the computer program, it further implements the following steps: determining a vibration frequency parameter based on the mapping information between the wheel speed and time, and determining the moment when the vibration frequency parameter is greater than or equal to a frequency threshold as the vibration start moment of the wheel speed.

[0096] In one embodiment, when the processor executes the computer program, the following steps are further implemented: obtaining the number of increases and decreases in the wheel speed within a first sampling time period, so as to determine that the starting moment of the first sampling time period is the vibration starting moment of the wheel speed when the number of increases and decreases is greater than or equal to a frequency threshold.

[0097] In one embodiment, when the processor executes the computer program, the following steps are also implemented: a time period of a first duration before the target monitoring moment and / or a second duration after the target monitoring moment is determined as the target monitoring time period, and the first duration and / or the second duration is equal to the vibration start time difference.

[0098] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0099] Step a, obtaining mapping information of wheel speed and time, wherein the wheel speed includes the front wheel speed and the rear wheel speed;

[0100] Step b, determining the vibration start time of the front wheel speed and the rear wheel speed respectively according to the mapping information, and obtaining the vibration start time difference;

[0101] Step c, when the vibration start time difference is less than or equal to a time threshold, determining a target monitoring time according to a vibration amplitude parameter of the front wheel speed or the rear wheel speed, and determining a target monitoring time period based on the target monitoring time;

[0102] Step d: obtaining monitoring values ​​of the obstacle monitoring parameters within the target monitoring time period, and determining vehicle warning information according to the monitoring values.

[0103] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: determining a vibration frequency parameter based on the mapping information between the wheel speed and time, and determining the moment when the vibration frequency parameter is greater than or equal to a frequency threshold as the vibration start moment of the wheel speed.

[0104] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: obtaining the number of increases and decreases in the wheel speed within a first sampling time period, and determining that the starting moment of the first sampling time period is the vibration starting moment of the wheel speed when the number of increases and decreases is greater than or equal to a frequency threshold.

[0105] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: obtaining the wheel speed within a second sampling time period starting from the vibration start moment of the front wheel speed or the rear wheel speed;

[0106] Determining the target monitoring moment from within the second sampling time period includes: polling a first difference between the wheel speed at each moment in the second sampling time period and the wheel speed at the previous moment, and a second difference between the wheel speed at each moment and the wheel speed at the next moment; determining a moment when both the first difference and the second difference are greater than an amplitude threshold as the target monitoring moment, wherein the time interval between adjacent moments is a fixed value.

[0107] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: when the monitoring value is within the warning range, determining the warning count and adjusting the count value; when the count value is greater than the count threshold, executing the warning instruction.

[0108] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0109] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0110] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A vehicle fault warning method, characterized in that: include: Obtaining mapping information of wheel speed and time, wherein the wheel speed includes front wheel speed and rear wheel speed; Determining vibration start times of the front wheel speed and the rear wheel speed respectively according to the mapping information, including determining a vibration frequency parameter according to the mapping information, determining a time when the vibration frequency parameter is greater than or equal to a frequency threshold as the vibration start time of the wheel speed; and obtaining a vibration start time difference; When the vibration start time difference is less than or equal to a time threshold, determining a target monitoring time according to the vibration amplitude parameter of the front wheel speed or the rear wheel speed, including obtaining the wheel speed within a second sampling time period starting from the vibration start time of the front wheel speed or the rear wheel speed; polling a first difference between the wheel speed at each moment in the second sampling time period and the wheel speed at the previous moment, and a second difference between the wheel speed at each moment and the wheel speed at the next moment; and determining a moment when both the first difference and the second difference are greater than the amplitude threshold as the target monitoring time; and determining a target monitoring time period based on the target monitoring time; Obtain monitoring values ​​of obstacle monitoring parameters within the target monitoring time period to determine vehicle warning information based on the monitoring values, wherein the obstacle monitoring parameters include at least one of longitudinal acceleration, vehicle speed, brake master cylinder pressure, and anti-lock braking system status.

2. The vehicle failure warning method according to claim 1, characterized in that: The determining of the vibration frequency parameter according to the mapping information includes: The number of increases and decreases of the wheel speed in a first sampling time period is obtained, and when the number of increases and decreases is greater than or equal to a frequency threshold, a start time of the first sampling time period is determined as the vibration start time of the wheel speed.

3. The vehicle fault warning method according to claim 1, characterized in that: When polling a first difference between the wheel speed at each moment and the wheel speed at the previous moment, and a second difference between the wheel speed at each moment and the wheel speed at the next moment in the second sampling time period, the time interval between adjacent moments is a fixed value.

4. The vehicle fault warning method according to claim 1, characterized in that: The determining of the target monitoring time period based on the target monitoring time includes: A time period of a first duration before the target monitoring moment and / or a second duration after the target monitoring moment is determined as the target monitoring time period, and the first duration and / or the second duration is equal to the vibration start time difference.

5. The vehicle fault warning method according to claim 1, characterized in that: Determining vehicle warning information according to the monitoring value includes: When the monitoring value is within the warning range, determining a warning count and adjusting the count value; When the count value is greater than the count threshold, the early warning instruction is executed.

6. A vehicle fault warning device, characterized in that: The device comprises: A wheel speed acquisition module, configured to acquire mapping information between wheel speed and time, wherein the wheel speed includes the front wheel speed and the rear wheel speed; a calculation module for determining the vibration start time of the front wheel speed and the rear wheel speed respectively according to the mapping information, including determining a vibration frequency parameter according to the mapping information, determining the moment when the vibration frequency parameter is greater than or equal to a frequency threshold as the vibration start time of the wheel speed; and obtaining a vibration start time difference; when the vibration start time difference is less than or equal to a time threshold, determining a target monitoring moment according to a vibration amplitude parameter of the front wheel speed or the rear wheel speed, including obtaining the wheel speed within a second sampling time period starting from the vibration start time of the front wheel speed or the rear wheel speed; polling a first difference between the wheel speed at each moment in the second sampling time period and the wheel speed at the previous moment, and a second difference between the wheel speed at each moment and the wheel speed at the next moment; determining the moment when both the first difference and the second difference are greater than the amplitude threshold as the target monitoring moment; and determining a target monitoring time period based on the target monitoring moment; The monitoring and warning module is used to obtain the monitoring value of the obstacle monitoring parameter within the target monitoring time period to determine the vehicle warning information based on the monitoring value. The obstacle monitoring parameter includes at least one of the longitudinal acceleration, the vehicle speed, the brake master cylinder pressure and the anti-lock braking system status.

7. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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