A vehicle speed signal diagnosis method, device, equipment and storage medium

Abstract

The application discloses a vehicle speed signal diagnosis method, device and equipment and a storage medium. The method comprises the following steps: acquiring a vehicle speed related signal of a current vehicle, wherein the vehicle speed related signal comprises a vehicle speed signal and an acceleration signal; generating an electrical fault diagnosis result according to the vehicle speed related signal; and generating a vehicle speed signal diagnosis result according to the vehicle speed related signal when the electrical fault diagnosis result is normal. The electrical fault diagnosis result is determined according to the vehicle speed signal and the acceleration signal of the current vehicle, the vehicle speed signal diagnosis result is generated according to the vehicle speed related signal when the electrical fault diagnosis result is normal, the rationality fault of the vehicle speed signal can be accurately diagnosed, the vehicle performance can be degraded to enter a relatively safe state, the safety of personnel and the vehicle is ensured, and the application range is wider. Even if the vehicle is in a shifting process or in a place where the GPS signal is weak, such as a tunnel, the diagnosis can be normally performed without interrupting the diagnosis.

Description

Technical Field

[0001] This invention relates to the field of vehicle diagnostic technology, and in particular to a method, apparatus, device, and storage medium for diagnosing vehicle speed signals. Background Technology

[0002] Vehicle speed signals are not only a crucial input to the engine's electronic control system, directly affecting the normal operation of the entire vehicle's driving functions, but they also serve as monitoring conditions for multiple components within the electronic control system and are involved in the calculation of the common denominator for the monitoring frequency. According to the regulations in the "Limits and Measurement Methods for Pollutant Emissions from Light-Duty Vehicles," a rationality diagnosis of the vehicle speed signal is required.

[0003] The known diagnostic schemes for the rationality of vehicle speed signals are mainly as follows: First, the vehicle speed exceeds the vehicle's designed maximum speed; second, the vehicle speed signal and wheel speed signal are verified; third, the reference vehicle speed calculated using GPS signals is verified against the vehicle speed signal; fourth, under specific operating conditions, the reference vehicle speed is calculated based on engine speed, transmission ratio, and wheel radius, and verified against the vehicle speed signal.

[0004] The first solution described above diagnoses only a limited range of fault modes. Since most vehicles now calculate their speed signals using the chassis's electronic control system based on signals from four wheel speed sensors, rather than collecting data from a single sensor, the second solution has limited applicability. The third solution requires a GPS system, and its reliability decreases when the GPS signal is weak (e.g., in tunnels, in poor weather). The fourth solution cannot be used during gear shifting. Summary of the Invention

[0005] This invention provides a vehicle speed signal diagnosis method, device, equipment, and storage medium to achieve rapid and accurate diagnosis of reasonable faults in vehicle speed signals.

[0006] According to one aspect of the present invention, a vehicle speed signal diagnostic method is provided, the method comprising:

[0007] Acquire the vehicle speed-related signals, which include vehicle speed signals and acceleration signals;

[0008] Electrical fault diagnosis results are generated based on vehicle speed-related signals;

[0009] When the electrical fault diagnosis result is normal, the vehicle speed signal diagnosis result is generated based on the vehicle speed-related signals.

[0010] Optionally, the vehicle speed-related signals can be acquired, including: acquiring the wheel speed and wheel acceleration of each sensor at the wheel; inputting each wheel speed and each wheel acceleration into a preset algorithm through the chassis controller to generate vehicle speed-related signals, wherein the vehicle speed signal and acceleration signal include valid information, and the valid information includes valid flags and invalid flags.

[0011] Optionally, an electrical fault diagnosis result is generated based on the vehicle speed-related signal, including: determining whether both the vehicle speed signal and the acceleration signal contain a valid flag; if so, obtaining the signal duration and generating an electrical fault diagnosis result based on the signal duration; otherwise, determining the electrical fault diagnosis result as a diagnostic anomaly.

[0012] Optionally, an electrical fault diagnosis result is generated based on the signal duration, including: determining whether the signal duration is greater than or equal to a first time threshold; if so, determining the electrical fault diagnosis result as normal; otherwise, determining the electrical fault diagnosis result as abnormal.

[0013] Optionally, a vehicle speed signal diagnostic result is generated based on the vehicle speed-related signal, including: determining a reference acceleration based on the vehicle speed signal; performing low-pass filtering on the reference acceleration and the acceleration signal to obtain a first acceleration and a second acceleration, wherein the first acceleration and the second acceleration are free of glitches and have the same phase; determining the difference between the first acceleration and the second acceleration; determining whether the difference is greater than or equal to a preset threshold; if so, obtaining a first duration; when the first duration is greater than or equal to a second time threshold, determining the vehicle speed signal diagnostic result as abnormal; otherwise, obtaining a second duration; when the second duration is greater than or equal to the second time threshold, determining the vehicle speed signal diagnostic result as normal.

[0014] Optionally, the reference acceleration is determined based on the vehicle speed signal, including: determining the gradient corresponding to the vehicle speed signal; obtaining a specified time range, calculating the ratio of the gradient to the specified time range, and generating the reference acceleration.

[0015] Optionally, after determining that the vehicle speed signal diagnosis result is abnormal, the method further includes: generating fault degradation information based on vehicle speed-related signals; and degrading the performance of the current vehicle based on the fault degradation information.

[0016] According to another aspect of the present invention, a vehicle speed signal diagnostic device is provided, the device comprising:

[0017] The vehicle speed related signal acquisition module is used to acquire the vehicle speed related signals of the current vehicle, including vehicle speed signals and acceleration signals.

[0018] The electrical fault diagnosis result generation module is used to generate electrical fault diagnosis results based on vehicle speed-related signals.

[0019] The vehicle speed signal diagnostic result generation module is used to generate vehicle speed signal diagnostic results based on vehicle speed-related signals when the electrical fault diagnostic result is normal.

[0020] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0021] At least one processor; and

[0022] A memory communicatively connected to the at least one processor; wherein,

[0023] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform a vehicle speed signal diagnosis method according to any embodiment of the present invention.

[0024] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement a vehicle speed signal diagnosis method according to any embodiment of the present invention.

[0025] The technical solution of this invention determines the electrical fault diagnosis result by using the current vehicle speed signal and acceleration signal. When the electrical fault diagnosis result is normal, the vehicle speed signal diagnosis result is generated by using vehicle speed-related signals. This can accurately diagnose the reasonableness of the vehicle speed signal fault and degrade the vehicle performance to enter a relatively safe state, thereby ensuring the safety of personnel and vehicles. It also has a wider range of applications. Even if the vehicle is shifting gears or in a place with weak GPS signals, such as a tunnel, the diagnosis can still be carried out normally without interrupting the diagnosis.

[0026] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a flowchart of a vehicle speed signal diagnosis method provided in Embodiment 1 of the present invention;

[0029] Figure 2This is a flowchart of another vehicle speed signal diagnosis method provided in Embodiment 1 of the present invention;

[0030] Figure 3 This is a flowchart of another vehicle speed signal diagnosis method provided in Embodiment 2 of the present invention;

[0031] Figure 4 This is a schematic diagram of the structure of a vehicle speed signal diagnostic device according to Embodiment 3 of the present invention;

[0032] Figure 5 This is a schematic diagram of the structure of an electronic device that implements a vehicle speed signal diagnosis method according to an embodiment of the present invention. Detailed Implementation

[0033] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0034] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0035] Example 1

[0036] Figure 1 This is a flowchart of a vehicle speed signal diagnostic method provided in Embodiment 1 of the present invention. This embodiment is applicable to situations involving the diagnosis of reasonableness faults in vehicle speed signals. The method can be executed by a vehicle speed signal diagnostic device, which can be implemented in hardware and / or software and can be configured in the vehicle controller. Figure 1 As shown, the method includes:

[0037] S110. Obtain the vehicle speed-related signals of the current vehicle, wherein the vehicle speed-related signals include vehicle speed signals and acceleration signals.

[0038] The vehicle speed signal refers to the speed information of the vehicle during its current driving process. This signal can be determined by the chassis controller through the speed of each wheel. The acceleration signal refers to the acceleration information of the vehicle during its current driving process, also determined by the chassis controller through the acceleration of each wheel. The vehicle speed signal is a crucial parameter for engine control of output torque and for the transmission controller to calculate shift points. If the vehicle speed signal is abnormal, the vehicle's power will suddenly change and abnormal gear shifting will occur. Shifting to a higher gear while climbing an incline will affect the vehicle's climbing performance; shifting to a lower gear at high speed will cause the engine speed to spike, reducing the vehicle's power and fuel economy, and potentially damaging the transmission. To ensure the safety of the vehicle and the driver, this implementation includes a diagnostic function for the vehicle speed signal.

[0039] Optionally, the vehicle speed-related signals can be acquired, including: acquiring the wheel speed and wheel acceleration of each sensor at the wheel; inputting each wheel speed and each wheel acceleration into a preset algorithm through the chassis controller to generate vehicle speed-related signals, wherein the vehicle speed signal and acceleration signal include valid information, and the valid information includes valid flags and invalid flags.

[0040] Specifically, the chassis controller inputs the acquired wheel speeds and accelerations into a preset algorithm for calculation. During the calculation, it determines the reliability of the vehicle speed or acceleration signal based on the magnitude of each wheel speed and acceleration. If reliable, it generates valid information containing a valid flag. If unreliable, the chassis controller will still generate vehicle speed and acceleration signals, but the valid information will contain an invalid flag. For example, if the chassis controller determines that the difference between the left and right wheel sensors is large, exceeding a preset difference threshold, it can still calculate a vehicle speed, but this speed is unreliable. The chassis will still generate a vehicle speed signal, but this signal will include an invalid flag. Of course, this embodiment only uses the comparison of the difference between the left and right wheel sensors to determine and generate valid information as an example. In practical applications, it can also determine whether there is a short circuit or open circuit fault in the circuit to generate valid information. This embodiment does not limit the method of generating valid information.

[0041] S120. Generate electrical fault diagnosis results based on vehicle speed-related signals.

[0042] Specifically, since both vehicle speed and acceleration signals contain valid information, electrical fault diagnosis results can be generated by identifying this valid information. Electrical faults refer to electrical faults in the wheel speed sensor or acceleration sensor involved in vehicle speed calculation, including circuit problems or out-of-range values ​​in the wheel speed sensor and the acceleration sensor.

[0043] S130. When the electrical fault diagnosis result is normal, generate the vehicle speed signal diagnosis result based on the vehicle speed related signal.

[0044] Specifically, if there is an electrical fault in the wheel speed sensor and acceleration sensor involved in vehicle speed calculation, it will affect the accuracy of the vehicle speed signal diagnosis results. Therefore, the controller will send a prompt message to the user client so that the user can promptly grasp the abnormal situation of the wheel speed sensor or acceleration sensor, so that the user can check and adjust the relevant sensors involved in vehicle speed calculation to ensure the accurate diagnosis of subsequent vehicle speed signals.

[0045] Figure 2 This invention provides a flowchart of a vehicle speed signal diagnosis method according to Embodiment 1. Step S130 mainly includes the following steps S131 to S136:

[0046] S131. When the electrical fault diagnosis result is normal, the reference acceleration is determined based on the vehicle speed signal.

[0047] Optionally, the reference acceleration is determined based on the vehicle speed signal, including: determining the gradient corresponding to the vehicle speed signal; obtaining a specified time range, calculating the ratio of the gradient to the specified time range, and generating the reference acceleration.

[0048] Specifically, when the electrical fault diagnosis result is normal, the reference acceleration of the vehicle can be calculated by differentiating the vehicle speed signal with respect to time. For example, the first-order backward differentiation of the discrete signal can be used, i.e., (vehicle speed at the current sampling point - vehicle speed at the previous sampling point) / sampling time, to calculate the reference acceleration.

[0049] S132. Perform low-pass filtering on the reference acceleration and acceleration signal to obtain a first acceleration and a second acceleration, wherein the first acceleration and the second acceleration are free of glitches and have the same phase.

[0050] Specifically, the controller can perform low-pass filtering on the reference acceleration to obtain the filtered first acceleration, and perform low-pass filtering on the acceleration signal to obtain the filtered second acceleration. The purpose of filtering is to remove signal glitches and make the signal more stable. Simultaneously, since the received vehicle speed signal and acceleration signal may not be synchronized, low-pass filtering can also adjust the phase and synchronize the signal. That is, the first and second accelerations after low-pass filtering are glitches-free and have the same phase. For example, a first-order hysteresis low-pass filtering method can be used, employing different calibrable filtering time constants for filtering the reference acceleration and acceleration signal. By calibrating the two time constants, the first and second acceleration signals are glitches-free and have the same phase.

[0051] S133. Determine the difference between the first acceleration and the second acceleration.

[0052] S134. Determine whether the difference is greater than or equal to the preset threshold. If yes, execute S135; otherwise, execute S136.

[0053] S135. Obtain the first duration. When the first duration is greater than or equal to the second time threshold, determine that the vehicle speed signal diagnosis result is abnormal.

[0054] Specifically, this can be achieved by determining the difference between the first and second accelerations. The difference refers to the absolute value of the difference between the two, i.e., calculating the difference between the filtered first and second accelerations and taking the absolute value. This difference is then compared to a preset threshold. The preset threshold is a calibrable parameter that users can adjust according to diagnostic needs. For example, the default preset threshold is 2 m / s². 2 When the difference is greater than or equal to a preset threshold, the controller acquires a first duration. When the first duration is greater than or equal to a second time threshold, i.e., the difference is greater than or equal to the preset threshold and persists for a certain period, the vehicle speed signal diagnostic result can be determined to be abnormal, indicating a reasonable fault in the vehicle speed signal. The second time threshold is a calibrable parameter, with a default value of 3000ms.

[0055] Optionally, after determining that the vehicle speed signal diagnosis result is abnormal, the method further includes: generating fault degradation information based on vehicle speed-related signals; and degrading the performance of the current vehicle based on the fault degradation information.

[0056] Specifically, after determining that the vehicle speed signal diagnostic result is abnormal, it can be judged that there is a reasonable fault in the vehicle speed signal and fault handling can be performed to degrade the vehicle's performance to enter a relatively safe state. At this time, the controller will generate fault degradation information based on vehicle speed-related signals, and then the current vehicle performance can be degraded to ensure the safety of personnel and vehicles, while meeting the in-use monitoring frequency requirements stipulated in regulations. Compared with existing technologies, the technical solution of this invention not only applies to a wider range of fault modes, but also allows for normal diagnosis even when the vehicle is shifting gears or in areas with weak GPS signals, such as tunnels, without interrupting the diagnosis process.

[0057] S136. Obtain the second duration. When the second duration is greater than or equal to the second time threshold, determine that the vehicle speed signal diagnosis result is normal.

[0058] Specifically, when the difference is less than the preset threshold, the controller will obtain the second duration. When the second duration is greater than or equal to the second time threshold, that is, after the difference is less than the preset threshold and continues for a period of time, it can be determined that the vehicle speed signal is in a reasonable ready state and there is no fault, that is, the vehicle speed signal diagnosis result is determined to be normal.

[0059] The technical solution of this invention determines the electrical fault diagnosis result by using the current vehicle speed signal and acceleration signal. When the electrical fault diagnosis result is normal, the vehicle speed signal diagnosis result is generated by using vehicle speed-related signals. This can accurately diagnose the reasonableness of the vehicle speed signal fault and degrade the vehicle performance to enter a relatively safe state, thereby ensuring the safety of personnel and vehicles. It also has a wider range of applications. Even if the vehicle is shifting gears or in a place with weak GPS signals, such as a tunnel, the diagnosis can still be carried out normally without interrupting the diagnosis.

[0060] Example 2

[0061] Figure 3 This is a flowchart of a vehicle speed signal diagnosis method provided in Embodiment 2 of the present invention. This embodiment adds a specific process for generating electrical fault diagnosis results based on vehicle speed-related signals, building upon Embodiment 1. The specific content of steps S210 and S270 is largely the same as steps S110 and S130 in Embodiment 1, and therefore will not be repeated in this embodiment. Figure 3 As shown, the method includes:

[0062] S210. Obtain the vehicle speed-related signals of the current vehicle, wherein the vehicle speed-related signals include vehicle speed signals and acceleration signals.

[0063] Optionally, the vehicle speed-related signals can be acquired, including: acquiring the wheel speed and wheel acceleration of each sensor at the wheel; inputting each wheel speed and each wheel acceleration into a preset algorithm through the chassis controller to generate vehicle speed-related signals, wherein the vehicle speed signal and acceleration signal include valid information, and the valid information includes valid flags and invalid flags.

[0064] S220. Determine whether both the vehicle speed signal and the acceleration signal contain a valid flag. If yes, proceed to S230-S240; otherwise, proceed to S260.

[0065] In some implementations, the controller checks whether the vehicle speed signal is valid (B_V). If the wheel speed sensor involved in the vehicle speed calculation has a circuit fault or the value is out of range, it is "FALSE"; otherwise, it is "TRUE". Then, it checks whether the acceleration signal is valid (B_a). If the acceleration sensor has a circuit fault or the value is out of range, it is "FALSE"; otherwise, it is "TRUE".

[0066] In some implementations, the invalidation flag can also be a defined special value, such as 65535. If this special value is detected in a vehicle speed signal or acceleration signal message, it indicates that the vehicle speed signal or acceleration signal is invalid.

[0067] S230, Acquire signal duration.

[0068] S240. Determine whether the signal duration is greater than or equal to the first time threshold. If yes, execute S250 and S270; otherwise, execute S260.

[0069] S250, The electrical fault diagnosis result is determined to be normal.

[0070] S260. The electrical fault diagnosis result is determined to be abnormal.

[0071] For example, the engine electronic control system first determines whether the diagnostic conditions for the vehicle speed signal are met based on B_V and B_a. If either B_V or B_a is "FALSE", the electrical fault diagnosis result is determined to be abnormal, and the vehicle speed signal diagnosis is paused. Only when both B_V and B_a are "TRUE" and remain so for a period of time P1 is the electrical fault diagnosis result determined to be normal, and the vehicle speed signal diagnosis continues. P1 represents the first time threshold, which is a calibrable parameter with a default value of 1000ms.

[0072] S270. Generate vehicle speed signal diagnostic results based on vehicle speed-related signals.

[0073] Optionally, a vehicle speed signal diagnostic result is generated based on the vehicle speed-related signal, including: determining a reference acceleration based on the vehicle speed signal; performing low-pass filtering on the reference acceleration and the acceleration signal to obtain a first acceleration and a second acceleration, wherein the first acceleration and the second acceleration are free of glitches and have the same phase; determining the difference between the first acceleration and the second acceleration; determining whether the difference is greater than or equal to a preset threshold; if so, obtaining a first duration; when the first duration is greater than or equal to a second time threshold, determining the vehicle speed signal diagnostic result as abnormal; otherwise, obtaining a second duration; when the second duration is greater than or equal to the second time threshold, determining the vehicle speed signal diagnostic result as normal.

[0074] Optionally, the reference acceleration is determined based on the vehicle speed signal, including: determining the gradient corresponding to the vehicle speed signal; obtaining a specified time range, calculating the ratio of the gradient to the specified time range, and generating the reference acceleration.

[0075] Optionally, after determining that the vehicle speed signal diagnosis result is abnormal, the method further includes: generating fault degradation information based on vehicle speed-related signals; and degrading the performance of the current vehicle based on the fault degradation information.

[0076] The technical solution of this invention determines the electrical fault diagnosis result by using the current vehicle speed signal and acceleration signal. When the electrical fault diagnosis result is normal, the vehicle speed signal diagnosis result is generated by using vehicle speed-related signals. This can accurately diagnose the reasonableness of the vehicle speed signal fault and degrade the vehicle performance to enter a relatively safe state, thereby ensuring the safety of personnel and vehicles. It also has a wider range of applications. Even if the vehicle is shifting gears or in a place with weak GPS signals, such as a tunnel, the diagnosis can still be carried out normally without interrupting the diagnosis.

[0077] Example 3

[0078] Figure 4 This is a schematic diagram of a vehicle speed signal diagnostic device provided in Embodiment 3 of the present invention.

[0079] like Figure 4 As shown, the device includes:

[0080] The vehicle speed related signal acquisition module 310 is used to acquire the vehicle speed related signal of the current vehicle, wherein the vehicle speed related signal includes vehicle speed signal and acceleration signal;

[0081] The electrical fault diagnosis result generation module 320 is used to generate electrical fault diagnosis results based on vehicle speed-related signals;

[0082] The vehicle speed signal diagnostic result generation module 330 is used to generate a vehicle speed signal diagnostic result based on vehicle speed-related signals when the electrical fault diagnostic result is normal.

[0083] Optionally, the vehicle speed related signal acquisition module 310 is specifically used to: acquire the wheel speed and wheel acceleration of each sensor at the wheel; input each wheel speed and each wheel acceleration into a preset algorithm through the chassis controller to generate vehicle speed related signals, wherein the vehicle speed signal and acceleration signal include valid information, and the valid information includes valid flags and invalid flags.

[0084] Optionally, the electrical fault diagnosis result generation module 320 specifically includes: a valid flag judgment unit, used to determine whether both the vehicle speed signal and the acceleration signal contain valid flags; a signal duration acquisition unit, used to acquire the signal duration when both the vehicle speed signal and the acceleration signal contain valid flags, and generate electrical fault diagnosis results based on the signal duration; and a diagnosis anomaly unit, used to determine that the electrical fault diagnosis result is a diagnosis anomaly when neither the vehicle speed signal nor the acceleration signal contains valid flags.

[0085] Optionally, the signal duration acquisition unit is specifically used to: determine whether the signal duration is greater than or equal to a first time threshold; if so, determine that the electrical fault diagnosis result is normal; otherwise, determine that the electrical fault diagnosis result is abnormal.

[0086] Optionally, the vehicle speed signal diagnostic result generation module 330 is specifically used for: determining a reference acceleration based on the vehicle speed signal; performing low-pass filtering on the reference acceleration and the acceleration signal to obtain a first acceleration and a second acceleration, wherein the first acceleration and the second acceleration are free of glitches and have the same phase; determining the difference between the first acceleration and the second acceleration; determining whether the difference is greater than or equal to a preset threshold; if so, obtaining a first duration; when the first duration is greater than or equal to a second time threshold, determining the vehicle speed signal diagnostic result as abnormal; otherwise, obtaining a second duration; when the second duration is greater than or equal to the second time threshold, determining the vehicle speed signal diagnostic result as normal.

[0087] Optionally, the vehicle speed signal diagnostic result generation module 330 specifically includes: a reference acceleration determination unit, used to: determine the gradient corresponding to the vehicle speed signal; obtain a specified time range, calculate the ratio of the gradient to the specified time range, and generate a reference acceleration.

[0088] Optionally, the device further includes: a performance degradation module, used to generate fault degradation information based on vehicle speed-related signals after determining that the vehicle speed signal diagnosis result is abnormal; and to perform performance degradation on the current vehicle based on the fault degradation information.

[0089] The technical solution of this invention determines the electrical fault diagnosis result by using the current vehicle speed signal and acceleration signal. When the electrical fault diagnosis result is normal, the vehicle speed signal diagnosis result is generated by using vehicle speed-related signals. This can accurately diagnose the reasonableness of the vehicle speed signal fault and degrade the vehicle performance to enter a relatively safe state, thereby ensuring the safety of personnel and vehicles. It also has a wider range of applications. Even if the vehicle is shifting gears or in a place with weak GPS signals, such as a tunnel, the diagnosis can still be carried out normally without interrupting the diagnosis.

[0090] The vehicle speed signal diagnostic device provided in this embodiment of the invention can execute a vehicle speed signal diagnostic method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0091] Example 4

[0092] Figure 5A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0093] like Figure 5 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0094] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0095] Processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, central processing unit (CPU), graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as a vehicle speed signal diagnostic method. That is: acquiring the vehicle speed-related signals of the current vehicle, wherein the vehicle speed-related signals include vehicle speed signals and acceleration signals; generating electrical fault diagnosis results based on the vehicle speed-related signals; when the electrical fault diagnosis results are normal, generating vehicle speed signal diagnosis results based on the vehicle speed-related signals.

[0096] In some embodiments, a vehicle speed signal diagnostic method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle speed signal diagnostic method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform a vehicle speed signal diagnostic method by any other suitable means (e.g., by means of firmware).

[0097] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0098] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0099] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0100] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0101] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0102] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0103] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0104] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for diagnosing vehicle speed signals, characterized in that, include: Acquire the vehicle speed-related signal of the current vehicle, wherein the vehicle speed-related signal includes vehicle speed signal and acceleration signal; Electrical fault diagnosis results are generated based on the vehicle speed-related signals; When the electrical fault diagnosis result is normal, a vehicle speed signal diagnosis result is generated based on the vehicle speed related signal. The step of generating a vehicle speed signal diagnostic result based on the vehicle speed-related signal includes: The reference acceleration is determined based on the vehicle speed signal; The reference acceleration and the acceleration signal are low-pass filtered to obtain a first acceleration and a second acceleration, wherein the first acceleration and the second acceleration are glitch-free and have the same phase; Determine the difference between the first acceleration and the second acceleration; Determine whether the difference is greater than or equal to a preset threshold. If so, obtain a first duration. When the first duration is greater than or equal to a second time threshold, determine that the vehicle speed signal diagnosis result is a diagnostic anomaly. Otherwise, a second duration is obtained, and when the second duration is greater than or equal to a second time threshold, the vehicle speed signal diagnostic result is determined to be normal.

2. The method according to claim 1, characterized in that, The acquisition of the current vehicle speed-related signal includes: Obtain wheel speed and wheel acceleration from each sensor at the wheel; The chassis controller inputs the wheel speeds and accelerations of each wheel into a preset algorithm to generate the vehicle speed-related signals. The vehicle speed signals and the acceleration signals include valid information, which includes valid flags and invalid flags.

3. The method according to claim 2, characterized in that, The step of generating electrical fault diagnosis results based on the vehicle speed-related signals includes: Determine whether both the vehicle speed signal and the acceleration signal contain a valid flag. If so, obtain the signal duration and generate an electrical fault diagnosis result based on the signal duration. Otherwise, the electrical fault diagnosis result is determined to be a diagnostic anomaly.

4. The method according to claim 3, characterized in that, The step of generating electrical fault diagnosis results based on the signal duration includes: Determine whether the duration of the signal is greater than or equal to a first time threshold. If so, determine that the electrical fault diagnosis result is normal. Otherwise, the electrical fault diagnosis result is determined to be a diagnostic anomaly.

5. The method according to claim 1, characterized in that, Determining the reference acceleration based on the vehicle speed signal includes: Determine the gradient corresponding to the vehicle speed signal; A specified time range is obtained, and the ratio of the gradient to the specified time range is calculated to generate the reference acceleration.

6. The method according to claim 1, characterized in that, After determining that the vehicle speed signal diagnostic result is abnormal, the method further includes: Fault degradation information is generated based on the vehicle speed-related signals; The performance of the current vehicle is downgraded based on the fault downgrade information.

7. A vehicle speed signal diagnostic device, characterized in that, include: The vehicle speed related signal acquisition module is used to acquire the vehicle speed related signal of the current vehicle, wherein the vehicle speed related signal includes vehicle speed signal and acceleration signal; An electrical fault diagnosis result generation module is used to generate electrical fault diagnosis results based on the vehicle speed-related signals; The vehicle speed signal diagnostic result generation module is used to generate a vehicle speed signal diagnostic result based on the vehicle speed-related signals when the electrical fault diagnostic result is normal. Specifically, the electrical fault diagnosis result generation module is used to: determine the reference acceleration based on the vehicle speed signal; The reference acceleration and the acceleration signal are low-pass filtered to obtain a first acceleration and a second acceleration, wherein the first acceleration and the second acceleration are glitch-free and have the same phase; Determine the difference between the first acceleration and the second acceleration; Determine whether the difference is greater than or equal to a preset threshold. If so, obtain a first duration. When the first duration is greater than or equal to a second time threshold, determine that the vehicle speed signal diagnosis result is a diagnostic anomaly. Otherwise, a second duration is obtained, and when the second duration is greater than or equal to a second time threshold, the vehicle speed signal diagnostic result is determined to be normal.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-6.

9. A computer storage medium, characterized in that, The computer storage medium stores computer instructions that are used to cause a processor to execute the method of any one of claims 1-6.

Images