Method and apparatus for determining credibility of vibration acceleration sensor, and electronic device

Abstract

The application discloses a kind of credibility determination method, device and electronic equipment of vibration acceleration sensor.The present application relates to the field of intelligent automobile, wherein the system includes: in response to the vehicle is in the ignition off state, first pre-tightening torque is applied to the motor on the vehicle, first pre-tightening torque is used to drive the main reducer gear connected with the motor to move in the drive train gap;In response to the position of the main reducer gear in the drive train gap moves, second pre-tightening torque is applied to the motor, and the second pre-tightening torque is used to drive the main reducer gear to reset;In response to the main reducer gear reset, the target vibration acceleration perceived by vibration acceleration sensor is obtained;The credibility of vibration acceleration sensor is determined based on target vibration acceleration.The present application solves the technical problem that the accuracy of determining the credibility of vibration acceleration sensor in the related art is low.

Description

Technical Field

[0001] This invention relates to the field of intelligent vehicles, and more specifically, to a method, apparatus, and electronic device for determining the reliability of a vibration acceleration sensor. Background Technology

[0002] Pure electric vehicles, due to the presence of transmission system backlash, require zero-crossing torque control for the motor. As vehicle mileage increases or ambient temperature changes, the size of this backlash also changes, necessitating adjustments to the speed of the motor torque zero-crossing. Evaluating the effectiveness of this torque zero-crossing adjustment requires utilizing a vibration acceleration sensor on the main reducer housing. This sensor measures the housing's vibration to provide feedback on the adjustment speed. Currently, methods for determining the reliability of vibration acceleration sensors only detect voltage over-limit faults, resulting in relatively low accuracy in assessing their reliability.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] This invention provides a method, apparatus, and electronic device for determining the reliability of a vibration acceleration sensor, in order to at least solve the technical problem of low accuracy in determining the reliability of vibration acceleration sensors in related technologies.

[0005] According to one aspect of the present invention, a method for determining the reliability of a vibration acceleration sensor is provided, comprising: in response to a vehicle being in an ignition-off state, applying a first preload torque to a motor in the vehicle, the first preload torque being used to drive a main reducer gear connected to the motor to move within a transmission system clearance; in response to the main reducer gear moving within the transmission system clearance, applying a second preload torque to the motor, the second preload torque being used to drive the main reducer gear to return to its original position; in response to the main reducer gear returning to its original position, acquiring a target vibration acceleration sensed by the vibration acceleration sensor; and determining the reliability of the vibration acceleration sensor based on the target vibration acceleration.

[0006] Optionally, determining the credibility of a vibration acceleration sensor based on a target vibration acceleration includes: obtaining a target interval corresponding to the vibration acceleration sensor, wherein the target interval is used to characterize the interval of vibration acceleration sensed by the vibration acceleration sensor when the vibration acceleration sensor is credible; determining that the vibration acceleration sensor is credible in response to the target vibration acceleration being within the target interval; and determining that the vibration acceleration sensor is uncredible in response to the target vibration acceleration not being within the target interval.

[0007] Optionally, obtaining the target range corresponding to the vibration acceleration sensor includes: in response to the vehicle being stationary, applying a striking torque to the motor, the striking torque being used to drive the main reducer gear to move within the transmission system clearance; in response to the main reducer gear moving within the transmission system clearance, obtaining the vibration curve of the main reducer's vibration acceleration; determining the peak value of the vibration acceleration based on the vibration curve of the vibration acceleration; and determining the target range based on the peak value of the vibration acceleration.

[0008] Optionally, determining the target interval based on the peak value of vibration acceleration includes: obtaining the error coefficient; determining the target product of the peak value of vibration acceleration and the error coefficient; determining the target difference between the target product and the accuracy of the accelerometer to obtain the minimum value of the target interval; and determining the target sum of the target product and the accuracy of the accelerometer to obtain the maximum value of the target interval.

[0009] Optionally, obtaining the error coefficient includes: determining the initial time of applying the striking torque to the motor; determining the first motor speed at a first time point during the process of applying the striking torque to the motor; obtaining the target clearance of the transmission system and the transmission system clearance error, the transmission system clearance error including a first error and a second error; determining the end time of applying the striking torque to the motor using a first objective equation based on the initial time, the first motor speed, the target clearance, and the transmission system clearance error; and determining the error coefficient based on the end time.

[0010] Optionally, the error coefficient is determined based on the end time, including: obtaining the torque requirement of the motor; determining the first sum of the torque requirement and the torque accuracy; determining the first product of the first sum and the end time; determining the first quotient of the first product and the moment of inertia to obtain the second motor speed; determining the speed difference between the first motor speed and the second motor speed; and obtaining the error coefficient corresponding to the speed difference.

[0011] Optionally, during the process of applying the striking torque to the motor, determining the first motor speed at a first time point includes: obtaining the motor's torque requirement; determining the first sum of the torque requirement and the torque accuracy; determining the second product of the first sum and the first time point; and determining the second quotient of the second product and the moment of inertia to obtain the first motor speed.

[0012] According to another aspect of the present invention, a reliability determination device for a vibration acceleration sensor is also provided, comprising: a first driving module, which, in response to a vehicle being in an ignition-off state, applies a first preload torque to a motor on the vehicle, the first preload torque being used to drive a main reducer gear connected to the motor to move within a transmission system clearance; a second driving module, which, in response to the main reducer gear moving within the transmission system clearance, applies a second preload torque to the motor, the second preload torque being used to drive the main reducer gear to return to its original position; an acquisition module, which, in response to the main reducer gear returning to its original position, acquires a target vibration acceleration sensed by the vibration acceleration sensor; and a determination module, which determines the reliability of the vibration acceleration sensor based on the target vibration acceleration.

[0013] According to another aspect of the present invention, an electronic device is also provided, including one or more processors and a storage device, wherein the storage device is used to store one or more programs, which, when executed by one or more processors, cause the one or more processors to perform the reliability determination method of any of the above-described vibration acceleration sensor.

[0014] According to another aspect of the present invention, a vehicle is also provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the confidence determination method for a vibration acceleration sensor as described above.

[0015] In this embodiment of the invention, in response to the vehicle being in an ignition-off state, a first preload torque is applied to the motor on the vehicle. The first preload torque is used to drive the main reducer gear connected to the motor to move within the transmission system clearance. In response to the main reducer gear moving within the transmission system clearance, a second preload torque is applied to the motor. The second preload torque is used to drive the main reducer gear to return to its original position. In response to the main reducer gear returning to its original position, the target vibration acceleration sensed by the vibration acceleration sensor is acquired. The reliability of the vibration acceleration sensor is determined based on the target vibration acceleration. It is noteworthy that the first preload torque can be used to drive the main reducer gear to move, and the second preload torque can be used to drive the main reducer gear to return to its original position, thereby determining the target vibration acceleration. Furthermore, the reliability of the vibration acceleration sensor can be determined using the target vibration acceleration. Since the main reducer gear moves when the vehicle is in the ignition-off state, it can be ensured that the voltage of the vehicle's transmission system is within the limit range. Thus, the reliability of the vibration acceleration sensor can be determined when the voltage of the vehicle's transmission system is within the limit range, thereby improving the accuracy of determining the reliability of the vibration acceleration sensor and solving the technical problem of low accuracy in determining the reliability of vibration acceleration sensors in related technologies. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0017] Figure 1 This is a flowchart of a method for determining the reliability of a vibration acceleration sensor according to an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram of a striking torque according to an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of a method for determining the reliability of a vibration acceleration sensor according to an embodiment of the present invention;

[0020] Figure 4 This is a schematic diagram of a reliability determination device for a vibration acceleration sensor according to an embodiment of the present invention. Detailed Implementation

[0021] 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.

[0022] 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.

[0023] Example 1

[0024] According to an embodiment of the present invention, a method for determining the reliability of a vibration acceleration sensor is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0025] Figure 1 This is a flowchart of a method for determining the reliability of a vibration acceleration sensor according to an embodiment of the present invention, as shown below. Figure 1 As shown, the method includes:

[0026] Step S102: In response to the vehicle being in the ignition off state, a first preload torque is applied to the motor on the vehicle. The first preload torque is used to drive the main reducer gear connected to the motor to move in the transmission system clearance.

[0027] The aforementioned ignition off state can be the situation where the engine has been ignited and running for a period of time, and the driver chooses to turn off the engine, causing it to stop running. Optionally, when the vehicle is in the ignition off state, the engine stops running, the vehicle's power system cannot provide power, and the power supply to various systems is also cut off.

[0028] The aforementioned first preload torque can be used to drive the gear of the main reducer connected to the motor to move in the transmission system clearance. Optionally, the magnitude of the first preload torque can be set by those skilled in the art according to their needs. In this invention, there is no specific limitation on the magnitude of the first preload torque.

[0029] The aforementioned main reducer gear is the gear on the main reducer. Optionally, the main reducer gear can be a mechanical device used to reduce rotational speed and can be applied to various transmission systems. Optionally, the main reducer gear can be composed of multiple gears, and the speed reduction is achieved through gear meshing. The main reducer gear is usually made of high-strength alloy steel or cast iron, which has high wear resistance and strength to meet the requirements of high load and long-term operation.

[0030] The aforementioned transmission system clearance can be the clearance between various transmission components in the transmission system. Optionally, in mechanical transmission systems, due to limitations in manufacturing and installation precision, there may be certain clearances between transmission components. These clearances can cause certain errors or vibrations in the transmission system when transmitting force and motion.

[0031] In one optional embodiment, when the vehicle's power is off, the driver is out of the seat, the vehicle locking action has been completed, and there is no remote service request, the vehicle network system can forward a vibration acceleration sensor reliability diagnosis request to the terminal system with the driver's permission. This allows for the determination of the vehicle's vibration acceleration sensor reliability. The terminal system can be a mobile phone, computer, or other similar device. Optionally, after receiving the diagnosis request, a person skilled in the art can determine the magnitude of the first preload torque and apply it to the vehicle's motor. This preload torque drives the main reducer gear connected to the motor to move within the transmission system's clearance. Optionally, when determining the magnitude of the first preload torque, it is necessary to ensure that the main reducer gear can overcome frictional resistance and completely overcome the transmission system clearance. Simultaneously, the magnitude of the first preload torque should not be too large to prevent knocking or vibration after the main reducer gear engages with the transmission system.

[0032] Step S104: In response to the movement of the main reducer gear in the transmission system clearance, a second preload torque is applied to the motor. The second preload torque is used to drive the main reducer gear back to its original position.

[0033] The aforementioned second preload torque can be used to drive the main reducer gear to return to its original position. The magnitude of the second preload torque can be set by those skilled in the art according to their needs. In this invention, there is no specific limitation on the magnitude of the second preload torque.

[0034] In one optional embodiment, after the main reducer gear connected to the motor has moved within the transmission system clearance, a second preload torque can be applied to the motor to return the main reducer gear to its original position. Optionally, when determining the second preload torque, the magnitude of the second preload torque can be close to the magnitude of the first preload torque, and the application direction of the second preload torque can be opposite to the application direction of the first preload torque, thereby driving the main reducer gear to return to its original position within the transmission system clearance.

[0035] Step S106: In response to the return of the main reducer gear, acquire the target vibration acceleration sensed by the vibration acceleration sensor.

[0036] The aforementioned vibration acceleration sensor can be a device for measuring the vibration acceleration of an object. Optionally, a vibration acceleration sensor typically consists of a sensing element, a signal processing circuit, and an output interface. The sensing element can be a microelectromechanical system (MEMS) accelerometer or other types of sensors such as piezoelectric ceramics. These sensing elements are subjected to the inertial force generated when an object vibrates, thus producing a weak electrical signal. The signal processing circuit amplifies and filters the weak electrical signal output by the sensing element, thereby improving signal quality and accuracy. The output interface can be an analog voltage output or a digital interface, used to output the vibration acceleration signal measured by the sensor to external devices, such as data acquisition systems, controllers, or computers.

[0037] The aforementioned target vibration acceleration can be the peak value of the vibration acceleration of the main reducer housing.

[0038] In one optional embodiment, after the main reducer gear returns to its original position, the peak value of the vibration acceleration can be extracted by acquiring the vibration curve of a vibration acceleration sensor connected to the main reducer housing, thus obtaining the target vibration acceleration. Optionally, to ensure the accuracy of the obtained target vibration acceleration, the motor can be driven multiple times, that is, a first preload torque and a corresponding second preload torque can be applied to the motor multiple times, thereby obtaining multiple vibration curves from the vibration acceleration sensor. Furthermore, multiple peak values ​​of vibration acceleration can be extracted from the multiple vibration acceleration sensor curves, and the average value of the multiple peak values ​​can be calculated to obtain the target vibration acceleration. For example, five sets of tests can be performed, and acceleration peak values ​​1, 2, 3, 4, and 5 can be extracted respectively. These peak values ​​can then be arranged according to their absolute values. Further, the maximum and minimum values ​​of the five sets of data can be removed, and the average value of the remaining values ​​can be calculated to obtain the target vibration acceleration.

[0039] Step S108: Determine the reliability of the vibration acceleration sensor based on the target vibration acceleration.

[0040] In one optional embodiment, after obtaining the target vibration acceleration, the magnitude of the target vibration acceleration can be compared with the magnitude of the peak acceleration of a reliable vibration acceleration sensor. If the error between the magnitude of the target vibration acceleration and the magnitude of the peak acceleration of the reliable vibration acceleration sensor is less than a preset value, the vibration acceleration sensor can be considered reliable. If the error between the magnitude of the target vibration acceleration and the magnitude of the peak acceleration of the reliable vibration acceleration sensor is greater than or equal to the preset value, the vibration acceleration sensor can be considered unreliable. The preset value can be set by those skilled in the art according to their needs.

[0041] In this embodiment of the invention, in response to the vehicle being in an ignition-off state, a first preload torque is applied to the motor on the vehicle. The first preload torque is used to drive the main reducer gear connected to the motor to move within the transmission system clearance. In response to the main reducer gear moving within the transmission system clearance, a second preload torque is applied to the motor. The second preload torque is used to drive the main reducer gear to return to its original position. In response to the main reducer gear returning to its original position, the target vibration acceleration sensed by the vibration acceleration sensor is acquired. The reliability of the vibration acceleration sensor is determined based on the target vibration acceleration. It is noteworthy that the first preload torque can be used to drive the main reducer gear to move, and the second preload torque can be used to drive the main reducer gear to return to its original position, thereby determining the target vibration acceleration. Furthermore, the reliability of the vibration acceleration sensor can be determined using the target vibration acceleration. Since the main reducer gear moves when the vehicle is in the ignition-off state, it can be ensured that the voltage of the vehicle's transmission system is within the limit range. Thus, the reliability of the vibration acceleration sensor can be determined when the voltage of the vehicle's transmission system is within the limit range, thereby improving the accuracy of determining the reliability of the vibration acceleration sensor and solving the technical problem of low accuracy in determining the reliability of vibration acceleration sensors in related technologies.

[0042] Optionally, determining the credibility of a vibration acceleration sensor based on a target vibration acceleration includes: obtaining a target interval corresponding to the vibration acceleration sensor, wherein the target interval is used to characterize the interval of vibration acceleration sensed by the vibration acceleration sensor when the vibration acceleration sensor is credible; determining that the vibration acceleration sensor is credible in response to the target vibration acceleration being within the target interval; and determining that the vibration acceleration sensor is uncredible in response to the target vibration acceleration not being within the target interval.

[0043] The target range mentioned above can be the range in which the peak acceleration of a reliable vibration accelerometer falls.

[0044] In one optional embodiment, when determining the reliability of the vibration acceleration sensor, the target range corresponding to the vibration acceleration sensor can be obtained first, and it can be determined whether the magnitude of the target vibration acceleration is within the target range. If the target vibration acceleration is within the target range, the vibration acceleration sensor can be considered reliable. If the target vibration acceleration is not within the target range, the vibration acceleration sensor can be considered unreliable.

[0045] Optionally, obtaining the target range corresponding to the vibration acceleration sensor includes: in response to the vehicle being stationary, applying a striking torque to the motor, the striking torque being used to drive the main reducer gear to move within the transmission system clearance; in response to the main reducer gear moving within the transmission system clearance, obtaining the vibration curve of the main reducer's vibration acceleration; determining the peak value of the vibration acceleration based on the vibration curve of the vibration acceleration; and determining the target range based on the peak value of the vibration acceleration.

[0046] The aforementioned striking torque is used to drive the main reducer gear to move within the transmission system clearance. Optionally, the striking torque can be greater than the first preload torque. The purpose of applying the striking torque to the motor is to give the transmission system a step excitation after the main reducer gear engages with the transmission system clearance, thereby causing the transmission system to vibrate. Optionally, when applying the striking torque to the motor, the contact impact caused by the striking torque should not exceed the allowable range of gear strength. Therefore, the magnitude of the striking torque can be determined by those skilled in the art through multiple experiments.

[0047] Figure 2 This is a schematic diagram of a striking torque according to an embodiment of the present invention, such as... Figure 2 As shown, when the impact torque is applied to the motor, the vibration curve of the vibration acceleration is a waveform, and the peak value of the vibration acceleration also changes with time.

[0048] The vibration curves described above can be used to represent the changes in the vibration acceleration of the main reducer when the gear moves through the transmission system clearance.

[0049] In one optional embodiment, a striking torque can be applied to the motor, and the striking torque drives the main reducer gear to move within the transmission system gap. Furthermore, after the main reducer gear moves within the transmission system gap, the vibration curve of the main reducer's vibration acceleration can be obtained. The peak value of the vibration acceleration can be extracted from the vibration curve of the main reducer's vibration acceleration. By adding a preset threshold to the peak value of the vibration acceleration and subtracting the preset threshold from the peak value of the vibration acceleration, a target range can be obtained. The preset threshold can be set by those skilled in the art according to their needs.

[0050] In obtaining the peak value of vibration acceleration, to ensure its accuracy, the vibration acceleration can be corrected. This can be achieved by performing multiple drive operations on the motor, i.e., applying impact torque to the motor multiple times, thereby obtaining multiple vibration curves from the vibration acceleration sensors. Furthermore, multiple peak values ​​of vibration acceleration can be extracted from these curves, and the average value of these peak values ​​can be calculated. For example, seven sets of tests can be conducted, and acceleration peak values ​​1, 2, 3, 4, 5, 6, and 7 can be extracted respectively. These peak values ​​can then be arranged according to their absolute values. Further, the maximum and minimum values ​​of the seven sets of data can be removed, and the average value of the remaining values ​​can be calculated to obtain the corrected peak value of vibration acceleration. In subsequent processing, the corrected peak value of vibration acceleration can be used for calculations.

[0051] Optionally, determining the target interval based on the peak value of vibration acceleration includes: obtaining the error coefficient; determining the target product of the peak value of vibration acceleration and the error coefficient; determining the target difference between the target product and the accuracy of the accelerometer to obtain the minimum value of the target interval; and determining the target sum of the target product and the accuracy of the accelerometer to obtain the maximum value of the target interval.

[0052] The error coefficients mentioned above are used to indicate the tolerance level for error.

[0053] The aforementioned accelerometer accuracy is used to represent the error between the acceleration value measured by the accelerometer and the true value.

[0054] In one optional embodiment, after obtaining the error coefficient, the product of the peak value of the vibration acceleration and the error coefficient can be determined first, and the product of the peak value of the vibration acceleration and the error coefficient can be determined as the target product. Further, the difference between the target product and the accuracy of the acceleration sensor can be calculated to obtain the target difference value. Then, the sum of the target product and the accuracy of the acceleration sensor can be calculated to obtain the target sum value. Optionally, the target difference value can be used as the minimum value of the target interval, and the target sum value can be used as the maximum value of the target interval to determine the target interval.

[0055] Optionally, obtaining the error coefficient includes: determining the initial time of applying the striking torque to the motor; determining the first motor speed at a first time point during the process of applying the striking torque to the motor; obtaining the target clearance of the transmission system and the transmission system clearance error, the transmission system clearance error including a first error and a second error; determining the end time of applying the striking torque to the motor using a first objective equation based on the initial time, the first motor speed, the target clearance, and the transmission system clearance error; and determining the error coefficient based on the end time.

[0056] The first time point mentioned above can be any point in the time period during which the impact torque acts on the motor, and can be represented by t.

[0057] The aforementioned first motor speed can be the motor speed at the first time point.

[0058] The target clearance mentioned above can be a sample value of the transmission system clearance. Optionally, the target clearance can be determined by conducting multiple tests.

[0059] The aforementioned transmission system clearance error may include the converted portion ΔL1 of the motor speed error (e.g., 100 rpm ± 5 rpm), and the assembly error ΔL2, wherein, Δn represents the rotational speed accuracy, which can be obtained directly from the vehicle's factory data. The assembly error ΔL2 can also be obtained directly from the vehicle's factory data.

[0060] The initial time mentioned above can be the initial time when the striking torque acts on the motor, which can be represented by t0.

[0061] The first objective equation mentioned above can be: Where m is the moment of inertia, T is the torque requirement, ΔT is the torque accuracy, and t1 is the end time of applying the applied torque to the motor. Optionally, T can be set by those skilled in the art according to their needs, and ΔT can be obtained directly from the vehicle's factory data.

[0062] In one optional embodiment, after obtaining the aforementioned multiple data points, the multiple data points can be substituted into the first objective equation, and the end time can be determined by solving the first objective equation.

[0063] Optionally, the error coefficient is determined based on the end time, including: obtaining the torque requirement of the motor; determining the first sum of the torque requirement and the torque accuracy; determining the first product of the first sum and the end time; determining the first quotient of the first product and the moment of inertia to obtain the second motor speed; determining the speed difference between the first motor speed and the second motor speed; and obtaining the error coefficient corresponding to the speed difference.

[0064] The aforementioned second motor speed can be the motor speed at the end time of applying the striking torque to the motor.

[0065] In one optional embodiment, after determining the torque requirement and torque accuracy, the torque requirement and torque accuracy can be added together to obtain a first sum. Further, the product of the first sum and the end time, i.e., the first product, can be determined. Optionally, after obtaining the first product, the quotient of the first product and the moment of inertia can be determined to obtain the first quotient, thereby determining the speed of the second motor. Specifically, the following formula can be used for calculation. in, This indicates the motor speed at the end time, i.e., the second motor speed. Optionally, the speed error can be obtained by subtracting the speed of the first motor from the speed of the second motor. The error coefficient can then be obtained by consulting a table showing the correspondence between speed error and error coefficient, where a larger speed error corresponds to a larger error coefficient.

[0066] Optionally, during the process of applying the striking torque to the motor, determining the first motor speed at a first time point includes: obtaining the motor's torque requirement; determining the first sum of the torque requirement and the torque accuracy; determining the second product of the first sum and the first time point; and determining the second quotient of the second product and the moment of inertia to obtain the first motor speed.

[0067] The aforementioned first motor speed can be the motor speed at the first time point.

[0068] In one optional embodiment, the first motor speed can be obtained by calculating a first sum of torque demand and torque accuracy, determining a second product of the first sum and a first time point, and further calculating a second quotient of the second product and the moment of inertia. Specifically, the calculation can be performed using the following formula, n t = [(T+ΔT)×t] / m, where n t Used to indicate the speed of the first motor.

[0069] Figure 3 This is a schematic diagram of a method for determining the reliability of a vibration acceleration sensor according to an embodiment of the present invention, as shown below. Figure 3As shown, after starting the operation, a striking torque can be applied to the vehicle's motor, and the vibration curve when the accelerometer sensor is fault-free can be obtained, thus obtaining the peak value of the vibration acceleration. Optionally, the average value of the vibration acceleration peak value can be calculated through multiple tests to obtain a more accurate vibration acceleration peak value. Furthermore, the error coefficient can be determined, and the corrected vibration acceleration peak value can be calculated, thereby determining the target range based on the corrected vibration acceleration peak value. Optionally, when determining the reliability of the accelerometer sensor, it can be first determined whether the vehicle meets the entry conditions for vibration accelerometer sensor reliability judgment. If the vehicle does not meet the entry conditions for vibration accelerometer sensor reliability judgment, then the vibration accelerometer sensor reliability judgment is not required, and this operation ends. If the vehicle meets the entry conditions for reliability judgment of the vibration acceleration sensor, a first preload torque can be applied to the motor to make the main reducer gear connected to the motor engage from one end of the transmission system clearance to the other end. Furthermore, a second preload torque can be applied to the motor to make the main reducer gear connected to the motor return to its original position. This allows the vibration curve of the acceleration sensor to be obtained, and the peak value of the vibration acceleration can be determined from the vibration curve. Further, it can be determined whether the peak value of the vibration acceleration is within the target range, thereby determining whether the acceleration sensor is reliable. Optionally, after determining the reliability of the acceleration sensor, this operation process ends.

[0070] Example 2

[0071] According to another aspect of the present invention, a reliability determination device for a vibration acceleration sensor is also provided. Figure 4 This is a schematic diagram of a reliability determination device for a vibration acceleration sensor according to an embodiment of the present invention, as shown below. Figure 4 As shown, the device includes:

[0072] The first drive module 402, in response to the vehicle being in the ignition off state, applies a first preload torque to the motor on the vehicle. The first preload torque is used to drive the main reducer gear connected to the motor to move in the transmission system clearance.

[0073] The second drive module 404 is used to apply a second preload torque to the motor in response to the movement of the main reducer gear in the transmission system clearance. The second preload torque is used to drive the main reducer gear back to its original position.

[0074] The acquisition module 406 is used to acquire the target vibration acceleration sensed by the vibration acceleration sensor in response to the return of the main reducer gear.

[0075] The determination module 408 is used to determine the reliability of the vibration acceleration sensor based on the target vibration acceleration.

[0076] Optionally, the determining module 408 includes: an acquisition unit, used to acquire the target interval corresponding to the vibration acceleration sensor, wherein the target interval is used to characterize the interval of vibration acceleration sensed by the vibration acceleration sensor when the vibration acceleration sensor is reliable; a first determining unit, used to determine that the vibration acceleration sensor is reliable in response to the target vibration acceleration being within the target interval; and a second determining unit, used to determine that the vibration acceleration sensor is unreliable in response to the target vibration acceleration not being within the target interval.

[0077] Optionally, the acquisition unit includes: a striking subunit, used to apply a striking torque to the motor in response to the vehicle being stationary, the striking torque being used to drive the main reducer gear to move within the transmission system clearance; a first acquisition subunit, used to acquire the vibration curve of the main reducer's vibration acceleration in response to the movement of the main reducer gear within the transmission system clearance; a second acquisition subunit, used to determine the peak value of the vibration acceleration based on the vibration curve of the vibration acceleration; and a determination subunit, used to determine a target range based on the peak value of the vibration acceleration.

[0078] Optionally, determining the sub-unit is also used for: obtaining the error coefficient; determining the target product of the peak value of the vibration acceleration and the error coefficient; determining the target difference between the target product and the accuracy of the accelerometer to obtain the minimum value of the target interval; and determining the target sum of the target product and the accuracy of the accelerometer to obtain the maximum value of the target interval.

[0079] Optionally, the determining subunit is further configured to: determine the initial time for applying the striking torque to the motor; determine the first motor speed at a first time point during the process of applying the striking torque to the motor; obtain the target clearance of the transmission system and the transmission system clearance error, the transmission system clearance error including a first error and a second error; determine the end time for applying the striking torque to the motor using a first objective equation based on the initial time, the first motor speed, the target clearance, and the transmission system clearance error; and determine the error coefficient based on the end time.

[0080] Optionally, the determined sub-unit is also used for: obtaining the torque requirement of the motor; determining the first sum of the torque requirement and the torque accuracy; determining the first product of the first sum and the end time; determining the first quotient of the first product and the moment of inertia to obtain the second motor speed; determining the speed difference between the first motor speed and the first motor speed; and obtaining the error coefficient corresponding to the speed difference.

[0081] Optionally, the determined sub-unit is also used to: obtain the torque requirement of the motor; determine the first sum of the torque requirement and the torque accuracy; determine the second product of the first sum and the first time point; determine the second quotient of the second product and the moment of inertia to obtain the first motor speed.

[0082] Example 3

[0083] According to another aspect of the present invention, an electronic device is also provided, including one or more processors and a storage device, wherein the storage device is used to store one or more programs, which, when executed by one or more processors, cause the one or more processors to perform the reliability determination method of any of the above-described vibration acceleration sensor.

[0084] Example 4

[0085] According to another aspect of the present invention, a vehicle is also provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the reliability determination method of the vibration acceleration sensor described above.

[0086] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0087] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0088] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0089] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0090] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0091] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0092] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for determining the reliability of a vibration acceleration sensor, characterized in that, include: In response to the vehicle being in the ignition off state, a first preload torque is applied to the motor on the vehicle, the first preload torque being used to drive the main reducer gear connected to the motor to move in the transmission system clearance; In response to the movement of the main reducer gear in the transmission system clearance, a second preload torque is applied to the motor, the second preload torque being used to drive the main reducer gear back to its original position; In response to the return of the main reducer gear, the target vibration acceleration sensed by the vibration acceleration sensor is acquired; The reliability of the vibration acceleration sensor is determined based on the target vibration acceleration. Determining the reliability of the vibration acceleration sensor based on the target vibration acceleration includes: obtaining a target interval corresponding to the vibration acceleration sensor, wherein the target interval is used to characterize the interval of vibration acceleration sensed by the vibration acceleration sensor when the vibration acceleration sensor is reliable; determining that the vibration acceleration sensor is reliable in response to the target vibration acceleration being within the target interval; and determining that the vibration acceleration sensor is unreliable in response to the target vibration acceleration not being within the target interval. Obtaining the target range corresponding to the vibration acceleration sensor includes: in response to the vehicle being stationary, applying a striking torque to the motor, the striking torque being used to drive the main reducer gear to move within the transmission system clearance; in response to the main reducer gear moving within the transmission system clearance, obtaining a vibration curve of the vibration acceleration of the main reducer; determining the peak value of the vibration acceleration based on the vibration curve; and determining the target range based on the peak value of the vibration acceleration.

2. The method according to claim 1, characterized in that, Determining the target interval based on the peak value of the vibration acceleration includes: Obtain the error coefficient; Determine the target product of the peak value of the vibration acceleration and the error coefficient; The minimum value of the target interval is obtained by determining the target product and the target difference between the accelerometer accuracy, and the maximum value of the target interval is obtained by determining the target sum of the target product and the accelerometer accuracy.

3. The method according to claim 2, characterized in that, To obtain the error coefficients, including: Determine the initial time for applying the striking torque to the motor; During the process of applying the impact torque to the motor, the first motor speed at a first time point is determined; The target clearance of the transmission system and the clearance error of the transmission system are obtained, wherein the clearance error of the transmission system includes a first error and a second error; Based on the initial time, the first motor speed, the target gap, and the transmission system gap error, the end time for applying the striking torque to the motor is determined using the first objective equation. The error coefficient is determined based on the end time.

4. The method according to claim 3, characterized in that, Determining the error coefficient based on the end time includes: Obtain the torque requirement of the motor; Determine the first sum of the torque requirement and the torque accuracy; Determine the first product of the first sum and the end time; The first quotient of the first product and the moment of inertia is determined to obtain the speed of the second motor. Determine the speed difference between the first motor speed and the second motor speed; Obtain the error coefficient corresponding to the speed difference.

5. The method according to claim 3, characterized in that, During the application of the impact torque to the motor, determining the first motor speed at a first time point includes: Obtain the torque requirement of the motor; Determine the first sum of the torque requirement and the torque accuracy; Determine the second product of the first sum and the first time point; The second quotient of the second product and the moment of inertia is determined to obtain the speed of the first motor.

6. A device for determining the reliability of a vibration acceleration sensor, characterized in that, include: The first drive module, in response to the vehicle being in the ignition off state, applies a first preload torque to the motor on the vehicle, the first preload torque being used to drive the main reducer gear connected to the motor to move in the transmission system clearance; The second drive module is used to apply a second preload torque to the motor in response to the movement of the main reducer gear in the transmission system clearance. The second preload torque is used to drive the main reducer gear back to its original position. The acquisition module is used to acquire the target vibration acceleration sensed by the vibration acceleration sensor in response to the return of the main reducer gear; A determination module is used to determine the reliability of the vibration acceleration sensor based on the target vibration acceleration; The determining module is further configured to obtain a target interval corresponding to the vibration acceleration sensor, wherein the target interval is used to characterize the interval of vibration acceleration sensed by the vibration acceleration sensor when the vibration acceleration sensor is reliable; in response to the target vibration acceleration being within the target interval, the vibration acceleration sensor is determined to be reliable; in response to the target vibration acceleration not being within the target interval, the vibration acceleration sensor is determined to be unreliable. The determining module is further configured to, in response to the vehicle being stationary, apply a striking torque to the motor, the striking torque being used to drive the main reducer gear to move within the transmission system clearance; in response to the main reducer gear moving within the transmission system clearance, acquire a vibration curve of the vibration acceleration of the main reducer; determine the peak value of the vibration acceleration based on the vibration curve of the vibration acceleration; and determine the target range based on the peak value of the vibration acceleration.

7. An electronic device, characterized in that, include: One or more processors; Storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors perform the reliability determination method for the vibration acceleration sensor according to any one of claims 1-5.

8. A vehicle, characterized in that, include: One or more processors; A storage device for storing one or more programs, which, when executed by one or more processors, cause the one or more processors to perform the reliability determination method for a vibration acceleration sensor according to any one of claims 1-5.

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