A method and apparatus for detecting a failure of a rotational speed sensor

Abstract

The application discloses a kind of failure detection method and device of rotating speed sensor.The rotating speed sensor failure detection method provided in the embodiment of the application includes obtaining the working current and rotating speed information of rotating speed sensor;According to the working current and the rotating speed information, the fault state of the rotating speed sensor is determined;Wherein, the fault state of the rotating speed sensor includes at least two fault types;According to the fault state of the rotating speed sensor, the operating state of engine is adjusted.The technical scheme provided in the embodiment of the application determines the fault state by obtaining the working current and rotating speed information of rotating speed sensor, and then adjusts the operating state of engine, realizes corresponding fault handling according to the corresponding fault category, and improves the safety of automobile operation.

Description

Technical Field

[0001] This invention relates to the field of fault detection technology, and in particular to a fault detection method and apparatus for a speed sensor. Background Technology

[0002] The engine speed sensor acquires the engine's rotational speed signal, which is one of the essential parameters for engine operation. The engine speed signal is used to maintain engine operation, regulate oil pressure during gear shifts, and retard ignition to reduce shift shock. Current technology for monitoring speed sensors typically does not classify speed sensor faults, leading to delayed fault handling and impacting vehicle safety. Therefore, a detection method capable of classifying and handling speed sensor faults is needed. Summary of the Invention

[0003] This invention provides a fault detection method and apparatus for a speed sensor, in order to solve the problem of untimely fault handling of speed sensors in the prior art.

[0004] According to one aspect of the present invention, a fault detection method for a speed sensor is provided, comprising:

[0005] Acquire the operating current and speed information of the speed sensor;

[0006] Based on the operating current and the rotational speed information, the fault state of the rotational speed sensor is determined; wherein the fault state of the rotational speed sensor includes at least two fault types;

[0007] The engine's operating state is adjusted according to the fault status of the speed sensor.

[0008] Optionally, determining the fault state of the speed sensor based on the operating current and the speed information includes:

[0009] Based on the operating current of the speed sensor, the fault type of the speed sensor is determined to be an electrical fault.

[0010] Based on the rotational speed information from the rotational speed sensor, the fault type of the rotational speed sensor is determined to be an unreliable rotational speed value fault.

[0011] Based on the direction signal and the rotational speed information from the speed sensor, the fault type of the speed sensor is determined to be a direction abnormality fault.

[0012] Optionally, determining the fault type of the speed sensor as an electrical fault based on the operating current of the speed sensor includes:

[0013] When the operating current of the speed sensor is less than the first preset current value, it is determined that the speed sensor has an open circuit fault or a short circuit to ground fault.

[0014] When the operating current of the speed sensor is greater than the second preset current value, it is determined that the speed sensor has a short circuit fault to the power supply.

[0015] Wherein, the second preset current value is greater than the first preset current value.

[0016] Optionally, determining the fault type of the speed sensor as an unreliable speed value fault based on the speed information from the speed sensor includes:

[0017] Based on the vehicle's speed, calculate the first rotational speed information from the output shaft speed sensor;

[0018] Based on the current rotational speed information of the odd-numbered axis rotational speed sensors and the even-numbered axis rotational speed sensors, the second rotational speed information of the output axis rotational speed sensor is calculated;

[0019] Based on the current rotational speed information of the odd-numbered axis rotational speed sensor, calculate the third rotational speed information of the output axis rotational speed sensor;

[0020] Based on the current rotational speed information of the even-numbered axis rotational speed sensor, calculate the fourth rotational speed information of the output axis rotational speed sensor;

[0021] Based on the first speed information, the second speed information, the third speed information, the fourth speed information, and the current speed information of the speed sensor, the fault type of the output shaft speed sensor, the odd-numbered axis speed sensor, and the even-numbered axis speed sensor is determined to be a speed value unreliable fault.

[0022] The speed sensor includes the output shaft speed sensor, the odd-numbered shaft speed sensor, and the even-numbered shaft speed sensor.

[0023] Optionally, determining the fault type of the output shaft speed sensor, the odd-numbered axis speed sensor, and the even-numbered axis speed sensor as an unreliable speed value fault based on the first speed information, the second speed information, the third speed information, the fourth speed information, and the current speed information of the speed sensor includes:

[0024] When the output shaft speed sensor meets the first judgment condition and the second judgment condition, it is determined that the output shaft speed sensor has a speed value unreliable fault.

[0025] Wherein, the first judgment condition is that the first speed difference between the current speed information of the output shaft speed sensor and the first speed information is greater than a first preset speed value, and the first speed difference is greater than the product of the current speed information of the output shaft speed sensor and the first preset value;

[0026] The second judgment condition is that the second speed difference between the current speed information of the output shaft speed sensor and the second speed information is greater than the first preset speed value, and the second speed difference is greater than the product of the current speed information of the output shaft speed sensor and the first preset value.

[0027] Optionally, determining the fault type of the output shaft speed sensor, the odd-numbered axis speed sensor, and the even-numbered axis speed sensor as an unreliable speed value fault based on the first speed information, the second speed information, the third speed information, the fourth speed information, and the current speed information of the speed sensor includes:

[0028] When the odd-axis speed sensor meets the third and fourth judgment conditions, it is determined that the odd-axis speed sensor has a fault of unreliable speed value;

[0029] The third judgment condition is that the difference between the current speed information of the output shaft speed sensor and the third speed information is greater than the first preset speed value, and the third speed difference is greater than the product of the current speed information of the odd-numbered shaft speed sensor and the first preset value.

[0030] The fourth judgment condition is that the fourth speed difference between the current speed information of the odd-axis speed sensor and the first speed information is greater than the first preset speed value, and the fourth speed difference is greater than the product of the first speed information and the first preset value.

[0031] Optionally, determining the fault type of the output shaft speed sensor, the odd-numbered axis speed sensor, and the even-numbered axis speed sensor as an unreliable speed value fault based on the first speed information, the second speed information, the third speed information, the fourth speed information, and the current speed information of the speed sensor includes:

[0032] When the even-numbered axis speed sensor meets the fifth and sixth judgment conditions, it is determined that the even-numbered axis speed sensor has a speed value unreliable fault.

[0033] The fifth judgment condition is that the fifth speed difference between the current speed information of the output shaft speed sensor and the fourth speed information is greater than the first preset speed value, and the fifth speed difference is greater than the product of the current speed information of the even-numbered shaft speed sensor and the first preset value.

[0034] The sixth judgment condition is that the sixth speed difference between the current speed information of the even-number axis speed sensor and the first speed information is greater than the first preset speed value, and the sixth speed difference is greater than the product of the first speed information and the first preset value.

[0035] Optionally, determining the fault type of the speed sensor as a directional abnormality fault based on the speed information from the speed sensor includes:

[0036] When the direction signal and the speed sensor are in normal condition, if the pulse signal of the speed sensor is opposite to the direction signal during the first time period, it is determined that the speed sensor has a direction abnormality fault.

[0037] Optionally, adjusting the engine's operating state according to the fault state of the speed sensor includes:

[0038] When the fault type of the speed sensor is open circuit fault, short circuit to ground fault or power supply short circuit fault, the speed sensor is disabled and the speed information of the speed sensor is replaced with historical speed information.

[0039] The historical rotational speed information includes rotational speed information within a preset historical time period when the rotational speed sensor is in normal condition.

[0040] Optionally, adjusting the engine's operating state according to the fault state of the speed sensor includes:

[0041] When the fault type of the speed sensor is an unreliable speed value fault, the speed sensor is disabled and the current speed information of the speed sensor is replaced with historical speed information.

[0042] When the fault type of the output shaft speed sensor is an unreliable speed value fault, the current speed information of the output shaft speed sensor is replaced with the first speed information;

[0043] When the fault type of the odd-axis speed sensor and / or the even-axis speed sensor is an unreliable speed value fault, the current speed information of the faulty speed sensor is replaced with the current speed information of the output shaft speed sensor.

[0044] Optionally, adjusting the engine's operating state according to the fault state of the speed sensor includes:

[0045] When the fault type of the speed sensor is a directional abnormality fault, the speed information of the speed sensor is replaced with historical speed information, and the direction of the speed sensor is replaced with the direction of the anti-lock braking system.

[0046] Optionally, after adjusting the engine's operating state according to the fault state, the method further includes:

[0047] When the speed sensor experiences the electrical fault, the unreliable speed value fault, and / or the abnormal direction fault, an alarm signal is issued.

[0048] Record the occurrence time and fault information of the electrical fault, the unreliable speed value fault, and / or the abnormal direction fault.

[0049] Secondly, embodiments of the present invention provide a fault detection device for a speed sensor, characterized in that it includes:

[0050] The acquisition module is used to acquire the operating current and speed information of the speed sensor;

[0051] The determination module is used to determine the fault state of the speed sensor based on the operating current and the speed information;

[0052] The fault states of the speed sensor include at least two types of faults;

[0053] The adjustment module is used to adjust the engine's operating state according to the fault status of the speed sensor.

[0054] The fault detection method for a speed sensor according to this invention acquires the operating current and speed information of the speed sensor, and determines the fault state of the speed sensor based on the operating current and the speed information. The engine operating state is then adjusted accordingly based on the fault state of the speed sensor. This technical solution, by acquiring the operating current and speed information of the speed sensor to determine the fault state and then adjusting the engine operating state, achieves corresponding fault handling based on the fault category, thereby improving the safety of vehicle operation.

[0055] 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

[0056] 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.

[0057] Figure 1 This is a flowchart of a fault detection method for a speed sensor provided in an embodiment of the present invention;

[0058] Figure 2 This is a flowchart of another method for fault detection of a speed sensor provided in an embodiment of the present invention;

[0059] Figure 3 This is a flowchart of another method for fault detection of a speed sensor provided in an embodiment of the present invention;

[0060] Figure 4 This is a flowchart of another method for fault detection of a speed sensor provided in an embodiment of the present invention;

[0061] Figure 5 This is a flowchart of another method for fault detection of a speed sensor provided in an embodiment of the present invention;

[0062] Figure 6 This is a flowchart of another method for fault detection of a speed sensor provided in an embodiment of the present invention;

[0063] Figure 7 This is a flowchart of another method for fault detection of a speed sensor provided in an embodiment of the present invention;

[0064] Figure 8 This is a flowchart of another method for fault detection of a speed sensor provided in an embodiment of the present invention;

[0065] Figure 9 This is a flowchart of another method for fault detection of a speed sensor provided in an embodiment of the present invention;

[0066] Figure 10 This is a flowchart of another method for fault detection of a speed sensor provided in an embodiment of the present invention;

[0067] Figure 11 This is a schematic diagram of the structure of a fault detection device for a speed sensor provided in an embodiment of the present invention. Detailed Implementation

[0068] 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.

[0069] 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.

[0070] Figure 1 This is a flowchart of a fault detection method for a speed sensor provided in an embodiment of the present invention. See also... Figure 1 The fault detection method for a speed sensor provided in this embodiment of the invention includes:

[0071] S101. Obtain the operating current and speed information of the speed sensor.

[0072] Specifically, during vehicle operation, the speed sensor acquires the engine speed signal to maintain engine operation. By acquiring the operating current and speed information of the speed sensor during its operation, the working status of the speed sensor can be determined, thereby identifying whether the speed sensor has malfunctioned.

[0073] S102. Determine the fault status of the speed sensor based on the operating current and the speed information.

[0074] The fault states of the speed sensor include at least two types of faults.

[0075] Specifically, based on the operating current and speed information of the speed sensor during operation, the fault status of the speed sensor can be determined. Fault statuses of the speed sensor can include short circuit faults, open circuit faults, unreliable speed values, and abnormal direction faults. Determining the fault status of the speed sensor allows for corresponding adjustments, thereby improving engine safety.

[0076] S103. Adjust the engine's operating state according to the fault status of the speed sensor.

[0077] Specifically, when a speed sensor malfunctions, the engine's operating status may be affected. In this case, based on the current fault status of the speed sensor, corresponding actions can be taken regarding the speed sensor and other modules within the engine to restore the speed sensor to normal operation. This, in turn, regulates the engine's operating status and improves the safety of engine operation.

[0078] For example, during vehicle operation, the fault handling system acquires the operating current and speed information of the speed sensor during its operation, and determines the fault status of the speed sensor based on this information. When the speed sensor malfunctions, the engine's operating state is affected. Based on the current fault status of the speed sensor, the fault handling system performs corresponding processing on the speed sensor and other modules within the engine, restoring the speed sensor to normal operation, thereby restoring the engine to its normal operating state.

[0079] The fault detection method for the speed sensor provided in this embodiment obtains the operating current and speed information of the speed sensor, determines the fault state of the speed sensor, and adjusts the speed sensor and other modules in the engine accordingly to adjust the engine's operating state and improve the safety of engine operation.

[0080] Optional, Figure 2 This is a flowchart of another fault detection method for a speed sensor provided in an embodiment of the present invention. Based on the above embodiment, see... Figure 2 The fault detection method for a speed sensor provided in this embodiment of the invention includes:

[0081] S101. Obtain the operating current and speed information of the speed sensor.

[0082] S201. Based on the operating current of the speed sensor, determine that the fault type of the speed sensor is an electrical fault.

[0083] Specifically, the operating current of the speed sensor can be used to determine whether an electrical fault has occurred in the speed sensor. When the speed sensor is working normally, its operating current is stable near the rated current. If the operating current of the speed sensor continues to change or exceeds the rated current, it can be confirmed that the speed sensor has experienced an electrical fault such as a short circuit or open circuit.

[0084] S202. Based on the rotational speed information from the rotational speed sensor, determine that the fault type of the rotational speed sensor is an unreliable rotational speed value fault.

[0085] Specifically, the speed information from the speed sensor can be used to determine whether the speed sensor has experienced a fault of unreliable speed value. When operating normally, the speed sensor outputs a speed signal containing speed information based on the engine's operating status. If the speed information from the speed sensor deviates significantly from the speed information calculated based on the vehicle speed, it can be confirmed that the speed sensor has experienced a fault of unreliable speed value.

[0086] S203. Based on the direction signal and the rotational speed information of the rotational speed sensor, determine that the fault type of the rotational speed sensor is a direction abnormality fault.

[0087] Specifically, the speed information from the speed sensor can also be used to determine if the speed sensor has experienced a directional malfunction. When the speed sensor is operating normally, the direction of the speed signal it outputs is the same as the direction signal output by the anti-lock braking system (ABS). If the direction of the speed signal from the speed sensor is opposite to the direction signal output by the ABS, then a directional malfunction of the speed sensor can be confirmed.

[0088] S103. Adjust the engine's operating state according to the fault status of the speed sensor.

[0089] Optional, Figure 3 This is a flowchart of another fault detection method for a speed sensor provided by an embodiment of the present invention. Based on the above embodiments, see... Figure 3 The fault detection method for a speed sensor provided in this embodiment of the invention includes:

[0090] S101. Obtain the operating current and speed information of the speed sensor.

[0091] S301. When the operating current of the speed sensor is less than the first preset current value, it is determined that the speed sensor has an open circuit fault or a short circuit to ground fault.

[0092] Specifically, the first preset current value can be the minimum normal operating current of the speed sensor. When the operating current of the speed sensor is less than the first preset current value, the current of the speed sensor is unstable and the voltage is close to zero. At this time, it can be determined that the speed sensor has an open circuit fault or a short circuit to ground fault. The fault handling system may read abnormal data from the speed sensor or be unable to read data at all.

[0093] S302. When the operating current of the speed sensor is greater than the second preset current value, it is determined that the speed sensor has a short circuit fault to the power supply.

[0094] The second preset current value is greater than the first preset current value.

[0095] Specifically, the second preset current value can be the maximum normal operating current of the speed sensor. When the operating current of the speed sensor exceeds the second preset current value, the current of the speed sensor exceeds the normal operating condition, and at this time it can be determined that the speed sensor has a power supply short circuit fault.

[0096] S202. Based on the rotational speed information from the rotational speed sensor, determine that the fault type of the rotational speed sensor is an unreliable rotational speed value fault.

[0097] S203. Based on the direction signal and the rotational speed information of the rotational speed sensor, determine that the fault type of the rotational speed sensor is a direction abnormality fault.

[0098] S103. Adjust the engine's operating state according to the fault status of the speed sensor.

[0099] Optional, Figure 4 This is a flowchart of another fault detection method for a speed sensor provided by an embodiment of the present invention. Based on the above embodiments, see... Figure 4 The fault detection method for a speed sensor provided in this embodiment of the invention includes:

[0100] S101. Obtain the operating current and speed information of the speed sensor.

[0101] S201. Based on the operating current of the speed sensor, determine that the fault type of the speed sensor is an electrical fault.

[0102] S401. Calculate the first rotational speed information of the output shaft speed sensor based on the vehicle's speed.

[0103] Specifically, a vehicle's speed sensors can include output shaft speed sensors, odd-axis speed sensors, and even-axis speed sensors. Based on the current vehicle speed, the initial speed information from the output shaft speed sensor can be calculated. This initial speed information is the speed that the output shaft speed sensor should output corresponding to the current vehicle speed. This initial speed information can be used to determine whether the output shaft speed sensor has experienced a fault with an unreliable speed value.

[0104] S402. Calculate the second rotational speed information of the output shaft rotational speed sensor based on the current rotational speed information of the odd-numbered shaft rotational speed sensor and the even-numbered shaft rotational speed sensor.

[0105] Specifically, based on the current speed information from the odd-numbered and even-numbered axis speed sensors, the second speed information of the output axis speed sensor can be calculated. This second speed information is the speed information that the output axis speed sensor should output, corresponding to the speed information output by the current odd-numbered and even-numbered axis speed sensors. This second speed information can be used to determine whether the output axis speed sensor has experienced a speed value unreliability fault.

[0106] S403. Calculate the third rotational speed information of the output shaft rotational speed sensor based on the current rotational speed information of the odd-numbered shaft rotational speed sensor.

[0107] Specifically, based on the current speed information of the odd-numbered axis speed sensors, the third speed information of the output axis speed sensor can be calculated. This third speed information is the speed information that the output axis speed sensor should output corresponding to the current speed information output by the odd-numbered axis speed sensors. This third speed information can be used to determine whether the technical axis speed sensor has experienced a speed value unreliability fault.

[0108] S404. Calculate the fourth speed information of the output shaft speed sensor based on the current speed information of the even-numbered shaft speed sensor.

[0109] Specifically, based on the current speed information of the even-numbered axis speed sensor, the fourth speed information of the output axis speed sensor can be calculated. This fourth speed information is the speed information that the output axis speed sensor should output corresponding to the current speed information output by the even-numbered axis speed sensor. This fourth speed information can be used to determine whether the even-numbered axis speed sensor has experienced a speed value unreliability fault.

[0110] S405. Based on the first speed information, the second speed information, the third speed information, the fourth speed information, and the current speed information of the speed sensor, determine that the fault type of the output shaft speed sensor, the odd-numbered axis speed sensor, and the even-numbered axis speed sensor is a speed value unreliable fault.

[0111] The speed sensors include output shaft speed sensors, odd-axis speed sensors, and even-axis speed sensors.

[0112] Specifically, the first, second, third, and fourth speed information can be compared with the current speed information of the output shaft speed sensor, the odd-numbered shaft speed sensor, and the even-numbered shaft speed sensor to determine whether the output shaft speed sensor, the odd-numbered shaft speed sensor, and the even-numbered shaft speed sensor have experienced an unreliable speed value fault. This setting can improve the accuracy of fault diagnosis for corresponding handling, thereby improving the safety of engine operation.

[0113] S203. Based on the direction signal and the rotational speed information of the rotational speed sensor, determine that the fault type of the rotational speed sensor is a direction abnormality fault.

[0114] S103. Adjust the engine's operating state according to the fault status of the speed sensor.

[0115] Optional, Figure 5This is a flowchart of another fault detection method for a speed sensor provided by an embodiment of the present invention. Based on the above embodiments, see... Figure 5 The fault detection method for a speed sensor provided in this embodiment of the invention includes:

[0116] S101. Obtain the operating current and speed information of the speed sensor.

[0117] S201. Based on the operating current of the speed sensor, determine that the fault type of the speed sensor is an electrical fault.

[0118] S401. Calculate the first rotational speed information of the output shaft speed sensor based on the vehicle's speed.

[0119] S402. Calculate the second rotational speed information of the output shaft rotational speed sensor based on the current rotational speed information of the odd-numbered shaft rotational speed sensor and the even-numbered shaft rotational speed sensor.

[0120] S403. Calculate the third rotational speed information of the output shaft rotational speed sensor based on the current rotational speed information of the odd-numbered shaft rotational speed sensor.

[0121] S404. Calculate the fourth speed information of the output shaft speed sensor based on the current speed information of the even-numbered shaft speed sensor.

[0122] S501. When the output shaft speed sensor meets the first judgment condition and the second judgment condition, it is determined that the output shaft speed sensor has a speed value unreliable fault.

[0123] The first judgment condition is that the first speed difference between the current speed information of the output shaft speed sensor and the first speed information is greater than a first preset speed value, and the first speed difference is greater than the product of the current speed information of the output shaft speed sensor and the first preset value. The second judgment condition is that the second speed difference between the current speed information of the output shaft speed sensor and the second speed information is greater than the first preset speed value, and the second speed difference is greater than the product of the current speed information of the output shaft speed sensor and the first preset value.

[0124] Specifically, when a car is driving on a non-low-friction surface, in a non-shifting phase, with the throttle between 0-70% and the speed greater than 10 km / h:

[0125] When the first speed difference between the output shaft speed sensor's speed information and the first speed information is greater than the first preset speed value, and the first speed difference is greater than the product of the output shaft speed sensor's speed information and the first preset value, and the second speed difference between the output shaft speed sensor's speed information and the second speed information is greater than the first preset speed value, and the second speed difference is greater than the product of the output shaft speed sensor's speed information and the first preset value, and the above situation lasts for more than 2 seconds;

[0126] At this point, there is a significant error between the speed information output by the output shaft speed sensor and the first speed information calculated based on the current vehicle speed, and the second speed information calculated based on the odd-numbered shaft speed sensors and the even-numbered shaft speed sensors. Therefore, it can be determined that the output shaft speed sensor has experienced a fault of unreliable speed value.

[0127] For example, when the preset speed value can be 180 rpm and the first preset value can be 10%, it can be considered that the error between the calculated output value and the actual output value of the output shaft speed sensor exceeds 180 rpm and 10%, that is, a speed value unreliable fault has occurred.

[0128] S601. When the odd-numbered axis speed sensor meets the third and fourth judgment conditions, it is determined that the odd-numbered axis speed sensor has a speed value unreliable fault.

[0129] The third judgment condition is that the difference between the current speed information of the output shaft speed sensor and the third speed information is greater than the first preset speed value, and the third speed difference is greater than the product of the current speed information of the odd-numbered shaft speed sensor and the first preset value. The fourth judgment condition is that the difference between the current speed information of the odd-numbered shaft speed sensor and the first speed information is greater than the first preset speed value, and the fourth speed difference is greater than the product of the first speed information and the first preset value.

[0130] Specifically, when a car is driving on a non-low-friction surface, in a non-shifting phase, with the throttle between 0-70% and the speed greater than 10 km / h:

[0131] When the speed difference between the output shaft speed sensor and the third speed information is greater than the first preset speed value, and the third speed difference is greater than the product of the speed information of the odd-numbered shaft speed sensor and the first preset value, and the fourth speed difference between the odd-numbered shaft speed sensor and the first speed information is greater than the first preset speed value, and the fourth speed difference is greater than the product of the first speed information and the first preset value, and the above situation lasts for more than 2 seconds.

[0132] At this point, the error between the third speed information calculated from the odd-numbered axis speed sensor and the first speed information and the speed information output by the output axis speed sensor is large. Therefore, it can be determined that the odd-numbered axis speed sensor has a fault of unreliable speed value.

[0133] S701. When the even-numbered axis speed sensor meets the fifth and sixth judgment conditions, it is determined that the even-numbered axis speed sensor has a speed value unreliable fault.

[0134] The fifth judgment condition is that the difference between the current speed information of the output shaft speed sensor and the fifth speed information of the fourth speed information is greater than the first preset speed value, and the fifth speed difference is greater than the product of the current speed information of the even-numbered shaft speed sensor and the first preset value. The sixth judgment condition is that the difference between the current speed information of the even-numbered shaft speed sensor and the sixth speed information of the first speed information is greater than the first preset speed value, and the sixth speed difference is greater than the product of the first speed information and the first preset value.

[0135] Specifically, when a car is driving on a non-low-friction surface, in a non-shifting phase, with the throttle between 0-70% and the speed greater than 10 km / h:

[0136] When the speed difference between the output shaft speed sensor and the fourth speed information is greater than the first preset speed value, and the fifth speed difference is greater than the product of the speed information of the even-numbered shaft speed sensor and the first preset value, and the sixth speed difference between the even-numbered shaft speed sensor and the first speed information is greater than the first preset speed value, and the sixth speed difference is greater than the product of the first speed information and the first preset value, and the above situation lasts for more than 2 seconds;

[0137] At this point, the fourth rotational speed information calculated from the even-numbered axis rotational speed sensor has a large error compared to the first rotational speed information and the rotational speed information output by the output axis rotational speed sensor. Therefore, it can be determined that the even-numbered axis rotational speed sensor has experienced a fault of unreliable rotational speed values.

[0138] S203. Based on the direction signal and the rotational speed information of the rotational speed sensor, determine that the fault type of the rotational speed sensor is a direction abnormality fault.

[0139] S103. Adjust the engine's operating state according to the fault status of the speed sensor.

[0140] Optional, Figure 6 This is a flowchart of another fault detection method for a speed sensor provided by an embodiment of the present invention. Based on the above embodiments, see... Figure 6 The fault detection method for a speed sensor provided in this embodiment of the invention includes:

[0141] S101. Obtain the operating current and speed information of the speed sensor.

[0142] S201. Based on the operating current of the speed sensor, determine that the fault type of the speed sensor is an electrical fault.

[0143] S202. Based on the rotational speed information from the rotational speed sensor, determine that the fault type of the rotational speed sensor is an unreliable rotational speed value fault.

[0144] S801. When the direction signal and the speed sensor are in normal condition, if the pulse signal of the speed sensor is opposite to the direction signal during the first time period, it is determined that the speed sensor has a direction abnormality fault.

[0145] Specifically, during vehicle operation, if the pulse signal output by the speed sensor is normal, the vehicle speed and non-drive wheel speed are greater than 1 km / h, and the direction signal of the anti-lock braking system is normal, if the fault handling system detects that the direction of the pulse signal output by the speed sensor is opposite to the direction signal of the anti-lock braking system within the first time period, it can determine that the speed sensor has a directional abnormality, i.e., the speed sensor has a directional abnormality fault. For example, the first time period can be 3 seconds.

[0146] Furthermore, if the pulse signal output of the speed sensor is abnormal or stops outputting within the first time period, the fault handling system can also determine that the speed sensor has a directional abnormality fault.

[0147] S103. Adjust the engine's operating state according to the fault status of the speed sensor.

[0148] Optional, Figure 7 This is a flowchart of another fault detection method for a speed sensor provided by an embodiment of the present invention. Based on the above embodiments, see... Figure 7 The fault detection method for a speed sensor provided in this embodiment of the invention includes:

[0149] S101. Obtain the operating current and speed information of the speed sensor.

[0150] S301. When the operating current of the speed sensor is less than the first preset current value, it is determined that the speed sensor has an open circuit fault or a short circuit to ground fault.

[0151] S302. When the operating current of the speed sensor is greater than the second preset current value, it is determined that the speed sensor has a short circuit fault to the power supply.

[0152] S202. Based on the rotational speed information from the rotational speed sensor, determine that the fault type of the rotational speed sensor is an unreliable rotational speed value fault.

[0153] S203. Based on the direction signal and the rotational speed information of the rotational speed sensor, determine that the fault type of the rotational speed sensor is a direction abnormality fault.

[0154] S901. When the fault type of the speed sensor is open circuit fault, short circuit to ground fault or power supply short circuit fault, the speed sensor is disabled and the speed information of the speed sensor is replaced with historical speed information.

[0155] The historical speed information includes speed information within a preset historical time period when the speed sensor is in normal condition.

[0156] Specifically, when a speed sensor experiences an open-circuit fault, a short-circuit fault to ground, or a power short-circuit fault, the fault handling system will disable the faulty speed sensor and replace its speed information with historical speed information. In other words, the speed information output by the faulty speed sensor will be replaced with the speed information previously output by the sensor when it was functioning normally. This setting allows for corresponding processing of the speed sensor based on its fault type, improving engine operating safety.

[0157] Optional, Figure 8 This is a flowchart of another fault detection method for a speed sensor provided by an embodiment of the present invention. Based on the above embodiments, see... Figure 8 The fault detection method for a speed sensor provided in this embodiment of the invention includes:

[0158] S101. Obtain the operating current and speed information of the speed sensor.

[0159] S201. Based on the operating current of the speed sensor, determine that the fault type of the speed sensor is an electrical fault.

[0160] S401. Calculate the first rotational speed information of the output shaft speed sensor based on the vehicle's speed.

[0161] S402. Calculate the second rotational speed information of the output shaft rotational speed sensor based on the current rotational speed information of the odd-numbered shaft rotational speed sensor and the even-numbered shaft rotational speed sensor.

[0162] S403. Calculate the third rotational speed information of the output shaft rotational speed sensor based on the current rotational speed information of the odd-numbered shaft rotational speed sensor.

[0163] S404. Calculate the fourth speed information of the output shaft speed sensor based on the current speed information of the even-numbered shaft speed sensor.

[0164] S501. When the output shaft speed sensor meets the first judgment condition and the second judgment condition, it is determined that the output shaft speed sensor has a speed value unreliable fault.

[0165] S601. When the odd-numbered axis speed sensor meets the third and fourth judgment conditions, it is determined that the odd-numbered axis speed sensor has a speed value unreliable fault.

[0166] S701. When the even-numbered axis speed sensor meets the fifth and sixth judgment conditions, it is determined that the even-numbered axis speed sensor has a speed value unreliable fault.

[0167] S203. Based on the direction signal and the rotational speed information of the rotational speed sensor, determine that the fault type of the rotational speed sensor is a direction abnormality fault.

[0168] S110. When the fault type of the speed sensor is unreliable speed value, disable the speed sensor and replace the current speed information of the speed sensor with historical speed information.

[0169] Specifically, when a speed sensor experiences an unreliable speed value, the fault handling system will disable the faulty speed sensor and replace its speed information with historical speed information.

[0170] S111. When the fault type of the output shaft speed sensor is an unreliable speed value fault, the current speed information of the output shaft speed sensor is replaced with the first speed information.

[0171] Specifically, when the output shaft speed sensor experiences an unreliable speed value fault, the fault handling system first disables the output shaft speed sensor and replaces its speed information with historical speed information. Then, the fault handling system replaces the next output speed information with the first speed information calculated based on the vehicle speed. If the output shaft speed sensor's pulse signal output is abnormal, the fault handling system replaces the default value of the speed information output by the output shaft speed sensor with 0.

[0172] S112. When the fault type of the odd-numbered axis speed sensor and / or the even-numbered axis speed sensor is an unreliable speed value fault, the current speed information of the faulty speed sensor is replaced with the current speed information of the output axis speed sensor.

[0173] Specifically, when the odd-numbered axis speed sensor and / or the even-numbered axis speed sensor experiences an unreliable speed value fault, the fault handling system first disables the faulty speed sensor and replaces its speed information with historical speed information. Then, the fault handling system replaces the next output speed information with the current speed information from the output axis speed sensor. If the pulse signal output of the odd-numbered axis speed sensor and / or the even-numbered axis speed sensor is abnormal, the fault handling system replaces the speed information output by the odd-numbered axis speed sensor and / or the even-numbered axis speed sensor with the engine speed value. This configuration allows for corresponding processing of the speed sensors based on their fault type, improving engine operating safety.

[0174] Optional, Figure 9 This is a flowchart of another fault detection method for a speed sensor provided by an embodiment of the present invention. Based on the above embodiments, see... Figure 9 The fault detection method for a speed sensor provided in this embodiment of the invention includes:

[0175] S101. Obtain the operating current and speed information of the speed sensor.

[0176] S201. Based on the operating current of the speed sensor, determine that the fault type of the speed sensor is an electrical fault.

[0177] S202. Based on the rotational speed information from the rotational speed sensor, determine that the fault type of the rotational speed sensor is an unreliable rotational speed value fault.

[0178] S801. When the direction signal and the speed sensor are in normal condition, if the pulse signal of the speed sensor is opposite to the direction signal during the first time period, it is determined that the speed sensor has a direction abnormality fault.

[0179] S120. When the fault type of the speed sensor is a directional abnormality fault, the speed information of the speed sensor is replaced with historical speed information, and the direction of the speed sensor is replaced with the direction of the anti-lock braking system.

[0180] Specifically, when the speed sensor malfunctions with a directional error, the fault handling system will disable the faulty speed sensor and replace its speed information with historical speed information. The system will also replace the speed sensor's direction with the anti-lock braking system's direction. If the anti-lock braking system's direction is abnormal, the system will determine the current direction based on the vehicle's steering wheel. This configuration allows for appropriate handling of the speed sensor based on its fault type, improving engine operating safety.

[0181] Optional, Figure 10 This is a flowchart of another fault detection method for a speed sensor provided by an embodiment of the present invention. Based on the above embodiments, see... Figure 10 The fault detection method for a speed sensor provided in this embodiment of the invention includes:

[0182] S101. Obtain the operating current and speed information of the speed sensor.

[0183] S201. Based on the operating current of the speed sensor, determine that the fault type of the speed sensor is an electrical fault.

[0184] S202. Based on the rotational speed information from the rotational speed sensor, determine that the fault type of the rotational speed sensor is an unreliable rotational speed value fault.

[0185] S203. Based on the direction signal and the rotational speed information of the rotational speed sensor, determine that the fault type of the rotational speed sensor is a direction abnormality fault.

[0186] S103. When the fault type of the speed sensor is open circuit fault, short circuit to ground fault or power supply short circuit fault, the speed sensor is disabled and the speed information of the speed sensor is replaced with historical speed information.

[0187] S130. When the speed sensor experiences the electrical fault, the unreliable speed value fault, and / or the abnormal direction fault, an alarm signal is issued.

[0188] Specifically, when the fault handling system detects an electrical fault, an unreliable speed value, and / or an abnormal direction fault in the speed sensor, and this fault persists for a certain period of time, the fault handling system will issue a corresponding alarm signal to alert the driver. For example, the alarm signal could be issued after the fault lasts for more than 50ms. This setting can improve the driver's ability to handle speed sensor faults quickly.

[0189] S131. Record the occurrence time and fault information of the electrical fault, the unreliable speed value fault, and / or the abnormal direction fault.

[0190] Specifically, after issuing an alarm signal, the fault handling system will also store the occurrence time and fault information of electrical faults, unreliable speed values, and / or abnormal direction faults through a storage unit, making it convenient for maintenance personnel to review. This setup facilitates vehicle maintenance and improves vehicle safety.

[0191] For example, during vehicle operation, the fault handling system acquires the operating current and speed information of the speed sensor during its operation, and calculates first, second, third, and fourth speed information based on the vehicle speed, the current speed information of the output shaft speed sensor, the odd-numbered shaft speed sensor, and the even-numbered shaft speed sensor. The fault handling system then determines the fault status of the speed sensor based on the operating current and speed information.

[0192] When the operating current of the speed sensor is less than the first preset current value, it is determined that the speed sensor has an open circuit fault or a short circuit to ground fault. When the operating current of the speed sensor is greater than the second preset current value, it is determined that the speed sensor has a power supply short circuit fault. The fault handling system will disable the faulty speed sensor and replace its speed information with historical speed information. At the same time, the fault handling system will issue an alarm signal and store the fault occurrence time and fault information in the storage unit.

[0193] When the first speed difference between the output shaft speed sensor's speed information and the first speed information is greater than the first preset speed value, and the first speed difference is greater than the product of the output shaft speed sensor's speed information and the first preset value, and the second speed difference between the output shaft speed sensor's speed information and the second speed information is greater than the first preset speed value, and the second speed difference is greater than the product of the output shaft speed sensor's speed information and the first preset value, and the above conditions last for more than 2 seconds, it is determined that the output shaft speed sensor has experienced a speed value unreliable fault.

[0194] When the speed difference between the output shaft speed sensor and the third speed information is greater than the first preset speed value, and the third speed difference is greater than the product of the speed information of the odd-numbered shaft speed sensor and the first preset value, and the fourth speed difference between the odd-numbered shaft speed sensor and the first speed information is greater than the first preset speed value, and the fourth speed difference is greater than the product of the first speed information and the first preset value, and the above conditions last for more than 2 seconds, it is determined that the odd-numbered shaft speed sensor has a speed value unreliable fault.

[0195] When the fifth speed difference between the output shaft speed sensor and the fourth speed information is greater than the first preset speed value, and the fifth speed difference is greater than the product of the even-numbered shaft speed sensor's speed information and the first preset value, and the sixth speed difference between the even-numbered shaft speed sensor and the first speed information is greater than the first preset speed value, and the sixth speed difference is greater than the product of the first speed information and the first preset value, and the above conditions last for more than 2 seconds, it is determined that the even-numbered shaft speed sensor has experienced a speed value unreliable fault.

[0196] When a speed sensor experiences an unreliable speed value, the fault handling system will disable the faulty speed sensor and replace its speed information with historical speed information.

[0197] When the output shaft speed sensor experiences an unreliable speed value fault, the fault handling system first disables the output shaft speed sensor and replaces its speed information with historical speed information. Then, the fault handling system replaces the next output speed information with the first speed information.

[0198] When the odd-numbered shaft speed sensor and / or the even-numbered shaft speed sensor experiences an unreliable speed value fault, the fault handling system first disables the faulty speed sensor and replaces its speed information with historical speed information. Then, the fault handling system replaces the next output speed information with the current speed information from the output shaft speed sensor. If the pulse signal output of the odd-numbered shaft speed sensor and / or the even-numbered shaft speed sensor is abnormal, the fault handling system replaces the speed information output by the odd-numbered shaft speed sensor and / or the even-numbered shaft speed sensor with the engine speed value. Simultaneously, the fault handling system issues an alarm signal and stores the fault occurrence time and fault information in the storage unit.

[0199] When the pulse signal output by the speed sensor is normal, the vehicle speed and the speed of the non-drive wheels are greater than 1 km / h, and the direction signal of the anti-lock braking system is normal, if the fault handling system detects that the direction of the pulse signal output by the speed sensor is opposite to the direction signal of the anti-lock braking system within the first time period, it determines that the direction of the speed sensor is abnormal.

[0200] When a speed sensor malfunctions due to a directional error, the fault handling system will disable the faulty sensor and replace its speed information with historical speed information. The system will also replace the speed sensor's direction with the anti-lock braking system's direction. If the anti-lock braking system's direction is abnormal, the system will determine the current direction based on the vehicle's steering wheel. Simultaneously, the system will issue an alarm signal and store the fault occurrence time and information in its storage unit.

[0201] When the speed sensor malfunctions, the engine's operating status is affected. After the fault handling system processes the speed sensor and other modules within the engine accordingly, the speed sensor returns to normal operation, thereby restoring the engine to its normal operating state.

[0202] Optional, Figure 11 This is a schematic diagram of a fault detection device for a speed sensor provided in an embodiment of the present invention. Based on the above embodiment, see... Figure 11 The fault detection device 10 for the speed sensor provided in this embodiment of the invention includes:

[0203] Module 11 acquires the operating current and speed information of the speed sensor;

[0204] The determining module 12 determines the fault state of the speed sensor based on the operating current and the speed information; wherein the fault state of the speed sensor includes at least two fault types;

[0205] The adjustment module 13 adjusts the engine's operating state according to the fault status of the speed sensor.

[0206] The speed sensor fault detection device of this invention acquires the operating current and speed information of the speed sensor, and determines the fault state of the speed sensor based on the operating current and the speed information. The engine operating state is then adjusted accordingly based on the fault state of the speed sensor. This technical solution of the present invention determines the fault state by acquiring the operating current and speed information of the speed sensor, and then adjusts the engine operating state, thereby achieving corresponding fault handling based on the corresponding fault category and improving the safety of vehicle operation.

[0207] 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.

[0208] 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 fault detection method for a speed sensor, characterized in that, include: Acquire the operating current and speed information of the speed sensor; Based on the operating current and the rotational speed information, the fault state of the rotational speed sensor is determined; wherein the fault state of the rotational speed sensor includes at least two fault types; The engine's operating state is adjusted according to the fault status of the speed sensor. The step of determining the fault state of the speed sensor based on the operating current and the speed information includes: Based on the operating current of the speed sensor, the fault type of the speed sensor is determined to be an electrical fault. Based on the rotational speed information from the rotational speed sensor, the fault type of the rotational speed sensor is determined to be an unreliable rotational speed value fault. Based on the direction signal and the rotational speed information of the speed sensor, the fault type of the speed sensor is determined to be a direction abnormality fault; The step of determining the fault type of the speed sensor as an unreliable speed value fault based on the speed information from the speed sensor includes: Based on the vehicle's speed, calculate the first rotational speed information from the output shaft speed sensor; Based on the current rotational speed information of the odd-numbered axis rotational speed sensors and the even-numbered axis rotational speed sensors, the second rotational speed information of the output axis rotational speed sensor is calculated; Based on the current rotational speed information of the odd-numbered axis rotational speed sensor, calculate the third rotational speed information of the output axis rotational speed sensor; Based on the current rotational speed information of the even-numbered axis rotational speed sensor, calculate the fourth rotational speed information of the output axis rotational speed sensor; Based on the first speed information, the second speed information, the third speed information, the fourth speed information, and the current speed information of the speed sensor, the fault type of the output shaft speed sensor, the odd-numbered axis speed sensor, and the even-numbered axis speed sensor is determined to be a speed value unreliable fault. The speed sensor includes the output shaft speed sensor, the odd-numbered shaft speed sensor, and the even-numbered shaft speed sensor.

2. The method according to claim 1, characterized in that, The step of determining the fault type of the speed sensor as an electrical fault based on the operating current of the speed sensor includes: When the operating current of the speed sensor is less than the first preset current value, it is determined that the speed sensor has an open circuit fault or a short circuit to ground fault. When the operating current of the speed sensor is greater than the second preset current value, it is determined that the speed sensor has a short circuit fault to the power supply. Wherein, the second preset current value is greater than the first preset current value.

3. The method according to claim 1, characterized in that, The step of determining the fault type of the output shaft speed sensor, the odd-numbered axis speed sensor, and the even-numbered axis speed sensor as unreliable speed value faults based on the first speed information, the second speed information, the third speed information, the fourth speed information, and the current speed information of the speed sensor includes: When the output shaft speed sensor meets the first judgment condition and the second judgment condition, it is determined that the output shaft speed sensor has a speed value unreliable fault. Wherein, the first judgment condition is that the first speed difference between the current speed information of the output shaft speed sensor and the first speed information is greater than a first preset speed value, and the first speed difference is greater than the product of the current speed information of the output shaft speed sensor and the first preset value; The second judgment condition is that the second speed difference between the current speed information of the output shaft speed sensor and the second speed information is greater than the first preset speed value, and the second speed difference is greater than the product of the current speed information of the output shaft speed sensor and the first preset value.

4. The method according to claim 3, characterized in that, The step of determining the fault type of the output shaft speed sensor, the odd-numbered axis speed sensor, and the even-numbered axis speed sensor as unreliable speed value faults based on the first speed information, the second speed information, the third speed information, the fourth speed information, and the current speed information of the speed sensor includes: When the odd-axis speed sensor meets the third and fourth judgment conditions, it is determined that the odd-axis speed sensor has a fault of unreliable speed value; The third judgment condition is that the difference between the current speed information of the output shaft speed sensor and the third speed information is greater than the first preset speed value, and the third speed difference is greater than the product of the current speed information of the odd-numbered shaft speed sensor and the first preset value. The fourth judgment condition is that the fourth speed difference between the current speed information of the odd-axis speed sensor and the first speed information is greater than the first preset speed value, and the fourth speed difference is greater than the product of the first speed information and the first preset value.

5. The method according to claim 4, characterized in that, The step of determining the fault type of the output shaft speed sensor, the odd-numbered axis speed sensor, and the even-numbered axis speed sensor as unreliable speed value faults based on the first speed information, the second speed information, the third speed information, the fourth speed information, and the current speed information of the speed sensor includes: When the even-numbered axis speed sensor meets the fifth and sixth judgment conditions, it is determined that the even-numbered axis speed sensor has a speed value unreliable fault. The fifth judgment condition is that the fifth speed difference between the current speed information of the output shaft speed sensor and the fourth speed information is greater than the first preset speed value, and the fifth speed difference is greater than the product of the current speed information of the even-numbered shaft speed sensor and the first preset value. The sixth judgment condition is that the sixth speed difference between the current speed information of the even-number axis speed sensor and the first speed information is greater than the first preset speed value, and the sixth speed difference is greater than the product of the first speed information and the first preset value.

6. The method according to claim 1, characterized in that, The step of determining the fault type of the speed sensor as a directional abnormality fault based on the direction signal and the speed information from the speed sensor includes: When the direction signal and the speed sensor are in normal condition, if the pulse signal of the speed sensor is opposite to the direction signal during the first time period, it is determined that the speed sensor has a direction abnormality fault.

7. The method according to claim 2, characterized in that, The step of adjusting the engine's operating state according to the fault status of the speed sensor includes: When the fault type of the speed sensor is open circuit fault, short circuit to ground fault or power supply short circuit fault, the speed sensor is disabled and the speed information of the speed sensor is replaced with historical speed information. The historical rotational speed information includes rotational speed information within a preset historical time period when the rotational speed sensor is in normal condition.

8. The method according to claim 5, characterized in that, The step of adjusting the engine's operating state according to the fault status of the speed sensor includes: When the fault type of the speed sensor is an unreliable speed value fault, the speed sensor is disabled and the current speed information of the speed sensor is replaced with historical speed information. When the fault type of the output shaft speed sensor is an unreliable speed value fault, the current speed information of the output shaft speed sensor is replaced with the first speed information; When the fault type of the odd-axis speed sensor and / or the even-axis speed sensor is an unreliable speed value fault, the current speed information of the faulty speed sensor is replaced with the current speed information of the output shaft speed sensor.

9. The method according to claim 6, characterized in that, The step of adjusting the engine's operating state according to the fault status of the speed sensor includes: When the fault type of the speed sensor is a directional abnormality fault, the speed information of the speed sensor is replaced with historical speed information, and the direction of the speed sensor is replaced with the direction of the anti-lock braking system.

10. The method according to claim 1, characterized in that, After adjusting the engine's operating state according to the fault condition, the method further includes: When the speed sensor experiences the electrical fault, the unreliable speed value fault, and / or the abnormal direction fault, an alarm signal is issued. Record the occurrence time and fault information of the electrical fault, the unreliable speed value fault, and / or the abnormal direction fault.

11. A fault detection device for a speed sensor, characterized in that, include: The acquisition module is used to acquire the operating current and speed information of the speed sensor; The determination module is used to determine the fault state of the speed sensor based on the operating current and the speed information; The fault states of the speed sensor include at least two types of faults; Specifically, the determining module is used to: determine the fault type of the speed sensor as an electrical fault based on the operating current of the speed sensor; Based on the rotational speed information from the rotational speed sensor, the fault type of the rotational speed sensor is determined to be an unreliable rotational speed value fault. Based on the direction signal and the rotational speed information of the speed sensor, the fault type of the speed sensor is determined to be a direction abnormality fault; The determining module is further configured to: Based on the vehicle's speed, calculate the first rotational speed information from the output shaft speed sensor; Based on the current rotational speed information of the odd-numbered axis rotational speed sensors and the even-numbered axis rotational speed sensors, the second rotational speed information of the output axis rotational speed sensor is calculated; Based on the current rotational speed information of the odd-numbered axis rotational speed sensor, calculate the third rotational speed information of the output axis rotational speed sensor; Based on the current rotational speed information of the even-numbered axis rotational speed sensor, calculate the fourth rotational speed information of the output axis rotational speed sensor; Based on the first speed information, the second speed information, the third speed information, the fourth speed information, and the current speed information of the speed sensor, the fault type of the output shaft speed sensor, the odd-numbered axis speed sensor, and the even-numbered axis speed sensor is determined to be a speed value unreliable fault. The speed sensor includes the output shaft speed sensor, the odd-numbered shaft speed sensor, and the even-numbered shaft speed sensor; The adjustment module is used to adjust the engine's operating state according to the fault status of the speed sensor.

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