A wheel speed sensor fault simulation method, device and medium

Abstract

The present application relates to a kind of wheel speed sensor fault simulation method, device and medium, method includes wheel speed sensor power supply loop fault simulation method, wheel speed signal itself fault simulation method, wheel speed sensor power supply loop fault and wheel speed signal itself fault mixed simulation method;Wheel speed sensor power supply loop fault simulation method and wheel speed signal itself fault simulation method can be automatically switched;Fault simulation method relies on the hardware platform for wheel speed sensor fault injection test platform;The present application can encode the protocol pulse of AK protocol wheel speed signal itself, protocol pulse current, wheel speed pulse current, pulse width are simulated, and the resistance value simulation and addition to wheel speed sensor and IBC power supply loop are simulated wheel speed sensor power supply loop fault, and realize wheel speed signal itself fault simulation and the automatic switching of wheel speed sensor power supply loop fault simulation.

Description

Technical Field

[0001] This invention belongs to the field of wheel speed sensor fault simulation technology, and relates to a wheel speed sensor fault simulation method, device and medium. Background Technology

[0002] With the development of electronic braking control systems, more and more vehicles are using IBC (Integrated Brake Control) and AK protocol intelligent wheel speed sensors. Both controllers require four wheel speed signals collected by four wheel speed sensors as control inputs. When a wheel speed signal malfunctions, the IBC needs to be able to verify and determine the specific fault type and issue the corresponding fault code. Therefore, it is necessary to simulate wheel speed signal malfunctions on a test bench to evaluate the IBC's diagnostic performance after wheel speed signal verification. Currently, existing technology only simulates short-circuit and open-circuit faults between the wheel speed sensors and the IBC, requiring manual reconnection, which is time-consuming and labor-intensive. Furthermore, this method ignores faults in the AK protocol wheel speed signal itself, thus the simulated fault conditions are incomplete.

[0003] Patent document CN219574139U discloses a vehicle wheel speed sensor to reduce mud ingress, comprising a cable, one end of which is fixedly connected to a sensor, a first baffle fixedly connected to the outer surface of the cable, a second baffle fixedly connected to the outer surface of the cable, a main cover plate movably connected to the outer surface of the cable, a stop block fixedly connected to the upper surface of the main cover plate, and first fixing plates fixedly connected to both sides of the main cover plate. The difference between this invention and the present invention is that the former is a wheel speed sensor design method, not an experimental method.

[0004] Patent document CN116609541A discloses a vehicle wheel speed signal processing circuit, including a diode D1, a high-side power supply switch module, a sensor open / short circuit diagnosis module, a low-side grounding switch module, an overcurrent protection module, and a signal conversion module. The wheel speed sensor is connected to the vehicle power supply VBAT and ground via the high-side power supply switch module and the low-side grounding switch module, respectively. The vehicle power supply VBAT and the high-side power supply switch module are connected via diode D1. The wheel speed sensor is connected to the sensor open / short circuit diagnosis module, and the low-side grounding switch module is connected to both the overcurrent protection module and the signal conversion module. The difference between this invention and the present invention is that the former describes a wheel speed sensor design method, not an experimental method.

[0005] Patent document CN116587029A discloses a wheel speed sensor processing fixture, including a positioning plate with several clamping grooves on one side wall; wherein, two opposing inner side walls of the clamping grooves have opposing moving grooves, and the inner side wall of the moving grooves has sliding grooves; several clamping plates, respectively penetrating the moving grooves and slidingly extending into the sliding grooves, each clamping plate having a through hole; and several first springs, one end fixedly connected to the inner wall of the sliding groove and the other end fixedly connected to the clamping plates. The difference between this invention and the present invention is that the former is a wheel speed sensor processing method, not an experimental method. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to overcome the above-mentioned problems existing in the prior art and to provide a method for simulating the fault of a wheel speed sensor.

[0007] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0008] To solve the above-mentioned technical problems, the present invention is implemented using the following technical solution:

[0009] A method for simulating wheel speed sensor faults includes a method for simulating wheel speed sensor power supply circuit faults, a method for simulating wheel speed signal faults themselves, and a method for simulating a mixture of wheel speed sensor power supply circuit faults and wheel speed signal faults themselves; the method for simulating wheel speed sensor power supply circuit faults and the method for simulating wheel speed signal faults themselves can be automatically switched.

[0010] Furthermore, the method for simulating a fault in the wheel speed sensor power supply circuit specifically includes the following:

[0011] The wheel speed signal fault simulation and wheel speed sensor power supply circuit fault simulation switching module sends a "1" command to control the voltage at both ends of the coils of the seventh relay 17 and the eighth relay 18 to be high level, and activates the wheel speed sensor power supply circuit fault simulation control module.

[0012] By default, the wheel speed sensor power supply circuit fault simulation control module controls the voltage across the coils of the first relay 11, the second relay 12, the third relay 13, the fourth relay 14, the fifth relay 15, and the sixth relay 16 to be at a low level.

[0013] When the positive side of the simulated wheel speed sensor is open-circuited, the wheel speed sensor power supply circuit fault simulation control module controls the voltage across the coils of the first relay 11 and the second relay 12 to be high level, and controls the voltage across the coils of the third relay 13, the fourth relay 14, the fifth relay 15, and the sixth relay 16 to be low level, and collects and records the wheel speed fault code issued by the IBC in real time.

[0014] When the resistance on the positive side of the simulated wheel speed sensor is too high, the wheel speed sensor power supply circuit fault simulation control module controls the voltage across the coil of the first relay 11 to be high, and controls the voltage across the coils of the second relay 12, the third relay 13, the fourth relay 14, the fifth relay 15, and the sixth relay 16 to be low; adjusts the resistance value of the first digital resistor 19 to the required resistance value, and collects and records the wheel speed fault code issued by the IBC in real time.

[0015] When the negative side of the simulated wheel speed sensor is open-circuited, the wheel speed sensor power supply circuit fault simulation control module controls the voltage across the coils of the third relay 13 and the fourth relay 14 to be high level, and controls the voltage across the coils of the first relay 11, the second relay 12, the fifth relay 15, and the sixth relay 16 to be low level, and collects and records the wheel speed fault code issued by the IBC in real time.

[0016] When the resistance on the negative side of the simulated wheel speed sensor is too high, the wheel speed sensor power supply circuit fault simulation control module controls the voltage across the coil of the third relay 13 to be high, and controls the voltage across the coils of the first relay 11, second relay 12, fourth relay 14, fifth relay 15, and sixth relay 16 to be low; adjusts the resistance value of the second digital resistor 20 to the required resistance value, and collects and records the wheel speed fault code issued by the IBC in real time.

[0017] When the simulated wheel speed sensor is short-circuited, the wheel speed sensor power supply circuit fault simulation control module controls the voltage across the coils of the fifth relay 15 and the sixth relay 16 to be high, and controls the voltage across the coils of the first relay 11, the second relay 12, the third relay 13, and the fourth relay 14 to be low, and collects and records the wheel speed fault code issued by the IBC in real time.

[0018] When the simulated wheel speed sensor is short-circuited and loosely connected, the wheel speed sensor power supply circuit fault simulation control module controls the voltage across the coil of the fifth relay 15 to be high, controls the voltage across the coils of the first relay 11, second relay 12, third relay 13, fourth relay 14, and sixth relay 16 to be low, adjusts the resistance value of the third digital resistor 21 to the required resistance value, and collects and records the wheel speed fault code issued by the IBC in real time.

[0019] Furthermore, the method for simulating faults in the wheel speed signal itself specifically includes the following:

[0020] The wheel speed signal itself fault simulation and wheel speed sensor power supply circuit fault simulation switching module sends a "0" command to control the voltage across the coils of the seventh relay 17 and the eighth relay 18 to be low level, and activates the wheel speed signal itself fault simulation control module.

[0021] The protocol pulse and wheel speed pulse current control module controls the left front wheel speed signal generator to send out the required fault low-level current, protocol pulse current, and wheel speed pulse current, and collects and records the wheel speed fault codes sent by the IBC in real time.

[0022] The pulse width control module controls the left front wheel speed signal generator to send out the required fault pulse width for testing, and collects and records the wheel speed fault codes sent by the IBC in real time.

[0023] The protocol pulse encoding module outputs nine Manchester code bits for the protocol pulse. If a protocol bit is on a rising edge, it is set to "1"; if it is on a falling edge, it is set to "0". This results in a total of nine Manchester codes, such as "0 0 0 1 1 0 1 1". The protocol pulse inverse Manchester conversion module extends and converts each bit of the 9-bit Manchester code into a 2-bit code according to the inverse Manchester principle. If the Manchester code is "1", the 2-bit code converted from the inverse Manchester is "01"; if the Manchester code is "0", the 2-bit code converted from the inverse Manchester is "10". There are a total of 18 bits of inverse Manchester conversion code. The protocol pulse code editing module edits the 18 bits of inverse Manchester conversion code. When a protocol pulse is lost and the protocol current remains high, the 2-bit inverse Manchester conversion code corresponding to the protocol pulse is modified to "11"; when a protocol pulse is lost and the protocol current remains low, the 2-bit inverse Manchester conversion code corresponding to the protocol pulse is modified to "00". The protocol pulse code control module controls the left front wheel speed signal generator to send out the fault protocol pulse required for testing, and collects and records the wheel speed fault code sent by the IBC in real time.

[0024] Furthermore, the method for simulating a hybrid fault in the wheel speed sensor power supply circuit and a fault in the wheel speed signal itself is as follows:

[0025] The wheel speed signal fault simulation and wheel speed sensor power supply circuit fault simulation switching module sends a "2" command to control the voltage at both ends of the coils of the seventh relay 17 and the eighth relay 18 to be low level, and activates the wheel speed signal fault simulation control module and the wheel speed sensor power supply circuit fault simulation control module.

[0026] Simulating a fault in the wheel speed signal itself also simulates a fault in the wheel speed sensor power supply circuit.

[0027] Furthermore, while simulating the fault of the wheel speed signal itself, the fault of the wheel speed sensor power supply circuit is also simulated. The simulation method specifically includes a wheel speed sensor power supply circuit fault simulation method and a wheel speed signal itself fault simulation method.

[0028] The method for simulating a fault in the power supply circuit of the wheel speed sensor:

[0029] When the positive side of the simulated wheel speed sensor is open-circuited, the wheel speed sensor power supply circuit fault simulation control module controls the voltage across the coils of the first relay 11 and the second relay 12 to be high level, and controls the voltage across the coils of the third relay 13, the fourth relay 14, the fifth relay 15, and the sixth relay 16 to be low level, and collects and records the wheel speed fault code issued by the IBC in real time.

[0030] When the resistance on the positive side of the simulated wheel speed sensor is too high, the wheel speed sensor power supply circuit fault simulation control module controls the voltage across the coil of the first relay 11 to be high, and controls the voltage across the coils of the second relay 12, the third relay 13, the fourth relay 14, the fifth relay 15, and the sixth relay 16 to be low; adjusts the resistance value of the first digital resistor 19 to the required resistance value, and collects and records the wheel speed fault code issued by the IBC in real time.

[0031] When the negative side of the simulated wheel speed sensor is open-circuited, the wheel speed sensor power supply circuit fault simulation control module controls the voltage across the coils of the third relay 13 and the fourth relay 14 to be high level, and controls the voltage across the coils of the first relay 11, the second relay 12, the fifth relay 15, and the sixth relay 16 to be low level, and collects and records the wheel speed fault code issued by the IBC in real time.

[0032] When the resistance on the negative side of the simulated wheel speed sensor is too high, the wheel speed sensor power supply circuit fault simulation control module controls the voltage across the coil of the third relay 13 to be high, and controls the voltage across the coils of the first relay 11, second relay 12, fourth relay 14, fifth relay 15, and sixth relay 16 to be low; adjusts the resistance value of the second digital resistor 20 to the required resistance value, and collects and records the wheel speed fault code issued by the IBC in real time.

[0033] When the simulated wheel speed sensor is short-circuited, the wheel speed sensor power supply circuit fault simulation control module controls the voltage across the coils of the fifth relay 15 and the sixth relay 16 to be high, and controls the voltage across the coils of the first relay 11, the second relay 12, the third relay 13, and the fourth relay 14 to be low, and collects and records the wheel speed fault code issued by the IBC in real time.

[0034] When the simulated wheel speed sensor is short-circuited and loosely connected, the wheel speed sensor power supply circuit fault simulation control module controls the voltage across the coil of the fifth relay 15 to be high, controls the voltage across the coils of the first relay 11, second relay 12, third relay 13, fourth relay 14, and sixth relay 16 to be low, adjusts the resistance value of the third digital resistor 21 to the required resistance value, and collects and records the wheel speed fault code issued by the IBC in real time.

[0035] The method for simulating faults in the wheel speed signal itself:

[0036] The protocol pulse and wheel speed pulse current control module controls the left front wheel speed signal generator to send out the required fault low-level current, protocol pulse current, and wheel speed pulse current, and collects and records the wheel speed fault codes sent by the IBC in real time.

[0037] The pulse width control module controls the left front wheel speed signal generator to send out the required fault pulse width for testing, and collects and records the wheel speed fault codes sent by the IBC in real time.

[0038] The protocol pulse encoding module outputs nine Manchester code bits for the protocol pulse. If a protocol bit is on a rising edge, it is set to "1"; if it is on a falling edge, it is set to "0". This results in a total of nine Manchester codes, such as "0 0 0 1 1 0 1 1". The protocol pulse inverse Manchester conversion module extends and converts each bit of the 9-bit Manchester code into a 2-bit code according to the inverse Manchester principle. If the Manchester code is "1", the 2-bit code converted from the inverse Manchester is "01"; if the Manchester code is "0", the 2-bit code converted from the inverse Manchester is "10". There are a total of 18 bits of inverse Manchester conversion code. The protocol pulse code editing module edits the 18 bits of inverse Manchester conversion code. When a protocol pulse is lost and the protocol current remains high, the 2-bit inverse Manchester conversion code corresponding to the protocol pulse is modified to "11"; when a protocol pulse is lost and the protocol current remains low, the 2-bit inverse Manchester conversion code corresponding to the protocol pulse is modified to "00". The protocol pulse code control module controls the left front wheel speed signal generator to send out the fault protocol pulse required for testing, and collects and records the wheel speed fault code sent by the IBC in real time.

[0039] Furthermore, the hardware platform upon which the fault simulation method relies is a wheel speed sensor fault injection test bench, which includes an IBC, a test controller, a wheel speed signal generator, a wheel speed sensor, a digital resistor, and a relay; taking the left front wheel as an example, the right front, left rear, and right rear wheels are similar to the left front wheel;

[0040] The test controller includes a switching module for simulating wheel speed signal faults and wheel speed sensor power supply circuit faults, a control module for simulating wheel speed signal faults, and a control module for simulating wheel speed sensor power supply circuit faults.

[0041] When the wheel speed signal itself fault simulation and wheel speed sensor power supply circuit fault simulation switching module controls the seventh relay 17 and the eighth relay 18 to switch on and off and issue a "0" command, the wheel speed signal itself fault simulation control module issues a control signal to control the left front wheel speed signal generator.

[0042] When the wheel speed signal itself fault simulation and wheel speed sensor power supply circuit fault simulation switching module controls the seventh relay 17 and the eighth relay 18 to switch on and off, and issues a "1" command, the wheel speed sensor power supply circuit fault simulation control module issues a control signal to control the first relay 11, the second relay 12, the third relay 13, the fourth relay 14, the fifth relay 15, the sixth relay 16, the first digital resistor 19, the second digital resistor 20, and the third digital resistor 21.

[0043] The wheel speed signal fault simulation control module includes a protocol pulse encoding control module, a protocol pulse and wheel speed pulse current control module, and a pulse width control module; the protocol pulse encoding control module includes, in sequence, a protocol pulse encoding generation module, a protocol pulse inverse Manchester conversion module, and a protocol pulse encoding editing module.

[0044] Furthermore, the IBC is powered by the test controller and sends a corresponding fault code to the test controller; one end of the first digital resistor 19 is connected to the positive terminal of the left front wheel speed of the IBC, and the other end is connected to one end of the second relay 12, the other end of the second relay 12 is connected to the middle terminal of the seventh relay 17; the first relay 11 is connected in parallel across the first digital resistor 19; one end of the second digital resistor 20 is connected to the negative terminal of the left front wheel speed of the IBC, and the other end is connected to one end of the fourth relay 14, the other end of the fourth relay 14 is connected to the middle terminal of the eighth relay 18; the third relay 13 is connected in parallel across the second digital resistor 19. The third digital resistor 21 is connected to the middle terminal of the seventh relay 17 at one end and to one end of the fifth relay 15 at the other end. The other end of the fifth relay 15 is connected to the middle terminal of the eighth relay 18. The sixth relay 16 is connected in parallel across the third digital resistor 21. The normally open terminal of the seventh relay 17 is connected to the positive terminal of the left front wheel speed signal generator, and the normally closed terminal of the seventh relay 17 is connected to the positive terminal of the left front wheel speed sensor. The normally open terminal of the eighth relay 18 is connected to the negative terminal of the left front wheel speed signal generator, and the normally closed terminal of the eighth relay 18 is connected to the negative terminal of the left front wheel speed sensor.

[0045] Furthermore, for the seventh relay 17 and the eighth relay 18, the test controller controls each relay coil to be at a low level, with the corresponding middle terminal connected to the corresponding normally-on terminal; and at a high level, with the corresponding middle terminal connected to the corresponding normally-off terminal.

[0046] The first digital resistor 19, the second digital resistor 20, and the third digital resistor 21 can receive control signals from the test controller and thus change the output resistance value in real time.

[0047] For the four relays 11, 12, 13, and 14, the test controller controls each relay coil to be connected when the two ends are at a low level and disconnected when the two ends are at a high level. For the two relays 15 and 16, the test controller controls each relay coil to be disconnected when the two ends are at a low level and connected when the two ends are at a high level.

[0048] An apparatus comprising one or more processors;

[0049] Memory, used to store one or more programs;

[0050] When the one or more programs are executed by the one or more processors, the one or more processors implement the methods described above.

[0051] A computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the above-described method.

[0052] Compared with the prior art, the beneficial effects of the present invention are:

[0053] This invention designs a fault simulation method for wheel speed sensors, which can simulate faults in the protocol pulse encoding, protocol pulse current, wheel speed pulse current, and pulse width of the AK protocol wheel speed signal itself. It can also simulate and add resistance values ​​to the wheel speed sensor and IBC power supply circuit to simulate faults in the wheel speed sensor power supply circuit, and realize automatic switching between fault simulation of the wheel speed signal itself and fault simulation of the wheel speed sensor power supply circuit. Attached Figure Description

[0054] The invention will now be further described with reference to the accompanying drawings:

[0055] Figure 1 Schematic diagram of the test bench device for injecting faults into the wheel speed sensor. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of the embodiments of this invention will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of this invention. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this invention, and should not be construed as limiting the invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention. The embodiments of this invention will be described in detail below with reference to the accompanying drawings.

[0057] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this invention.

[0058] The present invention will now be described in detail with reference to the accompanying drawings:

[0059] This method relies on a wheel speed sensor fault injection test bench. Taking the left front wheel as an example, the same principle applies to the right front, left rear, and right rear wheels. For specific equipment details, see [link to equipment description]. Figure 1 .

[0060] 1. The IBC (Integrated Brake Control) is powered by the test controller and sends corresponding fault codes to the test controller. One end of the first digital resistor 19 is connected to the positive terminal of the IBC left front wheel speed control, and the other end is connected to one end of the second relay 12. The other end of the second relay 12 is connected to the middle terminal of the seventh relay 17. The first relay 11 is connected in parallel across the first digital resistor 19. One end of the second digital resistor 20 is connected to the negative terminal of the IBC left front wheel speed control, and the other end is connected to one end of the fourth relay 14. The other end of the fourth relay 14 is connected to the middle terminal of the eighth relay 18. The third relay 13 is connected in parallel across the second digital resistor 20. The third digital resistor 21... One end is connected to the middle terminal of the seventh relay 17, and the other end is connected to one end of the fifth relay 15. The other end of the fifth relay 15 is connected to the middle terminal of the eighth relay 18. The sixth relay 16 is connected in parallel across the third digital resistor 21. The normally closed terminal of the seventh relay 17 is connected to the positive terminal of the left front wheel speed signal generator, and the normally closed terminal of the seventh relay 17 is connected to the positive terminal of the left front wheel speed sensor. The normally closed terminal of the eighth relay 18 is connected to the negative terminal of the left front wheel speed signal generator, and the normally closed terminal of the eighth relay 18 is connected to the negative terminal of the left front wheel speed sensor.

[0061] 2. For the seventh relay 17 and the eighth relay 18, the test controller controls each relay coil to be at a low level (e.g., 0V) when the two ends are connected to the corresponding normally open terminal; and at a high level (e.g., 12V) when the coil is connected to the corresponding normally closed terminal.

[0062] 3. The first digital resistor 19, the second digital resistor 20, and the third digital resistor 21 can receive control signals from the test controller and change their output resistance values ​​in real time.

[0063] 4. For relays 11, 12, 13, and 14, the test controller controls each relay coil to be connected when the voltage level is low (e.g., 0V) and disconnected when the voltage level is high (e.g., 12V). For relays 15 and 16, the test controller controls each relay coil to be disconnected when the voltage level is low (e.g., 0V) and connected when the voltage level is high (e.g., 12V).

[0064] 5. The test controller includes a switching module for simulating wheel speed signal faults and wheel speed sensor power supply circuit faults, a control module for simulating wheel speed signal faults, and a control module for simulating wheel speed sensor power supply circuit faults. When the switching module controls the on / off state of the seventh relay 17 and the eighth relay 18, issuing a "0" command, the control module for simulating wheel speed signal faults issues a control signal to control the left front wheel speed signal generator. When the switching module controls the on / off state of the seventh relay 17 and the eighth relay 18, issuing a "1" command, the control module for simulating wheel speed signal faults issues a control signal to control the first relay 11, the second relay 12, the third relay 13, the fourth relay 14, the fifth relay 15, the sixth relay 16, the first digital resistor 19, the second digital resistor 20, and the third digital resistor 21.

[0065] 6. The wheel speed signal fault simulation control module includes a protocol pulse encoding control module, a protocol pulse and wheel speed pulse current control module, and a pulse width control module. The protocol pulse encoding control module sequentially includes a protocol pulse encoding generation module, a protocol pulse inverse Manchester conversion module, and a protocol pulse encoding editing module.

[0066] This invention aims to provide a method for simulating faults in wheel speed sensors. Its contents include:

[0067] I. Fault Simulation Method for Wheel Speed ​​Sensor Power Supply Circuit:

[0068] 1. The wheel speed signal itself fault simulation and wheel speed sensor power supply circuit fault simulation switching module sends a "1" command to control the voltage at both ends of the coils of the seventh relay 17 and the eighth relay 18 to be at a high level, and activates the wheel speed sensor power supply circuit fault simulation control module.

[0069] 2. By default, the wheel speed sensor power supply circuit fault simulation control module controls the voltage across the coils of the first relay 11, the second relay 12, the third relay 13, the fourth relay 14, the fifth relay 15, and the sixth relay 16 to be at a low level.

[0070] 3. When the positive side of the simulated wheel speed sensor is open-circuited, the wheel speed sensor power supply circuit fault simulation control module controls the voltage across the coils of the first relay 11 and the second relay 12 to be at a high level, and controls the voltage across the coils of the third relay 13, the fourth relay 14, the fifth relay 15, and the sixth relay 16 to be at a low level, and collects and records the wheel speed fault codes issued by the IBC in real time.

[0071] 4. When the resistance on the positive side of the simulated wheel speed sensor is too high, the wheel speed sensor power supply circuit fault simulation control module controls the voltage across the coil of the first relay 11 to be high, and controls the voltage across the coils of the second relay 12, third relay 13, fourth relay 14, fifth relay 15, and sixth relay 16 to be low. The resistance value of the first digital resistor 19 is adjusted to the required value, and the wheel speed fault codes issued by the IBC are collected and recorded in real time.

[0072] 5. When the negative side of the simulated wheel speed sensor is open-circuited, the wheel speed sensor power supply circuit fault simulation control module controls the voltage across the coils of the third relay 13 and the fourth relay 14 to be high level, and controls the voltage across the coils of the first relay 11, the second relay 12, the fifth relay 15, and the sixth relay 16 to be low level, and collects and records the wheel speed fault code issued by the IBC in real time.

[0073] 6. When the resistance on the negative side of the simulated wheel speed sensor is too high, the wheel speed sensor power supply circuit fault simulation control module controls the voltage across the coil of the third relay 13 to be high, and controls the voltage across the coils of the first relay 11, second relay 12, fourth relay 14, fifth relay 15, and sixth relay 16 to be low. Adjust the resistance value of the second digital resistor 20 to the required value, and collect and record the wheel speed fault codes issued by the IBC in real time.

[0074] 7. When the simulated wheel speed sensor is short-circuited, the wheel speed sensor power supply circuit fault simulation control module controls the voltage across the coils of the fifth relay 15 and the sixth relay 16 to be high level, and controls the voltage across the coils of the first relay 11, the second relay 12, the third relay 13, and the fourth relay 14 to be low level, and collects and records the wheel speed fault code issued by the IBC in real time.

[0075] 8. When the simulated wheel speed sensor is short-circuited and loosely connected, the wheel speed sensor power supply circuit fault simulation control module controls the voltage across the coil of the fifth relay 15 to be high, controls the voltage across the coils of the first relay 11, second relay 12, third relay 13, fourth relay 14, and sixth relay 16 to be low, adjusts the resistance value of the third digital resistor 21 to the required resistance value, and collects and records the wheel speed fault code issued by the IBC in real time.

[0076] II. Simulation method for wheel speed signal faults:

[0077] 1. The wheel speed signal itself fault simulation and wheel speed sensor power supply circuit fault simulation switching module sends a "0" command to control the voltage at both ends of the coils of the seventh relay 17 and the eighth relay 18 to a low level, and activates the wheel speed signal itself fault simulation control module.

[0078] 2. The protocol pulse and wheel speed pulse current control module controls the left front wheel speed signal generator to send out the required fault low-level current (e.g., 3-5mA, 9-11mA), protocol pulse current (e.g., 7-11mA, 18-22mA), and wheel speed pulse current (e.g., 15-23mA, 35-42mA) for testing, and collects and records the wheel speed fault codes sent by the IBC in real time.

[0079] 3. The pulse width control module controls the left front wheel speed signal generator to send out the required fault pulse width (such as 10-30μs, 70-90μs) for testing, and collects and records the wheel speed fault codes sent by the IBC in real time.

[0080] 4. The protocol pulse encoding module outputs 9 Manchester code bits for the protocol pulse. If a protocol bit is on a rising edge, it is set to "1"; if it is on a falling edge, it is set to "0". This results in a total of 9 Manchester codes, such as "0 0 0 1 1 0 1 1 0". The protocol pulse inverse Manchester conversion module extends and converts each bit of the 9 Manchester code into a 2-bit code according to the inverse Manchester principle. If the Manchester code is "1", the 2-bit code after inverse Manchester conversion is "01"; if the Manchester code is "0", the 2-bit code after inverse Manchester conversion is "10". This results in a total of 18 inverse Manchester converted codes, such as "10 10 10 01 01 10 01 0110". The protocol pulse encoding editing module edits the 18-bit inverse Manchester conversion code. When a simulated protocol pulse is lost (e.g., bits 5, 7, or 9) and the protocol current remains high (e.g., 14mA), the corresponding 2-bit inverse Manchester conversion code is modified to "11" (e.g., "10 10 10 0111 10 11 01 11"). When a simulated protocol pulse is lost (e.g., bits 4, 6, or 8) and the protocol current remains low (e.g., 7mA), the corresponding 2-bit inverse Manchester conversion code is modified to "00" (e.g., "10 10 10 00 01 00 01 00 10"). The protocol pulse encoding control module controls the left front wheel speed signal generator to emit the required fault protocol pulse for testing, and collects and records the wheel speed fault codes emitted by the IBC in real time.

[0081] III. A hybrid simulation method for wheel speed sensor power supply circuit faults and wheel speed signal faults themselves:

[0082] 1. The wheel speed signal itself fault simulation and wheel speed sensor power supply circuit fault simulation switching module issues a "2" command to control the voltage at both ends of the coils of the seventh relay 17 and the eighth relay 18 to a low level, and activates the wheel speed signal itself fault simulation control module and the wheel speed sensor power supply circuit fault simulation control module.

[0083] 2. Simulate a fault in the wheel speed signal itself, and also simulate a fault in the power supply circuit of the wheel speed sensor. The simulation method is the same as steps 3-8 in "I" and steps 2-4 in "II".

[0084] This invention simulates and adds resistance values ​​to the wheel speed sensor and IBC power supply circuit to automatically simulate faults such as open circuit, short circuit, and excessive resistance in the wheel speed sensor. It can also automatically switch between simulating faults in the wheel speed signal itself and those in the wheel speed sensor power supply circuit. No manual wiring is required, saving time and effort.

[0085] The method of this invention can simulate pulse coding type faults in the AK protocol wheel speed signal itself through the protocol pulse coding control module, and can realize mixed simulation test of wheel speed sensor power supply circuit faults and wheel speed signal itself faults, making the test and evaluation dimensions more complete.

[0086] Based on the above-described fault simulation method for wheel speed sensors, this invention provides another device. The device includes, but is not limited to, one or more processors and a memory.

[0087] Memory, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions corresponding to the wheel speed sensor fault simulation method in this embodiment of the invention. The processor executes the software programs, instructions, and modules stored in the memory to perform various vehicle functions and data processing, thereby realizing the aforementioned wheel speed sensor fault simulation method.

[0088] The memory may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created based on the use of the terminal. Furthermore, the memory may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device.

[0089] The present invention also provides a computer-readable storage medium having a computer program stored thereon. When executed by a processor, the program implements a method for simulating a wheel speed sensor fault. The method for simulating a wheel speed sensor fault includes a method for simulating a wheel speed sensor power supply circuit fault, a method for simulating a wheel speed signal fault itself, and a method for simulating a hybrid fault of the wheel speed sensor power supply circuit and a wheel speed signal fault itself. The method for simulating a wheel speed sensor power supply circuit fault and the method for simulating a wheel speed signal fault itself can be automatically switched.

[0090] The computer-readable storage medium provided by the present invention has computer-executable instructions that are not limited to the method operations described above, but can also execute related operations in the wheel speed sensor fault simulation method provided in any embodiment of the present invention.

[0091] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed in this application can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0092] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. Computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line DSL) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk, SSD), etc.

[0093] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications, equivalent substitutions, and improvements made by those skilled in the art within the scope of the technology disclosed in the present invention, and within the spirit and principles of the present invention, should be included within the scope of protection of the present invention. Furthermore, all content not described in detail in this specification is prior art known to those skilled in the art.

Claims

1. A method for simulating faults in a wheel speed sensor, characterized in that: This includes methods for simulating wheel speed sensor power supply circuit faults, methods for simulating wheel speed signal faults themselves, and methods for simulating a mixture of wheel speed sensor power supply circuit faults and wheel speed signal faults themselves; the methods for simulating wheel speed sensor power supply circuit faults and wheel speed signal faults themselves can be automatically switched. The method for simulating a fault in the power supply circuit of the wheel speed sensor specifically includes the following: The wheel speed signal itself fault simulation and wheel speed sensor power supply circuit fault simulation switching module sends a "1" command to control the voltage at both ends of the seventh and eighth relay coils to be high level, and activates the wheel speed sensor power supply circuit fault simulation control module; By default, the wheel speed sensor power supply circuit fault simulation control module controls the voltage across the coils of the first, second, third, fourth, fifth, and sixth relays to be at a low level. When the positive side of the simulated wheel speed sensor is open-circuited, the wheel speed sensor power supply circuit fault simulation control module controls the voltage across the coils of the first and second relays to be high, and controls the voltage across the coils of the third, fourth, fifth, and sixth relays to be low, and collects and records the wheel speed fault codes issued by the IBC in real time. When the resistance on the positive side of the simulated wheel speed sensor is too high, the wheel speed sensor power supply circuit fault simulation control module controls the voltage across the first relay coil to be high, and controls the voltage across the coils of the second, third, fourth, fifth, and sixth relays to be low; adjusts the resistance value of the first digital resistor to the required resistance value, and collects and records the wheel speed fault code issued by the IBC in real time; When the negative side of the simulated wheel speed sensor is open-circuited, the wheel speed sensor power supply circuit fault simulation control module controls the voltage across the coils of the third and fourth relays to be high, and controls the voltage across the coils of the first, second, fifth, and sixth relays to be low, and collects and records the wheel speed fault codes issued by the IBC in real time. When the resistance on the negative side of the simulated wheel speed sensor is too high, the wheel speed sensor power supply circuit fault simulation control module controls the voltage across the third relay coil to be high, and controls the voltage across the coils of the first, second, fourth, fifth, and sixth relays to be low; adjusts the resistance value of the second digital resistor to the required resistance value, and collects and records the wheel speed fault code issued by the IBC in real time; When the simulated wheel speed sensor is short-circuited, the wheel speed sensor power supply circuit fault simulation control module controls the voltage across the coils of the fifth and sixth relays to be high, and controls the voltage across the coils of the first, second, third, and fourth relays to be low, and collects and records the wheel speed fault codes issued by the IBC in real time; When the simulated wheel speed sensor is short-circuited and loosely connected, the wheel speed sensor power supply circuit fault simulation control module controls the voltage across the fifth relay coil to be high, controls the voltage across the coils of the first, second, third, fourth, and sixth relays to be low, adjusts the resistance value of the third digital resistor to the required resistance value, and collects and records the wheel speed fault code issued by the IBC in real time.

2. The method for simulating a wheel speed sensor fault according to claim 1, characterized in that, The method for simulating faults in the wheel speed signal itself specifically includes the following: The wheel speed signal itself fault simulation and wheel speed sensor power supply circuit fault simulation switching module sends a "0" command to control the voltage across the coils of the seventh and eighth relays to be low, and activates the wheel speed signal itself fault simulation control module. The protocol pulse and wheel speed pulse current control module controls the left front wheel speed signal generator to send out the required fault low-level current, protocol pulse current, and wheel speed pulse current, and collects and records the wheel speed fault codes sent by the IBC in real time. The pulse width control module controls the left front wheel speed signal generator to send out the required fault pulse width for testing, and collects and records the wheel speed fault codes sent by the IBC in real time. The protocol pulse encoding module outputs 9 Manchester code bits for the protocol pulse. If a protocol bit is on a rising edge, it is set to "1"; if a protocol bit is on a falling edge, it is set to "0". Therefore, the total is 9 Manchester codes: "0 0 0 1 1 0 1 1". The protocol pulse inverse Manchester conversion module extends and converts each bit of the 9-bit Manchester code into a 2-bit code according to the inverse Manchester principle. If the Manchester code is "1", the 2-bit code converted from the inverse Manchester is "01"; if the Manchester code is "0", the 2-bit code converted from the inverse Manchester is "10". There are a total of 18 bits of inverse Manchester conversion code. The protocol pulse code editing module edits the 18 bits of inverse Manchester conversion code. When a protocol pulse is lost and the protocol current remains high, the 2-bit inverse Manchester conversion code corresponding to the protocol pulse is modified to "11"; when a protocol pulse is lost and the protocol current remains low, the 2-bit inverse Manchester conversion code corresponding to the protocol pulse is modified to "00". The protocol pulse code control module controls the left front wheel speed signal generator to send out the fault protocol pulse required for testing, and collects and records the wheel speed fault code sent by the IBC in real time.

3. The method for simulating a wheel speed sensor fault according to claim 1, characterized in that, The method for simulating a hybrid fault in the wheel speed sensor power supply circuit and a fault in the wheel speed signal itself is as follows: The wheel speed signal itself fault simulation and wheel speed sensor power supply circuit fault simulation switching module sends a "2" command to control the voltage across the coils of the seventh and eighth relays to be low, and activates the wheel speed signal itself fault simulation control module and the wheel speed sensor power supply circuit fault simulation control module. While simulating a fault in the wheel speed signal itself, it also simulates a fault in the power supply circuit of the wheel speed sensor.

4. The method for simulating a wheel speed sensor fault according to claim 3, characterized in that: Simulating a fault in the wheel speed signal itself, the simulation method also simulates a fault in the wheel speed sensor power supply circuit. Specifically, the simulation method includes a wheel speed sensor power supply circuit fault simulation method and a wheel speed signal itself fault simulation method. The method for simulating a fault in the power supply circuit of the wheel speed sensor: When the positive side of the simulated wheel speed sensor is open-circuited, the wheel speed sensor power supply circuit fault simulation control module controls the voltage across the coils of the first and second relays to be high, and controls the voltage across the coils of the third, fourth, fifth, and sixth relays to be low, and collects and records the wheel speed fault codes issued by the IBC in real time. When the resistance on the positive side of the simulated wheel speed sensor is too high, the wheel speed sensor power supply circuit fault simulation control module controls the voltage across the first relay coil to be high, and controls the voltage across the coils of the second, third, fourth, fifth, and sixth relays to be low; adjusts the resistance value of the first digital resistor to the required resistance value, and collects and records the wheel speed fault code issued by the IBC in real time; When the negative side of the simulated wheel speed sensor is open-circuited, the wheel speed sensor power supply circuit fault simulation control module controls the voltage across the coils of the third and fourth relays to be high, and controls the voltage across the coils of the first, second, fifth, and sixth relays to be low, and collects and records the wheel speed fault codes issued by the IBC in real time. When the resistance on the negative side of the simulated wheel speed sensor is too high, the wheel speed sensor power supply circuit fault simulation control module controls the voltage across the third relay coil to be high, and controls the voltage across the coils of the first, second, fourth, fifth, and sixth relays to be low; adjusts the resistance value of the second digital resistor to the required resistance value, and collects and records the wheel speed fault code issued by the IBC in real time; When the simulated wheel speed sensor is short-circuited, the wheel speed sensor power supply circuit fault simulation control module controls the voltage across the coils of the fifth and sixth relays to be high, and controls the voltage across the coils of the first, second, third, and fourth relays to be low, and collects and records the wheel speed fault codes issued by the IBC in real time; When the simulated wheel speed sensor is short-circuited and loosely connected, the wheel speed sensor power supply circuit fault simulation control module controls the voltage across the fifth relay coil to be high, controls the voltage across the first, second, third, fourth, and sixth relay coils to be low, adjusts the resistance value of the third digital resistor to the required resistance value, and collects and records the wheel speed fault code issued by the IBC in real time. The method for simulating faults in the wheel speed signal itself: The protocol pulse and wheel speed pulse current control module controls the left front wheel speed signal generator to send out the required fault low-level current, protocol pulse current, and wheel speed pulse current, and collects and records the wheel speed fault codes sent by the IBC in real time. The pulse width control module controls the left front wheel speed signal generator to send out the required fault pulse width for testing, and collects and records the wheel speed fault codes sent by the IBC in real time. The protocol pulse encoding module outputs 9 Manchester code bits for the protocol pulse. If a protocol bit is on a rising edge, it is set to "1"; if a protocol bit is on a falling edge, it is set to "0". Therefore, the total is 9 Manchester codes: "0 0 0 1 1 0 1 1". The protocol pulse inverse Manchester conversion module extends and converts each bit of the 9-bit Manchester code into a 2-bit code according to the inverse Manchester principle. If the Manchester code is "1", the 2-bit code converted from the inverse Manchester is "01"; if the Manchester code is "0", the 2-bit code converted from the inverse Manchester is "10". There are a total of 18 bits of inverse Manchester conversion code. The protocol pulse code editing module edits the 18 bits of inverse Manchester conversion code. When a protocol pulse is lost and the protocol current remains high, the 2-bit inverse Manchester conversion code corresponding to the protocol pulse is modified to "11"; when a protocol pulse is lost and the protocol current remains low, the 2-bit inverse Manchester conversion code corresponding to the protocol pulse is modified to "00". The protocol pulse code control module controls the left front wheel speed signal generator to send out the fault protocol pulse required for testing, and collects and records the wheel speed fault code sent by the IBC in real time.

5. The method for simulating a wheel speed sensor fault according to claim 1, characterized in that: The hardware platform upon which the fault simulation method is based is a wheel speed sensor fault injection test bench, which includes an IBC, a test controller, a wheel speed signal generator, a wheel speed sensor, a digital resistor, and a relay. The test controller includes a switching module for simulating wheel speed signal faults and wheel speed sensor power supply circuit faults, a control module for simulating wheel speed signal faults, and a control module for simulating wheel speed sensor power supply circuit faults. When the wheel speed signal itself fault simulation and wheel speed sensor power supply circuit fault simulation switching module controls the seventh and eighth relays to open and close and issues a "0" command, the wheel speed signal itself fault simulation control module issues a control signal to control the left front wheel speed signal generator. When the wheel speed signal itself fault simulation and wheel speed sensor power supply circuit fault simulation switching module controls the seventh and eighth relays to turn on and off and issues a "1" command, the wheel speed sensor power supply circuit fault simulation control module issues a control signal to control the first, second, third, fourth, fifth, sixth relays, first digital resistor, second digital resistor, and third digital resistor. The wheel speed signal fault simulation control module includes a protocol pulse encoding control module, a protocol pulse and wheel speed pulse current control module, and a pulse width control module; the protocol pulse encoding control module includes, in sequence, a protocol pulse encoding generation module, a protocol pulse inverse Manchester conversion module, and a protocol pulse encoding editing module. The same applies to the front right, rear left, and rear right wheels as to the front left wheel.

6. The method for simulating a wheel speed sensor fault according to claim 5, characterized in that: The IBC is powered by the test controller and sends corresponding fault codes to the test controller. One end of the first digital resistor is connected to the positive terminal of the IBC's left front wheel speed sensor, and the other end is connected to one end of the second relay. The other end of the second relay is connected to the middle terminal of the seventh relay. The first relay is connected in parallel across the first digital resistor. One end of the second digital resistor is connected to the negative terminal of the IBC's left front wheel speed sensor, and the other end is connected to one end of the fourth relay. The other end of the fourth relay is connected to the middle terminal of the eighth relay. The third relay is connected in parallel across the second digital resistor. One end of the third digital resistor is connected to the middle terminal of the seventh relay, and the other end is connected to one end of the fifth relay. The other end of the fifth relay is connected to the middle terminal of the eighth relay. The sixth relay is connected in parallel across the third digital resistor. The normally closed terminal of the seventh relay is connected to the positive terminal of the left front wheel speed signal generator, and the normally closed terminal of the seventh relay is connected to the positive terminal of the left front wheel speed sensor. The normally closed terminal of the eighth relay is connected to the negative terminal of the left front wheel speed signal generator, and the normally closed terminal of the eighth relay is connected to the negative terminal of the left front wheel speed sensor.

7. The method for simulating a wheel speed sensor fault according to claim 6, characterized in that: For the seventh and eighth relays, the test controller controls each relay coil to be connected to its normally open terminal when both ends are at a low level, and connected to its normally closed terminal when it is at a high level. The first, second, and third digital resistors can receive control signals from the test controller and thus change their output resistance values ​​in real time. For the four relays (first, second, third, and fourth), the test controller controls each relay coil to be connected when the two ends are at a low level and disconnected when the two ends are at a high level. For the two relays (fifth and sixth), the test controller controls each relay coil to be disconnected when the two ends are at a low level and connected when the two ends are at a high level.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by the processor, it implements the method as described in any one of claims 1-7.

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