Method and device for diagnosing fault of accelerator pedal signal sampling circuit and vehicle

Abstract

The application discloses a fault diagnosis method and device of an accelerator pedal signal sampling circuit and a vehicle. The method comprises the following steps: acquiring a first digital voltage signal and a second digital voltage signal output by a first sampling unit, acquiring a third digital voltage signal and a fourth digital voltage signal output by a second sampling unit, and judging whether the accelerator pedal signal sampling circuit is faulty according to the first digital voltage signal, the second digital voltage signal, the third digital voltage signal and the fourth digital voltage signal. The safety and accuracy of fault judgment are improved through combination checking of four-way accelerator sampling signals.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a fault diagnosis method, device, and vehicle for an accelerator pedal signal sampling circuit. Background Technology

[0002] Currently, vehicles on the market typically use dual-channel Hall effect accelerator pedal position sensors for accelerator pedal signal sampling. The vehicle controller also employs two independent AD sampling circuits to collect the voltage values ​​from these sensors. The accelerator pedal signal is monitored by comparing the voltage data from these two independent AD sampling circuits. However, this comparison method is relatively simple, leading to inaccurate fault diagnosis of accelerator signal acquisition errors. Furthermore, when the vehicle controller reports an accelerator signal acquisition error, there is no corresponding fault handling mechanism. The driver must stop the vehicle to troubleshoot the problem. Moreover, the process of the vehicle controller collecting the accelerator pedal signal and transmitting it to other controllers involves many task nodes in the chain. Relying solely on vehicle fault codes makes it difficult to quickly pinpoint the cause of the fault, hindering timely and effective troubleshooting and causing inconvenience to users. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. Therefore, the object of the present invention is to provide a fault diagnosis method, apparatus, and vehicle for an accelerator pedal signal sampling circuit.

[0004] This invention proposes a fault diagnosis method for an accelerator pedal signal sampling circuit. The accelerator pedal signal sampling circuit includes a first sampling unit and a second sampling unit. The first sampling unit and the second sampling unit are respectively used to collect voltage signals output by two accelerator pedal position sensors and output corresponding digital signals. The method includes: acquiring a first digital voltage signal and a second digital voltage signal output by the first sampling unit; and acquiring a third digital voltage signal and a fourth digital voltage signal output by the second sampling unit. Specifically, when the first sampling unit collects the voltage value of the first accelerator pedal position sensor, the output digital signal is the first digital voltage signal; when the first sampling unit collects the voltage value of the second accelerator pedal position sensor, the output digital signal is the second digital voltage signal; when the second sampling unit collects the voltage value of the first accelerator pedal position sensor, the output digital signal is the third digital voltage signal; and when the second sampling unit collects the voltage value of the second accelerator pedal position sensor, the output digital signal is the fourth digital voltage signal. The method further involves determining whether the accelerator pedal signal sampling circuit has malfunctioned based on the first digital voltage signal, the second digital voltage signal, the third digital voltage signal, and the fourth digital voltage signal.

[0005] In addition, the fault diagnosis method for the accelerator pedal signal sampling circuit according to embodiments of the present invention may also have the following additional technical features:

[0006] Furthermore, determining whether the accelerator pedal signal sampling circuit has malfunctioned based on the first digital voltage signal, the second digital voltage signal, the third digital voltage signal, and the fourth digital voltage signal includes: when the absolute value of the difference between the first digital voltage signal and the third digital voltage signal is greater than a preset voltage value, or when the absolute value of the difference between the second digital voltage signal and the fourth digital voltage signal is greater than the preset voltage value, determining that an accelerator pedal signal comparison error has occurred, and determining whether the accelerator pedal signal sampling circuit has malfunctioned based on the number of consecutive occurrences of the accelerator pedal signal comparison error; otherwise, determining that the accelerator pedal signal sampling circuit has not malfunctioned.

[0007] Furthermore, determining whether the accelerator pedal signal sampling circuit has malfunctioned based on the number of consecutive accelerator pedal signal comparison errors includes: when the number of consecutive accelerator pedal signal comparison errors exceeds a first preset number, determining that at least one of the first sampling unit and the second sampling unit has malfunctioned; otherwise, determining that the accelerator pedal signal sampling circuit has not malfunctioned.

[0008] Furthermore, after determining whether the accelerator pedal signal sampling circuit has malfunctioned based on the number of consecutive accelerator pedal signal comparison errors, the method further includes: when it is determined that the accelerator pedal signal sampling circuit has not malfunctioned, using any one of the first digital voltage signal, the second digital voltage signal, the third digital voltage signal, and the fourth digital voltage signal as the accelerator pedal signal; when it is determined that at least one of the first sampling unit and the second sampling unit has malfunctioned, determining whether the first sampling unit has malfunctioned based on the first digital voltage signal and the second digital voltage signal, and determining whether the second sampling unit has malfunctioned based on the third digital voltage signal and the fourth digital voltage signal.

[0009] Furthermore, determining whether the first sampling unit has malfunctioned based on the first digital voltage signal and the second digital voltage signal includes: determining that a first cross-comparison error has occurred when the ratio of the absolute value of the difference between the first digital voltage signal and the proportionally converted second digital voltage signal to the first digital voltage signal is greater than a first preset ratio; and determining whether the first sampling unit has malfunctioned based on the number of consecutive occurrences of the first cross-comparison error.

[0010] Furthermore, determining whether the first sampling unit has malfunctioned based on the number of consecutive occurrences of the first cross-comparison error includes: determining that the first sampling unit has malfunctioned when the number of consecutive occurrences of the first cross-comparison error is greater than a second preset number; otherwise, determining that the first sampling unit has not malfunctioned.

[0011] Furthermore, after determining whether the first sampling unit has malfunctioned based on the number of consecutive occurrences of the first cross-comparison error, the method further includes: when it is determined that the first sampling unit has not malfunctioned, using the first digital voltage signal or the second digital voltage signal as the accelerator pedal signal; when it is determined that the first sampling unit has malfunctioned, uploading the fault status, the first digital voltage signal, and the second digital voltage signal.

[0012] Furthermore, determining whether the second sampling unit has malfunctioned based on the third digital voltage signal and the fourth digital voltage signal includes: determining that a second cross-comparison error has occurred when the absolute value of the difference between the third digital voltage signal and the proportionally converted fourth digital voltage signal is greater than the ratio of the third digital voltage signal to the third digital voltage signal; and determining whether the second sampling unit has malfunctioned based on the number of consecutive occurrences of the second cross-comparison error.

[0013] Furthermore, determining whether the second sampling unit has malfunctioned based on the number of consecutive occurrences of the second cross-comparison error includes: determining that the second sampling unit has malfunctioned when the number of consecutive occurrences of the second cross-comparison error is greater than a third preset number; otherwise, determining that the second sampling unit has not malfunctioned.

[0014] Furthermore, after determining whether the second sampling unit has malfunctioned based on the third digital voltage signal and the fourth digital voltage signal, the method further includes: when it is determined that the second sampling unit has not malfunctioned, using the third digital voltage signal or the fourth digital voltage signal as the accelerator pedal signal; when it is determined that the second sampling unit has malfunctioned, uploading the fault status, the third digital voltage signal, and the fourth digital voltage signal.

[0015] The fault diagnosis method for the accelerator pedal signal sampling circuit according to an embodiment of the present invention acquires a first digital voltage signal and a second digital voltage signal output by a first sampling unit, and acquires a third digital voltage signal and a fourth digital voltage signal output by a second sampling unit. Specifically, when the first sampling unit acquires the voltage value of the first accelerator pedal position sensor, the output digital signal is the first digital voltage signal; when the first sampling unit acquires the voltage value of the second accelerator pedal position sensor, the output digital signal is the second digital voltage signal; when the second sampling unit acquires the voltage value of the first accelerator pedal position sensor, the output digital signal is the third digital voltage signal; and when the second sampling unit acquires the voltage value of the second accelerator pedal position sensor, the output digital signal is the fourth digital voltage signal. The method determines whether a fault has occurred in the accelerator pedal signal sampling circuit based on the first, second, third, and fourth digital voltage signals. By combining and verifying the four accelerator pedal sampling signals, the safety and accuracy of fault diagnosis are improved. Furthermore, when at least one of the first or second sampling units malfunctions, the fault status and the corresponding digital voltage signal are uploaded to the vehicle fault diagnosis platform or big data platform for fault recording and diagnosis. This can help engineers quickly and accurately understand the vehicle's fault status and pinpoint the cause of the throttle signal malfunction.

[0016] To address the aforementioned problems, this invention also proposes a fault diagnosis device for an accelerator pedal signal sampling circuit. The accelerator pedal signal sampling circuit includes a first sampling unit and a second sampling unit. The first and second sampling units are respectively used to acquire voltage signals output by two accelerator pedal position sensors and output corresponding digital signals. The device includes: an acquisition module, used to acquire a first digital voltage signal and a second digital voltage signal output by the first sampling unit, and to acquire a third digital voltage signal and a fourth digital voltage signal output by the second sampling unit; wherein, when the first sampling unit acquires the voltage value of the first accelerator pedal position sensor, the output digital signal is the first digital voltage signal; when the first sampling unit acquires the voltage value of the second accelerator pedal position sensor, the output digital signal is the second digital voltage signal; when the second sampling unit acquires the voltage value of the first accelerator pedal position sensor, the output digital signal is the third digital voltage signal; and when the second sampling unit acquires the voltage value of the second accelerator pedal position sensor, the output digital signal is the fourth digital voltage signal; and a judgment module, used to determine whether the accelerator pedal signal sampling circuit has malfunctioned based on the first digital voltage signal, the second digital voltage signal, the third digital voltage signal, and the fourth digital voltage signal.

[0017] The fault diagnosis device for the accelerator pedal signal sampling circuit according to an embodiment of the present invention acquires a first digital voltage signal and a second digital voltage signal output by a first sampling unit, and acquires a third digital voltage signal and a fourth digital voltage signal output by a second sampling unit. Specifically, when the first sampling unit acquires the voltage value of a first-channel accelerator pedal position sensor, the output digital signal is the first digital voltage signal; when the first sampling unit acquires the voltage value of a second-channel accelerator pedal position sensor, the output digital signal is the second digital voltage signal; when the second sampling unit acquires the voltage value of a first-channel accelerator pedal position sensor, the output digital signal is the third digital voltage signal; and when the second sampling unit acquires the voltage value of a second-channel accelerator pedal position sensor, the output digital signal is the fourth digital voltage signal. Based on the first, second, third, and fourth digital voltage signals, the device determines whether a fault has occurred in the accelerator pedal signal sampling circuit. By combining and verifying the four accelerator pedal sampling signals, the safety and accuracy of fault diagnosis are improved. Furthermore, when at least one of the first or second sampling units malfunctions, the fault status and the corresponding digital voltage signal are uploaded to the vehicle fault diagnosis platform or big data platform for fault recording and diagnosis. This can help engineers quickly and accurately understand the vehicle's fault status and pinpoint the cause of the throttle signal malfunction.

[0018] To address the aforementioned problems, the present invention also proposes a vehicle, comprising: an accelerator pedal signal sampling circuit; and a fault diagnosis device for the accelerator pedal signal sampling circuit as described in any of the above embodiments.

[0019] According to an embodiment of the present invention, the vehicle acquires a first digital voltage signal and a second digital voltage signal output by a first sampling unit, and acquires a third digital voltage signal and a fourth digital voltage signal output by a second sampling unit. When the first sampling unit acquires the voltage value of the first accelerator pedal position sensor, the output digital signal is the first digital voltage signal; when the first sampling unit acquires the voltage value of the second accelerator pedal position sensor, the output digital signal is the second digital voltage signal; when the second sampling unit acquires the voltage value of the first accelerator pedal position sensor, the output digital signal is the third digital voltage signal; and when the second sampling unit acquires the voltage value of the second accelerator pedal position sensor, the output digital signal is the fourth digital voltage signal. The accelerator pedal signal sampling circuit is judged to be faulty based on the first, second, third, and fourth digital voltage signals. By combining and verifying the four accelerator sampling signals, the safety and accuracy of fault judgment are improved. Furthermore, when at least one of the first or second sampling units malfunctions, the fault status and the corresponding digital voltage signal are uploaded to the vehicle fault diagnosis platform or big data platform for fault recording and diagnosis. This can help engineers quickly and accurately understand the vehicle's fault status and pinpoint the cause of the throttle signal malfunction.

[0020] To address the aforementioned problems, the present invention also proposes a computer-readable storage medium storing a fault diagnosis program for an accelerator pedal signal sampling circuit. When the fault diagnosis program for the accelerator pedal signal sampling circuit is executed by a processor, it implements the fault diagnosis method for the accelerator pedal signal sampling circuit as described in any of the above embodiments.

[0021] According to an embodiment of the present invention, when a fault diagnosis program for a throttle pedal signal sampling circuit stored thereon is executed by a processor, it acquires a first digital voltage signal and a second digital voltage signal output by a first sampling unit, and acquires a third digital voltage signal and a fourth digital voltage signal output by a second sampling unit. Specifically, when the first sampling unit acquires the voltage value of a first-channel throttle pedal position sensor, the output digital signal is the first digital voltage signal; when the first sampling unit acquires the voltage value of a second-channel throttle pedal position sensor, the output digital signal is the second digital voltage signal; when the second sampling unit acquires the voltage value of a first-channel throttle pedal position sensor, the output digital signal is the third digital voltage signal; and when the second sampling unit acquires the voltage value of a second-channel throttle pedal position sensor, the output digital signal is the fourth digital voltage signal. Based on the first, second, third, and fourth digital voltage signals, it determines whether a fault has occurred in the throttle pedal signal sampling circuit. By combining and verifying the four throttle sampling signals, the safety and accuracy of fault diagnosis are improved. Furthermore, when at least one of the first or second sampling units malfunctions, the fault status and the corresponding digital voltage signal are uploaded to the vehicle fault diagnosis platform or big data platform for fault recording and diagnosis. This can help engineers quickly and accurately understand the vehicle's fault status and pinpoint the cause of the throttle signal malfunction.

[0022] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0023] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0024] Figure 1 This is a flowchart of a fault diagnosis method for an accelerator pedal signal sampling circuit according to an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of the structure of a fault diagnosis device for an accelerator pedal signal sampling circuit according to an embodiment of the present invention. Detailed Implementation

[0026] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention are described in detail below.

[0027] The following is for reference. Figures 1-2This invention describes a fault diagnosis method, apparatus, vehicle, and storage medium for an accelerator pedal signal sampling circuit according to an embodiment of the present invention. The accelerator pedal signal sampling circuit of this embodiment includes a first sampling unit and a second sampling unit. The first sampling unit and the second sampling unit are respectively used to acquire voltage signals output from two accelerator pedal position sensors and output corresponding digital signals.

[0028] Figure 1 This is a flowchart of a fault diagnosis method for an accelerator pedal signal sampling circuit according to an embodiment of the present invention.

[0029] like Figure 1 As shown, a fault diagnosis method for an accelerator pedal signal sampling circuit includes the following steps:

[0030] Step S1: Acquire the first digital voltage signal and the second digital voltage signal output by the first sampling unit, and acquire the third digital voltage signal and the fourth digital voltage signal output by the second sampling unit; wherein, when the first sampling unit acquires the voltage value of the first accelerator pedal position sensor, the digital signal output is the first digital voltage signal; when the first sampling unit acquires the voltage value of the second accelerator pedal position sensor, the digital signal output is the second digital voltage signal; when the second sampling unit acquires the voltage value of the first accelerator pedal position sensor, the digital signal output is the third digital voltage signal; and when the second sampling unit acquires the voltage value of the second accelerator pedal position sensor, the digital signal output is the fourth digital voltage signal.

[0031] Specifically, the first sampling unit and the second sampling unit are two independent AD (Analog-to-digital converter) sampling circuits. Each sampling unit simultaneously acquires the voltage values ​​output by the two accelerator pedal position sensors, converts the corresponding voltage values ​​into digital signals, and outputs them to the vehicle controller. After the vehicle controller obtains the first and second digital voltage signals output by the first sampling unit, as well as the third and fourth digital voltage signals output by the second sampling unit, it determines whether the accelerator pedal signal sampling circuit has malfunctioned based on the first, second, third, and fourth digital voltage signals.

[0032] In a specific embodiment, when collecting the output voltage value of the accelerator pedal position sensor, the first sampling unit and the second sampling unit simultaneously collect the voltage values ​​output by the two accelerator pedal position sensors once every monitoring cycle, for example, 1ms, and convert the corresponding voltage values ​​into digital signals and output them to the vehicle controller. Specifically, within a monitoring cycle, the first sampling unit acquires the voltage value output by the first accelerator pedal position sensor and converts the analog voltage signal into a first digital voltage signal, for example, denoted as Vadc01. Simultaneously, it acquires the voltage value output by the second accelerator pedal position sensor and converts the analog voltage signal into a second digital voltage signal, for example, denoted as Vadc02. The second sampling unit acquires the voltage value output by the first accelerator pedal position sensor and converts the analog voltage signal into a third digital voltage signal, for example, denoted as Vadc11. Simultaneously, it acquires the voltage value output by the second accelerator pedal position sensor and converts the analog voltage signal into a fourth digital voltage signal, for example, denoted as Vadc12. After acquiring Vadc01, Vadc02, Vadc11, and Vadc12, the vehicle controller determines whether the accelerator pedal signal sampling circuit has malfunctioned based on Vadc01, Vadc02, Vadc11, and Vadc12.

[0033] Step S2: Determine whether the accelerator pedal signal sampling circuit is malfunctioning based on the first digital voltage signal, the second digital voltage signal, the third digital voltage signal, and the fourth digital voltage signal.

[0034] Specifically, potential faults in the accelerator pedal signal sampling circuit include: sampling jamming, excessive conversion error, and DMA (Direct Memory Access) transfer failure. After acquiring the first digital voltage signal Vadc01 and the second digital voltage signal Vadc02 output from the first sampling unit, and the third digital voltage signal Vadc11 and the fourth digital voltage signal Vadc12 output from the second sampling unit, the vehicle controller can determine whether a fault has occurred in the accelerator pedal signal sampling circuit based on a preset monitoring strategy. The preset monitoring strategy includes, but is not limited to, the first digital voltage signal Vadc01 being equal to twice the second digital voltage signal Vadc02. That is, when the accelerator pedal signal sampling circuit is functioning correctly, the first digital voltage signal Vadc01 is equal to twice the second digital voltage signal Vadc02, and the third digital voltage signal Vadc11 is equal to twice the fourth digital voltage signal Vadc12. However, when the accelerator pedal signal sampling circuit malfunctions (i.e., at least one of the first and second sampling units malfunctions), the preset monitoring strategy is not satisfied between the first and second digital voltage signals Vadc01 and Vadc02, and between the third and fourth digital voltage signals Vadc11 and Vadc12. Thus, the vehicle controller can determine whether the accelerator pedal signal sampling circuit has malfunctioned by comparing the four digital voltage signals. It is understandable that, since the first digital voltage signal Vadc01 and the third digital voltage signal Vadc11 correspond to the voltage values ​​of the first accelerator pedal position sensor output sampled by the first sampling unit and the second sampling unit within a monitoring cycle, and are converted into digital voltage signals, it is also possible to determine whether the accelerator pedal signal sampling circuit has malfunctioned by comparing the first digital voltage signal Vadc01 and the third digital voltage signal Vadc11. Similarly, it is also possible to determine whether the accelerator pedal signal sampling circuit has malfunctioned by comparing the second digital voltage signal Vadc02 and the fourth digital voltage signal Vadc12. That is, the embodiments of the present invention use the above method to perform combined verification between the four digital voltage signals to determine whether the accelerator pedal signal sampling circuit has malfunctioned, so as to ensure the safety and accuracy of accelerator pedal signal acquisition.

[0035] In one embodiment of the present invention, determining whether the accelerator pedal signal sampling circuit has malfunctioned based on the first digital voltage signal, the second digital voltage signal, the third digital voltage signal, and the fourth digital voltage signal includes: when the absolute value of the difference between the first digital voltage signal and the third digital voltage signal is greater than a preset voltage value, or when the absolute value of the difference between the second digital voltage signal and the fourth digital voltage signal is greater than the preset voltage value, determining that an accelerator pedal signal comparison error has occurred, and determining whether the accelerator pedal signal sampling circuit has malfunctioned based on the number of consecutive occurrences of accelerator pedal signal comparison errors; otherwise, determining that the accelerator pedal signal sampling circuit has not malfunctioned.

[0036] Specifically, as mentioned above, when the absolute value of the difference between the first digital voltage signal Vadc01 and the third digital voltage signal Vadc11 is greater than a preset voltage value, or when the absolute value of the difference between the second digital voltage signal Vadc02 and the fourth digital voltage signal Vadc12 is greater than a preset voltage value, it is considered that when the first sampling unit and the second sampling unit sample the output voltage value of the same accelerator pedal position sensor within a monitoring cycle, the obtained digital voltage signal deviation is too large, and an accelerator pedal signal comparison error has occurred. This accelerator pedal signal comparison error may be due to noise signal interference or calculation error, and is intermittent. Therefore, in order to further improve the accuracy of judging whether the accelerator pedal signal sampling circuit has failed, when it is determined that an accelerator pedal signal comparison error has occurred, this embodiment of the invention determines whether the accelerator pedal signal sampling circuit has failed based on the number of consecutive occurrences of the accelerator pedal signal comparison error. When the absolute value of the difference between the first digital voltage signal Vadc01 and the third digital voltage signal Vadc11 is not greater than a preset voltage value, and the absolute value of the difference between the second digital voltage signal Vadc02 and the fourth digital voltage signal Vadc12 is not greater than a preset voltage value, it is considered that when the first sampling unit and the second sampling unit sample the output voltage value of the same accelerator pedal position sensor within one monitoring cycle, the deviation of the obtained digital voltage signals is small, no accelerator pedal signal comparison error occurs, and it is determined that the accelerator pedal signal sampling circuit has not malfunctioned. It is understood that the preset voltage value is a preset constant value used to control the error of the digital voltage signals output by the first sampling unit and the second sampling unit within an allowable range. This preset voltage value can be determined experimentally and is pre-stored in the vehicle controller.

[0037] In one embodiment of the present invention, determining whether the accelerator pedal signal sampling circuit has malfunctioned based on the number of consecutive accelerator pedal signal comparison errors includes: when the number of consecutive accelerator pedal signal comparison errors is greater than a first preset number, determining that at least one of the first sampling unit and the second sampling unit has malfunctioned; otherwise, determining that the accelerator pedal signal sampling circuit has not malfunctioned.

[0038] Specifically, when an accelerator pedal signal comparison error is determined, the system continues to acquire the output voltage value of the same accelerator pedal position sensor from the first sampling unit and the second sampling unit for the next N monitoring cycles. Based on the combined verification method described in the previous embodiment, it is determined whether accelerator pedal signal comparison errors occur consecutively within the N monitoring cycles. If the number of consecutive accelerator pedal signal comparison errors within the N monitoring cycles exceeds a first preset number, it is considered that the accelerator pedal signal sampling circuit has indeed malfunctioned, causing excessive deviation in the digital voltage signals obtained by the first sampling unit and the second sampling unit when sampling the output voltage value of the same accelerator pedal position sensor. Otherwise, it is determined that the accelerator pedal signal sampling circuit has not malfunctioned.

[0039] In a specific embodiment, the first sampling unit and the second sampling unit sample the output voltage value of the same accelerator pedal position sensor within 10 monitoring cycles, for example, the first digital voltage signal Vadc01 and the third digital voltage signal Vadc11. If the absolute value of the difference between Vadc01 and Vadc11 is greater than a preset voltage value, for example, M, the number of times is greater than a first preset number, for example, 8 times, then it is considered that at least one of the first sampling unit and the second sampling unit has malfunctioned.

[0040] In one embodiment of the present invention, after determining whether the accelerator pedal signal sampling circuit has malfunctioned based on the number of consecutive accelerator pedal signal comparison errors, the method further includes: when it is determined that the accelerator pedal signal sampling circuit has not malfunctioned, using any one of the first digital voltage signal, the second digital voltage signal, the third digital voltage signal, and the fourth digital voltage signal as the accelerator pedal signal; when it is determined that at least one of the first sampling unit and the second sampling unit has malfunctioned, determining whether the first sampling unit has malfunctioned based on the first digital voltage signal and the second digital voltage signal, and determining whether the second sampling unit has malfunctioned based on the third digital voltage signal and the fourth digital voltage signal.

[0041] Specifically, since the first, second, third, and fourth digital voltage signals are all voltage values ​​obtained from sampling the accelerator pedal signal, any one of the four digital voltage signals can be used as the accelerator pedal signal to control the motor or engine acceleration when the accelerator pedal signal sampling circuit is determined to be functioning correctly. When it is determined that at least one of the first and second sampling units has failed, it is necessary to identify the specific sampling unit that has failed. Since both the first and second digital voltage signals are sampled by the first sampling unit, comparing the first and second digital voltage signals can determine whether the first sampling unit has failed. Similarly, since both the third and fourth digital voltage signals are sampled by the second sampling unit, comparing the third and fourth digital voltage signals can determine whether the second sampling unit has failed, thus enabling fault location in the accelerator pedal signal sampling circuit.

[0042] In one embodiment of the present invention, determining whether a first sampling unit has malfunctioned based on a first digital voltage signal and a second digital voltage signal includes: determining that a first cross-comparison error has occurred when the ratio of the absolute value of the difference between the first digital voltage signal and the proportionally converted second digital voltage signal to the first digital voltage signal is greater than a first preset ratio; and determining whether a first sampling unit has malfunctioned based on the number of consecutive occurrences of the first cross-comparison error. Specifically, determining whether a first sampling unit has malfunctioned based on the number of consecutive occurrences of the first cross-comparison error includes: determining that a first sampling unit has malfunctioned when the number of consecutive occurrences of the first cross-comparison error is greater than a second preset number; otherwise, determining that the first sampling unit has not malfunctioned.

[0043] Specifically, in this embodiment of the invention, a preset monitoring strategy is used to determine whether the first sampling unit has malfunctioned. This preset monitoring strategy is that the first digital voltage signal Vadc01 is equal to a preset ratio of the second digital voltage signal Vadc02. That is, when the first digital voltage signal Vadc01 equals the preset ratio of the second digital voltage signal Vadc02, the first sampling unit is considered not to have malfunctioned. Considering that errors may exist when acquiring the first digital voltage signal Vadc01 and the second digital voltage signal Vadc02, a first preset ratio is set to control the error between the output digital voltage signals of the first and second sampling units within an allowable range. Thus, when the ratio of the absolute value of the difference between the first digital voltage signal and the proportionally converted second digital voltage signal to the first digital voltage signal is greater than the first preset ratio, a first cross-comparison error is determined to have occurred. Similarly, due to noise interference or calculation errors, the first cross-comparison error is sporadic. Therefore, to further improve the accuracy of determining whether the first sampling unit has malfunctioned, when a first cross-comparison error is determined to have occurred, this embodiment of the invention determines whether the first sampling unit has malfunctioned based on the number of consecutive occurrences of the first cross-comparison error. If the number of consecutive first cross-comparison errors exceeds a second preset number, for example, eight times, the first sampling unit is considered to have malfunctioned; otherwise, the first sampling unit is considered not to have malfunctioned. For example, the second digital voltage signal after scaling is twice the original second digital voltage signal, and the first preset scaling ratio is 20%.

[0044] In a specific embodiment, when it is determined whether the first sampling unit has malfunctioned, the first sampling unit collects the two accelerator pedal signals 10 times each. When the absolute value of the difference between the first digital voltage signal Vadc01 and the proportionally converted second digital voltage signal (e.g., 2 × Vadc02) is greater than the ratio of the first digital voltage Vadc01 to a first preset ratio (e.g., 20%), that is, when... When the first cross-comparison error occurs, it is determined that a first cross-comparison error has occurred. When the number of consecutive occurrences of the first cross-comparison error exceeds a second preset number, such as 8 times, it is determined that the first sampling unit has malfunctioned.

[0045] In one embodiment of the present invention, after determining whether the first sampling unit has failed based on the number of consecutive first cross-comparison errors, the method further includes: when it is determined that the first sampling unit has not failed, using the first digital voltage signal or the second digital voltage signal as the accelerator pedal signal; and when it is determined that the first sampling unit has failed, uploading the fault status, the first digital voltage signal, and the second digital voltage signal.

[0046] Specifically, since both the first and second digital voltage signals are sampled by the first sampling unit, when it is determined that the first sampling unit is not faulty, either the first or second digital voltage signal can be used as the accelerator pedal signal to control the acceleration of the motor or engine. When it is determined that the first sampling unit is faulty, the fault status, the first and second digital voltage signals are uploaded to the vehicle fault diagnosis platform or big data platform for fault recording and diagnosis, helping engineers to quickly and accurately understand the vehicle's fault status and locate the cause of the accelerator signal fault.

[0047] In one embodiment of the present invention, determining whether a second sampling unit has malfunctioned based on a third digital voltage signal and a fourth digital voltage signal includes: determining that a second cross-comparison error has occurred when the ratio of the absolute value of the difference between the third digital voltage signal and the proportionally converted fourth digital voltage signal to the third digital voltage signal is greater than a second preset ratio; and determining whether a second sampling unit has malfunctioned based on the number of consecutive occurrences of the second cross-comparison error. Specifically, determining whether a second sampling unit has malfunctioned based on the number of consecutive occurrences of the second cross-comparison error includes: determining that a second sampling unit has malfunctioned when the number of consecutive occurrences of the second cross-comparison error is greater than a third preset number; otherwise, determining that the second sampling unit has not malfunctioned.

[0048] Specifically, in this embodiment of the invention, a preset monitoring strategy is used to determine whether the second sampling unit has malfunctioned. This preset monitoring strategy is that the third digital voltage signal Vadc11 is equal to a preset ratio of the fourth digital voltage signal Vadc12. That is, when the third digital signal Vadc11 equals a preset ratio of the second digital voltage signal Vadc12, the second sampling unit is considered not to have malfunctioned. Considering that errors may exist when acquiring the third and fourth digital voltage signals Vadc11 and Vadc12, a second preset ratio is set to control the error between the output digital voltage signals of the first and second sampling units within an allowable range. Thus, when the absolute value of the difference between the third digital voltage signal and the proportionally converted fourth digital voltage signal is greater than the ratio of the third digital voltage signal to the second preset ratio, a second cross-comparison error is determined to have occurred. Similarly, due to noise interference or calculation errors, the second cross-comparison error is sporadic. Therefore, to further improve the accuracy of determining whether the second sampling unit has malfunctioned, when a second cross-comparison error is determined to have occurred, this embodiment of the invention determines whether the second sampling unit has malfunctioned based on the number of consecutive transmissions of the second cross-comparison error. If the number of consecutive second cross-comparison errors exceeds a third preset number, such as 8 times, the second sampling unit is considered to have malfunctioned; otherwise, the second sampling unit is considered not to have malfunctioned. For example, the fourth digital voltage signal after scaling is twice the original fourth digital voltage signal, and the second preset scaling factor is 20%.

[0049] In a specific embodiment, when it is determined whether the second sampling unit has malfunctioned, the second sampling unit collects the two accelerator pedal signals 10 times each. When the absolute value of the difference between the third digital voltage signal Vadc11 and the proportionally converted fourth digital voltage signal (e.g., 2 × Vadc12) is greater than the ratio of the third digital voltage Vadc11 to a second preset ratio (e.g., 20%), that is, when... When a second cross-comparison error occurs, it is determined that the second cross-comparison error has occurred. When the number of consecutive occurrences of the second cross-comparison error exceeds a third preset number, such as 8 times, it is determined that the second sampling unit has malfunctioned.

[0050] In one embodiment of the present invention, after determining whether the second sampling unit has failed based on the third digital voltage signal and the fourth digital voltage signal, the method further includes: when it is determined that the second sampling unit has not failed, using the third digital voltage signal or the fourth digital voltage signal as an accelerator pedal signal; and when it is determined that the second sampling unit has failed, uploading the fault status, the third digital voltage signal, and the fourth digital voltage signal.

[0051] Specifically, since both the third and fourth digital voltage signals are sampled by the second sampling unit, when it is determined that the second sampling unit is not faulty, either the third or fourth digital voltage signal can be used as the accelerator pedal signal to control the acceleration of the motor or engine. When it is determined that the second sampling unit is faulty, the fault status, the third digital voltage signal, and the fourth digital voltage signal are uploaded to the vehicle fault diagnosis platform or big data platform for fault recording and diagnosis, helping engineers to quickly and accurately understand the vehicle's fault status and locate the cause of the accelerator signal fault.

[0052] The fault diagnosis method for the accelerator pedal signal sampling circuit according to an embodiment of the present invention acquires a first digital voltage signal and a second digital voltage signal output by a first sampling unit, and acquires a third digital voltage signal and a fourth digital voltage signal output by a second sampling unit. Specifically, when the first sampling unit acquires the voltage value of the first accelerator pedal position sensor, the output digital signal is the first digital voltage signal; when the first sampling unit acquires the voltage value of the second accelerator pedal position sensor, the output digital signal is the second digital voltage signal; when the second sampling unit acquires the voltage value of the first accelerator pedal position sensor, the output digital signal is the third digital voltage signal; and when the second sampling unit acquires the voltage value of the second accelerator pedal position sensor, the output digital signal is the fourth digital voltage signal. The method determines whether a fault has occurred in the accelerator pedal signal sampling circuit based on the first, second, third, and fourth digital voltage signals. By combining and verifying the four accelerator pedal sampling signals, the safety and accuracy of fault diagnosis are improved. Furthermore, when at least one of the first or second sampling units malfunctions, the fault status and the corresponding digital voltage signal are uploaded to the vehicle fault diagnosis platform or big data platform for fault recording and diagnosis. This can help engineers quickly and accurately understand the vehicle's fault status and pinpoint the cause of the throttle signal malfunction.

[0053] A further embodiment of the present invention discloses a fault diagnosis device for an accelerator pedal signal sampling circuit. Figure 2 This is a schematic diagram of the structure of a fault diagnosis device for an accelerator pedal signal sampling circuit according to an embodiment of the present invention, as shown below. Figure 2As shown, the fault diagnosis device 10 for the accelerator pedal signal sampling circuit includes an acquisition module 11 and a judgment module 12. The acquisition module 11 is used to acquire the first and second digital voltage signals output by the first sampling unit, and the third and fourth digital voltage signals output by the second sampling unit. When the first sampling unit acquires the voltage value of the first accelerator pedal position sensor, the output digital signal is the first digital voltage signal; when the first sampling unit acquires the voltage value of the second accelerator pedal position sensor, the output digital signal is the second digital voltage signal; when the second sampling unit acquires the voltage value of the first accelerator pedal position sensor, the output digital signal is the third digital voltage signal; and when the second sampling unit acquires the voltage value of the second accelerator pedal position sensor, the output digital signal is the fourth digital voltage signal. The judgment module 12 is used to determine whether a fault has occurred in the accelerator pedal signal sampling circuit based on the first, second, third, and fourth digital voltage signals.

[0054] In one embodiment of the present invention, the judgment module 12 determines whether the accelerator pedal signal sampling circuit has malfunctioned based on the first digital voltage signal, the second digital voltage signal, the third digital voltage signal, and the fourth digital voltage signal. This includes: when the absolute value of the difference between the first digital voltage signal and the third digital voltage signal is greater than a preset voltage value, or when the absolute value of the difference between the second digital voltage signal and the fourth digital voltage signal is greater than the preset voltage value, determining that an accelerator pedal signal comparison error has occurred, and determining whether the accelerator pedal signal sampling circuit has malfunctioned based on the number of consecutive occurrences of accelerator pedal signal comparison errors; otherwise, determining that the accelerator pedal signal sampling circuit has not malfunctioned.

[0055] In one embodiment of the present invention, the determination module 12 determines whether the accelerator pedal signal sampling circuit has malfunctioned based on the number of consecutive accelerator pedal signal comparison errors, including: when the number of consecutive accelerator pedal signal comparison errors is greater than a first preset number, determining that at least one of the first sampling unit and the second sampling unit has malfunctioned; otherwise, determining that the accelerator pedal signal sampling circuit has not malfunctioned.

[0056] In one embodiment of the present invention, after determining whether the accelerator pedal signal sampling circuit has malfunctioned based on the number of consecutive accelerator pedal signal comparison errors, the determination module 12 is further configured to: when it is determined that the accelerator pedal signal sampling circuit has not malfunctioned, use any one of the first digital voltage signal, the second digital voltage signal, the third digital voltage signal, and the fourth digital voltage signal as the accelerator pedal signal; when it is determined that at least one of the first sampling unit and the second sampling unit has malfunctioned, determine whether the first sampling unit has malfunctioned based on the first digital voltage signal and the second digital voltage signal, and determine whether the second sampling unit has malfunctioned based on the third digital voltage signal and the fourth digital voltage signal.

[0057] In one embodiment of the present invention, the determination module 12 determines whether the first sampling unit has malfunctioned based on the first digital voltage signal and the second digital voltage signal, including: when the absolute value of the difference between the first digital voltage signal and the proportionally converted second digital voltage signal is greater than the ratio of the first digital voltage signal to the first digital voltage signal, a first cross-comparison error is determined to have occurred; and the number of consecutive occurrences of the first cross-comparison error is used to determine whether the first sampling unit has malfunctioned.

[0058] In one embodiment of the present invention, the determination module 12 determines whether the first sampling unit has failed based on the number of consecutive first cross-comparison errors, including: when the number of consecutive first cross-comparison errors is greater than a second preset number, determining that the first sampling unit has failed; otherwise, determining that the first sampling unit has not failed.

[0059] In one embodiment of the present invention, after determining whether the first sampling unit has failed based on the number of consecutive first cross-comparison errors, the determination module 12 is further configured to: when it is determined that the first sampling unit has not failed, use the first digital voltage signal or the second digital voltage signal as the accelerator pedal signal; when it is determined that the first sampling unit has failed, upload the fault status, the first digital voltage signal and the second digital voltage signal.

[0060] In one embodiment of the present invention, the determination module 12 determines whether the second sampling unit has malfunctioned based on the third digital voltage signal and the fourth digital voltage signal, including: when the absolute value of the difference between the third digital voltage signal and the fourth digital voltage signal after proportional conversion is greater than the ratio of the third digital voltage signal to the third digital voltage signal, a second cross-comparison error is determined to have occurred; and the number of consecutive occurrences of the second cross-comparison error is used to determine whether the second sampling unit has malfunctioned.

[0061] In one embodiment of the present invention, the determination module 12 determines whether the second sampling unit has failed based on the number of consecutive second cross-comparison errors, including: when the number of consecutive second cross-comparison errors is greater than a third preset number, determining that the second sampling unit has failed; otherwise, determining that the second sampling unit has not failed.

[0062] In one embodiment of the present invention, after determining whether the second sampling unit has failed based on the third digital voltage signal and the fourth digital voltage signal, the determination module 12 is further configured to: when it is determined that the second sampling unit has not failed, use the third digital voltage signal or the fourth digital voltage signal as the accelerator pedal signal; when it is determined that the second sampling unit has failed, upload the fault status, the third digital voltage signal and the fourth digital voltage signal.

[0063] It should be noted that the fault diagnosis device 10 of the accelerator pedal signal sampling circuit in this embodiment of the invention performs fault diagnosis of the accelerator pedal signal sampling circuit in a similar manner to the fault diagnosis method of the accelerator pedal signal sampling circuit in this embodiment of the invention. For details, please refer to the description in the method section. To reduce redundancy, it will not be repeated here.

[0064] The fault diagnosis device for the accelerator pedal signal sampling circuit according to an embodiment of the present invention acquires a first digital voltage signal and a second digital voltage signal output by a first sampling unit, and acquires a third digital voltage signal and a fourth digital voltage signal output by a second sampling unit. Specifically, when the first sampling unit acquires the voltage value of a first-channel accelerator pedal position sensor, the output digital signal is the first digital voltage signal; when the first sampling unit acquires the voltage value of a second-channel accelerator pedal position sensor, the output digital signal is the second digital voltage signal; when the second sampling unit acquires the voltage value of a first-channel accelerator pedal position sensor, the output digital signal is the third digital voltage signal; and when the second sampling unit acquires the voltage value of a second-channel accelerator pedal position sensor, the output digital signal is the fourth digital voltage signal. Based on the first, second, third, and fourth digital voltage signals, the device determines whether a fault has occurred in the accelerator pedal signal sampling circuit. By combining and verifying the four accelerator pedal sampling signals, the safety and accuracy of fault diagnosis are improved. Furthermore, when at least one of the first or second sampling units malfunctions, the fault status and the corresponding digital voltage signal are uploaded to the vehicle fault diagnosis platform or big data platform for fault recording and diagnosis. This can help engineers quickly and accurately understand the vehicle's fault status and pinpoint the cause of the throttle signal malfunction.

[0065] Further embodiments of the present invention disclose a vehicle comprising: an accelerator pedal signal sampling circuit; and a fault diagnosis device for the accelerator pedal signal sampling circuit as described in any of the above embodiments.

[0066] It should be noted that the specific implementation method of the accelerator pedal signal sampling circuit fault diagnosis in the vehicle of the present invention is similar to the specific implementation method of the accelerator pedal signal sampling circuit fault diagnosis method of the present invention. For details, please refer to the description in the method section. In order to reduce redundancy, it will not be repeated here.

[0067] According to an embodiment of the present invention, the vehicle acquires a first digital voltage signal and a second digital voltage signal output by a first sampling unit, and acquires a third digital voltage signal and a fourth digital voltage signal output by a second sampling unit. When the first sampling unit acquires the voltage value of the first accelerator pedal position sensor, the output digital signal is the first digital voltage signal; when the first sampling unit acquires the voltage value of the second accelerator pedal position sensor, the output digital signal is the second digital voltage signal; when the second sampling unit acquires the voltage value of the first accelerator pedal position sensor, the output digital signal is the third digital voltage signal; and when the second sampling unit acquires the voltage value of the second accelerator pedal position sensor, the output digital signal is the fourth digital voltage signal. The accelerator pedal signal sampling circuit is judged to be faulty based on the first, second, third, and fourth digital voltage signals. By combining and verifying the four accelerator sampling signals, the safety and accuracy of fault judgment are improved. Furthermore, when at least one of the first or second sampling units malfunctions, the fault status and the corresponding digital voltage signal are uploaded to the vehicle fault diagnosis platform or big data platform for fault recording and diagnosis. This can help engineers quickly and accurately understand the vehicle's fault status and pinpoint the cause of the throttle signal malfunction.

[0068] A further embodiment of the present invention discloses a computer-readable storage medium storing a fault diagnosis program for an accelerator pedal signal sampling circuit. When the fault diagnosis program for the accelerator pedal signal sampling circuit is executed by a processor, it implements the fault diagnosis method for the accelerator pedal signal sampling circuit as described in any of the above embodiments.

[0069] According to an embodiment of the present invention, when a fault diagnosis program for a throttle pedal signal sampling circuit stored thereon is executed by a processor, it acquires a first digital voltage signal and a second digital voltage signal output by a first sampling unit, and acquires a third digital voltage signal and a fourth digital voltage signal output by a second sampling unit. Specifically, when the first sampling unit acquires the voltage value of a first-channel throttle pedal position sensor, the output digital signal is the first digital voltage signal; when the first sampling unit acquires the voltage value of a second-channel throttle pedal position sensor, the output digital signal is the second digital voltage signal; when the second sampling unit acquires the voltage value of a first-channel throttle pedal position sensor, the output digital signal is the third digital voltage signal; and when the second sampling unit acquires the voltage value of a second-channel throttle pedal position sensor, the output digital signal is the fourth digital voltage signal. Based on the first, second, third, and fourth digital voltage signals, it determines whether a fault has occurred in the throttle pedal signal sampling circuit. By combining and verifying the four throttle sampling signals, the safety and accuracy of fault diagnosis are improved. Furthermore, when at least one of the first or second sampling units malfunctions, the fault status and the corresponding digital voltage signal are uploaded to the vehicle fault diagnosis platform or big data platform for fault recording and diagnosis. This can help engineers quickly and accurately understand the vehicle's fault status and pinpoint the cause of the throttle signal malfunction.

[0070] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0071] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A fault diagnosis method for an accelerator pedal signal sampling circuit, characterized in that, The accelerator pedal signal sampling circuit includes a first sampling unit and a second sampling unit. The first sampling unit and the second sampling unit are respectively used to acquire the voltage signals output by the two accelerator pedal position sensors and output the corresponding digital signals. The method includes: The system acquires a first digital voltage signal and a second digital voltage signal output by the first sampling unit, and acquires a third digital voltage signal and a fourth digital voltage signal output by the second sampling unit; wherein, when the first sampling unit acquires the voltage value of the first accelerator pedal position sensor, the digital signal output is the first digital voltage signal; when the first sampling unit acquires the voltage value of the second accelerator pedal position sensor, the digital signal output is the second digital voltage signal; when the second sampling unit acquires the voltage value of the first accelerator pedal position sensor, the digital signal output is the third digital voltage signal; and when the second sampling unit acquires the voltage value of the second accelerator pedal position sensor, the digital signal output is the fourth digital voltage signal. The accelerator pedal signal sampling circuit is determined to be faulty based on the first digital voltage signal, the second digital voltage signal, the third digital voltage signal, and the fourth digital voltage signal.

2. The fault diagnosis method for the accelerator pedal signal sampling circuit according to claim 1, characterized in that, Determining whether the accelerator pedal signal sampling circuit malfunctions based on the first digital voltage signal, the second digital voltage signal, the third digital voltage signal, and the fourth digital voltage signal includes: When the absolute value of the difference between the first digital voltage signal and the third digital voltage signal is greater than a preset voltage value, or when the absolute value of the difference between the second digital voltage signal and the fourth digital voltage signal is greater than the preset voltage value, it is determined that an accelerator pedal signal comparison error has occurred, and the accelerator pedal signal sampling circuit is determined to be faulty based on the number of consecutive occurrences of the accelerator pedal signal comparison error. Otherwise, it is determined that the accelerator pedal signal sampling circuit is not malfunctioning.

3. The fault diagnosis method for the accelerator pedal signal sampling circuit according to claim 2, characterized in that, Determining whether the accelerator pedal signal sampling circuit is faulty based on the number of consecutive accelerator pedal signal comparison errors includes: When the number of consecutive accelerator pedal signal comparison errors exceeds a first preset number, it is determined that at least one of the first sampling unit and the second sampling unit has malfunctioned. Otherwise, it is determined that the accelerator pedal signal sampling circuit is not malfunctioning.

4. The fault diagnosis method for the accelerator pedal signal sampling circuit according to claim 3, characterized in that, After determining whether the accelerator pedal signal sampling circuit has malfunctioned based on the number of consecutive accelerator pedal signal comparison errors, the method further includes: When it is determined that the accelerator pedal signal sampling circuit is not faulty, any one of the first digital voltage signal, the second digital voltage signal, the third digital voltage signal, and the fourth digital voltage signal is used as the accelerator pedal signal; When it is determined that at least one of the first sampling unit and the second sampling unit has failed, the system determines whether the first sampling unit has failed based on the first digital voltage signal and the second digital voltage signal, and determines whether the second sampling unit has failed based on the third digital voltage signal and the fourth digital voltage signal.

5. The fault diagnosis method for the accelerator pedal signal sampling circuit according to claim 4, characterized in that, Determining whether the first sampling unit has malfunctioned based on the first digital voltage signal and the second digital voltage signal includes: When the ratio of the absolute value of the difference between the first digital voltage signal and the proportionally converted second digital voltage signal to the first digital voltage signal is greater than a first preset ratio, a first cross-comparison error is determined to have occurred. The first sampling unit is determined to be faulty based on the number of consecutive occurrences of the first cross-comparison error.

6. The fault diagnosis method for the accelerator pedal signal sampling circuit according to claim 5, characterized in that, Determining whether the first sampling unit has malfunctioned based on the number of consecutive occurrences of the first cross-comparison error includes: When the number of consecutive occurrences of the first cross-comparison error exceeds the second preset number, it is determined that the first sampling unit has malfunctioned; Otherwise, it is determined that the first sampling unit has not malfunctioned.

7. The fault diagnosis method for the accelerator pedal signal sampling circuit according to claim 6, characterized in that, After determining whether the first sampling unit has malfunctioned based on the number of consecutive occurrences of the first cross-comparison error, the method further includes: When it is determined that the first sampling unit is not faulty, the first digital voltage signal or the second digital voltage signal is used as the accelerator pedal signal; When it is determined that the first sampling unit has failed, the fault status, the first digital voltage signal, and the second digital voltage signal are uploaded.

8. The fault diagnosis method for the accelerator pedal signal sampling circuit according to claim 4, characterized in that, Determining whether the second sampling unit has malfunctioned based on the third digital voltage signal and the fourth digital voltage signal includes: When the absolute value of the difference between the third digital voltage signal and the proportionally converted fourth digital voltage signal is greater than the ratio of the third digital voltage signal, a second cross-comparison error is determined to have occurred. The second sampling unit is determined to be faulty based on the number of consecutive occurrences of the second cross-comparison error.

9. The fault diagnosis method for the accelerator pedal signal sampling circuit according to claim 8, characterized in that, Determining whether the second sampling unit has malfunctioned based on the number of consecutive occurrences of the second cross-comparison error includes: When the number of consecutive occurrences of the second cross-comparison error exceeds the third preset number, it is determined that the second sampling unit has malfunctioned; Otherwise, it is determined that the second sampling unit has not malfunctioned.

10. The fault diagnosis method for the accelerator pedal signal sampling circuit according to claim 9, characterized in that, After determining whether the second sampling unit has malfunctioned based on the third digital voltage signal and the fourth digital voltage signal, the method further includes: When it is determined that the second sampling unit is not faulty, the third digital voltage signal or the fourth digital voltage signal is used as the accelerator pedal signal; When it is determined that the second sampling unit has failed, the fault status, the third digital voltage signal, and the fourth digital voltage signal are uploaded.

11. A fault diagnosis device for an accelerator pedal signal sampling circuit, characterized in that, The accelerator pedal signal sampling circuit includes a first sampling unit and a second sampling unit. The first sampling unit and the second sampling unit are respectively used to acquire the voltage signals output by the two accelerator pedal position sensors and output the corresponding digital signals. The device includes: The acquisition module is used to acquire a first digital voltage signal and a second digital voltage signal output by the first sampling unit, and to acquire a third digital voltage signal and a fourth digital voltage signal output by the second sampling unit; wherein, when the first sampling unit acquires the voltage value of the first accelerator pedal position sensor, the digital signal output is the first digital voltage signal; when the first sampling unit acquires the voltage value of the second accelerator pedal position sensor, the digital signal output is the second digital voltage signal; when the second sampling unit acquires the voltage value of the first accelerator pedal position sensor, the digital signal output is the third digital voltage signal; and when the second sampling unit acquires the voltage value of the second accelerator pedal position sensor, the digital signal output is the fourth digital voltage signal. The judgment module is used to determine whether the accelerator pedal signal sampling circuit has malfunctioned based on the first digital voltage signal, the second digital voltage signal, the third digital voltage signal, and the fourth digital voltage signal.

12. A vehicle, characterized in that, include: Accelerator pedal signal sampling circuit; The fault diagnosis device for the accelerator pedal signal sampling circuit as described in claim 11.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a fault diagnosis program for the accelerator pedal signal sampling circuit. When the fault diagnosis program for the accelerator pedal signal sampling circuit is executed by a processor, it implements the fault diagnosis method for the accelerator pedal signal sampling circuit as described in any one of claims 1-10.

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