Fault determination method and device for vacuum degree sensor, equipment and storage medium

Abstract

The invention discloses a fault determination method and device for a vacuum degree sensor, equipment and a storage medium. The fault determination method for the vacuum degree sensor comprises the steps that a vehicle control unit obtains a candidate output voltage set related to the vacuum degree sensor of a vehicle in at least one unit time, the candidate output voltage set comprises a plurality of candidate output voltages, and the candidate output voltages are output voltages output by the vacuum degree sensor in a preset time; a candidate voltage difference value set corresponding to at least one unit time is determined, the candidate voltage difference value set comprises candidate voltage difference values corresponding to at least one unit time, and each candidate voltage difference value is the difference value between the maximum output voltage and the minimum output voltage in the same unit time in the plurality of candidate output voltages; and in response to the condition that each candidate voltage difference meets a preset condition, determining that the vacuum degree sensor is in a fault state. According to the scheme, the fault determination accuracy of the vacuum degree sensor can be improved.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and in particular to a method, device, equipment and storage medium for determining a vacuum sensor fault. Background Art

[0002] With the rapid development of automobile technology, new energy vehicles, mainly electric vehicles, have gradually opened up the market and entered people's lives. At present, most new energy vehicles on the market rely on electronic vacuum pumping to assist the braking system. Since electric vehicles are driven by motors instead of traditional cars' engine drives, they lose the vacuum source and cannot provide vacuum assistance for the car's brake master cylinder. The vacuum pump of electric vehicles is created to make up for this deficiency. The vacuum pump uses an on-board battery to provide power, and the motor on the pump body is pushed to move the piston to generate vacuum, providing a vacuum source for electric vehicles. The vacuum sensor is used to monitor the vacuum in the vacuum pump. If the vacuum sensor fails, it is easy to reduce the vehicle's braking performance, and even cause dangerous situations such as brake failure.

[0003] In view of the existing technical defects, how to provide a vacuum sensor fault determination solution is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0004] The present application at least provides a vacuum sensor fault determination method, device, equipment and storage medium.

[0005] The present application provides a method for determining a fault of a vacuum sensor, comprising: a vehicle controller acquiring a candidate output voltage set related to a vacuum sensor of a vehicle within at least one unit time, the candidate output voltage set including several candidate output voltages, each candidate output voltage being an output voltage output by the vacuum sensor within a preset time; determining a candidate voltage difference set corresponding to at least one unit time, the candidate voltage difference set including at least one candidate voltage difference corresponding to a unit time, each candidate voltage difference being a difference between a maximum output voltage and a minimum output voltage within the same unit time among several candidate output voltages; and determining that the vacuum sensor is in a fault state in response to each candidate voltage difference satisfying a preset condition so as to display display information related to the vacuum sensor fault.

[0006] In some embodiments, the preset condition includes a first preset condition, the first preset condition includes that the pedal of the vehicle is in an unused state, and the number of candidate voltage difference values ​​greater than a first threshold reaches a first preset number, and each candidate voltage difference value in the candidate voltage difference value set is arranged in order of precedence between the unit times to which they belong; determining a candidate voltage difference value set corresponding to at least one unit time, including: determining the first candidate voltage difference value in the candidate voltage difference value set that is greater than the first threshold value as the starting voltage difference value; adding each candidate voltage difference value that has passed a first preset time after a first target moment to the first candidate difference set, the first target moment being the end moment of the unit time corresponding to the starting voltage difference; in response to each candidate voltage difference value satisfying the preset condition, determining that the vacuum sensor is in a faulty state, including: in response to each candidate voltage difference value in the first candidate difference value set satisfying the first preset condition, determining that the vacuum sensor is in a faulty state.

[0007] In some embodiments, after adding each candidate voltage difference value that has passed a first preset time after a first target moment to a first candidate difference set, the method further includes: in response to each candidate voltage difference value in the first candidate difference set not satisfying a first preset condition, adding each candidate voltage difference value that has passed a second preset time after a second target moment to a second candidate difference set, the second target moment being the end moment of the first preset time; the pedal of the vehicle is in use during the second preset time, determining a third target moment in order to determine the first candidate voltage difference value that is greater than a first threshold value from at least one remaining candidate voltage difference value, the third target moment being the moment of the use state; or, in response to each candidate voltage difference value satisfying a preset condition, determining that the vacuum sensor is in a faulty state, including: in response to each candidate voltage difference value in the second candidate difference set satisfying the first preset condition, determining that the vacuum sensor is in a faulty state.

[0008] In some embodiments, the preset condition includes a second preset condition, the second preset condition includes that the number of candidate voltage difference values ​​less than a second threshold value reaches a second preset number, and each candidate voltage difference value in the candidate voltage difference value set is arranged in a chronological order between the unit times to which they belong; in response to each candidate voltage difference value satisfying the preset condition, determining that the vacuum sensor is in a faulty state includes: adding each candidate voltage difference value within a third preset time to a third candidate difference set; in response to each candidate voltage difference value satisfying the preset condition, determining that the vacuum sensor is in a faulty state includes: in response to each candidate voltage difference value in the third candidate difference value set satisfying the second preset condition, determining that the vacuum sensor is in a faulty state.

[0009] In some embodiments, the preset conditions include a third preset condition, the third preset condition includes that each candidate voltage difference is less than or equal to a third threshold value, and each candidate voltage difference in the candidate voltage difference set is arranged in a chronological order between the unit times to which they belong; in response to each candidate voltage difference satisfying the preset condition, determining that the vacuum sensor is in a faulty state includes: in response to the vehicle being in a starting state, adding each candidate voltage difference that is a fourth preset time after a fourth target moment to a fourth candidate difference set, the fourth target moment being the moment when the vehicle is in a starting state; in response to each candidate voltage difference satisfying the preset condition, determining that the vacuum sensor is in a faulty state includes: in response to each candidate voltage difference in the fourth candidate difference set satisfying the third preset condition, determining that the vacuum sensor is in a faulty state.

[0010] In some embodiments, the preset condition includes a fourth preset condition, the fourth preset condition includes that each candidate voltage difference is less than or equal to a fourth threshold value, and each candidate voltage difference in the candidate voltage difference set is arranged in the order of the unit time to which it belongs; determining a candidate voltage difference set corresponding to at least one unit time includes: in response to the pedal of the vehicle being in use, determining a first output voltage output by the vacuum sensor at a fifth target moment, the fifth target moment being the moment of the use state; in response to the first output voltage being less than the start threshold value, and there being a preset number of candidate voltage differences less than the fourth threshold value within the fifth preset time, adding each candidate voltage difference of the sixth preset time to the fifth candidate difference set, the fifth preset time including a forward preset time corresponding to the fifth target moment and a backward preset time corresponding to the fifth target moment, the sixth preset time being after the backward preset time corresponding to the fifth target moment; in response to each candidate voltage difference satisfying the preset condition, determining that the vacuum sensor is in a fault state includes: in response to each candidate voltage difference in the fifth candidate difference set satisfying the fourth preset condition, determining that the vacuum sensor is in a fault state.

[0011] In some embodiments, after determining that the vacuum sensor is in a faulty state in response to each candidate voltage difference meeting a preset condition, the method further includes: determining a second output voltage output by the vacuum sensor at a sixth target moment in response to the pedal of the vehicle being in use, the sixth target moment being the moment of the use state; obtaining a number of alternative output voltages, the number of alternative output voltages being each output voltage output by the vacuum sensor after a sixth preset time has passed from the sixth target moment; and adjusting the vacuum sensor to a normal state in response to the difference between at least one of the number of alternative output voltages and the second output voltage being greater than a preset threshold.

[0012] The present application provides a fault determination device for a vacuum sensor, comprising: an acquisition module, a first determination module and a second determination module; the acquisition module is used for a vehicle controller to acquire a candidate output voltage set related to a vacuum sensor of a vehicle within at least one unit time, the candidate output voltage set includes a plurality of candidate output voltages, each candidate output voltage is an output voltage output by the vacuum sensor within a preset time; the first determination module is used to determine a candidate voltage difference set corresponding to at least one unit time, the candidate voltage difference set includes a candidate voltage difference corresponding to at least one unit time, each candidate voltage difference is an absolute value corresponding to each candidate difference, and each candidate difference is a difference between a maximum output voltage and a minimum output voltage among a plurality of candidate output voltages belonging to the same unit time; the second determination module is used to determine that the vacuum sensor is in a fault state in response to each candidate voltage difference satisfying a preset condition so as to display display information related to the vacuum sensor fault.

[0013] The present application provides an electronic device, including a memory and a processor, wherein the processor is used to execute program instructions stored in the memory to implement the above-mentioned vacuum sensor fault determination method.

[0014] The present application provides a computer-readable storage medium on which program instructions are stored. When the program instructions are executed by a processor, the above-mentioned vacuum sensor fault determination method is implemented.

[0015] In the above scheme, the vehicle controller obtains a set of candidate output voltages related to the vehicle's vacuum sensor within at least one unit time, and then determines a set of candidate voltage difference values ​​corresponding to at least one unit time. The candidate voltage difference set includes a candidate voltage difference value corresponding to at least one unit time. Each candidate voltage difference value is the difference between the maximum output voltage and the minimum output voltage among several candidate output voltages within the same unit time. Each candidate voltage difference value can accurately reflect the degree of output voltage change. In response to each candidate voltage difference value satisfying a preset condition, it is determined that the vacuum sensor is in a fault state so as to display display information related to the vacuum sensor fault. Compared with using only the output voltage size at a single moment to determine whether the vacuum sensor is faulty, which may be inaccurate, the present application determines the state of the vacuum sensor by combining each candidate voltage difference value with a preset condition, which can improve the accuracy of the vacuum sensor fault determination.

[0016] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present application and are used together with the specification to illustrate the technical solution of the present application.

[0018] Figure 1 This is a schematic diagram of a process of an embodiment of a method for determining a vacuum sensor fault of the present application. Figure 1 ;

[0019] Figure 2 This is a schematic diagram of a process of an embodiment of a method for determining a vacuum sensor fault of the present application. Figure 2 ;

[0020] Figure 3 This is a schematic diagram of a process of an embodiment of a method for determining a vacuum sensor fault of the present application. Figure 3 ;

[0021] Figure 4 It is a structural schematic diagram of an embodiment of a fault determination device for a vacuum sensor of the present application;

[0022] Figure 5 It is a structural schematic diagram of an embodiment of the electronic device of the present application;

[0023] Figure 6 It is a structural diagram of an embodiment of a computer-readable storage medium of the present application. DETAILED DESCRIPTION

[0024] The scheme of the embodiment of the present application is described in detail below in conjunction with the drawings of the specification.

[0025] In the following description, for the purpose of explanation rather than limitation, specific details such as specific system structures, interfaces, and technologies are provided to facilitate a thorough understanding of the present application.

[0026] The term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the objects associated before and after are in an "or" relationship. In addition, "many" in this article means two or more than two. In addition, the term "at least one" in this article means any combination of at least two of any one or more of a plurality of, for example, including at least one of A, B, and C, can mean including any one or more elements selected from the set consisting of A, B, and C.

[0027] The present application provides some vacuum sensor fault determination methods and vacuum sensor fault determination devices. The application scenarios of the vacuum sensor fault determination method include but are not limited to determining whether the vacuum sensor of a vehicle has a fault. The executor of the vacuum sensor fault determination method may be a vacuum sensor fault determination device. For example, the vacuum sensor fault determination device may be set in a terminal device or a server or other processing device, wherein the terminal device may be a device for vacuum sensor fault determination, a user equipment (UE), a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (PDA), a handheld device, a computing device, a vehicle-mounted device, etc. In some possible implementations, the vacuum sensor fault determination method may be implemented by a processor calling computer-readable instructions stored in a memory.

[0028] See also Figure 1 , Figure 1 This is a schematic diagram of a process of an embodiment of a method for determining a vacuum sensor fault of the present application. Figure 1 Specifically, the method for determining the failure of the vacuum sensor may include the following steps:

[0029] Step S11: the vehicle controller obtains a candidate output voltage set related to the vacuum sensor of the vehicle within at least one unit time.

[0030] The candidate output voltage set includes a plurality of candidate output voltages, each candidate output voltage being an output voltage output by the vacuum degree sensor within a preset time.

[0031] The vehicle controller may be a control unit in the vehicle responsible for managing and coordinating various functions of the vehicle. Specifically, the vehicle controller is a control unit (VCU, Vehicle Control Unit). The vehicle controller may be the executive body of each embodiment of the present application. The vacuum sensor is used to measure the vacuum degree in the vacuum pump and convert the actual vacuum degree into an electrical signal (usually an output voltage). Each output voltage output by the vacuum sensor may be further converted into a vacuum degree by the vehicle controller. Each unit time in at least one unit time may be a smaller fixed time. For example, each unit time may be 50ms. The preset time may be composed of at least one unit time. Each unit time in at least one unit time may be sorted in the order of the time when the unit time occurs, or may be randomly sorted. The above-mentioned preset time may include at least one unit time. The vacuum sensor may output a plurality of output voltages in each unit time, and the plurality of output voltages are at least two output voltages. Each output voltage output by the vacuum sensor in the preset time includes a plurality of output voltages output by the vacuum sensor in each unit time. Specifically, the vacuum sensor obtains the vacuum degree of the vacuum pump and converts the vacuum degree into an output voltage, and then the vacuum sensor transmits each output voltage outputted within a preset time to the vehicle controller, and the vehicle controller obtains each output voltage outputted by the vacuum sensor within the preset time.

[0032] It can be understood that each output voltage corresponding to the vacuum sensor can reflect the vacuum state of the vacuum pump, that is, the vacuum degree, after conversion. Each output voltage referred to in this application can be converted to obtain the vacuum degree.

[0033] Step S12: Determine a candidate voltage difference value set corresponding to at least one unit time.

[0034] The candidate voltage difference value set includes at least one candidate voltage difference value corresponding to a unit time, and each candidate voltage difference value is a difference between a maximum output voltage and a minimum output voltage among a plurality of candidate output voltages within the same unit time.

[0035] Specifically, for a number of output voltages output by the vacuum sensor within each unit time, the following steps are performed: the maximum output voltage and the minimum output voltage among the output voltages within the unit time are determined. The difference between the maximum output voltage and the minimum output voltage is used as the candidate voltage difference corresponding to the unit time. Then, all the candidate voltage differences corresponding to the unit time are added to the candidate voltage difference set to obtain at least one candidate voltage difference set corresponding to the unit time.

[0036] It is understandable that each candidate voltage difference referred to in the present application can be converted to obtain a change value corresponding to the vacuum degree.

[0037] Step S13: In response to each candidate voltage difference satisfying a preset condition, determining that the vacuum sensor is in a fault state.

[0038] In response to each candidate voltage difference satisfying a preset condition, it is determined that the vacuum sensor is in a fault state so as to display information related to the vacuum sensor fault. The vehicle's instrument panel may display information related to the vacuum sensor fault, thereby prompting the vehicle user to inspect and repair the vehicle, or directly trigger an alarm related to the vacuum sensor fault. The display information may be a prompt symbol in the instrument panel that can reflect the vacuum sensor fault.

[0039] The fault state may refer to an abnormal output voltage of the vacuum sensor. In some application scenarios, the fault state may be caused by the voltage signal output by the vacuum sensor being out of the normal range or fluctuating unstably. As a result, the VCU may misjudge the vacuum degree, thereby affecting the control strategy. For example, the VCU may start or stop the vacuum pump incorrectly. In other application scenarios, the fault state may be caused by the vacuum sensor being unable to correctly measure the vacuum degree of the vacuum pump. As a result, the VCU cannot adjust operations according to the actual vacuum degree.

[0040] The preset condition may be a numerical relationship between each candidate voltage difference and a threshold voltage difference. The preset condition may be a plurality of preset conditions. The preset condition may be that when there is a numerical relationship between the candidate voltage difference and the threshold voltage difference, the number of candidate voltage differences that satisfy the numerical relationship also reaches a preset number. In some application scenarios, the preset condition may be whether the numerical relationship between each candidate voltage difference and the threshold voltage difference is satisfied when the pedal of the vehicle is in different states or the vehicle is in different driving states.

[0041] Exemplarily, when the candidate voltage differences within a preset time are randomly ordered, if there are a preset number of candidate voltage differences that satisfy a numerical relationship with the threshold voltage difference, the numerical relationship may be greater than, less than, or equal to.

[0042] In the above scheme, the vehicle controller obtains a set of candidate output voltages related to the vehicle's vacuum sensor within at least one unit time, and then determines a set of candidate voltage difference values ​​corresponding to at least one unit time. The candidate voltage difference set includes a candidate voltage difference value corresponding to at least one unit time. Each candidate voltage difference value is the difference between the maximum output voltage and the minimum output voltage among several candidate output voltages within the same unit time. Each candidate voltage difference value can accurately reflect the degree of output voltage change. In response to each candidate voltage difference value satisfying a preset condition, it is determined that the vacuum sensor is in a fault state so as to display display information related to the vacuum sensor fault. Compared with using only the output voltage size at a single moment to determine whether the vacuum sensor is faulty, which may be inaccurate, the present application determines the state of the vacuum sensor by combining each candidate voltage difference value with a preset condition, which can improve the accuracy of the vacuum sensor fault determination.

[0043] See also Figure 2 , Figure 2 This is a schematic diagram of a process of an embodiment of a method for determining a vacuum sensor fault of the present application. Figure 2 . In some embodiments, the preset condition includes a first preset condition, the first preset condition includes that the pedal of the vehicle is in an unused state, and the number of candidate voltage difference values ​​greater than the first threshold reaches a first preset number, and the candidate voltage difference values ​​in the candidate voltage difference value set are arranged in the order of the unit time to which they belong; the above step S12 may include the following steps: Step S20: The first candidate voltage difference value in the candidate voltage difference value set that is greater than the first threshold is determined as the starting voltage difference value. Step S21: Add each candidate voltage difference value that has passed the first preset time after the first target moment to the first candidate difference value set, and the first target moment is the end moment of the unit time corresponding to the starting voltage difference value.

[0044] The pedal of the vehicle being in an unused state may indicate that the vehicle user has not stepped on the brake pedal. In some application scenarios, the pedal of the vehicle being in an unused state may be reflected in that the signal value corresponding to the brake pedal signal of the vehicle is always 0.

[0045] In chronological order, after obtaining each candidate voltage difference value, compare the candidate voltage difference value with the first threshold value to determine whether the candidate voltage difference value is greater than the first threshold value. After determining the first candidate voltage difference value greater than the first threshold value, determine to enter the current judgment stage. The following steps can be performed in the current judgment stage: determine the starting time of the current judgment stage. Specifically, the first candidate voltage difference value greater than the first threshold value is determined as the starting voltage difference value. The end time of the unit time corresponding to the first candidate voltage difference value greater than the first threshold value is determined as the first target time. Among them, the first target time can be the starting time of the current judgment stage. Then, each candidate voltage difference value that has passed the first preset time after the starting time of the current judgment stage is added to the first candidate difference value set.

[0046] Exemplarily, because the preset time corresponding to the candidate voltage difference set can be obtained from the output voltage collected for a few minutes, or from the output voltage collected for an hour. The current judgment stage can be the first judgment stage corresponding to the candidate voltage difference set, or it can be the last judgment stage. In some application scenarios, when the current judgment stage is the first judgment stage, the first candidate voltage difference value greater than the first threshold value can be the first candidate voltage difference value greater than the first threshold value in the candidate voltage difference set. In other application scenarios, when the current judgment stage is the last judgment stage, the first candidate voltage difference value greater than the first threshold value can be the first candidate voltage difference value greater than the first threshold value among the remaining candidate voltage differences corresponding to the candidate voltage difference set after the previous judgment stage ends. It can be understood that each judgment stage is sorted in chronological order, and after the previous judgment stage ends, the above-mentioned step of comparing the candidate voltage difference value with the first threshold value after obtaining each candidate voltage difference value, and judging whether the candidate voltage difference value is greater than the first threshold value is executed at the end time of the above-mentioned previous judgment stage. Moreover, the above-mentioned step of comparing each candidate voltage difference with the first threshold value after obtaining each candidate voltage difference value, and judging whether the candidate voltage difference value is greater than the first threshold value includes: after obtaining at least one remaining candidate voltage difference value, comparing the candidate voltage difference value in at least one remaining candidate voltage difference value with the first threshold value, and judging whether the candidate voltage difference value is greater than the first threshold value. Furthermore, for the case where the current judgment stage is not the first judgment stage, the remaining candidate voltage difference values ​​corresponding to the candidate voltage difference set can be the corresponding candidate difference voltages within the first preset time after the end time of the previous judgment stage. Exemplarily, the first preset time can be 500ms. The first threshold value can be the output voltage difference value obtained by conversion when the absolute value of the vacuum degree change is 6kpa. It can be understood that the end time of the previous judgment stage can be that the pedal of the vehicle is in use at any time in the previous judgment stage, that is, there is a signal value of the brake pedal signal that changes from 0 to 1.

[0047] In some embodiments, the above step S13 may include the following steps: Step S22: In response to each candidate voltage difference in the first candidate difference set satisfying a first preset condition, determining that the vacuum sensor is in a fault state.

[0048] In the current judgment stage, the vehicle controller judges whether each candidate voltage difference in the first candidate difference set satisfies the first preset condition. In the current judgment stage, if the pedal of the vehicle has been unused, and the number of candidate voltage differences in the first candidate difference set that are greater than the first threshold value reaches the first preset number, it is determined that the vacuum sensor is in a faulty state. Exemplarily, the first preset number may be 3. In the current judgment stage, if the pedal of the vehicle has been unused, and the number of candidate voltage differences in the first candidate difference set that are greater than the first threshold value reaches 3, it is determined that the vacuum sensor is in a faulty state.

[0049] In some embodiments, after the above step S21, the vacuum sensor fault determination method may further include the following steps: First, in response to each candidate voltage difference value in the first candidate difference value set not satisfying the first preset condition, each candidate voltage difference value after the second target moment and after the second preset time is added to the second candidate difference value set. The second target moment is the end moment of the first preset time. Then, the pedal of the vehicle is in use within the second preset time, and a third target moment is determined to determine the first candidate voltage difference value greater than the first threshold value from at least one remaining candidate voltage difference value, and the third target moment is the moment of the use state.

[0050] In the current judgment stage, the pedal of the vehicle has been in an unused state, and in the case that the number of candidate voltage difference values ​​greater than the first threshold value in the first candidate difference value set does not reach the first preset number, a second candidate difference value set is determined. The step of determining the second candidate difference value set may be: adding each candidate voltage difference value after a second preset time after a second target moment to the second candidate difference value set, the second target moment being the end moment of the first preset time in the current judgment stage. Exemplarily, the second preset time may be 60s.

[0051] After the second candidate difference set is determined as above, if the pedal of the vehicle is in use within the second preset time, it means that the pedal of the vehicle is switched from an unused state to an used state, and the current judgment stage is determined to be over. The third target moment is determined as the end moment of the current judgment stage. The third target moment is the moment of the use state, that is, the third target moment is the moment when the pedal of the vehicle switches from an unused state to an used state. After determining that the current judgment stage is over, the starting moment of the next judgment stage is determined. The starting moment of the next judgment stage is the end moment of the unit time corresponding to the first candidate voltage difference value greater than the first threshold value determined from at least one remaining candidate voltage difference value after the end of the current judgment stage.

[0052] It can be considered that by switching between different judgment stages when the vehicle pedal is in different states, it is possible to ensure that the judgment strategy of determining whether the vacuum sensor is faulty by combining the candidate voltage differences with preset conditions revolves around the entire vehicle driving process, thereby improving the stability of the vacuum sensor fault determination method.

[0053] In some embodiments, the above step S13 may include the following steps: in response to each candidate voltage difference in the second candidate difference set satisfying a first preset condition, determining that the vacuum sensor is in a fault state.

[0054] In some application scenarios, after the second candidate difference set is determined as described above, in the current judgment stage, the vehicle controller determines whether each candidate voltage difference in the second candidate difference set satisfies the first preset condition. In the current judgment stage, if the pedal of the vehicle has been unused, and the number of candidate voltage differences in the second candidate difference set that are greater than the first threshold value reaches a first preset number, it is determined that the vacuum sensor is in a faulty state. Exemplarily, the first preset number may be 3. In the current judgment stage, if the pedal of the vehicle has been unused, and the number of candidate voltage differences in the second candidate difference set that are greater than the first threshold value reaches 3, it is determined that the vacuum sensor is in a faulty state.

[0055] In some other application scenarios, in response to each candidate voltage difference in the second candidate difference set not satisfying the first preset condition, a target end time is determined. The target end time is the end time of the second preset time. Specifically, after the second candidate difference set is determined as above, the pedal of the vehicle has been in an unused state in the current judgment stage, and the number of candidate voltage differences in the second candidate difference set that are greater than the first threshold value does not reach the first preset number, the target end time is determined. Thus, the end of the current judgment stage is determined. The target end time is determined as the end time of the current judgment stage. After determining that the current judgment stage is over, the start time of the next judgment stage is determined, and the start time of the next judgment stage is the end time of the unit time corresponding to the first candidate voltage difference value greater than the first threshold value determined from at least one remaining candidate voltage difference value after the end of the current judgment stage.

[0056] It can be considered that after the first preset time in the current judgment stage ends, the judgment time of the current judgment stage is extended to ensure data validity, thereby improving the accuracy of determining whether the vacuum sensor is faulty.

[0057] In some embodiments, the preset condition includes a second preset condition, the second preset condition includes that the number of candidate voltage difference values ​​less than the second threshold value reaches a second preset number, and the candidate voltage difference values ​​in the candidate voltage difference value set are arranged in a sequence of the unit time to which they belong. The above step S12 may include the following steps: adding each candidate voltage difference value within the third preset time to a third candidate difference value set.

[0058] The third preset time may be the time required for a working cycle of the vacuum pump from the start of operation to the end of operation. Each candidate voltage difference value in the candidate voltage difference value set belonging to each third preset time is added to the third candidate difference value set. That is, one third preset time corresponds to one third candidate difference value set.

[0059] In some embodiments, the above step S13 may include the following steps: in response to each candidate voltage difference in the third candidate difference set satisfying a second preset condition, determining that the vacuum sensor is in a fault state.

[0060] The vehicle controller determines whether each candidate voltage difference in the first candidate difference set meets the second preset condition. When the number of candidate voltage differences in the third candidate difference set that is less than the second threshold reaches the second preset number, it is determined that the vacuum sensor is in a faulty state. Exemplarily, the second preset number may be 3. The second threshold is 0.02V. The second threshold can be converted to obtain a change value of 0.5kpa corresponding to the vacuum degree. When the number of candidate voltage differences in the third candidate difference set that is less than the second threshold reaches 3, it is determined that the vacuum sensor is in a faulty state. When the number of candidate voltage differences in the third candidate difference set that is less than the second threshold in the current third preset time does not reach the second preset number, it is determined whether each candidate voltage difference in the third candidate difference set corresponding to the next third preset time meets the second preset condition.

[0061] It can be considered that the present application does not need to limit whether the output voltage is in an increasing state or a decreasing state, that is, it does not need to limit whether the vacuum degree is increasing or decreasing. The present application has a larger scope of application for determining whether the vacuum degree sensor is faulty and is more accurate.

[0062] In some embodiments, the preset condition includes a third preset condition, the third preset condition includes that each candidate voltage difference is less than or equal to a third threshold value, and each candidate voltage difference in the candidate voltage difference value set is arranged in a sequence of the unit time to which it belongs. The above step S12 may include the following steps: in response to the vehicle being in a startup state, each candidate voltage difference value that has passed a fourth preset time after a fourth target moment is added to a fourth candidate difference value set, and the fourth target moment is the moment when the vehicle is in a startup state.

[0063] The vehicle being in the starting state may be when the vehicle speed increases from 0 km / h to a fixed value. For example, the vehicle being in the starting state may be when the vehicle speed increases from 0 km / h to at least 3 km / h. The fourth target time may be the time when the vehicle speeds up to the fixed value.

[0064] In some embodiments, the above step S13 may include the following steps: in response to each candidate voltage difference in the fourth candidate difference set satisfying a third preset condition, determining that the vacuum sensor is in a fault state.

[0065] The vehicle controller determines whether each candidate voltage difference in the fourth candidate difference set satisfies the third preset condition. In response to each candidate voltage difference in the fourth candidate difference set satisfying the third preset condition, that is, when each candidate voltage difference in the fourth candidate difference set is less than or equal to the third threshold, it is determined that the vacuum sensor is in a faulty state. Exemplarily, the third threshold is 0.02V. The third threshold can be converted to obtain a change value of 0.5kpa corresponding to the vacuum degree. In the case that the number of candidate voltage differences in the fourth candidate difference set does not exceed the third threshold, it is determined that the vacuum sensor is in a faulty state. In response to each candidate voltage difference in the fourth candidate difference set not satisfying the third preset condition, that is, when any candidate voltage difference in the fourth candidate difference set is greater than the number of the third threshold, the vehicle executes a normal start-stop strategy and determines whether the first preset condition, the second preset condition and the fourth preset condition are met.

[0066] It can be considered that when the vehicle is in the starting state, by determining whether each candidate voltage difference in the fourth candidate difference set satisfies the third preset condition, and then determining whether the vacuum sensor is faulty, it is possible to avoid false alarms of vacuum sensor failure when the vehicle is static, thereby improving the accuracy of determining the fault of the vacuum sensor. Because when the vehicle is static, the vehicle user may put his foot on the brake pedal, causing the brake light switch signal to change but the vacuum of the vacuum pump to remain unchanged.

[0067] In some embodiments, the preset condition includes a fourth preset condition, the fourth preset condition includes that each candidate voltage difference value is less than or equal to a fourth threshold value, and each candidate voltage difference value in the candidate voltage difference value set is arranged in order of the unit time to which they belong.

[0068] The above step S12 may include the following steps: first, in response to the pedal of the vehicle being in use, determine the first output voltage output by the vacuum sensor at the fifth target time, the fifth target time being the time of the use state. Then, in response to the first output voltage being less than the start threshold, and the presence of a preset number of candidate voltage difference values ​​being less than the fourth threshold value within the fifth preset time, add each candidate voltage difference value of the sixth preset time to the fifth candidate difference value set. The fifth preset time includes the forward preset time corresponding to the fifth target time and the backward preset time corresponding to the fifth target time, and the sixth preset time is after the backward preset time corresponding to the fifth target time.

[0069] After the vehicle is in the starting state, if the pedal of the vehicle is in the use state at any time, it means that the pedal of the vehicle is switched from the unused state to the used state at this time, and the time when the pedal of the vehicle is switched from the unused state to the used state is determined as the fifth target time. The output voltage of the vacuum sensor at the fifth target time is used as the first output voltage. The start threshold is the output voltage of the vacuum sensor obtained by converting the vacuum threshold when the vacuum pump is started. The start threshold can indicate that the vacuum pump can be started when the output voltage of the vacuum sensor reaches the start threshold.

[0070] The first output voltage output by the vacuum sensor at the fifth target moment is less than the start threshold, and the start candidate difference set is determined. The start candidate difference set includes each candidate difference voltage within the fifth preset time after the fifth target moment. It is judged whether each candidate difference voltage in the start candidate difference set meets the start preset condition. The start preset condition includes that the number of each candidate difference voltage is less than the fourth threshold reaches the start preset number. The number value corresponding to the preset number of candidate voltage differences is equal to the number value corresponding to the start preset number. In response to each candidate difference voltage in the start candidate difference set meeting the start preset condition, that is, when the number of each candidate difference voltage in the start candidate difference set is less than the fourth threshold reaches the start preset number, each candidate voltage difference of the sixth preset time is added to the fifth candidate difference set. In response to each candidate difference voltage in the start candidate difference set not meeting the start preset condition, when the number of each candidate difference voltage in the start candidate difference set is less than the fourth threshold does not reach the start preset number, the whole vehicle executes the normal start-stop strategy.

[0071] Exemplarily, the fifth preset time includes the forward preset time corresponding to the fifth target moment, which may be 1 second. The fifth preset time includes the backward preset time corresponding to the fifth target moment, which may be 2 seconds. The sixth preset time is after the backward preset time corresponding to the fifth target moment. The sixth preset time may be 15 seconds after the end time of the backward preset time corresponding to the fifth target moment.

[0072] In some embodiments, the above step S13 may include the following steps: in response to each candidate voltage difference in the fifth candidate difference set satisfying a fourth preset condition, determining that the vacuum sensor is in a fault state.

[0073] The vehicle controller determines whether each candidate voltage difference in the fifth candidate difference set meets the fourth preset condition. In response to each candidate voltage difference in the fifth candidate difference set meeting the fourth preset condition, that is, when each candidate voltage difference in the fifth candidate difference set is less than or equal to the fourth threshold, it is determined that the vacuum sensor is in a faulty state. Exemplarily, the fourth threshold is 0.02V. The fourth threshold can be converted to obtain a change value of 0.5kpa corresponding to the vacuum degree. In the case that there is no number of candidate voltage differences greater than the fourth threshold in the fifth candidate difference set, it is determined that the vacuum sensor is in a faulty state. In response to each candidate voltage difference in the fifth candidate difference set not meeting the fourth preset condition, that is, when there is any candidate voltage difference in the fifth candidate difference set greater than the fourth threshold, the vehicle executes a normal start-stop strategy.

[0074] It is understandable that when the vehicle executes the normal start-stop strategy, it can simultaneously determine whether each candidate voltage difference meets the first preset condition, the second preset condition, the third preset condition and the fourth preset condition. The judgment can be made in parallel or in series, and the order is not limited here.

[0075] Exemplarily, when judging the fourth preset condition, when the signal value of the vehicle brake pedal signal changes from 0 to 1, and the value of the first output voltage output by the vacuum sensor does not reach the start threshold, the minimum voltage value VAC0 within 1s before the fifth target time is recorded. When the fifth target time passes 2s, and the sensor output voltage value still does not reach the vacuum pump start threshold, the maximum voltage value VAC1 within the current 2s is recorded. If the candidate voltage difference is less than 0.02V during the recording process, it occurs at least three times, and the vacuum pump is forced to work for a maximum of 15s. Obtain several candidate output voltages output by the vacuum sensor after the vacuum pump works for 15s, and obtain the fifth candidate difference set. If each candidate voltage difference in the fifth candidate difference set meets the fourth preset condition, it is determined that the vacuum sensor is in a fault state. In addition, in some application scenarios, the second threshold, the third threshold, and the fourth threshold may correspond to the same or different output voltage values. In the case where the second threshold, the third threshold, and the fourth threshold can correspond to the same output voltage value, the second threshold, the third threshold, and the fourth threshold can be 0.02V respectively.

[0076] It can be considered that the fifth candidate difference value set determined by starting the threshold at this time is more accurate, thereby improving the accuracy of the vacuum sensor fault determination.

[0077] See also Figure 3 , Figure 3 This is a schematic diagram of a process of an embodiment of a method for determining a vacuum sensor fault of the present application. Figure 3. In some embodiments, after the above step S13, the method for determining the fault of the vacuum sensor further includes the following steps: Step S30: In response to the pedal of the vehicle being in use, determine the second output voltage output by the vacuum sensor at the sixth target moment. The sixth target moment is the moment of the use state. Step S31: Obtain a number of alternative output voltages. The several alternative output voltages are the output voltages output by the vacuum sensor after the sixth preset time at the sixth target moment. Step S32: In response to the difference between at least one of the several alternative output voltages and the second output voltage being greater than a preset threshold, adjust the vacuum sensor to a normal state.

[0078] After the vacuum sensor is in a faulty state, if the pedal of the vehicle is in use at any time, it means that the pedal of the vehicle is switched from an unused state to an used state at this time, and the time when the pedal of the vehicle is switched from an unused state to an used state is determined as the sixth target time. The output voltage output by the vacuum sensor at the sixth target time is used as the second output voltage. Each output voltage output by the vacuum sensor after the sixth preset time at the sixth target time is used as a plurality of alternative output voltages. Exemplarily, the sixth preset time is within 15 seconds after the sixth target time.

[0079] In response to the difference between at least one of the several alternative output voltages and the second output voltage being greater than a preset threshold, the step of adjusting the vacuum sensor to a normal state includes: determining the difference between each output voltage of the several alternative output voltages and the second output voltage as an alternative difference of each alternative output voltage. Determine whether the absolute value of the alternative difference of each alternative output voltage is greater than a preset threshold. In the case that at least one of the absolute values ​​is greater than the preset threshold, adjust the fault state of the vacuum sensor to a normal state so that the whole vehicle executes a normal start-stop strategy. In the case that any one of the absolute values ​​is less than or equal to the preset threshold, determine whether there is a situation in which the difference between at least one of the several alternative output voltages corresponding to the next sixth preset time and the second output voltage is greater than the preset threshold.

[0080] In the above scheme, the vehicle controller obtains a set of candidate output voltages related to the vehicle's vacuum sensor within at least one unit time, and then determines a set of candidate voltage difference values ​​corresponding to at least one unit time. The candidate voltage difference set includes a candidate voltage difference value corresponding to at least one unit time. Each candidate voltage difference value is the difference between the maximum output voltage and the minimum output voltage among several candidate output voltages within the same unit time. Each candidate voltage difference value can accurately reflect the degree of output voltage change. In response to each candidate voltage difference value satisfying a preset condition, it is determined that the vacuum sensor is in a fault state so as to display display information related to the vacuum sensor fault. Compared with using only the output voltage size at a single moment to determine whether the vacuum sensor is faulty, which may be inaccurate, the present application determines the state of the vacuum sensor by combining each candidate voltage difference value with a preset condition, which can improve the accuracy of the vacuum sensor fault determination.

[0081] See also Figure 4 , Figure 4 It is a structural schematic diagram of an embodiment of a vacuum sensor fault determination device of the present application. The vacuum sensor fault determination device 40 includes an acquisition module 41, a first determination module 42 and a second determination module 43. The acquisition module 41 is used for the vehicle controller to acquire a candidate output voltage set related to the vacuum sensor of the vehicle within at least one unit time, the candidate output voltage set includes a plurality of candidate output voltages, each candidate output voltage is each output voltage output by the vacuum sensor within a preset time; the first determination module 42 is used to determine a candidate voltage difference set corresponding to at least one unit time, the candidate voltage difference set includes a candidate voltage difference corresponding to at least one unit time, each candidate voltage difference is an absolute value corresponding to each candidate difference, and each candidate difference is the difference between the maximum output voltage and the minimum output voltage in the same unit time among the plurality of candidate output voltages; the second determination module 43 is used to determine that the vacuum sensor is in a fault state in response to each candidate voltage difference satisfying a preset condition so as to display display information related to the vacuum sensor fault.

[0082] In the above scheme, the vehicle controller obtains a set of candidate output voltages related to the vehicle's vacuum sensor within at least one unit time, and then determines a set of candidate voltage difference values ​​corresponding to at least one unit time. The candidate voltage difference set includes a candidate voltage difference value corresponding to at least one unit time. Each candidate voltage difference value is the difference between the maximum output voltage and the minimum output voltage among several candidate output voltages within the same unit time. Each candidate voltage difference value can accurately reflect the degree of output voltage change. In response to each candidate voltage difference value satisfying a preset condition, it is determined that the vacuum sensor is in a fault state so as to display display information related to the vacuum sensor fault. Compared with using only the output voltage size at a single moment to determine whether the vacuum sensor is faulty, which may be inaccurate, the present application determines the state of the vacuum sensor by combining each candidate voltage difference value with a preset condition, which can improve the accuracy of the vacuum sensor fault determination.

[0083] For the functions performed by each module, please refer to the fault determination method of the vacuum sensor, which will not be repeated here.

[0084] See also Figure 5 , Figure 5 : is a schematic diagram of the structure of an embodiment of a vehicle of the present application. The electronic device 50 includes a memory 51 and a processor 52, and the processor 52 is used to execute program instructions stored in the memory 51 to implement the steps in the embodiment of the vacuum sensor fault determination method. In a specific implementation scenario, the electronic device 50 may include but is not limited to: a microcomputer, a server, and in addition, the electronic device 50 may also include a mobile device such as a laptop computer and a tablet computer, which is not limited here.

[0085] Specifically, the processor 52 is used to control itself and the memory 51 to implement the steps in the above-mentioned vacuum sensor fault determination method embodiment. The processor 52 can also be called a CPU (Central Processing Unit). The processor 52 may be an integrated circuit chip with signal processing capabilities. The processor 52 can also be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field-programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. In addition, the processor 52 can be implemented by an integrated circuit chip.

[0086] In the above scheme, the vehicle controller obtains a set of candidate output voltages related to the vehicle's vacuum sensor within at least one unit time, and then determines a set of candidate voltage difference values ​​corresponding to at least one unit time. The candidate voltage difference set includes a candidate voltage difference value corresponding to at least one unit time. Each candidate voltage difference value is the difference between the maximum output voltage and the minimum output voltage among several candidate output voltages within the same unit time. Each candidate voltage difference value can accurately reflect the degree of output voltage change. In response to each candidate voltage difference value satisfying a preset condition, it is determined that the vacuum sensor is in a fault state so as to display display information related to the vacuum sensor fault. Compared with using only the output voltage size at a single moment to determine whether the vacuum sensor is faulty, which may be inaccurate, the present application determines the state of the vacuum sensor by combining each candidate voltage difference value with a preset condition, which can improve the accuracy of the vacuum sensor fault determination.

[0087] See also Figure 6 , Figure 6 The computer-readable storage medium 60 stores program instructions 601, which, when executed by a processor, implement the steps in any of the above-mentioned vacuum sensor fault determination method embodiments.

[0088] In the above scheme, the vehicle controller obtains a set of candidate output voltages related to the vehicle's vacuum sensor within at least one unit time, and then determines a set of candidate voltage difference values ​​corresponding to at least one unit time. The candidate voltage difference set includes a candidate voltage difference value corresponding to at least one unit time. Each candidate voltage difference value is the difference between the maximum output voltage and the minimum output voltage among several candidate output voltages within the same unit time. Each candidate voltage difference value can accurately reflect the degree of output voltage change. In response to each candidate voltage difference value satisfying a preset condition, it is determined that the vacuum sensor is in a fault state so as to display display information related to the vacuum sensor fault. Compared with using only the output voltage size at a single moment to determine whether the vacuum sensor is faulty, which may be inaccurate, the present application determines the state of the vacuum sensor by combining each candidate voltage difference value with a preset condition, which can improve the accuracy of the vacuum sensor fault determination.

[0089] In some embodiments, the functions or modules included in the system provided by the embodiments of the present disclosure can be used to execute the method described in the above method embodiments. The specific implementation can refer to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

[0090] The above description of various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other, and for the sake of brevity, they will not be repeated herein.

[0091] In the several embodiments provided in the present application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device implementation described above is only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation, such as units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0092] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0093] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of each implementation method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

Claims

1. A method for determining a vacuum sensor fault, characterized in that: The method comprises: The vehicle controller obtains a candidate output voltage set related to a vacuum sensor of the vehicle within at least one unit time, wherein the candidate output voltage set includes a plurality of candidate output voltages, each of which is an output voltage output by the vacuum sensor within a preset time; Determine a candidate voltage difference value set corresponding to the at least one unit time, the candidate voltage difference value set including at least one candidate voltage difference value corresponding to the at least one unit time, each candidate voltage difference value being a difference between a maximum output voltage and a minimum output voltage of the plurality of candidate output voltages within the same unit time; In response to each of the candidate voltage difference values ​​satisfying a preset condition, it is determined that the vacuum sensor is in a fault state so as to display display information related to the vacuum sensor fault.

2. The method according to claim 1, characterized in that The preset condition includes a first preset condition, the first preset condition includes that the pedal of the vehicle is in an unused state, and the number of the candidate voltage difference values ​​greater than the first threshold reaches a first preset number, and the candidate voltage difference values ​​in the candidate voltage difference value set are arranged in a sequence of the unit times to which they belong; The determining of the candidate voltage difference value set corresponding to the at least one unit time includes: Determine the first candidate voltage difference value in the candidate voltage difference value set that is greater than the first threshold as the starting voltage difference value; adding each of the candidate voltage difference values ​​that is a first preset time after a first target time to a first candidate difference value set, wherein the first target time is an end time of a unit time corresponding to the starting voltage difference value; In response to each of the candidate voltage difference values ​​satisfying a preset condition, determining that the vacuum sensor is in a fault state includes: In response to each of the candidate voltage difference values ​​in the first candidate difference value set satisfying the first preset condition, it is determined that the vacuum degree sensor is in a fault state.

3. The method according to claim 2, characterized in that After adding each of the candidate voltage difference values ​​that are after the first target moment for a first preset time into the first candidate difference value set, the method further includes: In response to each of the candidate voltage difference values ​​in the first candidate difference value set not satisfying the first preset condition, adding each of the candidate voltage difference values ​​after a second target moment after a second preset time to a second candidate difference set, wherein the second target moment is an end moment of the first preset time; The pedal of the vehicle is in use during the second preset time, a third target time is determined so as to determine the first candidate voltage difference value greater than the first threshold value from at least one remaining candidate voltage difference value, the third target time being the time when the use state is in place; or, In response to each of the candidate voltage difference values ​​satisfying a preset condition, determining that the vacuum sensor is in a fault state includes: In response to each of the candidate voltage difference values ​​in the second candidate difference value set satisfying the first preset condition, it is determined that the vacuum degree sensor is in a fault state.

4. The method according to any one of claims 1 to 3, characterized in that The preset condition includes a second preset condition, wherein the second preset condition includes that the number of the candidate voltage difference values ​​less than the second threshold value reaches a second preset number, and the candidate voltage difference values ​​in the candidate voltage difference value set are arranged in a sequence of the unit times to which they belong; In response to each of the candidate voltage difference values ​​satisfying a preset condition, determining that the vacuum sensor is in a fault state includes: adding each of the candidate voltage difference values ​​within a third preset time into a third candidate difference value set; In response to each of the candidate voltage difference values ​​satisfying a preset condition, determining that the vacuum sensor is in a fault state includes: In response to each of the candidate voltage difference values ​​in the third candidate difference value set satisfying the second preset condition, it is determined that the vacuum degree sensor is in a fault state.

5. The method according to any one of claims 1 to 3, characterized in that: The preset condition includes a third preset condition, wherein the third preset condition includes that each of the candidate voltage difference values ​​is less than or equal to a third threshold value, and each of the candidate voltage difference values ​​in the candidate voltage difference value set is arranged in a sequence of the corresponding unit times; In response to each of the candidate voltage difference values ​​satisfying a preset condition, determining that the vacuum sensor is in a fault state includes: In response to the vehicle being in a startup state, adding each of the candidate voltage difference values ​​after a fourth target time after a fourth preset time to a fourth candidate difference value set, wherein the fourth target time is the time when the vehicle is in the startup state; In response to each of the candidate voltage difference values ​​satisfying a preset condition, determining that the vacuum sensor is in a fault state includes: In response to each of the candidate voltage difference values ​​in the fourth candidate difference value set satisfying the third preset condition, it is determined that the vacuum degree sensor is in a fault state.

6. The method according to any one of claims 1 to 3, characterized in that: The preset condition includes a fourth preset condition, the fourth preset condition includes that each of the candidate voltage difference values ​​is less than or equal to a fourth threshold value, and the candidate voltage difference values ​​in the candidate voltage difference value set are arranged in a sequence of the corresponding unit times; The determining of the candidate voltage difference value set corresponding to the at least one unit time includes: In response to a pedal of the vehicle being in a use state, determining a first output voltage output by the vacuum sensor at a fifth target time, the fifth target time being a time at which the use state is located; In response to the first output voltage being less than the start threshold and a preset number of candidate voltage difference values ​​being less than the fourth threshold within a fifth preset time, each of the candidate voltage difference values ​​within a sixth preset time is added to a fifth candidate difference value set, the fifth preset time comprising a forward preset time corresponding to the fifth target moment and a backward preset time corresponding to the fifth target moment, the sixth preset time being after the backward preset time corresponding to the fifth target moment; In response to each of the candidate voltage difference values ​​satisfying a preset condition, determining that the vacuum sensor is in a fault state includes: In response to each of the candidate voltage difference values ​​in the fifth candidate difference value set satisfying the fourth preset condition, it is determined that the vacuum degree sensor is in a fault state.

7. The method according to any one of claims 1 to 3, characterized in that After determining that the vacuum sensor is in a fault state in response to each of the candidate voltage difference values ​​meeting a preset condition, the method further includes: In response to a pedal of the vehicle being in a use state, determining a second output voltage output by the vacuum sensor at a sixth target time, the sixth target time being a time at which the use state is located; Acquire a plurality of candidate output voltages, where the plurality of candidate output voltages are output voltages output by the vacuum sensor after a sixth preset time at the sixth target time; In response to a difference between at least one of the plurality of alternative output voltages and the second output voltage being greater than a preset threshold, the vacuum sensor is adjusted to a normal state.

8. A vacuum sensor fault determination device, characterized in that: include: An acquisition module is used for the vehicle controller to acquire a candidate output voltage set related to the vacuum sensor of the vehicle within at least one unit time, wherein the candidate output voltage set includes a plurality of candidate output voltages, each of which is an output voltage output by the vacuum sensor within the preset time; A first determining module is used to determine a candidate voltage difference value set corresponding to the at least one unit time, the candidate voltage difference set includes a candidate voltage difference value corresponding to at least one unit time, each candidate voltage difference value is an absolute value corresponding to each candidate difference value, and each candidate difference value is a difference between a maximum output voltage and a minimum output voltage of the plurality of candidate output voltages within the same unit time; The second determination module is configured to determine that the vacuum sensor is in a fault state in response to each of the candidate voltage difference values ​​satisfying a preset condition so as to display information related to the vacuum sensor fault.

9. An electronic device, characterized in that: include: A memory and a processor, wherein the memory stores program instructions, and the processor retrieves the program instructions from the memory to execute the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having program instructions stored thereon, characterized in that: When the program instructions are executed by a processor, they are used to implement the method according to any one of claims 1 to 7.

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