Accelerator pedal fault detection and processing method and device

Abstract

The invention relates to the technical field of vehicle safety, and provides an accelerator pedal fault detection and processing method and device.A multi-channel parallel output safety mechanism is adopted, the output of an accelerator pedal is set to be two parallel sampling voltage signals, and the two sampling voltage signals adopt different voltage ranges; in the vehicle driving process, the state of the accelerator pedal is detected based on the sampling values of the two paths of sampling voltage signals; and executing corresponding torque output logic according to the state detection result. According to the method, through function safety analysis and safety mechanism design, failure reasons and failure modes in driver pedal torque demand calculation are found out and monitored, it is guaranteed that a vehicle control unit correctly calculates the torque demand from a driver, and the function safety level requirement is guaranteed; meanwhile, when a fault occurs, reasonable output logic can be accurately and quickly executed, unacceptable safety risks are avoided, and the safety and usability of the vehicle are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle safety detection, and in particular to a method and device for detecting and processing accelerator pedal fault. Background Art

[0002] With the popularization of intelligent and electrified vehicles, more and more electronic and electrical systems are integrated into vehicles. The more complex the electronic and electrical design means a higher possibility of electrical failure, and the safety of the control system is gradually receiving more attention.

[0003] The accelerator pedal on a pure electric vehicle is the input source of the vehicle's power. Incorrect pedal position detection or unreasonable processing logic can lead to a loss of power in the vehicle, or even unexpected and uncontrollable acceleration, which can have extremely serious consequences for the driver or passengers. Therefore, safety design related to the accelerator pedal is essential, and in the design of functional safety, more stringent requirements are also put forward for the accelerator pedal.

[0004] In the current electric heavy truck industry, the accelerator pedal only performs voltage detection and signal transmission, and cannot effectively detect its failure mode, and the fault diagnosis coverage is insufficient. At the same time, the signal receiving unit (vehicle controller) has a simple logic for checking the two signals sent by the accelerator pedal, and the fault handling and recovery strategy is unreasonable. When the pedal fails, the vehicle will lose power and cannot be recovered, or the fault cannot be detected, resulting in unexpected acceleration, which seriously affects the user experience and safety. Summary of the invention

[0005] The present invention provides an accelerator pedal fault detection and processing method and device, which are used to solve the problems in the prior art of insufficient fault diagnosis coverage and erroneous detection or processing logic leading to serious consequences for the vehicle, ensure that the vehicle controller correctly calculates the torque demand, and improve safety and availability.

[0006] The present invention provides an accelerator pedal fault detection and processing method, which is used in a vehicle controller and includes the following steps: A multi-channel parallel output safety mechanism is adopted to set the output of the accelerator pedal as two parallel sampling voltage signals, wherein the two sampling voltage signals adopt different voltage ranges; During the driving of the vehicle, the state of the accelerator pedal is detected based on the sampled values ​​of the two sampled voltage signals; According to the status detection result, the corresponding torque output logic is executed.

[0007] According to an accelerator pedal fault detection and processing method provided by the present invention, the multi-channel parallel output safety mechanism is obtained according to the vehicle safety design target specified in the safety level; The two parallel sampling voltage signals are respectively a first sampling voltage signal and a second sampling voltage signal, wherein the first sampling voltage signal adopts a first voltage range, and the second sampling voltage signal adopts a second voltage range, and the first voltage range and the second voltage range are designed to meet the reasonable voltage range specified by the safety level; Correspondingly, the steps of adopting a multi-channel parallel output safety mechanism and setting the output of the accelerator pedal as two parallel sampling voltage signals specifically include: Within the reasonable voltage range specified by the safety level, the two parallel sampling voltage signals are set to a specific correlation relationship.

[0008] According to an accelerator pedal fault detection and processing method provided by the present invention, the specific association relationship specifically includes: Within the reasonable voltage range specified by the safety level, the two parallel sampling voltage signals are set to a multiple relationship.

[0009] According to an accelerator pedal fault detection and processing method provided by the present invention, the specific association relationship specifically includes: Within the reasonable voltage range specified by the safety level, the two parallel sampling voltage signals are set to a gradient relationship.

[0010] According to an accelerator pedal fault detection and processing method provided by the present invention, the step of detecting the state of the accelerator pedal based on the sampled values ​​of the two-way sampled voltage signals specifically includes: If one of the two sampling voltage signals receives an invalid input signal, or the sampling values ​​of the two sampling voltage signals exceed the corresponding voltage range, it is determined that the input information of the accelerator pedal is invalid; If the sampling value of one of the two sampling voltage signals exceeds the corresponding voltage range, and the sampling value of the other sampling voltage signal is within the corresponding voltage range, it is determined that the accelerator pedal is in the first fault state; If the sampling values ​​of the two sampling voltage signals are both within the corresponding voltage range, the correlation of the two sampling voltage signals is determined; When the two sampling voltage signals meet the specific correlation relationship, determining that the accelerator pedal is in a normal state; When the two sampling voltage signals do not conform to the specific association relationship, it is determined that the accelerator pedal is in the second fault state.

[0011] According to an accelerator pedal fault detection and processing method provided by the present invention, the steps of executing the corresponding torque output logic according to the state detection result specifically include: When the input information of the accelerator pedal is invalid, controlling the accelerator pedal to enter a safety mode and prohibiting output of pedal torque; When the accelerator pedal is in the first fault state, a sampled voltage signal exceeding a corresponding voltage range is determined to be an invalid signal, and a sampled voltage signal within the corresponding voltage range is determined to be a valid signal, the accelerator pedal is controlled to perform degradation measures, a sampled value of the valid signal is transformed by a preset ratio, and the transformation result is used for pedal torque calculation; When the accelerator pedal is in a normal state, using any sampling voltage signal to calculate the pedal torque; When the accelerator pedal is in the second fault state, the accelerator pedal is controlled to perform degradation measures, and the pedal torque is calculated using a sampling voltage signal with a relatively smaller sampling value, and the relative sampling value is calculated through the specific association relationship.

[0012] According to an accelerator pedal fault detection and processing method provided by the present invention, after the torque output logic corresponding to the fault state of the accelerator pedal is executed, the input voltage of the accelerator pedal is reset to zero and then restored to normal voltage input, and the sampling values ​​of the two-way sampling voltage signals are reacquired, and the state of the accelerator pedal is detected based on the sampling values ​​of the two-way sampling voltage signals; If a fault state is detected three times in succession, the accelerator pedal is controlled to enter a safety mode and the output of pedal torque is prohibited; After the vehicle is powered off and then powered on again, the state detection of the accelerator pedal is resumed.

[0013] The present invention also provides an accelerator pedal fault detection and processing device, which is used in a vehicle controller and includes the following modules: A parallel output setting module is used to adopt a multi-channel parallel output safety mechanism to set the output of the accelerator pedal to two parallel sampling voltage signals, wherein the two sampling voltage signals use different voltage ranges; A state detection module, used for detecting the state of the accelerator pedal based on the sampled values ​​of the two-way sampled voltage signals during vehicle driving; The execution module is used to execute the corresponding torque output logic according to the state detection result.

[0014] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the accelerator pedal fault detection and processing method as described above is implemented.

[0015] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the accelerator pedal fault detection and processing method as described in any one of the above is implemented.

[0016] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements any of the above-mentioned accelerator pedal fault detection and processing methods.

[0017] The accelerator pedal fault detection and processing method and device provided by the present invention adopts a multi-channel parallel output safety mechanism to set the output of the accelerator pedal to two parallel sampling voltage signals, wherein the two sampling voltage signals use different voltage ranges; during vehicle driving, the state of the accelerator pedal is detected based on the sampling values ​​of the two sampling voltage signals; and the corresponding torque output logic is executed according to the state detection result. The present invention finds out the failure cause and failure mode in the calculation of the driver's pedal torque demand through functional safety analysis and safety mechanism design, and monitors them to ensure that the vehicle controller correctly calculates the torque demand from the driver and meets the functional safety level requirements; at the same time, when a fault occurs, it can accurately and quickly execute reasonable output logic to avoid unacceptable safety risks and improve the safety and availability of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is one of the flow charts of the accelerator pedal fault detection and processing method provided by the present invention.

[0020] Figure 2 This is the second flow chart of the accelerator pedal fault detection and processing method provided by the present invention.

[0021] Figure 3 It is a structural schematic diagram of the accelerator pedal fault detection and processing device provided by the present invention.

[0022] Figure 4 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] The present invention is described in detail below in conjunction with the accompanying drawings of the specification. The specific operating method in the method embodiment can also be applied to the device embodiment or the system embodiment. In the description of the present invention, unless otherwise specified, "at least one" includes one or more. "Multiple" refers to two or more. For example, at least one of A, B and C includes: A exists alone, B exists alone, A and B exist at the same time, A and C exist at the same time, B and C exist at the same time, and A, B and C exist at the same time. In the present invention, " / " means or, for example, A / B can mean A or B; "and / or" in this article is only a kind of association relationship that describes the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0025] The present invention will be described in detail below in conjunction with specific implementation modes.

[0026] In some specific embodiments of the present invention, Figure 1 As shown, this solution provides an accelerator pedal fault detection and processing method for a vehicle controller, including: Step 100, using a multi-channel parallel output safety mechanism, setting the output of the accelerator pedal to two parallel sampling voltage signals, wherein the two sampling voltage signals use different voltage ranges; Step 200: During vehicle driving, the state of the accelerator pedal is detected based on the sampled values ​​of the two sampled voltage signals; Step 300: Execute corresponding torque output logic according to the state detection result.

[0027] It should be noted that the existing accelerator pedal fault detection and processing solutions cannot achieve state-by-state execution, and the accelerator pedal can only perform voltage detection and signal transmission, and cannot effectively detect its own failure mode. The fault diagnosis coverage is insufficient, the signal verification logic is simple, and the fault handling and recovery strategies are unreasonable. When the pedal fails, the vehicle will lose power and cannot be recovered, or the fault cannot be detected, resulting in unexpected acceleration, seriously affecting the user experience and safety.

[0028] Therefore, the present invention sets two parallel voltage sampling signals, determines the state of the accelerator pedal according to the sampling values ​​of each voltage sampling signal, and executes different pedal torque output logics according to different accelerator pedal states. The pedal torque output logic can be to output no pedal torque or to output a certain proportion of pedal torque. The above-mentioned setting of the present invention, through functional safety analysis and safety mechanism design, finds out the failure causes and failure modes in the calculation of the driver's pedal torque demand, and monitors them to ensure that the vehicle controller correctly calculates the torque demand from the driver, ensures the functional safety level requirements, can accurately and quickly execute reasonable torque output, ensures that there will be no unacceptable safety risks, and improves the safety and availability of the vehicle.

[0029] In this embodiment, the vehicle controller VCU serves as the receiver and processing unit of the accelerator pedal signal, and proposes a diagnosis and processing logic of the pedal voltage signal for the vehicle controller from the perspective of functional safety.

[0030] Combine the following Figure 2 The above steps are explained in detail.

[0031] In some possible embodiments of the present invention, Figure 2 As shown, the safety mechanism of the multi-channel parallel output is obtained according to the vehicle safety design goal specified in the safety level; The two parallel sampling voltage signals are respectively a first sampling voltage signal and a second sampling voltage signal, wherein the first sampling voltage signal adopts a first voltage range, and the second sampling voltage signal adopts a second voltage range, and the first voltage range and the second voltage range are designed to meet the reasonable voltage range specified by the safety level; Correspondingly, the steps of adopting a multi-channel parallel output safety mechanism and setting the output of the accelerator pedal as two parallel sampling voltage signals specifically include: Within the reasonable voltage range specified by the safety level, the two parallel sampling voltage signals are set to a specific correlation relationship.

[0032] Specifically, this embodiment provides an implementation method for two parallel sampling voltage signals. Through the vehicle safety design goals specified in the safety level, a multi-channel parallel output safety mechanism is set to obtain a reasonable voltage range for the accelerator pedal output voltage. On this basis, the two parallel sampling voltage signals are set to a specific association relationship. Here, the specific association relationship is pre-set according to the actual scenario.

[0033] In a possible embodiment, the design of the two voltages must meet ASIL B, and the redundant design must meet ASIL C, that is, the two voltage output design and the verification logic of the VCU must meet ASIL C.

[0034] It is understandable that the detection result of the accelerator pedal is the input source of torque. From the perspective of functional safety, design requirements need to be put forward for the accelerator pedal.

[0035] It is worth noting that the safety level of the functional safety goal "avoid unexpected acceleration" is ASIL C. The safety mechanism is derived from the safety goal. In the functional safety design, the detection unit, processing unit and execution unit all need to meet the level of the safety goal.

[0036] In a possible embodiment, from the perspective of hardware safety, a multi-channel parallel output safety mechanism is adopted, the output amounts of two sampling voltages are set, and different reasonable voltage ranges are adopted.

[0037] At the same time, in order to improve the fault diagnosis coverage, a voltage or current controlled safety mechanism is used to perform fault diagnosis on the pedal sensor power input, and an invalid position signal is output when the input voltage is invalid.

[0038] Furthermore, the design of the accelerator pedal needs to meet the random hardware failure metrics of the corresponding functional safety level. The ASIL C requirement for hardware is no more than 100 FIT.

[0039] In a possible embodiment, different voltage ranges may be set, such as the first sampling voltage signal adopts a voltage range of 0-5V, and the second sampling voltage signal adopts a voltage range of 0-10V.

[0040] In some possible implementations of the present invention, the specific association relationship specifically includes: Within the reasonable voltage range specified by the safety level, the two parallel sampling voltage signals are set to a multiple relationship.

[0041] Specifically, this embodiment provides an implementation method of a specific association relationship, which can set the two sampling voltage signals to a multiple relationship, that is, when the accelerator pedal outputs normally, the sampling values ​​of the two sampling voltage signals should be in a multiple relationship.

[0042] For example, when the accelerator pedal outputs normally, if the sampling values ​​of the two sampling voltage signals are set to a 2-fold relationship, at this time, if the sampling value of one voltage signal is 3V, then the sampling value of the other voltage signal should be 6V.

[0043] In some possible implementations of the present invention, the specific association relationship specifically includes: Within the reasonable voltage range specified by the safety level, the two parallel sampling voltage signals are set to a gradient relationship.

[0044] Specifically, this embodiment provides another implementation of a specific association relationship, which can set the two-way sampled voltage signals to a gradient relationship, that is, when the accelerator pedal outputs normally, the sampling values ​​of the two-way sampled voltage signals should be a gradient relationship.

[0045] For example, when the accelerator pedal outputs normally, if the sampling values ​​of the two sampling voltage signals are set to a gradient relationship, at this time, if the sampling value of one voltage signal is 3V, then the sampling value of the other voltage signal should be 1 / 3V.

[0046] It can be understood that this setting of the present invention fully considers the situation where the two sampled voltage signals are in different correlation relationships. Under different correlation relationships, users have different requirements for the reasonable voltage range adopted by the voltage signal. Subsequently, the state detection method of the accelerator pedal is also different according to the sampling values ​​of the two voltage signals. Therefore, it is necessary to perform corresponding detection and processing on the operating state of the accelerator pedal itself according to the user's special settings, so as to more accurately locate the node where the fault occurs and improve the efficiency and accuracy of fault detection.

[0047] It is worth noting that the association relationship mentioned in this embodiment includes not only multiple relationships and gradient relationships, but also other preset specific relationships, such as equal slopes, adding up to a fixed value, etc. For example, one of the two paths is 1V and the other is 5V, and the next moment one is 2V and the other is 4V; for example, one is a rise of unit 1, and the other is a fall of unit 1. The setting of different association relationships can meet different needs of users and enhance the user experience.

[0048] In some possible implementations of the present invention, the step of detecting the state of the accelerator pedal based on the sampled values ​​of the two sampled voltage signals specifically includes: If one of the two sampling voltage signals receives an invalid input signal, or the sampling values ​​of the two sampling voltage signals exceed the corresponding voltage range, it is determined that the input information of the accelerator pedal is invalid; If the sampling value of one of the two sampling voltage signals exceeds the corresponding voltage range, and the sampling value of the other sampling voltage signal is within the corresponding voltage range, it is determined that the accelerator pedal is in the first fault state; If the sampling values ​​of the two sampling voltage signals are both within the corresponding voltage range, the correlation of the two sampling voltage signals is determined; When the two sampling voltage signals meet the specific correlation relationship, determining that the accelerator pedal is in a normal state; When the two sampling voltage signals do not conform to the specific association relationship, it is determined that the accelerator pedal is in the second fault state.

[0049] Specifically, this embodiment provides an implementation method for detecting the state of the accelerator pedal, by analyzing two sampling values ​​and determining the state of the accelerator pedal according to the analysis result.

[0050] In a possible embodiment, the VCU needs to ensure the rationality of each voltage signal and adopt a safety mechanism of the effective range of the sensor. If invalid sensor information is received, or both signals exceed a reasonable voltage range, the pedal input information is determined to be invalid; if only one signal exceeds its reasonable voltage range, the voltage signal is determined to be invalid, and degradation measures are executed. At this time, the accelerator pedal is determined to be in a fault state, which can be defined as the first fault state here; if both voltage signals are within a reasonable range, it cannot be directly determined that the accelerator pedal is in a normal state at this time, and a sensor correlation safety mechanism must be further adopted to perform correlation judgment on the two voltage inputs; on this basis, it is necessary to make a judgment based on a pre-set specific correlation relationship. If the two sampled voltage signals meet the specific correlation relationship, the pedal state is determined to be normal; otherwise, the pedal state is determined to be abnormal and is a fault state.

[0051] In a possible embodiment, for the correlation judgment of two voltage inputs, for example, if the preset specific correlation relationship is a multiple relationship, it is necessary to convert one voltage signal according to a ratio and compare the difference with the other voltage signal. If the difference is greater than a preset range, it is determined that the pedal test is inconsistent, and the accelerator pedal is considered to be in a fault state.

[0052] In a possible embodiment, if the preset specific association relationship is a gradient relationship, it is also necessary to convert one voltage signal according to the gradient relationship and compare the difference with another voltage signal. If the difference is greater than the preset range, it is determined that the pedal inspection is inconsistent, and the accelerator pedal is considered to be in a fault state.

[0053] In some possible implementations of the present invention, the steps of executing the corresponding torque output logic according to the state detection result specifically include: When the input information of the accelerator pedal is invalid, controlling the accelerator pedal to enter a safety mode and prohibiting output of pedal torque; When the accelerator pedal is in the first fault state, a sampled voltage signal exceeding a corresponding voltage range is determined to be an invalid signal, and a sampled voltage signal within the corresponding voltage range is determined to be a valid signal, the accelerator pedal is controlled to perform degradation measures, a sampled value of the valid signal is transformed by a preset ratio, and the transformation result is used for pedal torque calculation; When the accelerator pedal is in a normal state, using any sampling voltage signal to calculate the pedal torque; When the accelerator pedal is in the second fault state, the accelerator pedal is controlled to perform degradation measures, and the pedal torque is calculated using a sampling voltage signal with a relatively smaller sampling value, and the relative sampling value is calculated through the specific association relationship.

[0054] Specifically, this embodiment provides an implementation method of the torque output logic, which determines the operating state of the accelerator pedal based on the sampled value of the sampled voltage signal and the preset specific association relationship, and then calculates the pedal torque in combination with the sampled value of the voltage signal under this operating state, and then outputs the torque based on the pedal torque calculation result, to ensure that the vehicle controller correctly calculates the torque demand from the driver, ensures the functional safety level requirements, and improves the safety and availability of the vehicle.

[0055] In a possible embodiment, when input information of the accelerator pedal is invalid, the accelerator pedal is controlled to enter a safety mode, and output of the pedal torque is prohibited.

[0056] It is worth noting that the present embodiment first detects the input information of the accelerator pedal to determine whether the input of the accelerator pedal is valid, that is, the input excitation signal of the two-way sampled voltage signal is determined, and the subsequent judgments must be based on the validity of the input excitation information. If the input excitation signal is invalid, the sampled value of the voltage sampling signal must also be invalid. At this time, the accurate state of the accelerator pedal cannot be accurately determined later. At this time, the accelerator pedal should be prohibited from outputting pedal torque to ensure the safety of the vehicle.

[0057] In a possible embodiment, when the accelerator pedal is in the first fault state, if the sampling value of the first voltage signal exceeds the first voltage range, and the sampling value of the second voltage signal is within the corresponding second voltage range, the first voltage signal is determined to be an invalid signal and the second voltage signal is a valid signal. At this time, the torque corresponding to the valid signal can be transformed according to the preset ratio according to the actual vehicle design requirements, and the transformed torque is used for pedal torque output. For example, if the preset ratio of the acceleration stage can be set to 70% and the preset ratio of the deceleration stage can be set to 50% in this embodiment, 70% of the second voltage signal is used for torque calculation in the acceleration stage, and 50% of the second voltage signal is used for torque calculation in the deceleration stage.

[0058] In a possible embodiment, when the accelerator pedal is in a normal state, if both sampled voltage signals are within the corresponding voltage range, that is, the first sampled voltage signal is within the first voltage range, and the second sampled voltage signal is within the second voltage range, and the first sampled voltage signal and the second sampled voltage signal conform to a preset specific correlation relationship, then one sampled voltage signal is selected to calculate the pedal torque, and the pedal torque corresponding to the sampled voltage signal is output.

[0059] In a possible embodiment, when the accelerator pedal is in the second fault state, if both sampled voltage signals are within the corresponding voltage range, that is, the first sampled voltage signal is within the first voltage range, and the second sampled voltage signal is within the second voltage range, but the first sampled voltage signal and the second sampled voltage signal do not conform to a preset specific correlation relationship, then it cannot be determined which sampled voltage signal is the accurate voltage output signal. To ensure the safety of the vehicle, the torque corresponding to the sampled voltage signal with a relatively smaller sampling value may be used for output.

[0060] The relative sampling value in this embodiment is calculated through a preset specific association relationship. For example, the two sampling voltage signals adopt a multiple relationship. The voltage range of the first sampling voltage signal is 0-5V, and the sampling value is 3V. The voltage range of the second sampling voltage signal is 0-10V, and the sampling value is 5V. Then the relative sampling value of the first sampling voltage signal is 2×3V=6V. 6V and 5V are compared, and the pedal torque is calculated according to the sampling value of 5V.

[0061] The above-mentioned setting of this embodiment ensures that the vehicle controller correctly calculates the torque demand from the driver through the diagnostic logic and fault handling logic of a functional safety mechanism, thereby ensuring that the vehicle correctly responds to the driver's throttle demand, avoiding uncontrollable serious safety hazards such as unexpected acceleration, and improving the safety of the product.

[0062] In some possible implementations of the present invention, after the torque output logic corresponding to the fault state of the accelerator pedal is executed, the input voltage of the accelerator pedal is reset to zero and then restored to normal voltage input, the sampled values ​​of the two-way sampled voltage signals are acquired again, and the state of the accelerator pedal is detected based on the sampled values ​​of the two-way sampled voltage signals; When a fault state is detected three times in succession, the accelerator pedal is controlled to enter a safety mode and the output of pedal torque is prohibited; After the vehicle is powered off and then powered on again, the state detection of the accelerator pedal is resumed.

[0063] Specifically, this embodiment provides an implementation method for safely restoring the accelerator pedal to a normal state after the fault disappears. If the pedal state is a fault state, after executing the corresponding torque output logic for the fault state, it cannot be directly considered that the pedal state has returned to a normal state, but it is necessary to reset the input voltage of the accelerator pedal to zero (i.e. release the pedal) and then re-detect the sampled voltage signal. When the vehicle remains powered on, if the state detection result is a fault state three times, after the third detection of the fault state, the accelerator pedal is controlled to a safe mode, and the pedal torque is prohibited from being output until the vehicle is powered off and then powered on again to re-detect the two sampled voltage signals.

[0064] Specifically, the functional safety design needs to ensure the availability of the vehicle. When the fault disappears, it is necessary to ensure that the pedal voltage signal passes through the zero point once, that is, after the driver completely releases the pedal and presses it again, the pedal input signal is re-checked and the torque is calculated. If there is no fault, the output is normal. After three faults are determined in the same driving cycle, the vehicle enters a safe state, torque output is prohibited, and the vehicle can only be restored after hibernation.

[0065] The above-mentioned setting of this embodiment, through a reasonable recovery strategy after the fault disappears, satisfies the requirements of vehicle reliability while ensuring vehicle safety, avoids occasional faults that cause the vehicle to be unable to start, and improves product practicality.

[0066] The accelerator pedal fault detection and processing method provided in the embodiment of the present invention finds out the failure cause and failure mode in the calculation of the driver's pedal torque demand through functional safety analysis and safety mechanism design, and monitors them to ensure that the vehicle controller correctly calculates the torque demand from the driver and meets the functional safety level requirements. At the same time, when a fault occurs, it can accurately and quickly execute a reasonable safety state to ensure that no unacceptable safety risks will occur, and safely restore to a normal state after the fault disappears, thereby improving the safety and availability of the vehicle.

[0067] The accelerator pedal fault detection and processing device provided by the present invention is described below. The accelerator pedal fault detection and processing device described below and the accelerator pedal fault detection and processing method described above can be referred to each other.

[0068] In some specific embodiments of the present invention, Figure 3 As shown, this solution provides an accelerator pedal fault detection and processing device for a vehicle controller, including: A parallel output setting module 31 is used to adopt a multi-channel parallel output safety mechanism to set the output of the accelerator pedal to two parallel sampling voltage signals, wherein the two sampling voltage signals use different voltage ranges; The state detection module 32 is used to detect the state of the accelerator pedal based on the sampled values ​​of the two sampled voltage signals during the vehicle driving process; The execution module 33 is used to execute the corresponding torque output logic according to the state detection result.

[0069] Optionally, the safety mechanism of the multi-channel parallel output is obtained according to the vehicle safety design objectives specified in the safety level ASIL C; The two parallel sampling voltage signals are respectively a first sampling voltage signal and a second sampling voltage signal, wherein the first sampling voltage signal adopts a first voltage range, and the second sampling voltage signal adopts a second voltage range, and the first voltage range and the second voltage range are designed to meet the reasonable voltage range specified by the safety level; Correspondingly, the steps of adopting a multi-channel parallel output safety mechanism and setting the output of the accelerator pedal as two parallel sampling voltage signals specifically include: Within the reasonable voltage range specified by the safety level ASIL C, the two parallel sampling voltage signals are set to a specific correlation relationship.

[0070] Specifically, this embodiment provides an implementation method of sampling two voltage signals in parallel.

[0071] Optionally, the specific association relationship specifically includes: Within the reasonable voltage range specified by the safety level ASIL C, the two parallel sampling voltage signals are set to a multiple relationship.

[0072] Specifically, this embodiment provides an implementation method of a specific association relationship.

[0073] Optionally, the specific association relationship further includes: Within the reasonable voltage range specified by the safety level ASIL C, the two parallel sampling voltage signals are set to a gradient relationship.

[0074] Specifically, this embodiment provides another implementation of a specific association relationship.

[0075] Optionally, the step of detecting the state of the accelerator pedal based on the sampled values ​​of the two sampled voltage signals specifically includes: If one of the two sampling voltage signals receives an invalid input signal, or the sampling values ​​of the two sampling voltage signals exceed the corresponding voltage range, it is determined that the input information of the accelerator pedal is invalid; If the sampling value of one of the two sampling voltage signals exceeds the corresponding voltage range, and the sampling value of the other sampling voltage signal is within the corresponding voltage range, it is determined that the accelerator pedal is in the first fault state; If the sampling values ​​of the two sampling voltage signals are both within the corresponding voltage range, the correlation of the two sampling voltage signals is determined; When the two sampling voltage signals meet the specific correlation relationship, determining that the accelerator pedal is in a normal state; When the two sampling voltage signals do not conform to the specific association relationship, it is determined that the accelerator pedal is in the second fault state.

[0076] Specifically, this embodiment provides an implementation method for detecting the state of an accelerator pedal.

[0077] Optionally, according to the state detection result, the steps of executing the corresponding torque output logic specifically include: When the input information of the accelerator pedal is invalid, controlling the accelerator pedal to enter a safety mode and prohibiting output of pedal torque; When the accelerator pedal is in the first fault state, a sampled voltage signal exceeding a corresponding voltage range is determined to be an invalid signal, and a sampled voltage signal within the corresponding voltage range is determined to be a valid signal, the accelerator pedal is controlled to perform degradation measures, a sampled value of the valid signal is transformed by a preset ratio, and the transformation result is used for pedal torque calculation; When the accelerator pedal is in a normal state, using any sampling voltage signal to calculate the pedal torque; When the accelerator pedal is in the second fault state, the accelerator pedal is controlled to perform degradation measures, and the pedal torque is calculated using a sampling voltage signal with a relatively smaller sampling value, and the relative sampling value is calculated through the specific association relationship.

[0078] Specifically, this embodiment provides an implementation of a torque output logic.

[0079] Optionally, after the torque output logic corresponding to the fault state of the accelerator pedal is executed, the input voltage of the accelerator pedal is reset to zero and then restored to normal voltage input, the sampled values ​​of the two-way sampled voltage signals are acquired again, and the state of the accelerator pedal is detected based on the sampled values ​​of the two-way sampled voltage signals; If a fault state is detected three times in succession, the accelerator pedal is controlled to enter a safety mode and the output of pedal torque is prohibited; After the vehicle is powered off and then powered on again, the state detection of the accelerator pedal is resumed.

[0080] Specifically, this embodiment provides an implementation method for safely restoring the accelerator pedal to a normal state after the fault disappears.

[0081] The accelerator pedal fault detection and processing device provided in the embodiment of the present invention has an implementation principle and beneficial effects similar to the implementation principle and beneficial effects of the accelerator pedal fault detection and processing method shown in the above embodiment. Please refer to the implementation principle and beneficial effects of the accelerator pedal fault detection and processing method shown in the above embodiment, and no further details will be given here.

[0082] Figure 4 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 4As shown, the electronic device may include: a processor 410, a communications interface 420, a memory 430 and a communication bus 440, wherein the processor 410, the communications interface 420 and the memory 430 communicate with each other through the communication bus 440. The processor 410 may call the logic instructions in the memory 430 to execute the accelerator pedal fault detection and processing method, which includes: using a multi-channel parallel output safety mechanism, setting the output of the accelerator pedal to two parallel sampling voltage signals, wherein the two sampling voltage signals use different voltage ranges; during the vehicle driving process, based on the sampling values ​​of the two sampling voltage signals, the state of the accelerator pedal is detected; according to the state detection result, the corresponding torque output logic is executed.

[0083] In addition, the logic instructions in the above-mentioned memory 430 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the 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 for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. 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, etc. Various media that can store program codes.

[0084] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the accelerator pedal fault detection and processing method provided by the above-mentioned methods. The method includes: using a multi-channel parallel output safety mechanism to set the output of the accelerator pedal to two parallel sampled voltage signals, wherein the two sampled voltage signals use different voltage ranges; during vehicle driving, based on the sampled values ​​of the two sampled voltage signals, the state of the accelerator pedal is detected; and according to the state detection result, the corresponding torque output logic is executed.

[0085] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it is implemented to execute the accelerator pedal fault detection and processing method provided by the above-mentioned methods. The method includes: adopting a multi-channel parallel output safety mechanism, setting the output of the accelerator pedal to two parallel sampling voltage signals, wherein the two sampling voltage signals adopt different voltage ranges; during vehicle driving, detecting the state of the accelerator pedal based on the sampling values ​​of the two sampling voltage signals; and executing the corresponding torque output logic according to the state detection result.

[0086] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0087] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for detecting and processing an accelerator pedal fault, characterized in that: For vehicle controllers, including: A multi-channel parallel output safety mechanism is adopted to set the output of the accelerator pedal as two parallel sampling voltage signals, wherein the two sampling voltage signals adopt different voltage ranges; During the driving of the vehicle, the state of the accelerator pedal is detected based on the sampled values ​​of the two sampled voltage signals; According to the status detection result, the corresponding torque output logic is executed.

2. The accelerator pedal fault detection and processing method according to claim 1, characterized in that: The safety mechanism of the multi-channel parallel output is obtained according to the vehicle safety design objectives specified in the safety level; The two parallel sampling voltage signals are respectively a first sampling voltage signal and a second sampling voltage signal, wherein the first sampling voltage signal adopts a first voltage range, and the second sampling voltage signal adopts a second voltage range, and the design of the first voltage range and the second voltage range meets the reasonable voltage range specified by the safety level; Correspondingly, the steps of adopting a multi-channel parallel output safety mechanism and setting the output of the accelerator pedal as two parallel sampling voltage signals specifically include: Within the reasonable voltage range specified by the safety level, the two parallel sampling voltage signals are set to a specific correlation relationship.

3. The accelerator pedal fault detection and processing method according to claim 2, characterized in that: The specific association relationship specifically includes: Within the reasonable voltage range specified by the safety level, the two parallel sampling voltage signals are set to a multiple relationship.

4. The accelerator pedal fault detection and processing method according to claim 2, characterized in that: The specific association relationship specifically includes: Within the reasonable voltage range specified by the safety level, the two parallel sampling voltage signals are set to a gradient relationship.

5. The accelerator pedal fault detection and processing method according to claim 2, characterized in that: The step of detecting the state of the accelerator pedal based on the sampled values ​​of the two-way sampled voltage signals specifically includes: If one of the two sampling voltage signals receives an invalid input signal, or the sampling values ​​of the two sampling voltage signals exceed the corresponding voltage range, it is determined that the input information of the accelerator pedal is invalid; If the sampling value of one of the two sampling voltage signals exceeds the corresponding voltage range, and the sampling value of the other sampling voltage signal is within the corresponding voltage range, it is determined that the accelerator pedal is in the first fault state; If the sampling values ​​of the two sampling voltage signals are both within the corresponding voltage range, the correlation of the two sampling voltage signals is determined; When the two sampling voltage signals meet the specific correlation relationship, determining that the accelerator pedal is in a normal state; When the two sampling voltage signals do not conform to the specific association relationship, it is determined that the accelerator pedal is in the second fault state.

6. The accelerator pedal fault detection and processing method according to claim 5, characterized in that: According to the state detection result, the steps of executing the corresponding torque output logic include: When the input information of the accelerator pedal is invalid, controlling the accelerator pedal to enter a safety mode and prohibiting output of pedal torque; When the accelerator pedal is in the first fault state, a sampled voltage signal exceeding a corresponding voltage range is determined to be an invalid signal, and a sampled voltage signal within the corresponding voltage range is determined to be a valid signal, the accelerator pedal is controlled to perform degradation measures, a sampled value of the valid signal is transformed by a preset ratio, and the transformation result is used for pedal torque calculation; When the accelerator pedal is in a normal state, using any sampling voltage signal to calculate the pedal torque; When the accelerator pedal is in the second fault state, the accelerator pedal is controlled to perform degradation measures, and the pedal torque is calculated using a sampling voltage signal with a relatively smaller sampling value, and the relative sampling value is calculated through the specific association relationship.

7. The accelerator pedal fault detection and processing method according to any one of claims 1 to 6, characterized in that: After the torque output logic corresponding to the fault state of the accelerator pedal is executed, the input voltage of the accelerator pedal is reset to zero and then restored to normal voltage input, the sampling values ​​of the two-way sampling voltage signals are acquired again, and the state of the accelerator pedal is detected based on the sampling values ​​of the two-way sampling voltage signals; If a fault state is detected three times in succession, the accelerator pedal is controlled to enter a safety mode and the output of pedal torque is prohibited; After the vehicle is powered off and then powered on again, the state detection of the accelerator pedal is resumed.

8. An accelerator pedal fault detection and processing device, characterized in that: For vehicle controllers, including: A parallel output setting module is used to adopt a multi-channel parallel output safety mechanism to set the output of the accelerator pedal to two parallel sampling voltage signals, wherein the two sampling voltage signals use different voltage ranges; A state detection module, used for detecting the state of the accelerator pedal based on the sampled values ​​of the two-way sampled voltage signals during vehicle driving; The execution module is used to execute the corresponding torque output logic according to the state detection result.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the accelerator pedal fault detection and processing method as described in any one of claims 1 to 7 is implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the accelerator pedal fault detection and processing method according to any one of claims 1 to 7 is implemented.

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