Internal fault diagnosis method, electronic equipment and vehicle

Abstract

The invention provides an internal fault diagnosis method, an electronic device and a vehicle, which can diagnose an internal fault again according to a preset time interval, and avoid missing detection of the internal fault of an air bag control unit during two adjacent power-on periods caused by single diagnosis. Whether an internal fault exists or not is further verified by comparing the actual acceleration signal with the calculated acceleration signal, and the accuracy of fault diagnosis is improved. And when the acceleration difference value exceeds a standard value, performing continuous detection verification according to a preset first detection frequency, and if the continuous detection verification is not passed, determining that the airbag control unit has an internal fault, and lightening an airbag fault lamp. And vibration caused by seat assembly or acceleration exceeding or distortion caused by other abnormal vibration are eliminated by adopting a continuous multi-time detection scheme, so that misjudgment is avoided.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to an internal fault diagnosis method, electronic equipment and a vehicle. Background Art

[0002] The number of cars in use is increasing year by year, and car travel is increasing. People are paying more and more attention to car collision safety, among which the safety of drivers and passengers is particularly important. ABM, or airbag control unit, plays an extremely important role in protecting the safety of passengers in the car. A single inspection after the vehicle is powered on may cause an internal fault in the airbag control unit during the two consecutive power-on periods, which in turn affects the performance of the safety configuration, that is, the airbag cannot be detonated after an internal fault in the ABM occurs, which may cause casualties. Moreover, since it is an internal fault, if a false alarm occurs in a single inspection, it cannot be eliminated after the fault light is turned on, and the hardware needs to be replaced. In the absence of means to reduce false alarms, it is easy for users to spend extra maintenance costs, which increases driving costs. False alarms will also cause the airbag fault light to stay on, which brings psychological burden to customers. Summary of the invention

[0003] In view of this, the purpose of this application is to provide a method for diagnosing internal faults, an electronic device and a vehicle to solve the problem for users.

[0004] Based on the above purpose, the first aspect of the present application provides a method for diagnosing an internal fault, comprising:

[0005] Determine the actual acceleration signal of the yaw rate sensor;

[0006] In response to determining that the actual acceleration signal does not exceed a preset acceleration range, acquiring a wheel speed signal of a target wheel and a steering wheel angle signal;

[0007] Determine a calculated acceleration signal according to the wheel speed signal and the steering angle signal, and determine an acceleration difference value between the calculated acceleration signal and the actual acceleration signal;

[0008] In response to determining that the acceleration difference value does not exceed a preset standard value, determining that no internal fault occurs in the airbag control unit, and re-diagnosing the internal fault according to a preset time interval;

[0009] In response to the acceleration difference value exceeding the standard value, continuous detection and verification are performed according to a preset first detection frequency. If the continuous detection and verification fails, it is determined that an internal fault occurs in the airbag control unit, and the airbag fault light is turned on.

[0010] The second aspect of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method provided in the first aspect of the present application is implemented.

[0011] The third aspect of the present application provides a vehicle, comprising the electronic device provided in the second aspect of the present application.

[0012] As can be seen from the above, the internal fault diagnosis method, electronic device and vehicle provided by the present application can determine the actual acceleration signal of the yaw angular velocity sensor; after determining that the actual acceleration signal does not exceed the preset acceleration range, it is preliminarily determined that the airbag control unit has no internal fault, and then the wheel speed signal of the target wheel and the steering wheel angle signal are obtained, and the calculated acceleration signal is determined according to the wheel speed signal and the steering wheel angle signal, and the acceleration difference value between the calculated acceleration signal and the actual acceleration signal is determined. If the acceleration difference value does not exceed the preset standard value, it is finally determined that the airbag control unit has no internal fault, and the internal fault can be re-diagnosed according to the preset time interval to avoid the missed detection of the internal fault of the airbag control unit during two consecutive power-on periods caused by a single diagnosis. By comparing the actual acceleration signal and the calculated acceleration signal, it is further verified whether there is an internal fault, thereby improving the accuracy of fault diagnosis. When the acceleration difference value exceeds the standard value, continuous detection and verification are performed according to the preset first detection frequency. If the continuous detection and verification fails, it is determined that the airbag control unit has an internal fault, and the airbag fault light is turned on. The scheme of continuous multiple tests is adopted to eliminate the acceleration exceeding the standard or distortion caused by the vibration caused by the assembly of the seat or other abnormal vibrations, thus avoiding misjudgment. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the present application or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0014] Figure 1 A flowchart of a method for diagnosing an internal fault according to an embodiment of the present application;

[0015] Figure 2 A flow chart for continuous detection and verification of the embodiment of the present application;

[0016] Figure 3 This is a flow chart of the diagnostic method after continuous detection and verification in an embodiment of the present application;

[0017] Figure 4 This is a flow chart of a diagnostic method after exceeding the acceleration range according to an embodiment of the present application;

[0018] Figure 5 A flow chart for determining an actual acceleration signal of a yaw rate sensor according to an embodiment of the present application;

[0019] Figure 6 A flow chart of determining that an actual acceleration signal does not exceed a preset acceleration range in an embodiment of the present application;

[0020] Figure 7 A flow chart of calculating the acceleration difference value according to an embodiment of the present application;

[0021] Figure 8 A flow chart of an embodiment of the present application for determining that the acceleration difference value does not exceed a preset standard value;

[0022] Fig. 9 A schematic diagram of the structure of an internal fault diagnosis device according to an embodiment of the present application;

[0023] Fig.10 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present application;

[0024] Fig.11 This is a flow chart of another internal fault diagnosis method according to an embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0026] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should be the usual meanings understood by people with ordinary skills in the field to which the present application belongs. The "first", "second" and similar words used in the embodiments of the present application do not represent any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing in front of the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0027] It should be understood herein that any number of elements in the drawings is for illustration rather than limitation, and any naming is only for distinction rather than having any limiting meaning.

[0028] Based on the description of the above background technology, the related technology also has the following situations:

[0029] The internal fault specifically refers to the acceleration signal of the yaw rate sensor in the airbag control unit exceeding the range.

[0030] In the related art, the diagnosis of internal faults is that within 6 seconds after the vehicle is powered on, the airbag control unit determines whether an internal fault occurs through self-test, and the airbag fault light is lit and stays on after an internal fault occurs; if no internal fault is detected at this time, the vehicle will no longer detect whether the ABM has an internal fault until the next power-on; if an internal fault occurs in the ABM between two power-ons, the performance of the safety configuration will be affected, that is, the airbag cannot be detonated after an internal fault occurs in the ABM, which may cause casualties. Moreover, since it is an internal fault, the false alarm that lights up the fault light cannot be eliminated, and the hardware needs to be replaced. Therefore, the related art lacks means to reduce false alarms, which easily causes users to spend extra maintenance costs and increase driving costs. False alarms will also cause the airbag fault light to stay on, which brings psychological burden to customers.

[0031] The internal fault diagnosis method, electronic device and vehicle provided by the embodiment of the present application can determine the actual acceleration signal of the yaw angular velocity sensor; after determining that the actual acceleration signal does not exceed the preset acceleration range, it is preliminarily determined that the airbag control unit has no internal fault, and then the wheel speed signal of the target wheel and the steering wheel angle signal are obtained, and the calculated acceleration signal is determined according to the wheel speed signal and the steering wheel angle signal, and the acceleration difference value between the calculated acceleration signal and the actual acceleration signal is determined. If the acceleration difference value does not exceed the preset standard value, it is finally determined that the airbag control unit has no internal fault, and the internal fault can be re-diagnosed according to the preset time interval to avoid the missed detection of the internal fault of the airbag control unit during two consecutive power-on periods caused by a single diagnosis. By comparing the actual acceleration signal and the calculated acceleration signal, it is further verified whether there is an internal fault, thereby improving the accuracy of fault diagnosis. When the acceleration difference value exceeds the standard value, continuous detection and verification are performed according to the preset first detection frequency. If the continuous detection and verification fails, it is determined that the airbag control unit has an internal fault, and the airbag fault light is turned on. The scheme of continuous multiple tests is adopted to eliminate the acceleration exceeding the standard or distortion caused by the vibration caused by the assembly of the seat or other abnormal vibrations, thus avoiding misjudgment.

[0032] A power control method for a fuel cell according to an exemplary embodiment of the present application will be described below with reference to the accompanying drawings.

[0033] In some embodiments, Figure 1 As shown, a method for diagnosing an internal fault includes:

[0034] Step 101: Determine the actual acceleration signal of the yaw angular velocity sensor.

[0035] In specific implementation, the yaw rate sensor can directly obtain the longitudinal acceleration a1 of the vehicle in the direction of travel, the lateral acceleration b1 parallel to the ground and perpendicular to the direction of travel, and even the vertical acceleration z1 perpendicular to the road surface. Since the accelerations in the three directions are directly measured, they can be preliminarily considered as the actual acceleration signals of the vehicle. It should be noted that in general, the vertical acceleration will vary greatly due to different road conditions, and the instantaneous vertical acceleration may be very large, so the vertical acceleration is generally not used for judgment when diagnosing the fault of the airbag control unit, that is, the actual acceleration signal may include the longitudinal acceleration a1, the lateral acceleration b1, the vertical acceleration z1, or the longitudinal acceleration a1 and the lateral acceleration b1.

[0036] Furthermore, the vehicle's yaw angular velocity can also be measured by a yaw angular velocity sensor. The components of the yaw angular velocity in three directions are used to represent the vehicle's roll degree (vehicle driving direction), pitch degree (parallel to the ground and perpendicular to the driving direction) and yaw degree (perpendicular to the ground direction).

[0037] Step 102: In response to determining that the actual acceleration signal does not exceed a preset acceleration range, a wheel speed signal of a target wheel and a steering wheel angle signal are acquired.

[0038] In specific implementation, since the internal fault specifically refers to the acceleration signal of the yaw angular velocity sensor in the airbag control unit exceeding the range, the preset acceleration range can be used to judge whether the vehicle has an internal fault based on the actual acceleration signal. For example, if the acceleration range is twice the acceleration of gravity, that is, the acceleration range = 2g, if the longitudinal acceleration a1 is less than 2g, the lateral acceleration b1 is less than 2g, and the vertical acceleration z1 is less than 2g (when the vertical acceleration is not selected, it is not necessary to compare the magnitude relationship between the vertical acceleration and the acceleration range), it can be determined that the actual acceleration signal does not exceed the preset acceleration range. It is then preliminarily determined that the airbag control unit has no internal fault.

[0039] Due to internal faults, false alarms cannot be eliminated after the fault light is turned on. Hardware replacement is required, which easily causes users to spend extra maintenance costs and increases driving costs. False alarms will also cause the airbag fault light to stay on, which brings psychological burden to customers. Therefore, in order to avoid the actual acceleration signal failing to reflect the actual acceleration state of the vehicle, it is necessary to further verify the actual acceleration signal measured by the yaw angular velocity sensor. Therefore, it is necessary to obtain the wheel speed signal of the target wheel and the steering wheel angle signal to obtain the calculated acceleration signal and verify the actual acceleration signal. Among them, the drive wheel is generally selected as the target wheel.

[0040] Step 103: Determine a calculated acceleration signal according to the wheel speed signal and the steering angle signal, and determine an acceleration difference value between the calculated acceleration signal and the actual acceleration signal.

[0041] In specific implementation, after obtaining the wheel speed signal of the target wheel and the steering wheel angle signal, for example, the magnitude of the total acceleration can be calculated according to the wheel speed signal of the target wheel, and the angle of the components of the total acceleration in each direction can be determined according to the steering wheel angle, then the component of the total acceleration in the vehicle driving direction is the calculated longitudinal acceleration, and the component of the total acceleration in the driving direction parallel to the ground and perpendicular to the ground is the calculated lateral acceleration (this corresponds to the scenario of giving up the use of vertical acceleration for fault diagnosis). That is, calculating acceleration includes calculating lateral acceleration and calculating longitudinal acceleration.

[0042] The actual acceleration signal is verified by determining whether the absolute value of the acceleration difference between the actual acceleration signal and the calculated acceleration signal exceeds the standard. Therefore, after obtaining the calculated acceleration signal, the acceleration difference between the calculated acceleration signal and the actual acceleration signal is determined to achieve verification of the actual acceleration signal.

[0043] Step 104: In response to determining that the acceleration difference value does not exceed a preset standard value, determining that no internal fault occurs in the airbag control unit, and re-diagnosing the internal fault according to a preset time interval.

[0044] In specific implementation, the acceleration difference value is compared with the preset standard value to determine whether the absolute value of the acceleration difference value exceeds the standard. If the acceleration difference value does not exceed (is less than or equal to) the preset standard value, it means that the actual value of the acceleration is close to the calculated value, and the error between the actual value and the calculated value does not exceed the standard. It is determined that the actual acceleration signal has passed the verification, and the possibility of misjudgment of the internal fault is very small, and no false alarm of the fault will be generated. Then, the internal fault is re-diagnosed according to the preset time interval. Real-time detection can ensure that the internal fault of the airbag control unit will not be missed during the vehicle power-on period.

[0045] Step 105: In response to the acceleration difference value exceeding the standard value, continuous detection and verification are performed according to a preset first detection frequency. If the continuous detection and verification fails, it is determined that an internal fault occurs in the airbag control unit, and the airbag fault light is turned on.

[0046] In specific implementation, if the acceleration difference value exceeds (is greater than) the preset standard value, it means that the gap between the actual value and the calculated value of the acceleration is relatively large, and the error between the actual value and the calculated value has exceeded the standard. It is determined that the actual acceleration signal has not passed the verification, and there is a high possibility of misjudgment of an internal fault, which may cause a false alarm of a fault. Therefore, continuous detection and verification are performed according to the preset first detection frequency. For example, the wheel speed signal of the target wheel and the steering wheel angle signal are obtained once every 50ms, and multiple new calculated acceleration signals are determined to obtain multiple new acceleration difference values. If there is an acceleration difference value that exceeds the standard value among the multiple acceleration difference values, it means that the possibility of misjudgment is small, and it is determined that the continuous detection and verification has not passed. It is determined that an internal fault has occurred in the airbag control unit, and the airbag fault light is turned on to prompt the user to perform timely maintenance to ensure that the airbag can be smoothly popped out when needed. If there is no acceleration difference value exceeding the standard value among the multiple acceleration difference values, it means that there is a high possibility of misjudgment. Through continuous detection and verification, it is determined that there is no internal fault in the airbag control unit, and the internal fault is re-diagnosed according to the preset time interval to ensure that the fault diagnosis can cover the entire power-on period and ensure that there will be no missed detection. The scheme of continuous multiple detections can exclude the acceleration exceeding the standard or distortion caused by the vibration caused by the assembly seat or other abnormal vibrations, avoiding misjudgment.

[0047] In summary, the internal fault diagnosis method provided by the embodiment of the present application can determine the actual acceleration signal of the yaw angular velocity sensor; after determining that the actual acceleration signal does not exceed the preset acceleration range, it is preliminarily determined that the airbag control unit has no internal fault, and then the wheel speed signal of the target wheel and the steering wheel angle signal are obtained, and the calculated acceleration signal is determined according to the wheel speed signal and the steering wheel angle signal, and the acceleration difference value between the calculated acceleration signal and the actual acceleration signal is determined. If the acceleration difference value does not exceed the preset standard value, it is finally determined that the airbag control unit has no internal fault, and the internal fault can be re-diagnosed according to the preset time interval to avoid the missed detection of the internal fault of the airbag control unit during two consecutive power-on periods caused by a single diagnosis. By comparing the actual acceleration signal and the calculated acceleration signal, it is further verified whether there is an internal fault, thereby improving the accuracy of fault diagnosis. When the acceleration difference value exceeds the standard value, continuous detection and verification are performed according to the preset first detection frequency. If the continuous detection and verification fails, it is determined that the airbag control unit has an internal fault, and the airbag fault light is turned on. The use of a continuous multiple-test solution can eliminate the possibility of excessive acceleration or distortion caused by vibrations caused by seat assembly or other abnormal vibrations, thus avoiding misjudgment.

[0048] In some embodiments, Figure 2 As shown, continuous detection verification is performed according to a preset first detection frequency, including:

[0049] Step 201: Detect the steering angle signal and the wheel speed signal multiple times according to a first detection frequency to obtain multiple acceleration difference values.

[0050] In specific implementation, for example, the first detection frequency may be to detect the steering angle signal and the wheel speed signal once every 50 ms. This is because when continuous detection and verification is required, it means that a single check of the actual acceleration signal has not passed, and there is a large difference between the actual acceleration and the calculated acceleration, which means that fault diagnosis based solely on the actual acceleration signal may result in misjudgment, and the fault signal appears nearby (within a similar time period). Therefore, by performing multiple consecutive tests, the fault signal that has just appeared can be detected as much as possible, thereby improving the accuracy of fault diagnosis.

[0051] Therefore, the scheme of continuous multiple detection can eliminate the acceleration exceeding the standard or distortion caused by the vibration caused by the assembly seat or other abnormal vibration, because the interference signals such as abnormal vibration will not persist. Each detection in multiple continuous detections will obtain a set of wheel speed signals of the target wheels and steering wheel angle signals, and multiple acceleration difference values ​​can be obtained by calculation based on multiple sets of signals. Calculating multiple acceleration difference values ​​can further improve the accuracy of fault diagnosis.

[0052] Step 202: In response to the presence of an acceleration difference value exceeding a standard value among the plurality of acceleration difference values, determining that the continuous detection verification has not been passed.

[0053] In specific implementation, if there is an acceleration difference value that exceeds the standard value among multiple acceleration difference values, it means that the fault occurring during the single verification test is not an interference signal, but that there is indeed an internal fault in the airbag control unit. Therefore, it can be determined at this time that the continuous detection verification has not passed, and then it can be determined that the single verification is not a misjudgment, but that there is indeed an internal fault.

[0054] Step 203: In response to the absence of an acceleration difference value exceeding a standard value among the plurality of acceleration difference values, determining that the continuous detection verification is passed.

[0055] In specific implementation, if there is no acceleration difference value exceeding the standard value among the multiple acceleration difference values, it means that the fault occurring during a single verification test may be an interference signal, and an internal fault in the airbag control unit may be a misjudgment. Therefore, at this time, it can be determined through continuous detection and verification that the single verification is not a misjudgment, and there is no internal fault. Through multiple consecutive tests, it is possible to eliminate the impact of acceleration exceeding the standard or distortion caused by vibration caused by seat assembly or other abnormal vibrations, thereby avoiding misjudgment.

[0056] In some embodiments, Figure 3 As shown, the internal fault diagnosis method also includes:

[0057] Step 301: If the continuous detection verification is passed, a new actual acceleration signal and a new calculated acceleration signal are determined.

[0058] During specific implementation, if the continuous detection and verification is passed, it means that no internal fault occurs in the airbag control unit in this round of detection, and the next round of detection can be carried out. Because even if the continuous detection and verification is passed, there may be undetected faults, so it is necessary to continue to the next round of detection. After the next round of detection starts, the new actual acceleration signal and the new calculated acceleration signal can be determined for a new round of fault diagnosis.

[0059] Step 302: Calculate a new acceleration difference value between the new acceleration signal and the new actual acceleration signal.

[0060] In specific implementation, at the beginning of a new round of detection, after determining a new actual acceleration signal and a new calculated acceleration signal, a new acceleration difference value between the new acceleration signal and the new actual acceleration signal is further calculated for a new round of verification of the actual acceleration signal to ensure the accuracy of each round of diagnosis.

[0061] Step 303: End the diagnosis until it is determined that the new acceleration difference value does not exceed the standard value and that the airbag control unit has no internal fault.

[0062] In specific implementation, if the new acceleration difference value exceeds the standard value again, continuous detection verification is required. If the continuous detection verification fails, it is determined that there is an internal fault. If the continuous detection verification passes, the next round of detection will continue, because even if the continuous detection verification passes, there may be undetected faults, so the next round of detection needs to be continued. Until it is determined that the new acceleration difference value does not exceed the standard value and that the airbag control unit has no internal fault, the diagnosis is terminated and the fault diagnosis process is re-performed at a preset time interval to cover the entire time when the vehicle is powered on to avoid missed detection.

[0063] In some embodiments, Figure 4 As shown, the internal fault diagnosis method also includes:

[0064] Step 401: In response to an actual acceleration signal exceeding a preset acceleration range, the actual acceleration signal is detected multiple times according to a preset second detection frequency.

[0065] In specific implementation, if the actual acceleration signal exceeds (is greater than) the preset acceleration range, it means that the actual acceleration signal measured by the yaw angular velocity sensor in the ABM exceeds the range, and it can be preliminarily determined that an internal fault has occurred in the airbag control unit. However, in order to avoid economic losses caused by misjudgment, the actual acceleration signal is detected multiple times according to the preset second detection frequency, for example, the actual acceleration signal is acquired once every 40ms. Then, multiple newly measured actual acceleration signals are judged according to the acceleration range to determine whether the vehicle has an internal fault. Exemplarily, if the acceleration range is twice the acceleration of gravity, that is, the acceleration range = 2g, if each newly measured actual acceleration satisfies the longitudinal acceleration a1 less than 2g and the lateral acceleration b1 less than 2g, it can be determined that the actual acceleration signal does not exceed the preset acceleration range, and then it is preliminarily determined that the airbag control unit has no internal fault. If there is a newly measured actual acceleration with longitudinal acceleration a1 greater than or equal to 2g, and / or lateral acceleration b1 greater than or equal to 2g, it means that there is a high possibility of misjudgment. Then it can be determined that the actual acceleration signal exceeds the preset acceleration range, and then it can be determined that the airbag control unit has an internal fault, and the airbag fault light is turned on to prompt the user to perform timely maintenance to ensure that the airbag can be smoothly popped out when needed. The scheme of continuous multiple detections can exclude acceleration exceeding the standard or distortion caused by vibration caused by seat assembly or other abnormal vibrations, avoiding misjudgment. And the fault signal appears nearby (in a similar time period), so continuous multiple detections can detect the fault signal that has just appeared as much as possible, thereby improving the accuracy of fault diagnosis.

[0066] Step 402: In response to the presence of an actual acceleration signal greater than the acceleration range in multiple detections, it is determined that an internal fault occurs in the airbag control unit, and the airbag fault lamp is turned on.

[0067] In specific implementation, if there is an actual acceleration signal greater than the acceleration range in multiple detections, the probability of a single detection being a false positive is greatly reduced, indicating that an internal fault has indeed occurred in the airbag control unit and the airbag fault light needs to be turned on to prompt the user to perform timely repairs and avoid safety accidents.

[0068] Step 403: In response to the absence of an actual acceleration signal greater than the acceleration range in multiple detections, a new actual acceleration signal is determined until the new actual acceleration signal does not exceed the acceleration range, and a new wheel speed signal of the target wheel and a new steering wheel angle signal are obtained.

[0069] In specific implementation, if there is no actual acceleration signal greater than the acceleration range in multiple tests, it means that the judgment made by the actual acceleration signal detected once may be a misjudgment. However, in order to avoid missed detection, the next round of detection is started, that is, a new actual acceleration signal is determined until the new actual acceleration signal does not exceed the acceleration range. The process of performing fault diagnosis based on the actual acceleration signal alone ends, and the actual acceleration model is further verified by obtaining the new wheel speed signal of the target wheel and the new steering wheel angle signal. The accuracy of fault diagnosis is improved.

[0070] In some embodiments, Figure 5 As shown, determining the actual acceleration signal of the yaw angular velocity sensor includes:

[0071] Step 501: Determine a measurement reference plane parallel to the road surface.

[0072] In specific implementation, since the airbag is deployed only when the vehicle encounters a severe collision, generally only the collision on the plane parallel to the road surface is considered, that is, the plane parallel to the road surface is used as the measurement reference plane.

[0073] Step 502: Acquire a first acceleration signal in the vehicle's driving direction and a second acceleration signal perpendicular to the vehicle's driving direction within a measurement reference plane; wherein the actual acceleration signal includes the first acceleration signal and the second acceleration signal.

[0074] In specific implementation, for example, the vehicle driving direction in the measurement reference plane is determined as the positive direction of the X-axis, and the direction perpendicular to the vehicle driving direction to the right is the positive direction of the Y-axis; wherein the positive direction is only used to determine the positive and negative signs of the actual acceleration signal, that is, to determine the direction of acceleration, and its positive direction can also be defined as other directions.

[0075] Then, the longitudinal acceleration a1 of the vehicle in the driving direction obtained by the yaw angular velocity sensor can be used as the first acceleration signal, and the lateral acceleration b1 parallel to the ground and perpendicular to the driving direction can be used as the second acceleration signal. Since the first acceleration signal and the second acceleration signal are both directly measured, they can be considered as actual acceleration signals of the vehicle.

[0076] In some embodiments, Figure 6 As shown, determining that the actual acceleration signal does not exceed the preset acceleration range includes:

[0077] Step 601: In response to a first acceleration signal being greater than an acceleration range, and / or a second acceleration signal being greater than an acceleration range, determining that an actual acceleration signal exceeds an acceleration range.

[0078] In specific implementation, since the internal fault specifically refers to the acceleration signal of the yaw angular velocity sensor in the airbag control unit exceeding the range, the preset acceleration range can judge whether the vehicle has an internal fault according to the actual acceleration signal. For example, there are the following three situations: the first acceleration signal is greater than the acceleration range, that is, a1 is greater than 2g; the second acceleration signal is greater than the acceleration range, that is, a2 is greater than 2g; the first acceleration signal and the second acceleration signal are both greater than the acceleration range, that is, a2 is greater than 2g, and a1 is greater than 2g; if any of the above three situations exists, it can be determined that the actual acceleration signal exceeds the acceleration range, and it is preliminarily determined that there is an internal fault.

[0079] Step 602: In response to the first acceleration signal being less than or equal to the acceleration range, and the second acceleration signal being less than or equal to the acceleration range, determining that the actual acceleration signal does not exceed the acceleration range.

[0080] In specific implementation, for example, if the acceleration range is twice the acceleration due to gravity, that is, the acceleration range = 2g, if the first acceleration signal a1 is less than or equal to 2g and the second acceleration signal b1 is less than or equal to 2g, it can be determined that the actual acceleration signal does not exceed the preset acceleration range, and then it can be preliminarily determined that the airbag control unit has no internal fault.

[0081] In some embodiments, the acceleration difference value includes a first acceleration difference value and a second acceleration difference value. Figure 7 As shown, the calculated acceleration signal is determined according to the wheel speed signal and the steering angle signal, and the acceleration difference value between the calculated acceleration signal and the actual acceleration signal is determined, including:

[0082] Step 701: Determine a first calculated acceleration signal of a vehicle driving direction and a second calculated acceleration signal perpendicular to the vehicle driving direction according to a wheel speed signal and a steering angle signal; wherein the calculated acceleration signal includes the first calculated acceleration signal and the second calculated acceleration signal.

[0083] In specific implementation, since the actual acceleration signal includes a first acceleration signal in the vehicle's driving direction and a second acceleration signal perpendicular to the vehicle's driving direction, when verifying the actual acceleration signal, it is necessary to determine the first calculated acceleration signal a2 for verifying the first acceleration signal in the vehicle's driving direction based on the wheel speed signal and the steering angle signal; it is also necessary to determine the second calculated acceleration signal b2 for verifying the second acceleration signal perpendicular to the vehicle's driving direction based on the wheel speed signal and the steering angle signal.

[0084] Step 702: Calculate a first acceleration difference value between the first acceleration and the first calculated acceleration.

[0085] In specific implementation, the actual acceleration signal is verified by determining whether the absolute value of the acceleration difference between the actual acceleration signal and the calculated acceleration signal exceeds the standard. Therefore, after obtaining the calculated acceleration signal, the acceleration difference between the calculated acceleration signal and the actual acceleration signal is determined to achieve verification of the actual acceleration signal. When verifying the first acceleration, the first acceleration difference value n1 between the first acceleration and the first calculated acceleration is calculated, where n1=|a1-a2|.

[0086] Step 703: Calculate a second acceleration difference value between the second acceleration and the second calculated acceleration.

[0087] In a specific implementation, when the first acceleration is verified, a first acceleration difference value n2 between the first acceleration and the first calculated acceleration is calculated, where n2 = |b1-b2|.

[0088] In some embodiments, Figure 8 As shown, determining that the acceleration difference value does not exceed the preset standard value includes:

[0089] Step 801: In response to a first acceleration difference value being greater than a standard value, and / or a second acceleration difference value being greater than a standard value, determining that the acceleration difference value exceeds the standard value.

[0090] In specific implementation, since the actual acceleration signal is verified by comparing the difference between the calculated value and the actual value, the preset standard value can be used to judge whether the actual acceleration signal has passed the verification based on the calculated acceleration signal. Exemplarily, there are the following three situations: the first acceleration difference value is greater than the standard value c, that is, n1 is greater than c; the second acceleration difference value is greater than the standard value c, that is, n2 is greater than c; the first acceleration difference value and the second acceleration difference value are both greater than the standard value, that is, n2 is greater than c, and n1 is greater than c; if any of the above three situations exists, it can be determined that the acceleration difference value exceeds the standard value, and then it can be determined that the actual acceleration signal has not passed the verification, and there may be a misjudgment.

[0091] Step 802: In response to the first acceleration difference value being less than or equal to the standard value, and the second acceleration difference value being less than or equal to the standard value, determining that the acceleration difference value does not exceed the standard value.

[0092] In specific implementation, for example, if the standard value is c, if the first acceleration difference value is less than or equal to the standard value c, that is, n1 is greater than c; and the second acceleration difference value is less than or equal to the standard value c, that is, n2 is greater than c; it can be determined that the acceleration difference value does not exceed the standard value, and then it is determined that the actual acceleration signal has passed the verification and there is no misjudgment.

[0093] It should be noted that the method of the embodiment of the present application can be performed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present application, and the multiple devices will interact with each other to complete the described method.

[0094] It should be noted that the above describes some embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0095] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a device for diagnosing internal faults.

[0096] refer to Fig. 9 , a diagnostic device for internal faults, comprising:

[0097] The actual measurement module 10 is configured to: determine an actual acceleration signal of the yaw angular velocity sensor;

[0098] The verification information acquisition module 20 is configured to: in response to determining that the actual acceleration signal does not exceed the preset acceleration range, acquire the wheel speed signal of the target wheel and the steering wheel angle signal;

[0099] The signal calculation module 30 is configured to: determine a calculated acceleration signal according to the wheel speed signal and the steering angle signal, and determine an acceleration difference value between the calculated acceleration signal and the actual acceleration signal;

[0100] The signal verification module 40 is configured to: in response to determining that the acceleration difference value does not exceed a preset standard value, determine that the airbag control unit has no internal fault, and re-diagnose the internal fault according to a preset time interval;

[0101] The fault judgment module 50 is configured to: in response to the acceleration difference value exceeding the standard value, perform continuous detection and verification according to a preset first detection frequency; if the continuous detection and verification fails, it is determined that an internal fault occurs in the airbag control unit, and the airbag fault light is turned on.

[0102] For the convenience of description, the above device is described in terms of functions divided into various modules. Of course, when implementing the present application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0103] The device of the above embodiment is used to implement the corresponding internal fault diagnosis method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0104] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the internal fault diagnosis method described in any of the above embodiments is implemented.

[0105] Fig.10 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.

[0106] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0107] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0108] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0109] The communication interface 1040 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB, network cable, etc.) or a wireless mode (such as mobile network, WIFI, Bluetooth, etc.).

[0110] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).

[0111] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0112] The electronic device of the above embodiment is used to implement the corresponding internal fault diagnosis method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0113] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the internal fault diagnosis method described in any of the above embodiments.

[0114] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0115] The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the internal fault diagnosis method described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0116] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments, the present application also provides a vehicle, including the electronic device in the above-mentioned embodiment, the vehicle executes the internal fault diagnosis method as described in any of the above embodiments through the electronic device, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0117] It should be noted that if Fig.11 As shown, the embodiments of the present application can be further described in the following manner:

[0118] ①The yaw angular velocity sensor in the ABM detects the actual acceleration signal, including the X-axis acceleration a1 and the Y-axis acceleration b1.

[0119] ② Perform fault diagnosis based on the actual acceleration signal and the preset acceleration range of 2g. If the X-axis acceleration a1≤2g and the Y-axis acceleration b1≤2g, proceed to step ④, otherwise proceed to step ③.

[0120] ③Perform continuous detection and verification, and check for 10 times whether a1>2g and / or b1>2g exist. If not, return to step ①; if so, determine that an internal fault has occurred and light up the airbag fault light.

[0121] ④ Obtain the wheel speed signal of the target wheel and the steering wheel angle signal.

[0122] ⑤ Determine and calculate the acceleration signal according to the wheel speed signal and the steering angle signal, including the X-axis calculated acceleration signal a2 and the Y-axis calculated acceleration signal b2.

[0123] ⑥ Calculate the acceleration difference value between the acceleration signal and the actual acceleration signal; including calculating the first acceleration difference value n1 between the first acceleration and the first calculated acceleration, n1 = |a1-a2|; calculating the first acceleration difference value n2 between the first acceleration and the first calculated acceleration, n2 = |b1-b2|.

[0124] ⑦ Verify the actual acceleration signal according to the acceleration difference value and the preset standard value. If n1≤c, n2≤c, proceed to step 8 to determine if the verification is passed, and then determine that there is no internal fault. Otherwise, proceed to step 9.

[0125] ⑧Perform continuous detection and verification, and detect 10 times in a row whether n1>c and / or n1>c exists. If not, return to step ①; if so, determine that an internal fault has occurred and light up the airbag fault light.

[0126] It is understandable that before using the technical solutions of each embodiment of the present disclosure, the type, scope of use, usage scenarios, etc. of the personal information involved will be informed to the user in an appropriate manner, and the user's authorization will be obtained.

[0127] For example, in response to receiving an active request from a user, a prompt message is sent to the user to clearly remind the user that the operation requested to be performed will require obtaining and using the user's personal information. Thus, the user can independently choose whether to provide personal information to software or hardware such as an electronic device, application, server, or storage medium that performs the operation of the technical solution of the present disclosure according to the prompt message.

[0128] As an optional but non-limiting implementation, in response to receiving the user's active request, the prompt information may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form. In addition, the pop-up window may also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0129] It is understandable that the above notification and the process of obtaining user authorization are merely illustrative and do not constitute a limitation on the implementation of the present disclosure. Other methods that meet relevant laws and regulations may also be applied to the implementation of the present disclosure.

[0130] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application (including the claims) is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0131] In addition, to simplify the description and discussion, and in order not to make the embodiments of the present application difficult to understand, the known power supply / ground connection with the integrated circuit (IC) chip and other components may or may not be shown in the provided drawings. In addition, the device can be shown in the form of a block diagram to avoid making the embodiments of the present application difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform to be implemented in the embodiments of the present application (that is, these details should be fully within the scope of understanding of those skilled in the art). In the case of elaborating specific details (e.g., circuits) to describe exemplary embodiments of the present application, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details or when these specific details are changed. Therefore, these descriptions should be considered to be illustrative rather than restrictive.

[0132] Although the present application has been described in conjunction with specific embodiments of the present application, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0133] The embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the scope of protection of the present application.

Claims

1. A method for diagnosing an internal fault, characterized in that: include: Determine the actual acceleration signal of the yaw rate sensor; In response to determining that the actual acceleration signal does not exceed a preset acceleration range, acquiring a wheel speed signal of a target wheel and a steering wheel angle signal; Determine a calculated acceleration signal according to the wheel speed signal and the steering angle signal, and determine an acceleration difference value between the calculated acceleration signal and the actual acceleration signal; In response to determining that the acceleration difference value does not exceed a preset standard value, determining that no internal fault occurs in the airbag control unit, and re-diagnosing the internal fault according to a preset time interval; In response to the acceleration difference value exceeding the standard value, continuous detection and verification are performed according to a preset first detection frequency. If the continuous detection and verification fails, it is determined that an internal fault occurs in the airbag control unit, and the airbag fault light is turned on.

2. The method according to claim 1, characterized in that: The continuous detection and verification according to the preset first detection frequency includes: Performing multiple detections on the steering angle signal and the wheel speed signal according to the first detection frequency to obtain multiple acceleration difference values; In response to the presence of an acceleration difference value exceeding the standard value among the plurality of acceleration difference values, determining that the continuous detection verification has not been passed; In response to the absence of an acceleration difference value exceeding the standard value among the plurality of acceleration difference values, it is determined that the continuous detection verification is passed.

3. The method according to claim 1, characterized in that Also includes: If the continuous detection verification is passed, a new actual acceleration signal and a new calculated acceleration signal are determined; Calculating a new acceleration difference value between the new acceleration signal and the new actual acceleration signal; The diagnosis is terminated until it is determined that the new acceleration difference value does not exceed the standard value and that the airbag control unit has no internal fault.

4. The method according to claim 1, characterized in that: Also includes: In response to the actual acceleration signal exceeding a preset acceleration range, performing multiple detections of the actual acceleration signal according to a preset second detection frequency; In response to the presence of an actual acceleration signal greater than the acceleration range in the multiple detections, determining that an internal fault occurs in the airbag control unit, and lighting an airbag fault lamp; In response to the absence of an actual acceleration signal greater than the acceleration range in the multiple detections, a new actual acceleration signal is determined until the new actual acceleration signal does not exceed the acceleration range, and a new wheel speed signal of the target wheel and a new steering wheel angle signal are obtained.

5. The method according to claim 1, characterized in that: The determining of the actual acceleration signal of the yaw angular velocity sensor comprises: Determine the measurement reference plane parallel to the road surface; A first acceleration signal in the vehicle's driving direction and a second acceleration signal perpendicular to the vehicle's driving direction are acquired within the measurement reference plane; wherein the actual acceleration signal includes the first acceleration signal and the second acceleration signal.

6. The method according to claim 5, characterized in that Determining that the actual acceleration signal does not exceed a preset acceleration range includes: In response to the first acceleration signal being greater than the acceleration range, and / or the second acceleration signal being greater than the acceleration range, determining that the actual acceleration signal exceeds the acceleration range; In response to the first acceleration signal being less than or equal to the acceleration range, and the second acceleration signal being less than or equal to the acceleration range, it is determined that the actual acceleration signal does not exceed the acceleration range.

7. The method according to claim 5, characterized in that The step of determining a calculated acceleration signal according to the wheel speed signal and the steering angle signal, and determining an acceleration difference value between the calculated acceleration signal and the actual acceleration signal, comprises: Determine a first calculated acceleration signal of the vehicle's driving direction and a second calculated acceleration signal perpendicular to the vehicle's driving direction according to the wheel speed signal and the steering angle signal; wherein the calculated acceleration signal includes the first calculated acceleration signal and the second calculated acceleration signal; calculating a first acceleration difference value between the first acceleration and the first calculated acceleration; calculating a second acceleration difference value between the second acceleration and the second calculated acceleration; The acceleration difference value includes the first acceleration difference value and the second acceleration difference value.

8. The method according to claim 7, characterized in that The determining that the acceleration difference value does not exceed a preset standard value includes: In response to the first acceleration difference value being greater than the standard value, and / or the second acceleration difference value being greater than the standard value, determining that the acceleration difference value exceeds the standard value; In response to the first acceleration difference value being less than or equal to the standard value and the second acceleration difference value being less than or equal to the standard value, it is determined that the acceleration difference value does not exceed the standard value.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the method according to any one of claims 1 to 8 is implemented.

10. A vehicle, characterized in that: Comprising the electronic device as claimed in claim 9.

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