Acceleration sensor failure detection method and vehicle

Abstract

The invention belongs to the technical field of fault diagnosis, and particularly relates to an acceleration sensor failure detection method and a vehicle. The acceleration sensor failure detection method comprises the steps that the vehicle body acceleration a is calculated according to the vehicle body running speed within a preset time period t; acquiring an acceleration A collected by an acceleration sensor in a preset time period t; calculating the absolute value of the difference between the vehicle body acceleration a and the acceleration A; if the absolute value of the difference between the vehicle body acceleration a and the acceleration A is smaller than or equal to a preset acceleration difference upper limit M, judging that the acceleration sensor is not invalid; judging that the acceleration sensor fails according to the fact that the absolute value of the difference between the vehicle body acceleration a and the acceleration A is larger than the preset acceleration difference upper limit M. According to the acceleration sensor failure detection method in the technical scheme, the detection process is convenient and fast, and the cost is low; no complex algorithm exists, excessive resources of a single-chip microcomputer do not need to be occupied, and the program operation efficiency is high; and the normal use of the vehicle is not influenced.

Description

Technical Field

[0001] The present invention belongs to the technical field of fault diagnosis, and particularly relates to a method for detecting the failure of an acceleration sensor and a vehicle. Background Art

[0002] As an indispensable key component in modern automotive technology, the acceleration sensor plays a crucial role. It is widely used in the shift control of automatic vehicles, the fine management of the gearbox, and the operation of the vehicle stability control system. These sensors accurately collect the acceleration changes of the vehicle in three different axes and transmit this data to the vehicle control system in real time. In this way, the control system can automatically adjust the gear of the transmission and timely adjust the suspension system according to this information, so as to achieve a smoother driving experience and more efficient fuel economy. The accuracy and reliability of the acceleration sensor have a direct impact on the comfort of the driving experience and the overall safety of the vehicle.

[0003] However, during long-term use or when working in extreme environmental conditions, the acceleration sensor is prone to performance degradation or even complete failure. This performance decline is usually manifested as a large error in the acceleration value collected by the sensor or a significant delay in data update. Once the acceleration sensor fails, the gearbox control system will not be able to execute shift actions in a timely and accurate manner, which will not only reduce the driving smoothness and power continuity but also pose a direct threat to driving safety. Currently, most of the detection methods for the effectiveness of acceleration sensors rely on static tests or simple periodic calibrations. These calibration methods often require additional circuits or additional sensor settings, which not only make the detection process complicated but also increase the corresponding costs.

[0004] Given the importance of the acceleration sensor in modern vehicles and the serious consequences that its failure may bring, it is particularly important to detect the effectiveness of the acceleration sensor. Therefore, providing a more efficient and cost-effective method for detecting the failure of an acceleration sensor and a vehicle is of great significance for ensuring the safety and reliability of the vehicle. Summary of the Invention

[0005] The purpose of the present invention is to at least solve the problem of how to detect the effectiveness of the acceleration sensor. This purpose is achieved through the following technical solutions:

[0006] The first aspect of the present invention proposes a method for detecting the failure of an acceleration sensor, including:

[0007] Calculating the vehicle body acceleration a according to the vehicle body driving speed within a preset time period △t;

[0008] Obtain the acceleration A collected by the acceleration sensor within the preset time period △t;

[0009] Calculate the absolute value of the difference between the vehicle body acceleration a and the acceleration A;

[0010] Judge that the acceleration sensor is not failed according to the absolute value of the difference between the vehicle body acceleration a and the acceleration A being less than or equal to the preset acceleration difference upper limit M;

[0011] Judge that the acceleration sensor fails according to the absolute value of the difference between the vehicle body acceleration a and the acceleration A being greater than the preset acceleration difference upper limit M.

[0012] In the acceleration sensor failure detection method of this technical solution, the vehicle body driving speed is collected to calculate the vehicle body acceleration a, and the calculated vehicle body acceleration a is compared with the acceleration A actually output by the acceleration sensor. When the absolute value of the difference between the calculated vehicle body acceleration a and the acceleration A actually output by the acceleration sensor is greater than or equal to the preset acceleration value upper limit M, it is considered that the acceleration sensor fails. When the absolute value of the difference between the calculated vehicle body acceleration a and the acceleration A actually output by the acceleration sensor is less than the preset acceleration value upper limit M, it is considered that the acceleration sensor can be used normally. Using this detection method for the acceleration sensor does not require additional circuit or sensor settings, the detection process is convenient and fast, and the cost is low; this detection process does not have a relatively complex algorithm, does not require too much resources of the single-chip microcomputer, and the program operation efficiency is high; the detection process does not affect the normal use of the vehicle.

[0013] In addition, the acceleration sensor failure detection method of the present invention may further have the following additional technical features:

[0014] In some embodiments of the present invention, the acceleration A includes multiple acceleration measurement values, and calculating the absolute value of the difference between the vehicle body acceleration a and the acceleration A includes calculating the absolute value of the difference between the vehicle body acceleration a and each acceleration measurement value.

[0015] In some embodiments of the present invention, calculating the difference between the vehicle body acceleration a and the acceleration A further includes: selecting the largest value among the absolute values as the absolute value of the difference between the vehicle body acceleration a and the acceleration A.

[0016] In some embodiments of the present invention, before calculating the vehicle body acceleration a, it further includes: obtaining the driving road condition of the vehicle within the preset time period △t, and based on the vehicle always driving on a horizontal road surface within the preset time period △t, performing the calculation of the vehicle body acceleration a according to the vehicle body driving speed within the preset time period △t.

[0017] In some embodiments of the present invention, obtaining the driving road condition of the vehicle within the preset time period △t includes:

[0018] Obtaining a plurality of acceleration components on the X-axis or Y-axis within the preset time period △t through an acceleration sensor, where the X-axis or Y-axis is the length direction of the vehicle body, and the plurality of acceleration components are g1, g2,... gn respectively;

[0019] Calculating the change threshold △g of the acceleration components,

[0020] △g = max[g1, g2,... gn] - min[g1, g2,... gn], where max[g1, g2,... gn] is the maximum value among g1, g2,... gn, min[g1, g2,... gn] is the minimum value among g1, g2,... gn, gn is the nth acceleration component, and n is a positive integer;

[0021] Judging that the vehicle is always driving on a horizontal road surface within the preset time period △t according to that the change threshold △g is less than or equal to the preset acceleration component upper limit △gmax.

[0022] In some embodiments of the present invention, calculating the vehicle body acceleration a according to the driving speed of the vehicle body within the preset time period △t includes:

[0023] Recording the first time point t1 when the vehicle driving speed is the first vehicle speed V1;

[0024] Recording the second time point t2 when the vehicle driving speed is the second vehicle speed V2;

[0025] Calculating the preset time period △t, △t = t2 - t1;

[0026] Calculating the vehicle body acceleration a, a = (V2 - V1) / △t.

[0027] In some embodiments of the present invention, the first vehicle speed V1 is 1 km / h, the second vehicle speed V2 is 5 km / h, and the preset time period △t is the time experienced when the vehicle speed accelerates from 1 km / h to 5 km / h.

[0028] In some embodiments of the present invention, the preset acceleration component upper limit △gmax is 200 mm / s 2 。

[0029] In some embodiments of the present invention, the preset acceleration difference upper limit M is 100 mm / s 2 。

[0030] In a second aspect of the present invention, a vehicle is provided, and the vehicle includes:

[0031] Vehicle body;

[0032] A controller for executing the acceleration sensor failure detection method in the above - mentioned embodiment;

[0033] A speed acquisition unit, connected to the controller, for acquiring the vehicle body driving speed and sending the vehicle body driving speed to the controller;

[0034] An acceleration sensor, connected to the controller, for measuring the acceleration A of the vehicle and sending the acceleration A to the controller;

[0035] An instrument panel, connected to the controller, for displaying the judgment result of the controller on whether the acceleration sensor fails. Description of the drawings

[0036] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. Also, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0037] Figure 1 Schematically shows a flowchart of the acceleration sensor failure detection method according to an embodiment of the present invention. Detailed implementation manners

[0038] The following will describe the exemplary embodiments of the present disclosure in more detail with reference to the drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be fully communicated to those skilled in the art.

[0039] It should be understood that the terms used herein are only for the purpose of describing specific example embodiments and are not intended to be limiting. Unless otherwise clearly indicated in the context, the singular forms "a", "an", and "the" as used herein may also include the plural forms. The terms "include", "comprise", "contain", and "have" are inclusive and thus specify the presence of the stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or their combinations. The method steps, processes, and operations described herein are not to be construed as necessarily requiring them to be executed in the particular order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0040] Although the terms first, second, third, etc. may be used in the text to describe multiple elements, components, regions, layers, and / or sections, these elements, components, regions, layers, and / or sections should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or section from another region, layer, or section. Unless the context clearly indicates otherwise, terms such as "first", "second", and other numerical terms do not imply an order or sequence when used in the text. Therefore, the first element, component, region, layer, or section discussed below may be referred to as the second element, component, region, layer, or section without departing from the teachings of the exemplary embodiments.

[0041] For ease of description, spatial relative relationship terms may be used in the text to describe the relationship of one element or feature shown in the figure with respect to another element or feature. These relative relationship terms such as "inside", "outside", "inner side", "outer side", "below", "beneath", "above", "over" etc. This spatial relative relationship term is intended to include different orientations of the device in use or operation other than the orientation depicted in the figure. For example, if the device in the figure is flipped, then the element described as "below" or "beneath" other elements or features will subsequently be oriented as "above" or "over" other elements or features. Therefore, the exemplary term "below" may include the orientations of above and below.

[0042] Figure 1 A flowchart of an acceleration sensor failure detection method according to an embodiment of the present invention is schematically shown. As Figure 1 shown, the present invention proposes an acceleration sensor failure detection method, and the acceleration sensor failure detection method includes:

[0043] Calculating the vehicle body acceleration a based on the vehicle body driving speed within a preset time period Δt;

[0044] Obtaining the acceleration A collected by the acceleration sensor within the preset time period Δt;

[0045] Calculating the absolute value of the difference between the vehicle body acceleration a and the acceleration A;

[0046] Judging that the acceleration sensor has not failed according to that the absolute value of the difference between the vehicle body acceleration a and the acceleration A is less than or equal to a preset acceleration difference upper limit M;

[0047] Judging that the acceleration sensor has failed according to that the absolute value of the difference between the vehicle body acceleration a and the acceleration A is greater than the preset acceleration difference upper limit M.

[0048] In the acceleration sensor failure detection method of this technical solution, the vehicle body acceleration a is calculated by collecting the vehicle body driving speed. By comparing the calculated vehicle body acceleration a with the acceleration A actually output by the acceleration sensor, when the absolute value of the difference between the calculated vehicle body acceleration a and the acceleration A actually output by the acceleration sensor is greater than or equal to the preset acceleration value upper limit M, it is considered that the acceleration sensor fails. When the absolute value of the difference between the calculated vehicle body acceleration a and the acceleration A actually output by the acceleration sensor is less than the preset acceleration value upper limit M, it is considered that the acceleration sensor can be used normally. Using this detection method for the acceleration sensor does not require adding additional circuits or sensor settings. The detection process is convenient and fast, and the cost is relatively low. There is no relatively complex algorithm in this detection process, and it does not occupy too many resources of the single-chip microcomputer, and the program running efficiency is high. The detection process will not cause any interference or influence on the normal operation of the vehicle.

[0049] Further, the acceleration A includes multiple acceleration measurement values. Calculating the absolute value of the difference between the vehicle body acceleration a and the acceleration A includes calculating the absolute value of the difference between the vehicle body acceleration a and each acceleration measurement value.

[0050] It can be understood that if only one acceleration measurement value is collected within a specific time period △t, then comparing this single acceleration measurement value with the vehicle body acceleration a obtained by calculation, the result often has great contingency, so the judgment accuracy may be relatively poor. In some embodiments, in order to improve the judgment accuracy, multiple acceleration measurement values can be collected within the time period △t. By comparing each collected acceleration measurement value with the calculated vehicle body acceleration a, the judgment accuracy can be effectively improved. This method increases the number of data points, enabling a more accurate assessment of the effectiveness of the acceleration sensor, thereby reducing the accidental error caused by a single data point and ensuring the reliability of the assessment result.

[0051] Further, calculating the difference between the vehicle body acceleration a and the acceleration A further includes: selecting the largest value among the absolute values as the absolute value of the difference between the vehicle body acceleration a and the acceleration A. Specifically, multiple acceleration measurement values form an array [a1, a2,... an]. Calculating the difference between the vehicle body acceleration a and the acceleration A includes calculating △amax, △amax = max[△an] = max[|a - a1|, |a - a2|,... |a - an|]; where an is the nth acceleration measurement value and n is a positive integer. Furthermore, according to whether the maximum acceleration difference △amax is less than or equal to the preset acceleration difference upper limit M, it is judged whether the acceleration sensor fails. If the maximum acceleration difference △amax is greater than the preset acceleration difference upper limit M, it is judged that the acceleration sensor fails.

[0052] That is to say, the vehicle body acceleration a is compared with all acceleration measurement values one by one, the difference between them is calculated, and the absolute value of these differences is taken. Among these absolute values, if the largest difference is less than or equal to the preset upper limit M of the acceleration difference, it can be ensured that the absolute values of the other differences will also be less than the preset upper limit M of the acceleration difference. In this case, it can be concluded that the acceleration sensor is working properly and there is no failure. On the contrary, if the absolute value of the largest difference exceeds the preset upper limit M of the acceleration difference, it can be determined that the acceleration sensor has failed. By this comparison method, that is, comparing the maximum value of the absolute value of the difference with the preset upper limit M of the acceleration difference, a more stringent judgment criterion can be implemented, and a more accurate judgment result can be obtained.

[0053] Optionally, in this embodiment, the preset upper limit M of the acceleration difference is 100 mm / s 2 , and in other embodiments, the preset upper limit M of the acceleration difference can also be 80 mm / s 2 , 90 mm / s 2 , 100 mm / s 2 , 110 mm / s 2 or 120 mm / s 2 and so on.

[0054] In another embodiment, multiple acceleration measurement values form an array [an]. After calculating the difference between the vehicle body acceleration a and the acceleration A, it further includes calculating the average value A-avg of the obtained multiple differences, A-avg = [(a - a1) + (a - a2) +... + (a - an)] / n. According to the average value A-avg of the differences being less than or equal to the preset average value N of the acceleration difference, it is determined that the acceleration sensor has not failed; according to the average value A-avg of the differences being greater than the preset average value N of the acceleration difference, it is determined that the acceleration sensor has failed. Optionally, the average value N of the acceleration difference is 60 mm / s 2 ~80 mm / s 2 , exemplarily, the preset upper limit M of the acceleration difference can be 60 mm / s 2 , 65 mm / s 2 , 70 mm / s 2 , 75 mm / s 2 or 80 mm / s 2 and so on.

[0055] Furthermore, before calculating the vehicle body acceleration a, it further includes: obtaining the driving road condition of the vehicle within the preset time period △t, and based on the vehicle always driving on a horizontal road surface within the preset time period △t, performing the calculation of the vehicle body acceleration a according to the vehicle body driving speed within the preset time period △t.

[0056] During the driving process of a vehicle, the state of the road surface will directly affect the posture of the vehicle body. To ensure the accuracy of calculations, an ideal prerequisite is that the direction of the vehicle's forward speed must be exactly the same as the measurement direction of the acceleration sensor. In this case, the data reliability between the calculated vehicle body acceleration a and the acceleration A collected by the acceleration sensor is the highest. However, in the real world, the road surface conditions are often very complex and changeable. When the vehicle passes through uneven road surfaces such as slopes and potholes, both the acceleration A collected by the acceleration sensor and the vehicle body acceleration a calculated through calculations will be affected to varying degrees, thereby affecting the data reliability. To address this situation, it is necessary to carefully screen and filter the collected data before performing calculations and judgments to exclude data with relatively low reliability. If the fluctuation amplitude of the acceleration A collected by the acceleration sensor is relatively small, it can be inferred that the vehicle is driving on a horizontal road surface where the slope has not changed.

[0057] Furthermore, obtain the driving road conditions of the vehicle within a preset time period △t, including:

[0058] Obtain multiple acceleration components on the X-axis or Y-axis within the preset time period △t through the acceleration sensor. The X-axis is the length direction of the vehicle body, and the Y-axis is the height direction of the vehicle body. The multiple acceleration components are g1, g2,... gn respectively;

[0059] Calculate the change threshold △g of the acceleration components,

[0060] △g = max[g1, g2,... gn] - min[g1, g2,... gn], where max[g1, g2,... gn] is the maximum value among g1, g2,... gn, min[g1, g2,... gn] is the minimum value among g1, g2,... gn, gn is the nth acceleration component, and n is a positive integer;

[0061] Judge that the vehicle is always driving on a horizontal road surface within the preset time period △t according to the change threshold △g being less than or equal to the preset acceleration component upper limit △gmax.

[0062] It can be understood that the vehicle body acceleration a obtained when driving on a horizontal road surface where the slope has not changed can be retained and used for subsequent calculations, while the vehicle body acceleration a obtained when driving on a road surface where the slope has changed should be discarded.

[0063] In one implementation, determining that the vehicle is driving on a horizontal road surface where the slope has not changed within the preset time period △t includes the following steps:

[0064] Obtain multiple acceleration components on the X-axis within a preset time period △t through an acceleration sensor, and the multiple acceleration components form an array [gx1, gx2,... gxn];

[0065] Calculate the change threshold △gx of the multiple acceleration components,

[0066] △gx = max[gx1, gx2,... gxn] - min[gx1, gx2,... gxn], where max[gx1, gx2,... gxn] is the maximum value among gx1, gx2,... gxn, min[gx1, gx2,... gxn] is the minimum value among gx1, gx2,... gxn, gxn is the nth acceleration component in the X-axis direction, and n is a positive integer.

[0067] Judge that the vehicle is always driving on a horizontal road surface within the preset time period △t according to the change threshold △gx being less than or equal to the preset acceleration component upper limit △gxmax.

[0068] In another implementation manner, determining that the vehicle is driving on a horizontal road surface with an unchanged slope within the preset time period △t includes the following steps:

[0069] Obtain multiple acceleration components on the Y-axis within a preset time period △t through an acceleration sensor, and the multiple acceleration components form an array [gy1, gy2,... gyn];

[0070] Calculate the change threshold △gy of the multiple acceleration components,

[0071] △gy = max[gy1, gy2,... gyn] - min[gy1, gy2,... gyn], where max[gy1, gy2,... gyn] is the maximum value among gy1, gy2,... gyn, min[gy1, gy2,... gyn] is the minimum value among gy1, gy2,... gyn, gyn is the nth acceleration component in the Y-axis direction, and n is a positive integer.

[0072] Judge that the vehicle is always driving on a horizontal road surface within the preset time period △t according to the change threshold △gy being less than or equal to the preset acceleration component upper limit △gymax.

[0073] Furthermore, calculating the vehicle body acceleration a according to the vehicle body driving speed within the preset time period △t includes:

[0074] Record the first time point t1 when the vehicle driving speed is the first vehicle speed V1;

[0075] Record the second time point t2 when the vehicle driving speed is the second vehicle speed V2;

[0076] Calculate the preset time period △t, where the preset time period △t = t2 - t1;

[0077] Calculate the vehicle body acceleration a, where a = (V2 - V1) / △t.

[0078] In a preferred embodiment, the vehicle body acceleration a is defined as the instantaneous acceleration. This means that the preset time period △t is set to a very small value. Based on this assumption, the vehicle body acceleration a calculated will be very close to the actual instantaneous acceleration of the vehicle during this time period. In addition, it is possible to choose to measure the first vehicle speed V1 and the second vehicle speed V2 of the vehicle at two different time points through a vehicle speed sensor. At the same time, the specific moments t1 and t2 of these two time points are recorded using a timing unit. Using this method of calculating the vehicle body acceleration a based on the vehicle speed difference and time difference is not only easy to operate but also does not rely on complex algorithms, thus ensuring the efficiency of the calculation process.

[0079] Optionally, the first vehicle speed V1 is 1 km / h, the second vehicle speed V2 is 5 km / h, and the preset time period △t is the time taken for the vehicle speed to accelerate from 1 km / h to 5 km / h. The time taken for the vehicle speed to accelerate from 1 km / h to 5 km / h is usually a very small value. Therefore, the vehicle body acceleration a calculated through V1, V2, and △t can be considered as the instantaneous acceleration. In other embodiments, the first vehicle speed V1 can be 0.5 km / h and the second vehicle speed V2 can be 4.5 km / h; or, the first vehicle speed V1 can be 0.5 km / h and the second vehicle speed V2 can be 5 km / h; or, the first vehicle speed V1 can be 1 km / h and the second vehicle speed V2 can be 5 km / h; or, the first vehicle speed V1 can be 2 km / h and the second vehicle speed V2 can be 6 km / h; or, the first vehicle speed V1 can be 1 km / h and the second vehicle speed V2 can be 6 km / h; or, the first vehicle speed V1 can be 1 km / h and the second vehicle speed V2 can be 4.5 km / h, etc. It can be understood that the magnitudes of the first vehicle speed V1 and the second vehicle speed V2 can be selected as needed and are not specifically limited here.

[0080] In some embodiments, the first time point t1, the second time point t2, and the preset time period △t can be preset in advance, and then the vehicle is controlled to accelerate or decelerate, and the first vehicle speed V1 of the vehicle at the first time point t1 and the second vehicle speed V2 of the vehicle at the second time point t2 are collected. Optionally, the first time point t1 can be the Nth second after the vehicle starts, and the preset time period △t can be 2 s to 5 s.

[0081] In one embodiment, the process of acceleration sensor failure detection is as follows:

[0082] S100. Store the upper limit of the preset acceleration component △gxmax and the upper limit of the preset acceleration difference M in the storage unit. The upper limit of the preset acceleration component △gxmax = 200 mm / s 2 , and the preset acceleration difference M = 5 mm / s 2 ;

[0083] S200. Start the vehicle. When the vehicle speed reaches the first vehicle speed V1, record the first time point t1. Here, the first vehicle speed V1 is 1 km / h; when the vehicle speed reaches the second vehicle speed V2, record the second time point t2. Here, the second vehicle speed V2 is 5 km / h; calculate △t, where △t = t2 - t1;

[0084] S300. Obtain multiple acceleration components on the X-axis within the preset time period △t through the acceleration sensor. The multiple acceleration components form an array [gx1, gx2,... gxn]; calculate the change threshold △gx of the multiple acceleration components, where gx = max[gx1, gx2,... gxn] - min[gx1, gx2,... gxn]; when the change threshold △gx is greater than the upper limit of the preset acceleration component △gxmax, stop the detection and return to S200; when the change threshold △gx is less than or equal to the upper limit of the preset acceleration component △gxmax, determine that the vehicle is traveling on a horizontal road surface where the slope has not changed within the preset time period △t, and calculate the vehicle body acceleration a, where a = (V2 - V1) / △t;

[0085] S400. Obtain multiple acceleration measurement values collected by the acceleration sensor within the preset time period △t. The multiple acceleration measurement values form an array [a1, a2,... an]. Calculating the difference between the vehicle body acceleration a and the acceleration A includes calculating the maximum acceleration difference △amax, where △amax = max[△

[0086] an] = max[|a - a1|, |a - a2|,... |a - an|]; based on the maximum acceleration difference △amax being less than or equal to the upper limit of the preset acceleration difference M, determine that the acceleration sensor is not faulty; based on the maximum acceleration difference △amax being greater than the upper limit of the preset acceleration difference M, determine that the acceleration sensor is faulty.

[0087] Furthermore, this technical solution also provides a vehicle, including a vehicle body, a controller, a speed acquisition unit, an acceleration sensor, and a dashboard. The controller is used to execute the above acceleration sensor failure detection method; the speed acquisition unit is connected to the controller and is used to collect the vehicle body driving speed and send the vehicle body driving speed to the controller; the acceleration sensor is connected to the controller and is used to measure the vehicle acceleration A and send the acceleration A to the controller; the dashboard is connected to the controller and is used to display the determination result of whether the acceleration sensor is faulty by the controller.

[0088] Furthermore, the vehicle with a failed acceleration sensor further includes a timing unit, a storage unit, and a comparison measurement device. The timing unit is used to record the first time point t1 and the second time point t2; the storage unit is used to store the preset upper limit M of the acceleration difference and the preset upper limit △gmax of the acceleration component; the comparison measurement device is used to calculate the difference between the body acceleration a and the acceleration A, calculate the difference between the difference between the body acceleration a and the acceleration A and the preset upper limit M of the acceleration difference, and output a judgment result. Optionally, the speed acquisition unit may be a speed sensor. When the speed sensor detects that the body speed is the first speed V1, the timing unit records the first time point t1. When the speed sensor detects that the body speed is the second speed V2, the timing unit records the second time point t2.

[0089] The vehicle with a failed acceleration sensor has the characteristics of being convenient and efficient, can easily detect the effectiveness of the acceleration sensor, and its cost is relatively low. During the detection process, the device does not rely on complex algorithms, so it will not occupy too much resources of the single-chip microcomputer, ensuring the high efficiency of the program operation. In addition, when using this vehicle for detection, it will not cause any interference or impact on the normal operation of the vehicle.

[0090] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A method for detecting failure of an acceleration sensor, characterized in that: include: Calculate the vehicle body acceleration a according to the vehicle body speed within the preset time period △t; Acquire the acceleration A collected by the acceleration sensor within the preset time period Δt; Calculating the absolute value of the difference between the vehicle body acceleration a and the acceleration A; According to the absolute value of the difference between the vehicle body acceleration a and the acceleration A being less than or equal to a preset acceleration difference upper limit M, it is determined that the acceleration sensor is not failed; According to the absolute value of the difference between the vehicle body acceleration a and the acceleration A being greater than the preset acceleration difference upper limit M, it is determined that the acceleration sensor has failed.

2. The acceleration sensor failure detection method according to claim 1, characterized in that: The acceleration A includes a plurality of acceleration measurement values, and the calculating the absolute value of the difference between the vehicle body acceleration a and the acceleration A includes calculating the absolute value of the difference between the vehicle body acceleration a and each of the acceleration measurement values.

3. The acceleration sensor failure detection method according to claim 2, characterized in that: Calculating the difference between the vehicle body acceleration a and the acceleration A also includes: selecting the largest value among the absolute values ​​as the absolute value of the difference between the vehicle body acceleration a and the acceleration A.

4. The acceleration sensor failure detection method according to claim 1, characterized in that: Before calculating the vehicle body acceleration a, the method further includes: obtaining the driving condition of the vehicle within the preset time period △t, based on the fact that the vehicle is always driving on a horizontal road within the preset time period △t, and calculating the vehicle body acceleration a according to the vehicle body driving speed within the preset time period △t.

5. The acceleration sensor failure detection method according to claim 4, characterized in that: The obtaining of the driving condition of the vehicle within the preset time period Δt includes: Acquire multiple acceleration components on the X-axis or Y-axis within the preset time period Δt through an acceleration sensor, wherein the X-axis is the length direction of the vehicle body, and the Y-axis is the height direction of the vehicle body, and the multiple acceleration components are g1, g2, ..., gn respectively; Calculate the change threshold △g of the acceleration component, △g=max[g1,g2,...gn]-min[g1,g2,...gn], where max[g1,g2,...gn] is the maximum value among g1,g2,...gn, min[g1,g2,...gn] is the minimum value among g1,g2,...gn, gn is the nth acceleration component, and n is a positive integer; According to the change threshold Δg being less than or equal to the preset acceleration component upper limit Δgmax, it is determined that the vehicle is always traveling on a horizontal road during the preset time period Δt.

6. The acceleration sensor failure detection method according to claim 1, characterized in that: Calculating the vehicle body acceleration a according to the vehicle body speed within the preset time period Δt includes: Recording the first time point t1 when the vehicle travels at the first speed V1; Recording a second time point t2 when the vehicle travels at a second speed V2; Calculate the preset time period Δt, Δt=t2-t1; The vehicle body acceleration a is calculated, where a=(V2-V1) / Δt.

7. The acceleration sensor failure detection method according to claim 6, characterized in that: The first vehicle speed V1 is 1 km / h, the second vehicle speed V2 is 5 km / h, and the preset time period Δt is the time it takes for the vehicle speed to accelerate from 1 km / h to 5 km / h.

8. The acceleration sensor failure detection method according to claim 7, characterized in that: The preset acceleration component upper limit △gmax is 200mm / s 2 .

9. The acceleration sensor failure detection method according to any one of claims 1 to 8, characterized in that: The preset acceleration difference upper limit M is 100 mm / s 2 .

10. A vehicle, characterized in that: include: Vehicle body; A controller, configured to execute the acceleration sensor failure detection method according to any one of claims 1 to 9; A speed acquisition unit, connected to the controller, for acquiring the driving speed of the vehicle body and sending the driving speed of the vehicle body to the controller; an acceleration sensor connected to the controller, for measuring the acceleration A of the vehicle and sending the acceleration A to the controller; The instrument panel is connected to the controller and is used to display the judgment result of the controller on whether the acceleration sensor fails.

Images