Vehicle fault determination method and device, electronic equipment and storage medium

Abstract

The invention provides a vehicle fault determination method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining the current driving information of a vehicle, and determining whether the speed of the vehicle continuously rises or not according to the current driving information; if it is determined that the vehicle speed of the vehicle continuously rises, a target fault of the vehicle is determined from multiple faults, and the multiple faults comprise an accelerator fault, a vehicle control unit fault and a domain controller fault; and performing fault processing on the vehicle according to the target fault. According to the method, the target fault can be determined in the accelerator fault, the vehicle controller fault and the domain controller fault which possibly cause abnormal acceleration of the vehicle, so that the fault type causing abnormal acceleration of the vehicle is accurately determined, and fault processing can be carried out according to the target fault; and the driving safety of the vehicle and the personal safety of a driver and passengers are ensured.

Description

Technical Field

[0001] This application relates to the technical field of vehicles, and more specifically, to a method, apparatus, electronic device, and storage medium for determining vehicle faults. Background Art

[0002] With the rapid development of technology, people increasingly rely on cars for convenient travel. During the process of driving a car by a user, there may be a situation of abnormal acceleration. Currently, for the fault of abnormal acceleration of a car, the common practice is to cut off the power through the emergency power cut-off button in the vehicle. However, for a driver, in an emergency situation, they may lose the ability to correctly operate the emergency button due to panic. Moreover, currently, it is impossible to accurately determine the type of fault that causes abnormal acceleration of the vehicle. Therefore, how to accurately determine the type of fault of abnormal acceleration of the vehicle has become an urgent problem to be solved. Summary of the Invention

[0003] In view of this, embodiments of the present application propose a method, apparatus, electronic device, and storage medium for determining vehicle faults to improve the above problems.

[0004] According to the first aspect of the embodiments of the present application, a method for determining vehicle faults is provided. The method includes: obtaining the current driving information of the vehicle, and determining whether the vehicle speed of the vehicle continuously increases according to the current driving information; if it is determined that the vehicle speed of the vehicle continuously increases, determining a target fault of the vehicle from multiple faults, where the multiple faults include throttle faults, vehicle controller faults, and domain controller faults; and performing fault handling on the vehicle according to the target fault.

[0005] According to the second aspect of the embodiments of the present application, a device for determining vehicle faults is provided. The device includes: a current driving information acquisition module, configured to obtain the current driving information of the vehicle, and determine whether the vehicle speed of the vehicle continuously increases according to the current driving information; a fault determination module, configured to, if it is determined that the vehicle speed of the vehicle continuously increases, determine a target fault of the vehicle from multiple faults, where the multiple faults include throttle faults, vehicle controller faults, and domain controller faults; and a fault handling module, configured to perform fault handling on the vehicle according to the target fault.

[0006] According to the third aspect of the embodiments of the present application, an electronic device is provided, including: a processor; a memory, on which computer-readable instructions are stored, and when the computer-readable instructions are executed by the processor, the method for determining vehicle faults as described above is implemented.

[0007] According to a fourth aspect of the embodiments of the present application, there is provided a computer-readable storage medium storing computer-readable instructions, which, when executed by a processor, implement the vehicle fault determination method as described above.

[0008] In the solution of the present application, first obtain the current driving information of the vehicle, and based on the current driving information of the vehicle, determine whether the vehicle speed is continuously increasing. When it is determined that the vehicle speed is continuously increasing, it is determined that the vehicle has abnormal acceleration. Furthermore, among the throttle faults, vehicle controller faults, and domain controller faults that may cause the vehicle to have abnormal acceleration, the target fault is determined, so as to accurately determine the fault type that causes the vehicle to have abnormal acceleration. Furthermore, fault handling can be performed according to the target fault to ensure the driving safety of the vehicle and the personal safety of the driver and passengers.

[0009] It should be understood that the above general description and subsequent detailed description are only exemplary and explanatory, and cannot limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The accompanying drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application. Obviously, the accompanying drawings in the following description are only some embodiments of the present application, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0011] Figure 1 is a flowchart showing the vehicle fault determination method according to an embodiment of the present application.

[0012] Figure 2 is a flowchart showing the vehicle fault determination method according to another embodiment of the present application.

[0013] Figure 3 is a flowchart showing the specific steps after step 230 according to an embodiment of the present application.

[0014] Figure 4 is a flowchart showing the determination of throttle pedal sensor faults according to an embodiment of the present application.

[0015] Figure 5 is a flowchart showing the determination of throttle pedal jamming faults according to an embodiment of the present application.

[0016] Figure 6 is a flowchart showing the vehicle fault determination method according to still another embodiment of the present application.

[0017] Figure 7 is a flowchart showing the determination of vehicle controller faults according to an embodiment of the present application.

[0018] Figure 8 It is a schematic flowchart of a vehicle fault determination method shown according to another embodiment of the present application.

[0019] Figure 9 It is a flowchart for determining the failure of a vehicle controller according to an embodiment of the present application.

[0020] Figure 10 It is a schematic flowchart of a vehicle fault determination method shown according to still another embodiment of the present application.

[0021] Figure 11 It is a block diagram of a vehicle fault determination device shown according to an embodiment of the present application.

[0022] Figure 12 It is a hardware structure diagram of an electronic device shown according to an embodiment of the present application.

[0023] Through the above-mentioned drawings, specific embodiments of the present invention have been shown, and there will be more detailed descriptions hereinafter. These drawings and textual descriptions are not intended to limit the scope of the inventive concept in any way, but to illustrate the concept of the present invention to those skilled in the art through specific embodiments. Specific Embodiments

[0024] Now, example embodiments will be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more complete and comprehensive, and will fully convey the concept of the example embodiments to those skilled in the art.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and do not necessarily need to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0026] In addition, the described features, structures, or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, numerous specific details are provided to give a thorough understanding of the embodiments of the present application. However, those skilled in the art will realize that the technical solutions of the present application may be practiced without one or more of the specific details, or other methods, devices, steps, etc. may be adopted. In other cases, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the present application.

[0027] The block diagrams shown in the drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices. The flowcharts shown in the drawings are merely illustrative and do not necessarily include all the content and operations / steps, nor are they necessarily executed in the described order. For example, some operations / steps may be decomposed, while some operations / steps may be combined or partially combined, so the actual execution order may change according to the actual situation.

[0028] Please refer to Figure 1 , Figure 1 which shows a method for determining a fault of a vehicle provided by an embodiment of the present application. In a specific embodiment, the method for determining a fault of the vehicle may be applied to a vehicle fault determination device 700 as shown in Figure 7 and an electronic device 800 configured with the vehicle fault determination device 700 ( Figure 8 ). The following will illustrate the specific process of this embodiment. Of course, it can be understood that this method may be executed by a cloud server with computing and processing capabilities. The following will elaborate in detail on the Figure 1 shown process. The method for determining a fault of the vehicle may specifically include the following steps:

[0029] Step 110, obtain the current driving information of the vehicle, and determine whether the vehicle speed of the vehicle continuously increases according to the current driving information.

[0030] As a way, it may be that an in-vehicle processor in the vehicle obtains the current driving information of the vehicle through the bus network message of the vehicle during the vehicle driving process, or it may be that an electronic device communicatively connected to the vehicle through the Telematics Service Provide (TSP) service of the in-vehicle terminal responds to the user's acquisition operation to obtain the current driving information of the vehicle or obtains the current driving information through a fault detection program in the electronic device.

[0031] As a way, after obtaining the current driving information of the vehicle, the vehicle speed can be determined according to the wheel speed of each wheel in the current driving information of the vehicle, and it can be determined whether the vehicle speed of the vehicle is continuously increasing. Optionally, if the vehicle is a front-wheel drive vehicle, the vehicle speed can be determined according to the wheel speeds of the left front wheel and the right front wheel; if the vehicle is a four-wheel drive vehicle, the maximum wheel speed can be determined from the wheel speeds corresponding to the four wheels as the vehicle speed or the average wheel speed can be determined according to the wheel speeds corresponding to the four wheels, and the average wheel speed can be determined as the vehicle speed of the vehicle.

[0032] Step 120, if it is determined that the vehicle speed of the vehicle is continuously increasing, determine the target fault of the vehicle from multiple faults, where the multiple faults include throttle faults, vehicle control unit faults, and domain controller faults.

[0033] As a way, when it is determined that the vehicle speed of the vehicle is continuously increasing, it can be determined that the current vehicle is in a dangerous driving situation. In order to ensure the driving safety of the vehicle and the safety of the driver and passengers, it can be first determined whether it is a vehicle fault that causes the vehicle speed of the vehicle to continuously increase, so that the fault can be processed in time when it is determined that the vehicle has a fault, or the driver can be reminded when it is determined that no fault has occurred.

[0034] Optionally, since there are many faults that cause the vehicle speed of the vehicle to continuously increase, in order to be able to process the vehicle in and out of the fault in time when the vehicle has a fault, the target fault of the vehicle can be determined from multiple faults, so that the fault can be processed according to the target fault.

[0035] Among them, the throttle fault may include a throttle pedal stuck fault and a throttle pedal sensor fault. Among them, the throttle pedal stuck fault indicates the situation where the throttle pedal of the vehicle cannot rebound after being depressed, and the throttle pedal sensor fault indicates that after the throttle pedal of the vehicle is depressed and then released, the corresponding throttle signal does not change and remains the throttle signal corresponding to when the throttle is depressed.

[0036] Among them, the vehicle control unit (VCU) can, after the driver depresses the throttle pedal or the brake pedal; calculate parameters such as the torque required by the motor according to the depth of the throttle pedal or the brake pedal, coordinate the movement of each power component, and send control commands to each subsystem of the whole vehicle to realize the normal driving of the vehicle. Optionally, when a vehicle control unit fault occurs in the vehicle, it causes a continuous torque request of the vehicle, resulting in a continuous increase in the vehicle speed.

[0037] Among them, a domain controller (DCU) can divide the electronic functions of a vehicle into several domains, such as a powertrain domain, a body electronics domain, an assisted driving domain, etc. Then, it uses a multi-core processor chip with powerful processing capabilities to relatively centrally control most of the functions originally belonging to each electronic controller within the domain, thereby replacing the traditional distributed architecture, achieving appropriate integration, and reducing the number of ECUs. Optionally, in the embodiments of the present application, it can be a domain controller for the powertrain domain. Optionally, when the domain controller for the powertrain domain fails, the domain controller for the powertrain domain continuously executes the torque request sent by the VCU, resulting in a continuous increase in the vehicle speed.

[0038] Step 130, perform a fault handling on the vehicle according to the target fault.

[0039] As a method, after determining the target fault, the executable operations can be determined according to the target fault, and then the vehicle can be fault-handled according to the executable operations to avoid safety accidents of the vehicle. Optionally, if the target fault is a domain controller fault, the power supply of the vehicle's power system can be cut off to prevent the domain controller from executing incorrect torque requests; if the target fault is a vehicle controller fault, the domain controller can be controlled to stop executing torque requests and ignore all subsequent torque requests, or the power supply of the vehicle's power system can be cut off to prevent the domain controller from executing incorrect torque requests; if the target fault is a throttle fault, the vehicle controller can be controlled to stop sending torque requests, or the domain controller can be controlled to stop executing torque requests and ignore all subsequent torque requests, or the power supply of the vehicle's power system can be cut off to prevent the domain controller from executing incorrect torque requests.

[0040] Optionally, when it is determined that the unexpected acceleration is caused by an electrical fault in the vehicle's power system and the controller cannot cut off the power of the vehicle through its own safety mechanism, the power of the vehicle is cut off through remote control to ensure the safe driving of the vehicle.

[0041] In the embodiments of the present application, the current driving information of the vehicle is first obtained, and based on the current driving information of the vehicle, it is determined whether the vehicle speed is continuously increasing. When it is determined that the vehicle speed is continuously increasing, it is determined that the vehicle has abnormal acceleration. Then, among the throttle fault, vehicle controller fault, and domain controller fault that may cause the vehicle to have abnormal acceleration, the target fault is determined, so as to accurately determine the fault type that causes the vehicle to have abnormal acceleration, and then the fault can be handled according to the target fault to ensure the driving safety of the vehicle and the personal safety of the driver and passengers.

[0042] Please refer to Figure 2 , Figure 2The figure shows a method for determining a fault of a vehicle provided by an embodiment of the present application. The following will elaborate in detail on the Figure 2 shown process. The method for determining a fault of the vehicle may specifically include the following steps:

[0043] Step 210: Obtain the current driving information of the vehicle, and determine whether the vehicle speed of the vehicle is continuously increasing according to the current driving information.

[0044] Step 220: If it is determined that the vehicle speed of the vehicle is continuously increasing, then determine the change in the throttle depth of the vehicle.

[0045] As a way, the change in the throttle depth of the vehicle indicates the change in the depth of the throttle pedal of the vehicle within a certain period of time, so that it is possible to determine whether the vehicle has a throttle fault based on the change in the throttle depth. Optionally, the throttle depth can be determined by a pressure sensor provided on the throttle pedal. The driver steps on the throttle pedal with different forces, so that different throttle depths can be achieved, and then the vehicle can be accelerated based on different throttle depths.

[0046] Step 230: If the change in the throttle depth indicates that the throttle depth of the vehicle is a constant value, or the throttle depth returns to the same depth after fluctuating, then determine the throttle fault as the target fault of the vehicle from the multiple faults.

[0047] As a way, when it is determined according to the change in the throttle depth that the throttle of the vehicle has always been at the same depth, it can be determined at this time that the throttle of the vehicle is stuck (for example, the throttle pedal is stuck by a floor mat), resulting in the throttle pedal being unable to rebound, and then the vehicle continues to accelerate, or the throttle pedal sensor fails, resulting in the throttle pedal sensor being unable to sense the rebound of the throttle pedal, and then the vehicle continues to accelerate. In this way, the throttle fault is determined as the target fault from multiple faults.

[0048] In some embodiments, after the step 230, as Figure 3 shown, the method further includes:

[0049] Step 250: Obtain the throttle depth information of the vehicle, the throttle signal of the vehicle, and the brake signal of the vehicle, where the brake signal includes a brake pedal signal and an electronic parking signal.

[0050] As a way, since the throttle fault includes a throttle sensor fault and a throttle stuck fault, in order to accurately determine the target fault of the vehicle so as to be able to perform fault handling according to the target fault, it is possible to determine whether the vehicle has a throttle stuck fault or a throttle pedal sensor fault based on the throttle depth information of the vehicle, the throttle signal of the vehicle, and the brake signal of the vehicle.

[0051] Optionally, the throttle signal of the vehicle can be determined by obtaining the bus message of the vehicle. After the driver steps on the accelerator pedal, the vehicle controller determines the depth of the accelerator pedal and generates a throttle signal according to the depth of the accelerator pedal being depressed, and adds the throttle signal to the network message, and then sends the network message to the vehicle CAN bus, thereby generating a bus message including the throttle signal, and then sending the bus message including the throttle signal to the corresponding power controller to perform acceleration control on the vehicle based on the throttle signal.

[0052] Optionally, the brake signal can be the brake signal generated based on the brake pedal after the user steps on the brake pedal, or the brake signal generated by the brake pedal sensor after detecting that the brake pedal is depressed, or the brake signal generated when the user pulls up the handbrake of the Electronic Parking Brake (EPB), or the brake signal generated when the user emergently cuts off the power supply of the power system.

[0053] Step 260, if the throttle depth information indicates that the throttle depth of the vehicle has changed and the throttle signal indicates that the throttle depth of the vehicle is a constant value, then determine that the throttle fault is a throttle pedal sensor fault.

[0054] As a method, the throttle depth value in the throttle depth information can be compared with a depth threshold, and when it is determined that the throttle depth value is greater than or equal to the depth threshold, it can be determined that the throttle depth of the vehicle has changed. Optionally, the throttle depth information can include the throttle pedal switch state, and the throttle pedal switch state indicates whether the throttle pedal of the vehicle is stepped on by the driver with greater force.

[0055] Optionally, when it is determined that the throttle depth has changed, it can be determined that the throttle pedal is stepped on by the driver with greater force. At this time, the corresponding throttle signal should also change accordingly, but at this time the throttle signal has not changed, that is, the throttle signal indicates that the throttle depth of the vehicle has not changed. Furthermore, it can be determined that it is the throttle sensor of the vehicle that has failed and thus cannot sense the change in throttle depth, resulting in the vehicle always accelerating according to the unchanged throttle signal.

[0056] Figure 4 It is a flowchart for determining a throttle pedal sensor fault shown in an embodiment of the present application, as Figure 4As shown, it is possible to first determine whether the vehicle speed of the vehicle is continuously increasing based on the external data of the left wheel speed sensor and the right wheel speed sensor of the vehicle. Among them, the vehicle speed of the vehicle can calculate the average wheel speed based on the left wheel speed detected by the left wheel speed sensor and the right wheel speed detected by the right wheel speed sensor, so as to determine the vehicle speed; when it is determined that the vehicle speed is continuously increasing, by reading the throttle pedal opening signal, the throttle state is judged; if the throttle pedal opening is not a constant value, it is determined that the continuous increase of the vehicle speed does not belong to the throttle pedal sensor failure; if the read throttle depth signal is a constant value, it is judged whether the throttle pedal switch state changes; if the throttle pedal switch state changes, it is determined that the actual throttle opening has changed, so it can be determined that it is due to the throttle pedal sensor failure that the throttle output is a constant value, which in turn leads to the continuous increase of the vehicle speed; if the throttle pedal switch state has not changed, it is determined that the continuous increase of the vehicle speed does not belong to the throttle pedal sensor failure.

[0057] Please continue to refer to Figure 3 , step 270, if the throttle depth information indicates that the throttle depth of the vehicle has not changed and the brake signal indicates that the vehicle has a braking behavior, it is determined that the throttle failure is a throttle jam failure.

[0058] As a way, when it is determined that the throttle depth information indicates that the throttle depth of the vehicle has not changed, it is determined that the throttle pedal sensor of the vehicle has not failed. However, since the vehicle speed of the vehicle is continuously increasing, it is necessary to determine whether the driver has a braking behavior on the vehicle during the continuous increase of the vehicle speed. Thus, when it is determined that the brake signal of the vehicle indicates that the vehicle has a braking behavior, it can be determined that the driver tried to brake the vehicle but the braking failed, so it can be determined that the vehicle currently has a throttle jam failure.

[0059] Optionally, when the brake signal indicates that the vehicle has a braking behavior, it can be determined that the driver tried to decelerate during the continuous increase of the vehicle speed, that is, it can be determined that the continuous increase of the vehicle speed is not the driving intention of the driver, so it can be determined that the current non-expected acceleration of the vehicle is caused by the throttle pedal jam of the vehicle.

[0060] Figure 5 is a flowchart for determining a throttle pedal jam failure shown according to an embodiment of the present application, as Figure 5As shown, it is possible to first determine whether the vehicle speed of the vehicle is continuously increasing based on the external data of the left wheel speed sensor and the right wheel speed sensor of the vehicle. Among them, the vehicle speed of the vehicle can calculate the average wheel speed based on the left wheel speed detected by the left wheel speed sensor and the right wheel speed detected by the right wheel speed sensor, so as to determine the vehicle speed; then, by reading the throttle pedal opening signal, the throttle state can be judged. If the throttle pedal opening is a constant value, the possible reasons include: the driver actively steps on the throttle pedal and maintains the opening, the throttle pedal is stuck, or the throttle pedal sensor fails and outputs a constant value. Furthermore, the reason for the continuous increase in the vehicle speed can be determined by the throttle depth. Optionally, if the throttle depth is not a constant value, it is judged whether the throttle depth returns to the same value after fluctuating. If so, it is determined that the throttle pedal has a stuck problem where it cannot rebound (for example, it is stuck by a floor mat and cannot rebound), resulting in the throttle pedal not being able to fully return to its original position after the driver steps on and then releases the throttle pedal. If not, it is judged whether the throttle pedal switch state changes. If the throttle pedal switch state changes while the throttle pedal opening signal is a constant value, it is determined that the vehicle has a throttle pedal sensor failure, resulting in a constant value being output, and further resulting in the continuous increase in the vehicle speed; if the throttle pedal state does not change, the brake pedal opening signal is obtained to judge whether the driver has stepped on the brake during the acceleration period. If so, it is determined that the driver has a deceleration intention, that is, the continuous acceleration is not the driver's intention, and thus it can be determined that the unexpected acceleration is caused by the throttle pedal of the vehicle being stuck; or by obtaining the EPB switch signal, it is judged whether the driver has pulled up the EPB during the acceleration period. If so, it is determined that the driver has a deceleration intention, that is, the continuous acceleration is not the driver's intention, and thus it can be determined that the unexpected acceleration is caused by the throttle pedal of the vehicle being stuck; or by obtaining the emergency power-off switch signal to judge whether the driver has attempted to cut off the power emergently during the acceleration period. If so, it is determined that the driver has a deceleration intention to cut off the power, that is, the continuous acceleration is not the driver's intention, and thus it can be determined that the unexpected acceleration is caused by the throttle pedal of the vehicle being stuck.

[0061] Please continue to refer to Figure 2 , step 240, perform fault handling on the vehicle according to the target fault.

[0062] Among them, the specific step descriptions of step 210 and step 240 can refer to step 110 and step 130, and will not be elaborated here.

[0063] In this embodiment, by determining whether the throttle depth of the throttle pedal of the vehicle is a constant value or the throttle depth returns to the same depth after fluctuating according to the throttle depth change information, and then, after determining whether the throttle depth of the throttle pedal of the vehicle is a constant value or the throttle depth returns to the same depth after fluctuating, it is determined that the vehicle has a throttle fault, so as to accurately determine the target fault causing the abnormal acceleration of the vehicle.

[0064] Please refer to Figure 6 , Figure 6 which shows a vehicle fault determination method provided by an embodiment of the present application. The following will elaborate in detail on the Figure 6 process shown. The vehicle fault determination method may specifically include the following steps:

[0065] Step 310, obtain the current driving information of the vehicle, and determine whether the vehicle speed of the vehicle is continuously increasing according to the current driving information.

[0066] Step 320, if it is determined that the vehicle speed of the vehicle is continuously increasing, obtain the first state information of the intelligent driving controller of the vehicle, and determine whether the intelligent driving function of the vehicle is turned on according to the first state information.

[0067] As a way, when a vehicle control unit (VCU) fault occurs in the vehicle, a drive torque request will be wrongly sent to the domain controller that controls acceleration, which will in turn cause the domain controller to perform torque control on the vehicle according to the wrongly sent drive torque request by the VCU, and then cause the vehicle speed to continuously increase. Therefore, when it is determined that the vehicle speed is continuously increasing, it can be determined whether the continuous increase in vehicle speed is caused by a VCU fault. Optionally, since when the intelligent driving function of the vehicle is turned on, torque requests can be sent through the intelligent driving controller, and there is no need to send torque requests through the VCU to control the acceleration of the vehicle. In order to determine whether the continuous increase in vehicle speed is caused by the VCU, it can first be determined whether it is caused by the activation of the intelligent driving function of the vehicle.

[0068] Optionally, the first state information of the intelligent driving controller can be obtained, and first, according to the first state information, it can be determined whether the intelligent driving function of the vehicle is turned on, so as to determine whether it is an acceleration request sent when the intelligent driving function is turned on. Optionally, the first state information includes activation information of the intelligent driving function. If the activation information indicates that the intelligent driving function of the vehicle is activated, it is determined that the intelligent driving function of the vehicle is turned on.

[0069] In some embodiments, after the step 320, the method further includes: if it is determined that the intelligent driving function is not turned on, obtain the gear information of the vehicle and the throttle depth of the vehicle; if it is determined according to the gear information that the vehicle is in the target gear and it is determined according to the throttle depth that the vehicle is accelerating, determine whether the VCU issues a torque request; if it is determined that the VCU issues a torque request, determine that the target fault is a VCU fault.

[0070] As a method, if it is determined that the intelligent driving function is not enabled, it can be determined that the continuous increase in the vehicle speed is not caused by the intelligent driving function. Therefore, it can be further determined whether the continuous increase in the vehicle speed is caused by a failure of the vehicle control unit (VCU).

[0071] As a method, when it is determined that the intelligent driving function is not enabled, it can first be determined whether the current driver has an acceleration intention. If it is determined that the driver has no acceleration intention, it can be determined whether the vehicle has a VCU failure based on the throttle depth of the vehicle; if it is determined that the driver has an acceleration intention, it can be further determined whether the vehicle has a VCU failure according to the gear information of the vehicle.

[0072] Optionally, it can first be determined whether the throttle is depressed according to the obtained throttle depth of the vehicle. If the throttle depth indicates that the throttle pedal of the vehicle is not depressed, it is determined that the current driver has no acceleration intention. In this case, it is determined whether the VCU issues a torque request. If it is determined that the VCU issues a torque request, it can be determined that the vehicle has a VCU failure; if it is determined that the VCU does not issue a torque request, it is determined that the continuous increase in the vehicle speed is not caused by the vehicle's VCU.

[0073] Optionally, if the throttle depth indicates that the throttle pedal of the vehicle is depressed, it can be determined whether the vehicle is currently in the target gear through the gear information of the vehicle. The target gear can be the neutral gear or the parking gear, so as to determine whether the VCU still sends a torque request when the vehicle is in the target gear. In this way, when it is determined that the VCU still sends a torque request, it is determined that the vehicle has a VCU failure; if the VCU does not send a torque request, it is determined that the continuous increase in the vehicle speed is not caused by the vehicle's VCU. Optionally, if the current gear of the vehicle is not the target gear, it is determined that the continuous increase in the vehicle speed is not caused by the vehicle's VCU.

[0074] Step 330, if it is determined that the intelligent driving function is enabled, and an acceleration request sent by the vehicle's VCU is obtained and an acceleration request sent by the vehicle's intelligent driving controller is not obtained, it is determined that the target failure is a VCU failure.

[0075] As a method, when it is determined that the intelligent driving function is enabled, it can first be determined whether the intelligent driving controller sends an acceleration request. In this way, after it is determined that the intelligent driving controller does not send an acceleration request, it is determined whether an acceleration request of the VCU is obtained. Furthermore, after it is determined that an acceleration request of the VCU is obtained, it is determined that the vehicle has a VCU failure. Optionally, if it is determined that the intelligent driving controller sends an acceleration request and then it is determined that the vehicle does not have a VCU failure, that is, the continuous increase in the vehicle speed is not caused by the vehicle's VCU failure, but is caused by the intelligent driving function for intelligent driving.

[0076] Figure 7 is a flowchart for determining the failure of the vehicle control unit shown according to an embodiment of the present application. As Figure 7 shown, it is possible to first read whether there is a failure signal sent out by the VCU after self-check, and directly determine whether there is an internal failure of the VCU. After not obtaining the failure signal sent out by the VCU after self-check, judge whether the vehicle speed of the vehicle is continuously rising according to the external data of the left wheel speed sensor and the right wheel speed sensor of the vehicle. Among them, the vehicle speed of the vehicle can calculate the average wheel speed according to the left wheel speed detected by the left wheel speed sensor and the right wheel speed detected by the right wheel speed sensor, so as to determine the vehicle speed; then judge whether the ADAS function is turned on through the ADAS function activation status signal sent by the Advanced Driving Assistance System (ADAS) controller; if it is determined that the ADAS function has been turned on, monitor the ADAS external signal to judge whether the ADAS controller has sent out an acceleration request; when it is determined that the ADAS controller has sent out an acceleration request, it is determined that there is no failure of the vehicle control unit of the vehicle, that is, the continuous increase in the vehicle speed is not caused by the vehicle control unit of the vehicle; if it is determined that the ADAS controller has not sent out an acceleration request, further monitor the external signal of the VCU to judge whether the VCU has sent out a torque request; if it is determined that the VCU has sent out a torque request, it is determined that the VCU has an internal failure and mis-sent a torque signal, that is, it is determined that the vehicle has a failure of the vehicle control unit; if it is determined that the VCU has not sent out a torque request, it is determined that there is no failure of the vehicle control unit of the vehicle, that is, the continuous increase in the vehicle speed is not caused by the vehicle control unit of the vehicle.

[0077] Optionally, if it is determined that the ADAS function is not currently turned on, it is possible to judge whether the current driver has an acceleration intention. Optionally, it is possible to determine whether the current accelerator pedal has an opening by reading the accelerator pedal sensor signal; if no opening signal of the current accelerator pedal sensor is read, it is possible to monitor whether the VCU has a sent-out torque request. When it is determined that the VCU has not sent out a torque request, it means that it does not belong to an internal failure of the VCU; if the VCU has sent out a torque request, it is determined that there is no failure of the vehicle control unit of the vehicle, that is, the continuous increase in the vehicle speed is not caused by the vehicle control unit of the vehicle; if a current opening signal of the accelerator pedal sensor is read, further read the current gear information. When the gear is in neutral or park, judge whether the VCU has sent out a torque request. If it is determined that the VCU has sent out a torque request, it is determined that the VCU has an internal failure and mis-sent a torque signal, that is, it is determined that the vehicle has a failure of the vehicle control unit; if it is determined that the VCU has not sent out a torque request, it is determined that there is no failure of the vehicle control unit of the vehicle, that is, the continuous increase in the vehicle speed is not caused by the vehicle control unit of the vehicle.

[0078] Optionally, if it is determined that the ADAS function is not enabled, the accelerator has an opening, and the gear is not in neutral or park, it is determined that the vehicle has not had a vehicle controller failure, that is, the continuous increase in the vehicle speed is not caused by the vehicle's vehicle controller.

[0079] Please continue to refer to Figure 6 , step 340, perform fault handling on the vehicle according to the target fault.

[0080] Among them, the specific step descriptions of step 310 and step 340 can refer to step 110 and step 130, and will not be elaborated here.

[0081] In this embodiment, first determine the first state information of the intelligent driving controller, and based on this first state information, determine whether the intelligent driving function of the vehicle is enabled. And when it is determined that the intelligent driving function of the vehicle is enabled, when an acceleration request sent by the vehicle's vehicle controller is obtained but an acceleration request of the vehicle's intelligent driving controller is not obtained, it is determined that the vehicle has a vehicle controller failure, so as to accurately determine the target fault that causes the vehicle to accelerate abnormally.

[0082] Please refer to Figure 8 , Figure 8 shows a vehicle fault determination method provided by an embodiment of the present application. The following will elaborate in detail on the Figure 8 shown process. The vehicle fault determination method may specifically include the following steps:

[0083] Step 410, obtain the current driving information of the vehicle, and determine whether the vehicle speed of the vehicle is continuously increasing according to the current driving information.

[0084] Step 420, if it is determined that the vehicle speed of the vehicle is continuously increasing, obtain the second state information of the domain controller of the vehicle, and determine whether the domain controller executes a torque request according to the second state information.

[0085] As a way, when a domain controller failure occurs in the vehicle, the domain controller corresponding to the vehicle's power control executes an incorrect torque request, which in turn causes the vehicle speed to continuously increase. Therefore, when it is determined that the vehicle speed is continuously increasing, it can be determined whether the continuous increase in the vehicle speed is caused by a domain controller failure. Optionally, the second state information of the domain controller can be obtained, and based on the second state information, it can be determined whether the domain controller has executed a torque request.

[0086] Optionally, it is also possible to determine whether the domain controller executes a torque request by obtaining the bus message of the vehicle. Among them, when the domain controller executes a torque request, torque execution feedback information will be generated and sent to the CAN network cable, so as to generate a network message including the torque execution feedback information, and thus it is possible to determine whether the domain controller executes a torque request by obtaining the bus message of the vehicle.

[0087] Optionally, it can also be by searching for the execution record corresponding to the current timestamp in the historical execution record of the domain controller to determine whether the domain controller executes a torque request.

[0088] Step 430, if it is determined that the domain controller executes a torque request when it does not receive a torque request, then determine the domain controller failure from the multiple failures as the target failure of the vehicle.

[0089] As a way, when it is determined that the domain controller executes a torque request without receiving the torque request sent by the vehicle controller, it can be determined that the vehicle speed continues to rise when the vehicle controller does not send an external torque request, and the domain controller has recorded torque execution, then it can be determined that an internal failure of the domain controller has caused incorrect torque execution.

[0090] Figure 9 It is a flowchart for determining the vehicle controller failure shown in an embodiment of the present application. As Figure 9 shown, it is possible to first determine whether the vehicle speed of the vehicle continues to rise according to the external data of the left wheel speed sensor and the right wheel speed sensor of the vehicle. Among them, the vehicle speed of the vehicle can calculate the average wheel speed based on the left wheel speed detected by the left wheel speed sensor and the right wheel speed detected by the right wheel speed sensor to determine the vehicle speed; then read the external signal of the vehicle controller to determine whether the vehicle controller has sent a torque request to the domain controller. If so, it is determined that the vehicle does not have a domain controller failure, that is, the continuous increase in the vehicle speed is not caused by the failure of the vehicle's domain controller; if it is determined that the vehicle speed still continues to rise when the vehicle controller does not send an external torque request to the domain controller, it is possible to determine whether the vehicle has a domain controller failure by detecting whether the domain controller has recorded torque execution. If so, it is determined that an internal failure of the domain controller has caused incorrect torque execution; if not, it can be determined that the vehicle does not have a controller failure, that is, the continuous increase in the vehicle speed is not caused by the failure of the vehicle's domain controller, and currently it may be on a long downhill section, and the vehicle speeds up continuously during the sliding process.

[0091] Please continue to refer to Figure 8 Step 440, perform a fault handling on the vehicle according to the target fault.

[0092] Among them, for the specific step descriptions of step 410 and step 440, reference can be made to step 110 and step 130, and no further elaboration will be provided here.

[0093] In this embodiment, by determining that the domain controller still executes the torque request when the domain controller does not receive the torque request sent by the vehicle controller according to the second state information of the domain controller, it is determined that the vehicle has a domain controller failure, and the failure type causing the abnormal acceleration of the vehicle is accurately determined.

[0094] Please refer to Figure 10 , Figure 10 which shows the vehicle fault determination method provided by an embodiment of the present application. The following will elaborate in detail on the Figure 10 process shown. The vehicle fault determination method may specifically include the following steps:

[0095] Step 510, obtain the current driving information of the vehicle, and determine whether the vehicle speed of the vehicle continues to increase according to the current driving information.

[0096] Step 520, if it is determined that the vehicle speed of the vehicle continues to increase, determine the target fault of the vehicle from multiple faults, where the multiple faults include throttle fault, vehicle controller fault, and domain controller fault.

[0097] Among them, for the specific step descriptions of step 510 and step 520, reference can be made to step 110 and step 120, and no further elaboration will be provided here.

[0098] Step 530, if the target fault is the throttle fault, control the vehicle controller of the vehicle to stop sending torque requests, and / or control the domain controller to terminate the execution of the current torque request and ignore all received torque requests, and / or control the power system of the vehicle to perform a power-off process.

[0099] As a way, when it is determined that the vehicle has a throttle fault, in order to prevent the vehicle from continuing to accelerate, the vehicle controller can be controlled to stop sending torque requests to the domain controller, so as to prevent the vehicle from continuously accelerating due to the vehicle controller sending different torque requests when the vehicle has a throttle fault.

[0100] Optionally, it can also be by controlling the domain controller of the vehicle to stop executing the torque request and ignoring all subsequent sent torque requests, so as to prevent the vehicle from continuously accelerating due to the domain controller continuously executing the torque request when the vehicle has a throttle fault.

[0101] Optionally, it can also be by directly cutting off the power supply of the vehicle's power system, so that the vehicle cannot execute the corresponding torque request, thereby ensuring the driving safety of the vehicle.

[0102] Step 540, if the target fault is the vehicle controller fault, control the domain controller of the vehicle to terminate the execution of the current torque request and ignore all received torque requests, and / or control the power system of the vehicle to perform a power-off process.

[0103] As a way, when it is determined that the vehicle has a vehicle controller fault, by controlling the domain controller of the vehicle to stop executing the torque request and ignoring all subsequent sent torque requests, so as to avoid the vehicle continuously accelerating when the vehicle has an accelerator fault and the domain controller continuously executes the torque request.

[0104] Optionally, it can also be by directly cutting off the power supply of the vehicle's power system, so that the vehicle cannot execute the corresponding torque request, thereby ensuring the driving safety of the vehicle.

[0105] Step 550, if the target fault is the domain controller fault, control the power system of the vehicle to perform a power-off process.

[0106] As a way, when it is determined that the vehicle has a domain controller fault, since the fault cannot be processed through the vehicle controller, therefore, the power supply of the vehicle's power system can be directly cut off, so that the vehicle cannot execute the corresponding torque request, thereby ensuring the driving safety of the vehicle.

[0107] In this embodiment, after determining the target fault of the vehicle, based on the fault type corresponding to the target fault, a specific fault handling method is determined, so as to ensure that the fault can be processed in time when it is found that the vehicle has abnormal acceleration, avoid safety accidents, and ensure the driving safety of the vehicle and the personal safety of the driver and passengers.

[0108] Figure 11 It is a block diagram of a vehicle fault determination device shown according to an embodiment of the present application. As Figure 11 shown, the vehicle fault determination device 600 includes a current driving information acquisition module 610, a fault determination module 620, and a fault handling module 630.

[0109] The current driving information acquisition module 610 is used to acquire the current driving information of the vehicle and determine whether the vehicle speed of the vehicle is continuously increasing according to the current driving information; the fault determination module 620 is used to, if it is determined that the vehicle speed of the vehicle is continuously increasing, determine the target fault of the vehicle from multiple faults, where the multiple faults include an accelerator fault, a vehicle controller fault, and a domain controller fault; the fault handling module 630 is used to perform fault handling on the vehicle according to the target fault.

[0110] In some embodiments, the fault determination module 620 includes: a throttle depth change determination unit, configured to determine the change in the throttle depth of the vehicle if it is determined that the vehicle speed of the vehicle continuously increases; a target fault first determination unit, configured to determine the throttle fault as the target fault of the vehicle from the multiple faults if the throttle depth change indicates that the throttle depth of the vehicle is a constant value, or the throttle depth returns to the same depth after fluctuating.

[0111] In some embodiments, the fault determination module 620 further includes: a signal acquisition unit, configured to acquire the throttle depth information of the vehicle, the throttle signal of the vehicle, and the brake signal of the vehicle, where the brake signal includes a brake pedal signal and an electronic parking signal; a first determination unit, configured to determine that the throttle fault is a throttle pedal sensor fault if the throttle depth information indicates that the throttle depth of the vehicle changes and the throttle signal indicates that the throttle depth of the vehicle is a constant value; or a second determination unit, configured to determine that the throttle fault is a throttle jam fault if the throttle depth information indicates that the throttle depth of the vehicle does not change and the brake signal indicates that the vehicle has a braking behavior.

[0112] In some other embodiments, the fault determination module 620 includes: a function activation determination unit, configured to acquire the first state information of the intelligent driving controller of the vehicle and determine whether the intelligent driving function of the vehicle is turned on according to the first state information if it is determined that the vehicle speed of the vehicle continuously increases; a third determination unit, configured to determine that the target fault is the vehicle controller fault if it is determined that the intelligent driving function is turned on, and an acceleration request sent by the vehicle controller of the vehicle is acquired and an acceleration request sent by the intelligent driving controller of the vehicle is not acquired.

[0113] In some embodiments, the fault determination module 620 further includes: a throttle depth determination unit, configured to acquire the gear information of the vehicle and the throttle depth of the vehicle if it is determined that the intelligent driving function is not turned on; a torque request determination unit, configured to determine whether the vehicle controller issues a torque request if it is determined that the vehicle is in a target gear according to the gear information and the vehicle accelerates according to the throttle depth; a fourth determination unit, configured to determine that the target fault is the vehicle controller fault if it is determined that the vehicle controller issues a torque request.

[0114] In some other embodiments, the fault determination module 620 includes: a torque execution determination unit configured to, if it is determined that the vehicle speed of the vehicle continuously increases, obtain second status information of the domain controller of the vehicle, and determine whether the domain controller executes a torque request according to the second status information; a fifth determination unit configured to, if it is determined that the domain controller executes a torque request when no torque request is received, determine the domain controller fault from the multiple faults as the target fault of the vehicle.

[0115] In some embodiments, the fault handling module 630 includes: a first handling unit configured to, if the target fault is the throttle fault, control the vehicle's vehicle control unit to stop sending torque requests, and / or control the domain controller to terminate the execution of the current torque request and ignore all received torque requests, and / or control the vehicle's power system to perform a power-off process; a second handling unit configured to, if the target fault is the vehicle control unit fault, control the vehicle's domain controller to terminate the execution of the current torque request and ignore all received torque requests, and / or control the vehicle's power system to perform a power-off process; a third handling unit configured to, if the target fault is the domain controller fault, control the vehicle's power system to perform a power-off process.

[0116] According to one aspect of the embodiments of the present application, there is also provided an electronic device, as Figure 12 shown. The vehicle 700 includes a processor 710 and one or more memories 720. The one or more memories 720 are configured to store program instructions executed by the processor 710. When the processor 710 executes the program instructions, the vehicle fault determination method described above is implemented.

[0117] Further, the processor 710 may include one or more processing cores. The processor 710 runs or executes instructions, programs, code sets, or instruction sets stored in the memory 720, and calls data stored in the memory 720. Optionally, the processor 710 may be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), or programmable logic array (PLA). The processor 710 may integrate one or a combination of several of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, application programs, etc.; the GPU is responsible for rendering and drawing the display content; the modem is used to process wireless communication. It can be understood that the above modem may not be integrated into the processor and may be implemented separately by a communication chip.

[0118] According to one aspect of the present application, the present application also provides a computer-readable storage medium. The computer-readable medium may be included in the electronic device described in the above embodiments; or it may exist separately without being assembled into the electronic device. The above computer-readable storage medium carries computer-readable instructions, and when the computer-readable storage instructions are executed by a processor, the method in any of the above embodiments is implemented.

[0119] It should be noted that the computer-readable medium shown in the embodiments of the present application may be a computer-readable signal medium, a computer-readable storage medium, or any combination of the above two. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer-readable storage medium may be any tangible medium that contains or stores a program, and the program may be used by or in combination with an instruction execution system, apparatus, or device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium may also be any computer-readable medium other than the computer-readable storage medium, and the computer-readable medium may send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted by any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0120] The units described in the embodiments of the present application may be implemented in software or in hardware, and the described units may also be provided in a processor. Among them, the names of these units do not constitute a limitation on the units themselves in some cases.

[0121] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. Among them, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the above-mentioned module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order from that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, as well as the combination of blocks in the block diagram or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0122] Those skilled in the art will readily conceive of other embodiments of the present application after considering the specification and practicing the embodiments disclosed herein. The present application is intended to cover any variations, uses, or adaptations of the present application, which follow the general principles of the present application and include well-known knowledge or conventional technical means in the technical field not disclosed in the present application.

[0123] It should be understood that the present application is not limited to the exact structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the present application is only limited by the appended claims.

Claims

1. A method for determining a fault of a vehicle, characterized in that, The method includes: Obtaining the current driving information of the vehicle, and determining whether the vehicle speed of the vehicle is continuously increasing according to the current driving information; If it is determined that the vehicle speed of the vehicle is continuously increasing, determining a target fault of the vehicle from multiple faults, where the multiple faults include an accelerator fault, a vehicle controller fault, and a domain controller fault; Performing fault handling on the vehicle according to the target fault.

2. The method according to claim 1, characterized in that, The step of if it is determined that the vehicle speed of the vehicle is continuously increasing, determining a target fault of the vehicle from multiple faults includes: If it is determined that the vehicle speed of the vehicle is continuously increasing, determining the change in the accelerator pedal depth of the vehicle; If the change in the accelerator pedal depth indicates that the accelerator pedal depth of the vehicle is a constant value, or the accelerator pedal depth returns to the same depth after fluctuating, determining the accelerator fault as the target fault of the vehicle from the multiple faults.

3. The method according to claim 2, wherein After the step of if the change in the accelerator pedal depth indicates that the accelerator pedal depth of the vehicle is a constant value, or the accelerator pedal depth returns to the same depth after fluctuating, determining the accelerator fault as the target fault of the vehicle, the method further includes: Obtaining the accelerator pedal depth information of the vehicle, the accelerator signal of the vehicle, and the brake signal of the vehicle, where the brake signal includes a brake pedal signal and an electronic parking signal; If the accelerator pedal depth information indicates that the accelerator pedal depth of the vehicle changes and the accelerator signal indicates that the accelerator pedal depth of the vehicle is a constant value, determining that the accelerator fault is an accelerator pedal sensor fault; or If the accelerator pedal depth information indicates that the accelerator pedal depth of the vehicle does not change and the brake signal indicates that the vehicle has a braking behavior, determining that the accelerator fault is an accelerator jam fault.

4. The method according to claim 1, characterized in that, The step of if it is determined that the vehicle speed of the vehicle is continuously increasing, determining a target fault of the vehicle from multiple faults includes: If it is determined that the vehicle speed of the vehicle is continuously increasing, obtaining first state information of the intelligent driving controller of the vehicle, and determining whether the intelligent driving function of the vehicle is turned on according to the first state information; If it is determined that the intelligent driving function is turned on, and an acceleration request sent by the vehicle controller of the vehicle is obtained and an acceleration request sent by the intelligent driving controller of the vehicle is not obtained, determining that the target fault is the vehicle controller fault.

5. The method according to claim 4, wherein The method further includes: If it is determined that the intelligent driving function is not turned on, obtaining the gear information of the vehicle and the accelerator pedal depth of the vehicle; If it is determined according to the gear information that the vehicle is in a target gear and it is determined according to the accelerator pedal depth that the vehicle is accelerating, determining whether the vehicle controller issues a torque request; If it is determined that the vehicle controller issues a torque request, determining that the target fault is the vehicle controller fault.

6. The method according to claim 1, wherein The step of if it is determined that the vehicle speed of the vehicle is continuously increasing, determining a target fault of the vehicle from multiple faults includes: If it is determined that the vehicle speed of the vehicle is continuously increasing, obtaining second state information of the domain controller of the vehicle, and determining whether the domain controller executes a torque request according to the second state information; If it is determined that the domain controller executes a torque request when no torque demand is received, determine the domain controller failure among the multiple failures as the target failure of the vehicle.

7. The method according to any one of claims 1-6, characterized in that, Performing fault handling on the vehicle according to the target failure includes: If the target failure is the throttle failure, control the vehicle's vehicle controller to stop sending torque requests, and / or control the domain controller to terminate the execution of the current torque request and ignore all received torque requests, and / or control the vehicle's power system to perform a power-off process; If the target failure is the vehicle controller failure, control the vehicle's domain controller to terminate the execution of the current torque request and ignore all received torque requests, and / or control the vehicle's power system to perform a power-off process; If the target failure is the domain controller failure, control the vehicle's power system to perform a power-off process.

8. A fault determination device for a vehicle, characterized in that, The device includes: A current driving information acquisition module, configured to acquire the current driving information of the vehicle and determine whether the vehicle speed of the vehicle continues to increase according to the current driving information; A fault determination module, configured to determine the target failure of the vehicle from multiple failures if it is determined that the vehicle speed of the vehicle continues to increase, where the multiple failures include a throttle failure, a vehicle controller failure, and a domain controller failure; A fault handling module, configured to perform fault handling on the vehicle according to the target failure.

9. An electronic device, characterized in that, The electronic device includes: A processor; A memory, on which computer-readable instructions are stored, and when the computer-readable instructions are executed by the processor, the method described in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that, Program code is stored in the computer-readable storage medium, and the program code can be called by the processor to execute the method described in any one of claims 1 to 7.

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