ABS fault alarm method, device and equipment based on acceleration cross validation and storage medium

Abstract

The invention discloses an ABS fault alarm method, device and equipment based on acceleration cross validation and a storage medium, and relates to the technical field of vehicle safety, and the ABS fault alarm method based on acceleration cross validation comprises the steps that under the condition that the vehicle speed exceeds a preset speed threshold value, the front wheel acceleration and the rear wheel acceleration of a vehicle are detected; determining the road surface condition of the vehicle according to the front wheel acceleration and the rear wheel acceleration; adjusting the value of a fault counter according to the road surface condition, the front wheel acceleration and the rear wheel acceleration; and when the adjusted value of the fault counter is greater than or equal to a first pre-designed value, reporting a wheel speed signal fault and lightening an ABS fault lamp. According to the anti-lock braking system, the situation that the anti-lock braking system misreports the wheel speed signal on the bumpy road surface can be avoided, and the reliability and driving safety of the ABS are remarkably improved.

Description

Technical Field

[0001] This application relates to the technical field of vehicle safety, and particularly to an ABS fault alarm method, device, equipment and storage medium based on acceleration cross-validation. Background Art

[0002] With the continuous development of automotive technology, the safety of vehicles has received increasing attention. As one of the key safety configurations of modern vehicles, the ABS (Anti-lock Braking System) mainly functions to prevent the wheels from locking during emergency braking, thereby ensuring that the vehicle still has steering ability during the braking process and improving the safety of the vehicle.

[0003] Currently, the ABS mainly monitors the wheel speeds of the front and rear wheels of the vehicle to calculate the slip ratio difference between the front and rear axles, thereby achieving the monitoring and control of the wheel state. Under normal circumstances, this monitoring method can effectively prevent the wheels from locking and ensure the safety of the vehicle during emergency braking.

[0004] However, the existing approach has certain limitations when dealing with complex road conditions. For example, when driving on a bumpy road, the acceleration signals of the wheels may fluctuate significantly, resulting in the system misjudging the wheel speed signal as abnormal and easily misreporting the unstable wheel speed signal fault. Such misreporting not only interferes with the driver's judgment but also may cause the ABS to malfunction, thereby reducing the safety of the vehicle. Specifically, when the existing system detects an abnormal wheel speed acceleration signal, it often cannot accurately distinguish whether it is a normal fluctuation caused by a bumpy road or a real fault signal. Therefore, how to avoid the misreporting of wheel speed signals by the anti-lock braking system on bumpy roads has become an urgent problem to be solved.

[0005] The above content is only used to assist in understanding the technical solution of this application and does not represent an admission that the above content is prior art. Summary of the Invention

[0006] The purpose of this application is to provide an ABS fault alarm method, device, equipment and storage medium based on acceleration cross-validation, aiming to solve the technical problem of how to avoid the misreporting of wheel speed signals by the anti-lock braking system on bumpy roads.

[0007] To achieve the above purpose, this application proposes an ABS fault alarm method based on acceleration cross-validation, and the method includes:

[0008] When the vehicle speed exceeds a preset speed threshold, detect the front-wheel acceleration and rear-wheel acceleration of the vehicle;

[0009] Determine the road condition of the vehicle according to the front-wheel acceleration and the rear-wheel acceleration;

[0010] Adjust the value of the fault counter according to the road surface condition, the front wheel acceleration, and the rear wheel acceleration;

[0011] When the adjusted value of the fault counter is greater than or equal to the first preset value, report a wheel speed signal fault and turn on the ABS fault light.

[0012] In one embodiment, the step of determining the road surface condition of the vehicle according to the front wheel acceleration and the rear wheel acceleration includes:

[0013] When performing abnormal acceleration detection on the front wheels and the left rear wheel acceleration or the right rear wheel acceleration in the rear wheel acceleration is greater than the first preset acceleration threshold, determine that the vehicle is on a bumpy road surface, and suspend the abnormal acceleration detection of the front wheels within a preset duration, and record the first suspension duration;

[0014] When the first suspension duration reaches the preset duration, resume the abnormal acceleration detection of the front wheels;

[0015] When performing abnormal acceleration detection on the rear wheels and the left front wheel acceleration or the right front wheel acceleration in the front wheel acceleration is greater than the first preset acceleration threshold, determine that the vehicle is on a bumpy road surface, and suspend the abnormal acceleration detection of the rear wheels within the preset duration, and record the second suspension duration;

[0016] When the second suspension duration reaches the preset duration, resume the abnormal acceleration detection of the rear wheels.

[0017] In one embodiment, the step of adjusting the value of the fault counter according to the road surface condition, the front wheel acceleration, and the rear wheel acceleration includes:

[0018] When performing abnormal acceleration detection on the front wheels and the road surface condition is not a bumpy road surface, adjust the value of the fault counter according to the front wheel acceleration;

[0019] When performing abnormal acceleration detection on the rear wheels and the road surface condition is not a bumpy road surface, adjust the value of the fault counter according to the rear wheel acceleration.

[0020] In one embodiment, the step of adjusting the value of the fault counter according to the front wheel acceleration includes:

[0021] When the left front wheel acceleration or the right front wheel acceleration in the front wheel accelerations is greater than a second preset acceleration threshold, increase the value of the fault counter by a second preset value, where the first preset acceleration threshold is less than the second preset acceleration threshold;

[0022] When the left front wheel acceleration or the right front wheel acceleration is less than or equal to the second preset acceleration threshold, decrease the value of the fault counter by a third preset value, where the second preset value is greater than the third preset value.

[0023] In one embodiment, the step of adjusting the value of the fault counter according to the rear wheel acceleration includes:

[0024] When the left rear wheel acceleration or the right rear wheel acceleration in the rear wheel accelerations is greater than a second preset acceleration threshold, increase the value of the fault counter by a second preset value, where the first preset acceleration threshold is less than the second preset acceleration threshold;

[0025] When the left rear wheel acceleration or the right rear wheel acceleration is less than the second preset acceleration threshold, decrease the value of the fault counter by a third preset value, where the second preset value is greater than the third preset value.

[0026] In one embodiment, after the step of increasing the value of the fault counter by a second preset value when the left rear wheel acceleration or the right rear wheel acceleration in the rear wheel accelerations is greater than a second preset acceleration threshold, further include:

[0027] Detect the acceleration fluctuation frequency of the left rear wheel or the right rear wheel and the yaw angular velocity of the vehicle;

[0028] When the acceleration fluctuation frequency is greater than a preset frequency threshold, determine it as an instantaneous interference and increase the value of the fault counter by a fourth preset value;

[0029] When the yaw angular velocity is greater than a preset angular velocity threshold, increase the value of the fault counter by a fifth preset value.

[0030] In one embodiment, after the step of decreasing the value of the fault counter by a third preset value when the left rear wheel acceleration or the right rear wheel acceleration is less than the second preset acceleration threshold, further include:

[0031] When a steering signal is detected and the steering angle is greater than a preset angle threshold, adjust the second preset value to a first preset adjustment value and adjust the third preset value to a second preset adjustment value until the steering angle is less than the preset angle threshold;

[0032] When a braking signal is detected and the braking pedal pressure is greater than a preset pressure threshold, adjusting the value of the fault counter is suspended until the braking pedal pressure is less than the preset pressure threshold.

[0033] In addition, to achieve the above object, the present application also provides an ABS fault alarm device based on acceleration cross-validation, the device includes:

[0034] An acceleration detection module, configured to detect the front-wheel acceleration and rear-wheel acceleration of the vehicle when the vehicle speed exceeds a preset speed threshold;

[0035] A road condition determination module, configured to determine the road surface condition of the vehicle according to the rear-wheel acceleration during the process of detecting abnormal acceleration of the front wheels;

[0036] A fault counting module, configured to adjust the value of the fault counter according to the road surface condition, the front-wheel acceleration, and the rear-wheel acceleration;

[0037] A fault reporting module, configured to report a wheel speed signal fault and turn on the ABS fault light when the adjusted value of the fault counter is greater than or equal to a first preset value.

[0038] In addition, to achieve the above object, the present application also provides an ABS fault alarm device based on acceleration cross-validation, the device includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program is configured to implement the steps of the ABS fault alarm method based on acceleration cross-validation as described above.

[0039] In addition, to achieve the above object, the present application also provides a storage medium, the storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium, and when the computer program is executed by a processor, the steps of the ABS fault alarm method based on acceleration cross-validation as described above are implemented.

[0040] In addition, to achieve the above object, the present application also provides a computer program product, the computer program product includes a computer program, and when the computer program is executed by a processor, the steps of the ABS fault alarm method based on acceleration cross-validation as described above are implemented.

[0041] One or more technical solutions proposed by the present application have at least the following technical effects:

[0042] When the vehicle speed exceeds the preset speed threshold, the anti-lock braking system controller is first activated and the acceleration of the front wheels and the rear wheels of the vehicle is detected. This process eliminates the interference during low-speed driving, ensuring that the system monitors only when the vehicle is driving normally. Then, the controller determines the road surface conditions of the vehicle based on the acceleration data of the front wheels and the rear wheels, avoiding false alarms caused by road surface conditions. Next, the controller dynamically adjusts the value of the fault counter according to the road surface conditions, the front wheel acceleration, and the rear wheel acceleration. This dynamic adjustment mechanism can accumulate abnormal situations, avoid false alarms due to occasional acceleration fluctuations, and can detect persistent abnormal situations in a timely manner. Finally, when the adjusted value of the fault counter reaches or exceeds the first preset value, the system reports a wheel speed signal fault and lights up the ABS fault light, helping the driver to timely understand the ABS status of the vehicle and take corresponding measures, thus ensuring driving safety. This application can avoid false alarms of wheel speed signals by the anti-lock braking system on bumpy roads, significantly improving the reliability of the ABS and driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The drawings herein are incorporated into and constitute a part of this specification, showing embodiments consistent with this application, and are used together with the specification to explain the principles of this application.

[0044] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0045] Figure 1 It is a schematic flowchart provided for Embodiment 1 of the ABS fault alarm method based on acceleration cross-validation of this application;

[0046] Figure 2 It is a schematic flowchart provided for Embodiment 2 of the ABS fault alarm method based on acceleration cross-validation of this application;

[0047] Figure 3 It is a schematic diagram of the front wheel acceleration anomaly detection logic of the ABS fault alarm method based on acceleration cross-validation provided for Embodiment 2 of this application;

[0048] Figure 4 It is a schematic diagram of the rear wheel acceleration anomaly detection logic of the ABS fault alarm method based on acceleration cross-validation provided for Embodiment 2 of this application;

[0049] Figure 5 It is a schematic diagram of the module structure of the ABS fault alarm device based on acceleration cross-validation according to the embodiment of this application;

[0050] Figure 6 This is a schematic diagram of the device structure of the hardware operating environment involved in the ABS fault alarm method based on acceleration cross-validation in the embodiments of the present application.

[0051] The implementation, functional characteristics, and advantages of the present application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. Specific embodiments

[0052] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0053] To better understand the technical solutions of the present application, the following will be described in detail in conjunction with the accompanying drawings of the specification and specific embodiments.

[0054] With the development of automotive technology, ABS has become an important configuration to enhance vehicle safety. By monitoring the wheel speed, it prevents the wheels from locking during braking and maintains the vehicle's steering ability. However, on complex road conditions such as bumpy roads, the fluctuations of the wheel acceleration signal may cause the system to misjudge the abnormal wheel speed, generate false fault reports, interfere with the driver's judgment, and affect the normal operation of the ABS, reducing vehicle safety because the existing system is difficult to distinguish normal fluctuations from real faults.

[0055] The main solution of the embodiments of the present application is: when the vehicle speed exceeds the threshold, the ABS controller starts and detects the accelerations of the front and rear wheels to ensure monitoring only during normal driving. The controller judges the road conditions based on the acceleration data to avoid false alarms, and dynamically adjusts the fault counter to accumulate abnormal situations, preventing occasional fluctuations from causing false alarms and promptly detecting continuous abnormalities. Once the fault counter reaches the preset value, the system will report a wheel speed signal fault and turn on the ABS fault light to prompt the driver that there is a problem with the ABS.

[0056] It should be noted that the execution subject of the embodiments of the present application can be a computing service device with data processing, network communication, and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device, an anti-lock braking system controller, etc. that can implement the above functions. Hereinafter, the anti-lock braking system controller will be taken as an example to illustrate this embodiment and the following embodiments.

[0057] Based on this, the embodiments of the present application provide an ABS fault alarm method based on acceleration cross-validation, with reference to Figure 1 , Figure 1 This is a schematic flowchart of the first embodiment of the ABS fault alarm method based on acceleration cross-validation of the present application.

[0058] In this embodiment, the ABS fault alarm method based on acceleration cross-validation includes steps S10 to S40:

[0059] Step S10, when the vehicle speed exceeds a preset speed threshold, detect the front-wheel acceleration and rear-wheel acceleration of the vehicle.

[0060] It should be noted that the preset speed threshold refers to a specific value of the vehicle speed. When the vehicle speed exceeds this value, the anti-lock braking system (ABS) will start to monitor whether the wheel speed acceleration signal is abnormal. This preset speed threshold is set to 13 km / h. The reason for choosing this speed threshold is to exclude special situations under low-speed creeping conditions of the vehicle. Because at low speeds, the driving state of the vehicle and the wheel speed signal may be affected by various factors, and these effects are not necessarily related to the normal operation of the ABS.

[0061] The front-wheel acceleration refers to the degree of change in the speed of the vehicle's front wheels during driving, usually expressed in acceleration units (such as G, gravitational acceleration).

[0062] The rear-wheel acceleration refers to the degree of change in the speed of the vehicle's rear wheels during driving, also expressed in acceleration units (such as G).

[0063] It can be understood that, first, the anti-lock braking system controller continuously monitors the vehicle speed signal. When the vehicle speed exceeds the preset threshold of 13 km / h, the controller starts the wheel speed acceleration detection program. Second, the controller simultaneously collects the acceleration data of the front wheels and rear wheels, and obtains the real-time acceleration value of each wheel through sensors.

[0064] Step S20, determine the road surface condition of the vehicle according to the front-wheel acceleration and the rear-wheel acceleration.

[0065] It should be noted that the road surface condition refers to the actual road condition when the vehicle is driving, especially whether there is a bumpy road surface.

[0066] It can be understood that, first, the anti-lock braking system controller receives and analyzes the acceleration data of the front wheels and rear wheels. Then, the controller compares these acceleration data with preset thresholds, and determines the road surface condition of the vehicle according to the comparison results.

[0067] As an example, the step of determining the road surface condition of the vehicle based on the front-wheel acceleration and the rear-wheel acceleration includes: when performing acceleration anomaly detection on the front wheels and the left-rear-wheel acceleration or the right-rear-wheel acceleration in the rear-wheel acceleration is greater than a first preset acceleration threshold, it is determined that the vehicle is on a bumpy road surface, and the acceleration anomaly detection of the front wheels is suspended for a preset duration, and the first suspension duration is recorded; when the first suspension duration reaches the preset duration, the acceleration anomaly detection of the front wheels is resumed; when performing acceleration anomaly detection on the rear wheels and the left-front-wheel acceleration or the right-front-wheel acceleration in the front-wheel acceleration is greater than the first preset acceleration threshold, it is determined that the vehicle is on a bumpy road surface, and the acceleration anomaly detection of the rear wheels is suspended for the preset duration, and the second suspension duration is recorded; when the second suspension duration reaches the preset duration, the acceleration anomaly detection of the rear wheels is resumed.

[0068] Acceleration anomaly detection refers to the process in which the ABS controller monitors and analyzes the wheel acceleration signal to determine whether the acceleration of the wheel exceeds the normal range.

[0069] The first preset acceleration threshold is an acceleration reference value used when determining whether the vehicle is on a bumpy road surface. In this embodiment, this threshold is set to 10G (10 times the acceleration of gravity).

[0070] The preset duration is the time length during which the system suspends the acceleration anomaly detection of the corresponding wheel after detecting that the vehicle is on a bumpy road surface. In this embodiment, this time is set to 2 seconds.

[0071] The first suspension duration is the time length during which the system actually suspends the acceleration anomaly detection of the front wheels after detecting that the vehicle is on a bumpy road surface.

[0072] The second suspension duration is the time length during which the system actually suspends the acceleration anomaly detection of the rear wheels after detecting that the vehicle is on a bumpy road surface.

[0073] First, when the anti-lock braking system controller detects abnormal acceleration of the front wheels, it will continuously monitor the acceleration data of the left rear wheel and the right rear wheel in real time. Once it is found that the acceleration of any one of the rear wheels exceeds the threshold of 10G, the controller immediately determines that the vehicle is on a bumpy road surface, then enters the protection mechanism, pauses the detection of abnormal acceleration of the front wheels, and at the same time starts a 2-second timer to record the first pause duration. This is to avoid false fault reports due to normal fluctuations in wheel acceleration on a bumpy road surface. Secondly, during this 2-second pause, the controller will not perform abnormal judgment on the acceleration data of the front wheels. It is not until the 2-second timing ends and the first pause duration reaches the preset duration that the controller will resume the detection of abnormal acceleration of the front wheels and re-monitor whether the acceleration of the front wheels exceeds the normal range, ensuring that the system can detect real faults in a timely manner after passing the bumpy road surface. Finally, the process of detecting abnormal acceleration of the rear wheels is similar. When it is detected that the acceleration of the left front wheel or the right front wheel exceeds 10G, the controller also determines that the vehicle is on a bumpy road surface, pauses the detection of abnormal acceleration of the rear wheels and records the second pause duration, and resumes the detection after 2 seconds. Such a cross-verification and pause mechanism can effectively reduce false alarms caused by bumpy road surfaces and improve the reliability and accuracy of the ABS.

[0074] Step S30, adjust the value of the fault counter according to the road surface condition, the front wheel acceleration, and the rear wheel acceleration.

[0075] It should be noted that the fault counter refers to a counter used to record the abnormal situation of wheel acceleration, and its value will be dynamically adjusted according to the monitoring results of wheel acceleration.

[0076] It can be understood that adjusting the value of the fault counter according to the road surface condition, the front wheel acceleration, and the rear wheel acceleration is to more accurately judge whether the wheel acceleration signal is truly abnormal, so as to avoid false fault reports. When the vehicle is on a bumpy road surface, the wheel acceleration may fluctuate greatly, but this does not necessarily mean that there is a fault with the wheel. By combining the road surface condition and the specific value of the wheel acceleration, the system can distinguish the acceleration fluctuations in the normal driving state from the real fault signal. This dynamic adjustment mechanism can effectively reduce false alarms caused by bumpy road surfaces, and at the same time ensure that the system can detect and report real faults in a timely manner, improving the reliability and accuracy of the ABS.

[0077] Step S40, when the value of the adjusted fault counter is greater than or equal to the first preset value, report a wheel speed signal fault and turn on the ABS fault light.

[0078] It should be noted that the first preset value refers to a threshold set in the fault counter for judging whether the abnormal situation of wheel acceleration reaches the level where a fault needs to be reported. In this embodiment, this value is set to 5500.

[0079] The wheel speed signal fault refers to the abnormal acceleration signal of the wheel, resulting in the abnormal operation of the ABS.

[0080] The ABS fault light is an indicator on the vehicle dashboard, used to show the driver whether the ABS is working properly.

[0081] It can be understood that, firstly, the anti-lock braking system controller continuously monitors the value of the fault counter. When it detects that the value of the fault counter reaches or exceeds 5500, the system determines that there is a fault in the wheel speed signal. Secondly, the system will trigger the fault alarm mechanism to report the wheel speed signal fault. This process is to notify the vehicle's diagnostic system or other relevant systems in a timely manner for further fault troubleshooting and handling. Finally, the system will light up the ABS fault light on the dashboard to visually remind the driver that there may be an abnormality in the vehicle's ABS and it needs to be checked and repaired in a timely manner, so as to ensure the safety and reliability of the vehicle during driving.

[0082] The steps of reporting the wheel speed signal fault and lighting up the ABS fault light include: when the value of the fault counter accumulates from the initial value to the first preset value within the preset time threshold, report the wheel speed signal fault and trigger the ABS fault light to flash at the first preset frequency; when the value of the fault counter is greater than the first preset value and less than the fourth preset value, report the wheel speed signal fault and trigger the ABS fault light to be constantly on; when the value of the fault counter is greater than the fourth preset value, report the wheel speed signal fault and trigger the ABS fault light to alternately flash at the second preset frequency, and the second preset frequency is less than the first preset frequency.

[0083] The preset time threshold refers to a time limit used to judge the time required for the fault counter to accumulate from the initial value to the first preset value. In this embodiment, this time threshold is set to 10 seconds.

[0084] The first preset frequency refers to the flashing frequency of the ABS fault light, used to indicate the severity of the fault. In this embodiment, the first preset frequency is set to 3Hz (i.e., flashing 3 times per second). This high-frequency flashing is to attract the driver's high attention and prompt the possible sudden wheel speed signal fault.

[0085] The fourth preset value refers to a higher fault counter threshold used to distinguish faults of different severities. In this embodiment, this value is set to 7000. The constantly-on fault light indicates that the fault is relatively serious but has not reached the most serious level.

[0086] The second preset frequency refers to the frequency at which the ABS fault lamp flashes when the value of the fault counter exceeds the fourth preset value. In this embodiment, the second preset frequency is 1 Hz. This alternating flashing of the frequency is used to indicate a higher severity of the fault, prompting the driver that there may be more serious problems with the vehicle's ABS and that immediate measures need to be taken.

[0087] First, the anti-lock braking system controller continuously monitors the value of the fault counter. When it is found that the fault counter rapidly accumulates from the initial value to 5500 within 10 seconds, the system immediately reports a wheel speed signal fault and controls the ABS fault lamp to flash at a frequency of 3 times per second. This high-frequency flashing is to quickly attract the driver's attention within a short time, indicating that there may be serious wheel speed signal problems, so that the driver can detect and take corresponding measures in a timely manner. Secondly, if the value of the fault counter continues to increase and is greater than 5500 but less than 7000, the system reports a wheel speed signal fault again and switches the ABS fault lamp to the always-on state. The always-on fault lamp is to continuously remind the driver that there are relatively serious faults in the vehicle's ABS and that inspection and repair need to be carried out as soon as possible. Finally, when the value of the fault counter exceeds 7000, the system reports a wheel speed signal fault and controls the ABS fault lamp to flash alternately at a frequency of 1 Hz. This alternating flashing is to further emphasize the severity of the fault, prompting the driver that there may be more serious problems with the vehicle's ABS and that immediate parking inspection or seeking professional repair is required to ensure driving safety.

[0088] This embodiment provides an ABS fault alarm method based on acceleration cross-verification. When the vehicle speed exceeds the preset speed threshold, the anti-lock braking system controller first starts and detects the front-wheel acceleration and rear-wheel acceleration of the vehicle. This process excludes the interference during low-speed driving and ensures that the system only monitors during normal vehicle driving. Then, the controller determines the road surface conditions of the vehicle based on the acceleration data of the front wheels and rear wheels, avoiding false alarms caused by road surface conditions. Then, the controller dynamically adjusts the value of the fault counter according to the road surface conditions, front-wheel acceleration, and rear-wheel acceleration. This dynamic adjustment mechanism can accumulate abnormal situations, avoid false alarms due to occasional acceleration fluctuations, and can timely detect continuously existing abnormal situations. Finally, when the adjusted value of the fault counter reaches or exceeds the first preset value, the system reports a wheel speed signal fault and lights up the ABS fault lamp, helping the driver timely understand the status of the vehicle's ABS and take corresponding measures to ensure driving safety. This embodiment can avoid false alarms of wheel speed signals by the anti-lock braking system on bumpy roads, significantly improving the reliability of the ABS and driving safety.

[0089] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar content as in the above-mentioned first embodiment can be referred to the above introduction and will not be repeated hereinafter. On this basis, please refer to Figure 2 , Figure 2 FIG. Figure 2 is a schematic flowchart of the second embodiment of the ABS fault alarm method based on acceleration cross-validation of the present application. The step S30 of the ABS fault alarm method based on acceleration cross-validation includes steps S31 to S32:

[0090] Step S31, when detecting the abnormal acceleration of the front wheels and the road surface condition is not a bumpy road surface, adjust the value of the fault counter according to the front wheel acceleration.

[0091] It can be understood that, first, when the anti-lock braking system controller detects the abnormal acceleration of the front wheels, it will monitor the acceleration data of the front wheels in real time and simultaneously judge whether the road surface condition where the vehicle is located is a bumpy road surface. Second, if it is determined that the road surface condition is not a bumpy road surface, the controller will adjust the fault counter according to the acceleration data of the front wheels. Finally, through this dynamic adjustment mechanism, the system can accurately identify and record the abnormal conditions of the front wheel acceleration on non-bumpy road surfaces, avoid false alarms caused by normal fluctuations, ensure that the value of the fault counter truly reflects the fault state of the wheels, and thus improve the accuracy and reliability of the ABS's judgment of the wheel speed signal.

[0092] As an example, the step of adjusting the value of the fault counter according to the front wheel acceleration includes: when the left front wheel acceleration or the right front wheel acceleration in the front wheel acceleration is greater than the second preset acceleration threshold, increase the value of the fault counter by the second preset value, the first preset acceleration threshold is less than the second preset acceleration threshold; when the left front wheel acceleration or the right front wheel acceleration is less than or equal to the second preset acceleration threshold, reduce the value of the fault counter by the third preset value, the second preset value is greater than the third preset value.

[0093] The second preset acceleration threshold refers to a higher acceleration reference value used when judging whether the wheel acceleration is abnormal. In this embodiment, this threshold is set to 50G.

[0094] The second preset value refers to the value by which the fault counter increases when the wheel acceleration exceeds the second preset acceleration threshold. In this embodiment, this value is set to 200.

[0095] The third preset value refers to the value by which the fault counter decreases when the wheel acceleration is less than or equal to the second preset acceleration threshold. In this embodiment, this value is set to 1.

[0096] First, the anti-lock braking system controller continuously monitors the acceleration data of the left front wheel and the right front wheel. When the acceleration of one of the wheels is detected to exceed 50G, the system determines that the acceleration of that wheel is abnormal, which may be caused by faults such as wheel slip or lock-up. Second, in order to quickly record this abnormal situation, the system increases the value of the fault counter by 200. This relatively large increase helps to accumulate the value of the fault counter in a short time so that a fault can be reported in a timely manner when abnormal accelerations are detected multiple times. Finally, if the acceleration of the left front wheel or the right front wheel is less than or equal to 50G, the system reduces the value of the fault counter by 1. This relatively small reduction is used to slowly decrease the value of the fault counter and avoid the value of the fault counter from dropping too quickly due to occasional normal acceleration fluctuations, thus ensuring that the system's judgment is more stable and accurate.

[0097] Step S32, when detecting abnormal acceleration of the rear wheels and the road surface condition is not a bumpy road surface, adjust the value of the fault counter according to the rear wheel acceleration.

[0098] It can be understood that, first, when the anti-lock braking system controller detects abnormal acceleration of the rear wheels, it will continuously monitor the acceleration data of the rear wheels and determine whether the road surface condition of the vehicle is a bumpy road surface. Second, if it is confirmed that the road surface condition of the vehicle is not a bumpy road surface, the controller will adjust the value of the fault counter according to the acceleration data of the rear wheels, so as to ensure that the value of the fault counter can accurately reflect the true state of the wheels and improve the accuracy and reliability of the system.

[0099] As an example, the step of adjusting the value of the fault counter according to the rear wheel acceleration includes: when the left rear wheel acceleration or the right rear wheel acceleration in the rear wheel acceleration is greater than a second preset acceleration threshold, increase the value of the fault counter by a second preset value, where the first preset acceleration threshold is less than the second preset acceleration threshold; when the left rear wheel acceleration or the right rear wheel acceleration is less than the second preset acceleration threshold, reduce the value of the fault counter by a third preset value, where the second preset value is greater than the third preset value.

[0100] First, when the anti-lock braking system controller detects abnormal acceleration of the rear wheels, it will continuously monitor the acceleration data of the left and right rear wheels to determine whether there are any abnormal conditions. Second, when the acceleration of the left or right rear wheel exceeds 50G, the controller will immediately increase the value of the fault counter by 200. The purpose of this is to quickly accumulate the value of the fault counter so that when abnormal acceleration is detected multiple times in a short period, a fault alarm can be triggered in a timely manner, ensuring that the system can quickly respond to potential fault situations. Finally, if the acceleration of the left or right rear wheel is lower than 50G, the controller will decrease the value of the fault counter by 1. This slow decrease method is to prevent the value of the fault counter from dropping too quickly due to occasional normal acceleration fluctuations, thus ensuring that the value of the fault counter can stably reflect the true state of the wheel and improving the accuracy and reliability of the system.

[0101] As an example, after the step of increasing the value of the fault counter by a second preset value when the acceleration of the left rear wheel or the right rear wheel in the rear wheel acceleration is greater than a second preset acceleration threshold, the method further includes: detecting the acceleration fluctuation frequency of the left rear wheel or the right rear wheel and the yaw angular velocity of the vehicle; when the acceleration fluctuation frequency is greater than a preset frequency threshold, determining it as an instantaneous interference and increasing the value of the fault counter by a fourth preset value; when the yaw angular velocity is greater than a preset angular velocity threshold, increasing the value of the fault counter by a fifth preset value.

[0102] The acceleration fluctuation frequency refers to the number of times the wheel acceleration changes per unit time, that is, the fluctuation frequency of the acceleration signal.

[0103] The yaw angular velocity refers to the speed at which the vehicle rotates around the vertical axis and is usually used to measure the stability of the vehicle.

[0104] The preset frequency threshold refers to a set upper limit of the acceleration fluctuation frequency used to distinguish instantaneous interference from true fault signals.

[0105] Instantaneous interference refers to the rapid and short-term fluctuations of the wheel acceleration, which may be caused by the vehicle driving on a bumpy road surface or encountering other short-term road condition changes.

[0106] The fourth preset value refers to the value by which the fault counter increases when the system determines an instantaneous interference. In this embodiment, this value is set to 50.

[0107] The preset angular velocity threshold refers to a set upper limit of the yaw angular velocity used to determine whether the vehicle is in an unstable state.

[0108] The fifth pre-designed value refers to the value by which the fault counter increases when the yaw rate exceeds the preset angular velocity threshold. In this embodiment, this value is set to 100.

[0109] First, after the anti-lock braking system controller detects that the acceleration of the left rear wheel or the right rear wheel exceeds the second preset acceleration threshold, it further monitors the acceleration fluctuation frequency of these two wheels and the yaw rate of the vehicle, in order to more accurately determine whether the current abnormal acceleration is caused by instantaneous interference or vehicle instability. Secondly, if the detected acceleration fluctuation frequency is greater than the preset frequency threshold, the system determines that this is instantaneous interference rather than a real fault. At this time, the value of the fault counter is increased by the fourth pre-designed value. This relatively small increase is used to record the situation of instantaneous interference, avoiding false alarms due to short-term acceleration fluctuations and ensuring that the system does not overreact to instantaneous interference. Finally, if the yaw rate of the vehicle is greater than the preset angular velocity threshold, which may mean that the vehicle is in an unstable state, such as a sharp turn or an emergency avoidance, the system increases the value of the fault counter by the fifth pre-designed value. This relatively large increase is used to record this abnormal situation that may be caused by the vehicle's unstable state, so as to ensure that the system can accurately distinguish different types of abnormal situations and improve the accuracy and reliability of fault diagnosis.

[0110] As an example, after the step of reducing the value of the fault counter by the third pre-designed value when the acceleration of the left rear wheel or the right rear wheel is less than the second preset acceleration threshold, the following steps are further included: when a steering signal is detected and the steering angle is greater than the preset angle threshold, the second pre-designed value is adjusted to the first preset adjustment value, and the third pre-designed value is adjusted to the second preset adjustment value until the steering angle is less than the preset angle threshold; when a braking signal is detected and the braking pedal pressure is greater than the preset pressure threshold, the adjustment of the value of the fault counter is suspended until the braking pedal pressure is less than the preset pressure threshold.

[0111] The steering signal refers to the signal sent by the vehicle steering system, indicating that the driver is performing a steering operation. This signal is usually provided by the turn signal switch or the steering sensor and is used to indicate whether the vehicle is in a turning state.

[0112] The steering angle refers to the actual rotation angle of the vehicle steering wheel or steering wheel. The steering angle is usually measured by a steering sensor and is in degrees (°).

[0113] The preset angle threshold refers to a set angle value used to determine whether the steering angle is large enough to trigger corresponding system adjustments. In this embodiment, this threshold is set to 15°.

[0114] The first preset adjustment value refers to the new value to which the second preset value is adjusted by the system when the steering angle is greater than the preset angle threshold. In this embodiment, this value is set to 100.

[0115] The second preset adjustment value refers to the new value to which the third preset value is adjusted by the system when the steering angle is greater than the preset angle threshold. In this embodiment, this value is set to 2.

[0116] The braking signal refers to the signal sent by the vehicle braking system, indicating that the driver is performing a braking operation. This signal is usually provided by a brake pedal sensor and is used to indicate whether the vehicle is in a braking state.

[0117] The brake pedal pressure refers to the pressure exerted by the driver when stepping on the brake pedal. In this embodiment, the system detects the brake pedal pressure to judge the intensity of the braking operation. The brake pedal pressure is usually measured by a pressure sensor, and the unit is megapascal (MPa).

[0118] The preset pressure threshold refers to a set pressure value used to judge whether the brake pedal pressure is large enough to trigger corresponding system adjustments. In this embodiment, this threshold is set to 5 MPa.

[0119] First, when the anti-lock braking system controller detects a steering signal from the vehicle and monitors that the steering angle exceeds 15°, the system will automatically adjust the second preset value originally used to increase the fault counter value from 200 to 100, and adjust the third preset value originally used to decrease the fault counter value from 1 to 2. This adjustment is to reduce the increasing speed of the fault counter value and appropriately accelerate its decreasing speed when the vehicle makes a large-angle turn, so as to avoid misjudging the normal fluctuations of the wheel acceleration caused by the steering operation as faults and ensure more accurate fault judgment by the system during the steering process. Second, the system continuously monitors the steering angle. Once the steering angle drops below 15°, the system will immediately restore the second preset value to 200 and the third preset value to 1 to maintain the normal fault counter adjustment mechanism. Finally, when the system detects a braking signal and the brake pedal pressure exceeds 5 MPa, all adjustment operations on the fault counter value will be suspended because during strong braking, the fluctuations of the wheel acceleration are normal, and suspending the adjustment can prevent these normal fluctuations from being misjudged as faults. The system will maintain this suspended state until the brake pedal pressure drops below 5 MPa, at which time the system will resume normal adjustment of the fault counter value to ensure that the fault counter can accurately reflect the true state of the wheels.

[0120] In this embodiment, when detecting abnormal acceleration of the front wheels, the acceleration data of the front wheels is monitored in real time, and it is determined whether the road surface condition where the vehicle is located is a bumpy road surface. If it is confirmed that the road surface condition is not a bumpy road surface, the value of the fault counter is adjusted according to the acceleration data of the front wheels. Specifically, when the acceleration of the left front wheel or the right front wheel exceeds 50G, the fault counter is increased by 200, and when the acceleration is less than or equal to 50G, the fault counter is decreased by 1. This adjustment mechanism can ensure that on a non-bumpy road surface, the controller can accurately identify abnormal conditions of the front wheel acceleration, avoid false alarms caused by normal fluctuations, and at the same time quickly accumulate the value of the fault counter to report faults in a timely manner. Secondly, when detecting abnormal acceleration of the rear wheels, the controller also monitors the acceleration data of the rear wheels, and when it is confirmed that the road surface condition is not a bumpy road surface, the value of the fault counter is adjusted according to the acceleration data of the rear wheels, and the adjustment method is the same as that of the front wheels. This mechanism for separately detecting abnormal acceleration of the front and rear wheels and adjusting the fault counter can comprehensively monitor the wheel speed state of the vehicle, improve the accuracy and reliability of the system, ensure accurate judgment of whether there are faults in the wheels under various non-bumpy road conditions, and thus enhance the safety of the vehicle.

[0121] Exemplarily, to facilitate understanding of the implementation process of the ABS fault alarm method based on acceleration cross-validation obtained by combining this embodiment with the above-mentioned Embodiment 1, please refer to Figure 3 , Figure 3 FIG. is a schematic diagram of the front wheel acceleration abnormal detection logic of the ABS fault alarm method based on acceleration cross-validation provided by the second embodiment of the present application. This figure shows the logic flow of front wheel acceleration abnormal detection. First, it is detected whether the vehicle speed exceeds 13 km / h. If the vehicle speed is lower than this threshold, no acceleration abnormal detection is performed; if the vehicle speed exceeds 13 km / h, it is checked whether the acceleration of the right rear wheel is greater than 10G. If so, it is considered that the vehicle may be on a bumpy road surface, and the acceleration of the right front wheel will not be detected for abnormality within the next 2 seconds. If the acceleration of the right rear wheel is not greater than 10G, the acceleration of the right front wheel is continuously monitored. If the acceleration of the right front wheel exceeds 50G, the fault counter is increased by 200, and if it is lower than 50G, it is decreased by 1. When the fault counter reaches 5500, the system reports a wheel speed signal fault and lights up the ABS fault lamp. This process ensures that on a non-bumpy road surface, the system can accurately identify abnormal conditions of the front wheel acceleration, avoid false alarms caused by normal fluctuations, and at the same time quickly accumulate the value of the fault counter to report faults in a timely manner, thereby improving the reliability and accuracy of the ABS.

[0122] Please refer to Figure 4 , Figure 4Schematic diagram of the abnormal detection logic of the rear-wheel acceleration for the ABS fault alarm method based on acceleration cross-validation provided in the second embodiment of this application. This diagram shows the logic flow of the abnormal detection of the rear-wheel acceleration. First, it detects whether the vehicle speed exceeds 13 km / h. If the vehicle speed is lower than this threshold, no abnormal acceleration detection is performed. If the vehicle speed exceeds 13 km / h, it checks whether the acceleration of the left front wheel is greater than 10G. If so, it is considered that the vehicle may be on a bumpy road surface, and the acceleration of the left rear wheel will not be detected for abnormality within the next 2 seconds. If the acceleration of the left front wheel is not greater than 10G, it continues to monitor the acceleration of the left rear wheel. If the acceleration of the left rear wheel exceeds 50G, the fault counter increases by 200. If it is lower than 50G, it decreases by 1. When the fault counter reaches 5500, the system reports a wheel speed signal fault and lights up the ABS fault light. This process ensures that on a non-bumpy road surface, the system can accurately identify abnormal situations of the rear-wheel acceleration, avoid false alarms caused by normal fluctuations, and at the same time quickly accumulate the value of the fault counter to report faults in a timely manner, thereby improving the reliability and accuracy of the ABS.

[0123] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the ABS fault alarm method based on acceleration cross-validation of this application. Any simple transformation in more forms based on this technical concept is within the protection scope of this application.

[0124] This application also provides an ABS fault alarm device based on acceleration cross-validation. Please refer to Figure 5 , the ABS fault alarm device based on acceleration cross-validation includes:

[0125] An acceleration detection module 10, configured to detect the front-wheel acceleration and rear-wheel acceleration of the vehicle when the vehicle speed exceeds a preset speed threshold;

[0126] A road condition determination module 20, configured to determine the road surface condition of the vehicle according to the rear-wheel acceleration during the process of detecting the abnormal acceleration of the front wheel;

[0127] A fault counting module 30, configured to adjust the value of the fault counter according to the road surface condition, the front-wheel acceleration, and the rear-wheel acceleration;

[0128] A fault reporting module 40, configured to report a wheel speed signal fault and light up the ABS fault light when the adjusted value of the fault counter is greater than or equal to a first preset value.

[0129] In one embodiment, the road condition determination module 20 is further configured to determine that the vehicle is on a bumpy road surface when detecting abnormal acceleration of the front wheels and when the acceleration of the left rear wheel or the right rear wheel in the rear wheel acceleration is greater than a first preset acceleration threshold, and pause detecting abnormal acceleration of the front wheels within a preset duration, and record a first pause duration; when the first pause duration reaches the preset duration, resume detecting abnormal acceleration of the front wheels; when detecting abnormal acceleration of the rear wheels and when the acceleration of the left front wheel or the right front wheel in the front wheel acceleration is greater than the first preset acceleration threshold, determine that the vehicle is on a bumpy road surface, and pause detecting abnormal acceleration of the rear wheels within the preset duration, and record a second pause duration; when the second pause duration reaches the preset duration, resume detecting abnormal acceleration of the rear wheels.

[0130] In one embodiment, the fault counting module 30 is further configured to adjust the value of the fault counter according to the front wheel acceleration when detecting abnormal acceleration of the front wheels and when the road surface condition is not a bumpy road surface; and adjust the value of the fault counter according to the rear wheel acceleration when detecting abnormal acceleration of the rear wheels and when the road surface condition is not a bumpy road surface.

[0131] In one embodiment, the fault counting module 30 is further configured to increase the value of the fault counter by a second preset value when the acceleration of the left front wheel or the right front wheel in the front wheel acceleration is greater than a second preset acceleration threshold, where the first preset acceleration threshold is less than the second preset acceleration threshold; and decrease the value of the fault counter by a third preset value when the acceleration of the left front wheel or the right front wheel is less than or equal to the second preset acceleration threshold, where the second preset value is greater than the third preset value.

[0132] In one embodiment, the fault counting module 30 is further configured to increase the value of the fault counter by a second preset value when the acceleration of the left rear wheel or the right rear wheel in the rear wheel acceleration is greater than a second preset acceleration threshold, where the first preset acceleration threshold is less than the second preset acceleration threshold; and decrease the value of the fault counter by a third preset value when the acceleration of the left rear wheel or the right rear wheel is less than the second preset acceleration threshold, where the second preset value is greater than the third preset value.

[0133] In one embodiment, the fault counting module 30 is further configured to detect the acceleration fluctuation frequency of the left rear wheel or the right rear wheel and the yaw angular velocity of the vehicle; when the acceleration fluctuation frequency is greater than a preset frequency threshold, it is determined as an instantaneous interference, and the value of the fault counter is increased by a fourth preset value; when the yaw angular velocity is greater than a preset angular velocity threshold, the value of the fault counter is increased by a fifth preset value.

[0134] In one embodiment, the fault counting module 30 is further configured to, when a steering signal is detected and the steering angle is greater than a preset angle threshold, adjust the second preset value to a first preset adjustment value and adjust the third preset value to a second preset adjustment value until the steering angle is less than the preset angle threshold; when a braking signal is detected and the braking pedal pressure is greater than a preset pressure threshold, suspend adjusting the value of the fault counter until the braking pedal pressure is less than the preset pressure threshold.

[0135] The ABS fault alarm device based on acceleration cross-verification provided by the present application adopts the ABS fault alarm method based on acceleration cross-verification in the above embodiment, and can solve the technical problem of how to avoid false alarms of wheel speed signals by the antilock braking system on bumpy roads. Compared with the prior art, the beneficial effects of the ABS fault alarm device based on acceleration cross-verification provided by the present application are the same as those of the ABS fault alarm method based on acceleration cross-verification provided by the above embodiment, and other technical features in the ABS fault alarm device based on acceleration cross-verification are the same as the features disclosed in the method of the above embodiment, which will not be elaborated herein.

[0136] The present application provides an ABS fault alarm device based on acceleration cross-verification. The ABS fault alarm device based on acceleration cross-verification includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the ABS fault alarm method based on acceleration cross-verification in the first embodiment above.

[0137] Next, refer to Figure 6, which shows a schematic structural diagram of an ABS fault alarm device suitable for implementing the embodiment of the present application. The ABS fault alarm device based on acceleration cross-validation in the embodiment of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions, tablet computers), PMPs (Portable Media Players), in-vehicle terminals (such as in-vehicle navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 6 The shown ABS fault alarm device based on acceleration cross-validation is merely an example and should not impose any limitations on the functions and usage scope of the embodiment of the present application.

[0138] As Figure 6 shown, the ABS fault alarm device based on acceleration cross-validation may include a processing device 1001 (such as a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to the program stored in the ROM (Read Only Memory) 1002 or the program loaded from the storage device 1003 into the RAM (Random Access Memory) 1004. In the RAM 1004, various programs and data required for the operation of the ABS fault alarm device based on acceleration cross-validation are also stored. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other through a bus 1005. The input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems may be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, an LCD (Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the ABS fault alarm device based on acceleration cross-validation to communicate with other devices wirelessly or wiredly to exchange data. Although the figure shows an ABS fault alarm device with various systems, it should be understood that it is not required to implement or have all the shown systems. More or fewer systems may be alternatively implemented or had.

[0139] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program codes for executing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by a processing device 1001, the above-mentioned functions defined in the methods of the embodiments disclosed in the present application are executed.

[0140] The ABS fault alarm device based on acceleration cross-validation provided by the present application adopts the ABS fault alarm method based on acceleration cross-validation in the above-mentioned embodiment, and can solve the technical problem of how to avoid false alarms of wheel speed signals by the anti-lock braking system on bumpy roads. Compared with the prior art, the beneficial effects of the ABS fault alarm device based on acceleration cross-validation provided by the present application are the same as those of the ABS fault alarm method based on acceleration cross-validation provided by the above-mentioned embodiment, and other technical features in the ABS fault alarm device based on acceleration cross-validation are the same as the features disclosed in the method of the previous embodiment, which will not be elaborated here.

[0141] It should be understood that each part disclosed in the present application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in a suitable manner in any one or more embodiments or examples.

[0142] As described above, the above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present application, and all of them should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0143] The present application provides a computer-readable storage medium having computer-readable program instructions (i.e., computer programs) stored thereon, and the computer-readable program instructions are used to execute the ABS fault alarm method based on acceleration cross-validation in the above-mentioned embodiment.

[0144] The computer-readable storage medium provided by this application can be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or components, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, RAM (Random Access Memory), ROM (Read Only Memory), EPROM (Erasable Programmable Read Only Memory or flash memory), optical fibers, CD-ROM (Compact Disk - Read Only Memory), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this embodiment, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, device, or component. The program code contained on the computer-readable storage medium can be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0145] The above computer-readable storage medium can be included in the ABS fault alarm device based on acceleration cross-validation; or it can exist independently without being assembled into the ABS fault alarm device based on acceleration cross-validation.

[0146] The above computer-readable storage medium carries one or more programs. When the one or more programs are executed by the ABS fault alarm device based on acceleration cross-validation, the ABS fault alarm device based on acceleration cross-validation is caused to: detect the front-wheel acceleration and rear-wheel acceleration of the vehicle when the vehicle speed exceeds a preset speed threshold; determine the road surface condition of the vehicle based on the front-wheel acceleration and the rear-wheel acceleration; adjust the value of the fault counter based on the road surface condition, the front-wheel acceleration, and the rear-wheel acceleration; and report a wheel speed signal fault and turn on the ABS fault light when the adjusted value of the fault counter is greater than or equal to a first preset value.

[0147] Computer program code for performing the operations of this application can be written in one or more programming languages or combinations thereof. The above-mentioned programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a LAN (Local Area Network) or a WAN (Wide Area Network), or it can be connected to an external computer (for example, by connecting through the Internet using an Internet service provider).

[0148] 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 this application. In this regard, each block in the flowchart or block diagram can represent a module, a program segment, or a part of the code that 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 can occur in a different order than that marked in the accompanying drawings. For example, two consecutively represented blocks can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, as well as the combination of blocks in the block diagram and / 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.

[0149] The modules described in the embodiments of this application can be implemented in software or in hardware. Among them, the name of the module does not constitute a limitation on the unit itself in some cases.

[0150] The readable storage medium provided by this application is a computer-readable storage medium. The computer-readable storage medium stores computer-readable program instructions (i.e., computer programs) for performing the above-mentioned ABS fault alarm method based on acceleration cross-validation, and can solve the technical problem of how to avoid false alarms of wheel speed signals by the anti-lock braking system on bumpy roads. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by this application are the same as those of the ABS fault alarm method based on acceleration cross-validation provided by the above embodiments, and will not be elaborated here.

[0151] The present application also provides a computer program product, including a computer program which, when executed by a processor, implements the steps of the above-described ABS fault alarm method based on acceleration cross-validation.

[0152] The computer program product provided by the present application can solve the technical problem of how to avoid false alarms of wheel speed signals by the anti-lock braking system on bumpy roads. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as those of the ABS fault alarm method based on acceleration cross-validation provided by the above embodiments, and will not be elaborated here.

[0153] The above are only some embodiments of the present application, and thus do not limit the patent scope of the present application. Any equivalent structural transformation made under the technical concept of the present application by using the content of the specification and drawings of the present application, or direct / indirect application in other related technical fields, is included in the patent protection scope of the present application.

Claims

1. An ABS fault alarm method based on acceleration cross-validation, characterized in that, The method includes: When the vehicle speed exceeds a preset speed threshold, detecting the front-wheel acceleration and rear-wheel acceleration of the vehicle; Determining the road surface condition of the vehicle according to the front-wheel acceleration and the rear-wheel acceleration; Adjusting the value of a fault counter according to the road surface condition, the front-wheel acceleration, and the rear-wheel acceleration; When the adjusted value of the fault counter is greater than or equal to a first preset value, reporting a wheel speed signal fault and turning on an ABS fault light.

2. The method according to claim 1, characterized in that, The step of determining the road surface condition of the vehicle according to the front-wheel acceleration and the rear-wheel acceleration includes: When performing acceleration anomaly detection on the front wheels and the left rear-wheel acceleration or right rear-wheel acceleration in the rear-wheel acceleration is greater than a first preset acceleration threshold, determining that the vehicle is on a bumpy road surface, pausing the acceleration anomaly detection on the front wheels for a preset duration, and recording a first pause duration; When the first pause duration reaches the preset duration, resuming the acceleration anomaly detection on the front wheels; When performing acceleration anomaly detection on the rear wheels and the left front-wheel acceleration or right front-wheel acceleration in the front-wheel acceleration is greater than the first preset acceleration threshold, determining that the vehicle is on a bumpy road surface, pausing the acceleration anomaly detection on the rear wheels for the preset duration, and recording a second pause duration; When the second pause duration reaches the preset duration, resuming the acceleration anomaly detection on the rear wheels.

3. The method according to claim 1, wherein The step of adjusting the value of the fault counter according to the road surface condition, the front-wheel acceleration, and the rear-wheel acceleration includes: When performing acceleration anomaly detection on the front wheels and the road surface condition is not a bumpy road surface, adjusting the value of the fault counter according to the front-wheel acceleration; When performing acceleration anomaly detection on the rear wheels and the road surface condition is not a bumpy road surface, adjusting the value of the fault counter according to the rear-wheel acceleration.

4. The method according to claim 3, wherein The step of adjusting the value of the fault counter according to the front-wheel acceleration includes: When the left front-wheel acceleration or right front-wheel acceleration in the front-wheel acceleration is greater than a second preset acceleration threshold, increasing the value of the fault counter by a second preset value, where the first preset acceleration threshold is less than the second preset acceleration threshold; When the left front-wheel acceleration or the right front-wheel acceleration is less than or equal to the second preset acceleration threshold, decreasing the value of the fault counter by a third preset value, where the second preset value is greater than the third preset value.

5. The method according to claim 3, characterized in that, The step of adjusting the value of the fault counter according to the rear-wheel acceleration includes: When the left rear-wheel acceleration or right rear-wheel acceleration in the rear-wheel acceleration is greater than a second preset acceleration threshold, increasing the value of the fault counter by a second preset value, where the first preset acceleration threshold is less than the second preset acceleration threshold; When the left rear wheel acceleration or the right rear wheel acceleration is less than the second preset acceleration threshold, reduce the value of the fault counter by a third preset value, where the second preset value is greater than the third preset value.

6. The method according to claim 5, wherein After the step of increasing the value of the fault counter by the second preset value when the left rear wheel acceleration or the right rear wheel acceleration in the rear wheel acceleration is greater than the second preset acceleration threshold, further include: Detect the acceleration fluctuation frequency of the left rear wheel or the right rear wheel and the yaw angular velocity of the vehicle; When the acceleration fluctuation frequency is greater than the preset frequency threshold, determine it as an instantaneous interference and increase the value of the fault counter by a fourth preset value; When the yaw angular velocity is greater than the preset angular velocity threshold, increase the value of the fault counter by a fifth preset value.

7. The method according to claim 5, wherein After the step of reducing the value of the fault counter by the third preset value when the left rear wheel acceleration or the right rear wheel acceleration is less than the second preset acceleration threshold, further include: When a steering signal is detected and the steering angle is greater than the preset angle threshold, adjust the second preset value to a first preset adjustment value and adjust the third preset value to a second preset adjustment value until the steering angle is less than the preset angle threshold; When a braking signal is detected and the braking pedal pressure is greater than the preset pressure threshold, suspend the adjustment of the value of the fault counter until the braking pedal pressure is less than the preset pressure threshold.

8. An ABS fault alarm device based on acceleration cross-validation, characterized in that, The device includes: An acceleration detection module, configured to detect the front wheel acceleration and the rear wheel acceleration of the vehicle when the vehicle speed exceeds a preset speed threshold; A road condition determination module, configured to determine the road surface condition of the vehicle according to the rear wheel acceleration during the process of detecting abnormal acceleration of the front wheel; A fault counting module, configured to adjust the value of the fault counter according to the road surface condition, the front wheel acceleration, and the rear wheel acceleration; A fault reporting module, configured to report a wheel speed signal fault and turn on the ABS fault light when the adjusted value of the fault counter is greater than or equal to a first preset value.

9. An ABS fault alarm device based on acceleration cross-validation, characterized in that, The device includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the computer program is configured to implement the steps of the ABS fault alarm method based on acceleration cross-validation according to any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the ABS fault alarm method based on acceleration cross-validation according to any one of claims 1 to 7 are implemented.

Images