Fault diagnosis method and device of unmanned vehicle braking system and unmanned vehicle

Abstract

The invention provides a fault diagnosis method and device for an unmanned vehicle braking system and an unmanned vehicle, and the method comprises the steps: triggering execution of a braking control flow enabling the unmanned vehicle to carry out braking operation, the braking control flow comprises a plurality of control nodes, and the plurality of control nodes are in serial or parallel during execution, a control element corresponding to the control node can enter a trigger state and / or a non-trigger state along with propulsion of the brake control flow; a current corresponding target control node in the braking control flow propelling process is determined; determining a first target sensor associated with the target control node, and detecting whether sensing data of the first target sensor meets a specified condition corresponding to the target control node; and under the condition that the sensing data of the first target sensor does not meet the specified condition corresponding to the target control node, first indication information indicating that the braking system of the unmanned vehicle breaks down is output, and the first indication information carries the target control node or related information of a control element corresponding to the target control node.

Description

Technical Field

[0001] The present disclosure relates to the field of unmanned driving technology, and in particular to a fault diagnosis method and device for a braking system of an unmanned vehicle, and an unmanned vehicle. Background Art

[0002] The braking system is the core guarantee for safe autonomous driving, and its reliability is directly related to the safety of autonomous vehicle transport operations. In traditional manned vehicles, the driver can intuitively determine whether the braking system is functioning properly through the force applied to the brake pedal, the vehicle's deceleration response, and unusual noises. If brake failure is detected, the driver can draw on their driving experience to take emergency measures such as applying the handbrake or downshifting to minimize the risk of an accident. However, for autonomous vehicles, lacking the driver's direct perception and judgment, how to monitor the braking system status in real time has become a key technical challenge that needs to be addressed. Summary of the Invention

[0003] The embodiments of the present disclosure provide a method and device for diagnosing faults of an unmanned vehicle braking system, and an unmanned vehicle, so as to solve the problem of difficulty in diagnosing faults of existing unmanned vehicle braking systems in real time.

[0004] In view of the above problems, in a first aspect, an embodiment of the present disclosure provides a fault diagnosis method for a brake system of an unmanned vehicle, comprising:

[0005] Triggering a braking control flow that instructs the unmanned vehicle to perform a braking operation, the braking control flow comprising a plurality of control nodes, the plurality of control nodes being executed in series or in parallel, and the control elements corresponding to the control nodes being able to enter a triggered state and / or a non-triggered state as the braking control flow progresses;

[0006] Determine the target control node currently corresponding to the braking control flow during advancement;

[0007] Determining a first target sensor associated with the target control node, and detecting whether sensing data of the first target sensor meets a specified condition corresponding to the target control node;

[0008] When the sensing data of the first target sensor does not meet the specified conditions corresponding to the target control node, first indication information of a failure of the braking system of the unmanned vehicle is output, and the first indication information carries relevant information of the target control node or the control element corresponding to the target control node.

[0009] In a second aspect, a fault diagnosis device for a brake system of an unmanned vehicle is provided, comprising:

[0010] A control node determination module is configured to trigger execution of a braking control flow that causes the unmanned vehicle to perform a braking operation, wherein the braking control flow includes multiple control nodes that are executed in series or in parallel, and the control elements corresponding to the control nodes can enter a triggered state and / or a non-triggered state as the braking control flow progresses; and to determine a target control node currently corresponding to the braking control flow during the progress of the braking control flow;

[0011] A fault diagnosis module is used to determine the first target sensor associated with the target control node and detect whether the sensing data of the first target sensor meets the specified conditions corresponding to the target control node; when the sensing data of the first target sensor does not meet the specified conditions corresponding to the target control node, output first indication information of a fault in the braking system of the unmanned vehicle, and the first indication information carries relevant information about the target control node or the control element corresponding to the target control node.

[0012] In a third aspect, an unmanned vehicle is provided, comprising: a fault diagnosis device for the unmanned vehicle braking system as described in the second aspect.

[0013] The beneficial effects of the embodiments of the present disclosure include:

[0014] The present invention provides a method, device, and apparatus for diagnosing a brake system fault in an unmanned vehicle, including: triggering and executing a brake control flow that instructs the unmanned vehicle to perform a braking operation; the brake control flow includes multiple control nodes, which are executed serially or in parallel, and the control elements corresponding to the control nodes can enter a triggered state and / or a non-triggered state as the brake control flow advances; determining a target control node currently corresponding to the brake control flow during the advancement of the brake control flow; determining a first target sensor associated with the target control node, and detecting whether the sensing data of the first target sensor meets a specified condition corresponding to the target control node; and outputting a first indication message indicating that a brake system fault has occurred in the unmanned vehicle if the sensing data of the first target sensor does not meet the specified condition corresponding to the target control node. The first indication message carries relevant information about the target control node or the control element corresponding to the target control node. The method provides a method for diagnosing a brake system fault in an unmanned vehicle, and includes ... detecting the multiple control nodes and their corresponding control elements through the advancement of the brake control flow and the sensing data of the first target sensor, thereby establishing a comprehensive fault monitoring system from control logic to hardware execution, significantly Sensors are installed at key locations in the braking system to obtain sensing data from these sensors in real time, and the working status of the braking system is continuously monitored, thereby achieving accurate diagnosis and early warning of faults in each working link of the braking system. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1A flowchart of a fault diagnosis method for a brake system of an unmanned vehicle provided in an embodiment of the present disclosure;

[0016] Figure 2 A schematic diagram of a brake control flow provided by an embodiment of the present disclosure;

[0017] Figure 3 This is a structural diagram of the fault diagnosis device for the unmanned vehicle braking system provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0018] The present disclosure provides a method and apparatus for diagnosing a fault in a brake system of an unmanned vehicle, as well as an unmanned vehicle. Preferred embodiments of the present disclosure are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are intended only to illustrate and explain the present disclosure and are not intended to limit the present disclosure. Furthermore, the embodiments and features of the embodiments herein may be combined with one another unless there is a conflict.

[0019] The present disclosure provides a method for diagnosing a fault in a braking system of an unmanned vehicle. Figure 1 As shown, including:

[0020] S101: Triggering a braking control flow that instructs the unmanned vehicle to perform a braking operation. The braking control flow includes multiple control nodes. The multiple control nodes are executed in series or in parallel. The control elements corresponding to the control nodes can enter a triggered state and / or a non-triggered state as the braking control flow progresses.

[0021] S102, determining the target control node currently corresponding to the braking control flow during advancement;

[0022] S103, determining a first target sensor associated with the target control node, and detecting whether sensing data of the first target sensor meets a specified condition corresponding to the target control node;

[0023] S104. When the sensing data of the first target sensor does not meet the specified conditions corresponding to the target control node, output first indication information indicating that the braking system of the unmanned vehicle has failed. The first indication information carries relevant information about the target control node or the control element corresponding to the target control node.

[0024] The disclosed embodiments are applicable to the field of unmanned driving technology. By collaboratively analyzing the brake control flow and target sensor data, fault diagnosis of the braking system of manned vehicles is also applicable. Potential problems with the braking system of manned vehicles can be promptly identified, providing reliable safety assurance for the driver. In the field of unmanned driving technology, the braking system is the core guarantee for safe operation of unmanned vehicles, and its reliability is directly related to the safety of unmanned vehicle transportation operations. In traditional manned driving scenarios, the driver can quickly determine whether the braking system is functioning properly based on multiple sensory information, such as the feedback force of the brake pedal, the sensitivity of the vehicle's deceleration, and abnormal mechanical noise. Once an emergency brake failure is detected, the driver can also flexibly take emergency measures such as applying the handbrake and downshifting to minimize the probability of an accident based on their extensive driving experience. However, for unmanned vehicles, due to the lack of direct control and perception by the driver, they cannot rely on subjective experience and immediate reactions to deal with brake system anomalies. Therefore, establishing an accurate and efficient real-time monitoring mechanism for the braking system has become a key issue that needs to be addressed in unmanned driving technology.

[0025] In an embodiment of the present disclosure, when an unmanned vehicle encounters a need to decelerate or stop, it prepares to brake, triggering the execution of a braking control flow that instructs the unmanned vehicle to perform the braking operation. The braking control flow may refer to the workflow of various control nodes in the unmanned vehicle's braking system during the braking operation. The braking control flow includes multiple control nodes, which may refer to key steps or decision points in the braking control flow. Each control node has its own function and task during the braking process. For example, a control node is a brake node. After detecting a braking instruction from a brake control valve, the brake node can control the brake to apply the brake. The execution modes among multiple control nodes include serial and parallel. Serial execution of multiple control nodes may mean that the multiple control nodes perform the braking task sequentially, while parallel execution of multiple control nodes may mean that the multiple control nodes perform the braking task simultaneously. Each control node corresponds to a specific control element, such as a brake energy storage device, a relay valve, or a brake. As the braking control flow progresses, the control element enters a triggered or untriggered state, such as charging, starting, shutting down, or resetting. During the progress of the braking control flow, the control node currently performing the braking operation is tracked in real time and designated as the target control node. Multiple control nodes control the operation of corresponding control elements based on time sequence or logical conditions. For example, the target control node is the pressure output end node of the brake energy storage device. After triggering the unmanned vehicle to perform a braking operation, the brake energy storage device is activated to provide braking power.

[0026] Furthermore, each target control node is associated with a first target sensor, which is used to monitor the operating status of the target control node or the control element corresponding to the target control node and obtain sensing data from the first target sensor. For example, the first target sensor is a pressure sensor, which is used to monitor the pressure value at the pressure output terminal of the brake energy storage device and obtain sensing data of the pressure value at the pressure output terminal of the brake energy storage device. The sensing data is then tested to see if it meets the specified conditions corresponding to the target control node. For example, the pressure value provided by the pressure output terminal of the brake energy storage device should be within a preset range and meet the specified conditions corresponding to the pressure output terminal node of the brake energy storage device to ensure sufficient energy in the braking power source. If the sensing data from the first target sensor does not meet the specified conditions of the target control node, it indicates that the unmanned vehicle's braking system has malfunctioned. The unmanned vehicle can issue a braking system malfunction alarm by outputting a first indication message. For example, the unmanned vehicle uploads the first indication message to the dispatching platform, promptly notifying maintenance personnel to conduct inspection and repair. The first indication message carries relevant information about the target control node or the control element corresponding to the target control node. For example, the first indication message may read, "The output pressure of the brake energy storage device does not meet the braking requirements of the unmanned vehicle; the brake energy storage device has malfunctioned." The first indication information is directly associated with the target control node or control element, which makes it easier for maintenance personnel to quickly identify the source of the problem and reduce troubleshooting time.

[0027] This embodiment of the application utilizes a brake control flow to link detection with sensor data from a first target sensor, enabling full-link monitoring from control logic to hardware execution, thereby enhancing brake system safety. By installing sensors at key locations in the brake system and acquiring real-time sensor data, combined with the brake control flow's advancement process, the operating status of each control node in the brake system and its corresponding control element are monitored, enabling accurate diagnosis and early warning of faults in each control element of the brake system.

[0028] In yet another embodiment of the present disclosure, the plurality of control nodes include a sensor response node; the sensor response node is any subsequent control node of the target control node in the braking control flow;

[0029] The method also includes:

[0030] Step 1: Determine the second target sensor associated with the sensor response node;

[0031] Step 2: Based on the sensing data of the first target sensor, detecting whether the sensing data of the second target sensor meets the specified conditions corresponding to the sensor response node;

[0032] Step three: When the sensing data of the second target sensor does not meet the specified conditions corresponding to the sensor response node, output second indication information indicating that the braking system of the unmanned vehicle has failed. The second indication information carries relevant information about the sensor response node or the control element corresponding to the sensor response node.

[0033] In the disclosed embodiment, for an unmanned vehicle braking system, a sensor response node in the brake control flow is monitored. By determining its associated second target sensor and combining it with the sensor data of the first target sensor, it is determined whether the sensor data of the second target sensor meets specified conditions. If not, a second indication message is output to achieve progressive troubleshooting and precise location of the braking system fault. Regarding step one above, the multiple control nodes include a sensor response node. A second target sensor can be installed at the control element corresponding to the sensor response node, or at a location associated with the control element. The corresponding sensor type is determined based on the type of control element. For example, if the control element is a brake, the second target sensor can be a micro pressure sensor; if the control element is a wheel, the second target sensor can be a wheel speedometer. Regarding step two above, based on the sensor data of the first target sensor, it is detected whether the sensor data of the second target sensor meets the specified conditions corresponding to the sensor response node. The sensor data of the second target sensor should change accordingly with changes in the sensor data of the first target sensor. With respect to step three above, if the sensing data of the second target sensor does not change with the sensing data of the first target sensor, or if the sensing data of the second target sensor changes erroneously, it indicates that the sensing data of the second target sensor does not meet the specified conditions corresponding to the sensor response node, and a fault exists in the braking system. When the sensing data of the second target sensor does not meet the specified conditions corresponding to the sensor response node, a second indication information indicating a fault in the braking system of the unmanned vehicle is output. The second indication information carries relevant information about the sensor response node or the control element corresponding to the sensor response node. By determining whether the sensing data of the first target sensor and the second target sensor meet the linkage response conditions, the braking transmission relationship between each control node in the braking control flow can be monitored, and then the entire braking control flow can be monitored to achieve comprehensive detection of braking system faults.

[0034] In another embodiment of the present disclosure, Figure 2 As shown, in the case where the target control node is the relay valve control port node 201, the first target sensor is set at a first position at the control port of the relay valve 202 or at a position associated with the control port of the relay valve 202;

[0035] In the above step S103, detecting whether the sensing data of the first target sensor meets the specified conditions corresponding to the target control node includes:

[0036] Step 1: After detecting that the brake control valve 203 issues a brake instruction, determine, based on real-time sensing data of the first target sensor, whether the pressure value at the first position reaches a first preset value within a first preset time; if the pressure value at the first position does not reach the first preset value within the first preset time, determine that the sensing data of the first target sensor does not meet the specified condition corresponding to the target control node; and / or,

[0037] Step 2: After detecting that the brake control valve 203 issues a brake release indication, determine whether the pressure value at the first position drops to a second preset value within a second preset time based on the real-time sensing data of the first target sensor; if the pressure value at the first position does not drop to the second preset value within the second preset time, determine that the sensing data of the first target sensor does not meet the specified conditions corresponding to the target control node.

[0038] In the disclosed embodiment, when the target control node is a relay valve control port node 201, after the brake control valve 203 issues a brake command or a brake release command, the real-time sensing data of the first target sensor is determined to meet the specified conditions corresponding to the relay valve control port node 201. This allows the diagnosis of a fault in the brake system associated with the relay valve control port node 201, such as a fault in the relay valve 202. The brake control valve 203 is used to issue a brake command or a brake release command and control the brake pressure. The brake control valve 203 may include a foot valve and an electro-proportional valve. The foot valve can be used in traditional manned vehicles, issuing a brake command or a brake release command and controlling the brake pressure based on the driver's pedal pressure. The electro-proportional valve is commonly used in the braking system of unmanned vehicles. It receives brake commands from the vehicle control system, issues brake commands or brake release commands, and precisely controls the valve opening to control the brake pressure. The relay valve 202 is a fast-response element for brake pressure amplification, brake command, or brake release command. It is primarily used to quickly transmit and amplify brake pressure in the braking system, reducing brake response time, and is particularly suitable for pneumatic brake systems. After the brake control valve 203 issues a brake command or a brake release command, the pressure at the control port of the relay valve 202 or at a location associated with the control port of the relay valve 202 changes. The relay valve 202 then opens or closes the main air passage, rapidly controlling the output air pressure. This allows the brake chamber to be quickly filled or released with gas, allowing the brake node 205 to control the brake 204, achieving rapid braking or releasing. A first target sensor is positioned at a first location at the control port of the relay valve 202 or at a location associated with the control port of the relay valve 202, for real-time pressure data collection at the first location. For example, for some compact relay valves 202, the first target sensor can be a miniature pressure sensor. The miniature pressure sensor can be embedded within the pipe wall at the control port of the relay valve 202 or at a location associated with the control port of the relay valve 202, ensuring rapid and accurate transmission of the pressure signal while simultaneously monitoring changes in the pressure at the control port of the relay valve 202 in real time. Regarding step 1 above, after detecting that the brake control valve 203 has issued a braking instruction, a determination is made based on the real-time sensing data from the first target sensor as to whether the pressure value at the first location has risen to a first preset value within a first preset time. The first preset time and the first preset value can be determined based on the pressure response characteristics of the relay valve 202 during normal operation. If the pressure value at the first location has not reached the first preset value within the first preset time, it is determined that the sensing data from the first target sensor does not meet the specified condition corresponding to the relay valve control port node 201.For example, based on the pressure response characteristics of relay valve 202 during normal operation, the first preset time is set to 0.3 seconds, and the first preset value is set to 8 MPa. If, within 0.3 seconds after the brake command is issued, the real-time sensing data from the first target sensor indicates that the pressure value at the first location has not reached 8 MPa, then it is determined that there is an abnormal pressure buildup problem at the control port of relay valve 202 during braking. Regarding step 2 above, it is determined whether, after the brake control valve 203 issues a brake release command, the real-time sensing data from the first target sensor indicates whether the pressure value at the first location has dropped to a second preset value within a second preset time. If the pressure value at the first location has not dropped to the second preset value within the second preset time, then it is determined that the sensing data from the first target sensor does not meet the specified condition corresponding to the target control node, indicating that there is a fault at the control port of relay valve 202 during the brake release process. The second preset time and the second preset value can be determined based on the normal pressure drop characteristics of relay valve 202 during brake release. For example, based on the normal pressure drop characteristics of the relay valve 202 during brake release, the second preset time is set to 0.2 seconds, and the second preset value is 1 MPa. If, within 0.2 seconds after the brake release instruction is issued, the real-time sensing data of the first target sensor indicates that the pressure value at the first position is still greater than 1 MPa, it is determined that there is a fault in the brake release link of the relay valve 202 control port, and maintenance personnel should be promptly prompted to inspect and repair it. Specified conditions are set for the relay valve control port node 201. By dually determining the pressure value and time, the abnormal pressure value problem of the relay valve 202 control port during the braking and brake release processes can be accurately located, and the root cause of the fault can be quickly identified. The pressure value changes at the first position under the two key actions of braking and brake release are detected separately, and fault troubleshooting is performed at different stages of the brake system operation to avoid missing potential faults and achieve comprehensive detection of the relay valve control port node 201.

[0039] In another embodiment of the present disclosure, Figure 2 As shown, when the target control node is the brake node 205, the first target sensor is set at the second position in front of the brake 204;

[0040] In the above step S103, detecting whether the sensing data of the first target sensor meets the specified conditions corresponding to the target control node includes:

[0041] Step 1: After detecting that the brake control valve 203 issues a brake instruction, determine, based on real-time sensing data of the first target sensor, whether the pressure value at the second position reaches a third preset value within a third preset time; if the pressure value at the second position does not reach the third preset value within the third preset time, determine that the sensing data of the first target sensor does not meet the specified condition corresponding to the target control node; and / or,

[0042] Step 2: After detecting that the brake control valve 203 issues a brake release indication, determine whether the pressure value at the second position drops to a fourth preset value within a fourth preset time based on the real-time sensing data of the first target sensor; if the pressure value at the second position does not drop to the fourth preset value within the fourth preset time, determine that the sensing data of the first target sensor does not meet the specified conditions corresponding to the target control node.

[0043] In the disclosed embodiment, when the target control node is brake node 205, after brake control valve 203 issues a brake command or brake release command, the real-time sensing data from the first target sensor is determined to determine whether it meets the specified conditions corresponding to brake node 205. This is used to diagnose whether the brake system associated with brake node 205 has malfunctioned, such as whether brake 204 has malfunctioned. In a vehicle's braking system, brake 204 can refer to a mechanical component that stops or decelerates the vehicle, commonly known as a brake or gate. By generating friction, it converts the vehicle's kinetic energy into heat and dissipates it, thereby achieving the function of slowing or stopping the vehicle. After brake control valve 203 issues a brake command or brake release command, the pressure value before brake 204 should change accordingly. The first target sensor is positioned at a second position before brake 204 to collect real-time pressure data at the second position. For example, the first target sensor can be a high-temperature and vibration-resistant miniature pressure sensor, positioned in a straight section of the pipeline before the inlet of brake 204 to monitor changes in pressure value at the second position in real time. Regarding step 1 above, after detecting that the brake control valve 203 has issued a braking instruction, the real-time sensing data from the first target sensor is used to determine whether the pressure value at the second location has reached a third preset value within a third preset time. For example, the third preset time is set to 0.4 seconds, and the third preset value is 10 MPa. If the pressure value at the second location has not reached the third preset value within the third preset time, it is determined that the sensing data from the first target sensor does not meet the specified condition corresponding to the target control node. For example, if the real-time sensing data from the first target sensor indicates that the pressure value at the second location has not reached 10 MPa within 0.4 seconds after the brake control valve 203 issues the braking instruction, it is determined that a fault exists in the brake node 205 or in the corresponding brake 204, such as a stuck piston or clogged pipeline. Regarding step 2 above, it is determined whether the real-time sensing data from the first target sensor indicates that the pressure value at the second location has dropped to a fourth preset value within a fourth preset time after the brake control valve 203 issues a brake release instruction. If the pressure value at the second position does not drop to the fourth preset value within the fourth preset time, the sensing data of the first target sensor is determined to not meet the specified conditions corresponding to the target control node, indicating that there is a fault in brake node 205 during the brake release process, or there is a fault in the corresponding brake 204 during the brake release process. By setting a dual determination of pressure and time for brake node 205, abnormal pressure in the pipeline before brake 204 can be detected, such as brake sticking, pipeline blockage, and other faults. By separately detecting the changes in the pressure value at the second position during the two key actions of braking and brake release, it is possible to avoid missing hidden faults such as abnormal return of brake 204 and seal leakage due to single-stage detection, thereby achieving comprehensive detection of brake node 205.

[0044] In another embodiment of the present disclosure, Figure 2 As shown, when the target control node is the pressure output terminal node 206 of the brake energy storage device, the first target sensor is set at the third position of the pressure output terminal of the brake energy storage device 207;

[0045] In the above step S103, detecting whether the sensing data of the first target sensor meets the specified conditions corresponding to the target control node includes:

[0046] Step 1: Determine whether the pressure value of the brake energy storage device 207 reaches a first pressure value that meets the braking requirement based on the real-time sensing data of the first target sensor;

[0047] Step 2: When the pressure value of the brake energy storage device 207 does not reach the first pressure value, determine that the sensing data of the first target sensor does not meet the specified condition corresponding to the target control node.

[0048] In an embodiment of the present disclosure, when the target control node is the pressure output node 206 of the brake energy storage device, it is determined whether the real-time sensing data of the first target sensor meets the specified conditions corresponding to the pressure output node 206 of the brake energy storage device, thereby diagnosing whether the pressure output node 206 of the brake energy storage device or the brake energy storage device 207 has failed. For the brake energy storage device 207, in a pneumatic brake system, the brake energy storage device 207 may refer to a gas cylinder. The gas cylinder is used to store compressed air generated by an air compressor as energy for the brake system. In a hydraulic brake system, the brake energy storage device 207 may refer to an accumulator, which may be a device that uses hydraulic oil as a medium and stores energy through gas (usually nitrogen) compression. The first target sensor is arranged at a third position of the pressure output end of the brake energy storage device 207, and is used to collect pressure data of the third position in real time. For example, the first target sensor may be a high-precision pressure sensor, which is arranged in the main air circuit or hydraulic pipeline at the output end of the brake energy storage device 207 to monitor the pressure value changes at the third position in real time. For the above-mentioned step 1, according to the real-time sensing data of the first target sensor, determine whether the pressure value of the brake energy storage device 207 reaches the first pressure value that meets the braking requirement. For example, if the brake energy storage device 207 is a gas cylinder, the first pressure value can be set to 6-8MPa to ensure that the brake air chamber obtains enough pressure. The brake energy storage device 207 is an accumulator, and the first pressure value can be set to 12-16MPa according to the vehicle type to ensure the hydraulic pressure of the brake line. By monitoring the pressure value of the brake energy storage device 207 in real time, it is ensured that it is always above the first pressure value (safety threshold), which can effectively avoid the braking performance degradation or complete failure caused by insufficient energy storage pressure, and significantly improve driving safety. For the above-mentioned step 2, if the pressure value of the brake energy storage device does not reach the first pressure value, it is determined that the sensing data of the first target sensor does not meet the specified conditions corresponding to the target control node, indicating that the pressure output terminal node 206 of the brake energy storage device has a fault, or the brake energy storage device 207 has a fault. By providing early warning of abnormal pressure in the brake energy storage device 207 , potential problems such as leakage and aging of the brake energy storage device 207 can be discovered in time, thus avoiding the expansion of faults, reducing maintenance costs and extending the overall life of the system.

[0049] In another embodiment of the present disclosure, Figure 2 As shown, when the target control node is the pressure output terminal node 206 of the brake energy storage device, the first target sensor is set at the third position of the pressure output terminal of the brake energy storage device 207;

[0050] In the above step S103, detecting whether the sensing data of the first target sensor meets the specified conditions corresponding to the target control node includes:

[0051] Step 1: After detecting that the braking energy storage device 207 starts to be charged, determine whether the growth rate of the pressure value of the braking energy storage device 207 is less than a fifth preset value based on the real-time sensing data of the first target sensor during the charging process of the braking energy storage device 207; if the growth rate of the pressure value of the braking energy storage device 207 is less than the fifth preset value, determine that the sensing data of the first target sensor does not meet the specified condition corresponding to the target control node; and / or,

[0052] Step 2: After detecting that the charging of the brake energy storage device 207 is completed, determine whether the pressure value of the brake energy storage device 207 is less than a sixth preset value based on the real-time sensing data of the first target sensor after the charging of the brake energy storage device 207 is completed; if the pressure value of the brake energy storage device 207 is less than the sixth preset value, determine that the sensing data of the first target sensor does not meet the specified condition corresponding to the target control node.

[0053] In the embodiment of the present disclosure, when the target control node is the pressure output node 206 of the brake energy storage device, it is determined whether the real-time sensing data of the first target sensor meets the specified conditions corresponding to the pressure output node 206 of the brake energy storage device, thereby diagnosing whether the pressure output node 206 of the brake energy storage device or the brake energy storage device 207 has failed. With respect to the brake energy storage device 207, when the brake energy storage device 207 is an accumulator, after the brake control valve 203 issues a brake release instruction, the hydraulic pump injects hydraulic oil into the accumulator, pushing the isolation device to compress nitrogen, and the hydraulic energy is converted into gas potential energy. At this time, the accumulator pressure value gradually increases to the set upper limit. After the brake control valve 203 issues a brake instruction, the high-pressure oil in the accumulator and the pump output oil flow together to the brake cylinder, and the accumulator pressure value drops to the set lower limit, and the pressure replenishment is restarted to form a dynamic balance. In the case where the brake energy storage device 207 is a gas cylinder, after the brake control valve 203 issues a brake release instruction, the air compressor is driven by the engine, compresses the external air and then sends it into the gas cylinder through a dryer (to remove moisture and impurities), and the pressure value of the gas cylinder gradually increases. After the brake control valve 203 issues a brake instruction, the compressed air in the gas cylinder enters the brake air chamber through the pipeline, pushes the diaphragm or piston to move, drives the brake arm, camshaft and other mechanical structures, drives the brake 204, and realizes vehicle braking. During the braking process, the pressure value of the gas cylinder decreases as the air is released. The first target sensor is set at the third position of the pressure output end of the brake energy storage device 207, and is used to collect pressure data of the third position in real time to monitor the pressure value of the brake energy storage device 207. For the above-mentioned step 1, after detecting that the brake energy storage device 207 starts to be charged, for example, after detecting that the brake control valve 203 issues a brake release instruction, or after detecting that the pressure output end node 206 of the brake energy storage device issues an instruction to start charging, according to the real-time sensing data of the first target sensor during the charging process of the brake energy storage device 207, determine whether the growth rate of the pressure value of the brake energy storage device 207 is less than the fifth preset value. By calculating the change in the pressure value per unit time, the growth rate of the pressure value is obtained, and compared with the pre-set fifth preset value. If the growth rate of the pressure value of the brake energy storage device 207 is less than the fifth preset value, it indicates that there is an abnormality in the charging process of the brake energy storage device 207. The sensing data of the first target sensor does not meet the specified conditions of the pressure output end node 206 of the brake energy storage device, and there is a fault in the pressure output end node 206 of the brake energy storage device or the brake energy storage device 207, for example, there is a fault such as insufficient power of the hydraulic pump, pipe blockage, insufficient valve opening, etc. For the above step 2, after detecting that the charging of the brake energy storage device is completed, for example, after the pressure output terminal node 206 of the brake energy storage device issues an instruction to end charging, it is determined whether the pressure value of the brake energy storage device 207 is less than the sixth preset value based on the real-time sensing data of the first target sensor after the charging of the brake energy storage device 207 is completed.The pressure value of the brake energy storage device 207 after charging is completed is monitored and compared with a sixth preset value. If the pressure value of the brake energy storage device 207 is less than the sixth preset value, it indicates that the brake energy storage device 207 has failed to store sufficient energy, the sensing data of the first target sensor does not meet the specified conditions of the pressure output node 206 of the brake energy storage device, and there is a fault in the pressure output node 206 of the brake energy storage device or the brake energy storage device 207. For example, there is a fault in the dynamic energy storage device 207, a poor seal, or charging does not achieve the expected effect. Monitoring the pressure value growth rate during the charging process of the brake energy storage device 207 can timely detect problems such as reduced hydraulic pump efficiency and pipeline leakage in the early stages of the fault, avoid the escalation of the fault, and buy time for repair. By distinguishing different detection conditions during the charging process and after the charging of the brake energy storage device 207, the cause of the fault can be more accurately located. For example, a slow pressure value growth rate during the charging process of the brake energy storage device 207 may be a problem with the pump or pipeline, while an insufficient pressure value after charging may be due to a leak in the brake energy storage device 207 itself or a seal failure. This ensures that the brake energy storage device 207 can reach a safe pressure value after charging, provides stable energy support for the brake system, avoids brake failure due to insufficient energy storage, and significantly improves vehicle driving safety.

[0054] In another embodiment of the present disclosure, Figure 2 As shown, when the target control node is the relay valve control port node 201, the first target sensor is set at a first position at the control port of the relay valve 202 or a position associated with the control port of the relay valve 202; the second target sensor is set at a second position in front of the brake 204;

[0055] In the above step 2, detecting whether the sensing data of the second target sensor meets the specified condition corresponding to the sensor response node based on the sensing data of the first target sensor includes:

[0056] Step 1: During a braking process, determining, based on real-time sensing data of a first target sensor and real-time sensing data of a second target sensor, whether a pressure value at a second position increases within a fifth preset time after a pressure value at the first position increases; if the pressure value at the second position does not increase within the fifth preset time after a pressure value at the first position increases, determining that the sensing data of the second target sensor does not meet a specified condition corresponding to a sensor response node; and / or,

[0057] Step 2: During the braking process, determine whether the pressure value at the second position decreases within a sixth preset time after the pressure value at the first position decreases based on the real-time sensing data of the first target sensor and the real-time sensing data of the second target sensor; if the pressure value at the second position does not decrease within the sixth preset time after the pressure value at the first position decreases, determine that the sensing data of the second target sensor does not meet the specified conditions corresponding to the sensor response node.

[0058] In the disclosed embodiment, when the target control node is the relay valve control port node 201, the sensor response node can be the brake node 205. The relay valve 202 can control the flow of hydraulic oil from the brake energy storage device 207 to the brake 204 for braking. A first target sensor is disposed at a first position at the control port of the relay valve 202 or at a position associated with the control port of the relay valve 202, for real-time acquisition of pressure data at the first position. For example, for some compact relay valves 202, the first target sensor can be a micro pressure sensor. The micro pressure sensor can be embedded in the pipe wall at the control port of the relay valve 202 or at a position associated with the control port of the relay valve 202, ensuring rapid and accurate transmission of the pressure signal while monitoring changes in pressure at the control port of the relay valve 202 in real time. A second target sensor is disposed at a second position in front of the brake 204, for real-time acquisition of pressure data at the second position. For example, the second target sensor can be a high-temperature and vibration-resistant micro pressure sensor, disposed in a straight section of the pipeline in front of the inlet of the brake 204, for real-time monitoring of changes in pressure at the second position. The pressure value at the second location should change as the pressure value at the first location changes. Regarding step 1 above, during the braking process, for example, the brake control valve 203 issues a braking instruction and controls the gradual increase of the brake pressure. Based on the real-time sensing data from the first target sensor and the real-time sensing data from the second target sensor, the pressure values at the first location at the control port of the relay valve 202 or at a location associated with the control port of the relay valve 202 and at the second location before the brake 204 are monitored. A determination is made as to whether the pressure value at the second location increases within a fifth preset time after the pressure value at the first location increases. This monitors the pressure transmission process from the relay valve 202 to the brake 204. If the pressure value at the second location does not increase within the fifth preset time after the pressure value at the first location increases, the sensing data from the second target sensor is determined to not meet the specified condition corresponding to the sensor response node, indicating that a fault exists at the brake node 205 or the corresponding brake 204 during the braking process. For example, a pipeline at the brake node 205 may be clogged. Regarding step 2 above, during the braking process, for example, the brake control valve 203 is used to issue a braking instruction and control the gradual reduction of the brake pressure. Based on the real-time sensing data of the first target sensor and the real-time sensing data of the second target sensor, the pressure values at a first position at the control port of the relay valve 202 or at a position associated with the control port of the relay valve 202 and a second position in front of the brake 204 are monitored. After the pressure value at the first position decreases, whether the pressure value at the second position decreases within a sixth preset time is determined. In this way, the pressure transmission process from the relay valve 202 to the brake 204 is monitored. If the pressure value at the second position does not decrease within the sixth preset time after the pressure value at the first position decreases, it is determined that the sensing data of the second target sensor does not meet the specified condition corresponding to the sensor response node.This indicates a fault in brake node 205 or the corresponding brake 204 during braking, such as an abnormal return of brake 204 or a failed check valve in the pipeline. By detecting the time-correlated pressure changes between the two sensors, the entire pressure path from relay valve 202 to brake 204 is covered, enhancing detection comprehensiveness. This allows for timely detection of abnormal pressure transmission between relay valve 202 and brake 204, preventing safety incidents caused by braking delays or failures, and providing reliable braking support for autonomous vehicles.

[0059] In another embodiment of the present disclosure, Figure 2 As shown, when the target control node is the relay valve control port node 201, the first target sensor is set at a first position at the control port of the relay valve 202 or a position associated with the control port of the relay valve 202; the second target sensor is set at a fourth position associated with the wheel axle connected to the wheel 208;

[0060] In the above step 2, detecting whether the sensing data of the second target sensor meets the specified condition corresponding to the sensor response node based on the sensing data of the first target sensor includes:

[0061] Step 1. During the braking process, based on the real-time sensing data of the first target sensor and the real-time sensing data of the second target sensor, determine whether the real-time speed of the unmanned vehicle at the fourth position decreases within the seventh preset time after the pressure value at the first position increases; if the real-time speed of the unmanned vehicle at the fourth position does not decrease within the seventh preset time after the pressure value at the first position increases, determine that the sensing data of the second target sensor does not meet the specified conditions corresponding to the sensor response node.

[0062] In the embodiment of the present disclosure, when the target control node is the relay valve control port node 201, the sensor response node can be the wheel node 209. The relay valve 202 can control the hydraulic oil in the brake energy storage device 207 to go to the brake 204 for braking, and then the wheel node 209 reduces the rotation speed of the wheel 208, and the real-time vehicle speed is reduced or stopped. The first target sensor is set at the first position of the relay valve 202 control port or the position associated with the relay valve 202 control port, and is used to collect pressure data at the first position in real time. For example, for some compact relay valves 202, the first target sensor can be a micro pressure sensor, which can be embedded in the pipe wall at the relay valve 202 control port or the relay valve 202 control port, ensuring the rapid and accurate transmission of the pressure signal while monitoring the pressure value change at the relay valve 202 control port in real time. The second target sensor is set at the fourth position associated with the wheel axle connected to the wheel 208, and is used to collect the real-time vehicle speed of the unmanned vehicle. For example, the second target sensor can be a wheel speedometer, located at a location associated with the axle connected to wheel 208, to monitor the real-time vehicle speed at a fourth location in real time. If the pressure value at the first location increases, the real-time vehicle speed at the fourth location should decrease. Regarding step 1 above, during the braking process, for example, the brake control valve 203 issues a braking instruction. Based on the real-time sensing data from the first target sensor and the real-time sensing data from the second target sensor, the pressure value at the control port of relay valve 202 or at a location associated with the control port of relay valve 202, as well as the real-time vehicle speed at the fourth location, are monitored. A determination is made as to whether the real-time vehicle speed at the fourth location decreases within a seventh preset time after the pressure value at the first location increases. This monitors the braking transmission process from relay valve 202 to wheel 208. If the real-time vehicle speed at the fourth location does not decrease within the seventh preset time after the pressure value at the first location increases, the sensing data from the second target sensor is determined to not meet the specified condition corresponding to the sensor response node, indicating that a fault exists in wheel node 209 during the braking process. For example, a fault may exist in the brake disc or brake drum connected to the hub of wheel 208. Using real-time vehicle speed changes as the final criterion for braking effectiveness can detect hidden faults such as "normal pressure value at the first position but brake failure", such as brake drum failure, thereby improving the reliability of the braking system.

[0063] In another embodiment of the present disclosure, Figure 2 As shown, when the target control node is the brake node 205, the first target sensor is set at the second position in front of the brake 204; the second target sensor is set at the fourth position associated with the wheel axle connected to the wheel 208;

[0064] In the above step 2, detecting whether the sensing data of the second target sensor meets the specified condition corresponding to the sensor response node based on the sensing data of the first target sensor includes:

[0065] Step 1. During the braking process, determine whether the real-time speed of the unmanned vehicle at the fourth position decreases within the eighth preset time after the pressure value at the second position increases based on the real-time sensing data of the first target sensor and the real-time sensing data of the second target sensor; if the real-time speed of the unmanned vehicle at the fourth position does not decrease within the eighth preset time after the pressure value at the second position increases, determine that the sensing data of the second target sensor does not meet the specified conditions corresponding to the sensor response node.

[0066] In the embodiment of the present disclosure, when the target control node is the brake node 205, the sensor response node may be the wheel node 209. During braking, the brake 204 can reduce the rotational speed of the wheel 208, thereby reducing the real-time vehicle speed or stopping the vehicle. A first target sensor is positioned at a second location in front of the brake 204 to collect real-time pressure data at the second location. For example, the first target sensor can be a high-temperature and vibration-resistant miniature pressure sensor, positioned in a straight section of the pipeline in front of the brake 204 inlet, to monitor changes in pressure at the second location in real time. A second target sensor is positioned at a fourth location, associated with the axle connected to the wheel 208, to collect the real-time speed of the unmanned vehicle. For example, the second target sensor can be a wheel speedometer, positioned at a location associated with the axle connected to the wheel 208, to monitor the real-time vehicle speed at the fourth location in real time. If the pressure at the second location increases, the real-time vehicle speed at the fourth location should decrease. Regarding step 1 above, during the braking process, for example, the brake control valve 203 issues a braking instruction. Based on the real-time sensing data from the first target sensor and the real-time sensing data from the second target sensor, the pressure value at the second location and the real-time vehicle speed at the fourth location are monitored, respectively. A determination is made as to whether the real-time vehicle speed of the unmanned vehicle at the fourth location decreases within an eighth preset time period after the pressure value at the second location increases. This allows monitoring of the braking transmission process from brake 204 to wheel 208. If the real-time vehicle speed at the fourth location does not decrease within the eighth preset time period after the pressure value at the second location increases, the sensing data from the second target sensor is determined to not meet the specified conditions corresponding to the sensor response node, indicating a fault at wheel node 209 during the braking process. For example, a fault may exist in the brake disc or brake drum connected to the hub of wheel 208. Using real-time vehicle speed changes as the ultimate criterion for braking effectiveness can detect hidden faults such as normal pressure at the second location but braking failure, such as brake drum failure, thereby improving braking system reliability.

[0067] Based on the same disclosed concept, the embodiments of the present disclosure also provide a fault diagnosis device for an unmanned vehicle braking system and an unmanned vehicle. Since the principles of the problems solved by these devices and unmanned vehicles are similar to the fault diagnosis method for the aforementioned unmanned vehicle braking system, the implementation of the device and the unmanned vehicle can refer to the implementation of the aforementioned method, and the repeated parts will not be repeated.

[0068] The present disclosure provides a fault diagnosis device for a brake system of an unmanned vehicle. Figure 3 As shown, including:

[0069] The control node determination module 301 is configured to trigger the execution of a braking control flow for instructing the unmanned vehicle to perform a braking operation. The braking control flow includes multiple control nodes, which are executed in series or in parallel. The control elements corresponding to the control nodes can enter a triggered state and / or a non-triggered state as the braking control flow progresses; and determine the target control node currently corresponding to the braking control flow during the progress of the braking control flow.

[0070] The fault diagnosis module 302 is used to determine the first target sensor associated with the target control node and detect whether the sensing data of the first target sensor meets the specified conditions corresponding to the target control node; when the sensing data of the first target sensor does not meet the specified conditions corresponding to the target control node, the first indication information of a fault in the braking system of the unmanned vehicle is output, and the first indication information carries relevant information of the target control node or the control element corresponding to the target control node.

[0071] In another embodiment of the present disclosure, the plurality of control nodes include a sensor response node; the sensor response node is any subsequent control node of the target control node in the braking control flow;

[0072] The fault diagnosis module 302 is further configured to:

[0073] determining a second target sensor associated with the sensor response node;

[0074] detecting, based on the sensing data of the first target sensor, whether the sensing data of the second target sensor meets a specified condition corresponding to the sensor response node;

[0075] When the sensing data of the second target sensor does not meet the specified conditions corresponding to the sensor response node, second indication information of a failure of the braking system of the unmanned vehicle is output, and the second indication information carries relevant information of the sensor response node or the control element corresponding to the sensor response node.

[0076] In yet another embodiment of the present disclosure, when the target control node is a relay valve control port node, the first target sensor is disposed at a first position at the relay valve control port or at a position associated with the relay valve control port;

[0077] The fault diagnosis module 302 is configured to, after detecting that the brake control valve issues a braking instruction, determine, based on the real-time sensing data of the first target sensor, whether the pressure value at the first position reaches a first preset value within a first preset time; if the pressure value at the first position does not reach the first preset value within the first preset time, determine that the sensing data of the first target sensor does not meet the specified condition corresponding to the target control node; and / or,

[0078] After detecting that the brake control valve issues a brake release indication, determine whether the pressure value at the first position drops to a second preset value within a second preset time based on the real-time sensing data of the first target sensor; if the pressure value at the first position does not drop to the second preset value within the second preset time, determine that the sensing data of the first target sensor does not meet the specified conditions corresponding to the target control node.

[0079] In yet another embodiment of the present disclosure, when the target control node is a brake node, the first target sensor is disposed at a second position in front of the brake;

[0080] The fault diagnosis module 302 is configured to, after detecting that the brake control valve issues a braking instruction, determine, based on the real-time sensing data of the first target sensor, whether the pressure value at the second position reaches a third preset value within a third preset time; if the pressure value at the second position does not reach the third preset value within the third preset time, determine that the sensing data of the first target sensor does not meet the specified condition corresponding to the target control node; and / or,

[0081] After detecting that the brake control valve issues a brake release indication, determine whether the pressure value at the second position drops to a fourth preset value within a fourth preset time based on the real-time sensing data of the first target sensor; if the pressure value at the second position does not drop to the fourth preset value within the fourth preset time, determine that the sensing data of the first target sensor does not meet the specified conditions corresponding to the target control node.

[0082] In another embodiment of the present disclosure, when the target control node is a pressure output terminal node of a brake energy storage device, the first target sensor is disposed at a third position of the pressure output terminal of the brake energy storage device;

[0083] The fault diagnosis module 302 is configured to determine, based on the real-time sensing data of the first target sensor, whether the pressure value of the brake energy storage device reaches a first pressure value that meets the braking requirement;

[0084] When the pressure value of the brake energy storage device does not reach the first pressure value, it is determined that the sensing data of the first target sensor does not meet the specified condition corresponding to the target control node.

[0085] In another embodiment of the present disclosure, when the target control node is a pressure output terminal node of a brake energy storage device, the first target sensor is disposed at a third position of the pressure output terminal of the brake energy storage device;

[0086] The fault diagnosis module 302 is configured to, after detecting that charging of the brake energy storage device has started, determine whether a growth rate of the pressure value of the brake energy storage device is less than a fifth preset value based on the real-time sensing data of the first target sensor during the charging process of the brake energy storage device; and if the growth rate of the pressure value of the brake energy storage device is less than the fifth preset value, determine that the sensing data of the first target sensor does not meet the specified condition corresponding to the target control node; and / or,

[0087] After detecting that charging of the brake energy storage device is completed, determining whether the pressure value of the brake energy storage device is less than a sixth preset value based on the real-time sensing data of the first target sensor after the charging of the brake energy storage device is completed; when the pressure value of the brake energy storage device is less than the sixth preset value, determining that the sensing data of the first target sensor does not meet the specified condition corresponding to the target control node.

[0088] In another embodiment of the present disclosure, when the target control node is a relay valve control port node, the first target sensor is provided at a first position at the relay valve control port or at a position associated with the relay valve control port; the second target sensor is provided at a second position in front of the brake;

[0089] The fault diagnosis module 302 is configured to determine, during a braking process, based on the real-time sensing data of the first target sensor and the real-time sensing data of the second target sensor, whether the pressure value at the second position increases within a fifth preset time after the pressure value at the first position increases; and if the pressure value at the second position does not increase within the fifth preset time after the pressure value at the first position increases, determine that the sensing data of the second target sensor does not meet the specified condition corresponding to the sensor response node; and / or,

[0090] During the braking process, based on the real-time sensing data of the first target sensor and the real-time sensing data of the second target sensor, it is determined whether the pressure value at the second position decreases within a sixth preset time after the pressure value at the first position decreases; if the pressure value at the second position does not decrease within the sixth preset time after the pressure value at the first position decreases, it is determined that the sensing data of the second target sensor does not meet the specified conditions corresponding to the sensor response node.

[0091] In another embodiment of the present disclosure, when the target control node is a relay valve control port node, the first target sensor is provided at a first position at the relay valve control port or at a position associated with the relay valve control port; the second target sensor is provided at a fourth position associated with a wheel axle connected to the wheel;

[0092] The fault diagnosis module 302 is used to determine, during the braking process, whether the real-time speed of the unmanned vehicle at the fourth position decreases within the seventh preset time after the pressure value at the first position increases based on the real-time sensing data of the first target sensor and the real-time sensing data of the second target sensor; and to determine that the sensing data of the second target sensor does not meet the specified conditions corresponding to the sensor response node if the real-time speed of the unmanned vehicle at the fourth position does not decrease within the seventh preset time after the pressure value at the first position increases.

[0093] In another embodiment of the present disclosure, when the target control node is a brake node, the first target sensor is disposed at a second position in front of the brake; the second target sensor is disposed at a fourth position associated with a wheel axle connected to the wheel;

[0094] The fault diagnosis module 302 is used to determine, during the braking process, whether the real-time speed of the unmanned vehicle at the fourth position decreases within the eighth preset time after the pressure value at the second position increases based on the real-time sensing data of the first target sensor and the real-time sensing data of the second target sensor; and to determine that the sensing data of the second target sensor does not meet the specified conditions corresponding to the sensor response node if the real-time speed of the unmanned vehicle at the fourth position does not decrease within the eighth preset time after the pressure value at the second position increases.

[0095] An embodiment of the present disclosure provides an unmanned vehicle, comprising: a fault diagnosis device for an unmanned vehicle braking system as described in any of the above embodiments.

[0096] Through the description of the above embodiments, those skilled in the art can clearly understand that the embodiments of the present disclosure can be implemented through hardware or by means of software plus a necessary general hardware platform. Based on this understanding, the technical solutions of the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.), including a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present disclosure.

[0097] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of a preferred embodiment, and the modules or processes in the accompanying drawings are not necessarily required for implementing the present disclosure.

[0098] Those skilled in the art will appreciate that the modules in the devices of the embodiments may be distributed in the devices of the embodiments as described in the embodiments, or may be located in one or more devices different from the embodiments with corresponding changes. The modules of the above embodiments may be combined into one module or further split into multiple submodules.

[0099] The serial numbers of the above-mentioned embodiments of the present disclosure are for description only and do not represent the advantages or disadvantages of the embodiments.

[0100] Obviously, those skilled in the art may make various changes and modifications to the present disclosure without departing from the spirit and scope of the present disclosure. Thus, if these modifications and variations of the present disclosure fall within the scope of the claims of the present disclosure and their equivalents, the present disclosure is intended to include these modifications and variations.

Claims

1. A fault diagnosis method for an unmanned vehicle braking system, characterized in that: include: Triggering a braking control flow that instructs the unmanned vehicle to perform a braking operation, the braking control flow comprising a plurality of control nodes, the plurality of control nodes being executed in series or in parallel, and the control elements corresponding to the control nodes being able to enter a triggered state and / or a non-triggered state as the braking control flow progresses; Determine the target control node currently corresponding to the braking control flow during advancement; Determining a first target sensor associated with the target control node, and detecting whether sensing data of the first target sensor meets a specified condition corresponding to the target control node; When the sensing data of the first target sensor does not meet the specified conditions corresponding to the target control node, first indication information of a failure of the braking system of the unmanned vehicle is output, and the first indication information carries relevant information of the target control node or the control element corresponding to the target control node.

2. The method according to claim 1, wherein The multiple control nodes include a sensor response node; the sensor response node is any subsequent control node of the target control node in the braking control flow; The method further comprises: determining a second target sensor associated with the sensor response node; detecting, based on the sensing data of the first target sensor, whether the sensing data of the second target sensor meets a specified condition corresponding to the sensor response node; When the sensing data of the second target sensor does not meet the specified conditions corresponding to the sensor response node, second indication information of a failure of the braking system of the unmanned vehicle is output, and the second indication information carries relevant information of the sensor response node or the control element corresponding to the sensor response node.

3. The method according to claim 1, wherein In the case where the target control node is a relay valve control port node, the first target sensor is provided at a first position at the relay valve control port or at a position associated with the relay valve control port; The detecting whether the sensing data of the first target sensor meets the specified condition corresponding to the target control node includes: After detecting that the brake control valve issues a braking instruction, determining, based on real-time sensing data of the first target sensor, whether the pressure value at the first position reaches a first preset value within a first preset time; if the pressure value at the first position does not reach the first preset value within the first preset time, determining that the sensing data of the first target sensor does not meet the specified condition corresponding to the target control node; and / or, After detecting that the brake control valve issues a brake release indication, determine whether the pressure value at the first position drops to a second preset value within a second preset time based on the real-time sensing data of the first target sensor; if the pressure value at the first position does not drop to the second preset value within the second preset time, determine that the sensing data of the first target sensor does not meet the specified conditions corresponding to the target control node.

4. The method according to claim 1, wherein In the case where the target control node is a brake node, the first target sensor is arranged at a second position in front of the brake; The detecting whether the sensing data of the first target sensor meets the specified condition corresponding to the target control node includes: After detecting that the brake control valve issues a braking instruction, determining, based on real-time sensing data of the first target sensor, whether the pressure value at the second position reaches a third preset value within a third preset time; if the pressure value at the second position does not reach the third preset value within the third preset time, determining that the sensing data of the first target sensor does not meet the specified condition corresponding to the target control node; and / or After detecting that the brake control valve issues a brake release indication, determine whether the pressure value at the second position drops to a fourth preset value within a fourth preset time based on the real-time sensing data of the first target sensor; if the pressure value at the second position does not drop to the fourth preset value within the fourth preset time, determine that the sensing data of the first target sensor does not meet the specified conditions corresponding to the target control node.

5. The method according to claim 1, wherein In the case where the target control node is a pressure output end node of a brake energy storage device, the first target sensor is arranged at a third position of the pressure output end of the brake energy storage device; The detecting whether the sensing data of the first target sensor meets the specified condition corresponding to the target control node includes: determining, based on real-time sensing data of the first target sensor, whether a pressure value of the brake energy storage device reaches a first pressure value that meets a braking requirement; When the pressure value of the brake energy storage device does not reach the first pressure value, it is determined that the sensing data of the first target sensor does not meet the specified condition corresponding to the target control node.

6. The method according to claim 1, wherein In the case where the target control node is a pressure output end node of a brake energy storage device, the first target sensor is arranged at a third position of the pressure output end of the brake energy storage device; The detecting whether the sensing data of the first target sensor meets the specified condition corresponding to the target control node includes: After detecting that the brake energy storage device starts to be charged, determining whether a growth rate of the pressure value of the brake energy storage device is less than a fifth preset value based on real-time sensing data of the first target sensor during the charging process of the brake energy storage device; if the growth rate of the pressure value of the brake energy storage device is less than the fifth preset value, determining that the sensing data of the first target sensor does not meet the specified condition corresponding to the target control node; and / or After detecting that charging of the brake energy storage device is completed, determining whether the pressure value of the brake energy storage device is less than a sixth preset value based on the real-time sensing data of the first target sensor after the charging of the brake energy storage device is completed; when the pressure value of the brake energy storage device is less than the sixth preset value, determining that the sensing data of the first target sensor does not meet the specified condition corresponding to the target control node.

7. The method according to claim 2, wherein In the case where the target control node is a relay valve control port node, the first target sensor is provided at a first position at the relay valve control port or at a position associated with the relay valve control port; the second target sensor is provided at a second position in front of the brake; The detecting, based on the sensing data of the first target sensor, whether the sensing data of the second target sensor meets the specified condition corresponding to the sensor response node includes: During the braking process, determining, based on the real-time sensing data of the first target sensor and the real-time sensing data of the second target sensor, whether the pressure value at the second position increases within a fifth preset time after the pressure value at the first position increases; and determining that the sensing data of the second target sensor does not meet the specified condition corresponding to the sensor response node if the pressure value at the second position does not increase within the fifth preset time after the pressure value at the first position increases; and / or, During the braking process, based on the real-time sensing data of the first target sensor and the real-time sensing data of the second target sensor, it is determined whether the pressure value at the second position decreases within a sixth preset time after the pressure value at the first position decreases; if the pressure value at the second position does not decrease within the sixth preset time after the pressure value at the first position decreases, it is determined that the sensing data of the second target sensor does not meet the specified conditions corresponding to the sensor response node.

8. The method according to claim 2, wherein In the case where the target control node is a relay valve control port node, the first target sensor is provided at a first position at the relay valve control port or at a position associated with the relay valve control port; the second target sensor is provided at a fourth position associated with a wheel axle connected to the wheel; The detecting, based on the sensing data of the first target sensor, whether the sensing data of the second target sensor meets the specified condition corresponding to the sensor response node includes: During the braking process, based on the real-time sensing data of the first target sensor and the real-time sensing data of the second target sensor, it is determined whether the real-time speed of the unmanned vehicle at the fourth position decreases within the seventh preset time after the pressure value at the first position increases; if the real-time speed of the unmanned vehicle at the fourth position does not decrease within the seventh preset time after the pressure value at the first position increases, it is determined that the sensing data of the second target sensor does not meet the specified conditions corresponding to the sensor response node.

9. The method according to claim 2, wherein In the case where the target control node is a brake node, the first target sensor is arranged at a second position in front of the brake; the second target sensor is arranged at a fourth position associated with a wheel axle connected to the wheel; The detecting, based on the sensing data of the first target sensor, whether the sensing data of the second target sensor meets the specified condition corresponding to the sensor response node includes: During the braking process, based on the real-time sensing data of the first target sensor and the real-time sensing data of the second target sensor, it is determined whether the real-time speed of the unmanned vehicle at the fourth position decreases within the eighth preset time after the pressure value at the second position increases; if the real-time speed of the unmanned vehicle at the fourth position does not decrease within the eighth preset time after the pressure value at the second position increases, it is determined that the sensing data of the second target sensor does not meet the specified conditions corresponding to the sensor response node.

10. A fault diagnosis device for an unmanned vehicle braking system, characterized in that: include: a control node determination module, configured to trigger execution of a braking control flow for instructing the unmanned vehicle to perform a braking operation, wherein the braking control flow includes a plurality of control nodes, which are executed in series or in parallel, and the control elements corresponding to the control nodes can enter a triggered state and / or a non-triggered state as the braking control flow progresses; Determine the target control node currently corresponding to the braking control flow during advancement; A fault diagnosis module is used to determine the first target sensor associated with the target control node and detect whether the sensing data of the first target sensor meets the specified conditions corresponding to the target control node; when the sensing data of the first target sensor does not meet the specified conditions corresponding to the target control node, output first indication information of a fault in the braking system of the unmanned vehicle, and the first indication information carries relevant information about the target control node or the control element corresponding to the target control node.

11. An unmanned vehicle, characterized in that: It includes a fault diagnosis device for an unmanned vehicle braking system as described in claim 10.

Images