Fault level determination method and device and vehicle

Abstract

The invention provides a fault level determination method and device and a vehicle, and relates to the technical field of automobile fault diagnosis, and is applied to a chassis domain controller, the method comprises the following steps: carrying out fault detection on each chassis domain subsystem included in a chassis domain system, and determining a fault chassis domain subsystem with a fault; according to the fault detection result of each fault chassis domain subsystem, determining the subsystem fault level of the fault chassis domain subsystem; and determining the chassis domain fault level of the chassis domain system according to the subsystem fault levels of all the fault chassis domain subsystems. According to the fault level judgment method based on influence degree superposition, the coupling relation of cross-system faults can be captured, the defect that a traditional scheme is single in diagnosis dimension is fundamentally overcome, and a systematic solution is provided for fault diagnosis and function safety under an intelligent automobile domain centralized architecture.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile fault diagnosis, and in particular to a method and device for determining a fault level, and a vehicle. Background Art

[0002] As automotive electronic and electrical architecture develops towards domain centralization, the chassis domain controller, as the core carrier of vehicle dynamic control, is responsible for the coordinated control of key systems such as braking, steering, driving, and suspension.

[0003] Traditional solutions use independent diagnostics for each actuator (such as ESC, EPS, and MCU). When multiple systems across the entire chassis experience simultaneous failures, a single failure can degrade the performance of other systems or trigger a chain reaction. Traditional fault detection methods provide incomplete results and fail to promptly identify potential systemic issues. Summary of the Invention

[0004] The present invention provides a method, device and vehicle for determining a fault level, aiming to solve the problems existing in the above-mentioned background technology.

[0005] In order to solve the above-mentioned technical problems, the present invention is achieved as follows: In a first aspect, the present invention provides a method for determining a fault level, which is applied to a chassis domain controller. The method comprises: Performing fault detection on each chassis domain subsystem included in the chassis domain system to determine the faulty chassis domain subsystem where the fault occurs; Determining a subsystem fault level of the faulty chassis domain subsystem based on a fault detection result of each faulty chassis domain subsystem, wherein the subsystem fault level represents the degree of impact of the fault of the faulty chassis domain subsystem on the chassis domain system; The chassis domain failure level of the chassis domain system is determined according to the subsystem failure levels of all failed chassis domain subsystems. The chassis domain failure level represents the degree of influence of all failed chassis domain subsystems on the chassis domain system.

[0006] Optionally, the method further includes: For each chassis domain subsystem in the chassis domain subsystems, multiple first-category fault levels are configured for the chassis domain subsystem, where different first-category fault levels correspond to different degrees of impact of a fault occurring in the chassis domain subsystem on the chassis domain system; a higher first-category fault level indicates a greater degree of impact on the chassis domain system; According to the fault detection results of each faulty chassis domain subsystem, the subsystem fault level of the faulty chassis domain subsystem is determined, including: According to the fault detection result of each faulty chassis domain subsystem, a subsystem fault level of the faulty chassis domain subsystem is determined from a plurality of first-category fault levels configured for the faulty chassis domain subsystem.

[0007] Optionally, the method further includes: Combining the first type of fault levels configured for different chassis domain subsystems to obtain multiple fault level combinations; configuring a plurality of second-category fault levels for the chassis domain system according to the plurality of fault level combinations, wherein different second-category fault levels correspond to the degree of impact of different fault combinations occurring in the chassis domain subsystem on the chassis domain system; a higher second-category fault level indicates a greater degree of impact on the chassis domain system; Determining a chassis domain fault level of the chassis domain system according to the subsystem fault levels of all faulty chassis domain subsystems includes: The chassis domain fault level of the chassis domain system is determined from the plurality of second-category fault levels according to the subsystem fault levels of all faulty chassis domain subsystems.

[0008] Optionally, the method further includes: For each chassis domain subsystem of the plurality of chassis domain subsystems, based on configuring a plurality of first type fault levels for the chassis domain subsystem, configuring a plurality of first type fault responses for the chassis domain subsystem, wherein the plurality of first type fault levels correspond one-to-one to the plurality of first type fault responses, and a first type fault response is used to repair a fault of a corresponding first type fault level; Determining, according to the subsystem fault level of each faulty chassis domain subsystem, a subsystem fault response of the faulty chassis domain subsystem from a plurality of first-category fault responses configured for the faulty chassis domain subsystem; Based on the subsystem fault response of each faulty chassis domain subsystem, a first control instruction is issued to the faulty chassis domain subsystem.

[0009] Optionally, the method further includes: Based on multiple second-type fault levels configured for the chassis domain system, configuring multiple second-type fault responses for the chassis domain system, wherein the multiple second-type fault levels correspond one-to-one to the multiple second-type fault responses, and one second-type fault response is used to repair a fault of a corresponding second-type fault level; determining a chassis domain fault response from the plurality of second-type fault responses according to a chassis domain fault level of the chassis domain system; determining at least two chassis domain subsystems that need to collaboratively execute the chassis domain fault response; Based on the chassis domain fault response, a second control instruction is issued to the at least two chassis domain subsystems.

[0010] Optionally, determining a subsystem fault level of each faulty chassis domain subsystem according to a fault detection result of the faulty chassis domain subsystem includes: For each faulty chassis domain subsystem, if it is determined based on the fault detection result of the faulty chassis domain subsystem that the faulty chassis domain subsystem has multiple subsystem faults, determine a fault level corresponding to each of the multiple faults; The highest fault level among the fault levels corresponding to the multiple faults is determined as the subsystem fault level of the faulty chassis domain subsystem.

[0011] Optionally, the chassis domain subsystems include at least two of a braking system, a steering system, a drive system, and a suspension system; performing fault detection on the chassis domain subsystems included in the chassis domain system to determine a faulty chassis domain subsystem includes: Acquire sensor data of each chassis domain subsystem, wherein the sensor data includes at least two of voltage data, current data, temperature data, and angle data; Performing fault detection on sensor data of each chassis domain subsystem according to a preset fault detection rule for each chassis domain subsystem; According to the fault detection results, the faulty chassis domain subsystem where the fault occurs is determined.

[0012] Optionally, determining a subsystem fault level of each faulty chassis domain subsystem according to a fault detection result of the faulty chassis domain subsystem includes: Identifying a subsystem fault type of each faulty chassis domain subsystem based on a fault detection result of each faulty chassis domain subsystem, wherein the subsystem fault type includes at least one of the following: a two-way brake pedal inconsistency fault, an excessive power steering fault, a motor overheating fault, a height sensor abnormality fault, and a damping adjustment failure fault; For each faulty chassis domain subsystem, the fault level corresponding to the identified subsystem fault type is determined as the subsystem fault level of the faulty chassis domain subsystem.

[0013] In a second aspect, the present invention provides a fault level determination device, applied to a chassis domain controller, the device comprising: A detection module, configured to perform fault detection on each chassis domain subsystem included in the chassis domain system, and determine a faulty chassis domain subsystem where a fault occurs; A first determining module is configured to determine a subsystem fault level of each faulty chassis domain subsystem based on a fault detection result of the faulty chassis domain subsystem, wherein the subsystem fault level represents the degree of impact of the fault of the faulty chassis domain subsystem on the chassis domain system; The second determining module is configured to determine a chassis domain fault level of the chassis domain system according to subsystem fault levels of all faulty chassis domain subsystems, wherein the chassis domain fault level represents the degree of influence of all faulty chassis domain subsystems on the chassis domain system.

[0014] Optionally, the device further comprises: a first configuration module configured to configure, for each chassis domain subsystem in each of the chassis domain subsystems, a plurality of first-category fault levels for the chassis domain subsystem, wherein different first-category fault levels correspond to different degrees of impact of a fault occurring in the chassis domain subsystem on the chassis domain system; a higher first-category fault level indicates a greater degree of impact on the chassis domain system; The first determining module includes: The first determining submodule is configured to determine the subsystem fault level of each faulty chassis domain subsystem from a plurality of first-category fault levels configured for the faulty chassis domain subsystem according to the fault detection result of the faulty chassis domain subsystem.

[0015] Optionally, the device further comprises: a combination module, used to combine the first type of fault levels configured for different chassis domain subsystems to obtain multiple fault level combinations; a second configuration module configured to configure a plurality of second-category fault levels for the chassis domain system based on the plurality of fault level combinations, wherein different second-category fault levels correspond to the degree of impact of different fault combinations occurring in the chassis domain subsystem on the chassis domain system; a higher second-category fault level indicates a greater degree of impact on the chassis domain system; Optionally, the second determining module includes: The second determining submodule is configured to determine a chassis domain fault level of the chassis domain system from the plurality of second-category fault levels according to the subsystem fault levels of all faulty chassis domain subsystems.

[0016] Optionally, the device further comprises: a third configuration module configured to configure, for each chassis domain subsystem among the plurality of chassis domain subsystems, a plurality of first type fault responses for the chassis domain subsystem based on configuring a plurality of first type fault levels for the chassis domain subsystem, wherein the plurality of first type fault levels correspond one-to-one to the plurality of first type fault responses, and a first type fault response is used to repair a fault corresponding to a corresponding first type fault level; a third determining module, configured to determine, according to the subsystem fault level of each faulty chassis domain subsystem, a subsystem fault response of the faulty chassis domain subsystem from a plurality of first-category fault responses configured for the faulty chassis domain subsystem; The first control module is configured to issue a first control instruction to each faulty chassis domain subsystem based on a subsystem fault response of the faulty chassis domain subsystem.

[0017] Optionally, the device further comprises: a fourth configuration module, configured to configure a plurality of second-type fault responses for the chassis domain system based on a plurality of second-type fault levels configured for the chassis domain system, wherein the plurality of second-type fault levels correspond one-to-one to the plurality of second-type fault responses, and a second-type fault response is used to repair a fault of a corresponding second-type fault level; a fourth determining module, configured to determine a chassis domain fault response from the plurality of second-type fault responses according to a chassis domain fault level of the chassis domain system; a fifth determining module, configured to determine at least two chassis domain subsystems that need to collaboratively execute the chassis domain fault response; The second control module is configured to issue a second control instruction to the at least two chassis domain subsystems based on the chassis domain fault response.

[0018] Optionally, the first determining module includes: a third determining submodule, configured to, for each faulty chassis domain subsystem, determine a fault level corresponding to each of the multiple faults if it is determined, based on the fault detection result of the faulty chassis domain subsystem, that the faulty chassis domain subsystem has multiple subsystem faults; The fourth determining submodule is configured to determine the highest fault level among the fault levels corresponding to the multiple faults as the subsystem fault level of the faulty chassis domain subsystem.

[0019] Optionally, each chassis domain subsystem includes at least two of a braking system, a steering system, a drive system, and a suspension system; and the detection includes: an acquisition submodule, configured to acquire sensor data of each chassis domain subsystem, wherein the sensor data includes at least two of voltage data, current data, temperature data, and angle data; A detection submodule, configured to perform fault detection on sensor data of each chassis domain subsystem according to a fault detection rule preset for each chassis domain subsystem; The fifth determining submodule is configured to determine a faulty chassis domain subsystem where a fault occurs based on the fault detection result.

[0020] Optionally, the first determining module includes: an identification submodule, configured to identify a subsystem fault type of each faulty chassis domain subsystem based on a fault detection result of each faulty chassis domain subsystem, wherein the subsystem fault type includes at least one of the following: a two-way brake pedal inconsistency fault, an excessive steering assist fault, a motor overheating fault, a height sensor abnormality fault, and a damping adjustment failure fault; The sixth determining submodule is configured to determine, for each faulty chassis domain subsystem, the fault level corresponding to the identified subsystem fault type as the subsystem fault level of the faulty chassis domain subsystem.

[0021] In a third aspect, an embodiment of the present invention provides a vehicle, comprising a chassis domain controller, wherein the chassis domain controller is configured to execute the fault level determination method according to the first aspect of the embodiment of the present invention.

[0022] The technical solution provided by the present invention brings at least the following beneficial effects: The present invention realizes systematic fault management from local to overall by performing hierarchical diagnosis and collaborative evaluation on multiple chassis domain subsystems. Compared with the traditional independent diagnosis mode, the present invention effectively captures the linkage effect between the faults occurring in each chassis domain subsystem, and by establishing a two-layer judgment mechanism of subsystem fault level and chassis domain system fault level, the detection results of each chassis domain subsystem are quantified as an impact degree index, and a dynamic comprehensive analysis is performed at the domain control level, which effectively solves the problem of difficulty in identifying the linkage effect of multi-system faults. The present invention is based on a fault level judgment method based on superposition of impact levels, which can capture the coupling relationship of cross-system faults, fundamentally overcomes the defect of the single diagnostic dimension of traditional solutions, and provides a systematic solution for fault diagnosis and functional safety under the centralized architecture of the intelligent vehicle domain. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 This is a schematic diagram of a system architecture for applying a method for determining a fault level provided by an embodiment of the present invention; Figure 2 This is a schematic diagram of the steps of a method for determining a fault level provided by an embodiment of the present invention; Figure 3 This is a flow chart of a method for determining a fault level provided by an embodiment of the present invention; Figure 4This is a structural block diagram of a fault level determination device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0026] As automotive electrical and electronic architectures evolve toward a centralized domain, traditional chassis control systems employ a decentralized, independent diagnostic mechanism. This means that each actuator (such as ESC, EPS, and MCU) independently detects and responds to faults based on its own sensor data. However, when multiple subsystems fail simultaneously, independent diagnostics fail to effectively capture the correlations between them. Traditional approaches focus only on local diagnosis of a single subsystem, failing to assess overall risk from a global perspective and ignoring the compounding impact of multiple system failures on the entire chassis domain.

[0027] The core inventive concept of this invention lies in defining hierarchical fault levels and configuring corresponding response measures for each chassis domain subsystem within the entire chassis domain. Based on the functional impact of chassis domain system failures and the target fault response, different fault levels are assigned to chassis domain subsystems and chassis domain systems. This hierarchical fault level definition and global coordinated control address the limitations of traditional distributed diagnosis.

[0028] Figure 1 FIG. 1 is a schematic diagram of a system architecture for applying a method for determining a fault level according to an embodiment of the present invention. Figure 1 As shown, the present invention is applied to a chassis domain controller of a chassis domain system. The chassis domain controller includes a diagnostic control chip and a control chip. The diagnostic control chip and the control chip are interconnected. The chassis domain controller is connected to each chassis domain subsystem of the chassis domain system (such as Figure 1 (The braking system, steering system, drive system, suspension system, etc. are shown in the figure). In this embodiment, the centralized control architecture of the chassis domain controller divides the chassis functional modules into multiple subsystems, with the chassis domain controller centrally managing fault diagnosis and response. This embodiment integrates the braking system, steering system, drive system, suspension system, and other subsystems as chassis domain subsystems into a single chassis domain controller. The motors and hardware controlled by each subsystem are different. For example, the braking system uses an electromechanical braking solution, and its actuator is a brushless DC motor-driven brake caliper; while the steering system is based on a steer-by-wire architecture and controls a permanent magnet synchronous motor.

[0029] Each chassis domain subsystem includes multiple sensors. The control chip acquires sensor data from each chassis domain subsystem and reports it to the diagnostic control chip. Based on pre-set fault detection rules and the sensor data reported by the control chip, the diagnostic control chip performs fault detection on each chassis domain subsystem and determines the fault level of each subsystem based on the fault detection results.

[0030] Before performing fault detection on each chassis domain subsystem included in the chassis domain system, in this embodiment, the diagnostic control chip defines a fault level (first type fault level) and a fault response (first type fault response) for each chassis domain subsystem.

[0031] The first type of fault level refers to a pre-defined fault classification system for each chassis subsystem (such as braking, steering, drive, and suspension). Its purpose is to quantify the impact of a single subsystem failure on the chassis system. The impact level represents the comprehensive impact of the fault on the overall functional safety of the chassis system, the coordinated control capabilities between subsystems, and the vehicle's drivability. The impact level is determined by the correlation between the fault type and the safety redundancy design (for example, if a single fault in a dual-path brake pedal sensor is handled as the larger value, the impact level is lower than if both faults are simultaneously faulted) and the strength of the functional coupling between subsystems (for example, if a drive system IGBT overheating fault is detected, the level will be dynamically adjusted based on whether it affects the brake energy recovery function).

[0032] The pre-configuration process is as follows: In an optional embodiment, for each chassis domain subsystem in the various chassis domain subsystems, multiple first-category fault levels are configured for the chassis domain subsystem, and different first-category fault levels correspond to different degrees of impact of a fault occurring in the chassis domain subsystem on the chassis domain system; the higher the first-category fault level, the greater the impact on the chassis domain system.

[0033] Category 1 fault levels are defined at the level of individual chassis domain subsystems. Each chassis domain subsystem can have a different category 1 fault level. For example, the braking system defines six category 1 fault levels, ranging from 0 to 5, and the steering system defines five category 1 fault levels, ranging from 0 to 4. For each chassis domain subsystem (taking the braking system as an example), determine its core functions, hardware components (such as sensors and actuators), and key parameters (such as voltage, current, and temperature). For example, the braking system includes hardware such as the brake pedal A / B pressure sensors and the electronic brake (EMB), which control braking force through electrical signals. Based on this core function, hardware components, and key parameters, determine the possible fault modes and their potential impacts within the chassis domain subsystem. For example, typical brake system faults include: inconsistent pedal signals (the A / B sensor voltage difference exceeds a threshold) and abnormal brake fluid pressure (the pressure sensor voltage exceeds a preset range).

[0034] Based on the possible failure modes and potential impacts of each chassis domain subsystem, the impact of each chassis domain subsystem failure on the chassis domain system is determined, and the failures are classified into multiple levels (e.g., 0-5) based on the degree of impact. The lowest level corresponds to no failure, and the highest level corresponds to the most severe failure (the failure with the greatest impact on the chassis domain system). For example, a brake failure in the braking system would have a specific impact on the chassis domain system: brake failure.

[0035] The impact of a failure in the chassis domain subsystem on the chassis domain system can be understood as: in the chassis domain system, the impact of a failure in a single chassis subsystem on the overall operation and function of the entire chassis domain system.

[0036] In an optional implementation, the first type of fault levels configured for different chassis domain subsystems are combined to obtain multiple fault level combinations.

[0037] Arrange and combine the first-category fault levels of each subsystem to form a multidimensional matrix. For example, if the first-category fault levels of the braking system, steering system, drive system, air suspension system, and continuously adjustable damping suspension system are 1, 1, 1, 2, and 1, respectively, the combination is (1, 1, 1, 2, 1).

[0038] It should be noted that because the first-category fault levels of certain subsystems are designed only for specific functional scenarios, other chassis-domain subsystems do not participate in the response in these scenarios. In other words, the chassis-domain subsystem does not need to consider or address fault levels in certain scenarios because its functionality remains normal and its first-category fault level has no impact on the current scenario. Therefore, the dimensions of the multidimensional matrices corresponding to various fault level combinations can vary. For example, (1,1,1,2,1) and (5,4, / , / , / ) are 5-dimensional and 2-dimensional fault level combinations, respectively.

[0039] According to the multiple fault level combinations, multiple second-type fault levels are configured for the chassis domain system. Different second-type fault levels correspond to the degree of impact of different fault combinations occurring in the chassis domain subsystem on the chassis domain system. The higher the second-type fault level, the greater the impact on the chassis domain system.

[0040] The second category fault level is defined at the chassis domain system level. It's determined based on the impact of a combination of at least two first category fault levels on the chassis domain system. This level assesses the impact of at least two subsystem-level faults on the interconnectedness of different chassis domain subsystems. Failures in each chassis domain subsystem impact not only that subsystem itself but also the overall functionality of the entire chassis domain system.

[0041] The system-level risk of the entire chassis domain system (the degree of impact on the chassis domain system) is assessed based on the combined results. For example, if the first-category fault level of the braking system is Level 4 and the first-category fault level of the drive system is Level 4, power will be limited and braking function will be degraded, potentially leading to vehicle loss of control. The specific impact on the chassis domain system is: complete loss of vehicle power.

[0042] The degree of impact of different combinations of faults occurring in the chassis domain subsystem on the chassis domain system can be understood as: in the chassis domain system, the comprehensive impact of faults occurring in at least two chassis domain subsystems on the overall operation and function of the entire chassis domain system.

[0043] Figure 2 FIG. 1 is a schematic diagram of the steps of a method for determining a fault level provided by an embodiment of the present invention. Figure 2 As shown, the method includes: Step S101 : performing fault detection on each chassis domain subsystem included in the chassis domain system to determine a faulty chassis domain subsystem.

[0044] This embodiment can cover multiple chassis domain subsystems, including the braking system, steering system, drive system, air suspension system, and continuously adjustable damping suspension system. The chassis domain controller performs synchronous fault detection on each of these subsystems. For each chassis domain subsystem, the chassis domain controller monitors its key hardware components (such as sensors, actuators, and controllers) and functional parameters (such as voltage, current, temperature, communication signals, and logical control status).

[0045] After detecting the abnormality, the chassis domain controller determines the faulty chassis domain system, where the faulty chassis domain system is a chassis domain subsystem among the chassis domain subsystems included in the chassis domain system.

[0046] The fault information corresponding to the fault occurring in the faulty chassis domain is marked as "pending" and the subsystem identifier and fault type are stored for subsequent fault level determination.

[0047] Step S102 : determining the subsystem fault level of each faulty chassis domain subsystem based on the fault detection result of the faulty chassis domain subsystem, wherein the subsystem fault level represents the degree of impact of the fault of the faulty chassis domain subsystem on the chassis domain system.

[0048] The fault detection results for each faulty chassis domain subsystem include a fault code (indicating the subsystem fault type) and raw data. This information is used to determine all faults occurring in each faulty chassis domain subsystem and the extent of each fault's impact on the chassis domain system. Based on the impact of all faults occurring in each faulty chassis domain subsystem on the chassis domain system, the subsystem fault level is ultimately determined, assessing the severity of the fault (the impact of the local fault on the chassis domain system).

[0049] In an optional implementation, determining the subsystem failure level of each faulty chassis domain subsystem according to the fault detection result of the faulty chassis domain subsystem includes: According to the fault detection result of each faulty chassis domain subsystem, a subsystem fault level of the faulty chassis domain subsystem is determined from a plurality of first-category fault levels configured for the faulty chassis domain subsystem.

[0050] Based on the preset first-category fault level (subsystem level), the chassis domain controller maps the fault detected by each faulty chassis domain subsystem to the corresponding fault level according to the degree of impact on the chassis domain system.

[0051] In an optional implementation, step S102 includes: Step S1021 : for each faulty chassis domain subsystem, if it is determined based on the fault detection result of the faulty chassis domain subsystem that the faulty chassis domain subsystem has multiple subsystem faults, determine the fault level corresponding to each of the multiple faults.

[0052] For each faulty chassis domain subsystem, each detected fault can be mapped to a corresponding fault level based on the impact on the chassis domain system, according to the multiple preset first-category fault levels for that subsystem. For example, for the braking system, fault A (inconsistent brake signal) is associated with a first-category fault level of 2, while fault B (hydraulic abnormality) is associated with a first-category fault level of 4.

[0053] All faults in the same chassis domain subsystem that match the first-class fault level are summarized into a fault level list containing multiple fault levels. For example, the fault level list after the brake system fault is summarized is: Level 2, Level 4.

[0054] Step S1022: Determine the highest fault level among the fault levels corresponding to the multiple faults as the subsystem fault level of the faulty chassis domain subsystem.

[0055] Finally, the highest level among all fault levels in the faulty chassis domain subsystem's fault level list is selected as the subsystem fault level for the faulty chassis domain subsystem. For example, from the fault level list (Level 2 and Level 4) for the braking system, Level 4, the highest level, is selected as the subsystem fault level for the braking system. The highest level represents the greatest potential impact on the chassis domain system and requires a priority response to ensure safety.

[0056] Step S103 : determining a chassis domain fault level of the chassis domain system according to the subsystem fault levels of all faulty chassis domain subsystems, wherein the chassis domain fault level represents the degree of influence of all faulty chassis domain subsystems on the chassis domain system.

[0057] The chassis domain controller uses multi-dimensional combinatorial logic to map the first-category fault level of each subsystem to the global second-category fault level (system level). In other words, based on the combined effects of at least two faulty chassis domain subsystems, it comprehensively determines a chassis domain fault level that reflects the impact on the entire chassis domain system.

[0058] In an optional implementation, determining the chassis domain fault level of the chassis domain system according to the subsystem fault levels of all faulty chassis domain subsystems includes: The chassis domain fault level of the chassis domain system is determined from the plurality of second-category fault levels according to the subsystem fault levels of all faulty chassis domain subsystems.

[0059] Based on the pre-set second-category fault level table for the chassis domain system, the subsystem fault level combinations of each faulty chassis domain subsystem are mapped to the system-level chassis domain fault level. For example, if the brake system subsystem fault level is Level 4 (only foundation braking is retained) and the drive system faulty chassis domain subsystem fault level is also Level 4 (zero motor torque), then the fault level combination (4,4) can be mapped to Level 5 (power loss) among multiple second-category fault levels. The matching fault level among the multiple second-category fault levels is determined as the chassis domain fault level of the chassis domain system.

[0060] The chassis domain fault level reflects the combined impact of multiple chassis domain subsystem failures. For example, brake failure (level 5) and steering jam (level 4) may cause the vehicle to completely lose control, resulting in a chassis domain fault level of level 6 (emergency shutdown).

[0061] Optionally, fault level weights can be dynamically adjusted for different driving scenarios (e.g., high-speed driving, parking mode), taking these level weights into account when combining the subsystem fault levels of multiple chassis domain subsystems. For example, under high-speed driving conditions, a drive system subsystem fault level of 4 (torque loss) has a higher weight than an air suspension system subsystem fault level of 3, directly triggering a chassis domain fault level of 5. In parking scenarios, however, the steering system subsystem fault level of 2 (limited functionality) has a lower weight, and the chassis domain fault level can remain at 1 (warning).

[0062] The present invention realizes systematic fault management from local to overall by performing hierarchical diagnosis and collaborative evaluation on multiple chassis domain subsystems. Compared with the traditional independent diagnosis mode, the present invention quantifies the detection results of each chassis domain subsystem into an impact index by establishing a two-tier judgment mechanism of subsystem fault level and chassis domain system fault level, and conducts dynamic comprehensive analysis at the domain control level, effectively solving the problem of difficulty in identifying the linkage effect of multi-system faults. The present invention is based on a fault level judgment method based on superposition of impact levels, which can capture the coupling relationship of cross-system faults, fundamentally overcoming the defects of traditional solutions with single diagnostic dimension and delayed response, and provides a systematic solution for fault diagnosis and functional safety under the centralized architecture of intelligent vehicle domain.

[0063] In an optional embodiment, the method further includes: For each chassis domain subsystem among the multiple chassis domain subsystems, based on configuring multiple first-class fault levels for the chassis domain subsystem, multiple first-class fault responses are configured for the chassis domain subsystem. The multiple first-class fault levels correspond one-to-one to the multiple first-class fault responses, and one first-class fault response is used to repair a fault of a corresponding first-class fault level.

[0064] A predefined first-category fault response is created for each chassis domain subsystem, mapping it to the configured first-category fault level. Within each chassis domain subsystem's configured multiple first-category fault levels, a specific action is associated with each first-category fault level, forming a "level-response" binding relationship. For example, in the braking system, a first-category fault level of 2 could correspond to the following first-category fault responses: 1. Illuminate the brake fault light; 2. Use the larger of the two pedal signals to respond to the braking request.

[0065] The first type of fault response is a processing measure to be executed on the faulty chassis domain subsystem, corresponding to the associated first type of fault level fault.

[0066] Table 1 shows an example of a mapping table between multiple preconfigured first fault levels and first fault responses for the braking system. The first fault levels for the braking system range from Level 0 (no fault) to Level 5 (brake failure), reflecting the degradation of braking function. High-level faults (Levels 4-5) progressively disable advanced functions, leaving only foundation braking to ensure a safe vehicle stop.

[0067] In the braking system, the first magnitude refers to minor faults or performance degradation. For example, a difference in brake pedal voltage may cause a minor impact, such as a slightly slower braking system response, but still maintain basic braking function. While this situation affects performance, it is not enough to completely affect the safety of the chassis domain system. In this case, the braking performance degradation is considered the first magnitude.

[0068] Table 1

[0069] Table 2 shows an example of a mapping table between multiple preconfigured first fault levels and first fault responses for the steering system. The steering system's first fault level ranges from Level 0 to Level 4, reflecting the degree of power steering anomaly. High-level faults (Levels 3-4) force a switch to mechanical steering or lock the power steering to prevent loss of steering control.

[0070] Table 2

[0071] Table 3 shows an example of a mapping table between multiple preconfigured first fault levels and first fault responses for the drive system. As shown in Table 3, the first fault levels of the drive system gradually limit motor output power, from Level 0 to Level 5. The highest level (Level 5) completely cuts off power output to prevent vehicle loss of control due to overheating or hardware damage.

[0072] In the drive system, the second fault amplitude indicates that the system has experienced a more serious fault, but can still maintain some drive functions. Specifically, at the second amplitude, the motor output power is limited to a lower level (such as limited to 80%), which may affect the acceleration performance and overall power output, but it is not completely ineffective. The fault response at this time will usually prompt the driver by lighting the yellow motor fault light, and the motor torque will be limited to about 80% to prevent the system from overloading or further damage. In the case where the first type of fault level is the second level, the second amplitude of limiting the torque in the first type of fault response is the same as the second amplitude of limiting the drive power in the fault description, such as 20%.

[0073] The third fault amplitude represents a more serious drive system fault, and the third amplitude is greater than the second amplitude. At this time, the output power of the motor will be limited to a greater extent (for example, limited to 50%). At this time, the power system has been significantly degraded, which may cause a significant decrease in acceleration performance and even affect the vehicle's driving ability. The fault response will still light up the yellow motor fault light and reduce the system burden by limiting the motor torque to a lower level to avoid further damage. When the first type of fault level is the third level, the third amplitude of the torque limit in the first type of fault response and the third amplitude of the drive power limit in the fault description are the same amplitude, such as 50%.

[0074] Table 3

[0075] Table 4 shows an example of a mapping table between multiple preconfigured first fault levels and first fault responses for the air suspension system. As shown in Table 4, the first fault levels for the air suspension system, ranging from Level 0 to Level 4, progressively restrict the suspension adjustment function. The highest level (Level 5) forces the vehicle to enter safe height mode to prevent abnormal vehicle posture.

[0076] Table 4

[0077] Table 5 shows an example of a mapping table between multiple pre-configured first fault levels and first fault responses for a continuously adjustable damping suspension system. As shown in Table 5, the first fault level for the continuously adjustable damping suspension system gradually limits the damping adjustment function, from level 0 to level 2. A high-level fault (level 2) prohibits adjustment.

[0078] Table 5

[0079] Based on the first fault response configured for each chassis domain subsystem in the plurality of chassis domain subsystems, a subsystem fault response of each faulty chassis domain subsystem is determined, which specifically includes steps S201 to S202.

[0080] Step S201 : determining a subsystem fault response of each faulty chassis domain subsystem from a plurality of first-category fault responses configured for the faulty chassis domain subsystem according to the subsystem fault level of the faulty chassis domain subsystem.

[0081] Based on the subsystem fault level determined in step S102, the chassis domain controller matches a preset fault response measure from the multiple first-class fault responses configured for the faulty chassis domain subsystem. Specifically, in a scenario where only a single fault exists in the same chassis domain subsystem, the corresponding fault response is directly extracted from the multiple first-class fault responses based on the subsystem fault level of the chassis domain subsystem as the subsystem fault response. If the same chassis domain subsystem has multiple faults, the first-class fault levels corresponding to all faults are determined, and the first-class fault responses associated with the first-class fault levels corresponding to all faults are determined as the subsystem fault response for the chassis domain subsystem, thereby merging all associated measures.

[0082] Optionally, subsystem fault responses related to driving safety (such as emergency braking and power limiting) are prioritized. Transient subsystem fault responses (such as the illumination of a fault light) are triggered immediately, while progressive subsystem fault responses (such as torque limiting) are executed according to a preset gradient. Furthermore, the intensity of subsystem fault responses is dynamically adjusted based on vehicle conditions (such as speed and driving mode). For example, at high speeds, a Level 4 drive system fault (torque loss) directly triggers a subsystem fault response: the gradient is limited to 0%. However, at low-speed parking, the subsystem fault response may simply trigger "torque limiting to 50%."

[0083] Step S202 : Based on the subsystem fault response of each faulty chassis domain subsystem, a first control instruction is issued to the faulty chassis domain subsystem.

[0084] The chassis domain controller uses the control chip to convert the matching subsystem fault response into a specific primary control instruction, which is then sent to the faulty chassis domain subsystem for execution, ensuring precise implementation of the measures. Primary control instructions (e.g., "close the solenoid valve of the continuously adjustable damping suspension system" or "limit motor torque output") can be sent to the actuators of the faulty chassis domain subsystem via the CAN / LIN bus.

[0085] In an optional embodiment, the method further includes: configuring multiple second-class fault responses for the chassis domain system based on multiple second-class fault levels configured for the chassis domain system, the multiple second-class fault levels corresponding one-to-one to the multiple second-class fault responses, and one second-class fault response being used to repair a fault of a corresponding second-class fault level.

[0086] The chassis domain controller predefines multiple Category 2 fault responses for the entire chassis domain system, globally mapping them to the configured Category 2 fault levels. Specifically, based on a pre-defined chassis domain system fault level table (composed of multiple Category 2 fault levels), each chassis domain fault level corresponds to a set of global action measures encompassing coordinated control logic across subsystems. For example, a Category 2 fault level of 3 would have the following configured Category 2 fault responses: 1. Illuminate the comprehensive fault indicator; 2. Limit drive torque to 50%; 3. Disable the assisted steering function; 4. Display a "Power Limited" instrument panel prompt.

[0087] The second type of fault response is a processing measure to be executed on the entire chassis domain system, corresponding to the fault of the associated second type of fault level.

[0088] Based on the multiple second-category fault levels configured for the chassis domain system, a chassis domain fault response is determined, specifically including steps S301 to S303: Step S301 : determining a chassis domain fault response from the plurality of second-type fault responses according to the chassis domain fault level of the chassis domain system.

[0089] Based on the chassis domain fault level determined in step S103, a match is performed among multiple second-type fault responses preset for the chassis domain system. Finally, a matching second-type fault response is determined from the multiple second-type fault responses as the chassis domain fault response, representing the corresponding handling measures to be collaboratively executed by at least two chassis domain subsystems of the entire chassis domain system at the chassis domain fault level.

[0090] Table 6 is an example of a mapping table between multiple second fault levels and second fault responses pre-configured for the chassis domain system. Please refer to Table 6. The second fault level is determined by the combination of fault levels of multiple chassis domain subsystems such as the braking system, drive system, continuously adjustable damping suspension system, air suspension system and steering system. Each second type of fault level corresponds to multiple second type of fault responses one by one.

[0091] As shown in Table 6, a Category 2 fault level of 0 (no fault) indicates that all chassis domain subsystems are fault-free and the chassis domain system is operating normally. The Category 2 fault response is: no action. The corresponding combination of multiple Category 1 fault levels is: Category 1 fault level 0 for all subsystems.

[0092] A Category 2 fault level of 1 (Warning) indicates that at least one chassis domain subsystem has triggered a low-level fault (such as a warning) but has not affected core functionality. The response to a Category 2 fault is to notify the driver only through the instrument panel or voice prompt, without restricting functionality. The corresponding combination of multiple Category 1 fault levels is: any subsystem with a Category 1 fault level of 1 (e.g., Braking System Level 1, Drive System Level 1, etc.).

[0093] A second-category fault level of 2 (auxiliary function disabled) indicates that some auxiliary functions are restricted (e.g., suspension adjustment failure in a continuously adjustable damping suspension system). The response to a second-category fault is to disable the relevant function and illuminate the corresponding fault indicator. The corresponding combination of multiple first-category fault levels is: a continuously adjustable damping suspension system fault level of 2, or an air suspension system fault level of 3-4.

[0094] A second-level fault, Level 3 (System Fourth-Range Power Limit), indicates a slight degradation of the powertrain, with limited steering or brake assist. The response to this second-level fault is to limit drive torque (e.g., to 50%), partially disable steering assistance, and provide an instrument panel notification. The corresponding combination of multiple first-level fault levels is: Braking System Level 2-3, Drive System Level 2-3, and Steering System Level 2.

[0095] In the fault description corresponding to the third-level chassis domain fault level, the fourth amplitude is the corresponding power limitation level when the fault causes the performance of the chassis domain system to be reduced, but does not directly affect the safety performance of the vehicle. For example, a small-scale fault occurs in a subsystem, such as a 10%-20% drop in the power of the drive system, but the vehicle can still continue to drive and will not directly affect the safety performance. For example, if the motor or drive system overheats slightly, the power limitation mechanism will be activated, but the driver will still be able to drive the vehicle normally. The impact of the fault in this case is relatively small and belongs to the fourth amplitude power limitation.

[0096] A Category 2 fault level of 4 (system power limited to the fifth level, with the fifth level exceeding the fourth level) indicates significant powertrain degradation and severely limited steering function. The response to a Category 2 fault is to limit drive torque to a lower level (e.g., 30%), disable advanced power steering, and issue a system risk indicator. The corresponding combination of multiple Category 1 fault levels is: Braking System Level 4, Steering System Level 3.

[0097] In the fault description for the fourth level, category 2 fault, the fifth level describes the level of power limitation corresponding to a serious fault that directly affects vehicle safety but does not cause complete vehicle failure. In this case, a stronger power limit is applied, restricting more subsystems, and even reducing vehicle speed or restricting certain operations to ensure safety. This is referred to as the fifth level of power limitation.

[0098] The second fault level, level 5 (power loss), indicates a loss of powertrain functionality, severely limiting steering function. The second fault level response is to force the drive system to output zero torque, retain basic braking function, and prompt the driver to make an emergency stop. The corresponding combination of multiple first fault levels is: brake system level 5 (brake failure) and drive system level 4 (torque loss).

[0099] A Category 2 fault level of 6 (Emergency Stop) indicates a risk of vehicle loss of control and requires immediate cessation of operation. The response to a Category 2 fault is to shut down the drive power, activate maximum braking force, and force the vehicle into a non-drivable state with a red instrument panel display. The corresponding combination of multiple Category 1 fault levels is: Drive System Level 5 (complete motor failure) and Steering System Level 4 (steering stuck).

[0100] Table 6

[0101] By combining multi-level fault response with precise control, the present invention can not only quickly identify and handle various faults in the chassis domain subsystem, but also dynamically adjust the response intensity according to different scenarios and driving conditions, thereby optimizing driving safety, stability and driving experience.

[0102] Step S302: Determine at least two chassis domain subsystems that need to collaboratively execute the chassis domain fault response.

[0103] The chassis domain controller parses the chassis domain fault response action and identifies at least two chassis domain subsystems that require coordinated operation. Specifically, the chassis domain fault response action is reverse mapped to the relevant chassis domain subsystems based on the functional modules involved. For example, if the chassis domain fault response action is to limit drive torque and increase braking force, the drive system and brake system are associated. It also identifies actuators or sensors that require synchronized control. For example, if the chassis domain fault response action is to cut motor power and activate the electronic parking brake, the drive system controller and brake system controller must coordinate. Furthermore, a master control subsystem (such as the brake system) is designated to coordinate the synchronized execution of the instructions with other chassis domain subsystems (such as the drive system). Multiple chassis domain subsystems execute instructions independently, but require timing synchronization. If a chassis domain subsystem fails to respond as expected (for example, the drive system refuses to reduce torque), secondary diagnosis is triggered and the chassis domain fault level is escalated.

[0104] Step S303: Based on the chassis domain fault response, a second control instruction is issued to the at least two chassis domain subsystems.

[0105] The chassis domain controller, through its control chip, converts chassis domain fault responses into specific second control commands and sends them to relevant chassis domain subsystems, ensuring cross-system coordinated execution. Specifically, the second control commands are packaged into unified data frames, with execution order marked by timestamps. For example, the second control command includes: Drive system: 0xD1 (torque limit to 0%); Braking system: 0xA3 (maximum braking force request); Instrument system: 0xF2 (display "Emergency Stop"). The second control command is broadcast to all relevant chassis domain subsystems via CAN FD or Ethernet, ensuring simultaneous arrival.

[0106] After receiving the second control command, each chassis domain subsystem returns a confirmation signal, and the control chip verifies the execution status. If a chassis domain subsystem does not respond to the second control command within the set time, it automatically resends the command or switches to the backup control strategy.

[0107] In an optional embodiment, the various chassis domain subsystems include at least two of: a braking system, a steering system, a drive system, and a suspension system.

[0108] The multiple chassis domain subsystems involved in this invention encompass all major functional modules in modern automotive chassis control, including braking, steering, drive, suspension, and other key chassis domain subsystems, achieving full coverage of the entire chassis domain system and ensuring a comprehensive response to vehicle faults.

[0109] Perform fault detection on each chassis domain subsystem included in the chassis domain system to determine the faulty chassis domain subsystem, including: Step S401 : acquiring sensor data of each chassis domain subsystem, wherein the sensor data includes at least two of voltage data, current data, temperature data, and angle data.

[0110] The chassis domain controller collects sensor data from each subsystem in real time through the control chip, including: brake pedal A / B pressure sensor voltage data of the braking system; steering wheel angle sensor data and steering gear angle sensor data of the steering system; motor inverter temperature data and motor torque output current data of the drive system; height sensor voltage data of the air suspension system; and solenoid valve current / voltage data of the continuously adjustable damping suspension system.

[0111] This embodiment collects sensor data of each chassis domain subsystem through multiple channels and reads the sensor data through a CAN / LIN bus or a direct hardware interface.

[0112] Step S402 : performing fault detection on sensor data of each chassis domain subsystem according to a fault detection rule preset for each chassis domain subsystem.

[0113] Each chassis domain subsystem is configured with independent detection logic. The specific fault detection rules are as follows: For the braking system, fault detection rule 1 is configured: if the difference between the two pedal voltages is greater than 0.3V, it is determined to be a "signal inconsistency fault." Fault detection rule 1 is configured: if the pressure sensor voltage exceeds 0.6V-4.6V, it is determined to be a "hydraulic abnormality fault." For the drive system, fault detection rule 1 is configured: if the IGBT temperature is greater than 90°C, it is determined to be an "overheating fault." Fault detection rule 2 is configured: if the deviation between the motor output current and the commanded torque is greater than 10%, it is determined to be a "torque abnormality fault."

[0114] Fault detection rules correspond to detection methods including threshold comparison, logic verification, timing analysis, and communication diagnosis. Threshold comparison compares real-time data with preset safety thresholds (such as temperature and voltage ranges). Logic verification verifies the consistency of multiple signals (such as A / B sensor differences and steering angle synchronization). Timing analysis detects signal response delays (such as suspension adjustment timeouts). Communication diagnosis monitors CAN bus packet loss rates, verification errors, or timeout anomalies.

[0115] The fault detection result includes the subsystem identification and the subsystem fault type.

[0116] Step S403: Determine the faulty chassis domain subsystem where the fault occurs based on the fault detection result.

[0117] If sensor data from a chassis domain subsystem triggers at least one fault detection rule, the chassis domain subsystem is identified as a faulty chassis domain subsystem. For example, if the fault detection result indicates that the drive system IGBT temperature is greater than 90°C, the drive system is marked as a faulty chassis domain subsystem.

[0118] Through the above steps, the present invention realizes accurate fault detection and determination of multiple chassis domain subsystems, providing a reliable data basis for the aforementioned fault level classification and coordinated control.

[0119] In an optional implementation, determining the subsystem failure level of each faulty chassis domain subsystem according to the fault detection result of the faulty chassis domain subsystem includes: According to the fault detection results of each faulty chassis domain subsystem, the subsystem fault type of each faulty chassis domain subsystem is identified, and the subsystem fault type includes at least one of the following: two-way brake pedal inconsistency fault, excessive steering assist fault, motor overheating fault, height sensor abnormality fault, and damping adjustment failure fault.

[0120] Each chassis domain subsystem has a predefined fault type library, including multiple subsystem fault types. Different subsystem fault types can have varying degrees of impact on the chassis domain system. This embodiment directly uses the degree of impact of a subsystem fault type on the chassis domain system as an attribute of the subsystem fault type itself, mapping the fault type library to the aforementioned first-category fault level table. In other words, each subsystem fault type is associated with a preset first-category fault level. This precise mapping from fault detection to level determination is achieved through fault type identification and level matching logic.

[0121] Subsystem fault types for each chassis domain subsystem are defined based on its core functionality, hardware composition, and typical failure modes. For the braking system, subsystem fault types include a two-way brake pedal inconsistency fault; for the steering system, subsystem fault types include an excessive steering assist fault; for the drive system, subsystem fault types include a motor overheating fault; for the air suspension system, subsystem fault types include a height sensor abnormality fault; and for the continuously adjustable damping suspension system, subsystem fault types include a damping adjustment failure fault.

[0122] For each faulty chassis domain subsystem, the fault level corresponding to the identified subsystem fault type is determined as the subsystem fault level of the faulty chassis domain subsystem.

[0123] The chassis domain controller queries the mapping relationship between the fault type library and the first type fault level according to the subsystem fault type of each faulty chassis domain subsystem, obtains the corresponding fault level, and determines it as the subsystem fault level of the faulty chassis domain subsystem.

[0124] For the braking system, a determination is made as to whether the voltage data of the two brake pedal pressure sensors is within a first preset range, and also as to whether the voltage data of the two brake pedal pressure sensors are consistent. Based on the determination results, a subsystem fault type of the braking system is determined. If the voltage data of the two brake pedal pressure sensors are inconsistent but neither exceeds the first preset range, the subsystem fault type of the braking system is determined as a two-brake pedal inconsistency fault. The subsystem fault level of the braking system is determined to be level 2 of multiple preset first-category fault levels for the braking system. A subsystem fault response is determined by querying Table 1: illuminating a brake system fault indicator and taking the larger value of the two pedal signals to respond to a braking demand.

[0125] For the steering system, the magnitude relationship between the steering wheel angle sensor data and the steering gear angle sensor data is determined; based on the determination result, a steering system fault is determined; if the steering wheel angle sensor data is less than the steering gear angle sensor data, the steering system subsystem fault type is determined to be an excessive steering assist fault. The steering system subsystem fault level is determined to be level 2 of multiple first-category fault levels preset for the steering system, and a steering system subsystem fault response is determined by querying Table 2: a fault indicator of the steering assist chassis domain subsystem of the steering system is illuminated, and the steering gear of the steering system is corrected based on the current steering wheel angle sensor data.

[0126] For the drive system, a determination is made as to whether the temperature data of the motor inverter exceeds a preset threshold; based on the determination result, a subsystem fault type of the drive system is determined; if the temperature data of the motor inverter exceeds the preset threshold, the subsystem fault type of the drive system is determined to be a motor overheating fault. The subsystem fault level of the drive system is determined to be level 2 of a plurality of preset first-category fault levels for the drive system, and a subsystem fault response of the drive system is determined by querying Table 3 as: lighting a red fault light on the motor in the drive system, gradually limiting the torque of the motor to zero, and providing a fault indication via the drive system instrumentation.

[0127] For the air suspension system, a determination is made as to whether voltage data from a height sensor exceeds a second preset range. Based on the determination, a subsystem fault type of the air suspension system is determined. If the height sensor voltage data exceeds the second preset range, the subsystem fault type of the air suspension system is determined to be a height sensor abnormality fault. The subsystem fault level of the air suspension system is determined to be level 4 of a plurality of preset first-category fault levels for the air suspension system. A subsystem fault response for the air suspension system is determined by querying Table 4 to illuminate a yellow air suspension system fault indicator and prohibit height adjustment of the air suspension system (locking the current suspension height).

[0128] For the continuously adjustable damping suspension system, a determination is made as to whether voltage data and current data of a solenoid valve of the continuously adjustable damping suspension system exceed a third preset range; and a fault of the continuously adjustable damping suspension system is determined based on the determination result. If the voltage data or current data exceeds the third preset range, the subsystem fault type of the continuously adjustable damping suspension system is determined to be a damping adjustment failure fault. The subsystem fault level of the continuously adjustable damping suspension system is determined to be level 2 of multiple first-category fault levels preset for the continuously adjustable damping suspension system, and a subsystem fault response of the continuously adjustable damping suspension system is determined by querying Table 5 as: lighting a red fault light of the continuously adjustable damping suspension system and disabling the damping adjustment function of the continuously adjustable damping suspension system.

[0129] Figure 3 FIG. 1 is a flow chart of a method for determining a fault level according to an embodiment of the present invention. Figure 3 As shown, during the preconfiguration phase, first-category fault levels and responses are defined (at the subsystem level). Multiple first-category fault levels are preset for each chassis-domain subsystem (brake, steering, drive, and suspension) to quantify the impact of faults on the chassis-domain system. Furthermore, second-category fault levels and responses are defined (at the system level). Based on the combination of first-category fault levels for each chassis-domain subsystem, second-category fault levels are preset to characterize the overall impact of the combined faults of multiple chassis-domain subsystems on the chassis-domain system.

[0130] The chassis domain controller collects sensor data from each subsystem in real time, compares this sensor data with the fault trigger conditions of the preset fault detection rules, and identifies the subsystem fault type of each faulty chassis domain subsystem. Based on the subsystem fault type, it queries multiple preconfigured first-class fault levels for each faulty chassis domain subsystem and matches the corresponding level. The first-class fault level combination of each faulty chassis domain subsystem is mapped to the corresponding second-class fault level, and the global risk is assessed to determine the chassis domain fault level. Similarly, based on the query mapping relationship, the first-class fault level and the second-class fault level are used to obtain the first-class fault response and the second-class fault response.

[0131] The present invention realizes full-link management from local faults to global risks through four-stage closed-loop control of pre-configuration, detection, matching, and execution, providing a high-reliability fault diagnosis and response solution for the intelligent automobile chassis domain system.

[0132] Figure 4 This is a structural block diagram of a fault level determination device provided by an embodiment of the present invention, which is applied to a chassis domain controller, such as Figure 4 As shown, the device includes: The detection module 501 is used to perform fault detection on each chassis domain subsystem included in the chassis domain system and determine the faulty chassis domain subsystem; A first determining module 502 is configured to determine a subsystem fault level of each faulty chassis domain subsystem based on a fault detection result of the faulty chassis domain subsystem, wherein the subsystem fault level represents the degree of impact of the fault of the faulty chassis domain subsystem on the chassis domain system; The second determining module 503 is configured to determine a chassis domain fault level of the chassis domain system according to the subsystem fault levels of all faulty chassis domain subsystems, wherein the chassis domain fault level represents the degree of impact of all faulty chassis domain subsystems on the chassis domain system.

[0133] In an optional embodiment, the device further includes: a first configuration module configured to configure, for each chassis domain subsystem in each of the chassis domain subsystems, a plurality of first-category fault levels for the chassis domain subsystem, wherein different first-category fault levels correspond to different degrees of impact of a fault occurring in the chassis domain subsystem on the chassis domain system; a higher first-category fault level indicates a greater degree of impact on the chassis domain system; The first determining module includes: The first determining submodule is configured to determine the subsystem fault level of each faulty chassis domain subsystem from a plurality of first-category fault levels configured for the faulty chassis domain subsystem according to the fault detection result of the faulty chassis domain subsystem.

[0134] In an optional embodiment, the device further includes: a combination module, used to combine the first type of fault levels configured for different chassis domain subsystems to obtain multiple fault level combinations; a second configuration module configured to configure a plurality of second-category fault levels for the chassis domain system based on the plurality of fault level combinations, wherein different second-category fault levels correspond to the degree of impact of different fault combinations occurring in the chassis domain subsystem on the chassis domain system; a higher second-category fault level indicates a greater degree of impact on the chassis domain system; In an optional implementation, the second determining module includes: The second determining submodule is configured to determine a chassis domain fault level of the chassis domain system from the plurality of second-category fault levels according to the subsystem fault levels of all faulty chassis domain subsystems.

[0135] In an optional embodiment, the device further includes: a third configuration module configured to configure, for each chassis domain subsystem among the plurality of chassis domain subsystems, a plurality of first type fault responses for the chassis domain subsystem based on configuring a plurality of first type fault levels for the chassis domain subsystem, wherein the plurality of first type fault levels correspond one-to-one to the plurality of first type fault responses, and a first type fault response is used to repair a fault corresponding to a corresponding first type fault level; a third determining module, configured to determine, according to the subsystem fault level of each faulty chassis domain subsystem, a subsystem fault response of the faulty chassis domain subsystem from a plurality of first-category fault responses configured for the faulty chassis domain subsystem; The first control module is configured to issue a first control instruction to each faulty chassis domain subsystem based on a subsystem fault response of the faulty chassis domain subsystem.

[0136] In an optional embodiment, the device further includes: a fourth configuration module, configured to configure a plurality of second-type fault responses for the chassis domain system based on a plurality of second-type fault levels configured for the chassis domain system, wherein the plurality of second-type fault levels correspond one-to-one to the plurality of second-type fault responses, and a second-type fault response is used to repair a fault of a corresponding second-type fault level; a fourth determining module, configured to determine a chassis domain fault response from the plurality of second-type fault responses according to a chassis domain fault level of the chassis domain system; a fifth determining module, configured to determine at least two chassis domain subsystems that need to collaboratively execute the chassis domain fault response; The second control module is configured to issue a second control instruction to the at least two chassis domain subsystems based on the chassis domain fault response.

[0137] In an optional implementation, the first determining module includes: a third determining submodule, configured to, for each faulty chassis domain subsystem, determine a fault level corresponding to each of the multiple faults if it is determined, based on the fault detection result of the faulty chassis domain subsystem, that the faulty chassis domain subsystem has multiple subsystem faults; The fourth determining submodule is configured to determine the highest fault level among the fault levels corresponding to the multiple faults as the subsystem fault level of the faulty chassis domain subsystem.

[0138] In an optional embodiment, the chassis domain subsystems include at least two of a braking system, a steering system, a drive system, and a suspension system; and the detection includes: an acquisition submodule, configured to acquire sensor data of each chassis domain subsystem, wherein the sensor data includes at least two of voltage data, current data, temperature data, and angle data; A detection submodule, configured to perform fault detection on sensor data of each chassis domain subsystem according to a fault detection rule preset for each chassis domain subsystem; The fifth determining submodule is configured to determine a faulty chassis domain subsystem where a fault occurs based on the fault detection result.

[0139] In an optional implementation, the first determining module includes: an identification submodule, configured to identify a subsystem fault type of each faulty chassis domain subsystem based on a fault detection result of each faulty chassis domain subsystem, wherein the subsystem fault type includes at least one of the following: a two-way brake pedal inconsistency fault, an excessive steering assist fault, a motor overheating fault, a height sensor abnormality fault, and a damping adjustment failure fault; The sixth determining submodule is configured to determine, for each faulty chassis domain subsystem, the fault level corresponding to the identified subsystem fault type as the subsystem fault level of the faulty chassis domain subsystem.

[0140] Based on the same inventive concept, an embodiment of the present invention provides a vehicle, which includes a chassis domain controller, and the chassis domain controller is used to execute the fault level determination method as described above.

[0141] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, apparatuses, electronic devices, and storage media. Accordingly, embodiments of the present invention may take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product implemented on one or more computer-readable storage media (including but not limited to magnetic disk storage, CD-ROMs, optical storage, etc.) containing computer-usable program code.

[0142] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods and apparatus according to the embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as the combination of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 These computer program instructions can also be stored in a computer readable memory that can guide a computer or other programmable data processing terminal device to work in a specific way, so that the instructions stored in the computer readable memory produce a product including an instruction device, which implements the functions specified in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device, so that a series of operation steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for implementing the process in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0143] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they become aware of the basic creative concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0144] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprises" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article, or terminal device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article, or terminal device. In the absence of further limitations, the elements defined by the sentence "comprises..." do not exclude the presence of other identical elements in the process, method, article, or terminal device that includes the elements.

[0145] The above is a detailed introduction to a fault level determination method, device and vehicle provided by the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for determining a fault level, characterized in that: Applied to a chassis domain controller, the method includes: Performing fault detection on each chassis domain subsystem included in the chassis domain system to determine the faulty chassis domain subsystem where the fault occurs; Determining a subsystem fault level of the faulty chassis domain subsystem based on a fault detection result of each faulty chassis domain subsystem, wherein the subsystem fault level represents the degree of impact of the fault of the faulty chassis domain subsystem on the chassis domain system; The chassis domain failure level of the chassis domain system is determined according to the subsystem failure levels of all failed chassis domain subsystems. The chassis domain failure level represents the degree of influence of all failed chassis domain subsystems on the chassis domain system.

2. The method according to claim 1, characterized in that The method further comprises: For each chassis domain subsystem in the chassis domain subsystems, multiple first-category fault levels are configured for the chassis domain subsystem, where different first-category fault levels correspond to different degrees of impact of a fault occurring in the chassis domain subsystem on the chassis domain system; a higher first-category fault level indicates a greater degree of impact on the chassis domain system; According to the fault detection results of each faulty chassis domain subsystem, the subsystem fault level of the faulty chassis domain subsystem is determined, including: According to the fault detection result of each faulty chassis domain subsystem, a subsystem fault level of the faulty chassis domain subsystem is determined from a plurality of first-category fault levels configured for the faulty chassis domain subsystem.

3. The method according to claim 2, characterized in that The method further comprises: Combining the first type of fault levels configured for different chassis domain subsystems to obtain multiple fault level combinations; configuring a plurality of second-category fault levels for the chassis domain system according to the plurality of fault level combinations, wherein different second-category fault levels correspond to the degree of impact of different fault combinations occurring in the chassis domain subsystem on the chassis domain system; a higher second-category fault level indicates a greater degree of impact on the chassis domain system; Determining a chassis domain fault level of the chassis domain system according to the subsystem fault levels of all faulty chassis domain subsystems includes: The chassis domain fault level of the chassis domain system is determined from the plurality of second-category fault levels according to the subsystem fault levels of all faulty chassis domain subsystems.

4. The method according to claim 2, characterized in that The method further comprises: For each chassis domain subsystem of the plurality of chassis domain subsystems, based on configuring a plurality of first type fault levels for the chassis domain subsystem, configuring a plurality of first type fault responses for the chassis domain subsystem, wherein the plurality of first type fault levels correspond one-to-one to the plurality of first type fault responses, and a first type fault response is used to repair a fault of a corresponding first type fault level; Determining, according to the subsystem fault level of each faulty chassis domain subsystem, a subsystem fault response of the faulty chassis domain subsystem from a plurality of first-category fault responses configured for the faulty chassis domain subsystem; Based on the subsystem fault response of each faulty chassis domain subsystem, a first control instruction is issued to the faulty chassis domain subsystem.

5. The method according to claim 3, characterized in that The method further comprises: Based on multiple second-type fault levels configured for the chassis domain system, configuring multiple second-type fault responses for the chassis domain system, wherein the multiple second-type fault levels correspond one-to-one to the multiple second-type fault responses, and one second-type fault response is used to repair a fault of a corresponding second-type fault level; determining a chassis domain fault response from the plurality of second-type fault responses according to a chassis domain fault level of the chassis domain system; determining at least two chassis domain subsystems that need to collaboratively execute the chassis domain fault response; Based on the chassis domain fault response, a second control instruction is issued to the at least two chassis domain subsystems.

6. The method according to any one of claims 1 to 5, characterized in that: According to the fault detection results of each faulty chassis domain subsystem, the subsystem fault level of the faulty chassis domain subsystem is determined, including: For each faulty chassis domain subsystem, if it is determined based on the fault detection result of the faulty chassis domain subsystem that the faulty chassis domain subsystem has multiple subsystem faults, determine a fault level corresponding to each of the multiple faults; The highest fault level among the fault levels corresponding to the multiple faults is determined as the subsystem fault level of the faulty chassis domain subsystem.

7. The method according to any one of claims 1 to 5, characterized in that: The chassis domain subsystems include: at least two of a braking system, a steering system, a drive system, and a suspension system; performing fault detection on each chassis domain subsystem included in the chassis domain system to determine the faulty chassis domain subsystem, including: Acquire sensor data of each chassis domain subsystem, wherein the sensor data includes at least two of voltage data, current data, temperature data, and angle data; Performing fault detection on sensor data of each chassis domain subsystem according to a preset fault detection rule for each chassis domain subsystem; According to the fault detection results, the faulty chassis domain subsystem where the fault occurs is determined.

8. The method according to claim 7, characterized in that According to the fault detection results of each faulty chassis domain subsystem, the subsystem fault level of the faulty chassis domain subsystem is determined, including: Identifying a subsystem fault type of each faulty chassis domain subsystem based on a fault detection result of each faulty chassis domain subsystem, wherein the subsystem fault type includes at least one of the following: a two-way brake pedal inconsistency fault, an excessive power steering fault, a motor overheating fault, a height sensor abnormality fault, and a damping adjustment failure fault; For each faulty chassis domain subsystem, the fault level corresponding to the identified subsystem fault type is determined as the subsystem fault level of the faulty chassis domain subsystem.

9. A fault level determination device, characterized in that: Applied to a chassis domain controller, the device comprises: A detection module, configured to perform fault detection on each chassis domain subsystem included in the chassis domain system, and determine a faulty chassis domain subsystem where a fault occurs; A first determining module is configured to determine a subsystem fault level of each faulty chassis domain subsystem based on a fault detection result of the faulty chassis domain subsystem, wherein the subsystem fault level represents the degree of impact of the fault of the faulty chassis domain subsystem on the chassis domain system; The second determining module is configured to determine a chassis domain fault level of the chassis domain system according to subsystem fault levels of all faulty chassis domain subsystems, wherein the chassis domain fault level represents the degree of influence of all faulty chassis domain subsystems on the chassis domain system.

10. A vehicle, characterized in that: The vehicle includes a chassis domain controller, which is used to execute the steps of the fault level determination method according to any one of claims 1 to 8.

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