Brake pedal verification method, device and equipment based on two-way pedal and storage medium

Abstract

The invention discloses a brake pedal verification method, device and equipment based on a two-way pedal and a storage medium, relates to the technical field of vehicle brake control, and discloses the brake pedal verification method based on the two-way pedal. Comprising the steps that a brake lamp switch signal, an allowable deviation threshold value and a first sensor signal and a second sensor signal of a two-way pedal position sensor are obtained; performing processing according to the first sensor signal and the second sensor signal to obtain a target deviation value, and performing consistency analysis according to the target deviation value and the allowable deviation threshold to obtain a consistency analysis result; performing fault tracing on the consistency analysis result according to the brake lamp switch signal to obtain a fault positioning result; and fault isolation is carried out based on the fault positioning result, so that brake pedal verification based on the two-way pedal is completed. The technical effect of guaranteeing the signal reliability of the two-way pedal position sensor and the function continuity of the braking system is achieved.

Description

Technical Field

[0001] This application relates to the field of vehicle braking control technology, and in particular to a brake pedal calibration method, apparatus, device, and storage medium based on dual-path pedals. Background Technology

[0002] As new energy vehicles gradually replace traditional fuel vehicles and become the industry mainstream, their braking architecture has also shifted from relying on engine vacuum assistance to a drive-by-wire design centered on electro-hydraulic braking and electronically controlled pneumatic braking. In this drive-by-wire architecture, the mechanical connection of the brake pedal is replaced by electrical signal transmission. The pedal position is converted into an electrical signal by a sensor, and then the control unit drives the actuator to establish braking pressure.

[0003] Against this backdrop, traditional technologies primarily rely on dual-channel pedal position sensors, comparing the differences between the two signals to determine if an anomaly exists. When the two signals exceed a specified deviation, traditional solutions typically only conclude that the signals are inconsistent, subsequently triggering an alarm and entering a performance-limited mode to avoid potential risks. However, such solutions cannot identify which sensor is malfunctioning, nor can they guarantee that the vehicle will maintain continuous and reliable pedal input capability in the event of a single point of failure, thus impacting braking performance and driving experience at critical moments.

[0004] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main objective of this application is to provide a brake pedal calibration method, apparatus, device, and storage medium based on a dual-path pedal, aiming to solve the technical problem of how to accurately identify the source of the fault when the pedal position signal is abnormal or inconsistent, and to ensure that the brake pedal input remains reliable and usable under fault conditions.

[0006] To achieve the above objectives, this application proposes a brake pedal verification method based on a dual-path pedal, the method comprising: Acquire the brake light switch signal, the allowable deviation threshold, and the first and second sensor signals of the dual-path pedal position sensor; The target deviation value is obtained by processing the first sensor signal and the second sensor signal, and a consistency analysis is performed based on the target deviation value and the allowable deviation threshold to obtain the consistency analysis result. Based on the brake light switch signal, the consistency analysis results are used to trace the source of the fault and obtain the fault location result. Based on the fault location results, fault isolation is performed to complete the brake pedal verification based on dual-path pedals.

[0007] In one embodiment, the step of performing fault tracing based on the consistency analysis results according to the brake light switch signal to obtain fault location results includes: When the consistency analysis result shows that the first sensor signal and the second sensor signal are inconsistent, the first historical data of the first sensor signal and the second historical data of the second sensor signal are obtained. Signal trend analysis is performed based on the first sensor signal and the first historical data, as well as the second sensor signal and the second historical data, to obtain signal change analysis results. The first sensor signal and the second sensor signal are processed based on the brake light switch signal to obtain the cross-validation result; Based on the signal change analysis results and the cross-validation results, the fault source is traced to obtain the fault location result.

[0008] In one embodiment, the step of processing the first sensor signal and the second sensor signal based on the brake light switch signal to obtain the cross-validation result includes: When the brake light switch signal is determined to be on, it is determined whether there is no valid pedal displacement signal in the first sensor signal or the second sensor signal; When there is no valid pedal displacement signal in the first sensor signal or the second sensor signal, the sensor signal corresponding to the absence of a valid pedal displacement signal will be identified as the first abnormal signal. When the brake light switch signal is determined to be in the off state, it is determined whether there is an abnormal pedal displacement signal in the first sensor signal or the second sensor signal; When an abnormal pedal displacement signal is present in either the first sensor signal or the second sensor signal, the sensor signal corresponding to the abnormal pedal displacement signal is identified as the second abnormal signal. The cross-validation result is determined based on the first abnormal signal and the second abnormal signal.

[0009] In one embodiment, the step of processing the first sensor signal and the second sensor signal to obtain a target deviation value, and performing a consistency analysis based on the target deviation value and the allowable deviation threshold to obtain a consistency analysis result includes: Calculate the target deviation value based on the first sensor signal and the second sensor signal; When the target deviation value is less than or equal to the allowable deviation threshold, the consistency analysis result is determined to be consistent with the indicator signal; When the target deviation value is greater than the allowable deviation threshold, the consistency analysis result is determined to be an indication of inconsistency.

[0010] In one embodiment, the step of performing fault isolation based on the fault location result to complete the brake pedal verification based on the dual-path pedal includes: When the fault location result indicates that the first sensor is faulty, the first sensor signal is blocked and the second sensor signal is used as the target brake pedal signal. When the fault location result indicates that the second sensor is faulty, the second sensor signal is blocked and the first sensor signal is used as the target brake pedal signal; Maintenance warning information is generated based on the target brake pedal signal to complete brake pedal verification based on dual-path pedals.

[0011] In one embodiment, the step of acquiring the brake light switch signal, the allowable deviation threshold, and the first and second sensor signals of the dual-path pedal position sensor includes: Acquire the first pedal signal, the second pedal signal, the brake light switch signal, the preset range, and the preset rate of change threshold from the dual-path pedal position sensor; Determine whether the instantaneous values ​​of the first pedal signal and the second pedal signal are within the preset range; When it is determined that the instantaneous values ​​of the first pedal signal and the second pedal signal are within the preset range, it is determined whether the rate of change of the first pedal signal and the second pedal signal exceeds the preset rate of change threshold. When it is determined that the rate of change between the first pedal signal and the second pedal signal exceeds a preset rate of change threshold, a first sensor signal is determined based on the first pedal signal, and a second sensor signal is determined based on the second pedal signal. The permissible deviation threshold is determined based on the current vehicle speed, the first sensor signal, the second sensor signal, and the pedal operation frequency.

[0012] In one embodiment, the step of determining the permissible deviation threshold based on the current vehicle speed, the first sensor signal, the second sensor signal, and the pedal operation frequency includes: Obtain an initial threshold, wherein the initial threshold is greater than the static drift of the dual-path pedal position sensor; The initial threshold is adjusted based on the current vehicle speed to obtain the vehicle speed threshold adjustment result; Adjustments are made based on the first sensor signal, the second sensor signal, and the pedal operating frequency to obtain the pedal operation adjustment result; Based on the vehicle speed threshold adjustment result and the pedal operation adjustment result, the allowable deviation threshold is determined.

[0013] In addition, to achieve the above objectives, this application also proposes a brake pedal calibration device based on a dual-path pedal, the brake pedal calibration device based on a dual-path pedal includes: a data acquisition module, used to acquire brake light switch signal, allowable deviation threshold, and first sensor signal and second sensor signal of dual-path pedal position sensor; The consistency analysis module is used to cross-compare the first sensor signal and the second sensor signal to obtain the comparison result, and to perform consistency analysis based on the comparison result and the allowable deviation threshold to obtain the consistency analysis result. The fault location module is used to trace the source of the fault based on the consistency analysis results according to the brake light switch signal, and obtain the fault location result; The brake pedal verification module is used to isolate faults based on the fault location results in order to complete the brake pedal verification based on the dual-path pedal.

[0014] In addition, to achieve the above objectives, this application also proposes a brake pedal verification device based on a dual-path pedal, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the brake pedal verification method based on a dual-path pedal as described above.

[0015] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the brake pedal verification method based on dual-path pedals as described above.

[0016] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the brake pedal verification method based on dual-path pedals as described above.

[0017] One or more technical solutions proposed in this application have at least the following technical effects: This method employs the acquisition of brake light switch signals, allowable deviation thresholds, and first and second sensor signals from dual-path pedal position sensors. The target deviation value is obtained by processing the first and second sensor signals, and a consistency analysis is performed based on the allowable deviation threshold to obtain the consistency analysis result. Then, the brake light switch signal is used to trace the source of the fault based on the consistency analysis result to obtain the fault location result. Finally, fault isolation is performed based on the fault location result to complete the brake pedal verification based on dual-path pedals. In existing technologies, traditional dual-sensor designs can only perform a simple comparison of the two sensor signals. When signal differences occur, the fault source cannot be accurately located, and errors are usually directly reported, forcibly switching to a performance-limited limp-out mechanism. The driving mode causes braking function interruption. This method solves the problem that traditional technology cannot accurately locate faulty sensors by introducing the brake light switch signal and using it for fault tracing of consistency analysis results. At the same time, by performing fault isolation based on clear fault location results, it avoids the problem of braking function interruption caused by the direct forced function degradation due to the inability to determine the fault source in traditional technology. Compared with the existing technology, it can accurately locate the faulty sensor in the dual-path pedal position sensor and ensure that the braking function is not interrupted during the brake pedal calibration process through fault isolation. It ensures that the braking system can still reliably complete the calibration and maintain the core braking function in the case of a single sensor failure, thereby improving the safety and availability of the braking system. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a flowchart illustrating an embodiment of the brake pedal verification method based on dual-path pedals in this application. Figure 2 This is a flowchart illustrating Embodiment 2 of the brake pedal verification method based on dual-path pedals in this application. Figure 3 This is a schematic diagram of the module structure of the brake pedal verification device based on a dual-path pedal according to an embodiment of this application; Figure 4 This is a schematic diagram of the device structure of the hardware operating environment involved in the brake pedal verification method based on dual-path pedals in the embodiments of this application.

[0021] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0022] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0023] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0024] The main solution of this application embodiment is as follows: acquire the brake light switch signal, the allowable deviation threshold, and the first and second sensor signals of the dual-path pedal position sensor; process the first and second sensor signals to obtain the target deviation value, and perform consistency analysis based on the target deviation value and the allowable deviation threshold to obtain the consistency analysis result; perform fault tracing based on the consistency analysis result using the brake light switch signal to obtain the fault location result; and perform fault isolation based on the fault location result to complete the brake pedal verification based on the dual-path pedal.

[0025] In this embodiment, for ease of description, the following description will focus on identifying a brake pedal verification device based on a dual-path pedal.

[0026] Because existing technologies struggle to accurately identify fault sources and ensure reliable brake pedal input even under fault conditions when pedal position signals are abnormal or inconsistent, this application provides a solution. This solution involves acquiring brake light switch signals, an allowable deviation threshold, and first and second sensor signals from a dual-path pedal position sensor. The first and second sensor signals are processed to obtain a target deviation value, which is then combined with the allowable deviation threshold for consistency analysis. The consistency analysis results are then used to trace the fault source based on the brake light switch signal to obtain fault location results. Finally, fault isolation is performed based on the fault location results to complete brake pedal verification based on the dual-path pedal. In existing technologies, traditional dual-sensor designs can only perform a simple comparison of the two sensor signals. When a signal is abnormal or inconsistent, the system cannot accurately identify the source of the fault and ensure reliable brake pedal input even under fault conditions. Current methods often fail to accurately pinpoint the fault source when discrepancies occur, typically resulting in direct error reports and forced switching to a performance-limited limp mode, leading to brake interruption. This method addresses the problem of traditional techniques failing to accurately locate faulty sensors by introducing the brake light switch signal and using it for fault tracing based on consistency analysis results. Furthermore, by performing fault isolation based on clear fault location results, it avoids the brake interruption caused by forced function degradation due to the inability to determine the fault source, as seen in traditional techniques. Compared to existing technologies, this method achieves accurate location of the faulty sensor among dual-path pedal position sensors and ensures uninterrupted brake function during brake pedal calibration through fault isolation. This guarantees that the braking system can reliably complete calibration and maintain core braking functions even in scenarios with a single sensor failure, improving the safety and availability of the braking system.

[0027] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or an electronic device capable of performing the above functions, such as a brake pedal calibration device based on a dual-path pedal. The following description uses a brake pedal calibration device based on a dual-path pedal as an example to illustrate this embodiment and the subsequent embodiments.

[0028] Based on this, embodiments of this application provide a brake pedal verification method based on a dual-path pedal, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the brake pedal verification method based on dual-path pedals in this application.

[0029] In this embodiment, the brake pedal verification method based on dual-path pedals includes steps S10 to S40: Step S10: Acquire the brake light switch signal, the allowable deviation threshold, and the first and second sensor signals of the dual-path pedal position sensor; It should be noted that the brake light switch signal is a binary signal generated by the brake light switch, that is, an on or off signal. This signal can reflect whether the driver has pressed the brake pedal or whether the pedal has returned to its original position. It is an important reference signal for judging the pedal operation status and can be used as a basis for verifying the correlation of sensor signals.

[0030] Additionally, the allowable deviation threshold is a dynamic value used to determine whether the output signals of the dual pedal position sensors are consistent. This value can be adaptively adjusted according to the signal strength, vehicle speed, or pedal operation frequency to avoid misjudgment during normal rapid pedal operation.

[0031] Additionally, dual-path pedal position sensors are sensor devices mounted on the brake pedal assembly. They employ independent designs, such as dual potentiometers, Hall sensors, or optical sensors, to acquire signals proportional to the brake pedal travel or angle.

[0032] Additionally, the first sensor signal is the signal output by one of the dual-path pedal position sensors. This signal is proportional to the travel or angle of the brake pedal and can provide the braking system with an electrical signal input for pedal operation.

[0033] Furthermore, the second sensor signal is the signal output by another independent sensor in the dual-path pedal position sensor. This signal is also proportional to the travel or angle of the brake pedal and together with the first sensor signal, constitutes a dual-path signal input to improve signal reliability.

[0034] Understandably, the brake light switch signal, allowable deviation threshold, and the first and second sensor signals output by the dual-path pedal position sensors are synchronously acquired through the corresponding signal acquisition module to ensure that the acquired signals are synchronized in time.

[0035] In one feasible implementation, step S10 may include steps S11 to S15: Step S11: Obtain the first pedal signal, the second pedal signal, the brake light switch signal, the preset range, and the preset rate of change threshold from the dual-path pedal position sensor; It should be noted that the first pedal signal is the raw signal collected in real time by one of the dual pedal position sensors. This signal directly reflects the current travel or angle state of the brake pedal and has not yet been processed by filtering, amplification, etc. It is the basic data for generating the first sensor signal in the future.

[0036] In addition, the second pedal signal is the raw signal collected in real time by another independent sensor in the dual-path pedal position sensor. It is acquired synchronously with the first pedal signal and also reflects the real-time travel or angle of the brake pedal, providing the original basis for generating the second sensor signal.

[0037] Additionally, the preset range is a signal value range set based on the physical characteristics of the dual-path pedal position sensor and the actual operating stroke of the brake pedal. This range includes all reasonable values ​​that the sensor may output when the pedal returns to its full position to its maximum stroke. Exceeding this range indicates that there is an abnormality in the signal.

[0038] Furthermore, the preset rate of change threshold is an upper limit of the signal change rate set according to the physiological limits of human operation of the brake pedal and the braking requirements of the vehicle. This threshold limits the maximum allowable change of the pedal signal per unit time. Exceeding this limit may indicate sensor failure or abnormal interference.

[0039] It is understandable that the signal acquisition module synchronously acquires the first pedal signal and the second pedal signal output by the dual pedal position sensor, while also acquiring the brake light switch signal and retrieving the preset range and preset rate of change threshold.

[0040] Step S12: Determine whether the instantaneous values ​​of the first pedal signal and the second pedal signal are within the preset range. Understandably, the instantaneous value of the acquired first pedal signal is compared one by one with the preset range, and the instantaneous value of the second pedal signal is also compared with the preset range to determine whether the instantaneous values ​​of the two original pedal signals fall within the reasonable range. In this embodiment, when the driver lightly presses the brake to cancel adaptive cruise control, the instantaneous values ​​of both the first and second pedal signals are within the preset range, indicating that there are no extreme faults such as hardware short circuits or open circuits in the original signals.

[0041] Step S13: When it is determined that the instantaneous values ​​of the first pedal signal and the second pedal signal are within the preset range, determine whether the rate of change of the first pedal signal and the second pedal signal exceeds the preset rate of change threshold, respectively. Understandably, after confirming that the instantaneous values ​​of both the first pedal signal and the second pedal signal are within the preset range, the change amplitude of the first pedal signal per unit time and the change amplitude of the second pedal signal per unit time are calculated respectively. These two change amplitudes are then compared with the preset rate of change threshold to determine whether the rate of change of the two signals exceeds the threshold. In this embodiment, when the driver normally lightly presses the brake pedal, the rate of change of both pedal signals does not exceed the preset rate of change threshold, which conforms to the physiological logic of human operation of the brake pedal.

[0042] Step S14: When it is determined that the rate of change between the first pedal signal and the second pedal signal exceeds a preset rate of change threshold, a first sensor signal is determined based on the first pedal signal, and a second sensor signal is determined based on the second pedal signal. Understandably, when the rate of change of both the first pedal signal and the second pedal signal does not exceed the preset rate of change threshold, the first pedal signal is filtered, amplified, and digitized to remove noise interference, and the processed signal is identified as the first sensor signal. Simultaneously, the second pedal signal undergoes the same filtering, amplification, and digitization process, and the processed signal is identified as the second sensor signal. In this embodiment, the two pedal signals that pass the rate of change determination are processed to become the first sensor signal and the second sensor signal, respectively, providing high-quality signal input for subsequent consistency analysis.

[0043] Step S15: Determine the allowable deviation threshold based on the current vehicle speed, the first sensor signal, the second sensor signal, and the pedal operation frequency.

[0044] It should be noted that the current vehicle speed refers to the real-time speed of the vehicle when the signal is acquired. This speed can be obtained through the vehicle's speed sensor or the vehicle control system, reflecting the current driving status of the vehicle. It is an important operating condition parameter for adjusting the allowable deviation threshold. The requirements for the deviation threshold are different when driving at high speed and low speed.

[0045] In addition, the pedal operation frequency refers to the number of times the driver depresses and releases the brake pedal per unit time. This parameter is calculated by analyzing the change cycle of the pedal signal over a period of time, reflecting the frequency of the driver's pedal operation. There is a difference in the deviation threshold required for frequent operation and smooth operation.

[0046] Understandably, the current vehicle speed data is retrieved, and the change cycles of the first and second sensor signals are analyzed to determine the pedal operation frequency. Then, based on the vehicle speed, the pedal operation frequency, and the current magnitude of the two sensor signals, the allowable deviation threshold is dynamically adjusted and determined.

[0047] In one feasible implementation, step S15 may include steps S151 to S154: Step S151: Obtain an initial threshold, wherein the initial threshold is greater than the static drift of the dual-path pedal position sensor; It should be noted that the initial threshold is a basic reference value used for subsequent adjustment of the allowable deviation threshold. This value is preset in advance based on the performance parameters of the dual-path pedal position sensor during the system design phase. Its core setting principle is to be greater than the static drift of the sensor in order to avoid misjudgment caused by the static fluctuation of the sensor itself.

[0048] Additionally, static drift refers to the minute fluctuation in the output signal of the dual-path pedal position sensor over time when it is in a static state without any operation. This value is determined by the sensor's hardware materials, circuit stability, and other inherent characteristics, and is an inherent signal deviation that cannot be completely eliminated when the sensor is working normally.

[0049] Step S152: Adjust the initial threshold according to the current vehicle speed to obtain the vehicle speed threshold adjustment result; It is understandable that the real-time speed of the current vehicle is obtained, and the initial threshold is adaptively adjusted according to the speed. For example, when the speed is high, the initial threshold is appropriately reduced to ensure the accuracy of the braking signal response; when the speed is low, the initial threshold can be appropriately relaxed, and the adjusted speed threshold is obtained.

[0050] Step S153: Adjust the pedal operation based on the first sensor signal, the second sensor signal, and the pedal operation frequency to obtain the pedal operation adjustment result; Understandably, the current output states of the first and second sensor signals are analyzed, and the pedal operation frequency is calculated. Based on these parameters, the previously adjusted threshold is further optimized. For example, when the pedal operation frequency is high, the threshold is appropriately relaxed to avoid misjudgment due to short-term signal fluctuations caused by frequent operation; when the operation frequency is low and the two signals are stable, the threshold is tightened, and the pedal operation adjustment result is obtained after adjustment.

[0051] Step S154: Determine the allowable deviation threshold based on the vehicle speed threshold adjustment result and the pedal operation adjustment result.

[0052] It is understandable that the speed threshold adjustment result and the pedal operation adjustment result are comprehensively calculated. For example, weights are assigned to each based on their importance under the current operating conditions and then summed, or a reasonable range of values ​​covered by both is taken to ultimately determine the allowable deviation threshold that adapts to the current vehicle state and operating scenario. In this embodiment, the speed threshold adjustment result corresponding to high-speed driving and the pedal operation adjustment result corresponding to low operating frequency are combined and weighted to determine the final allowable deviation threshold.

[0053] Step S20: Process the first sensor signal and the second sensor signal to obtain the target deviation value, and perform a consistency analysis based on the target deviation value and the allowable deviation threshold to obtain the consistency analysis result; It should be noted that the target deviation value is a value obtained after processing the first sensor signal and the second sensor signal. This value reflects the degree of difference between the two sensor signals and is the direct basis for judging whether the two signals are consistent.

[0054] In addition, the consistency analysis result is obtained by comparing the target deviation value with the allowable deviation threshold. This result can indicate whether the first sensor signal and the second sensor signal are within the normal consistency range, providing a basis for subsequent fault judgment.

[0055] Understandably, the collected signals from the first and second sensors are filtered, amplified, and digitized to calculate the target deviation value. This target deviation value is then compared to the allowable deviation threshold to obtain the consistency analysis result. In this embodiment, when the driver lightly applies the brakes to cancel adaptive cruise control, the two signals are highly consistent, the target deviation value is less than the allowable deviation threshold, and the consistency analysis result indicates that both signals are normal.

[0056] In one feasible implementation, step S20 may include steps S21 to S23: Step S21: Calculate the target deviation value based on the first sensor signal and the second sensor signal; It should be noted that the target deviation value is a value obtained by calculating the real-time values ​​of the first sensor signal and the second sensor signal. Specifically, it can be obtained by calculating the absolute value of the difference between the real-time values ​​of the two signals. This value can intuitively reflect the degree of difference between the two sensor signals at the same time and is the core quantitative indicator for judging whether the signals are consistent.

[0057] It is understandable that the target deviation value is obtained by retrieving the real-time values ​​of the first sensor signal and the second sensor signal at the same moment and performing a preset calculation.

[0058] Step S22: When the target deviation value is less than or equal to the allowable deviation threshold, the consistency analysis result is determined to be consistent with the indication signal. It should be noted that consistent indication signals mean that the difference between the first sensor signal and the second sensor signal is within a preset reasonable range, indicating that both sensors are working normally and the output signal can accurately reflect the actual operation of the brake pedal, and can be used as a valid input signal for the braking system.

[0059] It is understandable that by comparing the target deviation value with the allowable deviation threshold, if the former is less than or equal to the latter, the consistency analysis result is determined to be consistent with the indication signal.

[0060] Step S23: When the target deviation value is greater than the allowable deviation threshold, the consistency analysis result is determined to be an indication signal inconsistency.

[0061] It should be noted that inconsistent indication signals mean that the difference between the first sensor signal and the second sensor signal exceeds the preset reasonable range, indicating that at least one sensor may be faulty and the output signal cannot accurately reflect the actual operation of the brake pedal, requiring further investigation of the fault source.

[0062] Understandably, if the target deviation value exceeds the allowable deviation threshold, the consistency analysis result is determined to be an inconsistency in the indicator signal. Timely identification of signal anomalies provides triggering conditions for subsequent fault tracing and isolation, preventing abnormal signals from entering the braking control system and reducing braking safety risks.

[0063] Step S30: Based on the brake light switch signal, perform fault tracing on the consistency analysis results to obtain fault location results; It should be noted that fault tracing refers to the process of investigating the cause of the abnormality of the dual-path pedal position sensor signal after obtaining the consistency analysis results and combining the brake light switch signal. Through this process, it can be determined which sensor is faulty.

[0064] In addition, the fault location result is obtained through the fault tracing process. This result can accurately identify the faulty sensor in the dual-path pedal position sensor, that is, to determine whether the problem is caused by the sensor corresponding to the first sensor signal or the sensor corresponding to the second sensor signal.

[0065] Understandably, if the consistency analysis results show that the two signals are inconsistent, short-term historical data is called to analyze the changing trends of the two signals. At the same time, logical cross-validation is performed in conjunction with the brake light switch signal. The comprehensive information is used to complete the fault tracing and obtain the fault location result.

[0066] In one feasible implementation, step S30 may include steps S31 to S34: Step S31: When the consistency analysis result is that the first sensor signal and the second sensor signal are inconsistent, acquire the first historical data of the first sensor signal and the second historical data of the second sensor signal. It should be noted that the first historical data refers to the historical data of the first sensor signal within a short period of time. This data is continuously stored by the signal acquisition module and includes the output changes of the first sensor signal in a recent period of time. It can be used to trace the change pattern of the first sensor signal and provide historical basis for judging whether it is abnormal.

[0067] Additionally, the second historical data refers to the historical data of the second sensor signal within a short period of time. It is stored synchronously with the first historical data and records the recent output change trend of the second sensor signal. This data can be used to compare and analyze whether the second sensor signal is consistent with its own historical state, and to help determine whether the signal is normal.

[0068] It is understandable that when the consistency analysis results show that the first sensor signal and the second sensor signal are inconsistent, the first historical data of the first sensor signal that is pre-saved in the signal storage module is retrieved, and the second historical data of the second sensor signal is retrieved at the same time to prepare historical reference data for subsequent signal trend analysis.

[0069] Step S32: Perform signal trend analysis based on the first sensor signal and the first historical data, and the second sensor signal and the second historical data, respectively, to obtain the signal change analysis results; It should be noted that signal trend analysis refers to the process of analyzing the changing patterns, fluctuation range, and change logic of a signal over time by comparing the current sensor signal with the corresponding historical data. This process can identify whether there are abnormal phenomena such as jumps, stagnation, or drifts in the signal that are inconsistent with historical trends.

[0070] In addition, the signal change analysis results are conclusions obtained through signal trend analysis. These results can clearly indicate whether the current change status of each sensor signal is normal, that is, whether the current signal is consistent with its own historical trend and whether there are any abnormal change characteristics.

[0071] It is understandable that the first sensor signal is compared with the first historical data point by point over time to analyze whether the change of the first sensor signal conforms to its historical fluctuation pattern; at the same time, the second sensor signal is compared with the second historical data to analyze whether the change trend of the second sensor signal is normal, and the signal change analysis result is obtained by combining the analysis of the two signals.

[0072] Step S33: Process the first sensor signal and the second sensor signal according to the brake light switch signal to obtain the cross-validation result; It should be noted that the cross-validation result refers to the conclusion obtained after verifying the authenticity of the first sensor signal and the second sensor signal using the brake light switch signal as a related signal.

[0073] Understandably, the status of the brake light switch signal is first determined. If the brake light switch is on, it is checked whether the first sensor signal and the second sensor signal both reflect a valid pedal displacement. If the brake light switch is not on, it is checked whether neither signal shows an abnormal displacement value. Based on the inspection results, it is determined which signal is consistent with the brake light switch signal and which is contradictory, thus obtaining the cross-validation result.

[0074] In one feasible implementation, step S33 may include steps S331 to S335: Step S331: When it is determined that the brake light switch signal is on, determine whether there is no valid pedal displacement signal in the first sensor signal or the second sensor signal; It should be noted that a valid pedal displacement signal refers to the signal output by the sensor when the driver presses the brake pedal, which reflects the actual travel or angle change of the pedal. The value of this signal will change accordingly as the pedal is pressed down. If the signal value does not change or the change does not conform to the pedal operation logic, it is not a valid pedal displacement signal and is the key basis for determining whether the pedal has been operated effectively.

[0075] It is understandable that when the brake light switch signal is determined to be on, it indicates that the driver has indeed pressed the brake pedal. At this time, the first sensor signal and the second sensor signal are checked respectively to determine whether there is a signal that does not show an effective pedal displacement signal that reflects the actual operation of the pedal, that is, to check whether the signal does not change accordingly when the pedal is pressed.

[0076] Step S332: When there is no valid pedal displacement signal in the first sensor signal or the second sensor signal, the sensor signal corresponding to the absence of a valid pedal displacement signal is identified as a first abnormal signal. It should be noted that the first abnormal signal refers to the sensor output signal that is identified as having no valid pedal displacement signal when the brake light switch signal is on. This signal cannot accurately reflect the actual operating state of the driver pressing the brake pedal, which contradicts the pedal operation indicated by the brake light switch being on. It is an important indicator for judging the possible malfunction of the sensor.

[0077] It is understandable that when an inspection finds that there is no valid pedal displacement signal in the first sensor signal or the second sensor signal, the sensor signal that does not have a valid pedal displacement signal is clearly identified as the first abnormal signal, thereby marking that the signal is inconsistent with the current pedal operation state.

[0078] Step S333: When it is determined that the brake light switch signal is in the off state, determine whether there is an abnormal pedal displacement signal in the first sensor signal or the second sensor signal; It should be noted that the abnormal pedal displacement signal refers to a displacement signal that appears when the brake light switch signal is off, even though the sensor output should not have any displacement value, or a displacement value that exceeds the reasonable range when the pedal is fully returned to its original position. This signal contradicts the actual state that the driver has not pressed the pedal or the pedal has returned to its original position, indicating that the sensor may be faulty.

[0079] It is understandable that when the brake light switch signal is determined to be in the off state, it indicates that the driver has not pressed the brake pedal or the pedal has returned to its original position. At this time, the first sensor signal and the second sensor signal are checked respectively to determine whether there is a displacement value that should not exist, that is, whether there is an abnormal pedal displacement signal.

[0080] Step S334: When there is an abnormal pedal displacement signal in the first sensor signal or the second sensor signal, the sensor signal corresponding to the abnormal pedal displacement signal is identified as the second abnormal signal; It should be noted that the second abnormal signal refers to the sensor output signal that is identified as having an abnormal pedal displacement signal when the brake light switch signal is in the off state. This signal conflicts with the pedal not being operated or having returned to its original position indicated by the brake light switch being off, and cannot correctly reflect the actual state of the pedal. It can be used as one of the criteria for determining sensor failure.

[0081] It is understandable that when an abnormal pedal displacement signal is found in the first sensor signal or the second sensor signal, the sensor signal with the abnormal pedal displacement signal is clearly identified as the second abnormal signal, thereby marking that the signal is inconsistent with the current pedal inactive state.

[0082] Step S335: Determine the cross-validation result based on the first abnormal signal and the second abnormal signal.

[0083] It is understandable that if the first abnormal signal exists, the sensor signal corresponding to the first abnormal signal is marked as a signal that contradicts the brake light switch being on; if the second abnormal signal exists, the sensor signal corresponding to the second abnormal signal is marked as a signal that contradicts the brake light switch being off; by combining the marking of the first abnormal signal and the second abnormal signal, it is determined which sensor signal is consistently inconsistent with the brake light switch signal, and the cross-validation result is obtained.

[0084] Step S34: Based on the signal change analysis results and the cross-validation results, fault source tracing is performed to obtain fault location results.

[0085] It should be noted that fault tracing refers to the process of investigating and confirming the source of the fault that causes the inconsistency between the two sensor signals by combining the signal change analysis results and the cross-validation results. This process clarifies which sensor is the source of the fault through the mutual verification of the two types of results.

[0086] In addition, the fault location result is the final conclusion obtained through fault tracing. This result clearly indicates the specific sensor in the dual-path pedal position sensor that has failed, that is, whether the sensor corresponding to the first sensor signal or the sensor corresponding to the second sensor signal has a problem.

[0087] It is understandable that the signal change analysis results are compared and verified with the cross-validation results. If both results point to an abnormality in a certain sensor signal, then that sensor is determined to be the source of the fault, and the fault location result is obtained.

[0088] By integrating the analysis results from two different dimensions to trace the source of the fault, the misjudgment that may be caused by a single basis is avoided. This ensures that the faulty sensor can be accurately located within milliseconds, providing a clear fault indication for subsequent rapid fault isolation and ensuring normal braking function, thus greatly improving the efficiency and accuracy of fault handling.

[0089] Step S40: Based on the fault location results, perform fault isolation to complete the brake pedal verification based on dual-path pedals.

[0090] It should be noted that fault isolation refers to the logical shielding of the faulty sensor after obtaining the fault location result, in order to prevent the abnormal signal of the faulty sensor from affecting the normal operation of the braking system.

[0091] In addition, brake pedal calibration based on dual-path pedals is a process of collecting, analyzing, tracing faults, and isolating faults from dual-path pedal position sensor signals to ensure the reliability of the brake pedal input signal. This process can guarantee the stable operation of the braking system.

[0092] Understandably, based on the fault location results, the sensor identified as faulty is logically isolated and its signal is no longer used. At the same time, the healthy sensor signal in the dual-path pedal position sensor is enabled to complete the brake pedal verification based on the dual-path pedal.

[0093] This embodiment provides a brake pedal calibration method based on dual-path pedals. By employing real-time signal acquisition from dual-path pedal position sensors, dynamic adaptive deviation threshold adjustment, multi-dimensional fault diagnosis combined with brake light switch signals, and seamless fault isolation, it solves the technical problems in traditional brake pedal calibration systems where a single sensor failure leads to unreliable brake signals, inability to accurately locate the fault source, and limited braking function when a fault occurs. It achieves the beneficial effect of ensuring reliable and continuous operation of the braking system under any single fault condition, thereby improving vehicle braking safety and driving experience.

[0094] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to that in the first embodiment described above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 2 Step S40 of the brake pedal verification method based on dual-path pedals includes steps S41 to S43: Step S41: When the fault location result indicates that the first sensor is faulty, the first sensor signal is blocked and the second sensor signal is used as the target brake pedal signal. It should be noted that the first sensor failure is a fault location result that clearly indicates that the sensor outputting the first sensor signal in the dual-path pedal position sensor is abnormal. The output signal of this sensor does not match the actual brake pedal operation state, and may manifest as signal jumps, stagnation, or drift, etc., which cannot provide accurate basis for brake control.

[0095] Additionally, shielding the first sensor signal means cutting off the transmission path of the first sensor signal to the braking control loop at the logic level, and no longer including the abnormal signal in the braking parameter calculation and control command generation process, so as to avoid the abnormal signal interfering with normal braking operation.

[0096] Additionally, the second sensor signal is the output signal of the sensor that has not malfunctioned in the dual-path pedal position sensor. This signal can accurately reflect the driver's operation of the brake pedal, and the signal change trend conforms to the pedal travel or angle change law under normal working conditions, thus possessing accuracy and reliability.

[0097] Furthermore, the target brake pedal signal refers to the signal that is identified as the core input of the braking system. This signal must be able to accurately convey the driver's braking intention, provide reliable data support for the brake control unit to calculate the braking pressure and adjust the braking effect, and is a key signal to ensure the normal execution of the braking function.

[0098] Understandably, when the fault location result clearly indicates a fault in the first sensor, the transmission of the first sensor signal is immediately blocked logically, while the second sensor signal is identified as the target brake pedal signal for the braking system and used for subsequent braking control. In this embodiment, when the first sensor fails due to internal contact contamination, its signal is shielded and the second sensor signal is used as the target brake pedal signal.

[0099] Step S42: When the fault location result indicates that the second sensor is faulty, the second sensor signal is blocked and the first sensor signal is used as the target brake pedal signal; It should be noted that the second sensor failure is when the fault location results clearly indicate that the sensor outputting the second sensor signal in the dual-path pedal position sensor is abnormal. Its output signal contradicts the actual operating state of the brake pedal, and may exhibit problems such as no effective signal change or abnormal fluctuations, which cannot meet the signal accuracy requirements of brake control.

[0100] In addition, shielding the second sensor signal interrupts the transmission of the second sensor signal to the brake control unit at the logic level, preventing the fault signal from being used in any control decisions of the braking system and preventing it from having a negative impact on functions such as brake pressure establishment and energy recovery.

[0101] In addition, the first sensor signal is the signal output by the sensor in the dual-path pedal position sensor that has not malfunctioned. This signal can accurately follow the changes in the travel or angle of the brake pedal, which conforms to the physiological logic of human operation of the brake pedal and the requirements of vehicle driving conditions, and has the reliability to serve as a brake input signal.

[0102] It is understandable that when the fault location result indicates a fault in the second sensor, the signal of the second sensor is logically shielded, while the signal of the first sensor is determined as the target brake pedal signal to provide a valid input to the braking system.

[0103] Step S43: Generate maintenance warning information based on the target brake pedal signal to complete the brake pedal verification based on dual-path pedals.

[0104] It should be noted that maintenance warning messages include the type of fault, safety tips, and suggestions for subsequent operations. They are usually presented in a visual form (such as an indicator light on the dashboard) or an auditory form (such as a warning sound). For example, the message may state that the brake system sensor is faulty, and that the driver should drive carefully and have it repaired promptly. This is intended to inform the driver of the system status without causing panic.

[0105] In addition, brake pedal calibration based on dual-path pedals involves a complete process of fault location, fault signal shielding, target signal selection, and maintenance warning generation. This process ensures that the braking system receives a reliable input signal while reminding the driver to handle the fault, ultimately achieving effective calibration of the dual-path pedal signals.

[0106] Understandably, based on the determined target brake pedal signal, it is determined that there is a fault in one sensor, and a maintenance warning message containing fault indication and repair suggestions is generated. This message is then sent to the driver through the vehicle warning device, thus completing the brake pedal verification based on the dual-path pedal.

[0107] This embodiment provides a brake pedal calibration method based on dual-path pedals. By shielding the faulty sensor signal after fault location and using the other normal sensor signal as the target brake pedal signal, while generating maintenance warning information, it solves the technical problems of traditional brake pedal calibration systems, such as the inability to effectively switch signals, limited braking function, and inability to promptly remind the driver when a fault occurs. It achieves the beneficial effect of ensuring reliable braking system signals and complete functionality in the case of a single sensor failure, and promptly notifying the driver to perform maintenance.

[0108] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the brake pedal verification method based on dual-path pedals in this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0109] This application also provides a brake pedal calibration device based on a dual-path pedal; please refer to [reference needed]. Figure 3 The brake pedal calibration device based on dual-path pedals includes: Data acquisition module 10 is used to acquire brake light switch signal, allowable deviation threshold, and first sensor signal and second sensor signal of dual-path pedal position sensor; The consistency analysis module 20 is used to cross-compare the first sensor signal and the second sensor signal to obtain the comparison result, and to perform consistency analysis based on the comparison result and the allowable deviation threshold to obtain the consistency analysis result. The fault location module 30 is used to trace the source of the fault based on the consistency analysis result according to the brake light switch signal, and obtain the fault location result; Brake pedal verification module 40 is used to isolate faults based on the fault location results in order to complete brake pedal verification based on dual-path pedals.

[0110] The brake pedal calibration device based on a dual-path pedal provided in this application employs the brake pedal calibration method based on a dual-path pedal in the above embodiments. It can solve the technical problem of accurately identifying the source of the fault and ensuring that the brake pedal input remains reliable and usable even under fault conditions when the pedal position signal is abnormal or inconsistent. Compared with the prior art, the beneficial effects of the brake pedal calibration device based on a dual-path pedal provided in this application are the same as those of the brake pedal calibration method based on a dual-path pedal provided in the above embodiments. Furthermore, other technical features of the brake pedal calibration device based on a dual-path pedal are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0111] In one embodiment, the fault location module 30 is further configured to: acquire first historical data of the first sensor signal and second historical data of the second sensor signal when the consistency analysis result indicates that the first sensor signal and the second sensor signal are inconsistent; perform signal trend analysis based on the first sensor signal and the first historical data, and the second sensor signal and the second historical data, respectively, to obtain signal change analysis results; process the first sensor signal and the second sensor signal based on the brake light switch signal to obtain cross-validation results; and perform fault tracing based on the signal change analysis results and the cross-validation results to obtain fault location results.

[0112] In one embodiment, the fault location module 30 is further configured to, when determining that the brake light switch signal is in an on state, determine whether the first sensor signal or the second sensor signal does not have a valid pedal displacement signal; when the first sensor signal or the second sensor signal does not have a valid pedal displacement signal, identify the sensor signal corresponding to the absence of a valid pedal displacement signal as a first abnormal signal; when determining that the brake light switch signal is in an off state, determine whether the first sensor signal or the second sensor signal has an abnormal pedal displacement signal; when the first sensor signal or the second sensor signal has an abnormal pedal displacement signal, identify the sensor signal corresponding to the abnormal pedal displacement signal as a second abnormal signal; and determine a cross-validation result based on the first abnormal signal and the second abnormal signal.

[0113] In one embodiment, the consistency analysis module 20 is further configured to calculate a target deviation value based on the first sensor signal and the second sensor signal; when the target deviation value is less than or equal to the allowable deviation threshold, determine the consistency analysis result as an indication signal being consistent; and when the target deviation value is greater than the allowable deviation threshold, determine the consistency analysis result as an indication signal being inconsistent.

[0114] In one embodiment, the brake pedal verification module 40 is further configured to: when the fault location result indicates a first sensor fault, shield the first sensor signal and use the second sensor signal as the target brake pedal signal; when the fault location result indicates a second sensor fault, shield the second sensor signal and use the first sensor signal as the target brake pedal signal; and generate maintenance warning information based on the target brake pedal signal to complete the brake pedal verification based on the dual-path pedal.

[0115] In one embodiment, the data acquisition module 10 is further configured to acquire a first pedal signal, a second pedal signal, a brake light switch signal, a preset range, and a preset rate of change threshold from the dual-path pedal position sensor; determine whether the instantaneous values ​​of the first pedal signal and the second pedal signal are within the preset range; when the instantaneous values ​​of the first pedal signal and the second pedal signal are within the preset range, determine whether the rate of change of the first pedal signal and the second pedal signal exceeds the preset rate of change threshold; when the rate of change of the first pedal signal and the second pedal signal exceeds the preset rate of change threshold, determine a first sensor signal based on the first pedal signal and a second sensor signal based on the second pedal signal; and determine an allowable deviation threshold based on the current vehicle speed, the first sensor signal, the second sensor signal, and the pedal operation frequency.

[0116] In one embodiment, the data acquisition module 10 is further configured to acquire an initial threshold, wherein the initial threshold is greater than the static drift amount of the dual-path pedal position sensor; adjust the initial threshold according to the current vehicle speed to obtain a vehicle speed threshold adjustment result; adjust according to the first sensor signal, the second sensor signal, and the pedal operation frequency to obtain a pedal operation adjustment result; and determine an allowable deviation threshold based on the vehicle speed threshold adjustment result and the pedal operation adjustment result.

[0117] This application provides a brake pedal calibration device based on a dual-path pedal. The brake pedal calibration device based on a dual-path pedal includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the brake pedal calibration method based on a dual-path pedal in the above embodiment 1.

[0118] The following is for reference. Figure 4This document illustrates a schematic diagram of a brake pedal calibration device based on a dual-path pedal, suitable for implementing embodiments of this application. The brake pedal calibration device based on a dual-path pedal in this application can include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), and in-vehicle terminals (e.g., in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. Figure 4 The brake pedal calibration device based on dual-path pedal shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0119] like Figure 4 As shown, the brake pedal calibration device based on a dual-path pedal can include a processing unit 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in ROM (Read Only Memory) 1002 or a program loaded from storage device 1003 into RAM (Random Access Memory) 1004. RAM 1004 also stores various programs and data required for the operation of the dual-path pedal calibration device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via bus 1005. Input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the dual-pedal brake pedal calibration device to communicate wirelessly or wiredly with other devices to exchange data. Although a dual-pedal brake pedal calibration device with various systems is shown in the figure, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems can be implemented alternatively.

[0120] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0121] The brake pedal calibration device based on a dual-path pedal provided in this application, employing the brake pedal calibration method based on a dual-path pedal in the above embodiments, can solve the technical problem of accurately identifying the source of the fault and ensuring that the brake pedal input remains reliable and usable even under fault conditions when the pedal position signal is abnormal or inconsistent. Compared with the prior art, the beneficial effects of the brake pedal calibration device based on a dual-path pedal provided in this application are the same as those of the brake pedal calibration method based on a dual-path pedal provided in the above embodiments, and other technical features in this brake pedal calibration device based on a dual-path pedal are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0122] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0123] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0124] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the brake pedal verification method based on dual-path pedals in the above embodiments.

[0125] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, RAM (Random Access Memory), ROM (Read Only Memory), Erasable Programmable Read Only Memory (EPROM), optical fiber, CD-ROM (CD-Read Only Memory), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0126] The aforementioned computer-readable storage medium may be included in a brake pedal calibration device based on a dual-path pedal; or it may exist independently and not assembled into a brake pedal calibration device based on a dual-path pedal.

[0127] The aforementioned computer-readable storage medium carries one or more programs. When these programs are executed by a brake pedal calibration device based on a dual-path pedal, the brake pedal calibration device performs the following: acquires a brake light switch signal, an allowable deviation threshold, and first and second sensor signals from a dual-path pedal position sensor; processes the first and second sensor signals to obtain a target deviation value, and performs a consistency analysis based on the target deviation value and the allowable deviation threshold to obtain a consistency analysis result; performs fault tracing based on the consistency analysis result using the brake light switch signal to obtain a fault location result; and performs fault isolation based on the fault location result to complete the brake pedal calibration based on the dual-path pedal.

[0128] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including LAN (Local Area Network) or WAN (Wide Area Network)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0129] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0130] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0131] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described brake pedal verification method based on a dual-path pedal. This solves the technical problem of accurately identifying the source of the fault and ensuring that the brake pedal input remains reliable and usable even under fault conditions when the pedal position signal is abnormal or inconsistent. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the brake pedal verification method based on a dual-path pedal provided in the above embodiments, and will not be repeated here.

[0132] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the brake pedal verification method based on dual-path pedals as described above.

[0133] The computer program product provided in this application can solve the technical problem of accurately identifying the source of failure when the pedal position signal is abnormal or inconsistent, and ensuring that the brake pedal input remains reliable and usable under fault conditions. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the brake pedal verification method based on dual-path pedals provided in the above embodiments, and will not be repeated here.

[0134] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A method of verifying a brake pedal based on a two-path pedal, characterized by, The method comprises: acquiring a brake light switch signal, an allowable deviation threshold value, and first and second sensor signals of a two-way pedal position sensor; processing the first and second sensor signals to obtain a target deviation value, and performing consistency analysis on the target deviation value and the allowable deviation threshold value to obtain a consistency analysis result; performing fault tracing on the consistency analysis result according to the brake light switch signal to obtain a fault positioning result; performing fault isolation based on the fault positioning result to complete brake pedal verification based on a two-way pedal.

2. The method of claim 1, wherein, The step of performing fault tracing on the consistency analysis result according to the brake light switch signal to obtain a fault positioning result comprises: when the consistency analysis result is that the first and second sensor signals are inconsistent, acquiring first historical data of the first sensor signal and second historical data of the second sensor signal; performing signal trend analysis on the first sensor signal and the first historical data and the second sensor signal and the second historical data respectively to obtain a signal change analysis result; processing the first and second sensor signals according to the brake light switch signal to obtain a cross-validation result; performing fault tracing according to the signal change analysis result and the cross-validation result to obtain a fault positioning result.

3. The method of claim 2, wherein, The step of processing the first and second sensor signals according to the brake light switch signal to obtain a cross-validation result comprises: when it is determined that the brake light switch signal is in an on state, determining whether the first or second sensor signal is free of an effective pedal displacement signal; when the first or second sensor signal is free of an effective pedal displacement signal, identifying the sensor signal corresponding to the pedal displacement signal as a first abnormal signal; when it is determined that the brake light switch signal is in an off state, determining whether the first or second sensor signal has an abnormal pedal displacement signal; when the first or second sensor signal has an abnormal pedal displacement signal, identifying the sensor signal corresponding to the abnormal pedal displacement signal as a second abnormal signal; determining a cross-validation result according to the first and second abnormal signals.

4. The method of claim 1, wherein, The step of processing the first and second sensor signals to obtain a target deviation value, and performing consistency analysis on the target deviation value and the allowable deviation threshold value to obtain a consistency analysis result comprises: calculating a target deviation value according to the first and second sensor signals; when the target deviation value is less than or equal to the allowable deviation threshold value, determining that the consistency analysis result is that the signals are consistent; when the target deviation value is greater than the allowable deviation threshold value, determining that the consistency analysis result is that the signals are inconsistent.

5. The method of claim 1, wherein, The step of performing fault isolation based on the fault positioning result to complete brake pedal verification based on a two-way pedal comprises: when the fault positioning result is a first sensor fault, shielding the first sensor signal and taking the second sensor signal as a target brake pedal signal; when the fault positioning result indicates a second sensor fault, shielding the second sensor signal and taking the first sensor signal as a target brake pedal signal; generating a maintenance warning information according to the target brake pedal signal to complete the dual-path pedal based brake pedal verification.

6. The method of claim 1, wherein, The steps of obtaining the brake light switch signal, the allowable deviation threshold, and the first sensor signal and the second sensor signal of the dual-path pedal position sensor include: obtaining a first pedal signal, a second pedal signal, a brake light switch signal, a preset range, and a preset rate threshold of a dual-path pedal position sensor; determining whether the instantaneous values of the first pedal signal and the second pedal signal are within the preset range; when it is determined that the instantaneous values of the first pedal signal and the second pedal signal are within the preset range, respectively determining whether the rates of change of the first pedal signal and the second pedal signal exceed the preset rate threshold; when it is determined that the rates of change of the first pedal signal and the second pedal signal exceed the preset rate threshold, determining a first sensor signal according to the first pedal signal and a second sensor signal according to the second pedal signal; determining an allowable deviation threshold according to the current vehicle speed, the first sensor signal, the second sensor signal, and the pedal operation frequency.

7. The method of claim 6, wherein, The step of determining the allowable deviation threshold according to the current vehicle speed, the first sensor signal, the second sensor signal, and the pedal operation frequency includes: obtaining an initial threshold, wherein the initial threshold is greater than the static drift of the dual-path pedal position sensor; adjusting the initial threshold according to the current vehicle speed to obtain a vehicle speed threshold adjustment result; adjusting according to the first sensor signal, the second sensor signal, and the pedal operation frequency to obtain a pedal operation adjustment result; determining the allowable deviation threshold according to the vehicle speed threshold adjustment result and the pedal operation adjustment result.

8. A two-path pedal based brake pedal verification device, characterized by, The device includes: a data acquisition module configured to obtain a brake light switch signal, an allowable deviation threshold, and a first sensor signal and a second sensor signal of a dual-path pedal position sensor; a consistency analysis module configured to cross-compare the first sensor signal and the second sensor signal to obtain a comparison result, and perform consistency analysis according to the comparison result and the allowable deviation threshold to obtain a consistency analysis result; a fault positioning module configured to trace the consistency analysis result according to the brake light switch signal to obtain a fault positioning result; a brake pedal verification module configured to perform fault isolation based on the fault positioning result to complete the dual-path pedal based brake pedal verification.

9. A two-pedal based brake pedal verification apparatus, characterized by, The device includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the dual-path pedal based brake pedal verification method according to any one of claims 1 to 7.

10. A storage medium, characterized by The storage medium is a computer readable storage medium, and the storage medium stores a computer program. The computer program is executed by the processor to implement the steps of the brake pedal verification method based on the two-path pedal according to any one of claims 1 to 7.

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