Vehicle device detection method, vehicle, device, storage medium and program product

Abstract

The embodiment of the invention provides a vehicle device detection method, a vehicle, a device, a storage medium and a program product, and relates to the technical field of vehicles, and the method comprises the steps: obtaining at least one piece of vehicle information, and then determining the fault state of at least one vehicle device according to the at least one piece of vehicle information, therefore, the fault state of the vehicle device is accurately determined, and the vehicle is monitored according to the fault state, so that the running stability of the vehicle is ensured.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a method for detecting vehicle devices, a weighing method, a device for detecting vehicle devices, a computer-readable storage medium, and a computer program product. Background Technology

[0002] For vehicles, the proper functioning of vehicle systems is a crucial foundation for ensuring user safety. However, during long-term vehicle operation, these systems may malfunction, potentially posing safety risks to users. Therefore, timely fault detection of vehicle systems is necessary to ensure the stability and safety of the vehicle. Summary of the Invention

[0003] The present invention provides a method for detecting vehicle devices, a vehicle, a device, a storage medium, and a program product to solve or partially solve the problem of the inability to effectively detect faults in vehicle devices.

[0004] This invention discloses a method for detecting a vehicle device, comprising:

[0005] Obtain information on at least one vehicle;

[0006] The fault status of at least one vehicle device is determined based on at least one of the vehicle information.

[0007] This invention also discloses a detection device for a vehicle device, comprising:

[0008] The information acquisition module is used to acquire information about at least one vehicle.

[0009] A detection module is used to determine the fault state of at least one vehicle device based on at least one of the vehicle information.

[0010] This invention also discloses a vehicle for performing the methods described in this invention.

[0011] This invention also discloses a detection device for a vehicle device, comprising:

[0012] The information acquisition module is used to acquire information about at least one vehicle.

[0013] A detection module is used to determine the fault state of at least one vehicle device based on at least one of the vehicle information.

[0014] This invention also discloses a computer-readable storage medium storing instructions that, when executed by one or more processors, cause the processors to perform the methods described in this invention.

[0015] This invention also discloses a computer program product, characterized in that it includes a computer program / instruction, wherein when the computer program / instruction is executed, it implements the method described in this invention embodiment.

[0016] The embodiments of the present invention have the following advantages:

[0017] In this embodiment of the invention, the vehicle can acquire at least one vehicle information and then determine the fault state of at least one vehicle device based on the at least one vehicle information, thereby accurately determining the fault state of the vehicle device and monitoring the vehicle through the fault state to ensure the stability of vehicle operation. Attached Figure Description

[0018] Figure 1 This is a flowchart of the steps of a vehicle device detection method provided in an embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of the braking system provided in an embodiment of the present invention;

[0020] Figure 3 This is a flowchart of the steps of a vehicle device detection method provided in an embodiment of the present invention;

[0021] Figure 4 This is a flowchart of the fault detection process of the braking system provided in this embodiment of the invention;

[0022] Figure 5 This is a structural block diagram of a vehicle device detection device provided in an embodiment of the present invention. Detailed Implementation

[0023] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] As an example, the proper functioning of the braking system is crucial for vehicle safety. During long-term driving, various parts of the braking system may malfunction, which can easily lead to insufficient or unstable braking force, or in severe cases, the entire braking system may fail to function.

[0025] In this invention, the vehicle can acquire at least one vehicle information and then determine the fault state of at least one vehicle device based on the at least one vehicle information, thereby accurately determining the fault state of the vehicle device. At the same time, the vehicle is monitored through the fault state to ensure the stability of vehicle operation.

[0026] Reference Figure 1The diagram illustrates a step flowchart of a vehicle device detection method provided by an embodiment of the present invention, which may specifically include the following steps:

[0027] Step 101: Obtain information on at least one vehicle;

[0028] Step 102: Determine the fault status of at least one vehicle device based on at least one of the vehicle information.

[0029] In this embodiment of the invention, vehicle information can be parameters related to vehicle braking, and vehicle devices can be devices related to vehicle braking. The vehicle acquires at least one parameter related to vehicle braking, and then performs fault detection on the vehicle braking-related devices based on the acquired parameters to determine the fault state of each vehicle device, thereby accurately determining the fault state of the vehicle device. At the same time, the vehicle is monitored through the fault state to ensure the stability of vehicle operation.

[0030] In some feasible implementations, at least one vehicle device can be a device in the vehicle's braking system. That is, the vehicle device can at least include a pedal sensor corresponding to the vehicle pedal, a brake control unit, a brake motor, and a brake, etc. The brake motor and the brake can form the vehicle's actuators. The vehicle pedal can include an accelerator pedal, a brake pedal, and a clutch pedal, etc. (in this embodiment of the invention, the vehicle pedal is exemplarily described as a brake pedal). When a control operation is input to the vehicle pedal, the pedal sensor can detect the corresponding pedal signal. The brake control unit can be an ECU (Engine Control Unit), which is responsible for managing and controlling various operations of the engine. The ECU can receive input signals from various sensors, adjust the engine's operating parameters according to preset programs and algorithms, and output corresponding control signals, such as deceleration signals. The brake motor can provide power to drive mechanical equipment and also has a braking function so that it can quickly decelerate or stop when needed. During the braking process, the vehicle can be braked through a corresponding torque signal. The brake can decelerate or stop the vehicle by applying friction. During the braking process, the greater the clamping force of the brake, the greater the applied friction and the better the braking effect, and vice versa.

[0031] In one example, refer to Figure 2The diagram illustrates a braking system provided in an embodiment of the present invention. The braking system 20 may include an electronic brake pedal 210, a brake control unit 220, and an actuator 230. The electronic brake pedal 210 may be equipped with corresponding sensors to detect relevant parameters during pedal movement, such as a pedal displacement sensor, a pedal force sensor, and a pedal angle sensor. The actuator 230 may include a brake motor 2301 and a brake 2302, where the brake 2302 may be a clamping mechanism. It should be noted that during braking, when the driver depresses the brake pedal, the corresponding pedal sensor can collect the corresponding pedal signals generated during pedal movement and transmit these signals to the ECU. The ECU analyzes the pedal signals to determine the driver's braking intention and then controls the brake motor to generate a certain speed and torque, ultimately pushing the brake caliper to clamp the brake disc and generate braking force.

[0032] Optionally, vehicle information can be acquired by triggering the collection of relevant vehicle information through corresponding fault detection commands. These fault detection commands can be commands generated actively by the user, or commands automatically triggered by the vehicle periodically or under certain conditions. For example, users can input fault detection commands for the braking system through interactive methods such as touch, mechanical keys, voice input, and gestures. These commands can also be automatically generated during vehicle operation or periodically generated. Generating detection commands for vehicle devices through various methods can effectively troubleshoot braking system faults, ensuring user safety. This invention does not impose any limitations on this approach.

[0033] In this system, upon responding to a fault detection command for the braking system, the vehicle can acquire at least one piece of vehicle information to perform fault detection on the braking system. Optionally, the vehicle information may include at least pedal signals, brake force signals, deceleration signals from the brake control unit, and torque signals from the brake motor. By utilizing various types of vehicle information, fault detection and location can be performed on the braking system. This allows for precise location of the fault in the braking system in the event of a malfunction, thereby effectively ensuring the stability of the braking system's operation.

[0034] In practical implementation, after acquiring at least one vehicle information, the vehicle can perform fault detection and fault location on the braking system based on the at least one vehicle information, and output the fault status corresponding to at least one vehicle device based on the detection results. Thus, when performing fault detection on the vehicle's braking system, the fault detection and location on the braking system based on at least one vehicle information can accurately detect whether the braking system has a fault, and accurately locate the location of the fault in the braking system if a fault occurs. Therefore, based on fault detection, the stability of the braking system operation can be effectively guaranteed.

[0035] It should be noted that the relevant vehicle information can be collected by corresponding sensors or calculated by corresponding algorithms. For example, pedal signals can be collected by pedal sensors, deceleration signals can be calculated by the ECU based on corresponding algorithms, torque signals can be calculated by the brake motor using corresponding algorithms, and braking force signals can be collected by corresponding pressure sensors. Pedal sensors include pedal displacement sensors, pedal force sensors, and pedal angle sensors, etc., and pressure sensors can include clamping force sensors, wheel cylinder pressure sensors, master cylinder pressure sensors, etc., which are not limited in this invention.

[0036] In this embodiment of the invention, the vehicle can acquire at least one vehicle information and then determine the fault state of at least one vehicle device based on the at least one vehicle information, thereby accurately determining the fault state of the vehicle device and monitoring the vehicle through the fault state to ensure the stability of vehicle operation.

[0037] Reference Figure 3 The diagram illustrates a step flowchart of a vehicle device detection method provided by an embodiment of the present invention, which may specifically include the following steps:

[0038] Step 301: Obtain at least one vehicle information, wherein the vehicle information includes at least first information;

[0039] Step 302: Determine the fault status of at least one vehicle device based on the first information.

[0040] In some feasible implementations, the vehicle device can be the vehicle pedal of the vehicle braking system. The first information can include at least the pedal signal collected by the pedal sensor corresponding to the vehicle pedal. The fault state of the pedal sensor can be determined based on the pedal signal. Thus, the fault state of the vehicle pedal can be effectively detected through the pedal signal to determine whether the vehicle pedal has malfunctioned, thereby ensuring the stability of the vehicle pedal operation.

[0041] In this embodiment of the invention, the vehicle pedal can be a brake pedal. For the brake pedal, at least one pedal sensor can be provided. The pedal sensor collects parameters of the movement process of the brake pedal, and then the pedal sensor is used to detect fault status based on the collected parameters.

[0042] In a specific implementation, the brake pedal can have at least two pedal sensors. For example, when the pedal sensors include a first pedal sensor and a second pedal sensor, at least one first pedal signal can be collected through the first pedal sensor, and at least one second pedal signal can be collected through the second pedal sensor. Wherein, the first pedal sensor may be the same as or different from the first pedal sensor, and the first pedal signal may be the same as or different from the second pedal signal. Therefore, the fault state of the pedal sensor can be determined based on at least one first pedal signal and at least one second pedal signal.

[0043] This method involves using the same pedal sensor to collect multiple different signals of the same type, or using different pedal sensors to collect different types of signals. One signal can be used as a detection signal, and another as a standard signal. The detection signal is then tested using the standard signal to detect the corresponding sensor. This allows for the determination of whether the brake pedal sensor is malfunctioning, and in the event of an malfunction, the location of the faulty sensor can be determined. By accurately detecting the pedal signal, the braking system can be accurately identified, and the location of the fault can be precisely determined. This fault detection can effectively ensure the stability of the braking system.

[0044] Assuming the pedal signal includes a first pedal signal and a second pedal signal, the corresponding actual value can be determined based on the first pedal signal, and the corresponding theoretical value can be determined based on the second pedal signal; or, the corresponding theoretical value can be determined based on the first pedal signal, and the corresponding actual value can be determined based on the second pedal signal. Then, the fault state of the pedal sensor can be determined based on the actual value and the theoretical value. Thus, the fault state of the vehicle pedal can be effectively detected through the pedal signal, so as to determine whether the vehicle pedal has malfunctioned, thereby ensuring the stability of the vehicle pedal operation.

[0045] It should be noted that by constructing the correspondence between different parameters involved in the brake pedal, such as the correspondence between pedal displacement and pedal force, pedal force and pedal angle, and pedal angle and pedal displacement, fault detection and fault location can be performed based on the corresponding correspondence, determining whether the brake pedal sensor has malfunctioned, and locating the malfunctioning sensor.

[0046] Optionally, for the pedal signal, two pedal displacement sensors or two pedal force sensors can be used simultaneously to replace the original one pedal displacement sensor and one pedal force sensor. As long as there are two or more pedal sensors, a self-diagnosis of the brake pedal fault can be performed. The specific fault self-diagnosis process involves comparing the values ​​of two sensors of the same type and determining whether the difference exceeds a set threshold, thus determining whether at least one of the two sensors is faulty. When using two different types of sensors, such as a pedal force sensor and a pedal displacement sensor, the output value of one sensor can be converted to the output value of the other sensor through a certain relationship, and then the difference between the two can be compared to determine whether at least one of the two sensors is faulty. When using two sensors of the same type, such as two pedal displacement sensors, the difference between the two can be directly compared to determine whether at least one of the two sensors is faulty.

[0047] In addition to pedal displacement sensors and pedal force sensors, alternatives such as pedal angle sensors can be used. By installing at least two, two, two, or two pedal displacement sensors, two pedal force sensors, or two pedal angle sensors on the brake pedal, fault detection of the brake pedal can be performed, thereby enabling self-testing of the brake pedal based on two or more sensors.

[0048] It should be noted that during the brake pedal detection process, the pedal signal collected by one of the sensors can be used as the detection signal, i.e., the signal to be detected, and the corresponding sensor is also the object to be detected. The other one or more pedal signals are used as standard signals to detect the object to be detected. For example, assuming that sensor A collects pedal signal a and sensor B collects pedal signal b, sensor A can be detected based on pedal signal a and pedal signal b. The detection result includes whether sensor A is abnormal or normal. Conversely, sensor B can also be detected based on pedal signal a and pedal signal b, and the detection result includes whether sensor A is abnormal or normal. Furthermore, assuming that sensor A and sensor B are different types of sensors, when detecting sensor A, the pedal signal b can first be converted into a parameter of the same type as pedal signal a through a corresponding comparison relationship, such as pedal signal b'. Then, sensor A is detected based on pedal signal a and pedal signal b', and the detection result includes whether sensor A is abnormal or normal. Conversely, the pedal signal a can also be converted into a parameter of the same type as pedal signal b through a corresponding comparison relationship, such as pedal signal a'. Then, sensor B is detected based on pedal signal b and pedal signal a', and the detection result includes whether sensor A is abnormal or normal. Thus, self-testing of the brake pedal can be achieved based on two or more sensors.

[0049] In one example, the first pedal signal is a displacement detection signal, and the second pedal signal is a pedal force detection signal. The actual pedal displacement can be determined first based on the displacement detection signal, and the first predicted pedal displacement can be determined based on the pedal force detection signal. Then, the actual pedal displacement is compared with the first preset pedal displacement to determine if the pedal displacement sensor is malfunctioning. If the difference between the actual pedal displacement and the first predicted pedal displacement is greater than the first preset threshold, the pedal displacement sensor is determined to be in an abnormal state; if the difference is less than or equal to the first preset threshold, the pedal displacement sensor is determined to be in a normal state.

[0050] In another example, the first pedal signal is a displacement detection signal, and the second pedal signal is a pedal force detection signal. The actual pedal force can be determined first based on the pedal force detection signal, and the first predicted pedal force can be determined based on the displacement detection signal. Then, the actual pedal force and the first predicted pedal force can be compared to determine if the pedal force sensor is malfunctioning. If the difference between the actual pedal force and the first predicted pedal force is greater than a second preset threshold, the pedal force sensor is determined to be in an abnormal state; if the difference is less than or equal to the second preset threshold, the pedal force sensor is determined to be in a normal state.

[0051] In another example, the first pedal signal is a displacement detection signal, and the second pedal signal is a pedal angle detection signal. The actual pedal displacement can be determined first based on the displacement detection signal, then the corresponding second predicted pedal displacement can be determined based on the pedal angle detection signal. Finally, the actual pedal displacement and the second predicted pedal displacement are compared to determine if the pedal displacement sensor is malfunctioning. If the difference between the actual pedal displacement and the second predicted pedal displacement is greater than a first preset threshold, the pedal displacement sensor is determined to be in a normal state; if the difference is less than or equal to the first preset threshold, the pedal displacement sensor is determined to be in an abnormal state.

[0052] In another example, the first pedal signal is a displacement detection signal, and the second pedal signal is a pedal angle detection signal. The actual pedal angle can be determined first based on the pedal angle detection signal, followed by the first predicted pedal angle based on the displacement detection signal. Then, the actual pedal angle is compared with the first predicted pedal angle to determine if the pedal angle sensor is malfunctioning. If the difference between the actual pedal angle and the first predicted pedal angle is greater than a third preset threshold, the pedal angle sensor is determined to be in a normal state; if the difference is less than or equal to the third preset threshold, the pedal angle sensor is determined to be in an abnormal state.

[0053] In another example, where the first pedal signal is a pedal angle detection signal and the second pedal signal is a pedal force detection signal, the actual pedal angle can be determined first based on the pedal angle detection signal, and the second predicted pedal angle can be determined based on the pedal force detection signal. Then, the actual pedal angle and the second predicted pedal angle are compared to determine whether the pedal angle sensor is malfunctioning. If the difference between the actual pedal angle and the second predicted pedal angle is greater than a third preset threshold, the pedal angle sensor is determined to be in a normal state; if the difference between the actual pedal angle and the second predicted pedal angle is less than or equal to the third preset threshold, the pedal angle sensor is determined to be in an abnormal state.

[0054] In another example, the first pedal signal is a pedal angle detection signal, and the second pedal signal is a pedal force detection signal. The actual pedal force can be determined first based on the pedal force detection signal, then the corresponding second predicted pedal force can be determined based on the pedal angle detection signal. Finally, the actual pedal force and the second predicted pedal force are compared to determine if the pedal force sensor is malfunctioning. If the difference between the actual pedal force and the second predicted pedal force is greater than a second preset threshold, the pedal force sensor is determined to be in a normal state; if the difference is less than or equal to the second preset threshold, the pedal force sensor is determined to be in an abnormal state.

[0055] It should be noted that the above process uses the comparison of output values ​​between two different types of pedal sensors as an example for pedal sensor detection. It can be understood that in the actual detection process, the brake pedal self-test can be achieved by comparing the output values ​​between at least two different types of pedal sensors. As the number of pedal sensors increases, the accuracy of the brake pedal self-test also increases. Based on this, in the process of detecting the brake pedal, the number of pedal sensors can be set according to actual needs so that the brake pedal can be fault detected by the output values ​​of at least two pedal sensors. This can accurately detect whether the braking system has a fault, and in the event of a fault, accurately locate the location of the fault in the braking system. Thus, based on fault detection, the stability of the braking system operation can be effectively guaranteed.

[0056] Furthermore, when the brake pedal is equipped with at least two pedal sensors of the same type, such as at least two pedal displacement sensors, at least two pedal force sensors, and at least two pedal angle sensors, the brake pedal can be self-tested based on at least two identical pedal signals.

[0057] In one example, the pedal sensor includes at least a first pedal displacement sensor and a second pedal displacement sensor. The first pedal signal is a first pedal displacement detection signal collected by the first pedal displacement sensor, and the second pedal signal is a second pedal displacement detection signal collected by the second pedal displacement sensor. The first pedal displacement can be determined first based on the first pedal displacement detection signal, and then the second pedal displacement can be determined based on the second pedal displacement detection signal. The two pedal displacements are then compared to determine if the pedal displacement sensor is faulty. If the difference between the first and second pedal displacements is greater than a first preset threshold, the pedal displacement sensor is determined to be in an abnormal state; if the difference is less than or equal to the first preset threshold, the pedal displacement sensor is determined to be in a normal state.

[0058] In the case where the pedal sensor includes a first pedal displacement sensor that collects a first pedal displacement detection signal and a second pedal displacement sensor that collects a second pedal displacement detection signal, a preset standard pedal displacement can be determined first. Then, the first pedal displacement and the second pedal displacement can be compared with the standard pedal displacement. If the difference between the first pedal displacement and the standard pedal displacement is greater than a preset displacement deviation value, the first pedal displacement sensor is determined to be in an abnormal state. If the difference between the second pedal displacement and the standard pedal displacement is greater than a preset displacement deviation value, the second pedal displacement sensor is determined to be in an abnormal state. If the difference between the first pedal displacement and the standard pedal displacement is greater than a preset displacement deviation value, and the difference between the second pedal displacement and the standard pedal displacement is also greater than a preset displacement deviation value, both the first pedal displacement sensor and the second pedal displacement sensor are determined to be in an abnormal state.

[0059] In another example, the pedal sensor includes at least a first pedal force sensor and a second pedal force sensor. The first pedal signal is a first pedal force detection signal collected by the first pedal force sensor, and the second pedal signal is a second pedal force detection signal collected by the second pedal force sensor. The first pedal force can be determined based on the first pedal force detection signal, and the second pedal force can be determined based on the second pedal force detection signal. Then, the two pedal forces are compared to determine whether the pedal force sensor is malfunctioning. If the difference between the first pedal force and the second pedal force is greater than a second preset threshold, the pedal force sensor is determined to be in an abnormal state; if the difference between the first pedal force and the second pedal force is less than or equal to the second preset threshold, the pedal force sensor is determined to be in a normal state.

[0060] In this configuration, when the pedal sensor includes a first pedal force sensor that collects a first pedal force detection signal and a second pedal force sensor that collects a second pedal force detection signal, a preset standard pedal force is determined. Then, the first pedal force and the second pedal force are compared with the standard pedal force. If the difference between the first pedal force and the standard pedal force is greater than a preset pedal force deviation value, the first pedal force sensor is determined to be in an abnormal state. If the difference between the second pedal force and the standard pedal force is greater than the preset pedal force deviation value, the second pedal force sensor is determined to be in an abnormal state. If the difference between the first pedal force and the standard pedal force is greater than the preset pedal force deviation value, and the difference between the second pedal force and the standard pedal force is also greater than the preset pedal force deviation value, both the first pedal force sensor and the second pedal force sensor are determined to be in an abnormal state.

[0061] In another example, the pedal sensor includes at least a first pedal angle sensor and a second pedal angle sensor. The first pedal signal is a first pedal angle detection signal collected by the first pedal angle sensor, and the second pedal signal is a second pedal angle detection signal collected by the second pedal angle sensor. The first pedal angle can be determined based on the first pedal angle detection signal, and the second pedal angle can be determined based on the second pedal angle detection signal. Then, the two pedal angles are compared to determine whether the pedal angle sensor is faulty. If the difference between the first pedal angle and the second pedal angle is greater than a third preset threshold, an abnormal pedal sensor result is output; if the difference between the first pedal angle and the second pedal angle is less than or equal to the third preset threshold, a normal pedal sensor result is output.

[0062] In this configuration, when the pedal sensor includes a first pedal angle sensor that collects a first pedal angle detection signal and a second pedal angle sensor that collects a second pedal angle detection signal, a preset standard pedal angle is determined. Then, the first pedal angle and the second pedal angle are compared with the standard pedal angle. If the difference between the first pedal angle and the standard pedal angle is greater than a preset pedal angle deviation value, the first pedal angle sensor is determined to be in an abnormal state. If the difference between the second pedal angle and the standard pedal angle is greater than the preset pedal angle deviation value, the second pedal angle sensor is determined to be in an abnormal state. If the difference between the first pedal angle and the standard pedal angle is greater than the preset pedal angle deviation value, and the difference between the second pedal angle and the standard pedal angle is also greater than the preset pedal angle deviation value, both the first pedal angle sensor and the second pedal angle sensor are determined to be in an abnormal state.

[0063] It should be noted that the aforementioned preset standard pedal displacement, standard pedal force, and standard pedal angle, etc., can be theoretical values ​​estimated according to the corresponding algorithms, and this invention does not impose any restrictions on them.

[0064] In this embodiment of the invention, the vehicle can acquire at least one vehicle information, which includes at least first information. Based on the first information, the fault state of at least one vehicle device is determined. The vehicle device can be the vehicle pedal of the vehicle braking system. The first information can include at least the pedal signal collected by the pedal sensor corresponding to the vehicle pedal. The fault state of the pedal sensor can be determined based on the pedal signal. Thus, when performing fault detection on the vehicle braking system, the vehicle pedal of the braking system can be detected and located based on at least one pedal signal. The fault state of the vehicle pedal can be effectively detected through the pedal signal to determine whether the vehicle pedal has malfunctioned, thereby ensuring the stability of the vehicle pedal operation.

[0065] In an optional embodiment, based on the above embodiments, the vehicle device may include at least a first vehicle device and a second vehicle device. Then, the fault status of the second vehicle device is determined according to the fault status of the first vehicle device, thereby enabling fault detection of different braking components of the braking system, so as to accurately detect whether a fault has occurred in the braking system and quickly locate the fault location.

[0066] In one optional implementation, if the first vehicle device is in an abnormal state, the fault state of the second vehicle device can be further determined based on at least one piece of vehicle information. The vehicle information includes at least first information corresponding to the first vehicle device and second information corresponding to the second vehicle device. Therefore, if the first vehicle device is determined to be in a normal state based on the first information, the fault state of the second vehicle device can be determined based on the first and second information.

[0067] It should be noted that during the testing of at least two vehicle devices, the fault status of the first vehicle device can be determined first based on the first information. If the first vehicle device is in a normal state, the fault detection process can be terminated. If the first vehicle device is in an abnormal state, the fault status of the second vehicle device can be further determined based on at least one vehicle information. This improves the targeting and accuracy of vehicle device fault detection by testing multiple vehicle devices in a layer-by-layer manner.

[0068] In this embodiment, the first vehicle device is a pedal sensor for the vehicle pedal, and the second vehicle device is a braking actuator. The first information includes the pedal signal collected by the pedal sensor corresponding to the vehicle pedal, and the second information includes the braking force signal determined by the braking actuator. If the pedal sensor is determined to be in a normal state based on at least one pedal signal, the fault state of the braking actuator is determined based on at least one pedal signal and the braking force signal.

[0069] It should be noted that when determining the fault state of the braking actuator, the corresponding actual value can be determined based on the pedal signal, followed by the corresponding theoretical value based on the braking force signal. The fault state of the braking actuator is then determined based on the actual and theoretical values. The relevant explanatory process can be found in the descriptions in the foregoing embodiments, and will not be repeated here.

[0070] The pedal signal may include at least a displacement detection signal acquired by a pedal displacement sensor. The actual pedal displacement can be determined first based on the displacement detection signal, and the corresponding third predicted pedal displacement can be determined based on the braking force signal. Then, the actual pedal displacement is compared with the third preset pedal displacement. Based on the comparison result, it is determined whether the braking actuator is malfunctioning. If the difference between the actual pedal displacement and the third predicted pedal displacement is less than a fourth preset threshold, the braking actuator is determined to be in a normal state; if the difference between the actual pedal displacement and the third predicted pedal displacement is greater than or equal to the fourth preset threshold, the braking actuator is determined to be in an abnormal state. Optionally, the braking actuator includes at least one of a brake control unit and an actuator; wherein the actuator includes at least one of a brake motor and a brake.

[0071] Through the above process, fault detection of different braking components of the braking system can be performed step by step using at least two different types of vehicle information, so as to accurately detect whether a fault has occurred in the braking system and quickly locate the fault location.

[0072] In one example, the vehicle can directly perform fault detection on the braking system based on the acquired displacement detection signal and braking force signal. First, the actual pedal displacement can be determined based on the displacement detection signal, and the corresponding third predicted pedal displacement can be determined based on the braking force signal. Then, the actual pedal displacement and the third predicted pedal displacement can be compared to determine whether the braking actuator, composed of the ECU, brake motor, and brake, has malfunctioned. If the difference between the actual pedal displacement and the third predicted pedal displacement is less than a fourth preset threshold, the braking actuator is determined to be in a normal state; if the difference is greater than or equal to the fourth preset threshold, the braking actuator is determined to be in an abnormal state. Thus, based on at least two different vehicle information sets, fault detection of the braking system's main components can be achieved, enabling accurate detection of whether a braking system malfunction has occurred and rapid location of the fault.

[0073] It should be noted that the process of detection based on the pedal signal described above can be referred to the relevant description in the previous embodiment, and will not be repeated here. Furthermore, a normal braking system result can be characterized by the absence of faults in the ECU, brake motor, and brake unit; while an abnormal braking system failure can be characterized by a fault in at least one of the ECU, brake motor, and brake unit. Thus, by using vehicle information corresponding to at least two different braking entities, it is possible to accurately detect whether a braking system fault has occurred, and precisely locate the fault location in the event of a fault.

[0074] In an optional embodiment, based on the above embodiments, the vehicle device includes at least a first vehicle device, a second vehicle device, and a third vehicle device, and the fault status of the third vehicle device can be determined based on the fault status of the first vehicle device and the fault status of the second vehicle device.

[0075] The vehicle information includes at least first information corresponding to the first vehicle device, second information corresponding to the second vehicle information, and third information corresponding to the third vehicle device. Therefore, if the first vehicle device is determined to be in a normal state based on the first information, and the second or third vehicle device is determined to be abnormal based on the first and second information, the fault state of the second or third vehicle device can be determined based on the second and third information. Thus, based on at least two different types of vehicle information, fault detection of different braking components of the braking system can be achieved, so as to accurately detect whether the braking system has malfunctioned and quickly locate the fault location.

[0076] In this embodiment, the first vehicle device is a vehicle pedal, the second vehicle device is an actuator, and the third vehicle device is a brake control unit. The first information includes the pedal signal collected by the pedal sensor corresponding to the vehicle pedal, the second information includes the braking force signal collected by the pressure sensor corresponding to the actuator, and the third information is the deceleration signal determined by the brake control unit. Therefore, if the pedal sensor is in a normal state based on at least one pedal signal, and the actuator and / or brake control unit is in a fault state based on at least one pedal signal and the braking force signal, the fault state of the actuator and brake control unit can be determined based on the braking force signal and the deceleration signal.

[0077] In a specific implementation, the pedal signal can include at least the displacement detection signal collected by the pedal displacement sensor corresponding to the vehicle pedal. Then, the actual output value of the brake control unit can be determined based on the deceleration signal, and the corresponding predicted output value can be determined based on the braking force signal. Then, if the brake control unit is in a normal state according to the actual output value and the predicted output value, the fault state of the actuator can be determined according to the braking force signal and the deceleration signal.

[0078] In the fault state detection process of the brake control unit, the actual output value can be compared with the predicted output value. If the difference between the actual output value and the predicted output value is greater than the fifth preset threshold, the brake control unit is determined to be in an abnormal state. If the difference between the actual output value and the predicted output value is less than or equal to the fifth preset threshold, the brake control unit is determined to be in a normal state. Thus, when the brake control unit is determined to be in a normal state based on the actual output value and the predicted output value, the fault state of the actuator can be further determined based on the braking force signal and the deceleration signal.

[0079] The actuator includes at least a brake and a brake motor. The braking force signal is a signal collected by the clamping force sensor of the brake. The second information also includes the torque signal determined by the brake motor. The actual torque of the brake motor can be determined first based on the torque signal, and then the corresponding theoretical torque can be determined based on the braking force signal. The actual torque and the theoretical torque are then compared. If the difference between the actual torque and the theoretical torque is greater than a sixth preset threshold, the brake is determined to be in an abnormal state. If the difference between the actual torque and the theoretical torque is less than or equal to the sixth preset threshold, the brake motor is determined to be in an abnormal state. Thus, based on at least two different vehicle information, fault detection of different braking components of the braking system can be achieved to accurately detect whether a fault has occurred in the braking system and to quickly locate the fault location.

[0080] It should be noted that for fault detection in electro-hydraulic braking systems, the clamping force sensor can be replaced with a wheel cylinder pressure sensor, and a corresponding master cylinder pressure sensor can be added. During the testing of the braking system, the braking force signal can at least include the master cylinder pressure signal collected by the master cylinder pressure sensor corresponding to the master cylinder, and the wheel cylinder pressure signal collected by the wheel cylinder pressure sensor corresponding to the wheel cylinder. When it is determined that the brake or brake motor may be faulty, the actual torque of the brake motor can be determined based on the torque signal, the corresponding first theoretical torque can be determined based on the master cylinder pressure signal, and the corresponding second theoretical torque can be determined based on the wheel cylinder pressure signal. Then, the actual torque is compared with the first theoretical torque and the second theoretical torque. The system compares the torque values ​​to determine if the master cylinder and / or wheel cylinders are in a faulty state. If the difference between the first theoretical torque and the actual torque is greater than the sixth preset threshold, the master cylinder is determined to be in an abnormal state. If the difference between the second theoretical torque and the actual torque is greater than the seventh preset threshold, the wheel cylinder is determined to be in an abnormal state. If the difference between the first theoretical torque and the actual torque is greater than the sixth preset threshold and the difference between the second theoretical torque and the actual torque is greater than the seventh preset threshold, both the master cylinder and the wheel cylinder are determined to be in an abnormal state. If the difference between the first theoretical torque and the actual torque is less than or equal to the sixth preset threshold and the difference between the second theoretical torque and the actual torque is less than or equal to the seventh preset threshold, the brake motor is determined to be in an abnormal state.

[0081] In one example, fault detection of the braking system can be performed through a step-by-step detection method. The vehicle can first determine if the pedal sensor is malfunctioning based on the pedal signal. If the pedal signal indicates a malfunction in the vehicle's pedal sensor, a corresponding pedal sensor malfunction result is output, and the fault detection of the braking system ends. If the pedal signal indicates that the vehicle's pedal sensor is normal, the actual pedal displacement can be determined based on the displacement detection signal, and the corresponding third predicted pedal displacement can be determined based on the braking force signal. Then, the actual pedal displacement and the third predicted pedal displacement can be compared to determine if a fault has occurred in the ECU, brake motor, or brake. If the difference between the actual pedal displacement and the third predicted pedal displacement is greater than or equal to a fourth preset threshold, indicating a fault in one of the braking components (ECU, brake motor, or brake), the actual output value of the brake control unit can be determined based on the deceleration signal, and the corresponding predicted output value can be determined based on the braking force signal. Then, the actual output value is compared with the predicted output value. The actual output value is compared with the predicted output value to determine whether the brake control unit has malfunctioned. If the difference between the actual output value and the predicted output value is greater than the fifth preset threshold, the ECU is determined to be in an abnormal state. If the difference between the actual output value and the predicted output value is less than or equal to the fifth preset threshold, the ECU is determined to be in a normal state. When the ECU is in a normal state, the actual torque of the brake motor can be determined based on the torque signal, and then the corresponding theoretical torque can be determined based on the braking force signal. The actual torque is then compared with the theoretical torque. If the difference between the actual torque and the theoretical torque is greater than the sixth preset threshold, the brake is determined to be in an abnormal state. If the difference between the actual torque and the theoretical torque is less than or equal to the sixth preset threshold, the brake motor is determined to be in an abnormal state. Thus, by using at least two different vehicle information, fault detection is performed on different braking components of the braking system step by step to accurately detect whether a fault has occurred in the braking system and to quickly locate the fault location.

[0082] In the above example, when the clamping force sensor is replaced with the wheel cylinder pressure sensor and the corresponding master cylinder pressure sensor is set, the master cylinder and / or wheel cylinder can be fault detected based on the parameters collected by the wheel cylinder pressure sensor and the master cylinder pressure sensor. The corresponding process can be referred to in the foregoing embodiments, and will not be repeated here.

[0083] It should be noted that the process of detection based on the pedal signal described above can be referred to the relevant description in the previous embodiment, and will not be repeated here. Furthermore, the output value of the ECU can include brake pressure control signals, actuator control signals, wheel speed control signals, etc. By comparing the actual output value with the predicted output value, the ECU can be effectively detected.

[0084] To enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention, the following examples are provided for illustrative purposes:

[0085] Reference Figure 4 This document illustrates a fault detection flowchart for a braking system provided in an embodiment of the present invention. The example uses the brake as a clamping mechanism and pedal sensing, including a pedal displacement sensor and a pedal force sensor, as illustrations. The specific process is as follows:

[0086] I. Establish the correspondence between various modules during normal vehicle operation:

[0087] During normal vehicle operation, the following relationships are first established: pedal force, pedal displacement, ECU output value, motor torque output, and brake clamping force. These relationships are: pedal force and pedal displacement, pedal displacement and clamping force, ECU output value and clamping force, and motor torque output and clamping force. Then, while the vehicle is in motion, data estimation and comparison are performed based on these relationships.

[0088] II. Pedal Sensor Fault Detection:

[0089] Step 1: During vehicle operation, monitor and acquire pedal force data in real time, calculate the pedal displacement estimate based on the established correspondence between the pedal force data, and calculate the difference between the pedal displacement estimate and the displacement value output by the displacement sensor.

[0090] Step 2: When the difference between the two is less than the set threshold, it is determined that the pedal sensor is working normally; otherwise, it is determined that the pedal sensor is faulty, that is, the pedal force sensor and / or the pedal displacement sensor is faulty.

[0091] III. Fault Detection of Control Module and Execution Module:

[0092] Step 3: When the pedal sensor is working normally, calculate the difference between the actual brake pedal displacement value and the pedal displacement value estimated based on the clamping force;

[0093] Step 4: When the difference between the two is less than the set threshold, it is determined that the braking system is working normally; otherwise, it is determined that the ECU, brake motor or clamping mechanism is malfunctioning.

[0094] Step 5: Calculate the difference between the actual ECU output value and the ECU output value estimated based on the clamping force;

[0095] Step 6: When the difference between the two is less than the set threshold, it is determined that the ECU has a fault; otherwise, further judgment is required.

[0096] Step 7: Calculate the difference between the actual brake motor torque output value and the motor torque value estimated based on the clamping force;

[0097] Step 8: When the difference between the two is less than the set threshold, it is determined that the motor is faulty; otherwise, it is determined that the clamping mechanism is faulty.

[0098] When a malfunction is detected in the braking system, the driver can be alerted via audible alarms or a notification displayed on the vehicle's central control screen. Once the location of the fault is determined, the driver can be notified via audible announcements or by displaying the fault location on the central control screen, facilitating appropriate inspection and repair of the braking system.

[0099] Specifically, the electromechanical braking system needs to be able to acquire in real time the pedal force, pedal displacement value, ECU output value, motor torque output value and brake caliper clamping force during vehicle operation.

[0100] Through the above process, when performing fault detection on the vehicle's braking system, fault detection and location can be performed on the braking system based on at least one vehicle information. This can accurately detect whether a fault has occurred in the braking system and precisely locate the fault location in the event of a fault. Therefore, based on fault detection, the stability of the braking system operation can be effectively guaranteed.

[0101] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0102] Reference Figure 5 The diagram shows a structural block diagram of a vehicle device detection apparatus provided in an embodiment of the present invention, which may specifically include the following modules:

[0103] Information acquisition module 501 is used to acquire at least one vehicle information;

[0104] The detection module 502 is used to determine the fault state of at least one vehicle device based on at least one of the vehicle information.

[0105] In some feasible implementations, the vehicle information includes at least first information, and the detection module 502 is specifically used for:

[0106] The fault status of at least one vehicle device is determined based on the first information.

[0107] In some feasible implementations, the vehicle device includes at least a pedal sensor for the vehicle pedals, and the first information includes at least a pedal signal acquired by the pedal sensor. The detection module 502 is specifically used for:

[0108] The fault status of the pedal sensor is determined based on the pedal signal.

[0109] In some feasible implementations, the pedal signal includes at least one first pedal signal and at least one second pedal signal, wherein the first pedal signal and the second pedal signal may be of the same or different type, and the detection module 502 is specifically used for:

[0110] The fault state of the pedal sensor is determined based on at least one first pedal signal and at least one second pedal signal.

[0111] In some feasible implementations, the detection module 502 is specifically used for:

[0112] The actual value is determined based on the first pedal signal, and the theoretical value is determined based on the second pedal signal.

[0113] Alternatively, the corresponding theoretical value can be determined based on the first pedal signal, and the corresponding actual value can be determined based on the second pedal signal;

[0114] The fault state of the pedal sensor is determined based on the actual value and the theoretical value.

[0115] In some feasible implementations, the pedal sensor includes at least a pedal displacement sensor and a pedal force sensor, wherein the first pedal signal is a displacement detection signal acquired by the pedal displacement sensor, and the second pedal signal is a pedal force detection signal acquired by the pedal force sensor. The detection module 502 is specifically used for:

[0116] The actual pedal displacement is determined based on the displacement detection signal.

[0117] The corresponding first predicted pedal displacement is determined based on the pedal force detection signal.

[0118] If the difference between the actual pedal displacement and the first predicted pedal displacement is greater than a first preset threshold, then the pedal displacement sensor is determined to be in an abnormal state.

[0119] If the difference between the actual pedal displacement and the first predicted pedal displacement is less than or equal to a first preset threshold, then the pedal displacement sensor is determined to be in normal condition.

[0120] In some feasible implementations, the pedal sensor includes at least a pedal displacement sensor and a pedal force sensor, wherein the first pedal signal is a displacement detection signal acquired by the pedal displacement sensor, and the second pedal signal is a pedal force detection signal acquired by the pedal force sensor. The detection module 502 is specifically used for:

[0121] The corresponding actual pedal force is determined based on the pedal force detection signal;

[0122] The corresponding first predicted pedal force is determined based on the displacement detection signal;

[0123] If the difference between the actual pedal force and the first predicted pedal force is greater than the second preset threshold, then the pedal force sensor is determined to be in an abnormal state.

[0124] If the difference between the actual pedal force and the first predicted pedal force is less than or equal to a second preset threshold, then the pedal force sensor is determined to be in normal condition.

[0125] In some feasible implementations, the pedal sensor includes at least a pedal displacement sensor and a pedal angle sensor, the first pedal signal is a displacement detection signal acquired by the pedal displacement sensor, and the second pedal signal is a pedal angle detection signal acquired by the pedal angle sensor. The detection module 502 is specifically used for:

[0126] The actual pedal displacement is determined based on the displacement detection signal.

[0127] The corresponding second predicted pedal displacement is determined based on the pedal angle detection signal.

[0128] If the difference between the actual pedal displacement and the second predicted pedal displacement is greater than a first preset threshold, then the pedal displacement sensor is determined to be in normal condition.

[0129] If the difference between the actual pedal displacement and the second predicted pedal displacement is less than or equal to a first preset threshold, then the pedal displacement sensor is determined to be in an abnormal state.

[0130] In some feasible implementations, the pedal sensor includes at least a pedal displacement sensor and a pedal angle sensor, the first pedal signal is a displacement detection signal acquired by the pedal displacement sensor, and the second pedal signal is a pedal angle detection signal acquired by the pedal angle sensor. The detection module 502 is specifically used for:

[0131] The corresponding actual pedal angle is determined based on the pedal angle detection signal.

[0132] The corresponding first predicted pedal angle is determined based on the displacement detection signal;

[0133] If the difference between the actual pedal angle and the first predicted pedal angle is greater than a third preset threshold, then the pedal angle sensor is determined to be in normal condition.

[0134] If the difference between the actual pedal angle and the first predicted pedal angle is less than or equal to a third preset threshold, then the pedal angle sensor is determined to be in an abnormal state.

[0135] In some feasible implementations, the pedal sensor includes at least a pedal angle sensor and a pedal force sensor, wherein the first pedal signal is a pedal angle detection signal acquired by the pedal angle sensor, and the second pedal signal is a pedal force detection signal acquired by the pedal force sensor. The detection module 502 is specifically used for:

[0136] The corresponding actual pedal angle is determined based on the pedal angle detection signal.

[0137] The corresponding second predicted pedal angle is determined based on the pedal force detection signal;

[0138] If the difference between the actual pedal angle and the second predicted pedal angle is greater than a third preset threshold, then the pedal angle sensor is determined to be in normal condition.

[0139] If the difference between the actual pedal angle and the second predicted pedal angle is less than or equal to a third preset threshold, then the pedal angle sensor is determined to be in an abnormal state.

[0140] In some feasible implementations, the pedal sensor includes at least a pedal angle sensor and a pedal force sensor, wherein the first pedal signal is a pedal angle detection signal acquired by the pedal angle sensor, and the second pedal signal is a pedal force detection signal acquired by the pedal force sensor. The detection module 502 is specifically used for:

[0141] The corresponding actual pedal force is determined based on the pedal force detection signal;

[0142] The corresponding second predicted pedal force is determined based on the pedal angle detection signal;

[0143] If the difference between the actual pedal force and the second predicted pedal force is greater than the second preset threshold, then the pedal force sensor is determined to be in normal condition.

[0144] If the difference between the actual pedal force and the second predicted pedal force is less than or equal to the second preset threshold, then the pedal force sensor is determined to be in an abnormal state.

[0145] In some feasible implementations, the pedal sensor includes at least a first pedal displacement sensor and a second pedal displacement sensor, wherein the first pedal signal is a first pedal displacement detection signal acquired by the first pedal displacement sensor, and the second pedal signal is a second pedal displacement detection signal acquired by the second pedal displacement sensor. The detection module 502 is specifically used for:

[0146] The corresponding first pedal displacement is determined based on the first pedal displacement detection signal;

[0147] The corresponding second pedal displacement is determined based on the second pedal displacement detection signal;

[0148] If the difference between the first pedal displacement and the second pedal displacement is greater than a first preset threshold, then it is determined that the first pedal displacement sensor and / or the second pedal displacement sensor are in an abnormal state.

[0149] If the difference between the first pedal displacement and the second pedal displacement is less than or equal to the first preset threshold, then it is determined that the first pedal displacement sensor and the second pedal displacement sensor are in normal condition.

[0150] In some feasible implementations, determining that the first pedal displacement sensor and / or the second pedal displacement sensor is in an abnormal state includes:

[0151] If the difference between the first pedal displacement and the preset standard pedal displacement is greater than the preset displacement deviation value, then the first pedal displacement sensor is determined to be in an abnormal state.

[0152] If the difference between the second pedal displacement and the standard pedal displacement is greater than the preset displacement deviation value, then the second pedal displacement sensor is determined to be in an abnormal state.

[0153] If the difference between the first pedal displacement and the standard pedal displacement is greater than a preset displacement deviation value, and the difference between the second pedal displacement and the standard pedal displacement is greater than a preset displacement deviation value, then it is determined that the first pedal displacement sensor and the second pedal displacement sensor are in an abnormal state.

[0154] In some feasible implementations, the pedal sensor includes at least a first pedal force sensor and a second pedal force sensor, wherein the first pedal signal is a first pedal force detection signal acquired by the first pedal force sensor, and the second pedal signal is a second pedal force detection signal acquired by the second pedal force sensor. The detection module 502 is specifically used for:

[0155] The corresponding first pedal force is determined based on the first pedal force detection signal;

[0156] The corresponding second pedal force is determined based on the second pedal force detection signal;

[0157] If the difference between the first pedal force and the second pedal force is greater than the second preset threshold, then it is determined that the first pedal force sensor and / or the second pedal force sensor are in an abnormal state.

[0158] If the difference between the first pedal force and the second pedal force is less than or equal to the second preset threshold, then the pedal force sensor is determined to be in normal condition.

[0159] In some feasible implementations, determining that the first pedal force sensor and / or the second pedal force sensor is in an abnormal state includes:

[0160] If the difference between the first pedal force and the preset standard pedal force is greater than the preset pedal force deviation value, then the first pedal force sensor is determined to be in an abnormal state.

[0161] If the difference between the second pedal force and the standard pedal force is greater than the preset pedal force deviation value, then the second pedal force sensor is determined to be in an abnormal state.

[0162] If the difference between the first pedal force and the standard pedal force is greater than a preset pedal force deviation value, and the difference between the second pedal force and the standard pedal force is greater than a preset pedal force deviation value, then it is determined that the first pedal force sensor and the second pedal force sensor are in an abnormal state.

[0163] In some feasible implementations, the pedal sensor includes at least a first pedal angle sensor and a second pedal angle sensor, wherein the first pedal signal is a first pedal angle detection signal acquired by the first pedal angle sensor, and the second pedal signal is a second pedal angle detection signal acquired by the second pedal angle sensor. The detection module 502 is specifically used for:

[0164] The corresponding first pedal angle is determined based on the first pedal angle detection signal;

[0165] The corresponding second pedal angle is determined based on the second pedal angle detection signal;

[0166] If the difference between the first pedal angle and the second pedal angle is greater than a third preset threshold, then it is determined that the first pedal angle sensor and / or the second pedal angle sensor are in an abnormal state.

[0167] If the difference between the first pedal angle and the second pedal angle is less than or equal to the third preset threshold, then the pedal angle sensor is determined to be in normal condition.

[0168] In some feasible implementations, determining that the first pedal angle sensor and / or the second pedal angle sensor is in an abnormal state includes:

[0169] If the difference between the first pedal angle and the preset standard pedal angle is greater than the preset pedal angle deviation value, then the first pedal angle sensor is determined to be in an abnormal state.

[0170] If the difference between the second pedal angle and the standard pedal angle is greater than the preset pedal angle deviation value, then the second pedal angle sensor is determined to be in an abnormal state.

[0171] If the difference between the first pedal angle and the standard pedal angle is greater than a preset pedal angle deviation value, and the difference between the second pedal angle and the standard pedal angle is greater than a preset pedal angle deviation value, then it is determined that the first pedal angle sensor and the second pedal angle sensor are in an abnormal state.

[0172] In some feasible implementations, the vehicle device includes at least a first vehicle device and a second vehicle device, and the device further includes:

[0173] The second detection module is used to determine whether to judge the fault status of the second vehicle device based on the fault status of the first vehicle device.

[0174] In some feasible implementations, the second detection module is specifically used for:

[0175] If the first vehicle device is in an abnormal state, the fault state of the second vehicle device is determined based on at least one of the vehicle information.

[0176] In some feasible implementations, the second detection module is specifically used for:

[0177] Determine the fault status of the first vehicle device based on the first information;

[0178] If the first vehicle device is in an abnormal state, the fault state of the second vehicle device is determined based on at least one of the vehicle information.

[0179] In some feasible implementations, the vehicle information includes at least first information corresponding to the first vehicle device and second information corresponding to the second vehicle device, and the second detection module is specifically used for:

[0180] If the first vehicle device is determined to be in a normal state based on the first information, the fault state of the second vehicle device is determined based on the first information and the second information.

[0181] In some feasible implementations, the first vehicle device is a pedal sensor for a vehicle pedal, the second vehicle device is a braking actuator, the first information includes a pedal signal collected by the pedal sensor corresponding to the vehicle pedal, the second information includes a braking force signal determined by the braking actuator, and the second detection module is specifically used for:

[0182] If the pedal sensor is determined to be in a normal state based on at least one of the pedal signals, the fault state of the brake actuator is determined based on at least one of the pedal signals and the braking force signal.

[0183] In some feasible implementations, the second detection module is specifically used for:

[0184] The corresponding actual value is determined based on the pedal signal;

[0185] The corresponding theoretical value is determined based on the braking force signal;

[0186] The fault status of the braking actuator is determined based on the actual value and the theoretical value.

[0187] In some feasible implementations, the pedal signal includes at least a displacement detection signal acquired by a pedal displacement sensor, and the second detection module is specifically used for:

[0188] The actual pedal displacement is determined based on the displacement detection signal.

[0189] The corresponding third predicted pedal displacement is determined based on the braking force signal;

[0190] If the difference between the actual pedal displacement and the third predicted pedal displacement is less than the fourth preset threshold, then the braking actuator is determined to be in normal condition.

[0191] If the difference between the actual pedal displacement and the third predicted pedal displacement is greater than or equal to the fourth preset threshold, then the braking actuator is determined to be in an abnormal state.

[0192] In some feasible implementations, the braking actuator includes at least one of a braking control unit and an actuator; wherein the actuator includes at least one of a brake motor and a brake.

[0193] In some feasible implementations, the vehicle device includes at least a first vehicle device, a second vehicle device, and a third vehicle device, and the device further includes:

[0194] The third detection module is used to determine the fault status of the third vehicle device based on the fault status of the first vehicle device and the fault status of the second vehicle device.

[0195] In some feasible implementations, the vehicle information includes at least first information corresponding to the first vehicle device, second information corresponding to the second vehicle information, and third information corresponding to the third vehicle device, wherein the third detection module is specifically used for:

[0196] If the first vehicle device is determined to be in a normal state based on the first information, and the second vehicle device or the third vehicle device is determined to be abnormal based on the first information and the second information, the fault state of the second vehicle device or the third vehicle device is determined based on the second information and the third information.

[0197] In some feasible implementations, the first vehicle device is a pedal sensor for a vehicle pedal, the second vehicle device is an actuator, and the third vehicle device is a brake control unit. The first information includes a pedal signal collected by the pedal sensor corresponding to the vehicle pedal, the second information includes a braking force signal collected by the pressure sensor corresponding to the actuator, and the third information is a deceleration signal determined by the brake control unit. The third detection module is specifically used for:

[0198] If the pedal sensor is determined to be in a normal state based on at least one of the pedal signals, and the actuator and / or the brake control unit is determined to be in a fault state based on at least one of the pedal signals and the braking force signal, the fault state of the actuator and the brake control unit is determined based on the braking force signal and the deceleration signal.

[0199] In some feasible implementations, the pedal signal includes at least a displacement detection signal acquired by a pedal displacement sensor corresponding to the vehicle pedal, and the third detection module is specifically used for:

[0200] The actual output value of the braking control unit is determined based on the deceleration signal;

[0201] The corresponding predicted output value is determined based on the braking force signal;

[0202] If the brake control unit is determined to be in a normal state based on the actual output value and the predicted output value, the fault state of the actuator is determined based on the braking force signal and the deceleration signal.

[0203] In some feasible implementations, the method further includes:

[0204] The control unit detection module is used to determine that the braking control unit is in an abnormal state if the difference between the actual output value and the predicted output value is greater than a fifth preset threshold; and to determine that the braking control unit is in a normal state if the difference between the actual output value and the predicted output value is less than or equal to the fifth preset threshold.

[0205] In some feasible implementations, the actuating device includes at least a brake and a brake motor, the braking force signal is a signal collected by the clamping force sensor of the brake, the second information also includes a torque signal determined by the brake motor, and the third detection module is specifically used for:

[0206] The actual torque of the brake motor is determined based on the torque signal;

[0207] The corresponding theoretical torque is determined based on the braking force signal;

[0208] If the difference between the actual torque and the theoretical torque is greater than the sixth preset threshold, then the brake is determined to be in an abnormal state.

[0209] If the difference between the actual torque and the theoretical torque is less than or equal to a sixth preset threshold, then the brake motor is determined to be in an abnormal state.

[0210] In some feasible implementations, the actuator includes at least a master cylinder, wheel cylinders, and a brake motor. The braking force signal includes at least the master cylinder pressure signal collected by the master cylinder pressure sensor corresponding to the master cylinder and the wheel cylinder pressure signal collected by the wheel cylinder pressure sensor corresponding to the wheel cylinder. The second information also includes the torque signal determined by the brake motor. The third detection module is specifically used for:

[0211] The actual torque of the brake motor is determined based on the torque signal;

[0212] The first theoretical torque is determined based on the master cylinder pressure signal, and the second theoretical torque is determined based on the wheel cylinder pressure signal.

[0213] If the difference between the first theoretical torque and the actual torque is greater than the sixth preset threshold, then the master cylinder is determined to be in an abnormal state.

[0214] If the difference between the second theoretical torque and the actual torque is greater than the seventh preset threshold, then the wheel cylinder is determined to be in an abnormal state.

[0215] If the difference between the first theoretical torque and the actual torque is greater than a sixth preset threshold, and the difference between the second theoretical torque and the actual torque is greater than a seventh preset threshold, then the master cylinder and the wheel cylinder are determined to be in an abnormal state.

[0216] If the difference between the first theoretical torque and the actual torque is less than or equal to a sixth preset threshold, and the difference between the second theoretical torque and the actual torque is less than or equal to a seventh preset threshold, then the brake motor is determined to be in an abnormal state.

[0217] As the device embodiment is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0218] This invention also provides a vehicle for performing the method described in this invention.

[0219] In some feasible implementations, the vehicle includes at least a braking system, which includes at least one of a sensor, a control unit, a brake motor, and a brake.

[0220] The sensor is used to acquire at least one type of vehicle information;

[0221] The control unit is used to determine at least one corresponding fault state of the sensor, the control unit, the brake motor, and the brake based on the at least one vehicle information.

[0222] In some feasible implementations, the sensor includes at least a pedal sensor corresponding to the vehicle pedal, and the vehicle information includes at least the pedal signal collected by the pedal sensor; wherein, the control unit is specifically used for:

[0223] The fault status of the pedal sensor is determined based on the pedal signal.

[0224] In some feasible implementations, the sensor includes at least a pedal sensor corresponding to the vehicle pedal, and the vehicle information includes at least the pedal signal collected by the pedal sensor corresponding to the vehicle pedal and the braking force signal determined by the braking actuator; wherein,

[0225] The control unit is specifically used to determine the fault state of the brake actuator based on at least one pedal signal and the braking force signal when the pedal sensor is determined to be in a normal state based on at least one pedal signal.

[0226] The braking actuator includes at least one of the control unit, the brake motor, and the brake.

[0227] In some feasible implementations, the sensors include at least a pedal sensor corresponding to the vehicle pedal and a pressure sensor corresponding to the brake, the vehicle information includes at least a braking force signal collected by the pressure sensor, and the third information is a deceleration signal determined by the control unit; wherein, the control unit is specifically used for:

[0228] If the pedal sensor is determined to be in a normal state based on at least one of the pedal signals, and the actuator and / or the control unit is determined to be in a fault state based on at least one of the pedal signals and the braking force signal, the fault state of the actuator and the control unit is determined based on the braking force signal and the deceleration signal.

[0229] This invention also provides a computer-readable storage medium storing instructions that, when executed by one or more processors, cause the processors to perform the methods described in this invention.

[0230] This invention also provides a computer program product, including a computer program / instruction, wherein when the computer program / instruction is executed, it implements the method described in this invention.

[0231] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0232] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, EEPROM, Flash, and eMMC, etc.) containing computer-usable program code.

[0233] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations 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, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0234] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0235] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0236] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0237] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0238] The present invention has provided a detailed description of a method for detecting a vehicle device and a device for detecting a vehicle device. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A detection method of a vehicle device, characterized by, The method comprises: acquiring at least one vehicle information; determining a fault state of at least one vehicle device according to the at least one vehicle information.

2. The method of claim 1, wherein, The vehicle information at least comprises first information, and the determining of the fault state of the at least one vehicle device according to the at least one vehicle information comprises: determining the fault state of the at least one vehicle device according to the first information.

3. The method of claim 2, wherein, The vehicle device at least comprises a pedal sensor of a vehicle pedal, the first information at least comprises a pedal signal collected by the pedal sensor, and the determining of the fault state of the at least one vehicle device according to the first information comprises: determining the fault state of the pedal sensor according to the pedal signal.

4. The method of claim 3, wherein, The pedal signal comprises at least one first pedal signal and at least one second pedal signal, the first pedal signal and the second pedal signal are of the same type or different types, and the determining of the fault state of the pedal sensor according to the pedal signal comprises: determining the fault state of the pedal sensor based on the at least one first pedal signal and the at least one second pedal signal.

5. The method of claim 4, wherein, The determining of the fault state of the pedal sensor based on the at least one first pedal signal and the at least one second pedal signal comprises: determining a corresponding actual value based on the first pedal signal and a corresponding theoretical value based on the second pedal signal; or determining the corresponding theoretical value based on the first pedal signal and the corresponding actual value based on the second pedal signal; and determining the fault state of the pedal sensor according to the actual value and the theoretical value. The pedal sensor at least comprises a pedal displacement sensor and a pedal force sensor, the first pedal signal is a displacement detection signal collected by the pedal displacement sensor, the second pedal signal is a pedal force detection signal collected by the pedal force sensor, and the determining of the fault state of the pedal sensor based on the at least one first pedal signal and the at least one second pedal signal comprises: determining a corresponding actual pedal displacement based on the displacement detection signal; 6. The method of claim 4, wherein, determining a corresponding first predicted pedal displacement based on the pedal force detection signal; if a difference between the actual pedal displacement and the first predicted pedal displacement is greater than a first preset threshold, determining that the pedal displacement sensor is in an abnormal state; if the difference between the actual pedal displacement and the first predicted pedal displacement is less than or equal to the first preset threshold, determining that the pedal displacement sensor is in a normal state. The pedal sensor at least comprises a pedal displacement sensor and a pedal force sensor, the first pedal signal is a displacement detection signal collected by the pedal displacement sensor, the second pedal signal is a pedal force detection signal collected by the pedal force sensor, and the determining of the fault state of the pedal sensor based on the at least one first pedal signal and the at least one second pedal signal comprises: determining a corresponding actual pedal force based on the pedal force detection signal; 7. The method of claim 4, wherein, determining a corresponding first predicted pedal force based on the displacement detection signal; ​ ​ If a difference between the actual pedal force and the first predicted pedal force is greater than a second preset threshold, it is determined that the pedal force sensor is in an abnormal state; If the difference between the actual pedal force and the first predicted pedal force is less than or equal to the second preset threshold, it is determined that the pedal force sensor is in a normal state.

8. The method of claim 4, wherein, The pedal sensor at least includes a pedal displacement sensor and a pedal angle sensor, the first pedal signal is a displacement detection signal collected by the pedal displacement sensor, the second pedal signal is a pedal angle detection signal collected by the pedal angle sensor, and the determination of the fault state of the pedal sensor based on at least one first pedal signal and at least one second pedal signal includes: determining a corresponding actual pedal displacement based on the displacement detection signal; determining a corresponding second predicted pedal displacement based on the pedal angle detection signal; If the difference between the actual pedal displacement and the second predicted pedal displacement is greater than a first preset threshold, it is determined that the pedal displacement sensor is in a normal state; If the difference between the actual pedal displacement and the second predicted pedal displacement is less than or equal to the first preset threshold, it is determined that the pedal displacement sensor is in an abnormal state.

9. The method of claim 4, wherein, The pedal sensor at least includes a pedal displacement sensor and a pedal angle sensor, the first pedal signal is a displacement detection signal collected by the pedal displacement sensor, the second pedal signal is a pedal angle detection signal collected by the pedal angle sensor, and the determination of the fault state of the pedal sensor based on at least one first pedal signal and at least one second pedal signal includes: determining a corresponding actual pedal angle based on the pedal angle detection signal; determining a corresponding first predicted pedal angle based on the displacement detection signal; If the difference between the actual pedal angle and the first predicted pedal angle is greater than a third preset threshold, it is determined that the pedal angle sensor is in a normal state; If the difference between the actual pedal angle and the first predicted pedal angle is less than or equal to the third preset threshold, it is determined that the pedal angle sensor is in an abnormal state.

10. The method of claim 4, wherein, The pedal sensor at least includes a pedal angle sensor and a pedal force sensor, the first pedal signal is a pedal angle detection signal collected by the pedal angle sensor, the second pedal signal is a pedal force detection signal collected by the pedal force sensor, and the determination of the fault state of the pedal sensor based on at least one first pedal signal and at least one second pedal signal includes: determining a corresponding actual pedal angle based on the pedal angle detection signal; determining a corresponding second predicted pedal angle based on the pedal force detection signal; If the difference between the actual pedal angle and the second predicted pedal angle is greater than a third preset threshold, it is determined that the pedal angle sensor is in a normal state; If the difference between the actual pedal angle and the second predicted pedal angle is less than or equal to the third preset threshold, it is determined that the pedal angle sensor is in an abnormal state.

11. The method of claim 4, wherein, The pedal sensor comprises at least a pedal angle sensor and a pedal force sensor, the first pedal signal is a pedal angle detection signal collected by the pedal angle sensor, and the second pedal signal is a pedal force detection signal collected by the pedal force sensor. The determination of the fault state of the pedal sensor based on at least one first pedal signal and at least one second pedal signal comprises: determining a corresponding actual pedal force based on the pedal force detection signal; determining a corresponding second predicted pedal force based on the pedal angle detection signal; if the difference between the actual pedal force and the second predicted pedal force is greater than a second preset threshold, determining that the pedal force sensor is in a normal state; if the difference between the actual pedal force and the second predicted pedal force is less than or equal to the second preset threshold, determining that the pedal force sensor is in an abnormal state.

12. The method of claim 4, wherein, The pedal sensor comprises at least a first pedal displacement sensor and a second pedal displacement sensor, the first pedal signal is a first pedal displacement detection signal collected by the first pedal displacement sensor, and the second pedal signal is a second pedal displacement detection signal collected by the second pedal displacement sensor. The determination of the fault state of the pedal sensor based on at least one first pedal signal and at least one second pedal signal comprises: determining a corresponding first pedal displacement based on the first pedal displacement detection signal; determining a corresponding second pedal displacement based on the second pedal displacement detection signal; if the difference between the first pedal displacement and the second pedal displacement is greater than a first preset threshold, determining that the first pedal displacement sensor and / or the second pedal displacement sensor is in an abnormal state; if the difference between the first pedal displacement and the second pedal displacement is less than or equal to the first preset threshold, determining that the first pedal displacement sensor and the second pedal displacement sensor are in a normal state.

13. The method of claim 12, wherein, The determination that the first pedal displacement sensor and / or the second pedal displacement sensor is in an abnormal state comprises: if the difference between the first pedal displacement and a preset standard pedal displacement is greater than a preset displacement deviation value, determining that the first pedal displacement sensor is in an abnormal state; if the difference between the second pedal displacement and the standard pedal displacement is greater than the preset displacement deviation value, determining that the second pedal displacement sensor is in an abnormal state; if the difference between the first pedal displacement and the standard pedal displacement is greater than the preset displacement deviation value, and the difference between the second pedal displacement and the standard pedal displacement is greater than the preset displacement deviation value, determining that the first pedal displacement sensor and the second pedal displacement sensor are in an abnormal state.

14. The method of claim 4, wherein, The pedal sensor at least includes a first pedal force sensor and a second pedal force sensor, the first pedal signal is a first pedal force detection signal collected by the first pedal force sensor, the second pedal signal is a second pedal force detection signal collected by the second pedal force sensor, and the fault state of the pedal sensor is determined based on at least one of the first pedal signal and at least one of the second pedal signal, including: determining a corresponding first pedal force based on the first pedal force detection signal; determining a corresponding second pedal force based on the second pedal force detection signal; if the difference between the first pedal force and the second pedal force is greater than a second preset threshold value, determining that the first pedal force sensor and / or the second pedal force sensor is in an abnormal state; if the difference between the first pedal force and the second pedal force is less than or equal to the second preset threshold value, determining that the pedal force sensor is in a normal state.

15. The method of claim 14, wherein, The determination that the first pedal force sensor and / or the second pedal force sensor is in an abnormal state includes: if the difference between the first pedal force and a preset standard pedal force is greater than a preset pedal force deviation value, determining that the first pedal force sensor is in an abnormal state; if the difference between the second pedal force and the standard pedal force is greater than the preset pedal force deviation value, determining that the second pedal force sensor is in an abnormal state; if the difference between the first pedal force and the standard pedal force is greater than the preset pedal force deviation value, and the difference between the second pedal force and the standard pedal force is greater than the preset pedal force deviation value, determining that the first pedal force sensor and the second pedal force sensor are in an abnormal state.

16. The method of claim 4, wherein, The pedal sensor at least includes a first pedal angle sensor and a second pedal angle sensor, the first pedal signal is a first pedal angle detection signal collected by the first pedal angle sensor, the second pedal signal is a second pedal angle detection signal collected by the second pedal angle sensor, and the fault state of the pedal sensor is determined based on at least one of the first pedal signal and at least one of the second pedal signal, including: determining a corresponding first pedal angle based on the first pedal angle detection signal; determining a corresponding second pedal angle based on the second pedal angle detection signal; if the difference between the first pedal angle and the second pedal angle is greater than a third preset threshold value, determining that the first pedal angle sensor and / or the second pedal angle sensor is in an abnormal state; if the difference between the first pedal angle and the second pedal angle is less than or equal to the third preset threshold value, determining that the pedal angle sensor is in a normal state.

17. The method of claim 16, wherein, The determination that the first pedal angle sensor and / or the second pedal angle sensor is in an abnormal state includes: if the difference between the first pedal angle and a preset standard pedal angle is greater than a preset pedal angle deviation value, determining that the first pedal angle sensor is in an abnormal state; if the difference between the second pedal angle and the standard pedal angle is greater than the preset pedal angle deviation value, determining that the second pedal angle sensor is in an abnormal state; If a difference between the second pedal angle and the standard pedal angle is greater than a preset pedal angle deviation value, it is determined that the second pedal angle sensor is in an abnormal state; If a difference between the first pedal angle and the standard pedal angle is greater than a preset pedal angle deviation value, and a difference between the second pedal angle and the standard pedal angle is greater than a preset pedal angle deviation value, it is determined that the first pedal angle sensor and the second pedal angle sensor are in an abnormal state.

18. The method of claim 1, wherein, The vehicle device at least includes a first vehicle device and a second vehicle device, and the method further includes: Determining whether to determine a fault state of the second vehicle device according to a fault state of the first vehicle device.

19. The method of claim 18, wherein, The determining whether to determine a fault state of the second vehicle device according to a fault state of the first vehicle device includes: In a case where the first vehicle device is in an abnormal state, determining a fault state of the second vehicle device according to at least one vehicle information.

20. The method of claim 19, wherein, The determining a fault state of the second vehicle device according to at least one vehicle information in a case where the first vehicle device is in an abnormal state includes: Determining a fault state of the first vehicle device according to the first information; In a case where the first vehicle device is in an abnormal state, determining a fault state of the second vehicle device according to at least one vehicle information.

21. The method of claim 18 or 19 or 20, wherein, The vehicle information at least includes first information corresponding to the first vehicle device and second information corresponding to the second vehicle device, and the determining whether to determine a fault state of the second vehicle device according to a fault state of the first vehicle device includes: In a case where it is determined that the first vehicle device is in a normal state according to the first information, determining a fault state of the second vehicle device according to the first information and the second information.

22. The method of claim 21, wherein, The first vehicle device is a pedal sensor of a vehicle pedal, the second vehicle device is a brake execution device, the first information includes a pedal signal collected by a pedal sensor corresponding to the vehicle pedal, and the second information includes a brake force signal determined by the brake execution device, and the determining a fault state of the second vehicle device according to the first information and the second information in a case where it is determined that the first vehicle device is in a normal state according to the first information includes: In a case where it is determined that the pedal sensor is in a normal state according to at least one pedal signal, determining a fault state of the brake execution device according to at least one pedal signal and the brake force signal.

23. The method of claim 22, wherein, The determining a fault state of the brake execution device according to at least one pedal signal and the brake force signal includes: Determining a corresponding actual value based on the pedal signal; Determining a corresponding theoretical value based on the brake force signal; Determining a fault state of the brake execution device according to the actual value and the theoretical value.

24. The method of claim 22 or 23, wherein, The pedal signal at least includes a displacement detection signal collected by a pedal displacement sensor, and the determining a fault state of the brake execution device according to the pedal signal and the brake force signal includes: Determining a corresponding actual pedal displacement based on the displacement detection signal; determining a third predicted pedal displacement corresponding to the brake force signal; if a difference between the actual pedal displacement and the third predicted pedal displacement is less than a fourth preset threshold, determining that the brake execution device is in a normal state; if the difference between the actual pedal displacement and the third predicted pedal displacement is greater than or equal to the fourth preset threshold, determining that the brake execution device is in an abnormal state.

25. The method according to any one of claims 18 to 24, characterized in that, The brake execution device at least includes one of a brake control unit and an execution device; wherein the execution device at least includes one of a brake motor and a brake.

26. The method of claim 1, wherein, The vehicle device at least includes a first vehicle device, a second vehicle device, and a third vehicle device, and the method further comprises: judging a fault state of the third vehicle device according to a fault state of the first vehicle device and a fault state of the second vehicle device.

27. The method of claim 26, wherein, The vehicle information at least includes first information corresponding to the first vehicle device, second information corresponding to the second vehicle information, and third information corresponding to the third vehicle device, and the judging of the fault state of the third vehicle device according to the fault state of the first vehicle device and the fault state of the second vehicle device comprises: in a case where it is judged according to the first information that the first vehicle device is in a normal state, and it is judged according to the first information and the second information that the second vehicle device or the third vehicle device is abnormal, judging a fault state of the second vehicle device or the third vehicle device according to the second information and the third information.

28. The method of claim 27, wherein, The first vehicle device is a pedal sensor of a vehicle pedal, the second vehicle device is an execution device, the third vehicle device is a brake control unit, the first information includes a pedal signal collected by a pedal sensor corresponding to a vehicle pedal, the second information includes a brake force signal collected by a pressure sensor corresponding to the execution device, and the third information is a deceleration signal determined by the brake control unit, and the judging of the fault state of the second vehicle device or the third vehicle device according to the second information and the third information in a case where it is judged according to the first information that the first vehicle device is in a normal state, and it is judged according to the first information and the second information that the second vehicle device or the third vehicle device is abnormal comprises: in a case where it is judged according to at least one of the pedal signals that the pedal sensor is in a normal state, and it is judged according to at least one of the pedal signals and the brake force signal that the execution device and / or the brake control unit is in a fault state, judging a fault state of the execution device and the brake control unit according to the brake force signal and the deceleration signal.

29. The method of claim 28, wherein, The pedal signal at least includes a displacement detection signal collected by a pedal displacement sensor corresponding to a vehicle pedal, and the judging of the fault state of the execution device and the brake control unit according to the brake force signal and the deceleration signal comprises: determining an actual output value of the brake control unit based on the deceleration signal; determining a corresponding predicted output value based on the brake force signal; In a case where it is determined that the brake control unit is in a normal state according to the actual output value and the predicted output value, it is determined that the executing device is in a fault state according to the brake force signal and the deceleration signal.

30. The method of claim 29, wherein, The method further comprises: If a difference between the actual output value and the predicted output value is greater than a fifth preset threshold, it is determined that the brake control unit is in an abnormal state; If the difference between the actual output value and the predicted output value is less than or equal to the fifth preset threshold, it is determined that the brake control unit is in a normal state.

31. The method of claim 29 or 30, wherein, The executing device at least comprises a brake and a brake motor, the brake force signal is a signal collected by a clamping force sensor of the brake, and the second information further comprises a torque signal determined by the brake motor, and the determination of the fault state of the executing device according to the brake force signal and the deceleration signal comprises: determining an actual torque of the brake motor based on the torque signal; determining a corresponding theoretical torque based on the brake force signal; If a difference between the actual torque and the theoretical torque is greater than a sixth preset threshold, it is determined that the brake is in an abnormal state; If the difference between the actual torque and the theoretical torque is less than or equal to the sixth preset threshold, it is determined that the brake motor is in an abnormal state.

32. The method of claim 29 or 30, wherein, The executing device at least comprises a master cylinder, a wheel cylinder and a brake motor, the brake force signal at least comprises a master cylinder pressure signal collected by a master cylinder pressure sensor corresponding to the master cylinder and a wheel cylinder pressure signal collected by a wheel cylinder pressure sensor corresponding to the wheel cylinder, and the second information further comprises a torque signal determined by the brake motor, and the determination of the fault state of the executing device according to the brake force signal and the deceleration signal comprises: determining an actual torque of the brake motor based on the torque signal; determining a corresponding first theoretical torque based on the master cylinder pressure signal and a corresponding second theoretical torque based on the wheel cylinder pressure signal; If a difference between the first theoretical torque and the actual torque is greater than a sixth preset threshold, it is determined that the master cylinder is in an abnormal state; If a difference between the second theoretical torque and the actual torque is greater than a seventh preset threshold, it is determined that the wheel cylinder is in an abnormal state; If the difference between the first theoretical torque and the actual torque is greater than the sixth preset threshold and the difference between the second theoretical torque and the actual torque is greater than the seventh preset threshold, it is determined that the master cylinder and the wheel cylinder are in an abnormal state; If the difference between the first theoretical torque and the actual torque is less than or equal to the sixth preset threshold and the difference between the second theoretical torque and the actual torque is less than or equal to the seventh preset threshold, it is determined that the brake motor is in an abnormal state.

33. A vehicle characterized by The vehicle is used to execute the method according to any one of claims 1 to 32.

34. The vehicle of claim 33, wherein, The vehicle at least comprises a brake system, and the brake system at least comprises one of a sensor, a control unit, a brake motor and a brake; The sensor is used to acquire at least one vehicle information; The control unit is configured to determine a corresponding fault state of at least one of the sensor, the control unit, the brake motor and the brake according to the at least one vehicle information.

35. The vehicle of claim 34, wherein, The sensor comprises at least a pedal sensor corresponding to a vehicle pedal, and the vehicle information comprises at least a pedal signal collected by the pedal sensor; wherein the control unit is specifically configured to: determine a fault state of the pedal sensor according to the pedal signal.

36. The vehicle of claim 34, wherein, The sensor comprises at least a pedal sensor corresponding to a vehicle pedal, and the vehicle information comprises at least a pedal signal collected by the pedal sensor corresponding to the vehicle pedal and a brake force signal determined by a brake execution device; wherein, the control unit is specifically configured to determine a fault state of the brake execution device according to at least one of the pedal signal and the brake force signal, when it is determined that the pedal sensor is in a normal state according to at least one of the pedal signal; The brake execution device comprises at least one of the control unit, the brake motor and the brake.

37. The vehicle of claim 34, wherein, The sensor comprises at least a pedal sensor corresponding to a vehicle pedal and a pressure sensor corresponding to the brake, and the vehicle information comprises at least a brake force signal collected by the pressure sensor, and the third information is a deceleration signal determined by the control unit; wherein the control unit is specifically configured to: determine a fault state of the execution device and the control unit according to at least one of the pedal signal and the brake force signal, when it is determined that the pedal sensor is in a normal state according to at least one of the pedal signal and it is determined that the execution device and / or the control unit is in a fault state according to at least one of the pedal signal and the brake force signal.

38. A detection device of a vehicle device, characterized by, It comprises: an information acquisition module configured to acquire at least one vehicle information; a detection module configured to determine a fault state of at least one vehicle device according to the at least one vehicle information.

39. A computer-readable storage medium having instructions stored thereon that, when executed by one or more processors, cause the processors to perform the method of any one of claims 1 to 36.

40. A computer program product, characterised in that, It comprises computer programs / instructions, which, when executed, implement the method of any one of claims 1 to 36.

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