Automobile position sensor dual-channel signal redundancy checking method, device and storage medium

Abstract

This application relates to the field of automotive sensor technology, and particularly to a method, device, and storage medium for dual-channel signal redundancy verification of automotive position sensors. The method includes: acquiring dual signals in response to an automotive position sensor verification signal; calculating a deviation voltage value from a first voltage and a second voltage in the dual signals; distinguishing between aging drift failure and environmental drift failure based on the deviation voltage value; performing dynamic calibration on the dual signals for aging drift failure and outputting a first effective voltage value; and triggering an environmental correction signal for environmental drift failure and outputting a second effective voltage value, thereby extending the service life of the automotive position sensor. For automotive position sensors whose deviation voltage value reaches a general fault threshold, the sensor is deemed scrapped. This method solves the problem of sensors failing to output effective position signals due to signal drift, which previously required sensor replacement and increased the cost of later vehicle use and maintenance.

Description

Technical Field

[0001] This application belongs to the field of automotive sensor technology, and in particular relates to a method, device and storage medium for dual-channel signal redundancy verification of automotive position sensors. Background Technology

[0002] Automotive position sensors all adopt an analog voltage-type dual-channel signal redundancy design. When the automotive position sensor is in the middle and late stages of the vehicle's life cycle, it will experience early failure states such as slow component aging, increased contact resistance, and gradually aggravated signal drift. For example, the position sensor of the rearview mirror is prone to signal failure when it reaches its service life due to wind and rain.

[0003] Existing technologies have proposed various sensor signal verification methods, primarily employing a fixed threshold comparison method, which presets a fixed deviation threshold for dual-channel voltages. Early failures result in slow, gradual signal deviations that do not reach the general fault threshold, but already indicate a "sub-healthy" state. General verification methods cannot identify this, easily leading to sudden failures later on. Furthermore, aging drift and environmental drift are difficult to distinguish, causing the sensor to fail to output a valid position signal due to signal drift. This necessitates sensor replacement, increasing the vehicle's long-term use and maintenance costs. Summary of the Invention

[0004] This application provides a method, device, and storage medium for dual-channel signal redundancy verification of automotive position sensors. It can solve the problem that the signal deviation of automotive position sensors in the early stages of failure is slow and gradual, and has not reached the general fault threshold, but has already entered a "sub-healthy" state. General verification cannot identify it, which can easily lead to sudden failure drift in the later stages. Furthermore, aging drift and environmental drift are difficult to distinguish, causing the sensor to be unable to output a valid position signal due to signal drift. The only solution is to replace the sensor, which increases the cost of later use and maintenance of the vehicle.

[0005] In a first aspect, embodiments of this application provide a method for redundancy verification of dual-channel signals from an automotive position sensor, including:

[0006] In response to a vehicle position sensor verification signal, dual signals from the vehicle position sensor are acquired; wherein the vehicle position sensor verification signal is obtained based on the vehicle's service life; and the dual signals include a first voltage and a second voltage.

[0007] Based on the first voltage and the second voltage of the vehicle position sensor, a deviation voltage value is obtained; wherein, the deviation voltage value represents the difference between the first voltage and the second voltage;

[0008] Based on the deviation voltage value, the failure state of the vehicle position sensor is determined; wherein, the failure state includes aging drift failure state or environmental drift failure state.

[0009] When the failure state is the aging drift failure state, dynamic calibration is performed on the dual-channel signal of the vehicle position sensor to output a first effective voltage value.

[0010] When the fault failure state is the environmental drift failure state, an environmental correction signal is triggered to output a second effective voltage value.

[0011] The technical solutions described in this application embodiment have at least the following technical effects:

[0012] The dual-channel signal redundancy verification method for automotive position sensors provided in this application embodiment acquires dual-channel signals of the automotive position sensor in response to an automotive position sensor verification signal. The automotive position sensor verification signal is obtained based on the sensor's service life. The dual-channel signals include a first voltage and a second voltage. A deviation voltage value is obtained based on the first and second voltages of the automotive position sensor. The deviation voltage value represents the difference between the first and second voltages. Based on the deviation voltage value, the fault failure state of the automotive position sensor is determined. The fault failure state includes aging drift failure or environmental drift failure. In the case of aging drift failure, dynamic calibration is performed on the dual-channel signals of the automotive position sensor to output a first effective voltage value. In the case of environmental drift failure, an environmental correction signal is triggered to output a second effective voltage value. This application acquires dual signals in response to the vehicle position sensor calibration signal. A deviation voltage value is calculated from the first and second voltages of the dual signals. Based on the deviation voltage value, it distinguishes between aging drift failure and environmental drift failure. For aging drift failure, dynamic calibration is performed on the dual signals, outputting a first effective voltage value. For environmental drift failure, an environmental correction signal is triggered, outputting a second effective voltage value. This extends the lifespan of the vehicle position sensor. Vehicle position sensors whose deviation voltage value reaches the general fault threshold are deemed scrapped. This method addresses the problem of early failure of vehicle position sensors where signal deviation is slow and gradual, not reaching the general fault threshold but already in a "sub-healthy" state, making general calibration unable to identify it. This easily leads to sudden drift failures later on, and the difficulty in distinguishing between aging drift and environmental drift. Consequently, the sensor cannot output a valid position signal due to signal drift, requiring sensor replacement and increasing the cost of later vehicle use and maintenance.

[0013] Secondly, embodiments of this application provide a dual-channel signal redundancy verification device for an automotive position sensor, applied to electronic devices, for implementing the dual-channel signal redundancy verification method for an automotive position sensor as described in any of the first aspects above. The dual-channel signal redundancy verification device for the automotive position sensor includes:

[0014] The acquisition unit is configured to acquire dual signals from the vehicle position sensor in response to the vehicle position sensor verification signal; wherein the vehicle position sensor verification signal is obtained based on the vehicle's service life; and the dual signals include a first voltage and a second voltage.

[0015] A deviation unit is used to obtain a deviation voltage value based on the first voltage and the second voltage of the vehicle position sensor; wherein the deviation voltage value represents the difference between the first voltage and the second voltage;

[0016] The fault unit is used to determine the fault failure state of the vehicle position sensor based on the deviation voltage value; wherein the fault failure state includes aging drift failure state or environmental drift failure state.

[0017] An aging unit is used to perform dynamic calibration on the dual-channel signals of the vehicle position sensor when the failure state is the aging drift failure state, so as to output a first effective voltage value.

[0018] An environmental unit is configured to trigger an environmental correction signal to output a second effective voltage value when the fault failure state is the environmental drift failure state.

[0019] Thirdly, embodiments of this application provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method described in the first aspect above.

[0020] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in the first aspect above.

[0021] It is understood that the beneficial effects of the second to fourth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a flowchart illustrating a method for redundancy verification of dual-channel signals of an automotive position sensor according to an embodiment of this application.

[0024] Figure 2 This is a schematic diagram of the operation of a dual-channel signal redundancy verification method for an automotive position sensor provided in an embodiment of this application;

[0025] Figure 3 This is a schematic diagram of the structure of the dual-channel signal redundancy verification device for automotive position sensors provided in the embodiments of this application;

[0026] Figure 4 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0027] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0028] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0029] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0030] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0031] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0032] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0033] Various sensor signal verification methods have been proposed in related technologies, primarily employing a fixed threshold comparison method, which presets a fixed deviation threshold for dual-channel voltages. Early failures result in slow, gradual signal deviations that do not reach the general fault threshold, but indicate a "sub-healthy" state. General verification fails to identify this, easily leading to sudden failures later on. Furthermore, aging drift and environmental drift are difficult to distinguish. The mainstream core technology is the fixed threshold comparison method, which calibrates a fixed general fault threshold for dual-channel voltages. This general fault threshold is a fixed value and does not adjust with the sensor's service life or changes in the vehicle environment. A few improved technologies use a segmented threshold comparison method, dividing the sensor's service life into 2-3 stages and calibrating a segmented general fault threshold for each stage. The general fault threshold increases with service life, but the threshold within each stage remains fixed. This only adapts to aging drift and cannot cope with environmental drift, causing the sensor to fail to output a valid position signal due to signal drift. This necessitates sensor replacement, increasing the later use and maintenance costs of the vehicle.

[0034] To address the aforementioned issues, this application provides a method for redundancy verification of dual-channel signals of an automotive position sensor. The method includes: acquiring dual-channel signals of the automotive position sensor in response to a verification signal; wherein the verification signal is obtained based on the sensor's service life; the dual-channel signals include a first voltage and a second voltage; obtaining a deviation voltage value based on the first and second voltages of the automotive position sensor; wherein the deviation voltage value represents the difference between the first and second voltages; determining the fault failure state of the automotive position sensor based on the deviation voltage value; wherein the fault failure state includes aging drift failure state or environmental drift failure state; performing dynamic calibration on the dual-channel signals of the automotive position sensor to output a first effective voltage value when the fault failure state is an environmental drift failure state; and triggering an environmental correction signal to output a second effective voltage value when the fault failure state is an environmental drift failure state. This application acquires dual signals in response to the vehicle position sensor calibration signal. A deviation voltage value is calculated from the first and second voltages of the dual signals. Based on the deviation voltage value, it distinguishes between aging drift failure and environmental drift failure. For aging drift failure, dynamic calibration is performed on the dual signals, outputting a first effective voltage value. For environmental drift failure, an environmental correction signal is triggered, outputting a second effective voltage value. This extends the service life of the vehicle position sensor. The application divides the general fault threshold of the vehicle position sensor into multiple segments based on its service life. Vehicle position sensors whose deviation voltage values ​​reach the general fault threshold are deemed scrapped. This method addresses the problem of early failure of vehicle position sensors where signal deviation is slow and gradual, not reaching the general fault threshold but already in a "sub-healthy" state, making general calibration unable to identify it. This easily leads to sudden drift failures later on, and the difficulty in distinguishing between aging drift and environmental drift. Consequently, the sensor cannot output a valid position signal due to signal drift, requiring sensor replacement and increasing the cost of later vehicle use and maintenance.

[0035] The dual-channel signal redundancy verification method for automotive position sensors provided in this application can be applied to electronic devices. In this case, the electronic device is the executing entity of the dual-channel signal redundancy verification method for automotive position sensors provided in this application. This application does not impose any restrictions on the specific type of electronic device.

[0036] For example, electronic devices can be vehicle-mounted ECUs, vehicle-mounted control computers, edge computing gateways, production scheduling servers, cloud servers, vehicle-mounted tablets, or intelligent scheduling terminals. Electronic devices include memory, processors, and computer programs stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements methods as described above.

[0037] To better understand the dual-channel signal redundancy verification method for automotive position sensors provided in this application, the specific implementation process of the dual-channel signal redundancy verification method for automotive position sensors provided in this application will be described by way of example below.

[0038] Figure 1 A flowchart illustrating the dual-channel signal redundancy verification method for automotive position sensors provided in an embodiment of this application is shown. Figure 2 This illustration shows a schematic diagram of the operation of the dual-channel signal redundancy verification method for automotive position sensors provided in an embodiment of this application. The dual-channel signal redundancy verification method for automotive position sensors includes:

[0039] S100 responds to the vehicle position sensor calibration signal and acquires dual signals from the vehicle position sensor. The vehicle position sensor calibration signal is derived based on the sensor's service life. The dual signals include a first voltage and a second voltage.

[0040] It is understandable that the automotive position sensor calibration signal is a command signal that triggers the sensor to perform dual-channel signal acquisition and redundancy verification. It can be automatically generated by the vehicle ECU according to preset triggering rules based on the sensor's service life. When the preset service life is reached, and the automotive position sensor needs adjustment, the calibration signal is triggered. The service life is the cumulative working time of the automotive position sensor from its installation and use in the vehicle to the present. This can be directly retrieved through the sensor's own storage module. For example, a Hall effect automotive position sensor installed in June 2023 would have a cumulative service life of 2 years as of June 2025. Dual-channel signals are two voltage signals synchronously output by the automotive position sensor to achieve redundancy design, used to detect the same position. Since the dual-channel signal output type of the automotive position sensor is mainly divided into analog voltage type, the output is a voltage signal. The first voltage and the second voltage are the real-time voltage detection values ​​of the two redundant signals of the automotive position sensor. The acquisition method is to synchronously sample the sensor output through the sensor's signal acquisition terminal (such as the vehicle-mounted ADC sampling module). For example, when a certain automotive throttle position sensor is working, the sampled first voltage is 3.2V and the second voltage is 3.19V. The values ​​of the first voltage and the second voltage are the dual-channel signals of the sensor.

[0041] It should be noted that ECU is the abbreviation for Electronic Control Unit, which is an electronic control module in a car that integrates a microprocessor, memory, input / output interfaces and control circuits. It receives signals from various sensors in the car, performs data processing and logical judgment, and then outputs commands to control the corresponding execution components. It is the core of the car's electronic control system.

[0042] S200 obtains the deviation voltage value based on the first and second voltages from the vehicle position sensor. The deviation voltage value represents the difference between the first and second voltages.

[0043] It is understandable that the deviation voltage value is a quantitative indicator used to characterize the consistency of dual-channel voltage signals. It primarily reflects the numerical difference between the first voltage and the second voltage. The method of obtaining it is to perform a difference calculation on the first voltage and the second voltage collected at the same time. For example, if the first voltage is 3.2V and the second voltage is 3.19V, the deviation voltage value is 3.2 - 3.19 = 0.01V.

[0044] As an optional embodiment of this application, S200, based on the first voltage and the second voltage of the vehicle position sensor, obtains the deviation voltage value, including:

[0045] S210 preprocesses the acquired first and second voltages to obtain the effective voltage data pair of the vehicle position sensor.

[0046] Preprocessing is understood to be a signal optimization operation performed on the acquired original first and second voltages. Preprocessing includes outlier removal, duplicate data deduplication, and time synchronization alignment, which can be implemented through the hardware algorithm of the vehicle signal processing module or the software program of the ECU. The effective voltage data pair is a one-to-one correspondence between the first and second voltage data after preprocessing. It is obtained by matching and combining the first and second voltages at the same time dimension after performing the aforementioned preprocessing on the original dual-channel voltages. For example, if the original first voltage sampled at the same time is [3.2V, 10.5V (outlier), 3.2V (duplicate)], and the second voltage is [3.19V, 6.0V, 3.19V], after removing outliers and deduplication, the effective voltage data pair at the same time is obtained (3.2V, 3.19V).

[0047] It should be noted that out-of-range values ​​refer to values ​​that exceed the preset standard operating voltage range. For example, the standard operating voltage range of a Hall effect automotive position sensor installed on a rearview mirror is 0V-5V.

[0048] S220 obtains the deviation voltage value based on the effective voltage data pair.

[0049] It is understandable that the deviation voltage value in this step is obtained by performing an absolute difference calculation on the first and second voltages in the effective voltage data pair. This is different from directly calculating the original voltage. The deviation voltage value in this step uses the effective voltage data pair as the data source, and the result is closer to the actual working state of the sensor. For example, if the effective voltage data pair is (3.2V, 3.19V), the deviation voltage value obtained after the difference calculation is 0.01V.

[0050] By employing the above steps S210 to S220, it is helpful to filter out invalid interference such as vehicle electromagnetic noise, outliers caused by sampling misjudgment, and repeated data acquisition in the original dual-channel voltage signal, ensuring the accuracy of the data source for calculating the deviation voltage value and avoiding the error in difference calculation caused by distortion of the original data.

[0051] The S300 determines the failure status of the vehicle position sensor based on the deviation voltage value. The failure status includes aging drift failure or environmental drift failure.

[0052] It is understandable that a fault failure state refers to the automotive position sensor's inability to output accurate detection signals due to drift in its dual-channel voltage signals caused by internal or external factors. Aging drift failure is caused by the aging of the sensor's components (resistors, capacitors, sensing elements, etc.) over long-term use, resulting in voltage signal drift; this is caused by internal sensor factors. Environmental drift failure is caused by voltage signal drift due to external environmental factors (electromagnetic interference, temperature and humidity changes, etc.); this is caused by external sensor factors. The core of determining either of these is the trend of the deviation voltage value over time, which can be achieved through time-series analysis of the deviation voltage value.

[0053] As an optional embodiment of this application, S300, determining the fault failure state of the vehicle position sensor based on the deviation voltage value includes:

[0054] S310 arranges the deviation voltage values ​​according to time to obtain a deviation voltage value sequence. The deviation voltage value sequence is a data sequence of deviation voltage values ​​within one signal cycle.

[0055] It can be understood that the deviation voltage value sequence is a set of deviation voltage values ​​arranged in chronological order. It is obtained by calculating the deviation voltage values ​​at fixed time intervals within a preset period and then sorting them sequentially according to the acquisition timestamp. The signal period is a pre-set time interval for acquiring and statistically analyzing deviation voltage values ​​to determine the sensor's fault state. It can be flexibly set according to the sensor's operating response frequency and the operational requirements of vehicle position detection. It can be calibrated through the ECU's program parameters. For example, setting the signal period to 0.05s and calculating 10 deviation voltage values ​​at fixed intervals of 5ms, then arranging them in chronological order, yields a deviation voltage value sequence of [0.01V, 0.01V, 0.02V, ..., 0.01V].

[0056] In one possible implementation, S310, the deviation voltage values ​​are arranged by time to obtain a sequence of deviation voltage values, including:

[0057] S311 acquires one signal cycle from the vehicle position sensor. One signal cycle represents the complete operating cycle of the vehicle position sensor.

[0058] It can be understood that the signal cycle (the complete working cycle of the sensor) is the time interval within which a vehicle position sensor completes one full-stroke position detection and outputs a complete set of detection signals. This can be obtained by referring to the calibration value in the sensor's original manufacturer's technical manual, or by measuring the actual working process of the sensor using onboard testing equipment. For example, the complete working cycle of a certain vehicle's throttle position sensor is the time it takes for the throttle to go from fully closed to fully open and back to fully closed, which is measured to be 8 seconds. Therefore, one signal cycle of the vehicle's throttle position sensor is 8 seconds. The complete working cycle of a certain crankshaft position sensor is the time it takes for the crankshaft to rotate one revolution, with an original manufacturer calibration value of 0.05 seconds. The time from the start of adjustment to the completion of the rearview mirror angle adjustment by a certain rearview mirror's Hall effect vehicle position sensor is measured to be 5 seconds, and one signal cycle of the Hall effect vehicle position sensor is 5 seconds.

[0059] S312 arranges the deviation voltage values ​​of one signal cycle according to time to obtain the deviation voltage value sequence of the vehicle position sensor.

[0060] It is understandable that the method for obtaining the deviation voltage value sequence in this step is to continuously calculate the deviation voltage value at fixed time intervals within a complete working cycle of the sensor, and then sort these deviation voltage values ​​according to the order of acquisition time. For example, the signal period of the crankshaft position sensor is 0.05s, and 10 deviation voltage values ​​are calculated at 5ms intervals. After sorting by time, the deviation voltage value sequence [0.01V, 0.01V, 0.02V, ..., 0.01V] is obtained.

[0061] By adopting the above steps S311 to S312, the statistical interval of the deviation voltage value sequence can be made to fit the actual working law of the sensor itself, avoiding the unrepresentativeness of the sequence data caused by the mismatch between the preset period and the sensor's working characteristics. This allows the deviation voltage value sequence to truly reflect the voltage deviation change during a complete working process of the sensor, improving the fit and accuracy of subsequent deviation slope calculation and fault status determination.

[0062] S320 determines the deviation slope of the deviation voltage value sequence of the vehicle position sensor based on the deviation voltage value sequence.

[0063] As can be understood, the deviation slope is a quantitative rate of change of the deviation voltage value sequence over time. It primarily reflects the rising, falling, or stable trend of the deviation voltage value over time. It is obtained through mathematical operations such as data fitting and differencing on the deviation voltage value sequence. For example, if the deviation voltage value sequence gradually increases over time with a positive slope, it indicates that the sensor's voltage deviation is continuously increasing. Conversely, if the deviation voltage value sequence gradually decreases over time with a negative slope, it indicates that the sensor's voltage deviation is continuously decreasing.

[0064] In one possible implementation, S320, determining the deviation slope of the deviation voltage value sequence of the vehicle position sensor based on the deviation voltage value sequence, includes:

[0065] S321 performs data normalization on the deviation voltage value sequence to obtain a normalized sequence.

[0066] Data normalization is understood to be a secondary data optimization operation performed on the original deviation voltage value sequence. Its core components include outlier removal, missing value interpolation and completion, and data smoothing, which can be achieved through the ECU's data analysis program. The normalized sequence is a continuous deviation voltage value sequence without outliers or missing values, obtained after data normalization of the original deviation voltage value sequence. It is obtained by performing one or more of the above data normalization operations on the original deviation voltage value sequence. For example, if the original deviation voltage value sequence is [0.01V, 1.2V (outlier), 0.02V, null, ..., 0.01V], after removing outliers and interpolating to complete null values, the normalized sequence is obtained as [0.01V, 0.015V, 0.02V, 0.015V, ..., 0.01V].

[0067] S322 uses time as the horizontal axis and the regular sequence as the vertical axis to form a set of data points.

[0068] It can be understood that the data point set is a set of two-dimensional coordinate points (time, deviation voltage value) consisting of each deviation voltage value in the regularized sequence and its corresponding acquisition timestamp. The acquisition method is to match the corresponding acquisition timestamp for each deviation voltage value in the regularized sequence, and then integrate the two in the form of two-dimensional coordinate points. For example, if the regularized sequence is [0.01V, 0.015V, 0.02V], and the corresponding acquisition timestamps are 0.1s, 0.2s, and 0.3s, the integrated data point set is {(0.1, 0.01), (0.2, 0.015), (0.3, 0.02)}.

[0069] S323 fits the set of data points to obtain a fitted linear equation.

[0070] It can be understood that the fitted linear equation is a linear equation in one variable that can approximately reflect the linear relationship between "time-deviation voltage value" in the data point set. The general mathematical form is y=kt+b (where y is the normalized deviation voltage value, t is time, k is the deviation slope, and b is the intercept). It is obtained by performing a univariate linear regression fitting calculation on the data point set using the least squares method (the mainstream reliable method for automotive-grade sensor signal processing). For example, performing the least squares fitting on the data point set {(0.1,0.01), (0.2,0.015), (0.3,0.02)} yields the fitted linear equation y=0.05t+0.005.

[0071] S324 determines the slope of the deviation voltage value sequence of the vehicle position sensor based on the fitted linear equation.

[0072] It can be understood that the deviation slope in this step is obtained by directly extracting the coefficient k of the first-order term of the fitted linear equation. The coefficient of the first-order term is the deviation slope of the deviation voltage value sequence as a function of time, with units of V / s (volts per second). For example, if the fitted linear equation is y = 0.05t + 0.005, the extracted coefficient k = 0.05, meaning the deviation slope of the deviation voltage value sequence is 0.05 V / s. If the fitted linear equation is y = -0.03t + 0.04, the extracted coefficient k = -0.03, meaning the deviation slope is -0.03 V / s.

[0073] By employing steps S321 to S324, outliers and missing values ​​in the original deviation voltage value sequence are eliminated through data normalization, making the data point set more closely reflect the actual deviation variation pattern of the sensor. The least squares linear fitting method transforms discrete coordinate points into continuous linear equations, providing a direct and quantitative way to obtain the rate of change of the deviation voltage value over time. This avoids slope determination errors caused by local fluctuations in discrete data, making the deviation slope calculation results more accurate and reliable, and providing a quantitative basis for subsequent fault condition determination.

[0074] If the deviation slope of S330 is less than zero, the failure state of the vehicle position sensor is determined to be environmental drift failure state.

[0075] It is understandable that the core of determining environmental drift failure is that the deviation slope is less than 0, meaning the deviation voltage value sequence shows a continuous decreasing trend over time. Environmental drift failure is caused by external environmental factors of the vehicle. The determination method is to compare the calculated deviation slope with 0. When the slope result is negative, it is directly determined to be an environmental drift failure. A deviation slope less than zero indicates that the voltage deviation value of the dual signals gradually approaches zero within the current signal cycle. The dual signals change with the environment in real time within the current signal cycle, without accumulation. After the environment recovers, the voltage deviation value returns to normal. For example, if the calculated deviation slope is -0.02V / s, which is less than zero, the vehicle position sensor is determined to be in an environmental drift failure state. Its voltage deviation continues to decrease over time, most likely due to interference from external environmental factors such as vehicle electromagnetic fields, temperature, and humidity.

[0076] If the deviation slope of S340 is greater than or equal to zero, the failure state of the vehicle position sensor is determined to be aging drift failure state.

[0077] It can be understood that the core of determining the aging drift failure state is that the deviation slope is greater than or equal to 0, that is, the deviation voltage value sequence shows a continuous upward trend or remains stable over time (slope = 0). The aging drift failure state is caused by the aging of the sensor's own components. The determination result is obtained by comparing the calculated deviation slope with 0. When the slope result is positive or zero, it is directly determined to be an aging drift failure state. A deviation slope greater than or equal to zero indicates that the voltage deviation value of the dual signals gradually increases or tends to stabilize within the current signal cycle. The dual signals do not change with the environment in real time within the current signal cycle and have a cumulative effect. After the environment recovers, the voltage deviation value still remains at a high level. For example, if the calculated deviation slope is 0.03V / s (greater than zero) or the slope is 0V / s (equal to zero, the deviation voltage value remains stable but at a high level), it is determined that the automotive position sensor is in an aging drift failure state, and its voltage deviation is caused by the aging of its own components.

[0078] By employing the steps S310 to S340 described above, discrete deviation voltage values ​​can be transformed into a time-series sequence of deviation voltage values. The deviation slope is used to quantify the changing trend of deviation voltage values ​​over time, enabling accurate and quantitative differentiation between two failure states: aging drift and environmental drift. This avoids the ambiguity of traditional methods that rely solely on fixed differences to determine faults, upgrading the determination of sensor failure states from "qualitative judgment" to "quantitative analysis," thus meeting the high-precision fault diagnosis requirements of automotive position sensors.

[0079] When the failure state is aging drift failure, the S400 performs dynamic calibration on the dual signals of the vehicle position sensor to output the first effective voltage value.

[0080] Dynamic calibration is understood to be a specific calibration operation for sensors in an aging, drifting, or failure state. It has no fixed calibration coefficient and dynamically adjusts the calibration strategy according to the real-time changes in the dual-channel voltage signals, achieved through the ECU's signal calibration program. The first effective voltage value is the effective voltage value output after dynamic calibration of the dual-channel signals, which can be used by the vehicle ECU for position determination. It is obtained by performing arithmetic operations on the dynamically calibrated dual-channel voltage signals and is the core basis for the vehicle control system to identify the sensor's position.

[0081] As an optional embodiment of this application, in step S400, when the failure state is an aging drift failure state, dynamic calibration is performed on the dual-channel signals of the vehicle position sensor to output a first effective voltage value, including:

[0082] When the fault failure state is aging drift failure state, S410 averages the first voltage and the second voltage in the dual signal to output the first effective voltage value.

[0083] It is understandable that matching the first and second voltages, which have a slight sampling delay causing a deviation in acquisition time, in the dual-channel signals to voltage values ​​at the same timestamp can be achieved through an onboard synchronous sampling module or an ECU time synchronization algorithm. Averaging involves performing an arithmetic mean operation on the first and second voltages. The first effective voltage value is obtained by taking the arithmetic mean of the first and second voltages. For example, if the first voltage is 3.2V and the second voltage is 3.16V, the arithmetic mean operation yields the first effective voltage value = (3.2 + 3.16) ÷ 2 = 3.18V, and this first effective voltage value is then output to the onboard ECU.

[0084] By employing step S410, the average calculation error caused by asynchronous sampling of the dual signals is eliminated. The arithmetic mean of the dual voltages under aging drift effectively offsets the voltage bias error caused by the aging of individual sensor components. The output first effective voltage value is closer to the actual position detection value of the sensor, ensuring accurate identification of the position signal by the vehicle ECU. Simultaneously, the calibration method has simple calculation logic and low computational load, perfectly suited to the low computing power requirements of vehicle equipment.

[0085] When the fault failure state is environmental drift failure state, S500 triggers an environmental correction signal to output a second effective voltage value.

[0086] It is understandable that the environmental correction signal is a command signal generated based on the specific type of environmental interference to compensate for and correct the dual-channel voltage signals in response to sensor environmental drift failure. This signal can be automatically generated by the ECU according to the interference type. The second effective voltage value is the effective voltage value output after compensation and correction by the environmental correction signal, used by the vehicle ECU for position determination. It is obtained by correcting the dual-channel voltage signals for the corresponding environmental interference and then performing arithmetic operations. For example, if the sensor experiences voltage drift due to electromagnetic interference, an electromagnetic interference filtering correction signal is generated, resulting in a second effective voltage value of 3.19V after correcting the dual-channel voltages.

[0087] As an optional embodiment of this application, in S500, when the fault failure state is an environmental drift failure state, an environmental correction signal is triggered to output a second effective voltage value, including:

[0088] S510 obtains the fluctuation characteristics of the deviation voltage value sequence based on the deviation slope of the deviation voltage value sequence. These fluctuation characteristics include fluctuation amplitude and fluctuation frequency.

[0089] It can be understood that the fluctuation characteristic is the change feature of the deviation voltage value sequence in the time dimension, which can reflect the strength and speed of environmental interference. It is obtained by extracting and calculating the time-series characteristics (extreme points, zero crossing points, time intervals) of the deviation slope. The fluctuation amplitude is the difference between the maximum and minimum values ​​in the deviation voltage value sequence, reflecting the fluctuation range of the voltage deviation. It is obtained by integrating the extreme points of the deviation slope, or by directly calculating the extreme difference of the deviation voltage value sequence. For example, if the deviation voltage value sequence is [0.03V, 0.025V, 0.02V, 0.01V, 0.01V], the fluctuation amplitude = 0.03 - 0.00 = 0.03V. Fluctuation frequency is a specific indicator used to measure how quickly the deviation slope changes over time in fluctuation characteristics. It directly reflects how quickly the trend of the sensor's deviation voltage changes within a signal cycle. The higher the fluctuation frequency (the rate of change of the deviation slope), the faster the deviation slope changes over time, indicating more frequent changes in environmental interference characteristics and a more complex fluctuation pattern of the deviation voltage. It is obtained by differentiating the deviation slope. ,in, Indicates the fluctuation frequency. Indicates the slope of the deviation. To represent time and adapt to the low computing power requirements of the vehicle ECU, a segmented fitting slope plus rate of change calculation method is used, eliminating the need to calculate complex continuous second derivatives. The specific steps are as follows: First, the deviation voltage value sequence is divided into multiple segments according to equal time windows (the time window can be calibrated by ECU parameters, such as every 3 data points as a window); Second, linear fitting is performed on each segment to obtain the corresponding segment deviation slope, forming a set of segmented slopes; Third, based on time, the absolute difference between the deviation slopes of two adjacent segments is calculated, and then divided by the time interval between the two segments to obtain the rate of change of the slope of the adjacent segments. Finally, the average of the rate of change of all adjacent segments is taken as the fluctuation frequency (rate of change of the deviation slope) of the entire deviation voltage value sequence. The formula for calculating the fluctuation frequency is: Fluctuation frequency (average) = (Rate of change of slope of adjacent segments) / (Rate of change of slope of adjacent segments) The sum of the absolute differences in the slopes of the segments divided by the total time interval is expressed in volts per second (V / s²). For example, the above crankshaft position sensor deviation voltage value sequence has 10 data points. It is divided into 3 effective segments with 3 data points per time window. After linear fitting, the deviation slopes of the 3 segments are obtained as -0.02V / s, -0.03V / s, and -0.02V / s, respectively. The time interval corresponding to each segment is 0.01s. First, the absolute difference in the slopes of adjacent segments is calculated as |-0.03-(-0.02)|=0.01V / s and |-0.02-(-0.03)|=0.01V / s, respectively. Then, the total time interval is calculated as 0.01s+0.01s=0.02s. Finally, the fluctuation frequency (average rate of change of the deviation slope) is calculated as (0.01+0.01)÷0.02=1V / s².

[0090] The S520 determines the interference type of environmental drift failure state based on the fluctuation amplitude and frequency of the deviation voltage value sequence. The interference types include electromagnetic interference-type environmental drift and temperature / humidity interference-type environmental drift.

[0091] It is understandable that electromagnetic interference-type environmental drift is caused by interference from the vehicle's electromagnetic environment (such as electromagnetic radiation from the vehicle's motor, wiring harness, and electronic control module), resulting in voltage signal drift. Its fluctuation characteristics are high frequency and medium-high amplitude. Temperature and humidity interference-type environmental drift is caused by interference from changes in the temperature and humidity of the vehicle's operating environment (such as high temperature in the engine compartment or high humidity in rainy weather), resulting in voltage signal drift. Its fluctuation characteristics are low frequency and medium-high amplitude. The determination method for both is to match the actual fluctuation characteristics with preset thresholds and preset frequencies to obtain the determination result.

[0092] In one possible implementation, S520 determines the type of interference in the environmental drift failure state based on the fluctuation amplitude and frequency of the deviation voltage value sequence, including:

[0093] S521 determines the interference type as electromagnetic interference-type environmental drift when the fluctuation amplitude is greater than or equal to the preset amplitude threshold and the fluctuation frequency matches the preset electromagnetic interference frequency.

[0094] It is understandable that the preset amplitude threshold is a critical value for fluctuation amplitude pre-set to determine the effective environmental drift, used to eliminate noise interference from small fluctuations. It is obtained through sensor anti-interference performance testing and calibration. For example, the preset amplitude threshold of a certain automotive position sensor is calibrated to 0.03V. The preset electromagnetic interference frequency is a typical frequency range or fixed reference value pre-set for the rate of change of sensor deviation slope caused by vehicle electromagnetic interference. It is the core reference for determining whether the actual fluctuation frequency of the sensor conforms to the high-frequency characteristics of electromagnetic interference. As long as the actual fluctuation frequency falls within this range or matches the fixed reference value, it is determined to be a frequency characteristic match. It is obtained by combining measured data of the vehicle electromagnetic environment with ECU parameter calibration. First, the actual fluctuation frequency of various position sensors is collected when different vehicle electromagnetic interference sources (such as vehicle starter motor, engine wiring harness, body electronic control module, air conditioning compressor, etc.) are working using vehicle testing equipment. The typical frequency range under electromagnetic interference is statistically obtained. Then, according to the sensor type, this range is calibrated as the preset electromagnetic interference frequency in the ECU. After calibration, it can be directly called for matching judgment. For example, for position sensors in the engine compartment such as crankshafts and camshafts, the preset electromagnetic interference frequency is calibrated to a frequency range of 0.5V / s² or higher. For body position sensors such as doors and rearview mirrors, the preset electromagnetic interference frequency is calibrated to a frequency range of 0.3V / s² or higher. Frequency matching means that the fluctuation amplitude is greater than or equal to a preset amplitude threshold, ensuring that the environmental interference reaches the medium-to-high intensity required for correction. This is an inherent characteristic of electromagnetic interference-type environmental drift. Matching the fluctuation frequency with the preset electromagnetic interference frequency ensures that the frequency characteristics of the interference conform to the high-frequency characteristics of electromagnetic interference (rapid changes in deviation slope and frequent changes in environmental interference characteristics). This is the core basis for distinguishing electromagnetic interference from other types of environmental drift. Combining these two conditions effectively avoids misjudgments caused by relying on a single indicator, making the determination of the interference type more accurate. For example, if the crankshaft position sensor is calculated to have an actual fluctuation amplitude of 0.03V and an actual fluctuation frequency of 1V / s², and its preset amplitude threshold is 0.02V and preset electromagnetic interference frequency is 0.5V / s² or higher, then 0.03V ≥ 0.02V and 1V / s² falls within the range of 0.5V / s² or higher. Both conditions are met simultaneously, therefore the environmental drift interference type of the sensor is determined to be electromagnetic interference type environmental drift.

[0095] When the fluctuation amplitude is greater than or equal to the preset amplitude threshold and the fluctuation frequency matches the preset temperature and humidity interference frequency, S522 determines that the interference type is temperature and humidity interference type environmental drift.

[0096] It is understandable that the preset temperature and humidity interference frequency is a typical frequency range or fixed reference value set in advance, representing the rate of change of the sensor deviation slope caused by changes in vehicle temperature and humidity. It is the core reference for determining whether the actual fluctuation frequency of the sensor conforms to the low-frequency characteristics of temperature and humidity interference. As long as the actual fluctuation frequency falls within this range or matches the fixed reference value, it is determined to be a frequency characteristic match. The acquisition method is to combine the measured data of vehicle temperature and humidity environment with ECU parameter calibration. First, the actual fluctuation frequency of various position sensors under different temperature and humidity change conditions (such as high temperature at engine compartment idling, high temperature rise during high-speed driving, high humidity in rainy weather, low temperature in winter, etc.) is collected through vehicle testing equipment. The typical frequency range under temperature and humidity interference is statistically obtained. Then, according to the sensor type, this range is calibrated as the preset temperature and humidity interference frequency in the ECU. After calibration, it can be directly called for matching and judgment. Since temperature and humidity changes are slow-changing processes in the vehicle environment, the rate of change of the resulting deviation slope is always low-frequency. Therefore, the calibration range of the preset temperature and humidity interference frequency is always in the low-frequency range. For example, for position sensors in the engine compartment such as crankshaft and throttle, the preset temperature and humidity interference frequency is calibrated to a frequency range below 0.5V / s². For body position sensors such as doors and rearview mirrors, the preset temperature and humidity interference frequency is calibrated to a frequency range below 0.3V / s². For example, if the throttle position sensor is calculated to have an actual fluctuation amplitude of 0.025V and an actual fluctuation frequency of 0.2V / s², and its preset amplitude threshold is 0.02V and the preset temperature and humidity interference frequency is below 0.5V / s², then 0.025V ≥ 0.02V, and 0.2V / s² falls within the range below 0.5V / s². Both conditions are met simultaneously, therefore the environmental drift interference type of the sensor is determined to be temperature and humidity interference-type environmental drift.

[0097] By employing steps S521 to S522, effective environmental drift signals can be filtered out using preset amplitude thresholds, eliminating invalid fluctuation interference caused by minor vehicle noise. Furthermore, by matching the fluctuation frequency with preset interference frequencies of different types, precise differentiation between electromagnetic interference and temperature / humidity interference can be achieved. This makes the generation of subsequent environmental correction signals more targeted, avoiding the poor performance of traditional general environmental correction methods and significantly improving the signal correction accuracy under environmental drift.

[0098] S530 generates an environmental correction signal corresponding to the interference type (electromagnetic interference type or temperature and humidity interference type) based on the environmental drift, and outputs a second effective voltage value. The second effective voltage value is the average of the first and second voltages when the interference type is either electromagnetic interference type or temperature and humidity interference type, and the deviation slope is at its minimum.

[0099] It can be understood that the second effective voltage value is calculated by averaging the average first voltage and average second voltage at the same time stamp, under the condition that the interference type is electromagnetic interference-type environmental drift or temperature and humidity interference-type environmental drift, and the deviation slope is at its minimum. The environmental correction signal is a measure to adapt to electromagnetic interference-type environmental drift or temperature and humidity interference-type environmental drift. For example, if electromagnetic interference-type environmental drift exists, an electromagnetic correction signal is triggered to perform demagnetization processing, thereby compensating for electromagnetic interference-type environmental drift; if temperature and humidity interference-type environmental drift exists, a temperature and humidity correction signal is triggered to perform temperature control processing, thereby compensating for temperature and humidity interference-type environmental drift. It is automatically generated by the ECU according to the interference type. For example, when the fluctuation frequency is 1V / s², it belongs to the electromagnetic interference type of environmental drift. After linear fitting, the entire deviation voltage value sequence is divided into three segmented deviation slopes, which are -0.02V / s, -0.03V / s, and -0.02V / s respectively. When the deviation slope is -0.02V / s, the average first voltage is 3.2V, the average second voltage is 3.18V, and the output second effective voltage value = (3.2 + 3.18) ÷ 2 = 3.19V.

[0100] By employing the steps S510 to S530 described above, it is possible to generate a dedicated environmental correction signal based on different types of environmental interference, effectively offsetting voltage drift caused by electromagnetic, temperature, and humidity interference. Simultaneously, it covers static environmental drift scenarios with zero fluctuation frequency, allowing the environmental correction scheme to adapt to all types of static and dynamic environmental drift. The output second effective voltage value is more accurate, ensuring the vehicle ECU's accurate identification of dual-channel signals.

[0101] If the deviation voltage value of S600 is greater than or equal to the general fault threshold, it is determined to be a dual-signal failure state, and a vehicle position sensor replacement signal is output. The general fault threshold is determined by the service life.

[0102] It is understandable that the general fault threshold is the critical value of the deviation voltage that determines the complete failure of the dual-channel signals of an automotive position sensor. The general fault threshold is positively correlated with the sensor's service life (the longer the service life, the more severe the component aging, and the higher the threshold). It is obtained by fitting a correlation curve between "service life and deviation voltage threshold" through a full life cycle aging test of the sensor, and then retrieving the corresponding threshold from the correlation curve based on the sensor's current actual service life. For example, the general fault threshold for a sensor that has been used for 1 year is 0.5V, and the general fault threshold for a sensor that has been used for 3 years is 0.8V. The dual-channel signal failure state is a serious fault state in which the deviation of the dual-channel voltage signals of the automotive position sensor is too large, and the effective position detection capability cannot be restored through dynamic calibration and environmental correction. The determination method is to compare the actual calculated deviation voltage value with the general fault threshold. When the deviation voltage value is greater than or equal to the general fault threshold, it is determined to be a dual-channel signal failure state. The vehicle position sensor replacement signal is a fault indication command signal output to the vehicle's instrument panel and ECU. It is automatically generated by the ECU after determining that both signals have failed. The vehicle position sensor replacement signal will trigger the malfunction indicator light on the instrument panel to illuminate, prompting the driver or maintenance personnel to replace the vehicle position sensor. For example, if the vehicle position sensor has been in use for 2 years and the corresponding general fault threshold is 0.6V, and the actual calculated deviation voltage value is 0.7V, which is greater than or equal to 0.6V, it is determined that both signals have failed. The ECU will immediately output a sensor replacement signal, and the malfunction indicator light on the instrument panel will illuminate.

[0103] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0104] Corresponding to the dual-channel signal redundancy verification method for automotive position sensors described in the above embodiments, this application also provides a dual-channel signal redundancy verification device for automotive position sensors. Each unit of this device can implement each step of the dual-channel signal redundancy verification method for automotive position sensors. Figure 3 The diagram shows a structural block diagram of a dual-channel signal redundancy verification device for an automotive position sensor provided in an embodiment of this application. For ease of explanation, only the parts related to the embodiment of this application are shown.

[0105] Reference Figure 3 The device includes:

[0106] The acquisition unit is used to acquire dual signals from the vehicle position sensor in response to the vehicle position sensor calibration signal. The vehicle position sensor calibration signal is obtained based on the sensor's service life. The dual signals include a first voltage and a second voltage.

[0107] The deviation unit is used to obtain a deviation voltage value based on a first voltage and a second voltage from the vehicle position sensor. The deviation voltage value represents the difference between the first voltage and the second voltage.

[0108] The fault unit is used to determine the failure state of the vehicle position sensor based on the deviation voltage value. The failure state includes aging drift failure or environmental drift failure.

[0109] The aging unit is used to perform dynamic calibration on the dual signals of the vehicle position sensor in the case of aging drift failure, so as to output a first effective voltage value.

[0110] An environmental unit is used to trigger an environmental correction signal to output a second effective voltage value when the fault failure state is an environmental drift failure state.

[0111] It should be noted that the information interaction and execution process between the above-mentioned units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, which will not be repeated here.

[0112] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units is used as an example. In practical applications, the above functions can be assigned to different functional units as needed, that is, the internal structure of the device can be divided into different functional units to complete all or part of the functions described above. The functional units in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units in the above device can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0113] This application also provides an electronic device. Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 4 As shown, the electronic device 6 of this embodiment includes: at least one processor 60 ( Figure 4 Only one is shown in the image), at least one memory 61 ( Figure 4(Only one is shown in the image) and a computer program 62 stored in the at least one memory 61 and executable on the at least one processor 60. When the processor 60 executes the computer program 62, it causes the electronic device 6 to implement the steps in any of the above embodiments of the dual-channel signal redundancy verification method for vehicle position sensors, or causes the electronic device 6 to implement the functions of the units in the above embodiments of the devices.

[0114] For example, the computer program 62 may be divided into one or more units, which are stored in the memory 61 and executed by the processor 60 to complete this application. The one or more units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program 62 in the electronic device 6.

[0115] The electronic device 6 may be an in-vehicle ECU, an in-vehicle control computer, an edge computing gateway, a production scheduling server, a cloud server, an in-vehicle tablet computer, or an intelligent scheduling terminal, etc. The electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the method described in any of the foregoing aspects. The electronic device 6 may include, but is not limited to, a processor 60 and a memory 61. Those skilled in the art will understand that... Figure 4 This is merely an example of electronic device 6 and does not constitute a limitation on electronic device 6. It may include more or fewer components than shown, or combine certain components, or different components, such as input / output devices, network access devices, buses, etc.

[0116] The processor 60 can be a Central Processing Unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0117] In some embodiments, the memory 61 may be an internal storage unit of the electronic device 6, such as a hard disk or memory of the electronic device 6. In other embodiments, the memory 61 may be an external storage device of the electronic device 6, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the electronic device 6. Furthermore, the memory 61 may include both internal and external storage units of the electronic device 6. The memory 61 is used to store the operating system, applications, bootloader, data, and other programs, such as the program code of the computer program. The memory 61 can also be used to temporarily store data that has been output or will be output.

[0118] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps in any of the above method embodiments.

[0119] This application provides a computer program product that, when run on an electronic device, causes the electronic device to perform the steps in any of the above method embodiments.

[0120] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or system capable of carrying computer program code to an electronic device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks.

[0121] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0122] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered to be greater than or equal to the scope of this application.

[0123] In the embodiments provided in this application, it should be understood that the disclosed dual-channel signal redundancy verification method, device, and electronic device for automotive position sensors can be implemented in other ways. For example, the embodiments of the dual-channel signal redundancy verification device and electronic device for automotive position sensors described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units may be electrical, mechanical, or other forms.

[0124] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0125] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for checking redundancy of two-way signals of an automobile position sensor, characterized by, include: In response to a vehicle position sensor verification signal, dual signals from the vehicle position sensor are acquired; wherein the vehicle position sensor verification signal is obtained based on the vehicle's service life; and the dual signals include a first voltage and a second voltage. Based on the first voltage and the second voltage of the vehicle position sensor, a deviation voltage value is obtained; wherein, the deviation voltage value represents the difference between the first voltage and the second voltage; Based on the deviation voltage value, the failure state of the vehicle position sensor is determined; wherein, the failure state includes aging drift failure state or environmental drift failure state. When the failure state is the aging drift failure state, dynamic calibration is performed on the dual-channel signal of the vehicle position sensor to output a first effective voltage value. When the fault failure state is the environmental drift failure state, an environmental correction signal is triggered to output a second effective voltage value; The step of determining the fault status of the vehicle position sensor based on the deviation voltage value includes: The deviation voltage values ​​are arranged by time to obtain a deviation voltage value sequence; wherein, the deviation voltage value sequence is a data sequence of deviation voltage values ​​within one signal cycle; Based on the deviation voltage value sequence, determine the deviation slope of the deviation voltage value sequence of the vehicle position sensor; If the deviation slope is less than zero, the failure state of the vehicle position sensor is determined to be an environmental drift failure state. If the deviation slope is greater than or equal to zero, the failure state of the vehicle position sensor is determined to be an aging drift failure state.

2. The method of claim 1, wherein, The process of obtaining the deviation voltage value based on the first voltage and the second voltage of the vehicle position sensor includes: The first voltage and the second voltage are preprocessed to obtain the effective voltage data pair of the vehicle position sensor; The deviation voltage value is obtained based on the effective voltage data pair.

3. The method for redundancy verification of dual-channel signals of an automotive position sensor according to claim 1, characterized in that, The step of arranging the deviation voltage values ​​by time to obtain a deviation voltage value sequence includes: Obtain the signal cycle of the vehicle position sensor; wherein the signal cycle is the complete operating cycle of the vehicle position sensor; The deviation voltage values ​​of one signal cycle are arranged by time to obtain the deviation voltage value sequence of the vehicle position sensor.

4. The method for redundancy verification of dual-channel signals of an automotive position sensor according to claim 1, characterized in that, Determining the deviation slope of the deviation voltage value sequence of the vehicle position sensor based on the deviation voltage value sequence includes: The deviation voltage value sequence is normalized to obtain a normalized sequence; With time as the horizontal axis and the regularized sequence as the vertical axis, a set of data points is formed; By fitting the set of data points, a fitted linear equation is obtained; Based on the fitted linear equation, the deviation slope of the deviation voltage value sequence of the vehicle position sensor is determined.

5. The method for redundancy verification of dual-channel signals of an automotive position sensor according to claim 1, characterized in that, When the failure state is the aging drift failure state, the method of performing dynamic calibration on the dual-channel signals of the vehicle position sensor to output a first effective voltage value includes: When the failure state is the aging drift failure state, the first voltage and the second voltage in the dual signals are averaged to output a first effective voltage value.

6. The method for redundancy verification of dual-channel signals of an automotive position sensor according to claim 1, characterized in that, When the fault failure state is the environmental drift failure state, triggering an environmental correction signal to output a second effective voltage value includes: The fluctuation characteristics of the deviation voltage value sequence are obtained based on the deviation slope of the deviation voltage value sequence; wherein, the fluctuation characteristics include fluctuation amplitude and fluctuation frequency. Based on the fluctuation amplitude and fluctuation frequency of the deviation voltage value sequence, the interference type of the environmental drift failure state is determined; wherein, the interference type includes electromagnetic interference type environmental drift or temperature and humidity interference type environmental drift. Based on the electromagnetic interference type environmental drift or the temperature and humidity interference type environmental drift, an environmental correction signal corresponding to the interference type is generated to output a second effective voltage value; wherein, the second effective voltage value is the average of the first voltage and the second voltage when the interference type is the electromagnetic interference type environmental drift or the temperature and humidity interference type environmental drift, and the deviation slope is at its minimum value.

7. The method for redundancy verification of dual-channel signals of an automotive position sensor according to claim 6, characterized in that, The determination of the interference type of the environmental drift failure state based on the fluctuation amplitude and fluctuation frequency of the deviation voltage value sequence includes: When the fluctuation amplitude is greater than or equal to a preset amplitude threshold and the fluctuation frequency matches a preset electromagnetic interference frequency, the interference type is determined to be electromagnetic interference-type environmental drift. When the fluctuation amplitude is greater than or equal to a preset amplitude threshold and the fluctuation frequency matches a preset temperature and humidity interference frequency, the interference type is determined to be temperature and humidity interference type environmental drift. The method further includes: If the deviation voltage value is greater than or equal to the general fault threshold, it is determined to be a dual-signal failure state, and a vehicle position sensor replacement signal is output; wherein, the general fault threshold is determined by the service life.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method as described in any one of claims 1 to 7.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 7.

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