Fault positioning method, device and electronic equipment of vehicle

Abstract

The application discloses a fault positioning method and device of a vehicle and electronic equipment. A plurality of analog-to-digital converters are deployed on the vehicle, and resolutions of different analog-to-digital converters are different. The method comprises the following steps: acquiring a plurality of sampling values of the same running information in the vehicle through the analog-to-digital converters; determining a residual error between the plurality of sampling values to obtain a plurality of residual error results; in response to at least one residual error result exceeding a residual error threshold, determining that the vehicle has a fault; and based on the residual error results, positioning the fault in the vehicle to obtain a positioning result. The application solves the technical problem of low fault positioning accuracy of the vehicle.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more specifically, to a vehicle fault location method, apparatus, and electronic device. Background Technology

[0002] Currently, the main approach to vehicle signal acquisition faults is to use two independent analog-to-digital converters to synchronously sample and obtain corresponding sample values. Then, the difference between the two sample values ​​is compared to determine whether a fault exists. However, when both analog-to-digital converters are simultaneously affected by the same factor, the two sample values ​​may deviate in the same or similar trend, resulting in the fault not being effectively detected. In addition, the above method cannot quickly locate the fault when the sample values ​​of the two analog-to-digital converters are inconsistent.

[0003] Therefore, the technical problem of low accuracy in vehicle fault location still exists.

[0004] There is currently no effective solution to the aforementioned technical problems. Summary of the Invention

[0005] This application provides a vehicle fault location method, apparatus, and electronic device to at least solve the technical problem of low accuracy in vehicle fault location.

[0006] According to one aspect of the embodiments of this application, a fault location method for a vehicle is provided, wherein the vehicle is equipped with multiple analog-to-digital converters (ADCs), each with a different resolution. The method may include: acquiring multiple sampled values ​​of the same operating information in the vehicle through the ADCs; determining the residuals between the multiple sampled values ​​to obtain multiple residual results; determining that a fault exists in the vehicle in response to at least one residual result exceeding a residual threshold; and locating the fault within the vehicle based on the residual results to obtain a location result.

[0007] Optionally, the method further includes obtaining multiple sample values ​​of the same operating information in the vehicle through an analog-to-digital converter, and normalizing the multiple sample values, wherein the multiple sample values ​​after normalization are comparable.

[0008] Optionally, the multiple sampled values ​​are normalized to determine the residuals between the multiple sampled values, resulting in multiple residual results, including: determining the different residuals between each pair of the multiple sampled values ​​after normalization; and obtaining the amplitude and direction information of the residuals based on the different residuals.

[0009] Optionally, the residual results include amplitude and direction information. In response to the existence of at least one residual result exceeding a residual threshold, determining that the vehicle has a fault includes: comparing the amplitude with the residual threshold, and if at least one amplitude exceeds the associated residual threshold, determining that the current signal acquisition has a fault.

[0010] Optionally, the residual results include the amplitude and direction information of the quantized residuals. In response to a fault in the vehicle's signal acquisition, the fault is located in the vehicle based on the residual results to obtain the location result, including: determining the deviation relationship between different sampled values ​​based on the amplitude and direction information; and locating the fault based on the deviation relationship to obtain the location result.

[0011] Optionally, the method further includes: in response to the vehicle's main control unit being idle, performing a self-test operation on the vehicle to obtain a self-test result, wherein the self-test result includes the vehicle's sampled value under a standard voltage source; and in response to the deviation between the self-test result and the target result exceeding a preset threshold, determining that there is a fault in the vehicle's signal acquisition.

[0012] Optionally, in response to the deviation between the self-test result and the target result exceeding a preset threshold, a fault is determined in the vehicle's signal acquisition, including: determining the different residuals between every two sampled values ​​in the self-test result; in response to the deviation between the self-test result and the target result exceeding a preset threshold, and the different residuals between every two sampled values ​​in the self-test result being less than the deviation threshold, a common cause fault is determined in the vehicle's signal acquisition.

[0013] According to another aspect of the embodiments of this application, a vehicle fault location device is also provided. The device may include: an acquisition unit, configured to acquire multiple sampled values ​​of the same operating information in the vehicle via an analog-to-digital converter; a first determination unit, configured to determine the residuals between the multiple sampled values ​​to obtain multiple residual results; a second determination unit, configured to determine that the vehicle has a fault in response to the presence of at least one residual result exceeding a residual threshold; and a location unit, configured to locate the fault in the vehicle based on the residual results to obtain a location result.

[0014] According to another aspect of the embodiments of this application, an electronic device is also provided, including: a memory storing an executable program; and a processor for running the program, wherein the program executes the method of the embodiments of this application when it runs.

[0015] According to another aspect of the embodiments of this application, a vehicle is also provided. The vehicle includes a memory and a processor. The memory stores an executable program; the processor is used to run the program, which, when running, implements the methods described in the embodiments of this application.

[0016] According to another aspect of the embodiments of this application, a processor is also provided. The processor is used to run a program, wherein the program executes the methods of the embodiments of this application during runtime.

[0017] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided. The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform the method of the embodiments of this application.

[0018] In this embodiment, multiple analog-to-digital converters (ADCs) with different resolutions are deployed to synchronously sample the same operational information. The normalized sampled values ​​are used to calculate the pairwise residuals, and fault detection and location are achieved based on the comparison between the residuals and a residual threshold. This process overcomes the obstacle in related technologies where relying on two ADCs of the same resolution fails to distinguish between valid signals and interference trends under common-cause faults. The residual results overcome the obstacles in related technologies where two ADCs are simultaneously affected by the same interference, leading to ineffective fault detection, and the inability to quickly locate faults when the sampled values ​​of the two ADCs are inconsistent. This solves the technical problem of low accuracy in vehicle fault location and achieves the technical effect of improving the accuracy of vehicle fault location. Attached Figure Description

[0019] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0020] Figure 1 This is a flowchart of a vehicle fault location method according to an embodiment of this application;

[0021] Figure 2 This is a flowchart illustrating the execution of a function according to an embodiment of this application;

[0022] Figure 3 This is a flowchart illustrating a fault location method according to an embodiment of this application;

[0023] Figure 4 This is a schematic diagram of a periodic self-test according to an embodiment of this application;

[0024] Figure 5 This is a schematic diagram of a vehicle fault location device according to an embodiment of this application;

[0025] Figure 6 This is a structural diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present application.

[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0028] According to the embodiments of this application, an embodiment is provided. It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Although a logical order is shown in the flowcharts, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0029] Figure 1 This is a flowchart of a vehicle fault location method according to an embodiment of this application. The vehicle is equipped with various analog-to-digital converters (ADCs), each with different resolutions, such as... Figure 1 As shown, the method may include the following steps.

[0030] Step S102: Obtain multiple sampled values ​​of the same operating information in the vehicle through an analog-to-digital converter.

[0031] In the technical solution provided in step S102 of this application, the analog-to-digital converter can be an independent analog-to-digital conversion channel with different quantization resolutions. The aforementioned operating information may include, but is not limited to, physical quantity signals such as vehicle battery voltage, battery current, motor temperature, braking pressure, or steering angle.

[0032] Optionally, multiple analog-to-digital converters with different resolutions can be used to perform synchronous acquisition operations on the same operating information, converting the acquired analog signals into data with different bit widths, thereby obtaining sampled values ​​based on resolution diversity.

[0033] For example, the vehicle's sample-and-hold circuit can be synchronously activated by controlling three independent analog-to-digital converters (ADCs) under the same sampling trigger signal. These ADCs simultaneously perform analog-to-digital conversion on the same analog signal, resulting in three different sampled values. The resolutions of the three ADCs are different; for example, their resolutions could be 12 bits, 14 bits, and 16 bits respectively.

[0034] In this embodiment of the application, by introducing analog-to-digital converters with different resolutions to acquire the same physical signal in parallel through the above step S102, the sampled values ​​of each channel exhibit different statistical characteristics, thereby avoiding the situation where faults cannot be effectively detected due to the consistent quantization characteristics of analog-to-digital converters with the same resolution.

[0035] Step S104: Determine the residuals between multiple sampled values ​​to obtain multiple residual results.

[0036] In the technical solution provided in step S104 of this application, the residual can be the difference between normalized sampled values ​​at different resolutions. The residual result can be used to represent the degree of consistency and direction of deviation of the sampling results of different analog-to-digital converters for the same operating information.

[0037] In this embodiment, after obtaining multiple sample values ​​of the same operating information in the vehicle through an analog-to-digital converter, the residual between the multiple sample values ​​can be determined, resulting in multiple residual results.

[0038] Optionally, after acquiring multiple sampled values ​​of the same operating information in the vehicle, a normalization algorithm can be used to map the sampled values ​​of different resolutions to a unified quantization space, resulting in different virtual values ​​corresponding to different analog-to-digital converters. The difference between any two virtual values ​​can be calculated as a residual, and the positive and negative direction information corresponding to the residual can be recorded. For example, the difference between the first and second virtual values ​​is calculated to obtain the first residual, the difference between the first and third virtual values ​​is calculated to obtain the second residual, and the difference between the second and third virtual values ​​is calculated to obtain the third residual.

[0039] In the embodiments of this application, the quantization differences caused by different analog-to-digital converter resolutions can be eliminated through the above step S104, making the sampled values ​​of different accuracies comparable, and further reflecting the relative deviation between each analog-to-digital converter through the residual, thereby realizing the quantitative evaluation of the sampled values.

[0040] Step S106: In response to the existence of at least one residual result exceeding the residual threshold, it is determined that the vehicle has a fault.

[0041] In the technical solution of step S106 of this application, the residual threshold can be used to represent the maximum residual range allowed under normal operating conditions.

[0042] In this embodiment, after determining the residuals between multiple sampled values ​​and obtaining multiple residual results, a vehicle malfunction can be determined in response to the existence of at least one residual result exceeding a residual threshold.

[0043] Optionally, after obtaining multiple residual results, each residual result can be compared with the corresponding residual threshold. If the absolute value of any residual result is greater than the residual threshold corresponding to the residual result, it is determined that there is an anomaly in the current process of collecting operating information by the vehicle. The residual threshold can be automatically adjusted according to the signal change rate or historical residual statistical characteristics.

[0044] For example, when the vehicle battery is rapidly charging and discharging, resulting in a high rate of signal change, the residual threshold can be automatically widened to avoid false alarms caused by normal signal fluctuations; while when the signal is stable, the residual threshold can be automatically tightened to improve the detection rate of minor faults. If the calculated first residual is 50, and the current residual threshold is 40, since the first residual is greater than the residual threshold, it is determined that there is an anomaly in the vehicle's current process of collecting operating information.

[0045] In this embodiment of the application, the vehicle fault can be quickly identified based on the comparison result between the residual and the residual threshold through the above step S106, and the deviation caused by single-path fault or common-cause interference can be detected by using multi-path redundant acquisition values.

[0046] Step S108: Based on the residual results, locate the fault in the vehicle to obtain the location results.

[0047] In the technical solution of step S108 of this application, the above positioning result can be used to indicate the actual abnormality of the analog-to-digital converter or the type of fault, such as single channel high, single channel low or multiple channels abnormal.

[0048] In this embodiment, after determining that a vehicle has a fault in response to the existence of at least one residual result exceeding the residual threshold, the fault can be located in the vehicle based on the residual result to obtain the location result.

[0049] Optionally, based on the magnitude and positive / negative direction of different residual results, the deviation characteristics of the sampled values ​​of different analog-to-digital converters can be analyzed, thereby distinguishing between single-channel faults and multi-channel faults. For example, if the calculated first residual (the absolute value of the difference between the 12-bit analog-to-digital converter sampled value and the 14-bit analog-to-digital converter sampled value) and the second residual (the absolute value of the difference between the 12-bit analog-to-digital converter sampled value and the 16-bit analog-to-digital converter sampled value) both exceed the threshold, while the third residual (the absolute value of the difference between the 14-bit analog-to-digital converter sampled value and the 16-bit analog-to-digital converter sampled value) does not exceed the threshold, and the first virtual value deviates from the second and third virtual values, then it is determined that the first analog-to-digital converter has a high or low fault. If the first, second, and third residuals all exceed the threshold and there is no obvious single-channel deviation characteristic, then it is determined that there is a common cause fault or an abnormal input signal.

[0050] Steps S102 to S108 of this application can synchronously sample the same operating information by deploying multiple analog-to-digital converters with different resolutions. The residuals between pairs of samples are calculated using the normalized sample values, and fault detection and location are achieved based on the comparison between the residuals and a residual threshold. Because these steps introduce analog-to-digital converters with different resolutions, they overcome the obstacle in related technologies where relying on two analog-to-digital converters of the same resolution cannot distinguish between valid signals and interference trends under common-cause faults. The residual results overcome the obstacles in related technologies where two analog-to-digital converters are simultaneously affected by the same factor, leading to ineffective fault detection, and the inability to quickly locate faults when the sample values ​​of the two analog-to-digital converters are inconsistent. Therefore, the technical problem of low accuracy in vehicle fault location is solved, achieving the technical effect of improving the accuracy of vehicle fault location.

[0051] The method described in this embodiment will be further described below.

[0052] As an optional embodiment, the method further includes obtaining multiple sample values ​​of the same operating information in the vehicle through an analog-to-digital converter, and normalizing the multiple sample values, wherein the multiple sample values ​​after normalization are comparable.

[0053] In this embodiment, the normalization process described above can be used to represent the process of converting sampled values ​​with different quantization resolutions into a unified value in the same virtual quantization space through a mathematical mapping algorithm.

[0054] Optionally, based on the reference voltage and resolution bit depth of different analog-to-digital converters, different sample values ​​can be calculated using a normalization formula. The above sample values ​​can be normalized using the following formula.

[0055] V_norm=(D_x V_ref) / (2^N-1) K

[0056] Here, D_x can be used to represent the sampled value after the original voltage analog-to-digital conversion, V_ref can be used to represent the reference voltage, N is the resolution in bits, and K can be used to represent the uniform scaling factor (e.g., 2^16). For example, the sampled values ​​output by 12-bit, 14-bit, and 16-bit analog-to-digital converters can be mapped to 16-bit precision virtual values ​​respectively, so that when the same physical voltage is input, the virtual values ​​mapped from the sampled values ​​at different resolutions remain numerically consistent.

[0057] In the embodiments of this application, the above method can map the collected values ​​at different resolutions (e.g., 12-bit, 14-bit, 16-bit) to the same virtual quantization space, so that the different virtual values ​​obtained after normalization are comparable. When the virtual values ​​differ due to noise or interference in actual sampling, the above differences only reflect the deviation or fault of the real signal, and do not include the inherent error caused by different resolutions.

[0058] As an optional implementation method, multiple sampled values ​​are normalized to determine the residuals between the multiple sampled values ​​and obtain multiple residual results, including: determining the different residuals between each pair of the multiple sampled values ​​after normalization; and obtaining the amplitude and direction information of the residuals based on the different residuals.

[0059] In this embodiment, the amplitude can be used to represent the deviation between the sampled values ​​of any two analog-to-digital converters, reflecting the severity of the fault or the intensity of interference. The directional information can be used to represent the relative high / low relationship (i.e., positive / negative) between the sampled values ​​of the two analog-to-digital converters, indicating whether the sampled value is too high or too low.

[0060] Optionally, taking three virtual values ​​as an example, the differences between the first and second virtual values, the first and third virtual values, and the second and third virtual values ​​are calculated respectively to form at least three independent dual-path comparison results; for example, if the three virtual values ​​are V12_norm, V14_norm, and V16_norm respectively, then the residuals R12=V12_norm-V14_norm, R13=V12_norm-V16_norm, and R23=V14_norm-V16_norm are calculated respectively.

[0061] Optionally, the absolute value of the different residuals obtained from the above calculation can be used to obtain the residual amplitude. At the same time, the positive or negative sign of the residual can be retained as directional information. For example, if the calculated result of residual R12 is +5, then the residual R12 amplitude is 5, the directional information is positive, indicating that the virtual value of the first path is higher than that of the second path; if the calculated result of residual R12 is -5, then the residual R12 amplitude is 5, the directional information is negative.

[0062] In the embodiments of this application, the above method can be used to obtain the magnitude of the residual, thereby quantifying the deviation of the sampled value; by obtaining the direction information of the residual and the logical relationship between different residuals, it can be deduced which analog-to-digital converter has failed.

[0063] As an optional implementation, the residual results include amplitude and direction information. In response to the existence of at least one residual result exceeding a residual threshold, determining that the vehicle has a fault includes: comparing the amplitude with the residual threshold, and if at least one amplitude exceeds the associated residual threshold, determining that the current signal acquisition has a fault.

[0064] In this embodiment, the aforementioned faults include, but are not limited to, single-channel analog-to-digital converter hardware failure and systemic deviations caused by common-mode interference.

[0065] Optionally, different virtual values ​​after normalization are acquired in real time, and the absolute difference between each pair is calculated as the residual amplitude. The residual amplitude is compared with a preset residual threshold or a dynamic threshold dynamically adjusted based on historical statistical characteristics. When the absolute value of the residual between any pair of virtual values ​​is detected to be greater than the corresponding residual threshold, a fault interruption flag is triggered, and the specific residual pair that triggered the fault is recorded (e.g., R12 exceeds the limit). For example, if the threshold for residual R12 is set to 50, and the calculated |V12_norm-V14_norm| is 80, it can be determined that the consistency between the first and second analog-to-digital converters exceeds the allowable range, thus confirming the existence of a fault.

[0066] In this embodiment of the application, the above method can be used to directly reflect the degree of consistency deviation of the sampled data of each analog-to-digital converter. When the degree of deviation exceeds the preset residual threshold, the abnormal state can be quickly locked without relying on complex signal demodulation.

[0067] As an optional implementation, the residual result includes the amplitude and direction information of the quantized residual. In response to a fault in the vehicle's signal acquisition, the fault is located in the vehicle based on the residual result to obtain a location result, including: determining the deviation relationship between different sampled values ​​based on the amplitude and direction information; and locating the fault based on the deviation relationship to obtain a location result.

[0068] In this embodiment, the aforementioned deviation relationship can be used to represent the relative order and deviation trend of different normalized virtual values ​​in terms of numerical size. Taking three virtual values ​​as an example, a certain virtual value is higher or lower than the other two, or the three virtual values ​​deviate from the expectation at the same time but maintain a specific proportional relationship with each other.

[0069] Optionally, take an example that the resolutions of the three analog-to-digital converters may be 12 bits, 14 bits and 16 bits respectively; if the direction of the residual error R12 is positive (V12_norm>V14_norm) and the amplitude exceeds the standard, the direction of the second residual error R13 is positive (V12_norm>V16_norm) and the amplitude exceeds the corresponding residual threshold, while the direction of the third residual error R23 is negative (V14_norm<V16_norm) and the amplitude is normal, it is determined that the deviation relationship is "the virtual value of the first channel is higher than that of the second and third channels, and the second and third channels are consistent with each other".

[0070] Optionally, if the deviation relationship conforms to a single-channel anomaly pattern, that is, one channel deviates and the other two channels are consistent, the deviated analog-to-digital converter channel can be marked as a fault source, and a corresponding fault code (for example, analog-to-digital converter 1 is faulty) is output.

[0071] As an optional embodiment, the method further includes: in response to the main control unit of the vehicle being idle, performing a self-check operation on the vehicle to obtain a self-check result, wherein the self-check result includes a sampling value of the vehicle under a standard voltage source; in response to the deviation between the self-check result and the target result exceeding a preset threshold, determining that a fault exists in the signal acquisition of the vehicle.

[0072] In this embodiment, the above self-check result includes the sampling value of the vehicle under the standard voltage source.

[0073] Optionally, when it is detected that the main control unit (for example, MCU) of the vehicle is in an idle state or a specific time interval is satisfied (every 100ms or 1s), the external physical signal input can be disconnected, and the controllable standard voltage source inside the vehicle (for example, providing two known levels of 0.5V and 4.5V) is sequentially connected to the input ends of the three analog-to-digital converters; the three analog-to-digital converters sample the standard voltage source under synchronous triggering to obtain corresponding original digital quantities, and obtain a first self-check virtual value, a second self-check virtual value and a third self-check virtual value through normalization processing.

[0074] Optionally, the above different self-check virtual values are compared with the corresponding theoretical target results, and deviations are calculated respectively; if the deviation of any single channel exceeds a set fault threshold (for example, ±100 quantization units), it is determined that the analog-to-digital converter of this channel has a fault.

[0075] In the embodiments of the present application, through the above method, the analog-to-digital converter can be verified by using the known standard voltage source on the premise of not affecting the normal driving and signal acquisition of the vehicle, thereby improving the diagnosis coverage and fault detection capability.

[0076] As an optional embodiment, in response to the deviation between the self-test result and the target result exceeding a preset threshold, determining that there is a fault in the vehicle's signal acquisition includes: determining the different residual between every two sampled values ​​in the self-test result; and in response to the deviation between the self-test result and the target result exceeding the preset threshold, and the different residual between two sampled values ​​in the self-test result being less than the deviation threshold, determining that there is a common cause fault in the vehicle's signal acquisition.

[0077] In this embodiment, the aforementioned common-cause fault can be used to indicate a fault mode in which different analog-to-digital converters simultaneously experience measurement errors in the same direction and proportion due to a shared source of interference (e.g., power supply voltage fluctuations, ground potential drift, temperature abrupt changes, or reference voltage source failure), so that the relative consistency between the analog-to-digital converters remains good, but the measured values ​​all deviate from the actual physical quantities.

[0078] Optionally, the residuals between the first self-test virtual value, the second self-test virtual value, the third self-test virtual value and the theoretical target result are calculated respectively; the absolute values ​​of the differences between each pair of the three self-test virtual values ​​are calculated; if all the different residuals exceed the preset fault threshold, it indicates that there is a measurement error; at the same time, if the residuals are all less than the preset residual threshold, it indicates that the relative consistency between the three analog-to-digital converters has not been destroyed; based on the characteristics of large overall deviation but high internal consistency, it can be determined that the fault is a common cause fault, rather than a single hardware failure.

[0079] For example, when injecting a standard voltage of 4.5V, if the target value is 58982 and the actual collected values ​​are all 56000 for all three channels, the absolute deviation is approximately 2982 (exceeding the threshold), but the residuals between each pair are all 0 (less than the threshold), which can be identified as a common cause fault.

[0080] In this embodiment, the above method can synchronously sample the same operating information by deploying multiple analog-to-digital converters with different resolutions. The residuals between pairs of samples are calculated using the normalized sample values, and fault detection and location are achieved based on the comparison between the residuals and a residual threshold. This is because the above steps overcome the obstacle in related technologies where relying on two analog-to-digital converters of the same resolution fails to distinguish between valid signals and interference trends under common-cause faults. The residual results overcome the obstacles in related technologies where two analog-to-digital converters are simultaneously affected by the same factor, leading to ineffective fault detection, and the inability to quickly locate faults when the sample values ​​of the two analog-to-digital converters are inconsistent. Therefore, the technical problem of low accuracy in vehicle fault location is solved, achieving the technical effect of improving the accuracy of vehicle fault location.

[0081] The technical solutions of the embodiments of this application will be illustrated below with reference to preferred embodiments.

[0082] Currently, in safety-critical systems defined by standards such as road vehicle functional safety, the acquisition of analog quantities (such as battery voltage, current, temperature, pressure, and angle) needs to meet high safety requirements. To improve the reliability of data acquisition and diagnostic coverage, redundant acquisition architectures are commonly used in engineering practice.

[0083] In related technologies, two independent analog-to-digital converters are used to synchronously sample the same physical signal. The system then determines whether a fault exists by comparing the difference between the two sampled values. If the difference between the two sampled values ​​is less than a preset safety threshold, the acquisition is considered normal; otherwise, a safety fault is triggered.

[0084] Optionally, when both analog-to-digital converters (ADCs) are simultaneously subjected to the same interference (e.g., power supply ripple, temperature fluctuations, clock drift, electromagnetic interference, etc.), the two sampled values ​​may deviate in the same or similar trend. In this case, although both sampled values ​​are inaccurate (deviating significantly from the actual physical signal), the difference between the two may still remain within a safe threshold, making effective fault detection impossible. Furthermore, when the sampled values ​​of the two ADCs are inconsistent, related technologies cannot quickly determine which specific ADC has failed, or whether both have problems to varying degrees. It is also difficult to determine whether the fault originates from the ADC itself, the pre-conditioning circuit, or the reference voltage source.

[0085] In related technologies, both analog-to-digital converters (ADCs) use the same quantization resolution. When the input signal approaches the edge of the quantization step, one ADC may quantize to N, while the other may quantize to N+1. This minute difference caused by the quantitative difference itself is difficult to distinguish effectively from the difference caused by a real fault. If the safety threshold is set too strictly, it will lead to frequent false alarms; if it is set too loosely, it will reduce the sensitivity to detecting real faults. Finally, related technologies typically only perform a simple ADC self-test when the system is powered on. During continuous operation for hours or days, there is a lack of online verification capability for the comparison logic and fault detection threshold itself, making it impossible to detect the degradation or failure of the detection circuit itself in a timely manner.

[0086] To address the aforementioned issues, this application introduces three analog-to-digital converters (ADCs) with different resolutions and combines them with a quantization residual comparison method to effectively identify the relative degree of anomaly in the sampled values ​​of each ADC. Even if all three converters are simultaneously affected by a common factor, the change patterns of their quantization residuals exhibit distinguishable characteristics, thereby improving the detection rate of common-cause faults.

[0087] Optionally, the normalization module maps sampled values ​​of different resolutions to a unified virtual quantization space, making the values ​​that were originally incomparable due to different resolutions comparable, thus avoiding misjudgment or omission caused by the edge effect of quantization steps.

[0088] Optionally, by analyzing the pairwise quantization residual relationships (e.g., residual magnitude, positive or negative direction), it is possible to quickly pinpoint which specific analog-to-digital converter or its front-end channel has malfunctioned, providing a basis for the system to execute precise degradation or reconstruction strategies.

[0089] Optionally, the dynamic threshold can be automatically adjusted based on the signal change rate and historical residual statistical characteristics, balancing detection sensitivity and anti-interference capability. Meanwhile, the self-checking mechanism of periodically injecting a standard voltage source can verify the health status of the entire residual comparison logic without interrupting normal data acquisition.

[0090] This application embodiment includes three independent analog-to-digital converter (ADC) channels (ADC 1, ADC 2, and ADC 3), each with different quantization resolutions (e.g., 12-bit, 14-bit, and 16-bit). The sample-and-hold circuits of the three ADCs are independent of each other, and sampling is synchronously started by the same trigger signal, performing analog-to-digital conversion on the same physical signal (e.g., a conditioned voltage signal V_in) simultaneously.

[0091] Optionally, the raw sampled values ​​(D12, D14, D16) of the three analog-to-digital converters are received, and each sampled value is mapped to the same virtual quantization space according to its respective range and resolution (for example, uniformly mapped to 16-bit virtual values ​​V12_norm, V14_norm, V16_norm).

[0092] The original sampled values ​​can be normalized using the following formula.

[0093] V_norm=(D_x V_ref) / (2^N-1) K

[0094] Here, D_x can be used to represent the sampled value after analog-to-digital conversion of the original voltage, V_ref can be used to represent the reference voltage, N is the resolution bit depth, and K can be used to represent the uniform scaling factor (e.g., 2^16). When the input voltage is the same, D_x obtained from different quantization resolutions can be substituted into the normalization formula to obtain the same voltage value, ensuring that the calculation is bias-free. The difference between each pair of the three normalized virtual values ​​can be calculated and defined as the quantization residual. At the same time, the direction information (positive or negative) of the residual is recorded for fault location.

[0095] Optionally, the real-time residual R_ij is compared with the corresponding dynamic threshold Th_ij. If any residual exceeds the corresponding threshold, a safety interrupt is triggered, and a fault code is output according to the combination of the magnitude and direction of the residual (e.g., "Analog-to-digital converter 1 is suspected to be too high", "Analog-to-digital converter 3 is suspected to be too low", or "Multi-channel anomaly").

[0096] This embodiment may include a controllable standard voltage source (providing at least two different voltage values, V_cal1 and V_cal2, such as 0.5V and 4.5V). When the system is idle (e.g., every 100ms), the external signal input is disconnected, and the standard voltage source is sequentially connected to the input terminals of the three analog-to-digital converters. The system acquires the standard voltage values ​​and verifies whether the residual comparison logic outputs the expected result correctly. If the self-test fails, a fault in the overall acquisition module is reported.

[0097] Optionally, under the same sampling trigger signal, the three analog-to-digital converters simultaneously sample and convert the input analog signal to obtain the original digital value. The normalization module converts the three original values ​​into virtual values ​​in a unified quantization space; it calculates the absolute residual and signed bias between each pair of virtual values.

[0098] Optionally, if all residuals are less than the corresponding threshold, the acquisition is considered normal, and the weighted average of the three virtual values ​​(with higher weights for high-resolution analog-to-digital converters) is output as the final acquisition result. If any residual exceeds the limit, the fault handling process is initiated: Single-channel anomaly mode: For example, if R_12 and R_13 exceed the limit, but R_23 is normal, and V12_norm deviates significantly from V14_norm and V16_norm, then analog-to-digital converter 1 is considered faulty, and the fused value based on analog-to-digital converters 2 and 3 is output. Multi-channel anomaly mode: If all three residuals exceed the limit and there is no obvious single-channel deviation characteristic, it is determined that there may be a common cause fault or the input signal itself is abnormal. When the system task scheduling allows, a self-test process is executed to calibrate the dynamic threshold model and verify the comparison logic.

[0099] Optionally, taking the current acquisition in an automotive electric power steering system as an example, we can select analog-to-digital converter 1 as 12-bit (sampling rate 1Msps), analog-to-digital converter 2 as 14-bit (400ksps), and analog-to-digital converter 3 as 16-bit (200ksps). All three channels share the same precision reference source (but are independently decoupled). After acquisition by the three analog-to-digital converters, all values ​​are mapped to 16-bit virtual values ​​through their respective normalization modules. When common-mode voltage interference causes common-factor synchronous drift, if there is only a two-channel solution, the two channels drift simultaneously with a small difference, resulting in missed detections. However, the third channel of this invention provides a redundant baseline; if the drift amplitude of one channel is inconsistent with the other two, the residual will immediately exceed the limit. More importantly, by periodically injecting standard voltages (e.g., 0.5V and 4.5V), it is possible to proactively detect whether the three channels deviate from the true value simultaneously. For example, when injecting 4.5V, the normalized sampled values ​​of the three channels should be close to 58982 (16-bit). If the three channels simultaneously fall around 56000, although the residual is small, the absolute value deviates from the expected value beyond the self-test threshold, which can indicate that there is a common cause fault.

[0100] The embodiments of this application will be further described below.

[0101] Figure 2 This is a flowchart illustrating the execution of a function according to an embodiment of this application, such as... Figure 2 As shown, the function execution includes the following steps.

[0102] Step S202: Power-on initialization.

[0103] Optionally, the vehicle operating system is powered on, and the main control unit, communication interface, and general input / output are initialized.

[0104] Step S204: Configure the parameters of the three-channel analog-to-digital converter.

[0105] Optionally, the vehicle may be equipped with three analog-to-digital converters of different resolutions (e.g., 12-bit, 14-bit, and 16-bit) with sampling rates, reference voltages, and synchronization trigger signals.

[0106] Step S206: The three-channel analog-to-digital converter triggers sampling and reads the original value.

[0107] Optionally, under the action of the trigger signal, the three analog-to-digital converters simultaneously sample the same analog signal to obtain the original digital values ​​(D_12, D_14, D_16).

[0108] In step S208, the normalization module calculates the virtual values ​​of the three samples based on the original values.

[0109] Optionally, the normalization module can normalize the above original sampled values ​​using the following formula.

[0110] V_norm=(D_x V_ref) / (2^N-1) K

[0111] Where D_x can be used to represent the sampled value after the original voltage analog-to-digital conversion (for example), V_ref can be used to represent the reference voltage, N is the resolution bit number, and K can be used to represent the uniform scaling factor (for example, 2^16).

[0112] Step S210: Calculate the pairwise residuals in the virtual values.

[0113] Optionally, the difference between each pair of virtual values ​​is calculated to obtain the residual amplitudes R12, R13, R23 and direction information.

[0114] Step S212: Compare whether the residual values ​​exceed the reference values.

[0115] Optionally, if so, proceed to step S214; otherwise, proceed to step S216.

[0116] Step S214, Fault handling and location.

[0117] Optionally, the combination pattern of residual amplitude and direction information can be analyzed to determine the fault type (e.g., single-path fault, multi-path fault, or common-cause fault).

[0118] Step S216: Output the weighted average of the three channels.

[0119] Optionally, if all residuals are normal, calculate the weighted average of the three virtual values ​​(with higher weight for high-resolution analog-to-digital converters) as the final acquisition result output.

[0120] Step S218, periodic self-check.

[0121] Optionally, disconnect the external analog signal input and connect the standard voltage source to the input of the three-channel analog-to-digital converter to collect the sampled value under the standard voltage.

[0122] Figure 3 This is a flowchart of a fault location method according to an embodiment of this application, such as... Figure 3 As shown, fault location includes the following steps.

[0123] Step S302: Read the current 3 virtual values ​​and the residual value.

[0124] Optionally, read the normalized virtual value (V) from the three-channel analog-to-digital converter. 12 V 14 V 16 ), and the magnitude of the quantization residuals between each pair (R 12 R 13 R 23 ) and direction information.

[0125] Step S304: Compare and determine the location of the fault.

[0126] Optionally, the fault type can be determined based on the combination of residual amplitude and direction information; if all residuals exceed the standard, or the residual characteristics do not conform to the single-path fault mode, it is determined to be a multi-path fault or a common-cause fault.

[0127] Step S306: Analog-to-digital converter 1 malfunctions.

[0128] Optionally, the fault status flag bit is confirmed, and the timestamp of the fault occurrence and the virtual value (V12, V14, V16) at that time are recorded for subsequent fault tracing.

[0129] Step S308: Report a fault in analog-to-digital converter 1 and output the weighted average of analog-to-digital converters 2 and 3.

[0130] Optionally, a fault alarm signal is sent to the vehicle's system master control or safety monitoring unit, the signal containing a fault code and the identifier of the currently failed channel. The sampled data from analog-to-digital converter 1 is masked and no longer participates in the final result calculation. The calculation is based on the fused output value of analog-to-digital converters 2 and 3.

[0131] Step S310, Analog-to-digital converter 2 malfunction.

[0132] Optionally, confirm the fault status flag bit; record the timestamp when the fault occurred and the virtual value (V12, V14, V16) at that time for subsequent fault tracing.

[0133] Step S312: Report a fault in analog-to-digital converter 2 and output the weighted average of analog-to-digital converter 1 and analog-to-digital converter 3.

[0134] Optionally, a fault alarm signal is sent to the vehicle's system main control or safety monitoring unit. The signal includes a fault code and the identifier of the currently failed channel. The sampled data from analog-to-digital converter 2 is masked and no longer participates in the final result calculation. The calculation is based on the fused output value of analog-to-digital converter 1 and analog-to-digital converter 3.

[0135] Step S314, Analog-to-digital converter 3 malfunction.

[0136] Optionally, confirm the fault status flag bit; record the timestamp when the fault occurred and the virtual value (V12, V14, V16) at that time for subsequent fault tracing.

[0137] Step S316: Report a fault in analog-to-digital converter 3 and output the weighted average of analog-to-digital converter 1 and analog-to-digital converter 2.

[0138] Optionally, a fault alarm signal is sent to the vehicle's system main control or safety monitoring unit. The signal content includes a fault code and the identifier of the currently failed channel. The sampled data from analog-to-digital converter 3 is shielded and no longer participates in the final result calculation. The calculation is based on the fused output value of analog-to-digital converter 1 and analog-to-digital converter 2.

[0139] Step S318, multiple faults.

[0140] Optionally, when a multi-channel fault or a common-cause fault is determined, the fault type is marked, and it is checked whether the system is in a periodic self-test phase. If the self-test passes and the external standard voltage injection is normal, but the real-time signal residual is abnormal, it is confirmed that the common-cause interference (e.g., power supply ripple, ground noise) is causing the three channels to drift simultaneously.

[0141] Step S320: Shut down the output and trigger the system security state.

[0142] Alternatively, the final output pin of the analog signal acquisition circuit can be disconnected to set the vehicle's system output to a default safe value.

[0143] Figure 4 This is a schematic diagram of a periodic self-test according to an embodiment of this application, such as... Figure 4 As shown, the periodic self-test includes the following steps.

[0144] Step S402: Pause normal signal acquisition.

[0145] Optionally, the vehicle controller sends a self-test enable signal, temporarily disconnecting the analog switch at the analog signal input (or switching to self-test mode) to cut off the influence of external sensor signals (such as battery voltage, current, etc.) on the analog-to-digital converter input. The system status parameters under the current normal acquisition mode are saved to ensure a seamless return to the original operating mode after the self-test is completed.

[0146] Step S404: Input a standard voltage source.

[0147] Optionally, the controller controls an internal or external high-precision reference voltage source (such as a bandgap reference source or DAC output) to generate at least two test voltages of different amplitudes. The standard voltage source is then connected sequentially or simultaneously to the inputs of three analog-to-digital converters (ADCs 1, 2, and 3). If single-channel switching injection is used, it must be ensured that the three ADCs are in synchronous sampling mode or sequentially sampling and recording timestamps during the injection period. The accuracy of the standard voltage source must be higher than the minimum quantization unit of the ADCs to eliminate interference from source-end errors on the test results.

[0148] Step S406: Independent sampling of the three analog-to-digital converters.

[0149] Optionally, the three analog-to-digital converters are triggered to simultaneously or in a predetermined sequence to perform analog-to-digital conversion on the input standard voltage. The raw values ​​of the outputs of the three analog-to-digital converters are read respectively. If multi-level voltage testing is performed, the above sampling process is repeated to obtain multiple sets of data.

[0150] Step S408: Normalize to obtain virtual values.

[0151] Optionally, a normalization algorithm can be invoked to convert the original values ​​into virtual voltage values ​​in a unified quantization space.

[0152] Step S410: Does it conform to the standard reference value?

[0153] Optionally, the absolute deviation of each virtual value from the theoretical standard value is calculated, and the absolute deviation is compared with the self-test absolute threshold. If it meets the standard reference value, step S412 is executed; otherwise, step S414 is executed.

[0154] Step S412: Is the residual value greater than the reference value?

[0155] Optionally, calculate the pairwise residual Rij and compare the residual Rij with the self-test residual threshold. If any residual Rij is greater than the self-test residual threshold, it indicates that there is a significant relative error among the three analog-to-digital converters (for example, one channel has abnormal gain while the other two are normal), and proceed to step S414.

[0156] Step S414: Report the self-test failure status.

[0157] Optionally, specific fault codes can be generated, output can be cut off, fault indicator lights can be turned on, or error logs can be stored.

[0158] Step S416: End self-test mode and restore external input.

[0159] Optionally, disconnect the standard voltage source, re-close the analog switch at the analog signal input terminal, and restore the external sensor signal to the analog-to-digital converter input terminal. Clear the self-test flag and restart the normal acquisition process.

[0160] In this embodiment, the above method can synchronously sample the same operating information by deploying multiple analog-to-digital converters with different resolutions. The residuals between pairs of samples are calculated using the normalized sample values, and fault detection and location are achieved based on the comparison between the residuals and a residual threshold. This is because the above steps overcome the obstacle in related technologies where relying on two analog-to-digital converters of the same resolution fails to distinguish between valid signals and interference trends under common-cause faults. The residual results overcome the obstacles in related technologies where two analog-to-digital converters are simultaneously affected by the same factor, leading to ineffective fault detection, and the inability to quickly locate faults when the sample values ​​of the two analog-to-digital converters are inconsistent. Therefore, the technical problem of low accuracy in vehicle fault location is solved, achieving the technical effect of improving the accuracy of vehicle fault location.

[0161] This application also provides a vehicle fault location device. It should be noted that the vehicle fault location device of this embodiment can be used to execute the vehicle fault location method of this application.

[0162] Figure 5 This is a schematic diagram of a vehicle fault location device according to an embodiment of this application, as shown below. Figure 5 As shown, the fault location device for the vehicle includes: an acquisition unit 502; a first determination unit 504; a second determination unit 506; and a location unit 508.

[0163] The acquisition unit 502 is used to acquire multiple sampled values ​​of the same operating information in the vehicle through the analog-to-digital converter;

[0164] The first determining unit 504 is used to determine the residual between multiple sampled values ​​and obtain multiple residual results;

[0165] The second determining unit 506 is configured to determine that the vehicle has a fault in response to the presence of at least one of the residual results exceeding a residual threshold.

[0166] The positioning unit 508 is used to locate the fault in the vehicle based on the residual result and obtain the positioning result.

[0167] In this embodiment, the acquisition unit 502 acquires multiple sampled values ​​of the same operating information in the vehicle through the analog-to-digital converter; the first determination unit 504 determines the residuals between the multiple sampled values ​​to obtain multiple residual results; the second determination unit 506 determines that the vehicle has a fault in response to at least one of the residual results exceeding a residual threshold; and the positioning unit 508 locates the fault in the vehicle based on the residual results to obtain a positioning result. This solves the technical problem of low accuracy in vehicle fault location and achieves the technical effect of improving the accuracy of vehicle fault location.

[0168] Figure 6 This is a structural diagram of an electronic device provided in one embodiment of this application. For example... Figure 6 As shown, the electronic device includes a memory 602 and a processor 604. The memory 602 is used to store computer programs, and the processor 604 is used to execute the programs stored in the memory 602 to implement the methods described in any embodiment of this application.

[0169] According to another aspect of the embodiments of this application, a vehicle is also provided. The vehicle includes a memory and a processor. The memory stores an executable program; the processor is used to run the program, which, when running, implements the methods described in the embodiments of this application.

[0170] According to another aspect of the embodiments of this application, a processor is also provided. The processor is used to run a program, wherein the program executes the methods of the embodiments of this application during runtime.

[0171] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided. The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform the method of the embodiments of this application.

[0172] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0173] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, 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 or modules may be electrical or other forms.

[0174] 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 units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0175] Furthermore, the functional units in the various embodiments of this application 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.

[0176] 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, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0177] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for locating vehicle faults, characterized in that, The vehicle is equipped with multiple analog-to-digital converters, each with a different resolution. The method includes: The analog-to-digital converter is used to obtain multiple sampled values ​​of the same operating information in the vehicle. Determine the residuals between the various sampled values ​​to obtain multiple residual results; In response to the presence of at least one of the residual results exceeding a residual threshold, it is determined that the vehicle has a fault; Based on the residual results, the fault is located in the vehicle to obtain the location result.

2. The method according to claim 1, characterized in that, The method for obtaining multiple sampled values ​​of the same operating information in the vehicle through the analog-to-digital converter further includes: The various sampled values ​​are normalized, and the normalized sampled values ​​are comparable to each other.

3. The method according to claim 1, characterized in that, Normalization is performed on the various sampled values, and the residuals among the various sampled values ​​are determined to obtain multiple residual results, including: Determine the different residuals between each pair of the various sampled values ​​after normalization; Based on the different residuals, the magnitude and direction information of the residuals are obtained.

4. The method according to claim 1, characterized in that, The residual result includes amplitude and direction information. The step of determining that the vehicle has a fault in response to at least one of the residual results exceeding a residual threshold includes: The amplitude is compared with the residual threshold. If at least one amplitude exceeds the associated residual threshold, it is determined that there is a fault in the current signal acquisition.

5. The method according to claim 1, characterized in that, The residual result includes the amplitude and direction information of the quantized residual. In response to a fault in the vehicle's signal acquisition, based on the residual result, the fault is located within the vehicle to obtain a location result, including: The deviation relationship between different sampled values ​​is determined based on the amplitude and the direction information; Based on the deviation relationship, the fault is located, and the location result is obtained.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: In response to the main control unit of the vehicle being idle, a self-test operation is performed on the vehicle to obtain a self-test result, wherein the self-test result includes the sampled value of the vehicle under a standard voltage source; If the deviation between the self-test result and the target result exceeds a preset threshold, it is determined that there is a fault in the vehicle's signal acquisition.

7. The method according to claim 6, characterized in that, In response to the deviation between the self-test result and the target result exceeding a preset threshold, it is determined that there is a fault in the vehicle's signal acquisition, including: Determine the distinct residuals between every two sampled values ​​in the self-test results; In response to the deviation between the self-test result and the target result exceeding a preset threshold, and the difference between any two sampled values ​​in the self-test result being less than the deviation threshold, it is determined that there is a common cause fault in the vehicle's signal acquisition.

8. A vehicle fault location device, characterized in that, The vehicle is equipped with multiple analog-to-digital converters, each with a different resolution, including: The acquisition unit is used to acquire multiple sampled values ​​of the same operating information in the vehicle through the analog-to-digital converter; The first determining unit is used to determine the residuals between the various sampled values ​​and obtain multiple residual results; The second determining unit is configured to determine that the vehicle has a fault in response to the presence of at least one of the residual results exceeding a residual threshold. A positioning unit is used to locate the fault in the vehicle based on the residual result, and obtain the positioning result.

9. An electronic device, characterized in that, include: Memory, which stores executable programs; A processor for running the program, wherein the program, when running, performs the method according to any one of claims 1 to 7.

10. A vehicle, characterized in that, include: Memory, which stores executable programs; A processor for running the program, wherein the program, when running, performs the method according to any one of claims 1 to 7.

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