CN115871631A - Fault detection method, device and equipment for vehicle brake system and vehicle - Google Patents

Abstract

The invention relates to a fault detection method, a fault detection device and fault detection equipment for a vehicle brake system and a vehicle. The method comprises the following steps: acquiring a pedal signal from a pedal sensor, a brake signal from a brake sensor, and a first on-board automatic diagnostic system (OBD) signal from an OBD interface at various times during operation of the vehicle on the same time axis; detecting an abnormal time at which a braking abnormality occurs among the times based on a change in at least one of the pedal signal, the brake signal, and the first OBD signal at different times; in response to detecting the abnormal time, determining a fault cause and a position of occurrence of the brake abnormal phenomenon based on the pedal signal, the brake signal and the first OBD signal at the abnormal time. The invention can quickly and accurately confirm the vehicle fault by integrating and processing the signals detected by the pedal sensor and the brake sensor and the signals read by the vehicle-mounted automatic diagnosis system interface by the same time axis.

Description

Fault detection method, device and equipment for vehicle brake system and vehicle

Technical Field

The present disclosure relates to the field of vehicle detection technologies, and more particularly, to a fault detection method, device, and apparatus for a vehicle brake system, and a vehicle.

Background

The background of the related art of the present invention will be described below, but the description does not necessarily constitute the prior art of the present invention.

The vehicle brake system mainly comprises an energy supply device, a control device, a transmission device, a brake and the like, and comprises a plurality of parts such as a brake pedal, a vacuum booster or an assisting motor, a master cylinder, a brake oil pipe, a brake cylinder, a brake disc, a drum brake or a disc brake and the like.

At present, the fault analysis of the vehicle brake system is generally carried out by adopting a part replacement test, namely, parts are sequentially replaced until a problem point is found. For example, the problem determination of the conventional brake system is mainly performed by a DTC (vehicle fault code), and the types of brake problems that can be detected by the DTC are mainly a software abnormality related to braking and a functional loss due to physical damage of parts of the brake system. In addition to such braking problems, if the failure of the braking system is sporadic or of the type where the friction plates wear out unevenly, the brakes are soft, etc., it is difficult to identify the point of problem by means of DTC and replacement part tests.

Disclosure of Invention

The invention aims to overcome the defects and provides a fault detection method, a fault detection device, a fault detection equipment and a vehicle for a vehicle brake system.

According to a first aspect of the present invention, there is provided a fault detection method for a vehicle braking system, comprising: acquiring a pedal signal from a pedal sensor, a brake signal from a brake sensor, and a first On Board Diagnostics (OBD) signal from an OBD interface at various times during operation of the vehicle On the same time axis; detecting an abnormal time at which a braking abnormality occurs among the times based on a change in at least one of the pedal signal, the brake signal, and the first OBD signal at different times; in response to detecting the abnormal time, determining a fault cause and a position of the brake abnormal phenomenon based on the pedal signal, the brake signal and the first OBD signal at the abnormal time.

According to an alternative embodiment of the invention, the method further comprises: analyzing a fault type associated with a braking abnormal phenomenon based on the braking abnormal phenomenon occurring during the operation; and determining a cause and location of a fault that the brake anomaly occurred based on the pedal signal, the brake signal, and the first OBD signal at the anomaly time comprises: and determining the fault reason and the position of the abnormal brake phenomenon based on the pedal signal, the brake signal, the first OBD signal and the fault type at the abnormal moment.

According to an alternative embodiment of the invention, the fault type comprises one or more of the following: hard braking, soft braking, reduced braking performance, off tracking, user complaints of no braking, brake dragging, and brake wear.

According to an alternative embodiment of the invention, the pedal signal comprises a pedal force signal and a pedal travel signal.

According to an alternative embodiment of the invention, the first OBD signal comprises one or more of: brake pedal switch signals, vehicle speed, vehicle acceleration, vehicle inertia data, steering wheel angle signals, vacuum degree signals or power-assisted motor states, brake master cylinder pressure signals, and valve states of each branch of ABS or ESP.

According to an alternative embodiment of the invention, the method further comprises: acquiring a driving intention of a driver of the vehicle at the abnormal time; and determining a cause and a position of a fault in which the brake abnormality occurs based on the pedal signal, the brake signal, and the first OBD signal at the abnormality time includes: determining a fault cause and location of occurrence of the brake anomaly based on the pedal signal, the brake signal, the first OBD signal, and the driving intent at the anomaly time.

According to an optional embodiment of the present invention, determining the cause and location of the fault of the occurrence of the abnormal braking phenomenon based on the pedal signal, the brake signal, the first OBD signal and the driving intention at the abnormal time comprises: analyzing whether the pedal signal, the brake signal, the first OBD signal at the abnormal time are normal based on the driving intention at the abnormal time; and determining the fault reason and the position of the abnormal braking phenomenon based on the analysis result.

According to an alternative embodiment of the invention, the obtaining of the driving intent comprises: determining the driving intention based on the operation information of the driver on a time set including the abnormal time.

According to an alternative embodiment of the present invention, the operation information of the driver includes: information relating to a predetermined operation designated to be performed by the driver and/or an actual operation performed by the driver.

According to an optional embodiment of the present invention, determining the cause and location of the fault at which the brake anomaly occurred based on the pedal signal, the brake signal, the first OBD signal and the fault type at the anomaly time comprises: determining at least one associated signal of the pedal signal, the brake signal, and the first OBD signal associated with the fault type based on the fault type; and determining a fault cause and a position of occurrence of the brake anomaly based on the at least one correlation signal at the anomaly time.

According to an alternative embodiment of the invention, the method further comprises: acquiring a second OBD signal from the OBD interface at each time during the operation on the same time axis, the second OBD signal comprising an auxiliary signal acting on a vehicle braking system; and in response to detecting the abnormal time, determining a cause and location of a fault that the brake anomaly occurred based on the pedal signal, the brake signal, and the first OBD signal at the abnormal time comprises: determining a fault cause and a position of the brake anomaly based on the pedal signal, the brake signal, the first OBD signal and the second OBD signal at the anomaly time.

According to an alternative embodiment of the invention, the method further comprises: a notification is sent indicating the determined cause and location of the fault.

According to a second aspect of the present invention, there is provided a fault detection device for a vehicle braking system, comprising: a signal acquisition unit configured to acquire a pedal signal from a pedal sensor, a brake signal from a brake sensor, and a first on-board automatic diagnostic system (OBD) signal from an OBD interface at respective times during operation of the vehicle on the same time axis; an abnormality detection unit configured to detect an abnormality timing at which the brake abnormality occurs among respective timings based on a change in at least one of the pedal signal, the brake signal, and the first OBD signal at different timings; a fault determination unit configured to determine a cause and a location of a fault in which the brake abnormality occurs based on the pedal signal, the brake signal, and the first OBD signal at the abnormal time in response to detection of the abnormal time.

According to a third aspect of the present invention, there is provided a fault detection device for a vehicle braking system, comprising: at least one processor; and a memory storing machine readable instructions which, when executed by the at least one processor, cause the at least one processor to perform the fault diagnosis method for a vehicle brake system according to the foregoing first aspect.

According to a fourth aspect of the present invention, there is provided a vehicle including the failure detection device for a vehicle brake system according to the foregoing second aspect or the failure detection apparatus for a vehicle brake system according to the foregoing third aspect.

The invention can rapidly and accurately confirm the vehicle fault by acquiring the signals from the pedal sensor, the brake sensor and the vehicle-mounted automatic diagnosis system interface with the same time shaft, and further improves the efficiency of accurately judging the vehicle fault compared with the replacement part test and the vehicle-mounted automatic diagnosis system which is independently used for independently acquiring the brake pedal signal or the wheel end brake signal.

Drawings

Other features and advantages of the present invention will be better understood by the following detailed description of the preferred embodiments taken in conjunction with the accompanying drawings, in which like reference characters designate the same or similar parts.

FIG. 1 shows a schematic structural diagram of an exemplary vehicle braking system data acquisition device, according to an embodiment of the present disclosure.

FIG. 2 shows a flowchart of an exemplary fault detection method for a vehicle braking system, according to an embodiment of the present disclosure.

Fig. 3 illustrates example failure detection logic, according to an embodiment of the disclosure.

FIG. 4 shows a block diagram of an example fault detection device for a vehicle braking system, according to an embodiment of the present disclosure.

FIG. 5 shows a block diagram of an example fault detection device for a vehicle braking system, according to an embodiment of the present disclosure.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.

As previously mentioned, the problem determination of the existing brake systems is mainly done by means of DTC (vehicle fault code) or by means of replacement part testing for failure analysis of the vehicle brake system, however, it is difficult to identify certain types of brake system failures and their specific causes and locations. The invention can quickly and accurately position the vehicle fault by integrating and processing the signals detected by the pedal sensor and the brake sensor and the signals read by the interface of the vehicle-mounted automatic diagnosis system by the same time axis.

Referring to fig. 1, a schematic structural diagram of an exemplary vehicle braking system data collection device 100 is shown, according to an embodiment of the present disclosure. The device 100 comprises a signal processor or processing device 1, a pedal sensor 2, a brake sensor 3 and an on-board automatic diagnostic system (OBD) interface 4, wherein the pedal sensor 2 and the brake sensor 3 are connected to a brake system of the vehicle.

Specifically, the braking system of the vehicle generally comprises a brake pedal 10, a booster 11, an ABS device or an ESP device 12, a brake line 13 and brakes 14 (only the brakes of one wheel are shown, by way of example and without limitation). The booster 11 may be, for example, a vacuum booster, a hydraulic booster or a booster motor. The ABS/ESP device 12 may generally include three parts (not shown) of a wheel speed sensor, a controller (ABS-ECU or ESP-ECU) and an actuator (ABS/ESP pump). The brake line 13 serves for the transmission of brake fluid, the brake line 13 comprising a brake hose and a brake pipe, the brake pipe being arranged at a vehicle body, a vehicle frame or the like, and the brake hose being arranged between relatively moving parts, for example at the wheels, the brake line 13 starting from the booster 11 being connected via an ABS/ESP pump to the brakes 14 of the wheels. The brake 14 may be, for example, a disc brake, a drum brake. The braking process of the vehicle is substantially as follows: the braking force of the foot pedal 10 is transmitted to an ABS/ESP device 12 via a booster 11, the ABS/ESP device 12 transmits hydraulic pressure to a brake 14 of each wheel via a brake line 13, and the brake 14 applies a braking action to the wheel by using frictional force.

The signal processor 1 acquires (e.g., receives) the pedal signal from the pedal sensor 2, the brake signal from the brake sensor 3, the first OBD signal from the OBD interface 4 at respective times during operation of the vehicle with the same time axis and with the same time axis. For example, the signal processor 1 may receive signals from the pedal sensor 2, the brake sensor 3, and the OBD interface 4 and record and save the received signals with the same time axis. The signal processor 1 may be, for example, an Electronic Control Unit (ECU) of a vehicle, including a Microprocessor (MCU), memories (ROM, RAM), input/output interfaces (I/O), analog-to-digital converters (a/D), and large scale integrated circuits for shaping, driving, etc., and it is seen that the Electronic Control Unit (ECU) is a digital signal processor that needs to convert signals from an analog domain to a digital domain before digital signal processing. And in this case the pedal sensor 2, the brake sensor 3 and the OBD interface 4 are connected to respective input interfaces of the electronic control unit.

The pedal sensor 2 may include a pedal force sensor and/or a pedal stroke sensor for detecting a brake pedal force and/or a pedal stroke applied to the brake pedal 10, and the pedal sensor 2 transmits the detected pedal force and/or pedal stroke signal to the signal processor 1. Alternatively, the pedal force sensor and the pedal stroke sensor may be provided separately, and preferably, the pedal force sensor and the pedal stroke sensor may be provided integrally, for example, a pedal force stroke tester of model PA-10.

The brake signal detected by the brake sensor 3 may be, for example, a brake wheel end brake fluid pressure. The brake sensor 3 may be a pressure sensor adapted to detect the hydraulic pressure of the brake 14 for the wheel 15. In the embodiment of fig. 1, the brake sensors 3 include a right front wheel brake sensor 31, a left front wheel brake sensor 32, a left rear wheel brake sensor 33, and a right rear wheel brake sensor 34 to detect the hydraulic pressures of the brakes 14 for the right front wheel, the left rear wheel, and the right rear wheel, respectively, by way of example only and not by way of limitation. For example, the brake sensor 3 can be connected to the exhaust valve of the brake 14 via a screw connection or can be connected between the brake hose and the brake pipe via a three-way connection.

The OBD interface 4 is connected with the on-board automatic diagnostic system to acquire data (e.g., a first OBD signal) from (e.g., read) the on-board automatic diagnostic system. For example, the first OBD signal may include, but is not limited to, at least one of: brake pedal switch signals, vehicle speed, vehicle acceleration, vehicle inertia data, steering wheel angle signals, vacuum degree signals or power-assisted motor states, brake master cylinder pressure signals, valve states of each branch of an ABS or an ESP, and the like. Optionally, a second OBD signal from (e.g., read) an on-board automatic diagnostic system may also be acquired via the OBD interface 4. The second OBD signal comprises an auxiliary signal acting on the vehicle brake system, such as but not limited to at least one of: an accelerator pedal signal, a handbrake signal, or other signal that acts on the braking system.

As shown in fig. 1, the signal processor 1 may also be connected (e.g., via a wired or wireless connection) to a display terminal 5, the display terminal 5 being connected with an output interface of the signal processor 1 and receiving signals from the signal processor 1. Optionally, the display terminal 5 is a digital display, a computer or a portable mobile communication device. Optionally, the signal processor 1 further includes a process of converting and processing the signal, and displays the result of the processing on the display terminal 5, so that a driver or a serviceman can easily make a judgment of the failure of the brake system.

Referring to FIG. 2, a flow chart of an exemplary fault detection method 200 for a vehicle braking system is shown. The method 200 may be applied to the brake system in fig. 1, and may be implemented by, for example, any one of the signal processor 1 of fig. 1, the fault detection apparatus 300 for a vehicle brake system of fig. 4, and the fault detection device 400 for a vehicle brake system of fig. 5. As shown in FIG. 2, method 200 includes steps 210-230.

At step 210, a pedal signal from a pedal sensor, a brake signal from a brake sensor, and a first OBD signal from an OBD interface are acquired at various times during operation of the vehicle on the same time axis. In some examples, the pedal signal, the brake signal, and the first OBD signal may be acquired in the manner described above in connection with the signal processor 1. In other examples, other signal processors or processing devices than the signal processor 1 may obtain the recorded and saved pedal signal, brake signal, and first OBD signal from the signal processor 1. For example, the vehicle may be started and run until a malfunction occurs, and the pedal signal, the brake signal, and the first OBD signal may be collected at various times in the process on the same time axis.

At step 220, an abnormal time at which a braking abnormality occurs among the respective times is detected based on a change in at least one of the pedal signal, the brake signal, and the first OBD signal at different times. At this step, the data may be compared laterally on a time axis to confirm the time at which the failure occurred. The change in each data can be analyzed before and after the time of failure to find the anomaly point. For example, a change in at least one signal at different times (e.g., a change between data at each time and data at an adjacent time) may be detected, and when such a change in the signal value at a certain time exceeds a threshold change range or when the signal value at a certain time exceeds a threshold set range, it may be considered that a braking abnormality has occurred at that time, that is, it is confirmed that a failure has occurred.

In step 230, in response to detecting the abnormal time, a fault cause and location of occurrence of the braking abnormal phenomenon is determined based on the pedal signal, the brake signal and the first OBD signal at the abnormal time.

Compared with the prior art, the method 200 can rapidly and accurately confirm the vehicle fault by acquiring the signals from the pedal sensor, the brake sensor and the vehicle-mounted automatic diagnosis system interface according to the same time axis, and further improves the efficiency of accurately judging the vehicle fault compared with the replacement part test and the vehicle-mounted automatic diagnosis system, the brake pedal signal or the brake signal which is independently acquired.

Further, the method 200 may be performed with or without knowledge of the type of fault associated with the braking anomaly to identify the problem point (e.g., cause and location of the fault) of the type of fault. The fault type may include, but is not limited to, at least one of: stiffening of the brake, softening of the brake, reduced braking performance (or reduced braking effectiveness), brake tracking, user complaints of no brake, brake drag, brake bias, etc. As previously mentioned, these failure types are difficult to identify by means of DTC and replacement part testing to identify the problem point.

Optionally, the method 200 may further include: based on a braking abnormality occurring during operation of the vehicle, a type of a fault associated with the braking abnormality is analyzed. Also, step 230 may include: and determining the fault reason and the position of the abnormal braking phenomenon based on the pedal signal, the brake signal, the first OBD signal and the fault type at the abnormal moment. For example, the type of failure associated with the braking abnormality may be analyzed based on the occurrence of the braking abnormality according to a subjective evaluation method of the braking performance of the vehicle. And, the fault cause and location are determined based on the fault type and the acquired pedal signal, brake signal, first OBD signal. At this step, the method 200 may more quickly and accurately locate the vehicle braking fault with knowledge of the fault type.

Optionally, determining the cause and location of the fault based on the type of fault and the acquired pedal signal, brake signal, first OBD signal in step 230 may include: determining at least one associated signal of a pedal signal, a brake signal and a first OBD signal associated with the fault type based on the fault type; and determining a cause and a location of the fault at which the braking anomaly occurred based on the at least one correlation signal at the anomaly time. At this step, the method 200 may locate the vehicle braking fault more quickly and accurately by reducing the detected signal if the fault type is known.

Optionally, the method 200 may further include: the driving intention of the driver of the vehicle at the abnormal time is acquired. Also, step 230 may include: and determining the fault reason and the position of the abnormal braking phenomenon based on the pedal signal, the brake signal, the first OBD signal and the driving intention at the abnormal moment. At this step, the method 200 may more quickly and accurately locate the vehicle fault based on the logical association between the braking anomaly and the driver's intent. For example, a vehicle braking fault may be located based on the occurrence of a braking anomaly and whether the driver's driving intent is being met.

Alternatively, the determining the cause and location of the fault in which the abnormal braking phenomenon occurs based on the pedal signal, the brake signal, the first OBD signal, and the driving intention at the abnormal time in step 230 may include: analyzing whether the pedal signal, the brake signal and the first OBD signal at the abnormal time are normal or not based on the driving intention at the abnormal time; and determining the fault reason and the position of the abnormal braking phenomenon based on the analysis result. At this step, the method 200 may more quickly and accurately locate the vehicle fault based on whether the acquired pedal signal, brake signal, first OBD signal perform properly at the driver's intent.

Alternatively, acquiring the driving intention may include: the driving intention is determined based on the operation information of the driver on the time set including the abnormal time. Further, the operation information of the driver may include: information relating to a predetermined operation designated to be performed by the driver and/or an actual operation performed by the driver. For example, the driving intention may be determined based on the operation information of the driver for a period before and after the determined abnormal time is included. The operation information may be information related to a predetermined operation (e.g., a driving operation to instruct execution of a predetermined route by navigation) that the driver is instructed to complete, for example, by voice, image, or other means, and/or may be information related to an actual operation performed by the driver, for example, captured by a camera. Further, the driving intention may also be determined in conjunction with the operation information of the driver and the driving road condition. At this step, the method 200 may more quickly and accurately locate the vehicle fault by taking into account the effect of the second OBD signal on braking.

Optionally, the method 200 may further include: a second OBD signal from the OBD interface is acquired at various times during operation of the vehicle on the same time axis, the second OBD signal including an auxiliary signal to act on a vehicle braking system. Also, step 230 may include: and determining the fault reason and the position of the abnormal braking phenomenon based on the pedal signal, the brake signal, the first OBD signal and the second OBD signal at the abnormal moment.

Optionally, the method 200 may further include: a notification is sent indicating the determined cause and location of the fault. For example, the signal processor 1 of fig. 1 may send a notification indicating the determined cause and location of the failure to the display terminal 5 so that the cause and location of the failure are displayed on the display terminal 5 so that a driver or a serviceman can easily and timely know the failure of the brake system. In other examples, a notification (e.g., text or text-to-speech) indicative of the determined cause and location of the fault may also be sent to an audio system in communication with the processor such that the notification is audibly output by one or more speakers of the audio system so that a driver or service person can easily and timely learn of the fault of the brake system.

The implementation of the above-mentioned fault detection method 200 will be illustrated below with reference to fig. 3. Referring to fig. 3, an exemplary fault detection logic table is shown, in accordance with an embodiment of the present disclosure.

Column 1 of the logic table shows various possible brake fault types (see description above with respect to fig. 2), columns 2-14 show the pedal signal from the pedal sensor, the brake signal from the brake sensor, and the first OBD signal, the second OBD signal from the OBD interface (see description above with respect to fig. 1), respectively, and column 15 shows conclusions about the brake fault (e.g., fault cause and location). Each of the columns 2 to 14 indicates, for each fault type, whether the signal at the abnormal time appears normal (indicated by "OK") or abnormal (indicated by "NG") with the driver's driving intention.

For example, the travel of the brake pedal, the brake pedal force, the brake pedal switch signal, and the accelerator pedal signal may reflect the driver's control state of the vehicle; meanwhile, the active intervention of active safety can also generate a braking effect; the pressure of the brake master cylinder and signals of opening valves of the ABS/ESP reflect the braking action of the active brake after the input of the brake; the vacuum degree signal of the intake manifold or the state signal of the electric power-assisted motor reflects the magnitude of the power assistance; wheel end brake pressure reflects the effect on the foundation brake; vehicle speed, vehicle acceleration, wheel speed, and vehicle inertia data (body attitude) represent the vehicle's response before and after the base braking action. Analysis of these data can restore the progress of the braking problem and whether the driver's intention has been met, and thus determine the cause and location of the fault.

Situation of unknown fault type

For example, the rows are not the same in the logic table for each of the first 4 failure types (soft brake, hard brake, degraded brake performance, off-track brake) and each of the last 3 failure types (user complaints of no brake, drag brake, brake-off-track) except for all "OK". At this time, it is possible to determine what type of fault and fault cause and location have occurred from the behavior of the detected signal at the abnormal time, even if the fault type is unknown.

Situation of known fault type

The rows for each of the 7 fault types are not the same in the logical table. At this time, the cause and location of the failure can be determined from the behavior of the detected signal at the abnormal time. Further, where the type of fault is known, the range of the detected signal can be narrowed down to a set of signal columns that appear as "NG" (i.e., at least one associated signal determined to be associated with the type of fault) to quickly determine the cause and location of the fault.

Accordingly, a fault type-signal logic table may be established, and the cause and location of the fault may be determined from the acquired signals (e.g., pedal signal, brake signal, and OBD signal) based on the established fault type-signal logic table.

Referring to fig. 4, a block diagram of an example fault detection device 300 for a vehicle braking system is shown, according to an embodiment of the present disclosure. The device 300 may be, for example, the signal processor or processing device 100 of fig. 1 or a vehicle communication network communicatively connected with the device 100 (e.g., via a bus, such as an on-board network bus such as CAN, LIN, flex Ray, MOST, LVDS, or an ethernet bus, etc.) to obtain the pedal signal, the brake signal, and the OBD signal. The apparatus 300 may include a signal acquisition unit 310, an abnormality detection unit 320, and a fault determination unit 330.

The signal acquisition unit 310 is configured to: a pedal signal from a pedal sensor, a brake signal from a brake sensor, and a first on-board automatic diagnostic system (OBD) signal from an OBD interface are acquired at various times during operation of the vehicle on the same time axis.

The anomaly detection unit 320 is configured to: an abnormal time at which a braking abnormality occurs among the respective times is detected based on a change in at least one of the pedal signal, the brake signal, and the first OBD signal at different times.

The fault determination unit 330 is configured to: in response to detecting the abnormal time, determining a fault cause and a position of occurrence of the brake abnormal phenomenon based on the pedal signal, the brake signal and the first OBD signal at the abnormal time.

Optionally, the apparatus 300 may further comprise an analyzing unit 340, the analyzing unit 340 being configured to: based on the abnormal braking phenomenon occurring during the operation, the fault type associated with the abnormal braking phenomenon is analyzed. Also, the fault determination unit 330 may be configured to: and determining the fault reason and the position of the abnormal braking phenomenon based on the pedal signal, the brake signal, the first OBD signal and the fault type at the abnormal moment.

Optionally, the apparatus 300 may further comprise an intent acquisition unit 350, the intent acquisition unit 350 being configured to: the driving intention of the driver of the vehicle at the abnormal time is acquired. Also, the fault determination unit 330 may be configured to: and determining the fault reason and the position of the abnormal braking phenomenon based on the pedal signal, the brake signal, the first OBD signal and the driving intention at the abnormal moment. Further, the intention acquisition unit 350 may be configured to: the driving intention is determined based on the operation information of the driver on the time set including the abnormal time. Further, the fault determination unit 330 may be configured to: analyzing whether the pedal signal, the brake signal and the first OBD signal at the abnormal time are normal or not based on the driving intention at the abnormal time; and determining the fault reason and the position of the abnormal braking phenomenon based on the analysis result.

Optionally, the fault determination unit 330 may be configured to: determining at least one associated signal of a pedal signal, a brake signal and a first OBD signal associated with the fault type based on the fault type; and determining a cause and a position of the fault where the abnormal braking phenomenon occurs, based on the at least one correlation signal at the abnormal time.

Optionally, the signal acquisition unit 310 may be configured to: a second OBD signal from the OBD interface is acquired at each moment in the operation process with the same time axis, the second OBD signal comprising an auxiliary signal acting on the vehicle brake system. Also, the fault determination unit 330 may be configured to: and determining the fault reason and the position of the abnormal braking phenomenon based on the pedal signal, the brake signal, the first OBD signal and the second OBD signal at the abnormal moment.

Optionally, the apparatus 300 may further include a transmitting unit 360, the transmitting unit 360 configured to: a notification is sent indicating the determined cause and location of the fault.

Referring to fig. 5, a block diagram of an example fault detection device 400 for a vehicle braking system is shown, according to an embodiment of the present disclosure. The device 400 includes at least one processor 410 and a memory 420 coupled to the at least one processor 410. The memory 420 is used to store machine-readable instructions that, when executed by the at least one processor 410, cause the processor 420 to perform the method in the above embodiments (e.g., any one or more of the steps of the method 200 described previously). The device 400 may be, for example, the signal processor or processing apparatus 100 of fig. 1 or a vehicle communication network communicatively connected with the apparatus 100 (e.g., via a bus, such as an on-board network bus such as CAN, LIN, flex Ray, MOST, LVDS, or an ethernet bus, etc.) to obtain the pedal signal, the brake signal, and the OBD signal.

Further, an aspect of the present invention provides a vehicle comprising a fault detection apparatus or device for a vehicle braking system as described above in connection with fig. 1-5.

Although some embodiments have been described herein by way of example, various modifications may be made to these embodiments without departing from the spirit of the invention, and all such modifications are intended to be included within the scope of the invention as defined in the following claims.

The particular embodiments disclosed herein are illustrative only and should not be taken as limitations upon the scope of the invention, which is to be accorded the full scope consistent with the claims, as defined in the appended claims. Accordingly, the particular illustrative embodiments disclosed above may be subject to various substitutions, combinations, or modifications, all of which are within the scope of this disclosure. All numbers and ranges disclosed above may also vary somewhat.

In addition, the number of components in the claims includes one or at least one unless otherwise specified. To the extent that a term or phrase is not inconsistent with the usage or meaning of other documents, it is intended to be defined in this specification.

Claims (15)

1. A fault detection method for a vehicle braking system, comprising:

acquiring a pedal signal from a pedal sensor, a brake signal from a brake sensor, and a first on-board automatic diagnostic system (OBD) signal from an OBD interface at various times during operation of a vehicle on the same time axis;

detecting an abnormal time at which a braking abnormality occurs among respective times based on a change in at least one of the pedal signal, the brake signal, and the first OBD signal at different times;

in response to detecting the abnormal time, determining a fault cause and a position where the brake abnormal phenomenon occurs based on the pedal signal, the brake signal, and the first OBD signal at the abnormal time.

2. The method of claim 1, further comprising:

analyzing a fault type associated with the braking abnormal phenomenon based on the braking abnormal phenomenon occurring during the operation; and is

Determining a cause and a location of a fault in which the brake anomaly occurred based on the pedal signal, the brake signal, and the first OBD signal at the anomaly time includes: and determining the fault reason and the position of the abnormal brake phenomenon based on the pedal signal, the brake signal, the first OBD signal and the fault type at the abnormal moment.

3. The method of claim 2, wherein the fault type comprises one or more of: hard braking, soft braking, reduced braking performance, off tracking, user complaints of no braking, brake drag, brake wear.

4. The method of any of claims 1-3, wherein the pedal signal includes a pedal force signal and a pedal travel signal.

5. The method of any of claims 1-3, wherein the first OBD signal comprises one or more of: brake pedal switch signals, vehicle speed, vehicle acceleration, vehicle inertia data, steering wheel angle signals, vacuum degree signals or power-assisted motor states, brake master cylinder pressure signals, and valve states of each branch of ABS or ESP.

6. The method of any of claims 1 to 3, further comprising:

acquiring a driving intention of a driver of the vehicle at the abnormal time; and is

Determining a cause and a location of a fault in which the brake anomaly occurred based on the pedal signal, the brake signal, and the first OBD signal at the anomaly time includes: determining a fault cause and a position of the occurrence of the brake anomaly phenomenon based on the pedal signal, the brake signal, the first OBD signal and the driving intention at the anomaly time.

7. The method of claim 6, wherein determining a cause and location of a fault in which the brake anomaly occurred based on the pedal signal, the brake signal, the first OBD signal, and the driving intent at the anomaly time comprises:

analyzing whether the pedal signal, the brake signal, the first OBD signal at the abnormal time are normal based on the driving intention at the abnormal time;

and determining the fault reason and the position of the abnormal braking phenomenon based on the analysis result.

8. The method of claim 6, wherein obtaining the driving intent comprises:

determining the driving intention based on the operation information of the driver on a time set including the abnormal time.

9. The method of claim 8, wherein the driver's operational information includes: information relating to a predetermined operation designated to be performed by the driver and/or an actual operation performed by the driver.

10. The method of claim 2 or 3, wherein determining a cause and location of a fault that the braking anomaly occurred based on the pedal signal, the brake signal, the first OBD signal, and the fault type at the anomaly time comprises:

determining at least one associated signal of the pedal signal, the brake signal, and the first OBD signal associated with the fault type based on the fault type; and is

And determining the fault reason and the position of the abnormal braking phenomenon based on the at least one related signal at the abnormal moment.

11. The method of claim 1 or 7, further comprising:

acquiring a second OBD signal from the OBD interface at each time during the operation on the same time axis, the second OBD signal comprising an auxiliary signal acting on a vehicle braking system; and is provided with

In response to detecting the abnormal time, determining a cause and location of a fault that the brake anomaly occurred based on the pedal signal, the brake signal, and the first OBD signal at the abnormal time comprises: determining a fault cause and a position of the brake anomaly based on the pedal signal, the brake signal, the first OBD signal and the second OBD signal at the anomaly time.

12. The method of claim 1, further comprising: a notification is sent indicating the determined cause and location of the fault.

13. A fault detection device for a vehicle braking system, comprising:

a signal acquisition unit configured to acquire a pedal signal from a pedal sensor, a brake signal from a brake sensor, and a first on-board automatic diagnostic system (OBD) signal from an OBD interface at respective times during operation of a vehicle on the same time axis;

an abnormality detection unit configured to detect an abnormality timing at which the brake abnormality occurs among respective timings based on a change in at least one of the pedal signal, the brake signal, and the first OBD signal at different timings;

a fault determination unit configured to determine a cause and a location of a fault in which the brake abnormality occurs based on the pedal signal, the brake signal, and the first OBD signal at the abnormal time in response to detection of the abnormal time.

14. A fault detection device for a vehicle braking system, comprising:

at least one processor; and

a memory storing machine readable instructions that when executed by the at least one processor cause the at least one processor to perform the fault diagnostic method for a vehicle brake system according to any one of claims 1-11.

15. A vehicle comprising a fault detection device for a vehicle brake system according to claim 13 or a fault detection apparatus for a vehicle brake system according to claim 14.

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