CN116215468A

CN116215468A - Method, device, vehicle and storage medium for determining the state of a brake pedal mechanism

Info

Publication number: CN116215468A
Application number: CN202310224774.1A
Authority: CN
Inventors: 杨磊; 原井天
Original assignee: Xiaomi Automobile Technology Co Ltd
Current assignee: Xiaomi Automobile Technology Co Ltd
Priority date: 2023-03-09
Filing date: 2023-03-09
Publication date: 2023-06-06

Abstract

The present disclosure relates to a method, an apparatus, a vehicle, and a storage medium for determining a state of a brake pedal mechanism, the method being applied to a vehicle, the brake pedal mechanism of the vehicle including a first sensor, a second sensor, and a third sensor, the brake pedal mechanism being connected with a brake pedal of the vehicle, the first sensor and the second sensor being for sensing a pedal stroke of the brake pedal, the third sensor being for sensing a pedal force of the brake pedal, comprising: acquiring first target data of the first sensor, second target data of the second sensor and third target data of the third sensor; and determining the state of the brake pedal mechanism according to the first target data, the second target data, the third target data and a first preset data range, wherein the state comprises a normal state or an abnormal state, and the target sensor is the first sensor or the second sensor.

Description

Method, device, vehicle and storage medium for determining the state of a brake pedal mechanism

Technical Field

The present disclosure relates to the field of vehicle technologies, and in particular, to a method and apparatus for determining a state of a brake pedal mechanism, a vehicle, and a storage medium.

Background

The brake system of a vehicle is a direct device for realizing the brake control of the vehicle, and plays a vital role in the stability and safety of the vehicle. The brake system of a vehicle is a system that applies a certain braking force to wheels of the vehicle to forcibly brake the wheels to a certain extent. The brake pedal mechanism is an important component in the brake system, and if structural members in the brake pedal mechanism are failed, the braking effect of the brake system can be affected, and even the brake system can be disabled, so that serious potential safety hazards exist in the running process of the vehicle. Therefore, how to detect the brake pedal mechanism of a vehicle to determine the state of the brake pedal is a problem to be solved.

Disclosure of Invention

To overcome the problems in the related art, the present disclosure provides a method, apparatus, vehicle, and storage medium for determining a state of a brake pedal mechanism.

According to a first aspect of embodiments of the present disclosure, there is provided a method of determining a state of a brake pedal mechanism, applied to a vehicle, the brake pedal mechanism of the vehicle including a first sensor, a second sensor, and a third sensor, the brake pedal mechanism being connected to a brake pedal of the vehicle, the first sensor and the second sensor being for sensing a pedal stroke of the brake pedal, the third sensor being for sensing a pedal effort of the brake pedal, comprising:

Acquiring first target data of the first sensor, second target data of the second sensor and third target data of the third sensor;

determining the state of the brake pedal mechanism according to the first target data, the second target data, the third target data and a first preset data range, wherein the state comprises a normal state or an abnormal state, the first preset data range comprises a corresponding relation between data of a target sensor and data of a third sensor when the state of the brake pedal mechanism is the normal state, and the target sensor is the first sensor or the second sensor.

Optionally, the determining the state of the brake pedal mechanism according to the first target data, the second target data, the third target data and a first preset data range includes:

determining first combined data according to the first target data and the third target data;

determining second combined data according to the second target data and the third target data;

and determining the state of the brake pedal mechanism according to the first combination data, the second combination data and the first preset data range.

Optionally, the determining the state of the brake pedal mechanism according to the first combination data, the second combination data and the first preset data range includes:

determining that the state of the brake pedal mechanism is a normal state under the condition that the first combination data and the second combination data are both in the first preset data range;

determining that the state of a sensor corresponding to target combination data is an abnormal state when the target combination data is not in the first preset data range, wherein the target combination data is the first combination data or the second combination data;

and under the condition that the first combination data and the second combination data are not in the first preset data range, determining the state of the brake pedal mechanism according to the first combination data, the second combination data and a preset data threshold value, wherein the preset data threshold value is the maximum value of the first preset data range.

Optionally, the determining the state of the brake pedal mechanism according to the first combination data, the second combination data and a preset data threshold value includes:

Determining the state of the brake pedal mechanism according to the change speed of the first combination data under the condition that the first combination data and the second combination data are determined to be greater than or equal to the preset data threshold value;

and under the condition that the first combination data and the second combination data are smaller than the preset data threshold value, determining the state of the brake pedal mechanism according to the first combination data, the second combination data and a second preset data range.

Optionally, the determining the state of the brake pedal mechanism according to the change speed of the first combination data includes:

determining that the state of the brake pedal mechanism is a normal state under the condition that the change speed of the first combination data is greater than or equal to a preset speed threshold value;

and under the condition that the change speed of the first combination data is smaller than the preset speed threshold value, determining that the state of the third sensor is an abnormal state.

Optionally, the brake pedal mechanism further comprises a pedal feel simulator, and the pedal feel simulator is connected with the third sensor; the determining the state of the brake pedal mechanism according to the first combination data, the second combination data and a second preset data range comprises:

Determining that the state of the pedal feel simulator is an abnormal state under the condition that the first combination data and the second combination data are determined to be in the second preset data range;

and determining that the state of the third sensor is an abnormal state under the condition that the first combination data and the second combination data are not in the second preset data range.

Optionally, the determining the first combined data according to the first target data and the third target data includes:

acquiring a plurality of first preset combination data, wherein the first preset combination data comprise first preset data and third preset data; the first preset combination data are data of the first sensor and the third sensor at the same time when the state of the brake pedal mechanism is in a normal state;

under the condition that the first target data is identical to first target preset data, taking third preset data corresponding to the first target data and the first target preset data as the first combined data, wherein the first target preset data is any one of a plurality of first preset data; or alternatively, the process may be performed,

And under the condition that the third target data is identical to third target preset data, taking first preset data corresponding to the third target data and the third target preset data as the first combined data, wherein the third target preset data is any third preset data in a plurality of third preset data.

According to a second aspect of embodiments of the present disclosure, there is provided an apparatus for determining a state of a brake pedal mechanism, applied to a vehicle, the brake pedal mechanism of the vehicle including a first sensor, a second sensor, and a third sensor, the brake pedal mechanism being connected to a brake pedal of the vehicle, the first sensor and the second sensor being for sensing a pedal stroke of the brake pedal, the third sensor being for sensing a pedal force of the brake pedal, comprising:

an acquisition module configured to acquire first target data of the first sensor, second target data of the second sensor, and third target data of the third sensor;

the determining module is configured to determine a state of the brake pedal mechanism according to the first target data, the second target data, the third target data and a first preset data range, wherein the state comprises a normal state or an abnormal state, the first preset data range comprises a corresponding relation between data of the target sensor and data of the third sensor when the state of the brake pedal mechanism is the normal state, and the target sensor is the first sensor or the second sensor.

Optionally, the determining module is further configured to:

Optionally, the brake pedal mechanism further comprises a pedal feel simulator, and the pedal feel simulator is connected with the third sensor; the determination module is further configured to:

Optionally, the determining module is further configured to:

under the condition that the first target data is identical to first target preset data, taking third preset data corresponding to the first target data and the first target preset data as the first combined data, wherein the first target preset data is any one of a plurality of first preset data;

According to a third aspect of embodiments of the present disclosure, there is provided a vehicle comprising:

a first processor;

a memory for storing first processor-executable instructions;

wherein the first processor is configured to:

implementing the steps of the method described in the first aspect of the present disclosure.

According to a fourth aspect of embodiments of the present disclosure, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a second processor, implement the steps of the method of the first aspect of the present disclosure.

The technical scheme provided by the embodiment of the disclosure can comprise the following beneficial effects:

the method for determining the state of a brake pedal mechanism is applied to a vehicle, the brake pedal mechanism of the vehicle comprises a first sensor, a second sensor and a third sensor, the brake pedal mechanism is connected with a brake pedal of the vehicle, the first sensor and the second sensor are used for sensing the stepping stroke of the brake pedal, and the third sensor is used for sensing the stepping force of the brake pedal and comprises the following steps: acquiring first target data of the first sensor, second target data of the second sensor and third target data of the third sensor; determining the state of the brake pedal mechanism according to the first target data, the second target data, the third target data and a first preset data range, wherein the state comprises a normal state or an abnormal state, the first preset data range comprises a corresponding relation between data of a target sensor and data of a third sensor when the state of the brake pedal mechanism is the normal state, and the target sensor is the first sensor or the second sensor. That is, the present disclosure may determine a state of a brake pedal mechanism of a vehicle according to first target data of a first sensor, second target data of a second sensor, and third target data of a third sensor, so that an operation condition of the brake pedal mechanism may be determined according to the state, reducing potential safety hazards in an operation process of the vehicle.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.

FIG. 1 is a flowchart illustrating a method of determining a brake pedal mechanism status according to an exemplary embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a vehicle braking system according to an exemplary embodiment of the present disclosure;

FIG. 3 is a schematic diagram of a first predetermined data range, according to an exemplary embodiment of the present disclosure;

FIG. 4 is a flowchart illustrating another method of determining a brake pedal mechanism status according to an exemplary embodiment of the present disclosure;

FIG. 5 is a schematic diagram of another first predetermined data range shown in accordance with the embodiment of FIG. 3;

FIG. 6 is a schematic diagram of a predetermined data range according to the embodiment shown in FIG. 3;

FIG. 7 is a flowchart illustrating another method of determining a brake pedal mechanism status according to an exemplary embodiment of the present disclosure;

FIG. 8 is a schematic diagram of sensor data, according to an exemplary embodiment of the present disclosure;

FIG. 9 is a schematic diagram of another sensor data shown according to an exemplary embodiment of the present disclosure;

FIG. 10 is a schematic diagram of another sensor data shown according to an exemplary embodiment of the present disclosure;

FIG. 11 is a schematic diagram of another sensor data shown according to an exemplary embodiment of the present disclosure;

FIG. 12 is a schematic diagram of another sensor data shown according to an exemplary embodiment of the present disclosure;

FIG. 13 is a schematic diagram of another sensor data shown according to an exemplary embodiment of the present disclosure;

FIG. 14 is a block diagram illustrating an apparatus for determining a brake pedal mechanism status according to an exemplary embodiment of the present disclosure;

fig. 15 is a block diagram of a vehicle shown in an exemplary embodiment of the present disclosure.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.

First, an application scenario of the present disclosure will be described. In the field of brake-by-wire technology of vehicles, a stand-alone brake pedal mechanism is generally used, and this type of brake pedal mechanism needs to be provided with two sensors for sensing a pedal stroke of a driver on a brake pedal, one sensor for sensing a pedal force of the driver on the brake pedal, and one pedal simulator for providing a proper pedal feel to the driver. Under the condition that the two sensors and the pedal feel simulator are out of order, the function of a brake pedal mechanism is abnormal, the braking effect of the vehicle is affected, and therefore serious potential safety hazards exist in the running process of the vehicle.

In order to overcome the technical problems in the related art, the present disclosure provides a method, an apparatus, a vehicle and a storage medium for determining a state of a brake pedal mechanism, wherein the state of the brake pedal mechanism of the vehicle is determined according to first target data of a first sensor, second target data of a second sensor and third target data of a third sensor, so that an operating condition of the brake pedal mechanism can be determined according to the state, and potential safety hazards in a vehicle operation process are reduced.

The present disclosure is described below in connection with specific embodiments.

FIG. 1 is a flowchart illustrating a method of determining a state of a brake pedal mechanism according to an exemplary embodiment of the present disclosure, which is applied to a vehicle, as shown in FIG. 1, the brake pedal mechanism of the vehicle including a first sensor, a second sensor, and a third sensor, the brake pedal mechanism being connected to a brake pedal of the vehicle, the first sensor and the second sensor being for sensing a pedal stroke of the brake pedal, the second sensor and the third sensor being for sensing a pedal force of the brake pedal. FIG. 2 is a schematic diagram of a vehicle braking system, shown in FIG. 2, according to an exemplary embodiment of the present disclosure, including a brake pedal, a brake pedal mechanism, which may include a first sensor, a second sensor, a third sensor, and a pedal feel simulator, which is connected to the third sensor, a brake intention arbitration module, which may acquire data of the first sensor, the second sensor, and the third sensor, and transmit a result of data arbitration according to the first sensor, the second sensor, and the third sensor to the controller module, through which the vehicle is brake controlled.

The method may include:

s101, acquiring first target data of a first sensor, second target data of a second sensor and third target data of a third sensor.

In this step, the first target data may be acquired according to a first signal period of the first sensor, the second target data may be acquired according to a second signal period of the second sensor, and the third target data may be acquired according to a third signal period of the third sensor. The first signal period may be determined based on a hardware characteristic of the first sensor, the second signal period may be determined based on a hardware characteristic of the second sensor, and the third signal period may be determined based on a hardware characteristic of the third sensor.

S102, determining the state of the brake pedal mechanism according to the first target data, the second target data, the third target data and a first preset data range.

The first preset data range may include a correspondence between data of a target sensor and data of the third sensor when the state of the brake pedal mechanism is the normal state, and the target sensor may be the first sensor or the second sensor, that is, the first preset data range may be a correspondence between data of the first sensor and data of the third sensor when the state of the brake pedal mechanism is the normal state, and the first preset data range may also be a correspondence between data of the second sensor and data of the third sensor when the state of the brake pedal mechanism is the normal state. For example, the first predetermined data range may be pre-tested based on mechanical properties of the brake pedal mechanism.

In this step, after the first target data, the second target data, and the third target data at the target time are acquired, the first preset data range stored in the vehicle in advance may be acquired, and it is determined whether the first target data, the second target data, and the third target data belong to the first preset data range. If the first target data, the second target data and the third target data belong to the preset data range, determining that the state of the brake pedal mechanism is a normal state; if the first target data and the second target data do not belong to the preset data range, the device in the abnormal state in the brake pedal mechanism can be further determined.

The first preset data range may include a plurality of preset data, where the preset data is data of the brake pedal mechanism in a normal state, and different preset data corresponds to different stepping forces of the brake pedal.

In one possible implementation, the preset data may be a preset coordinate, which may be expressed as (x, y), x being the data of the first sensor or the second sensor, and y being the data of the third sensor. After the first target data, the second target data and the third target data are determined, comparing a first current coordinate formed by the first target data and the third target data and a second current coordinate formed by the second target data and the third target data with the preset data range, and determining that the state of the first sensor is a normal state if the first current coordinate is the same as any preset coordinate in the first preset data range; if the second current coordinate is the same as any preset coordinate in the first preset data range, determining that the state of the second sensor is a normal state; if the current coordinate is different from each preset coordinate in the first preset data range, the state of the brake pedal mechanism can be determined to be possibly abnormal.

In another possible implementation manner, the first preset data range may be represented as a curve, and fig. 3 is a schematic diagram of a first preset data range shown in an exemplary embodiment of the present disclosure, where, as shown in fig. 3, the curve is used to represent the first preset data range, where the first preset data range is a correspondence between target preset data of the target sensor and third preset data of the third sensor when the brake pedal mechanism of the vehicle is operating normally, if the target sensor is the first sensor, the target preset data is the first preset data, and if the target sensor is the second sensor, the target preset data is the second preset data. After the first target data, the second target data and the third target data are acquired, a first current coordinate may be determined according to the first target data and the third target data, and a second current coordinate may be determined according to the second target data and the third target data. And then determining whether the first current coordinate and the second current coordinate are within the first preset data range. Taking fig. 3 as an example, it may be determined whether the first current coordinate and the second current coordinate are on the curve, and if the first current coordinate and the second current coordinate are on the curve, it may be determined that the state of the brake pedal mechanism is a normal state; if the first current coordinate is not on the curve and the second current coordinate is on the curve, determining that the state of the first sensor is an abnormal state; if the second current coordinate is not on the curve and the first current coordinate is on the curve, the state of the second sensor can be determined to be an abnormal state. If the first current coordinate and the second current coordinate are not on the curve, the change speed of the first target data and the third target data can be determined, if the change speed is greater than or equal to a preset speed threshold value, the brake pedal is stepped too fast, and the state of the brake pedal mechanism is a normal state; if the change speed is less than the preset speed threshold, it may be determined that the third sensor or the pedal feel simulator is malfunctioning.

Under the condition that the state of the brake pedal mechanism is determined to be abnormal, an abnormal reminding message of the brake pedal mechanism is output, so that a driver can timely find out the braking failure of the vehicle, and potential safety hazards in the running process of the vehicle are reduced.

By adopting the method, the state of the brake pedal mechanism of the vehicle can be determined according to the first target data of the first sensor, the second target data of the second sensor and the third target data of the third sensor, so that the running condition of the brake pedal mechanism can be determined according to the state, and the potential safety hazard in the running process of the vehicle is reduced.

FIG. 4 is a flowchart illustrating another method of determining a brake pedal mechanism status according to an exemplary embodiment of the present disclosure, as shown in FIG. 4, an implementation of step S102 may include:

s1021, determining first combination data according to the first target data and the third target data.

Wherein the first combined data may be represented as a coordinate, for example, the first combined data may be represented as (x, y), x being the first target data, y being the third target data. Considering that the first combination data is composed of two data, the first target data and the third target data may not both coincide with the first preset data range during actual depression of the brake pedal by the driver. For example, if the first preset data is a and the third preset data is b after the brake pedal is depressed in the ideal state, and the first target data is a and the third target data is smaller than b after the driver depresses the brake pedal in the actual driving process, but the brake pedal state is not faulty here, so that the present disclosure can avoid misjudgment caused by data errors caused by the depression error.

In one possible implementation manner, a plurality of first preset combined data may be acquired, where the first preset combined data includes first preset data and third preset data; the first preset combination data is the data of the first sensor and the third sensor at the same time when the state of the brake pedal mechanism is in a normal state. For example, the first preset data may be data of the first sensor at time t, and the third preset data may be data of the third sensor at time t. Under the condition that the first target data is identical to first target preset data, taking third preset data corresponding to the first target data and the first target preset data as the first combined data, wherein the first target preset data is any one of a plurality of first preset data; and under the condition that the third target data is identical to the third target preset data, taking the first preset data corresponding to the third target data and the third target preset data as the first combined data, wherein the third target preset data is any third preset data in a plurality of third preset data.

Fig. 5 is a schematic diagram of another first preset data range according to the embodiment shown in fig. 3, as shown in fig. 5, a dotted line portion is added on the basis of the curve shown in fig. 3 (solid line in fig. 5), and the first preset data range shown in fig. 3 is expanded to a range surrounded by the dotted line in fig. 5, so as to avoid an error introduced when the brake pedal is actually depressed. In fig. 5, [ X1, Y1], [ X2, Y2], [ X3, Y3], [ X4, Y4], [ X5, Y5] are 5 pieces of first preset combination data, and the first preset combination data may be any point on the curve shown in fig. 3.

For example, the first target data and the third target data may be changed slowly during the driver's depression of the brake pedal. As shown in fig. 5, before the third preset data is increased to a certain value, the first preset data and the second preset data are always 0, which means that the first sensor and the second sensor are triggered only after the brake pedal is stepped to a certain force, in this case, [ X1, Y ] may be used as the first combined data when the third target data Y reaches Y1, or [ X, Y ] may be used as the first combined data when the third target data Y reaches Y1, and X is the first target data of the first sensor when the third target data reaches Y1. The driver continues to tread the brake pedal, the first target data and the third target data continue to change, and if the first target data reach X2, the third target data are smaller than Y2, and [ X, Y2] can be used as the first combined data; if the third target data reaches Y2, the first target data is smaller than X2, then [ X2, Y ] can be used as the first combined data.

S1022, determining second combined data according to the second target data and the third target data.

In this step, the second combined data may be determined by referring to the method for determining the first combined data in step S1021, which is not described herein.

S1023, determining the state of the brake pedal mechanism according to the first combination data, the second combination data and the first preset data range.

In this step, after determining the first combined data and the second combined data, determining that the state of the brake pedal mechanism is a normal state in the case where both the first combined data and the second combined data are determined to be within the first preset data range; under the condition that the target combination data is not in the first preset data range, determining that the state of a sensor corresponding to the target combination data is an abnormal state, wherein the target combination data is the first combination data or the second combination data; in the case where it is determined that neither the first combination data nor the second combination data is within the first preset data range, the state of the brake pedal mechanism is determined from the first combination data, the second combination data, and a preset data threshold value, which is the maximum value of the first preset data range, the preset data threshold value may be an upper edge of the first preset data range, for example.

Taking the first preset data range shown in fig. 5 as an example, if the first combined data and the second combined data are both within the dashed line range, it may be determined that the state of the brake pedal mechanism is a normal state; if the first combined data is located outside the range of the dotted line and the second combined data is located within the range of the dotted line, determining that the state of the first sensor is an abnormal state; if the second combined data is located outside the range of the dotted line and the first combined data is located within the range of the dotted line, the state of the second sensor can be determined to be an abnormal state. If the first combined data and the second combined data are both outside the range of the dashed line, the first combined data and the second combined data can be compared with the preset data threshold value to further determine the state of the brake pedal mechanism.

In one possible implementation, in case it is determined that the first combined data and the second combined data are both greater than or equal to the preset data threshold, determining the state of the brake pedal mechanism according to the change speed of the first combined data; and under the condition that the first combination data and the second combination data are smaller than the preset data threshold value, determining the state of the brake pedal mechanism according to the first combination data, the second combination data and a second preset data range.

For example, if the first combined data and the second combined data are both above the first preset data range, it indicates that the first combined data and the second combined data are both greater than or equal to the preset data threshold, a change speed of the first combined data may be determined, for example, a first historical combined data acquired before the first combined data during the braking of the vehicle may be acquired, and the change speed of the first combined data may be determined according to the first historical combined data and the first combined data. If the first combination data is [ X3, Y ], the first historical combination data [ X, Y1], [ X2, Y ] can be obtained, the change speed of a curve formed by [ X, Y1], [ X2, Y ], [ X3, Y ] along with time is determined, and the change speed is taken as the change speed of the first combination data.

Determining that the state of the brake pedal mechanism is a normal state under the condition that the change speed of the first combination data is greater than or equal to a preset speed threshold value; and determining that the state of the third sensor is an abnormal state under the condition that the change speed of the first combined data is less than the preset speed threshold value. The preset speed threshold can be tested in advance according to a test. For example, if it is determined that the change speed of the first combination data is greater than or equal to the preset speed threshold, it indicates that the abnormality of the data in the current braking process is caused by too fast speed of the driver stepping on the brake pedal, and the state of the brake pedal mechanism is a normal state; if the change speed of the first combination data is less than the preset speed threshold, the state of the third sensor can be determined to be an abnormal state.

In the case where it is determined that the first combined data and the second combined data are both smaller than the preset data threshold, for example, if the first combined data and the second combined data are both located below the first preset data range, a second preset data range may be further acquired, and the state of the brake pedal mechanism may be determined according to the second preset data range.

In one possible implementation, the brake pedal mechanism further includes a pedal feel simulator coupled to the third sensor; determining that the state of the pedal feel simulator is an abnormal state under the condition that the first combination data and the second combination data are both in the second preset data range; and determining that the state of the third sensor is an abnormal state under the condition that the first combination data and the second combination data are not in the second preset data range.

Fig. 6 is a schematic diagram of a preset data range according to the embodiment shown in fig. 3, where the upper dashed box is the first preset data range and the lower dashed box is the second preset data range as shown in fig. 6. If the first combined data and the second combined data are both located below the first preset data range, it may be determined whether the first combined data and the second combined data are located within the second preset data range. If the first combination data and the second combination data are located in the second preset data range, determining that the state of the pedal feel simulator is an abnormal state; if the first combination data and the second combination data are located in the second preset data range, the state of the third sensor can be determined to be an abnormal state.

FIG. 7 is a flowchart illustrating another method of determining a brake pedal mechanism status, according to an exemplary embodiment of the present disclosure, as shown in FIG. 7, the method further comprising:

s701, acquiring first target data of the first sensor, second target data of the second sensor and third target data of the third sensor.

S702, determining first combination data according to the first target data and the third target data.

S703, determining second combination data according to the second target data and the third target data.

S704, determining whether the first combined data is within the first preset data range, if so, executing step S705, and if not, executing step S708.

Step 705, determining whether the second combined data is within the first preset data range, if the second combined data is within the first preset data range, executing step S706, and if the second combined data is not within the first preset data range, executing step S707.

S706, determining that the state of the brake pedal mechanism is a normal state.

S707 determines that the state of the second sensor is an abnormal state.

S708, determining whether the second combined data is within the first preset data range, if the second combined data is within the first preset data range, executing step S709, and if the second combined data is not within the first preset data range, executing step S710.

S709, determining that the state of the first sensor is an abnormal state.

S710, determining whether the first combined data and the second combined data are located above the first preset data range, if the first combined data and the second combined data are located above the first preset data range, executing step S711, and if the first combined data and the second combined data are located below the first preset data range, executing step S714.

S711, determining whether the change speed of the first combined data is greater than or equal to a preset speed threshold, if the change speed of the first combined data is greater than or equal to the preset speed threshold, executing step S712, and if the change speed of the first combined data is less than the preset speed threshold, executing step S713.

And S712, determining that the state of the brake pedal mechanism is a normal state.

S713, determining that the state of the third sensor is an abnormal state.

S714, determining whether the first combined data and the second combined data are within a second preset data range, if the first combined data and the second combined data are within the second preset data range, executing step S715, and if the first combined data and the second combined data are not within the second preset data range, executing step S716.

S715, determining that the state of the pedal feel simulator is an abnormal state.

S716, determining that the state of the third sensor is an abnormal state.

If the first sensor fails, the data of the second sensor and the third sensor may be used, if the second sensor fails, the data of the first sensor and the third sensor may be used, and if the third sensor fails, the data of the first sensor and the second sensor may be used.

Fig. 8 is a schematic diagram of sensor data according to an exemplary embodiment of the present disclosure, as shown in fig. 8, curve 1 is a curve formed by the first target data and the third target data, curve 2 is a curve formed by the second target data and the third target data, and as can be seen from fig. 8, the value of the first target data is constant to be the minimum value, and curve 2 is within the first preset data range, so that it can be determined that the first sensor malfunctions.

Fig. 9 is a schematic diagram of another sensor data according to an exemplary embodiment of the present disclosure, as shown in fig. 9, curve 1 is a curve formed by the first target data and the third target data, curve 2 is a curve formed by the second target data and the third target data, and as can be seen from fig. 9, the value of the first target data is constant to be the maximum value, and curve 2 is within the first preset data range, so that it can be determined that the first sensor malfunctions.

Fig. 10 is a schematic diagram of another sensor data according to an exemplary embodiment of the present disclosure, as shown in fig. 10, curve 1 is a curve formed by the first target data and the third target data, curve 2 is a curve formed by the second target data and the third target data, and as can be seen from fig. 10, the first target data is scaled down, curve 2 is within the first preset data range, and thus, it can be determined that the first sensor malfunctions. It should be noted that, the front section of the curve 1 is within the first preset data range, and the rear section is outside the first preset data range, in this case, when the force of stepping on the brake pedal is relatively small, the fault state of the first sensor will not be reported because the first combined data is within the first preset data range, and after the force of stepping on the brake pedal becomes gradually larger, the fault state of the first sensor is reported after the first combined data exceeds the first preset data range.

Fig. 11 is a schematic diagram of another sensor data according to an exemplary embodiment of the present disclosure, as shown in fig. 11, curve 1 is a curve formed by the first target data and the third target data, curve 2 is a curve formed by the second target data and the third target data, and as can be seen from fig. 11, the first target data has a bias, curve 2 is within the first preset data range, and thus, it can be determined that the first sensor has a fault.

Fig. 12 is a schematic diagram of another sensor data according to an exemplary embodiment of the present disclosure, as shown in fig. 12, curve 1 is a curve formed by the first target data and the third target data, curve 2 is a curve formed by the second target data and the third target data, and as can be seen from fig. 12, the third target data is proportionally larger. The front section of the curve 1 and the front section of the curve 2 are in the first preset data range, and the rear section is outside the first preset data range, in this case, under the condition that the force for stepping on the brake pedal is smaller, the fault state of the third sensor is not reported because the first combined data and the second combined data are both in the first preset data range, and after the force for stepping on the brake pedal is gradually increased, the fault state of the third sensor is reported after the first combined data and the second combined data are both beyond the first preset data range.

Fig. 13 is a schematic diagram of another sensor data according to an exemplary embodiment of the present disclosure, as shown in fig. 13, curve 1 is a curve formed by the first target data and the third target data, curve 2 is a curve formed by the second target data and the third target data, and as can be seen from fig. 13, curves 1 and 2 are always within the second preset data range. Thus, it can be determined that the pedal feel simulator is malfunctioning, e.g., that the pedal feel simulator may be prone to a large amount of oil leakage.

FIG. 14 is a block diagram of an apparatus for determining a state of a brake pedal mechanism according to an exemplary embodiment of the present disclosure, the apparatus being applied to a vehicle, as shown in FIG. 14, the brake pedal mechanism of the vehicle including a first sensor, a second sensor, and a third sensor, the brake pedal mechanism being connected with a brake pedal of the vehicle, the first sensor and the second sensor being for sensing a pedal stroke of the brake pedal, the third sensor being for sensing a pedal force of the brake pedal, including:

an acquisition module 1401 configured to acquire first target data of the first sensor, second target data of the second sensor, and third target data of the third sensor;

A determining module 1402 configured to determine a state of the brake pedal mechanism according to the first target data, the second target data, the third target data, and a first preset data range, the state including a normal state or an abnormal state, the first preset data range including a correspondence between data of the target sensor and data of the third sensor when the state of the brake pedal mechanism is the normal state, the target sensor being the first sensor or the second sensor.

Optionally, the determining module 1402 is further configured to:

under the condition that the target combination data is not in the first preset data range, determining that the state of a sensor corresponding to the target combination data is an abnormal state, wherein the target combination data is the first combination data or the second combination data;

And under the condition that the first combined data and the second combined data are not in the first preset data range, determining the state of the brake pedal mechanism according to the first combined data, the second combined data and a preset data threshold value, wherein the preset data threshold value is the maximum value of the first preset data range.

Optionally, the determining module 1402 is further configured to:

determining a state of the brake pedal mechanism according to a change speed of the first combined data under the condition that the first combined data and the second combined data are determined to be greater than or equal to the preset data threshold value;

Optionally, the determining module 1402 is further configured to:

and determining that the state of the third sensor is an abnormal state under the condition that the change speed of the first combined data is less than the preset speed threshold value.

Optionally, the brake pedal mechanism further comprises a pedal feel simulator connected with the third sensor; the determination module 1402 is further configured to:

determining that the state of the pedal feel simulator is an abnormal state under the condition that the first combination data and the second combination data are both in the second preset data range;

Optionally, the determining module 1402 is further configured to:

acquiring a plurality of first preset combination data, wherein the first preset combination data comprise first preset data and third preset data; the first preset combination data are data of the first sensor and the third sensor at the same moment when the state of the brake pedal mechanism is in a normal state;

under the condition that the first target data is identical to first target preset data, taking third preset target data corresponding to the first target data and the first target preset data as the first combined data, wherein the first target preset data is any one of a plurality of first preset data;

And under the condition that the third target data is identical to the third target preset data, taking the first preset target data corresponding to the third target data and the third target preset data as the first combined data, wherein the third target preset data is any third preset data in a plurality of third preset data.

By the device, the state of the brake pedal mechanism of the vehicle can be determined according to the first target data of the first sensor, the second target data of the second sensor and the third target data of the third sensor, so that the running condition of the brake pedal mechanism can be determined according to the state, and the potential safety hazard in the running process of the vehicle is reduced.

The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.

The present disclosure also provides a computer readable storage medium having stored thereon computer program instructions which, when executed by a second processor, implement the steps of the method of determining a brake pedal status provided by the present disclosure.

Fig. 15 is a block diagram of a vehicle 600, according to an exemplary embodiment of the present disclosure. For example, vehicle 600 may be a hybrid vehicle, but may also be a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other type of vehicle. The vehicle 600 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

Referring to fig. 15, a vehicle 600 may include various subsystems, such as an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. Wherein the vehicle 600 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, interconnections between each subsystem and between each component of the vehicle 600 may be achieved by wired or wireless means.

In some embodiments, the infotainment system 610 may include a communication system, an entertainment system, a navigation system, and the like.

The perception system 620 may include several sensors for sensing information of the environment surrounding the vehicle 600. For example, the sensing system 620 may include a global positioning system (which may be a GPS system, a beidou system, or other positioning system), an inertial measurement unit (inertial measurement unit, IMU), a lidar, millimeter wave radar, an ultrasonic radar, and a camera device.

Decision control system 630 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

The drive system 640 may include components that provide powered movement of the vehicle 600. In one embodiment, the drive system 640 may include an engine, an energy source, a transmission, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.

Some or all of the functions of the vehicle 600 are controlled by the computing platform 650. The computing platform 650 may include at least one first processor 651 and a memory 652, the first processor 651 may execute instructions 653 stored in the memory 652.

The first processor 651 may be any conventional processor, such as a commercially available CPU. The processor may also include, for example, an image processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a System On Chip (SOC), an application specific integrated Chip (Application Specific Integrated Circuit, ASIC), or a combination thereof.

The memory 652 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.

In addition to instructions 653, memory 652 may store data such as road maps, route information, vehicle location, direction, speed, and the like. The data stored by memory 652 may be used by computing platform 650.

In an embodiment of the present disclosure, the first processor 651 may execute instructions 653 to perform all or part of the steps of the method of determining a state of an brake pedal described above.

In another exemplary embodiment, a computer program product is also provided, comprising a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-mentioned method of determining a state of an brake pedal when executed by the programmable apparatus.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method of determining a state of a brake pedal mechanism for a vehicle, the brake pedal mechanism comprising a first sensor, a second sensor, and a third sensor, the brake pedal mechanism being coupled to a brake pedal of the vehicle, the first sensor and the second sensor being configured to sense a pedal stroke of the brake pedal, the third sensor being configured to sense a pedal effort of the brake pedal, comprising:

2. The method of claim 1, wherein said determining the state of the brake pedal mechanism based on the first target data, the second target data, the third target data, and a first predetermined data range comprises:

3. The method of claim 2, wherein said determining the state of the brake pedal mechanism from the first combined data, the second combined data, and the first preset data range comprises:

4. A method according to claim 3, wherein said determining the state of the brake pedal mechanism from the first combined data, the second combined data and a preset data threshold comprises:

5. The method of claim 4, wherein said determining the state of the brake pedal mechanism from the rate of change of the first combined data comprises:

6. The method of claim 4, wherein the brake pedal mechanism further comprises a pedal feel simulator, the pedal feel simulator being coupled to the third sensor; the determining the state of the brake pedal mechanism according to the first combination data, the second combination data and a second preset data range comprises:

7. The method of claim 2, wherein determining first combined data from the first target data and the third target data comprises:

8. An apparatus for determining a state of a brake pedal mechanism, applied to a vehicle, the brake pedal mechanism of the vehicle including a first sensor, a second sensor, and a third sensor, the brake pedal mechanism being connected to a brake pedal of the vehicle, the first sensor and the second sensor being configured to sense a pedal stroke of the brake pedal, the third sensor being configured to sense a pedal effort of the brake pedal, comprising:

9. A vehicle, characterized by comprising:

a first processor;

a memory for storing first processor-executable instructions;

wherein the first processor is configured to:

the steps of carrying out the method of any one of claims 1-7.

10. A computer readable storage medium having stored thereon computer program instructions, which when executed by a second processor, implement the steps of the method of any of claims 1-7.