Granted Patent B2

US 12,291,217 · App. 17/583,588 · Granted May 6, 2025

Inventors: Zixian Wu (Shanghai, CN); Yongsheng Zhang (Shanghai, CN); Wei Zhang (Shanghai, CN)

Assignee: Shenzhen Yinwang Intelligent Technologies Co., Ltd.

B60W50/0205B60W40/08B60W50/038B60W50/14B60W2040/0881

Abstract

Claims (53)

1. A pedal fault diagnosis method, comprising:

detecting a driver seat is in an unmanned state;

measuring an actual zero position voltage of a pedal while the driver seat is in the unmanned state;

determining, based on the actual zero position voltage, that a zero position fault exists on the pedal; and

controlling a vehicle to enter a speed limiting mode, wherein the speed limiting mode controls a speed of the vehicle to be less than or equal to a first safe speed threshold.

2. The pedal fault diagnosis method according to claim 1 , wherein detecting that the driver seat is in the unmanned state comprises one or more of:

detecting that there is no face information in a position corresponding to the driver seat; and

detecting that a pressure sustained by the driver seat is less than a pressure threshold.

3. The pedal fault diagnosis method according to claim 1 , wherein determining, based on the actual zero position voltage, that the zero position fault exists on the pedal comprises:

calculating an absolute value of a difference between the actual zero position voltage and an initial zero position voltage; and

determining, based on a comparison result of the absolute value and a primary voltage threshold, that the zero position fault exists on the pedal.

4. The pedal fault diagnosis method according to claim 3 , wherein the primary voltage threshold comprises a first voltage threshold, and the zero position fault comprises a jamming fault of the pedal; and

determining, based on the comparison result of the absolute value and the primary voltage threshold, that the zero position fault exists on the pedal comprises:

determining that the absolute value is greater than or equal to the first voltage threshold.

5. The pedal fault diagnosis method according to claim 4 , wherein the method further comprises:

outputting prompt information, wherein the prompt information is used to prompt a driver to check for a foreign object in a space in which the pedal is located.

6. The pedal fault diagnosis method according to claim 4 , wherein the method further comprises:

processing the pedal as the pedal is at a displacement of zero, wherein the displacement of zero processing comprises: detecting that a voltage that is measured when the pedal is pressed is less than or equal to an actual zero position voltage corresponding to the jamming fault, processing the pedal according to the displacement of zero.

7. The pedal fault diagnosis method according to claim 3 , wherein the primary voltage threshold comprises a first voltage threshold and a second voltage threshold, the first voltage threshold is greater than the second voltage threshold, and the zero position fault comprises a zero position offset fault of the pedal; and

determining, based on the comparison result of the absolute value and the primary voltage threshold, whether the zero position fault exists on the pedal comprises:

determining that the absolute value is less than the first voltage threshold and is greater than or equal to the second voltage threshold.

8. The pedal fault diagnosis method according to claim 7 , wherein the method further comprises:

determining the actual zero position voltage as a stored zero position voltage value in a controller, wherein the zero position voltage value is used to calculate a displacement of the pedal.

9. The pedal fault diagnosis method according to claim 8 , wherein there are a plurality of actual zero position voltages; and

determining the actual zero position voltage as the stored zero position voltage in the controller comprises:

determining a largest value in the plurality of actual zero position voltages as the stored zero position voltage in the controller.

10. A pedal fault diagnosis apparatus, comprising:

a processor, coupled to a memory;

the memory, storing a computer program; and

wherein the processor is configured to execute the computer program stored in the memory, so that the pedal fault diagnosis apparatus is caused to perform:

detecting a driver seat is in an unmanned state;

measuring an actual zero position voltage of a pedal while the driver seat is in the unmanned state;

determining, based on the actual zero position voltage, that a zero position fault exists on the pedal; and

controlling a vehicle to enter a speed limiting mode, wherein the speed limiting mode controls a speed of the vehicle to be less than or equal to a first safe speed threshold.

11. The pedal fault diagnosis apparatus according to claim 10 , wherein the processor is further configured to execute the computer program which causes the pedal fault diagnosis apparatus to:

detect that there is no face information in a position corresponding to the driver seat; and/or

detect that a pressure sustained by the driver seat is less than a pressure threshold.

12. The pedal fault diagnosis apparatus according to claim 10 , wherein the processor is further configured to execute the computer program which causes the pedal fault diagnosis apparatus to:

calculate an absolute value of a difference between the actual zero position voltage and an initial zero position voltage; and

determine, based on a comparison result of the absolute value and a primary voltage threshold, whether the zero position fault exists on the pedal.

13. The pedal fault diagnosis apparatus according to claim 12 , wherein the primary voltage threshold comprises a first voltage threshold and a second voltage threshold, the first voltage threshold is greater than the second voltage threshold, and the zero position fault comprises a zero position offset fault of the pedal; and

wherein the processor is further configured to execute the computer program which causes the pedal fault diagnosis apparatus to:

determine that the absolute value is less than the first voltage threshold and is greater than or equal to the second voltage threshold.

14. The pedal fault diagnosis apparatus according to claim 13 , wherein the processor is further configured to execute the computer program which causes the pedal fault diagnosis apparatus to:

determine the actual zero position voltage as a stored zero position voltage value in a controller, wherein the zero position voltage value is used to calculate a displacement of the pedal.

15. The pedal fault diagnosis apparatus according to claim 14 , wherein there are a plurality of actual zero position voltages; and wherein in determining the actual zero position voltage as the stored zero position voltage in the controller, the processor is further configured to execute the computer program which causes the pedal fault diagnosis apparatus to:

determine a largest value in the plurality of actual zero position voltages as the stored zero position voltage in the controller.

16. The pedal fault diagnosis apparatus according to claim 13 , wherein the primary voltage threshold comprises a first voltage threshold, and the zero position fault comprises a jamming fault of the pedal; and wherein the processor is further configured to execute the computer program which causes the pedal fault diagnosis apparatus to:

determine that the absolute value is greater than or equal to the first voltage threshold.

17. The pedal fault diagnosis apparatus according to claim 16 , wherein the processor is further configured to execute the computer program which causes the pedal fault diagnosis apparatus to:

output prompt information, wherein the prompt information is used to prompt a driver to check for a foreign object in a space in which the pedal is located.

18. The pedal fault diagnosis apparatus according to claim 16 , wherein the processor is further configured to execute the computer program which causes the pedal fault diagnosis apparatus to:

process the pedal as a displacement of zero, wherein the displacement of zero processing comprises: detecting that a voltage that is measured when the pedal is pressed is less than or equal to an actual zero position voltage corresponding to the jamming fault, processing the pedal according to the displacement of zero.

Assignments (3)

Priority Claims (1)

Continuity (2)

References Cited (20)