Vehicle fault detection method and device, computer equipment and readable storage medium

The embodiment of the invention provides a vehicle fault detection method and device, computer equipment and a readable storage mediu and relates to the technical field of vehicle safety detection. The method comprises steps of calculating the vertical vibration acceleration of a target wheel through employing a wheel vibration acceleration signal collected by a rotating acceleration sensor and apulse signal collected by a magnetic ring encoder; filtering the vertical vibration acceleration according to a multi-scale filter constructed based on a closed-open gradient and the closed-open-closed gradient correlation operation to obtain a multi-scale filtering result of the target wheel; obtaining the target filtering result from the filtering results of the multiple scales; performing envelope spectrum analysis on the target filtering result to obtain an amplitude of a characteristic frequency position corresponding to the target filtering result; and when the amplitude of the characteristic frequency position