A pedal fault diagnosis method, comprising: detecting whether a driver seat is in an unmanned state; collecting an actual zero position voltage of a pedal when the driver seat is in the unmanned state; and determining, based on the actual zero position voltage, whether a zero position fault exists on the pedal; wherein the determining, based on the actual zero position voltage, whether a 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 voltage threshold, whether the zero position fault exists on the pedal; wherein the voltage threshold comprises a first voltage threshold, and the zero position fault comprises a jamming fault of the pedal; and the determining, based on a comparison result of the absolute value and a voltage threshold, whether the zero position fault exists on the pedal comprises: if the absolute value is greater than or equal to the first voltage threshold, determining that the jamming fault exists on the pedal; wherein the pedal fault diagnosis method further comprises: processing the pedal as the pedal is at a zero opening degree, wherein the zero opening degree processing is: when it is detected that a voltage that is collected present 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 an opening degree of zero. detecting whether a driver seat is in an unmanned state; collecting an actual zero position voltage of a pedal when the driver seat is in the unmanned state; and determining, based on the actual zero position voltage, whether a zero position fault exists on the pedal; wherein the determining, based on the actual zero position voltage, whether a 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 voltage threshold, whether the zero position fault exists on the pedal; wherein the voltage threshold comprises a first voltage threshold, and the zero position fault comprises a jamming fault of the pedal; and the determining, based on a comparison result of the absolute value and a voltage threshold, whether the zero position fault exists on the pedal comprises: if the absolute value is greater than or equal to the first voltage threshold, determining that the jamming fault exists on the pedal; wherein the pedal fault diagnosis method further comprises: processing the pedal as the pedal is at a zero opening degree, wherein the zero opening degree processing is: when it is detected that a voltage that is collected present 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 an opening degree of zero. 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 voltage threshold, whether the zero position fault exists on the pedal; wherein the voltage threshold comprises a first voltage threshold, and the zero position fault comprises a jamming fault of the pedal; and the determining, based on a comparison result of the absolute value and a voltage threshold, whether the zero position fault exists on the pedal comprises: if the absolute value is greater than or equal to the first voltage threshold, determining that the jamming fault exists on the pedal; wherein the pedal fault diagnosis method further comprises: processing the pedal as the pedal is at a zero opening degree, wherein the zero opening degree processing is: when it is detected that a voltage that is collected present 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 an opening degree of zero. if the absolute value is greater than or equal to the first voltage threshold, determining that the jamming fault exists on the pedal; wherein the pedal fault diagnosis method further comprises: processing the pedal as the pedal is at a zero opening degree, wherein the zero opening degree processing is: when it is detected that a voltage that is collected present 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 an opening degree of zero.