Electronic brake force booster system fault detection method, device, equipment and medium

Abstract

The application discloses an electronic brake force booster system fault detection method, system, device and medium. The method comprises the following steps: determining the working state of the electronic brake force booster system; determining whether the working state meets the enabling condition of triggering fault detection; monitoring the working position of the rack of the electronic brake force booster system when the enabling condition is met; and performing fault detection on the electronic brake force booster system according to the monitoring result. The scheme provided in the embodiment of the application solves the identification of the rack jam fault working condition of the electronic brake force booster system, prevents the problem that the electronic brake force booster system cannot respond to the braking demand of the driver when the rack jam fault occurs, and thus ensures the driving safety of the driver.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to methods, systems, equipment and media for detecting faults in electronic power-assisted braking systems. Background Technology

[0002] Current electronic power-assisted braking systems utilize pedal travel sensors to sense and obtain information about the driver's brake pedal travel. This pedal travel information is related to the braking force. The control unit converts the pedal travel information into a control signal for the motor and transmits this control signal to the motor. The motor then controls the master cylinder of the brake fluid to generate hydraulic output, thereby achieving electronic braking.

[0003] When an electronic power-assisted braking system operates under heavy loads for extended periods or if the lubricant is not replenished in a timely manner, mechanical failures such as gear and rack transmission jamming or even seizing can occur in the electronic power booster. When rack jamming occurs, the booster cannot move the master cylinder piston, the master cylinder cannot build pressure, and the booster cannot respond to the driver's braking demands. In severe cases, the vehicle may not decelerate, leading to traffic accidents and threatening driver safety.

[0004] Therefore, a method is needed to identify rack jamming faults in electronic power-assisted braking systems to ensure driver safety. Summary of the Invention

[0005] This invention provides a method, system, device, and medium for detecting faults in electronic power-assisted braking systems, in order to identify rack jamming faults in electronic power-assisted braking systems and ensure driver safety.

[0006] According to one aspect of the present invention, a method for detecting faults in an electronic power-assisted braking system is provided, comprising:

[0007] Determine the operating status of the electronic power-assisted braking system;

[0008] Determine whether the operating state meets the enable conditions for triggering fault detection;

[0009] When the enabling condition is met, the working position of the rack of the electronic power-assisted braking system is monitored;

[0010] The electronic power-assisted braking system is tested for faults based on the monitoring results.

[0011] Optionally, determining whether the operating state meets the enable condition for triggering fault detection includes:

[0012] The operating state of the electronic power-assisted braking system is determined to be either pressure build-up or pressure release;

[0013] determining whether the working state of the electronic brake assist system simultaneously satisfies at least one working condition when pressure is built or pressure is released;

[0014] when the working state simultaneously satisfies at least one working condition when pressure is built or pressure is released, determining that an enabling condition for triggering fault detection is satisfied.

[0015] Optionally, the working condition when pressure is built comprises:

[0016] the electronic brake assist system is in a normal control mode; the electronic brake assist system is in a normal assist mode; the electronic brake assist system is in a normal zero position learning at a power-on time; and the electronic brake assist system is in a normal working load state.

[0017] the working condition when pressure is released comprises: the electronic brake assist system is in a normal control mode; the electronic brake assist system is in a normal assist mode; and the electronic brake assist system is in a stable actual rack speed control.

[0018] Optionally, the fault detection of the electronic brake assist system according to the monitoring result comprises:

[0019] determining a current position of a rack of the electronic brake assist system;

[0020] determining a deviation value between the current position and a preset position;

[0021] monitoring a duration when the deviation value exceeds a set threshold deviation value according to the deviation value exceeding the set threshold deviation value;

[0022] when the duration is greater than a preset time, determining that the electronic brake assist system has a fault.

[0023] Optionally, the preset position is determined by the following method:

[0024] determining an input brake force demand value;

[0025] determining a working position of the rack when the brake force demand value is satisfied, and taking the working position as the preset position.

[0026] Optionally, the threshold deviation value is determined by the following method:

[0027] determining a first coefficient according to a preset error value;

[0028] determining a second coefficient according to a working temperature of the electronic brake assist system;

[0029] determining a third coefficient according to a working state of an electronic parking brake system;

[0030] The threshold difference value is determined according to the first coefficient, the second coefficient and the third coefficient.

[0031] Optionally, the method further comprises: when the electronic brake assist system fails, cutting off the assistance of the electronic brake assist system and sending failure information representing the failure of the electronic brake assist system to the redundant brake system, so that the redundant brake system performs a braking operation after receiving the failure information.

[0032] According to another aspect of the present application, an electronic brake assist system failure detection device is provided, comprising:

[0033] a working state determination unit configured to determine a working state of the electronic brake assist system;

[0034] an enabling condition determination unit configured to determine whether the working state satisfies an enabling condition of triggering failure detection;

[0035] a working position monitoring unit configured to monitor a working position of a rack of the electronic brake assist system when the enabling condition is satisfied;

[0036] a monitoring result processing unit configured to perform failure detection on the electronic brake assist system according to a monitoring result.

[0037] According to another aspect of the present application, an electronic device is provided, comprising:

[0038] at least one processor; and

[0039] a memory connected with the at least one processor in communication; wherein,

[0040] the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the electronic brake assist system failure detection method according to any one of the embodiments of the present application.

[0041] According to another aspect of the present application, a computer readable storage medium is provided, which stores computer instructions for enabling a processor to perform the electronic brake assist system failure detection method according to any one of the embodiments of the present application when executed by the processor.

[0042] The technical scheme of the embodiment of the present application determines the working state of the electronic brake force booster system, determines whether the working state meets the enabling condition of triggering fault detection, monitors the working position of the rack of the electronic brake force booster system when the enabling condition is met, and performs fault detection on the electronic brake force booster system according to the monitoring result, thereby solving the problem of identifying the rack jamming fault condition of the electronic brake force booster system and preventing the electronic brake force booster system from failing to respond to the braking demand of the driver when the rack jamming fault occurs, so as to ensure the driving safety of the driver.

[0043] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0045] Figure 1 is a flowchart of an electronic brake force booster system fault detection method provided by the first embodiment of the present application;

[0046] Figure 2 is a flowchart of an enabling condition determination method provided by the second embodiment of the present application;

[0047] Figure 3 is a structural schematic diagram of an electronic brake force booster system fault detection device provided by the third embodiment of the present application;

[0048] Figure 4 is a structural schematic diagram of an electronic device for implementing the electronic brake force booster system fault detection method of the present application. DETAILED DESCRIPTION

[0049] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should be within the scope of protection of the present application.

[0050] It should be noted that the terms "first", "second", and the like in the description and in the claims of the present application and above-described accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular chronological or sequential order. It should be understood that the data thus used can be interchanged under appropriate circumstances so that the embodiments of the application described herein can be implemented in other than the order illustrated or described herein. In addition, the terms "comprise" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or apparatus that includes a list of steps or units as processes, methods, systems, products, or apparatuses are not necessarily limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to such processes, methods, products, or apparatuses.

[0051] Embodiment one

[0052] Figure 1 A flow chart of an electronic brake assist system fault detection method provided for the first embodiment of the present application, the present embodiment can be applicable to the situation of identifying the rack jam fault of the electronic brake assist system during driving, and the method can be executed by an electronic brake assist system fault detection device, which can be realized in the form of hardware and / or software, and can be configured in the vehicle-mounted driving computer. As shown in the figure, the method comprises: Figure 1

[0053] S110, determining the working state of the electronic brake assist system.

[0054] The electronic brake assist system is used in the vehicle braking system, and can realize efficient and stable braking performance, maximum braking energy recovery, adjustable pedal feeling, and optimal driving comfort, thereby greatly improving the use cost and the safety and reliability of the whole vehicle for new energy vehicle consumers. The rapid and accurate control ability of the electronic brake assist system on the hydraulic flow makes it the preferred solution of the brake-by-wire system. The transmission mechanism of the fully decoupled electronic brake assist system adopts the gear and rack transmission mode, the brake pedal is completely decoupled from the hydraulic braking force, the cruising range of the new energy vehicle is improved, and the braking distance of the vehicle can be shortened due to the strong pressure reduction capability. The working state of the electronic brake assist system includes the pressure building process and the pressure releasing process, and the pressure building process and the pressure releasing process correspond to different working conditions.

[0055] S120, determining whether the working state meets the enabling condition of triggering fault detection.

[0056] ​Wherein, when a certain initial event needs to be accompanied by some necessary conditions to occur, these conditions are the enabling conditions of the initial event, the enabling conditions do not directly lead to the occurrence of the initial event, but the enabling conditions are the operation state or condition of the initial event to another situation. In the embodiment of the application, when the electronic brake assist system is in a certain working state, only when the current working state meets the enabling condition of triggering fault detection, the corresponding fault detection function can be performed; when the electronic brake assist system does not meet the enabling condition of triggering fault detection, its own working state may affect the subsequent fault detection result, thereby causing the phenomenon of fault misreporting.

[0057] S130, monitoring the working position of the rack of the electronic brake assist system when the enabling condition is met.

[0058] Wherein, as described above, the fully decoupled electronic brake assist system transmission mechanism adopts a gear and rack transmission mode for brake assist. The electronic brake assist system may cause mechanical failure such as gear and rack transmission jamming or even locking of the electronic booster when working in a large load condition for a long time or when the lubricating liquid is not updated in time. When the rack locking fault occurs, the booster cannot move the brake master cylinder piston, the brake master cylinder cannot build pressure, and the booster cannot respond to the driver's braking demand, and in serious cases, the vehicle has no deceleration, causing traffic accidents and threatening the safety of the driver. Therefore, when the working state of the electronic brake assist system meets the enabling condition, since the electronic brake assist system works based on the rack, monitoring the working state of the rack determines whether the electronic brake assist system has a mechanical failure.

[0059] S140, performing fault detection on the electronic brake assist system according to the monitoring result.

[0060] Wherein, the monitoring result is the state and position of the rack of the electronic brake assist system, and the fault detection is performed according to the comparison between the monitoring result and the normal working state.

[0061] The technical scheme of the embodiment of the application determines the working state of the electronic brake assist system, determines whether the working state meets the enabling condition of triggering fault detection, monitors the working position of the rack of the electronic brake assist system when the enabling condition is met, and performs fault detection on the electronic brake assist system according to the monitoring result, thereby solving the identification of the rack locking fault condition of the electronic brake assist system, preventing the electronic brake assist system from failing to respond to the driver's braking demand when the rack locking fault occurs, and ensuring the driving safety of the driver.

[0062] Embodiment two

[0063] Figure 2 A flowchart of an enabling condition determination method for the second embodiment of the present application is provided, and the embodiment is further explained based on the above-mentioned embodiment. As shown in the figure, the method comprises: Figure 2

[0064] S210, determining that the working state of the electronic brake assist system is pressure building or pressure releasing.

[0065] The working state of the electronic brake assist system when assisting in completing the braking process is divided into pressure building and pressure releasing, and the electronic brake assist system has corresponding normal working conditions in the normal working state corresponding to pressure building or pressure releasing. When the normal working conditions are met at the same time, it is considered that the electronic brake assist system is in the normal working state.

[0066] S220, determining whether the working state of the electronic brake assist system meets at least one working condition when pressure building or pressure releasing.

[0067] When the electronic brake assist system is in the pressure building or pressure releasing working condition and is normally working, the enabling condition for triggering fault detection is met only when multiple working conditions symbolizing normal working are met at the same time.

[0068] S230, when the working state meets at least one working condition when pressure building or pressure releasing, determining that the enabling condition for triggering fault detection is met.

[0069] In the embodiment of the present application, the working condition when pressure building comprises that the electronic brake assist system is in the normal control mode (i.e. the control mode is rack control mode or pressure control mode), the electronic brake assist system is in the normal assist mode (i.e. working in the non-degraded assist mode), the electronic brake assist system is normally learning at the power-on time (i.e. the current software zero learning of the electronic brake assist system is fault-free), and the working load state of the electronic brake assist system is normal (i.e. the brake pipe pressure does not change actively in the current working condition). When the electronic brake assist system is in the pressure building process and is working in the above working conditions at the same time, rack jam fault pressure building monitoring is enabled.

[0070] In the embodiment of the present application, the working condition when pressure releasing comprises that the electronic brake assist system is in the normal control mode, the electronic brake assist system is in the normal assist mode, and the actual rack speed control of the electronic brake assist system is stable. When the electronic brake assist system is in the pressure releasing process and is working in the above working conditions at the same time, rack jam fault pressure releasing monitoring is enabled.

[0071] In the embodiment of the present application, the fault detection on the electronic brake assist system according to the monitoring result comprises:

[0072] ​determining a current position of a rack of the electronic power brake system;

[0073] determining a deviation value between the current position and a preset position;

[0074] when the deviation value exceeds a set threshold deviation value, monitoring a duration that the deviation value exceeds the set threshold deviation value;

[0075] when the duration is greater than a preset time, determining that the electronic power brake system has a fault.

[0076] In the present application, the rack works by moving in different working positions, for example, in the case of being divided into three working positions, the working positions are large position, small position and intermediate position, the rack moves among the three working positions to play a transmission role, when the electronic power brake system works, the rack should be in the state of moving among the three working positions, if it cannot move, it means that a jamming fault occurs. When detecting the fault of the electronic power brake system, the deviation value between the current position of the rack and the theoretical preset position that should appear when it works normally is determined, when the deviation value is too large and lasts for a certain time, it is determined that the rack jamming fault occurs.

[0077] In the embodiment of the present application, the preset position is determined by the following method:

[0078] determining an input braking force demand value;

[0079] determining the working position of the rack when the braking force demand value is met, and taking the working position as the preset position.

[0080] In the present application, the braking force demand value can be determined by the following two methods:

[0081] 1. When the driver operates the vehicle, the braking force demand value is determined according to the opening of the brake pedal when the driver steps on the brake pedal.

[0082] 2. When in the automatic driving mode or the adaptive cruise mode, the braking force demand value required to prevent collision is calculated according to the position of the front vehicle or obstacle and the vehicle speed.

[0083] determining the corresponding actual rack position according to the braking force demand value, that is, the position of the rack under the condition of meeting the braking force demand value.

[0084] In the present application, the threshold deviation value is determined by the following method:

[0085] determining a first coefficient according to a preset error value;

[0086] determining a second coefficient according to the working temperature of the electronic power brake system;

[0087] determining a third coefficient based on the working state of the electronic parking brake system;

[0088] determining the threshold difference value based on the first coefficient, the second coefficient and the third coefficient.

[0089] wherein the threshold difference value is calculated by the following way:

[0090] The identification of the build-up pressure rack jam fault threshold is calculated according to the brake force demand value to obtain the corresponding actual rack position. Since the actual rack position fluctuates within a small range, the overall threshold is lowered by a fixed interval, so that the monitoring mechanism will not misidentify the fault. For example, the rack jam threshold table first coefficient P1 is [0, 30] mm. The correction of the build-up pressure threshold: since the environmental temperature and the EPB (electronic parking brake system) have an influence on the electronic brake force system load, which will affect the threshold of the rack jam fault diagnosis, therefore, under different temperatures and different states of the EPB, the jam diagnosis threshold needs to be corrected accordingly, that is, P1*P2+P3, the second coefficient P2 changes with the working temperature of the electronic brake force system, so as to ensure the accuracy of the rack jam fault diagnosis threshold, the value can be [0.2, 0.85] mm, and the third coefficient P3 is a fixed value, which is increased when the EPB is tightened, and the value can be [0, 10] mm. Under the condition of meeting the diagnosis enabling condition, when the actual rack position and the threshold difference value continue for a certain time (such as [1, 20] s), the jam fault flag is set.

[0091] In the embodiment of the present application, the method further comprises: when the electronic brake force system fails, cutting off the assistance of the electronic brake force system and sending fault information representing the failure of the electronic brake force system to the redundant brake system, so that the redundant brake system performs a brake operation after receiving the fault information.

[0092] wherein, when the jam fault flag is set, this power-on cycle is not recoverable, and the assistance of the electronic brake force system is immediately switched, and the current required brake force demand value is sent to the SEC and the EPB outside the network, so as to request the external redundant brake system to assist braking, so as to meet the braking demand and ensure the safety of the vehicle and the driver.

[0093] In addition, by monitoring the position and moving direction of the rack, the actual occurrence condition of the rack jam fault can be analyzed, and the actual occurrence condition is as follows:

[0094] 1. The actual position of the electronic brake force system rack is stuck at a small position and cannot move to a large position;

[0095] 2. The actual position of the electronic brake force system rack is stuck at an intermediate position and can move to a small position but cannot move to a large position;

[0096] 3. The rack of the electronic brake assist system is stuck in the middle position and can move to the large position, but cannot move to the small position.

[0097] 4. The rack of the electronic brake assist system is stuck in the large position and cannot move to the small position.

[0098] Embodiment Three

[0099] Figure 3 A structural schematic diagram of an electronic brake assist system fault detection device provided for Embodiment Three of the present application. As shown in the figure, the device comprises: Figure 3

[0100] A working state determination unit 310, configured to determine the working state of the electronic brake assist system;

[0101] An enabling condition determination unit 320, configured to determine whether the working state satisfies an enabling condition for triggering fault detection;

[0102] A working position monitoring unit 330, configured to monitor the working position of the rack of the electronic brake assist system when the enabling condition is satisfied;

[0103] A monitoring result processing unit 340, configured to perform fault detection on the electronic brake assist system according to the monitoring result.

[0104] In the embodiment of the present application, the enabling condition determination unit 320 is configured to perform:

[0105] determine that the working state of the electronic brake assist system is pressure building or pressure releasing;

[0106] determine whether the working state of the electronic brake assist system simultaneously satisfies at least one working condition when pressure building or pressure releasing;

[0107] when the working state simultaneously satisfies at least one working condition when pressure building or pressure releasing, determine that the enabling condition for triggering fault detection is satisfied.

[0108] In the embodiment of the present application, the working condition when pressure building comprises:

[0109] the electronic brake assist system is in a normal control mode; the electronic brake assist system is in a normal assist mode; the electronic brake assist system is in normal zero position learning at the power-on moment; the working load state of the electronic brake assist system is normal;

[0110] the working condition when pressure releasing comprises: the electronic brake assist system is in a normal control mode; the electronic brake assist system is in a normal assist mode; the actual rack speed control of the electronic brake assist system is stable.​

[0111] In the embodiment of the present application, the monitoring result processing unit 340 is configured to perform the following steps:

[0112] determining a current position of a rack of the electronic power braking system;

[0113] determining a deviation value between the current position and a preset position;

[0114] when the deviation value exceeds a set threshold deviation value, monitoring a duration for which the deviation value exceeds the set threshold deviation value;

[0115] when the duration is greater than a preset time, determining that the electronic power braking system is faulty.

[0116] In the embodiment of the present application, the monitoring result processing unit 340 is further configured to determine the preset position by the following steps:

[0117] determining an input braking force demand value;

[0118] determining a working position of the rack when the braking force demand value is met, and taking the working position as the preset position.

[0119] In the embodiment of the present application, the monitoring result processing unit 340 is further configured to determine the threshold deviation value by the following steps:

[0120] determining a first coefficient according to a preset error value;

[0121] determining a second coefficient according to a working temperature of the electronic power braking system;

[0122] determining a third coefficient according to a working state of an electronic parking braking system;

[0123] determining the threshold deviation value according to the first coefficient, the second coefficient and the third coefficient.

[0124] In the embodiment of the present application, the monitoring result processing unit 340 is further configured to perform the following steps:

[0125] when the electronic power braking system is faulty, cutting off the power of the electronic power braking system and sending fault information representing the fault of the electronic power braking system to a redundant braking system, so that the redundant braking system performs a braking operation after receiving the fault information.

[0126] The electronic power braking system fault detection device provided in the embodiment of the present application can perform the electronic power braking system fault detection method provided in any embodiment of the present application, and has the corresponding function modules and beneficial effects of the performing method.

[0127] Embodiment Four

[0128] Figure 4 A structural diagram of an electronic device 10 that can be used to implement embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application described and / or claimed in this document.

[0129] As shown in Figure 4 The electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., connected in communication with the at least one processor 11, where the memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer programs stored in the read-only memory (ROM) 12 or loaded into the random access memory (RAM) 13 from the storage unit 18. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0130] A plurality of components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc., an output unit 17, such as various types of displays, a speaker, etc., a storage unit 18, such as a magnetic disk, an optical disk, etc., and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0131] The processor 11 can be various general and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as the electronic brake system failure detection method.

[0132] In some embodiments, the electronic brake system failure detection method can be implemented as a computer program tangibly embodied in a computer readable storage medium, e.g., storage unit 18. In some embodiments, parts or all of the computer program can be loaded and / or installed onto electronic device 10 via, e.g., ROM 12 and / or communication unit 19. When the computer program is loaded onto RAM 13 and executed by processor 11, one or more steps of the electronic brake system failure detection method described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the electronic brake system failure detection method by other means, e.g., with the aid of firmware.

[0133] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (PLD), a computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0134] Computer programs used to implement the processes of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed, can implement the functions / acts specified in the flowcharts and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0135] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0136] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0137] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0138] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0139] It should be understood that the various forms of flow shown above can be reordered, added to, or have steps deleted. For example, the steps described in the present application can be performed in parallel, in series, or in a different order, as long as the desired results of the technical solutions of the present application can be achieved, which are not limited herein.

[0140] The above detailed description does not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method of fault detection for an electronic brake boost system, characterized in that, The method comprises: determining the working state of the electronic brake assist system; determining whether the working state meets an enabling condition for triggering fault detection; monitoring the working position of the rack of the electronic brake assist system when the enabling condition is met; performing fault detection on the electronic brake assist system according to the monitoring result; wherein the monitoring result is the state and position parameters of the rack when the electronic brake assist system is working; the determination of whether the working state meets the enabling condition for triggering fault detection comprises: determining that the working state of the electronic brake assist system is pressure building or pressure releasing; determining whether the working state of the electronic brake assist system meets at least one working condition when pressure building or pressure releasing; when the working state meets at least one working condition when pressure building or pressure releasing, it is determined that the enabling condition for triggering fault detection is met; the fault detection on the electronic brake assist system according to the monitoring result comprises: determining the current position of the rack of the electronic brake assist system; determining the deviation value of the current position from a preset position; monitoring the duration for which the deviation value exceeds the set threshold value when the deviation value exceeds the set threshold value; when the duration is greater than a preset time, it is determined that the electronic brake assist system has a fault; the preset position is determined by: determining the input brake force demand value; determining the working position of the rack when the brake force demand value is met, and taking the working position as the preset position; the brake force demand value is determined by: when the driver operates the vehicle, the brake force demand value is determined according to the opening of the brake pedal when the driver steps on the brake pedal; or when in an automatic driving mode or an adaptive cruise mode, the brake force demand value required to prevent a collision is calculated according to the position of a preceding vehicle or an obstacle and the vehicle speed.

2. The method of claim 1, wherein, the working condition when pressure building comprises: the electronic brake assist system is in a normal control mode; the electronic brake assist system is in a normal assist mode; the electronic brake assist system is in a normal zero position learning at power-on time; the working load state of the electronic brake assist system is normal; the working condition when pressure releasing comprises:

3. The method of claim 1, wherein, the electronic brake assist system is in a normal control mode; the electronic brake assist system is in a normal assist mode; the actual rack speed control of the electronic brake assist system is stable. the threshold value is determined by: determining a first coefficient according to a preset error value; determining a second coefficient according to the working temperature of the electronic brake assist system; determining a third coefficient according to the working state of the electronic parking brake system; 4. The method of claim 1, wherein, determining the threshold value according to the first coefficient, the second coefficient and the third coefficient. further comprising:

5. An electronic brake force booster fault detection device, characterized in that when the electronic brake assist system has a fault, cutting off the assist of the electronic brake assist system and sending fault information representing the fault of the electronic brake assist system to a redundant brake system, so that the redundant brake system performs a braking operation after receiving the fault information. The method comprises: a working state determination unit for determining the working state of the electronic brake assist system; An enabling condition determining unit is configured to determine whether the working state meets an enabling condition for triggering fault detection; A working position monitoring unit is configured to monitor a working position of a rack of the electronic brake assist system when the enabling condition is met; A monitoring result processing unit is configured to perform fault detection on the electronic brake assist system according to a monitoring result, wherein the monitoring result is a rack position parameter in a working state of the electronic brake assist system; and the enabling condition determining unit is configured to perform the following steps: determining that the working state of the electronic brake assist system is pressure building or pressure releasing; determining whether the working state of the electronic brake assist system meets at least one working condition when the working state is pressure building or pressure releasing; determining that the enabling condition for triggering fault detection is met when the working state meets the at least one working condition when the working state is pressure building or pressure releasing; The monitoring result processing unit is configured to perform the following steps: determining a current position of the rack of the electronic brake assist system; determining a deviation value between the current position and a preset position; monitoring a duration for which the deviation value exceeds a set threshold deviation value according to the deviation value; determining that the electronic brake assist system has a fault when the duration is greater than a preset time; The monitoring result processing unit is further configured to determine the preset position by the following steps: determining an input braking force demand value; determining a working position of the rack when the braking force demand value is met, and taking the working position as the preset position; The braking force demand value is determined by the following steps: when a driver operates the vehicle, determining the braking force demand value according to an opening degree of a brake pedal when the driver steps on the brake pedal; or when in an autonomous driving mode or an adaptive cruise control mode, calculating a braking force demand value required for preventing a collision according to a position of a front vehicle or an obstacle and a vehicle speed.

6. An electronic device, comprising: The electronic device comprises: at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the electronic brake assist system fault detection method according to any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for enabling the processor to execute the electronic brake assist system fault detection method according to any one of claims 1-4 when executed.

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