Vehicle braking system state detection method, device, system, vehicle and medium

Abstract

The application discloses a kind of state detection methods of vehicle braking system, comprising: the temperature information of brake disc and the brake execution information of hydraulic brake unit are acquired, whether hydraulic brake unit leaks according to temperature information and brake execution information is determined, to determine the state of braking system.Therefore, the application can determine whether hydraulic brake unit leaks according to temperature information and brake execution information, vehicle safety hazard is determined, user can repair vehicle after knowing whether hydraulic brake unit leaks, avoid the situation that user drives vehicle to go out or does not repair vehicle appears, the safety of vehicle and user in vehicle is guaranteed, the probability of vehicle traffic accident decreases.The application can avoid the situation that hydraulic brake unit is wrongly identified to leak when brake disc temperature is too high, but brake execution information represents normal operation of hydraulic brake unit, and the leakage detection of hydraulic brake unit is reliably executed.

Description

Technical Field

[0001] This application relates to the field of vehicles, and in particular to a method for detecting the state of a vehicle braking system, a device for detecting the state of a vehicle braking system, a braking system, a vehicle, and a computer-readable storage medium. Background Technology

[0002] During vehicle braking, the braking force generated is directly related to the brake fluid in the hydraulic braking unit. When there is brake fluid leakage in the hydraulic braking unit, the vehicle will not be able to generate the expected braking force, increasing the probability of a traffic accident and posing a significant safety hazard. Summary of the Invention

[0003] This application provides a method for detecting the state of a vehicle braking system, a device for detecting the state of a vehicle braking system, a braking system, a vehicle, and a computer-readable storage medium.

[0004] This application provides a method for detecting the state of a vehicle braking system, including:

[0005] Obtain temperature information of the brake disc and braking execution information of the hydraulic braking unit;

[0006] The system determines whether the hydraulic braking unit is leaking based on the temperature information and the braking execution information, thereby detecting the status of the braking system.

[0007] In the vehicle braking system status detection method provided in this application, after the vehicle obtains the temperature information of the brake disc and the braking execution information of the hydraulic braking unit collected by the sensor, that is, after knowing the temperature of the brake disc and the operating status of each component in the hydraulic braking unit, it can determine whether the hydraulic braking unit is leaking fluid based on the temperature information and the braking execution information, thereby determining the status of the braking system. If the hydraulic braking unit is leaking fluid, the braking system is considered to be in an abnormal state; conversely, if the hydraulic braking unit is not leaking fluid, the braking system is considered to be in a normal state.

[0008] Thus, the embodiments of this application enable the vehicle to determine its status based on the temperature information of the brake disc and the braking execution information of the hydraulic braking unit, that is, to determine whether the hydraulic braking unit is leaking fluid. This allows for the identification of potential vehicle safety hazards. Consequently, once the user is aware of whether the hydraulic braking unit is leaking, they can adaptively repair the vehicle, thereby preventing situations where the user drives the vehicle without knowing about the leak or without having repaired the vehicle. This ensures the safety of the vehicle and its occupants, reducing the probability of traffic accidents. Furthermore, since the embodiments of this application determine whether the hydraulic braking unit is leaking based on the temperature information of the brake disc and the braking execution information of the hydraulic braking unit, it can, to some extent, prevent situations where the vehicle mistakenly assumes a leak in the hydraulic braking unit when the brake disc temperature is too high but the braking execution information indicates that the hydraulic braking unit is operating normally. This ensures reliable leak detection of the hydraulic braking unit.

[0009] In some embodiments, determining whether the hydraulic braking unit is leaking based on the temperature information and the braking execution information to detect the state of the braking system includes:

[0010] The state estimation result of the hydraulic braking unit is determined based on the braking execution information, wherein the state estimation result includes the possibility of leakage of the hydraulic braking unit, the absence of leakage of the hydraulic braking unit, and leakage of the hydraulic braking unit.

[0011] In the event that the hydraulic braking unit may leak fluid, the temperature information is used to determine whether the hydraulic braking unit is leaking fluid, thereby detecting the status of the braking system;

[0012] In the case of whether the hydraulic braking unit leaks fluid or not, the vehicle state estimation result is used to determine whether the hydraulic braking unit is leaking fluid, so as to detect the state of the braking system.

[0013] Thus, the embodiments of this application enable the vehicle to determine whether the hydraulic braking unit is leaking fluid, not leaking fluid, or possibly leaking fluid, after determining the corresponding state estimation result based on the braking execution information of the hydraulic braking unit. This allows for a preliminary estimation of whether the hydraulic braking unit is leaking fluid, not leaking fluid, or possibly leaking fluid. Furthermore, the embodiments of this application can also directly determine whether the hydraulic braking unit is leaking fluid based on the state estimation result, even if the state estimation result indicates leakage or no leakage. That is, when the braking execution information clearly indicates leakage or no leakage, the brake disc temperature information is no longer considered. This, to a certain extent, ensures that the vehicle can efficiently determine whether the hydraulic braking unit is leaking fluid.

[0014] In some embodiments, determining whether the hydraulic braking unit is leaking based on the temperature information, in order to detect the state of the braking system, in the event that the hydraulic braking unit may leak, includes:

[0015] If the hydraulic braking unit may leak fluid and the temperature of the brake disc is higher than a preset temperature, it is determined that the hydraulic braking unit is not leaking fluid.

[0016] If the hydraulic braking unit may leak fluid, and the temperature of the brake disc is not higher than a preset temperature, then the hydraulic braking unit is determined to be leaking fluid.

[0017] Thus, the embodiments of this application enable the vehicle to determine whether the hydraulic braking unit is actually leaking based on the temperature of the brake disc when it is estimated that the hydraulic braking unit may be leaking or is suspected of leaking, thereby ensuring that the leak detection of the hydraulic braking unit can be reliably performed to a certain extent.

[0018] In some embodiments, the braking execution information includes hydraulic information and master cylinder plunger stroke information, and determining the state estimation result of the hydraulic braking unit based on the braking execution information includes:

[0019] The state estimation result is determined based on the hydraulic information and master cylinder plunger stroke information obtained during the braking process.

[0020] Thus, the embodiments of this application enable the vehicle to reliably estimate whether the hydraulic braking unit is leaking fluid based on the hydraulic information and master cylinder plunger stroke information obtained during braking, thereby ensuring the reliability of the state estimation results.

[0021] In some embodiments, determining the state estimation result based on the hydraulic information and the master cylinder plunger stroke information obtained during braking includes:

[0022] Based on the hydraulic information and master cylinder plunger stroke information obtained during braking, a first mapping relationship information of hydraulic pressure relative to the master cylinder plunger stroke is determined;

[0023] The vehicle state estimation result is determined based on the first mapping relationship information and the pre-determined first calibration mapping relationship information.

[0024] Thus, the embodiments of this application enable the vehicle to estimate whether the hydraulic braking unit is leaking based on the first mapping relationship information of hydraulic pressure relative to the master cylinder plunger stroke during actual braking, and the first calibration mapping relationship information of hydraulic pressure relative to the master cylinder plunger stroke under predetermined ideal conditions, thereby reliably determining whether the hydraulic braking unit is leaking to a certain extent.

[0025] In some embodiments, the braking execution information includes hydraulic information and injected fluid volume information, and determining the state estimation result of the hydraulic braking unit based on the braking execution information includes:

[0026] The state estimation result is determined based on the hydraulic information and the injected fluid volume information of the hydraulic braking unit obtained during the braking process.

[0027] Thus, the embodiments of this application enable the vehicle to estimate whether the hydraulic braking unit is leaking fluid based on the hydraulic information and the amount of injected fluid obtained during the braking process. That is, the state estimation result of the hydraulic braking unit is determined, so that the determination efficiency and accuracy of the state estimation result can be guaranteed to a certain extent.

[0028] In some embodiments, determining the state estimation result based on the hydraulic information and the injected fluid volume information of the hydraulic braking unit obtained during braking includes:

[0029] Based on the fluid volume information obtained during braking and the first hydraulic value and the second hydraulic value obtained twice consecutively, determine the first injection fluid volume corresponding to the first hydraulic value and the second injection fluid volume corresponding to the first hydraulic value.

[0030] If the first difference between the first injected fluid volume and the first calibrated injected fluid volume corresponding to the first hydraulic value, or the second difference between the second injected fluid volume and the second calibrated injected fluid volume corresponding to the second hydraulic value, is greater than a preset difference, it is determined that the hydraulic braking unit may be leaking fluid, wherein the first calibrated injected fluid volume and the second calibrated injected fluid volume are predetermined.

[0031] If neither the first difference nor the second difference is greater than the preset difference, it is determined that the hydraulic braking unit is not leaking fluid.

[0032] Thus, the embodiments of this application enable the vehicle to calculate the first difference and the second difference between the two injected fluid volumes and the two calibrated injected fluid volumes corresponding to the two hydraulic values ​​continuously collected during the braking process, combined with the two calibrated injected fluid volumes corresponding to the two hydraulic values ​​under ideal conditions. Based on the first difference and the second difference, it can be determined whether the hydraulic braking unit is leaking fluid, that is, to determine the state estimation result, thereby ensuring the reliability of the state estimation result to a certain extent.

[0033] In some embodiments, determining that the hydraulic braking unit may be leaking when the first difference between the first injected fluid volume and the first calibrated injected fluid volume corresponding to the first hydraulic pressure value, or the second difference between the second injected fluid volume and the second calibrated injected fluid volume corresponding to the second hydraulic pressure value, is greater than a preset difference includes:

[0034] If either the first difference or the second difference is greater than the preset difference, a second mapping relationship information between hydraulic pressure and injection volume is determined based on the first hydraulic pressure value, the second hydraulic pressure value, the first injection volume, and the second injection volume.

[0035] If the second mapping relationship information matches the pre-determined second calibration mapping relationship information, it is determined that the hydraulic braking unit may be leaking fluid.

[0036] Thus, the embodiments of this application enable the vehicle to determine the second mapping relationship information of hydraulic pressure relative to injection fluid volume when both the first difference and the second difference are greater than the preset difference, that is, when the hydraulic braking unit may leak fluid. This is based on the first hydraulic pressure value, the second hydraulic pressure value, the first injection fluid volume, and the second injection fluid volume. Furthermore, by combining the predetermined second calibration mapping relationship information, which represents the mapping relationship of hydraulic pressure relative to injection fluid volume under ideal conditions, and determining that the second mapping relationship information matches the second calibration mapping relationship information, it is determined that the hydraulic braking unit may leak fluid, thereby ensuring the reliable determination of the state estimation result to a certain extent.

[0037] In some embodiments, determining the state estimation result based on the hydraulic information and the injected fluid volume information of the hydraulic braking unit obtained during braking further includes:

[0038] If either the first difference or the second difference is greater than the preset difference, and the second mapping relationship information does not match the second calibration mapping relationship information, it is determined that the hydraulic braking unit is leaking fluid.

[0039] Thus, in this embodiment of the application, when the second mapping relationship information and the second calibration mapping relationship information do not match, and both the first difference and the second difference are not less than the preset difference, that is, when it is determined by the second mapping relationship information and the second calibration mapping relationship information that the hydraulic braking unit may leak fluid, and it is also determined by the first difference and the second difference that the hydraulic braking unit may leak fluid, the state estimation result of the hydraulic braking unit is identified as leaking fluid, thereby ensuring the reliable determination of the state estimation result to a certain extent.

[0040] This application also provides a vehicle braking system state detection device, including:

[0041] The data acquisition module is used to collect temperature information of the brake disc and braking execution information of the vehicle's hydraulic braking unit.

[0042] The detection module is used to determine the vehicle status based on the temperature information and the braking execution information, wherein the vehicle status includes leakage of hydraulic braking unit fluid.

[0043] This application also provides a braking system, including a brake disc, a hydraulic braking unit, a temperature determination unit, a sensor, and a controller;

[0044] The temperature determination unit is configured to collect temperature information of the brake disc;

[0045] The sensor is configured to collect braking execution information from the hydraulic braking unit;

[0046] The controller is configured to acquire the temperature information and the braking execution information, and to determine whether the hydraulic braking unit is leaking fluid based on the temperature information and the braking execution information, so as to detect the status of the braking system.

[0047] This application also provides a vehicle, including a body, wherein the body is equipped with the above-described vehicle braking system status detection device, or is equipped with the above-described braking system.

[0048] This application also provides a vehicle, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, it implements the above-described method for detecting the state of the vehicle braking system.

[0049] This application also provides a computer-readable storage medium storing a computer program that, when executed by one or more processors, implements the above-described vehicle braking system state detection method.

[0050] The vehicle braking system status detection device, braking system, vehicle, and computer-readable storage medium provided in this application enable the vehicle to determine its status based on the brake disc temperature information and the braking execution information of the hydraulic braking unit. Specifically, it determines whether the hydraulic braking unit is leaking fluid, thus identifying potential vehicle safety hazards. Therefore, once the user is aware of whether the hydraulic braking unit is leaking, they can adaptively repair the vehicle, thereby preventing situations where the user is unaware of a leak but still drives the vehicle, or fails to repair the vehicle. This ensures the safety of the vehicle and its occupants, reducing the probability of traffic accidents. Furthermore, since this application determines whether the hydraulic braking unit is leaking based on the brake disc temperature information and the braking execution information of the hydraulic braking unit, it can, to some extent, avoid situations where the brake disc temperature is too high, but the braking execution information indicates that the hydraulic braking unit is operating normally, leading to the vehicle mistakenly identifying a leak. This ensures reliable leak detection of the hydraulic braking unit.

[0051] Additional aspects and advantages of embodiments of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of embodiments of this application. Attached Figure Description

[0052] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein:

[0053] Figure 1 This is a schematic diagram of the braking system;

[0054] Figure 2 This is a flowchart illustrating the state detection method of a vehicle braking system in certain embodiments of this application;

[0055] Figure 3 This is a flowchart illustrating the state detection method of a vehicle braking system in certain embodiments of this application;

[0056] Figure 4 This is a flowchart illustrating the state detection method of a vehicle braking system in certain embodiments of this application;

[0057] Figure 5 This is a flowchart illustrating the state detection method of a vehicle braking system in certain embodiments of this application;

[0058] Figure 6 This is a flowchart illustrating the state detection method of a vehicle braking system in certain embodiments of this application;

[0059] Figure 7 This is a flowchart illustrating the state detection method of a vehicle braking system in certain embodiments of this application;

[0060] Figure 8 This is a flowchart illustrating the state detection method of a vehicle braking system in certain embodiments of this application;

[0061] Figure 9 This is a schematic diagram of the mapping relationship between hydraulic pressure and injected fluid volume in certain embodiments of this application;

[0062] Figure 10 This is a flowchart illustrating the state detection method of a vehicle braking system in certain embodiments of this application;

[0063] Figure 11 This is a schematic diagram of the mapping relationship between hydraulic pressure and injected fluid volume in some embodiments of this application;

[0064] Figure 12 This is a flowchart illustrating the state detection method of a vehicle braking system in some embodiments of this application. Detailed Implementation

[0065] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of this application, and should not be construed as limiting the embodiments of this application.

[0066] Braking is a necessary driving maneuver for users. For example, when the brake lights of a vehicle ahead illuminate, the user presses the brake pedal to bring the vehicle to a safe distance. Similarly, when going downhill, the user continuously presses the brake pedal to maintain a constant speed. Or, in the event of a sudden traffic accident ahead, the user slams on the brakes to bring the vehicle to a rapid stop. Therefore, reliable and effective braking is extremely important for vehicle safety and the safety of the driver and passengers.

[0067] Furthermore, when the user depresses the brake pedal, causing the plunger to be pushed, the hydraulic braking unit determines the target brake fluid volume (hereinafter referred to as fluid quantity) required to generate or establish the corresponding brake fluid pressure (hereinafter referred to as hydraulic pressure) based on the plunger's movement, or in other words, it determines the target fluid quantity that the corresponding motor pumps into the plunger. The motor then drives the motor to pump the target fluid quantity into the plunger to complete the hydraulic pressure establishment. Based on the established hydraulic pressure, the brake fluid flows through the brake fluid circulation circuit and valves within the circuit into the corresponding brake, such as the caliper, causing friction between the caliper and the brake disc to decelerate or brake the vehicle.

[0068] However, when there is leakage in the hydraulic braking unit, some of the brake fluid may leak or be wasted during the flow or transmission process. Therefore, compared with a hydraulic braking unit without leakage, the target brake fluid required to establish the hydraulic pressure corresponding to the plunger stroke is larger. For example, if a hydraulic pressure of size P is required to establish a hydraulic pressure of size V without leakage, then the hydraulic pressure required to establish a pressure of size P will be greater than V under leakage conditions.

[0069] Therefore, when the vehicle's hydraulic braking unit leaks fluid, and the user depresses the brake pedal to change the plunger stroke, the required hydraulic fluid volume corresponding to the change in plunger stroke may be V. T However, due to leakage in the hydraulic braking unit, more brake fluid is needed during the injection process to achieve the expected hydraulic pressure. In other words, the actual amount of brake fluid V required for the hydraulic braking unit to achieve the expected hydraulic pressure is reduced. R It needs to be higher than or even much higher than V T If the total brake fluid volume cannot meet V R If this happens, the vehicle will not be able to generate the expected braking force, the user will not be able to control the vehicle accurately or effectively, and the probability of traffic accidents will increase.

[0070] Therefore, some vehicles are equipped with brake detection functions, which can be used to detect or compare the expected braking force and the actual braking force generated by the vehicle during braking. That is, if the actual braking force is different from the expected braking force, it is determined that there is a leak in the hydraulic braking unit.

[0071] After a leak is detected in the hydraulic braking unit, some vehicles can be controlled to enter a leak circuit detection mode. This mode detects the brake fluid flow circuit in the vehicle that is leaking. Specifically, in leak circuit detection mode, the vehicle can open one brake fluid flow circuit and close the other to accurately detect the circuit with a leak problem.

[0072] For a clearer explanation of the aforementioned leak circuit detection modes, please refer to [link / reference]. Figure 1 , Figure 1 This is a schematic diagram of the braking system 100. That is, the braking system 100 includes a reservoir 101, a tandem hydraulic master cylinder 102, a brake pedal 103, a pedal force simulator 104, a controller 105, hydraulic lines 106, a front left (FL) caliper 107, a rear right (RR) caliper 108, a front right (FR) caliper 109, and a rear left (RL) caliper 110.

[0073] Specifically, when the leak circuit detection mode is not entered, if the user presses the brake pedal, the brake fluid in the controller 105 flows into the left front caliper 107 and the right rear caliper 108 along one of the hydraulic lines 106. The controller 105 then controls the internal brake fluid to flow into the right front caliper 109 and the left rear caliper 110 along the other of the hydraulic lines 106.

[0074] Furthermore, when the vehicle is in leak circuit detection mode, the controller 105 can close the circuit in hydraulic line 106 that allows brake fluid to flow to the left front caliper 107 and the right rear caliper 108 (let's call it the first circuit), and open the circuit in hydraulic line 106 that allows brake fluid to flow to the right front caliper 109 and the left rear caliper 110 (let's call it the second circuit) to detect whether there is a leak in the second circuit. Then, the second circuit is closed and the first circuit is opened to detect whether there is a leak in the first circuit.

[0075] Understandably, in the leak circuit detection mode, the vehicle's braking performance will decrease because one of the two brake fluid flow circuits will be closed, or in other words, the hydraulic brake unit's pressure build-up capacity will decrease.

[0076] Furthermore, if the user presses the pedal while the vehicle is in leak circuit detection mode, the hydraulic braking unit's pressure-building capacity has decreased. Regardless of whether there is actually a leak in the hydraulic braking unit, the vehicle will not be able to generate the expected braking force, which will affect the user's driving experience and safety, and increase the probability of traffic accidents.

[0077] Based on the issues mentioned above, please refer to Figure 2 This application provides a method for detecting the state of a vehicle braking system, the method comprising:

[0078] 01: Obtain the temperature information of the brake disc and the braking execution information of the hydraulic braking unit;

[0079] 02: Determine whether the hydraulic braking unit is leaking based on temperature and braking execution information to detect the status of the braking system.

[0080] This application also provides a vehicle braking system state detection device. The vehicle braking system state detection method of this application can be implemented by the vehicle braking system state detection device of this application. Specifically, the state detection device includes an acquisition module and a detection module. The acquisition module is used to acquire temperature information of the brake disc and braking execution information of the hydraulic braking unit. The detection module is used to determine whether the hydraulic braking unit is leaking fluid based on the temperature information and braking execution information, thereby detecting the state of the braking system.

[0081] This application also provides a braking system, including a brake disc, a hydraulic braking unit, a temperature determination unit, a sensor, and a controller. The vehicle braking system state detection method of this application can be implemented by the controller of this application. Specifically, the temperature determination unit is configured to collect temperature information of the brake disc. The sensor is configured to collect braking execution information of the hydraulic braking unit. The controller is configured to acquire the temperature information and braking execution information, and determine whether the hydraulic braking unit is leaking fluid based on the temperature information and braking execution information, thereby detecting the state of the braking system.

[0082] This application also provides a vehicle, which includes a memory and a processor. The vehicle braking system state detection method of this application can be implemented by the vehicle of this application. Specifically, the memory stores a computer program, and the processor is used to acquire temperature information of the brake disc and braking execution information of the hydraulic braking unit; based on the temperature information and braking execution information, it determines whether the hydraulic braking unit is leaking fluid, thereby detecting the state of the braking system.

[0083] In other words, the vehicle (or controller in the braking system) of this application, after obtaining the temperature information of the brake disc collected by the sensors and the braking execution information of the hydraulic braking unit—that is, knowing the temperature of the brake disc and the operating status of each component in the hydraulic braking unit—can determine whether the hydraulic braking unit is leaking fluid based on the temperature information and the braking execution information, thereby determining the state of the braking system. If the hydraulic braking unit is leaking fluid, the braking system is considered abnormal; conversely, if the hydraulic braking unit is not leaking fluid, the braking system is considered normal.

[0084] It should be noted that when the brake disc temperature is high, the braking performance of the brake disc will temporarily decrease. Therefore, if the brake disc temperature information indicates that the temperature of the brake disc is higher than a large value (such as 500°C), the actual braking force generated when the vehicle brakes may not match the expected braking force due to the decreased braking performance of the brake disc. In other words, the difference between the actual braking force and the expected braking force may be greater than a certain value.

[0085] It should also be noted that the braking execution information in the embodiments of this application can be used to characterize the operating status of the devices in the hydraulic braking unit. For example, taking the above-mentioned braking system 100 as an example, the braking execution information includes, but is not limited to, the aforementioned hydraulic pressure (i.e., the brake fluid pressure corresponding to the plunger stroke), the aforementioned fluid volume (i.e., the target fluid volume pumped into the plunger by the motor corresponding to the hydraulic pressure), the pedal opening of the brake pedal 103, the plunger stroke of the master cylinder of the series hydraulic master cylinder 102, and the actual braking force generated by the vehicle.

[0086] Furthermore, the embodiments of this application can determine whether the hydraulic braking unit is operating normally based on the braking execution information of the hydraulic braking unit. For example, it can detect whether the actual braking force generated by the vehicle is the same as the expected target braking force. If they are different, it can be determined that the hydraulic braking unit is operating abnormally, that is, there is a leakage in the hydraulic braking unit, and thus the braking system is considered abnormal. Conversely, if the actual braking force is the same as the target braking force, it can be determined that the hydraulic braking unit is operating normally (i.e., there is no leakage), and the braking system is considered normal.

[0087] For example, the relative relationship between the brake pedal opening 103 and the actual braking force is checked to see if it conforms to the calibration or expected condition. If it does, the hydraulic braking unit is considered to be operating normally; otherwise, it is considered to be operating abnormally. It is understandable that when the braking system is in a normal state, there is a clear mapping relationship between the brake pedal opening and the actual braking force, such as a positive correlation.

[0088] Furthermore, if the brake execution information indicates that the hydraulic brake unit is operating abnormally, such as when the vehicle fails to generate the expected or target braking force, the reasons for the vehicle's failure to generate the expected braking force may include "hydraulic brake unit leakage" and "brake disc being in a high-temperature state". Therefore, the embodiments of this application can determine whether the temperature of the brake disc exceeds a high value based on the temperature information of the brake disc. If not, it indicates that the reason why the vehicle fails to generate the expected braking force is "hydraulic brake unit leakage" rather than "brake disc being in a high-temperature state". Thus, it can be determined that there is leakage in the hydraulic brake unit, and the braking system is operating abnormally. The reason for the abnormal operation is "hydraulic brake unit leakage".

[0089] Conversely, if the brake disc temperature exceeds the higher value mentioned above, it can be determined that the vehicle's failure to generate the expected braking force is due to either "hydraulic brake unit leakage" or "brake disc being at a high temperature." To accurately determine whether the vehicle is leaking fluid, the vehicle in this embodiment can prompt the user to park the vehicle on either side of the road to check the fluid reservoir (e.g., after the brake discs have cooled down) after the high temperature condition has subsided. Figure 1 Is the current capacity of the brake fluid in section 101 the expected capacity?

[0090] If the current capacity is not the expected capacity, it indicates that some brake fluid has leaked from the hydraulic braking unit during operation, resulting in a lower-than-expected brake fluid level in the reservoir. Therefore, it can be concluded that there is a leak in the hydraulic braking unit, and the braking system is malfunctioning, with the cause being "hydraulic braking unit leakage." Conversely, if the current capacity is the expected capacity, it indicates that the vehicle's failure to generate the expected braking force is due to the brake discs being at a high temperature. Therefore, it can be concluded that there is no leak in the hydraulic braking unit, and the braking system is malfunctioning, with the cause being "brake discs at a high temperature."

[0091] Furthermore, it is understandable that the embodiments of this application may first determine whether the brake disc is in a high-temperature state based on the brake disc temperature information, and then determine whether the hydraulic braking unit is operating abnormally (or normally) in conjunction with the braking execution information. If the brake disc is not in a high-temperature state and the vehicle fails to generate the expected braking force, and the braking execution information determines that the hydraulic braking unit is operating abnormally, then it is determined that the hydraulic braking unit has a leakage problem.

[0092] In summary, the embodiments of this application enable the vehicle to determine its status based on the temperature information of the brake disc and the braking execution information of the hydraulic braking unit. Specifically, it determines whether the hydraulic braking unit is leaking, thus identifying potential vehicle safety hazards. Consequently, once the user is aware of whether the hydraulic braking unit is leaking, they can adaptively repair the vehicle, thereby preventing situations where the user is unaware of a leak but still drives the vehicle, or fails to repair the vehicle. This ensures the safety of the vehicle and its occupants, reducing the probability of traffic accidents. Furthermore, since this embodiment determines whether the hydraulic braking unit is leaking based on the temperature information of the brake disc and the braking execution information of the hydraulic braking unit, it can, to some extent, prevent situations where the vehicle mistakenly assumes a leak when the brake disc temperature is too high but the braking execution information indicates that the hydraulic braking unit is operating normally. This ensures reliable leak detection of the hydraulic braking unit.

[0093] Furthermore, it is understood that in some embodiments of this application, the vehicle may enter the aforementioned leak circuit detection mode, which reduces the vehicle's pressure-building capacity, only after a leak in the hydraulic braking unit is detected. It is understood that in the embodiments of this application, the vehicle enters the aforementioned leak circuit detection mode, thus reducing the vehicle's pressure-building capacity, only after determining a leak in the hydraulic braking unit based on the brake disc temperature information and the braking execution information of the hydraulic braking unit.

[0094] Therefore, it can avoid situations where the hydraulic braking unit does not actually leak, but the vehicle mistakenly enters the aforementioned leak circuit detection mode when the temperature information of the brake disc is not checked for abnormality, or when the factor that "excessive brake fluid temperature will also lead to a decrease in vehicle braking performance" is not considered. This ensures the reliable entry of the leak circuit detection mode.

[0095] Additionally, it should be noted that in the embodiments of this application, the controller (see reference) Figure 1The controller 105 can detect whether the hydraulic braking unit is leaking according to a pre-programmed sequence. Simultaneously, the controller in this embodiment can also control the opening and closing of valves in the hydraulic pipeline 106. Furthermore, it is understood that the controller in this embodiment may also have other executable functions such as calculation, arbitration, and distribution of braking torque.

[0096] Furthermore, it should be noted that the specific method by which the temperature determination unit obtains the brake disc temperature information in the embodiments of this application is customizable according to actual conditions. For example, in some embodiments, the temperature determination unit is equipped with a pre-trained brake disc temperature estimation model for determining the brake disc temperature based on specific input parameters (such as the actual braking force or actual hydraulic pressure of the vehicle). Therefore, when the temperature determination unit receives the aforementioned specific input parameters, it can estimate the corresponding brake disc temperature and send the brake disc temperature to the controller.

[0097] In some embodiments of this application, please refer to Figure 3 Step 02 includes:

[0098] 020: Determine the state estimation result of the hydraulic braking unit based on the braking execution information. The state estimation result includes whether the hydraulic braking unit may leak fluid, whether the hydraulic braking unit does not leak fluid, and whether the hydraulic braking unit leaks fluid.

[0099] 021: In the event of potential leakage in the hydraulic braking unit, determine whether the hydraulic braking unit is leaking based on temperature information in order to detect the status of the braking system;

[0100] 022: In the case of whether the hydraulic brake unit is leaking or not, the vehicle condition estimation results are used to determine whether the hydraulic brake unit is leaking, so as to detect the condition of the braking system.

[0101] The detection module in this embodiment is further configured to determine the state estimation result of the hydraulic braking unit based on the braking execution information. The state estimation result includes whether the hydraulic braking unit may leak fluid, whether the hydraulic braking unit does not leak fluid, and whether the hydraulic braking unit leaks fluid. In the case that the hydraulic braking unit may leak fluid, the module determines whether the hydraulic braking unit leaks fluid based on the temperature information to detect the state of the braking system. In the case that the hydraulic braking unit leaks fluid or does not leak fluid, the module determines whether the hydraulic braking unit leaks fluid based on the vehicle state estimation result to detect the state of the braking system.

[0102] The controller in this embodiment is configured to determine the state estimation result of the hydraulic braking unit based on braking execution information, wherein the state estimation result includes whether the hydraulic braking unit may leak fluid, whether the hydraulic braking unit does not leak fluid, and whether the hydraulic braking unit leaks fluid; in the case that the hydraulic braking unit may leak fluid, the controller determines whether the hydraulic braking unit leaks fluid based on temperature information to detect the state of the braking system; in the case that the hydraulic braking unit leaks fluid or does not leak fluid, the controller determines whether the hydraulic braking unit leaks fluid based on the vehicle state estimation result to detect the state of the braking system.

[0103] The processor in this embodiment is further configured to determine the state estimation result of the hydraulic braking unit based on the braking execution information, wherein the state estimation result includes the possibility of leakage of the hydraulic braking unit, the absence of leakage of the hydraulic braking unit, and leakage of the hydraulic braking unit; in the case of the possibility of leakage of the hydraulic braking unit, the processor determines whether the hydraulic braking unit is leaking based on the temperature information to detect the state of the braking system; in the case of leakage or absence of leakage of the hydraulic braking unit, the processor determines whether the hydraulic braking unit is leaking based on the vehicle state estimation result to detect the state of the braking system.

[0104] In other words, in order to ensure the efficient detection of the hydraulic braking unit, the implementation method of this application first determines whether the hydraulic braking unit is operating abnormally by using the braking execution information of the hydraulic braking unit. That is, it determines whether the braking execution information can clearly indicate whether the hydraulic braking unit is leaking fluid (corresponding to "the state estimation result is that the hydraulic braking unit is leaking fluid or not leaking fluid"), or whether the braking execution information can only vaguely indicate that the hydraulic braking unit may be leaking fluid (corresponding to "the state estimation result is that the hydraulic braking unit may be leaking fluid").

[0105] Furthermore, if the braking execution information clearly indicates whether the hydraulic braking unit is leaking fluid, that is, if the state estimation result indicates that the hydraulic braking unit is leaking fluid or not leaking fluid, then the embodiment of this application directly adopts the state estimation result, that is, determines whether the hydraulic braking unit is leaking fluid based on the state estimation result.

[0106] Exemplary, with Figure 1For example, when a user presses the brake pedal, causing the vehicle to draw brake fluid from controller 105 into each caliper (i.e., 107 to 110) according to the braking stroke, thus generating a certain amount of braking force—that is, the target braking force—if the actual braking force generated by the vehicle does not match the target braking force, or in other words, if the difference between the actual braking force and the target braking force is greater than or equal to a higher preset threshold, then the hydraulic braking unit can be considered to be leaking fluid. Conversely, if the difference between the actual braking force and the target braking force is less than or equal to a lower preset threshold, then the hydraulic braking unit can be considered not leaking fluid. And, if the difference between the actual braking force and the target braking force is less than the higher preset threshold but greater than the lower preset threshold, then the hydraulic braking unit can be considered to be possibly leaking fluid.

[0107] Furthermore, if the state estimation result indicates that the hydraulic braking unit may be leaking fluid, or if the leakage is so minor that the braking execution information cannot clearly characterize the leakage, the vehicle (or controller) in this embodiment can determine whether the hydraulic braking unit is actually leaking fluid based on the brake disc temperature information. For example, if the brake disc temperature is higher than a preset value (e.g., 500°C), it is determined that the hydraulic braking unit is not leaking fluid; that is, the reason why the vehicle does not generate the expected braking force during braking is determined to be that the brake disc is at a high temperature. Conversely, if the brake disc temperature is not higher than the aforementioned preset value, it can be determined that the reason why the vehicle does not generate the expected braking force during braking is that the hydraulic braking unit is leaking fluid.

[0108] Thus, the embodiments of this application enable the vehicle to determine whether the hydraulic braking unit is leaking fluid, not leaking fluid, or possibly leaking fluid, after determining the corresponding state estimation result based on the braking execution information of the hydraulic braking unit. This allows for a preliminary estimation of whether the hydraulic braking unit is leaking fluid, not leaking fluid, or possibly leaking fluid. Furthermore, the embodiments of this application can also directly determine whether the hydraulic braking unit is leaking fluid based on the state estimation result, even if the state estimation result indicates leakage or no leakage. That is, when the braking execution information clearly indicates leakage or no leakage, the brake disc temperature information is no longer considered. This, to a certain extent, ensures that the vehicle can efficiently determine whether the hydraulic braking unit is leaking fluid.

[0109] In some embodiments of this application, please refer to Figure 4 Step 021 includes:

[0110] 0210: In cases where the hydraulic braking unit may leak fluid and the temperature of the brake disc is higher than the preset temperature, confirm that the hydraulic braking unit is not leaking fluid;

[0111] 0211: If the hydraulic braking unit may leak fluid and the temperature of the brake disc is not higher than the preset temperature, it is determined that the hydraulic braking unit is leaking fluid.

[0112] The detection module in this application embodiment is also used to determine that the hydraulic braking unit is not leaking when the hydraulic braking unit may leak fluid and the temperature of the brake disc is higher than a preset temperature; and to determine that the hydraulic braking unit is leaking fluid when the hydraulic braking unit may leak fluid and the temperature of the brake disc is not higher than a preset temperature.

[0113] The controller in this embodiment is configured to determine that the hydraulic braking unit is not leaking when the hydraulic braking unit may leak fluid and the temperature of the brake disc is higher than a preset temperature; and to determine that the hydraulic braking unit is leaking fluid when the hydraulic braking unit may leak fluid and the temperature of the brake disc is not higher than a preset temperature.

[0114] The processor in this embodiment is also configured to determine that the hydraulic braking unit is not leaking when the hydraulic braking unit may leak fluid and the temperature of the brake disc is higher than a preset temperature; and to determine that the hydraulic braking unit is leaking fluid when the hydraulic braking unit may leak fluid and the temperature of the brake disc is not higher than a preset temperature.

[0115] That is, after estimating that the hydraulic braking unit may be leaking or is suspected of leaking fluid based on the braking operation information of the hydraulic braking unit, or in other words, if it is determined that the reason why the vehicle cannot generate the expected braking force may be that "the degree of leakage of the hydraulic braking unit is too low or too slight" or "the brake disc is in a high temperature state", the embodiments of this application can determine whether the hydraulic braking unit is leaking fluid based on the current temperature of the brake disc and a predetermined temperature threshold (i.e., preset temperature).

[0116] It is understood that the preset temperature in the embodiments of this application is a value that can be set according to the actual situation. For example, in some embodiments, since the temperature of the brake disc is within the range of [100℃, 500℃], the preset temperature is 500℃. In other embodiments, the preset temperature range is [450℃, 500℃].

[0117] Furthermore, if the temperature of the brake disc is higher than the preset temperature, it can be determined that the reason why the vehicle cannot generate the expected braking force is that "the brake disc is in a high temperature state", and thus, it can be determined that the hydraulic braking unit is not leaking fluid.

[0118] Conversely, if the temperature of the brake disc is not higher than the preset temperature, it can be determined that the reason why the vehicle cannot generate the expected braking force is that "there is a slight leakage in the hydraulic braking unit", and thus, it is determined that the hydraulic braking unit is leaking.

[0119] Thus, the embodiments of this application enable the vehicle to determine whether the hydraulic braking unit is actually leaking based on the temperature of the brake disc when it is estimated that the hydraulic braking unit may be leaking or is suspected of leaking, thereby ensuring that the leak detection of the hydraulic braking unit can be reliably performed to a certain extent.

[0120] Furthermore, it is understandable that in some embodiments, the vehicle according to this application can enter the aforementioned leak circuit detection mode, which reduces the vehicle's pressure-building capacity, only after a leak in the hydraulic braking unit has been determined. It is understood that since a leak in the hydraulic braking unit has already been determined when the vehicle enters the leak circuit detection mode, or in other words, it has been determined that the reason the vehicle cannot generate the expected braking force is not due to "the brake disc being at a high temperature," the vehicle entering the leak circuit detection mode can reasonably and reliably inspect the hydraulic lines, accurately detect leaking lines, and thus provide accurate inspection results for subsequent vehicle maintenance, enabling efficient vehicle maintenance.

[0121] In some embodiments of this application, the braking execution information includes hydraulic information and master cylinder plunger stroke information. Based on this, please refer to... Figure 5 In the state detection method of this application embodiment, step 020 includes:

[0122] 0200: Determine the state estimation result based on the hydraulic information and master cylinder plunger stroke information obtained during the braking process.

[0123] The acquisition / detection module in this application embodiment is also used to determine the state estimation result based on the hydraulic information and master cylinder plunger stroke information acquired during the braking process.

[0124] The controller in this embodiment is also used to determine the state estimation result based on the hydraulic information and master cylinder plunger stroke information obtained during the braking process.

[0125] The processor in this embodiment is also used to determine the state estimation result based on the hydraulic information and master cylinder plunger stroke information obtained during the braking process.

[0126] That is, the vehicle (or controller) of the present application embodiment can estimate whether there is leakage in the hydraulic braking unit based on the hydraulic information and master cylinder plunger stroke information obtained during the braking process.

[0127] It is understandable that the master cylinder plunger stroke and hydraulic pressure have a relatively clear linear relationship during the operation of the hydraulic braking unit; in other words, the master cylinder plunger stroke is related to the hydraulic pressure. Therefore, any value of the master cylinder plunger stroke corresponds to a hydraulic pressure.

[0128] Therefore, the implementation method itself can determine whether the hydraulic pressure and master cylinder plunger stroke during braking are consistent with expectations based on the acquired hydraulic information and master cylinder plunger stroke. For example, it can determine whether the ideal hydraulic pressure corresponding to the master cylinder plunger stroke is the same as the actual hydraulic pressure obtained (or, whether the difference between the ideal hydraulic pressure and the actual hydraulic pressure is less than a minimum value). If they are the same (the difference between the ideal hydraulic pressure and the actual hydraulic pressure is less than a minimum value), then it is determined that the hydraulic braking unit is not leaking. If they are not the same (the difference between the ideal hydraulic pressure and the actual hydraulic pressure is not less than a minimum value), then it is determined that the hydraulic braking unit is leaking or may be leaking.

[0129] Thus, the embodiments of this application enable the vehicle to reliably estimate whether the hydraulic braking unit is leaking fluid based on the hydraulic information and master cylinder plunger stroke information obtained during braking, thereby ensuring the reliability of the state estimation results.

[0130] In some embodiments of this application, please refer to Figure 6 Step 0200 in the state detection method includes:

[0131] 02000: Based on the hydraulic information and master cylinder plunger stroke information obtained during braking, determine the first mapping relationship information of hydraulic pressure relative to master cylinder plunger stroke;

[0132] 02001: Determine the vehicle state estimation result based on the first mapping relationship information and the pre-determined first calibration mapping relationship information.

[0133] The detection module in this embodiment is further configured to determine the first mapping relationship information of hydraulic pressure relative to the master cylinder plunger stroke based on the hydraulic information and master cylinder plunger stroke information obtained during braking; and to determine the vehicle state estimation result based on the first mapping relationship information and the pre-determined first calibration mapping relationship information.

[0134] The controller in this embodiment is further configured to determine a first mapping relationship information of hydraulic pressure relative to the master cylinder plunger stroke based on the hydraulic information and master cylinder plunger stroke information obtained during braking; and to determine the vehicle state estimation result based on the first mapping relationship information and the pre-determined first calibration mapping relationship information.

[0135] The processor in this embodiment is further configured to determine a first mapping relationship information between hydraulic pressure and master cylinder plunger stroke based on the hydraulic information and master cylinder plunger stroke information obtained during braking; and to determine the vehicle state estimation result based on the first mapping relationship information and a pre-determined first calibration mapping relationship information.

[0136] That is, the embodiments of this application can determine the rate of change of hydraulic pressure relative to the master cylinder plunger stroke during braking, or the rate of change of master cylinder plunger stroke relative to hydraulic pressure during braking, based on the hydraulic information and master cylinder plunger stroke information obtained during braking, or multiple hydraulic values ​​and multiple master cylinder plunger stroke values ​​continuously collected by sensors during braking, which is also the first mapping relationship information.

[0137] Then, based on the prior knowledge or calibration information obtained from the prior experiments, or in other words, after collecting multiple hydraulic values ​​and multiple master cylinder plunger stroke values ​​on the hydraulic braking unit that is not leaking, and based on the first calibration mapping relationship information determined by the multiple hydraulic values ​​and multiple master cylinder plunger stroke values, it is determined whether the first mapping relationship information and the first calibration mapping relationship information match, thereby determining whether the hydraulic braking unit is leaking.

[0138] It is understandable that the specific process for determining the first mapping relationship information is something that can be set according to the actual situation. For example, in some embodiments, the mapping relationship information refers to the slope. Then, after obtaining two hydraulic values ​​continuously collected during the braking process and the two master cylinder plunger stroke values ​​corresponding to the two hydraulic values, the stroke difference between the two master cylinder plunger stroke values ​​is calculated, and the hydraulic difference between the two hydraulic values ​​is calculated. Then, the ratio of the hydraulic difference to the stroke difference is calculated to obtain the first mapping relationship information.

[0139] It is also understandable that, when the mapping relationship information refers to the slope, the first calibration mapping relationship information can be understood as the standard slope of the hydraulic and master cylinder plunger stroke values ​​under ideal conditions.

[0140] Based on this, the embodiments of this application can directly determine the magnitude relationship between the first mapping relationship information and the first calibration mapping relationship information, that is, the magnitude of the two slopes under the actual scenario and the ideal scenario, to estimate whether the hydraulic braking unit is leaking fluid.

[0141] It is understandable that if the rate of change of hydraulic pressure with the master cylinder plunger stroke, as represented by the first calibration mapping information, differs significantly from that of the first calibration mapping information (or, the difference between the two slopes is greater than or equal to a larger value), then it can be determined that the hydraulic braking unit is leaking fluid.

[0142] If the rate of change of hydraulic pressure with the stroke of the master cylinder plunger is small (or the difference between the two slopes is less than a larger value but greater than a smaller value), then it can be concluded that the hydraulic braking unit may be leaking fluid.

[0143] Similarly, if the rate of change of hydraulic pressure with respect to the master cylinder plunger stroke is small (or the difference between the two slopes is less than or equal to a smaller value), then it can be concluded that the hydraulic braking unit is not leaking.

[0144] Thus, the embodiments of this application enable the vehicle to estimate whether the hydraulic braking unit is leaking based on the first mapping relationship information of hydraulic pressure relative to the master cylinder plunger stroke during actual braking, and the first calibration mapping relationship information of hydraulic pressure relative to the master cylinder plunger stroke under predetermined ideal conditions, thereby reliably determining whether the hydraulic braking unit is leaking to a certain extent.

[0145] Furthermore, it can be understood that the embodiments of this application can also fit a curve showing the change in hydraulic value relative to the master cylinder plunger based on all hydraulic values ​​and master cylinder plunger stroke values ​​collected during a single braking process, and use this curve as the first mapping relationship information. Therefore, the first calibration mapping relationship information is the curve showing the change in hydraulic value relative to the master cylinder plunger under ideal conditions. Thus, the embodiments of this application can use a preset image recognition algorithm or unit to determine whether the curve corresponding to the first mapping relationship information and the curve showing the change in the first calibration mapping relationship information are similar. If they are similar, it is determined that the hydraulic braking unit is not leaking. If they are not similar, it is determined that the hydraulic braking unit is leaking or may be leaking.

[0146] In some embodiments of this application, the braking execution information includes hydraulic information and injected fluid volume information. Based on this, please refer to... Figure 7 Step 020 in the state detection method includes:

[0147] 0201: Determine the state estimation result based on the hydraulic information and injection fluid volume information of the hydraulic braking unit obtained during the braking process.

[0148] The detection module in this embodiment is also used to determine the state estimation result based on the hydraulic information and injection fluid volume information of the hydraulic braking unit obtained during the braking process.

[0149] The controller in this embodiment is also used to determine the state estimation result based on the hydraulic information and injection fluid volume information of the hydraulic braking unit obtained during the braking process.

[0150] The processor in this embodiment is also used to determine the state estimation result based on the hydraulic information and injection fluid volume information of the hydraulic braking unit obtained during the braking process.

[0151] In other words, the embodiments of this application can estimate whether the hydraulic braking unit is leaking based on hydraulic information and injected fluid volume information during the braking process. It should be noted that the injected fluid volume information in the embodiments of this application can be understood as the target brake fluid volume required to generate or establish the corresponding brake fluid pressure, determined internally by the hydraulic braking unit based on the plunger's movement after the user depresses the brake pedal, or in other words, based on the plunger's stroke. Alternatively, it can be understood as the target fluid volume pumped into the plunger by the motor corresponding to the brake fluid pressure.

[0152] It is understandable that during braking, or rather, during the operation of the hydraulic braking unit, the higher the hydraulic pressure, the higher the amount of hydraulic fluid required to be injected. There is a clear mapping relationship between hydraulic pressure and the amount of hydraulic fluid injected, such as a positive correlation.

[0153] Therefore, the embodiments of this application can estimate whether the hydraulic braking unit is leaking based on the hydraulic information and injected fluid volume information collected by sensors during braking. Exemplarily, in the case of continuously collecting a hydraulic value and the corresponding actual injected fluid volume value, the ideal injected fluid volume value corresponding to the injected fluid volume value is calculated based on a predetermined linear relationship between hydraulic pressure and injected fluid volume. Then, it is determined whether an actual injected fluid volume value and an ideal injected fluid volume value are the same, or in other words, whether the difference between the two is less than or equal to a smaller preset value (e.g., 5 ml). If so, it can be determined that the hydraulic braking unit is not leaking. If not, but the difference between the two is less than a larger preset value (e.g., 8 ml), it can be determined that the hydraulic braking unit may be leaking. And if the difference between the two is greater than the aforementioned larger preset value, it can be determined that the hydraulic braking unit is leaking.

[0154] Thus, the embodiments of this application enable the vehicle to estimate whether the hydraulic braking unit is leaking fluid based on the hydraulic information and the amount of injected fluid obtained during the braking process. That is, the state estimation result of the hydraulic braking unit is determined, so that the determination efficiency and accuracy of the state estimation result can be guaranteed to a certain extent.

[0155] In some embodiments of this application, please refer to Figure 8 Step 0201 includes:

[0156] 02010: Based on the fluid volume information obtained during braking and the first hydraulic pressure value and the second hydraulic pressure value obtained twice consecutively, determine the first injection fluid volume corresponding to the first hydraulic pressure value and the second injection fluid volume corresponding to the first hydraulic pressure value;

[0157] 02011: If the first difference between the first injected fluid volume and the first calibrated injected fluid volume corresponding to the first hydraulic value, or the second difference between the second injected fluid volume and the second calibrated injected fluid volume corresponding to the second hydraulic value, is greater than a preset difference, it is determined that the hydraulic braking unit may be leaking fluid, wherein the first calibrated injected fluid volume and the second calibrated injected fluid volume are predetermined;

[0158] 02012: If neither the first difference nor the second difference is greater than the preset difference, it is determined that the hydraulic braking unit is not leaking fluid.

[0159] The detection module in this embodiment is further configured to determine, based on the fluid volume information obtained during braking and the first hydraulic value and the second hydraulic value obtained twice consecutively, a first injection fluid volume corresponding to the first hydraulic value and a second injection fluid volume corresponding to the first hydraulic value; if the first difference between the first injection fluid volume and the first calibrated injection fluid volume corresponding to the first hydraulic value, or the second difference between the second injection fluid volume and the second calibrated injection fluid volume corresponding to the second hydraulic value, is greater than a preset difference, it is determined that the hydraulic braking unit may be leaking fluid, wherein the first calibrated injection fluid volume and the second calibrated injection fluid volume are predetermined; if neither the first difference nor the second difference is greater than the preset difference, it is determined that the hydraulic braking unit is not leaking fluid.

[0160] The controller in this embodiment is further configured to determine, based on the fluid volume information obtained during braking and the first hydraulic value and the second hydraulic value obtained twice consecutively, a first injection fluid volume corresponding to the first hydraulic value and a second injection fluid volume corresponding to the first hydraulic value; if the first difference between the first injection fluid volume and the first calibrated injection fluid volume corresponding to the first hydraulic value, or the second difference between the second injection fluid volume and the second calibrated injection fluid volume corresponding to the second hydraulic value, is greater than a preset difference, it is determined that the hydraulic braking unit may be leaking fluid, wherein the first calibrated injection fluid volume and the second calibrated injection fluid volume are predetermined; if neither the first difference nor the second difference is greater than the preset difference, it is determined that the hydraulic braking unit is not leaking fluid.

[0161] The processor in this embodiment is further configured to determine, based on the fluid volume information obtained during braking and the first hydraulic value and the second hydraulic value obtained twice consecutively, a first injection fluid volume corresponding to the first hydraulic value and a second injection fluid volume corresponding to the first hydraulic value; if the first difference between the first injection fluid volume and the first calibrated injection fluid volume corresponding to the first hydraulic value, or the second difference between the second injection fluid volume and the second calibrated injection fluid volume corresponding to the second hydraulic value, is greater than a preset difference, it is determined that the hydraulic braking unit may be leaking fluid, wherein the first calibrated injection fluid volume and the second calibrated injection fluid volume are predetermined; if neither the first difference nor the second difference is greater than the preset difference, it is determined that the hydraulic braking unit is not leaking fluid.

[0162] It should be noted that, since there is a clear linear relationship between hydraulic pressure and injection volume under ideal conditions, the embodiments of this application can determine the minimum ideal injection volume corresponding to the two actually collected hydraulic pressure values, that is, the first calibration injection volume and the second calibration injection volume. For a clearer explanation of the relationship between hydraulic pressure and injection volume in the embodiments of this application, please refer to [link to relevant documentation]. Figure 9 , Figure 9 This is a schematic diagram showing the mapping relationship between hydraulic pressure and injection volume in certain embodiments of this application. Figure 9In the diagram, curve 301 represents the ideal mapping relationship between hydraulic pressure and injected fluid volume, curve 302 represents the upper limit of the mapping relationship, and curve 303 represents the lower limit of the mapping relationship. P1 and P0 represent two hydraulic pressure values ​​collected during braking, and V1 and V0 are the first and second calibrated injected fluid volumes obtained based on P1, P0, and curve 303.

[0163] Furthermore, assuming that during the actual braking process, the first injection fluid volume and the second injection fluid volume relative to P1 and P0 are V1' and V0' respectively, then the embodiments of this application can determine whether the corresponding first difference and second difference are greater than a preset difference based on V1, V0, V1', and V0'. The calculation of the first difference ΔV1 and the second difference ΔV0 can be shown in the following formula.

[0164] ΔV1=V′1-V1

[0165] ΔV0=V′0-V0

[0166] Furthermore, if ΔV1 or ΔV0 is greater than a preset difference, the embodiment of this application can determine that the hydraulic braking unit may be leaking fluid. Conversely, if neither ΔV1 nor ΔV0 is greater than the preset difference, the embodiment of this application can determine that the hydraulic braking unit is not leaking fluid.

[0167] Thus, the embodiments of this application enable the vehicle to calculate the first difference and the second difference between the two injection fluid volumes and the two calibrated injection fluid volumes corresponding to the two hydraulic values ​​continuously collected during the braking process, combined with the two calibrated injection fluid volumes corresponding to the two hydraulic values ​​under ideal conditions, and determine whether the hydraulic braking unit is leaking fluid based on the first difference and the second difference, that is, to determine the state estimation result, thereby ensuring the reliability of the state estimation result to a certain extent.

[0168] Furthermore, it can be understood that the specific size of the preset difference in the embodiments of this application is set according to the actual situation. For example, in some embodiments, the value range of the preset difference is [7 ml, 8 ml].

[0169] In some embodiments of this application, please refer to Figure 10 Step 02011 includes:

[0170] 020110: If the first difference or the second difference is greater than the preset difference, determine the second mapping relationship information of hydraulic pressure relative to injection volume based on the first hydraulic pressure value, the second hydraulic pressure value, the first injection volume, and the second injection volume;

[0171] 020111: If the second mapping relationship information matches the pre-determined second calibration mapping relationship information, it is determined that the hydraulic braking unit may be leaking fluid.

[0172] The detection module in this embodiment is further configured to, when the first difference or the second difference is greater than a preset difference, determine a second mapping relationship information of hydraulic pressure relative to injection volume based on the first hydraulic pressure value, the second hydraulic pressure value, the first injection volume, and the second injection volume; and determine that the hydraulic braking unit may leak fluid when the second mapping relationship information matches the preset second calibration mapping relationship information.

[0173] The controller in this application embodiment is further configured to, when the first difference or the second difference is greater than a preset difference, determine a second mapping relationship information of hydraulic pressure relative to injection volume based on the first hydraulic pressure value, the second hydraulic pressure value, the first injection volume, and the second injection volume; and determine that the hydraulic braking unit may leak fluid when the second mapping relationship information matches the preset second calibration mapping relationship information.

[0174] The processor in this embodiment is further configured to, when the first difference or the second difference is greater than a preset difference, determine a second mapping relationship information of hydraulic pressure relative to injection volume based on the first hydraulic pressure value, the second hydraulic pressure value, the first injection volume, and the second injection volume; and determine that the hydraulic braking unit may leak fluid when the second mapping relationship information matches the preset second calibration mapping relationship information.

[0175] That is, taking P1, P0, V1, V0, V1', V0', ΔV1, and ΔV0 as examples, combined with... Figure 11 , Figure 11 This is a schematic diagram of the mapping relationship between hydraulic pressure and injected fluid volume in certain embodiments of this application. That is, when both ΔV1 and ΔV0 are greater than a preset difference, the change relationship between hydraulic pressure and fluid volume during the actual braking process can be determined based on P1, P0, V1, and V0, which is the second mapping relationship information. In some embodiments, the second mapping relationship information is obtained as (P1-P0) / (V1-V0).

[0176] Then, according to Figure 11 As shown, the slope k0 corresponding to P1 on curve 303 is determined to obtain the second calibration mapping relationship information.

[0177] Finally, based on the second mapping relationship information and the second calibration mapping relationship, it is determined whether the relationship between the hydraulic pressure and the change in fluid volume under the actual braking process and the ideal braking process is similar or matched.

[0178] It is understood that the matching in the embodiments of this application can be interpreted as the difference being within a preset range. Exemplarily, it is assumed that (P1-P0) / (V1-V0) = kx Then we have: when k x If the difference between the second mapping information and the second calibration mapping relationship is less than a preset value, the second mapping relationship information is considered to match the second calibration mapping relationship. Otherwise, the second mapping relationship information is considered to not match the second calibration mapping relationship.

[0179] It is understandable that, since both ΔV1 and ΔV0 are greater than the preset difference, it can be inferred that the actual amount of fluid injected when generating hydraulic pressure P1 and P0 is higher than the amount required under ideal conditions. In other words, the hydraulic braking unit may leak fluid. However, because the second mapping relationship information and the second calibration mapping relationship match (e.g., k...), x If the difference between the hydraulic pressure and the fluid volume is less than a preset value, it indicates that the relationship between the hydraulic pressure and the fluid volume changes is the same or the difference is small in the actual braking process and the ideal braking process. Therefore, it is suspected or possible that the hydraulic braking unit is leaking fluid.

[0180] Thus, the embodiments of this application enable the vehicle to determine the second mapping relationship information of hydraulic pressure relative to injection fluid volume based on the first hydraulic pressure value, the second hydraulic pressure value, the first injection fluid volume, and the second injection fluid volume when both the first difference and the second difference are greater than the preset difference, that is, when the hydraulic braking unit may leak fluid. Furthermore, by combining the predetermined second calibration mapping relationship information that represents the mapping relationship of hydraulic pressure relative to injection fluid volume under ideal conditions, and determining that the second mapping relationship information matches the second calibration mapping relationship information, it is determined that the hydraulic braking unit may leak fluid, thereby ensuring the reliable determination of the state estimation result to a certain extent.

[0181] In some embodiments of this application, step 0201 further includes:

[0182] If the first difference or the second difference is greater than the preset difference, and the second mapping relationship information does not match the second calibration mapping relationship information, it is determined that the hydraulic braking unit is leaking fluid.

[0183] The detection module in this application embodiment is also used to determine that the hydraulic braking unit is leaking fluid when the first difference or the second difference is greater than a preset difference and the second mapping relationship information does not match the second calibration mapping relationship information.

[0184] The controller in this application embodiment is further configured to determine that the hydraulic braking unit is leaking fluid when the first difference or the second difference is greater than a preset difference and the second mapping relationship information does not match the second calibration mapping relationship information.

[0185] The processor in this embodiment is further configured to determine that the hydraulic braking unit is leaking fluid when the first difference or the second difference is greater than a preset difference and the second mapping relationship information does not match the second calibration mapping relationship information.

[0186] That is, using the above P1, P0, V1, V0, V1', V0', ΔV1, ΔV0, k x Taking k0 as an example, and combining it with Figure 11 That is, if both ΔV1 and ΔV0 are greater than the preset difference, then: compared with the case of no leakage or the ideal case, the actual amount of liquid pumped into the plunger by the motor required to generate hydraulic P1 is greater, so it is determined that the hydraulic braking unit may be leaking.

[0187] At the same time, combined with k x The relationship between k and k0, that is, the relationship between the second mapping relationship information and the second calibration mapping relationship information (such as k...). x If the value is less than k0, it further indicates that the hydraulic braking unit may be leaking fluid.

[0188] Therefore, in this embodiment of the application, after determining that the hydraulic braking unit may leak fluid based on the second mapping relationship information, the second calibration mapping relationship information, the first difference, and the second difference, the state estimation result of the hydraulic braking unit is determined to be leakage.

[0189] Thus, in this embodiment of the application, when the second mapping relationship information and the second calibration mapping relationship information do not match, and both the first difference and the second difference are not less than the preset difference, that is, when it is determined by the second mapping relationship information and the second calibration mapping relationship information that the hydraulic braking unit may leak fluid, and it is also determined by the first difference and the second difference that the hydraulic braking unit may leak fluid, the state estimation result of the hydraulic braking unit is identified as leaking fluid, thereby ensuring the reliable determination of the state estimation result to a certain extent.

[0190] In some embodiments of this application, please refer to Figure 12 , Figure 12 This is a flowchart illustrating the state detection method of a vehicle braking system in certain embodiments of this application, combined with the above-mentioned P1, P0, V1, V0, V1', V0', ΔV1, ΔV0, k x And k0, then we have:

[0191] Based on the data transmitted by the sensor, the hydraulic pressure detected in the first two consecutive measurements is determined to be P1, and the hydraulic pressure detected in the second measurement is determined to be P0. Then, based on... Figure 9 After determining that the calibrated injection volume corresponding to P1 is V1 and the calibrated injection volume corresponding to P0 is V0 under ideal conditions, the actual injection volume V1' corresponding to P1 and the actual injection volume V0' corresponding to P0 are determined by combining the liquid volume information collected by the sensor.

[0192] Next, ΔV1 is obtained based on the difference between the calibrated injection volume V1 and the actual injection volume V1' corresponding to P1. Similarly, ΔV0 is obtained based on the difference between the calibrated injection volume V0 and the actual injection volume V0' corresponding to P0.

[0193] Next, it is determined whether ΔV1 or ΔV0 is greater than a preset difference. Further, if ΔV1 or ΔV0 is greater than the preset difference, it can be determined that the hydraulic braking unit may be leaking fluid. Conversely, if neither ΔV1 nor ΔV0 is greater than the preset difference, it can be determined that the hydraulic braking unit is not leaking fluid.

[0194] If ΔV1 or ΔV0 is greater than a preset difference, k is obtained by the ratio of (P1-P0) and (V1-V0). x That is, k x = (P1-P0) / (V1-V0). Then combine... Figure 11 We obtain k0 corresponding to P1.

[0195] Then, determine k x Is it greater than k0? Furthermore, in k... x If the value is not greater than k0, the hydraulic braking unit is considered to be leaking. At k... x If the value is not greater than k0, the hydraulic braking unit is considered to be possibly or suspected of leaking fluid.

[0196] In k x If the temperature is not greater than k0, determine whether the brake disc temperature is higher than the preset temperature. Further, if the brake disc temperature is higher than the preset temperature, the cause of the brake system malfunction can be determined as "the brake disc is in a high-temperature state," thus confirming that the hydraulic brake unit is not leaking fluid. If the brake disc temperature is not higher than the preset temperature, the cause of the brake system malfunction can be determined as "the hydraulic brake unit is leaking fluid," meaning that the hydraulic brake unit is ultimately confirmed to be leaking fluid.

[0197] In addition, it should be noted that, Figure 11 Curve 304 in the diagram represents the mapping relationship between hydraulic pressure and injected fluid volume when the hydraulic braking unit has a slight leak. Curve 305 represents the mapping relationship between hydraulic pressure and injected fluid volume when the hydraulic braking unit has a moderate leak. Correspondingly, k1 represents the mapping relationship information when the hydraulic braking unit has a slight leak, and k2 represents the mapping relationship information when the hydraulic braking unit has a moderate or higher level of leak.

[0198] Therefore, in some embodiments of this application, when k is determined x And determine k x When it is below k0, or when k is determined x When matched with or compatible with K1, the vehicle can play a notification message to alert the occupants (or owner) that the hydraulic brake unit is leaking fluid, and recommend that the hydraulic brake unit be repaired after the vehicle has been driven. In the K1... xWhen the same as or matched with k2, the vehicle may play another prompt message to inform the user (or owner) that the hydraulic brake unit is leaking seriously and recommend that the hydraulic brake unit be repaired immediately.

[0199] This application also provides a vehicle, including a body, on which the above-described vehicle braking system status detection device is installed, or on which the above-described braking system is installed.

[0200] This application also provides a vehicle, including a memory and a processor. The memory stores a computer program, and when the computer program is executed by the processor, it implements the above-described method for detecting the state of the vehicle braking system.

[0201] This application also provides a computer-readable storage medium storing a computer program that, when executed by one or more processors, implements the above-described method for detecting the state of a vehicle braking system.

[0202] In this specification, the terms "specifically," "furthermore," "particularly," "understandably," etc., refer to specific features, structures, materials, or characteristics described in connection with embodiments or examples that are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0203] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this application pertain.

[0204] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A method for detecting the state of a vehicle braking system, characterized in that, include: Obtain temperature information of the brake disc and braking execution information of the hydraulic braking unit; The system determines whether the hydraulic braking unit is leaking based on the temperature information and the braking execution information, thereby detecting the status of the braking system. The step of determining whether the hydraulic braking unit is leaking based on the temperature information and the braking execution information, in order to detect the status of the braking system, includes: The state estimation result of the hydraulic braking unit is determined based on the braking execution information, wherein the state estimation result includes the possibility of leakage of the hydraulic braking unit, the absence of leakage of the hydraulic braking unit, and leakage of the hydraulic braking unit. In the event that the hydraulic braking unit may leak fluid, the temperature information is used to determine whether the hydraulic braking unit is leaking fluid, thereby detecting the status of the braking system; In the case of whether the hydraulic braking unit leaks fluid or not, the state estimation result of the vehicle is used to determine whether the hydraulic braking unit is leaking fluid, so as to detect the state of the braking system; The braking execution information includes hydraulic information and injected fluid volume information. Determining the state estimation result of the hydraulic braking unit based on the braking execution information includes: The state estimation result is determined based on the hydraulic information and the injected fluid volume information of the hydraulic braking unit obtained during the braking process.

2. The method according to claim 1, characterized in that, In the event that the hydraulic braking unit may leak, determining whether the hydraulic braking unit is leaking based on the temperature information, in order to detect the status of the braking system, includes: If the hydraulic braking unit may leak fluid and the temperature of the brake disc is higher than a preset temperature, it is determined that the hydraulic braking unit is not leaking fluid. If the hydraulic braking unit may leak fluid, and the temperature of the brake disc is not higher than a preset temperature, then the hydraulic braking unit is determined to be leaking fluid.

3. The method according to claim 1, characterized in that, The braking execution information includes hydraulic information and master cylinder plunger stroke information. Determining the state estimation result of the hydraulic braking unit based on the braking execution information includes: The state estimation result is determined based on the hydraulic information and master cylinder plunger stroke information obtained during the braking process.

4. The method according to claim 3, characterized in that, The step of determining the state estimation result based on the hydraulic information and the master cylinder plunger stroke information obtained during braking includes: Based on the hydraulic information and master cylinder plunger stroke information obtained during braking, a first mapping relationship information of hydraulic pressure relative to the master cylinder plunger stroke is determined; The state estimation result of the vehicle is determined based on the first mapping relationship information and the pre-determined first calibration mapping relationship information.

5. The method according to claim 1, characterized in that, The step of determining the state estimation result based on the hydraulic information and the injected fluid volume information of the hydraulic braking unit obtained during the braking process includes: Based on the injection fluid volume information obtained during the braking process and the first hydraulic value and the second hydraulic value obtained twice consecutively, the first injection fluid volume corresponding to the first hydraulic value and the second injection fluid volume corresponding to the second hydraulic value are determined. If the first difference between the first injected fluid volume and the first calibrated injected fluid volume corresponding to the first hydraulic value, or the second difference between the second injected fluid volume and the second calibrated injected fluid volume corresponding to the second hydraulic value, is greater than a preset difference, it is determined that the hydraulic braking unit may be leaking fluid, wherein the first calibrated injected fluid volume and the second calibrated injected fluid volume are predetermined. If neither the first difference nor the second difference is greater than the preset difference, it is determined that the hydraulic braking unit is not leaking fluid.

6. The method according to claim 5, characterized in that, The step of determining that the hydraulic braking unit may be leaking when the first difference between the first injected fluid volume and the first calibrated injected fluid volume corresponding to the first hydraulic value, or the second difference between the second injected fluid volume and the second calibrated injected fluid volume corresponding to the second hydraulic value, is greater than a preset difference includes: If either the first difference or the second difference is greater than the preset difference, a second mapping relationship information between hydraulic pressure and injection volume is determined based on the first hydraulic pressure value, the second hydraulic pressure value, the first injection volume, and the second injection volume. If the second mapping relationship information matches the pre-determined second calibration mapping relationship information, it is determined that the hydraulic braking unit may be leaking fluid.

7. The method according to claim 6, characterized in that, The step of determining the state estimation result based on the hydraulic information and the injected fluid volume information of the hydraulic braking unit obtained during the braking process further includes: If either the first difference or the second difference is greater than the preset difference, and the second mapping relationship information does not match the second calibration mapping relationship information, it is determined that the hydraulic braking unit is leaking fluid.

8. A state detection device for a vehicle braking system, characterized in that, The state detection device is used to implement the method according to any one of claims 1-7, including: The data acquisition module is used to collect temperature information of the brake disc and braking execution information of the vehicle's hydraulic braking unit. The detection module is used to determine the vehicle status based on the temperature information and the braking execution information, wherein the vehicle status includes leakage of hydraulic braking unit fluid.

9. A braking system, characterized in that, The braking system is used to implement the method according to any one of claims 1-7, and includes a brake disc, a hydraulic braking unit, a temperature determination unit, a sensor, and a controller; The temperature determination unit is configured to collect temperature information of the brake disc; The sensor is configured to collect braking execution information from the hydraulic braking unit; The controller is configured to acquire the temperature information and the braking execution information, and to determine whether the hydraulic braking unit is leaking fluid based on the temperature information and the braking execution information, so as to detect the status of the braking system.

10. A vehicle, characterized in that, The vehicle includes a vehicle body, which is equipped with a status detection device for the vehicle braking system as described in claim 8, or with a braking system as described in claim 9.

11. A vehicle, characterized in that, The method includes a memory and a processor, wherein the memory stores a computer program, which, when executed by the processor, implements the method according to any one of claims 1-7.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by one or more processors, implements the method of any one of claims 1-7.

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