Vacuum signal verification method, controller, vehicle and storage medium

Abstract

This invention discloses a method, controller, vehicle, and storage medium for verifying vacuum signals, belonging to the field of automotive braking technology. The method for verifying vacuum signals is applied to a braking system with a master cylinder and a vacuum booster, and includes: acquiring the vacuum fluctuation range of the braking system; acquiring the vacuum booster's vacuum signal and the master cylinder's pressure signal multiple times during a single braking cycle; determining the validity of the vacuum signal based on the pressure signal after the braking cycle; if all the vacuum signals acquired during the braking cycle are valid, calculating the detection fluctuation range of the vacuum booster and comparing it with the vacuum fluctuation range; if the detection fluctuation range exceeds the vacuum fluctuation range, the acquired vacuum signal is deemed unreliable. This method is beneficial for verifying the reliability of vacuum signals during vehicle operation, assisting the driver in judging the reliability of the vacuum booster.

Description

Technical Field

[0001] This invention relates to the field of vehicle braking technology, and in particular to a method for verifying vacuum signals, a controller, a vehicle, and a storage medium. Background Technology

[0002] Many vehicles currently use vacuum boosters to assist braking. The vehicle uses the engine's intake manifold or vacuum pump as a vacuum source, which transmits the vacuum to the vacuum booster through pipelines. When the driver presses the brake pedal, the vacuum booster uses atmospheric pressure to generate braking assistance, thereby achieving vehicle braking and deceleration. In order to monitor the vacuum status of the vacuum booster, the vehicle is generally equipped with a vacuum sensor.

[0003] In related technologies, the reliability of vacuum sensors cannot be verified during vehicle operation, resulting in low safety levels. If the vehicle is in extreme high or low temperature, humid, or high altitude environments, or experiences abnormal conditions such as power outages, the vacuum sensors will obtain inaccurate vacuum signals, which can easily lead to vacuum assist failure. Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a method for verifying vacuum signals, which is beneficial for verifying vacuum signals during vehicle operation and helps the driver judge the reliability of vacuum assist.

[0005] The present invention also proposes a controller.

[0006] The present invention also proposes a vehicle.

[0007] The present invention also proposes a computer storage medium.

[0008] According to a first aspect of the present invention, a method for verifying a vacuum signal is applied to a braking system having a master cylinder and a vacuum booster. The method for verifying a vacuum signal includes:

[0009] Obtain the vacuum fluctuation range of the braking system;

[0010] During a single braking cycle, the vacuum level signal of the vacuum booster and the pressure signal of the master cylinder are acquired multiple times.

[0011] After the braking cycle is completed, the validity of the vacuum signal is determined based on the pressure signal;

[0012] If all the vacuum level signals acquired during the braking cycle are valid, calculate the detection fluctuation range of the vacuum booster and compare the detection fluctuation range with the vacuum level fluctuation range.

[0013] If the detected fluctuation range exceeds the vacuum fluctuation range, the obtained vacuum signal is deemed unreliable.

[0014] The vacuum signal verification method according to embodiments of the present invention has at least the following beneficial effects: The vacuum signal verification method uses the vacuum fluctuation range of the braking system as a reference value, which covers the normal vacuum fluctuation of the braking system, thereby reducing the risk of verification errors; when the driver depresses the pedal, i.e., after entering the braking cycle, the vacuum signal verification method monitors the vacuum signal of the vacuum booster and the pressure signal of the brake master cylinder in real time; after the driver releases the pedal and the pedal returns to its original position, i.e., the braking cycle ends, the vacuum signal verification method can judge the validity of the vacuum signal by the acquired pressure signal, thereby determining whether the acquired vacuum signal can be used for verification. To effectively compare signals and improve the accuracy of the vacuum signal verification method, if all the vacuum signals acquired during the braking cycle are valid, the verification method can calculate the detection fluctuation range of the vacuum booster throughout the entire braking cycle by acquiring multiple valid vacuum signals. The detection fluctuation range of the vacuum booster is then compared with the vacuum fluctuation range of the braking system. If the detection fluctuation of the vacuum booster exceeds the vacuum fluctuation range of the braking system, the vacuum signal acquired by the vacuum sensor is determined to be unreliable, and the vehicle's vacuum booster is unreliable. This allows the braking system or the driver to adjust the braking scheme in a timely manner to ensure the driver's safety.

[0015] According to some embodiments of the present invention, the braking system further includes a vacuum source and an auxiliary booster component, characterized in that: the method for verifying the vacuum degree signal further includes:

[0016] If the vacuum signal is determined to be unreliable, a signal indicating a vacuum assist malfunction is sent to the driver, and when entering the next braking cycle, the vacuum source and auxiliary assist components are controlled to participate in braking assistance together.

[0017] If the verification method for the vacuum signal determines that the vacuum signal is unreliable, meaning that relying solely on the vacuum source for vacuum assistance is prone to defects such as insufficient braking or false triggering of brake assist, making it difficult to guarantee normal vehicle braking, the verification method for the vacuum signal can increase the driver's vigilance during driving by issuing a signal to alert the driver of a vacuum assist malfunction. This allows the driver to adjust their driving strategy in a timely manner. Furthermore, when entering the next braking cycle, the verification method for the vacuum signal can control the vacuum source and auxiliary assist components to participate in brake assist together, that is, adjust the braking strategy in a timely manner to ensure sufficient brake assist, so that the vehicle can brake and decelerate as expected, ensuring the personal safety of the occupants.

[0018] According to some embodiments of the present invention, the method for verifying the vacuum degree signal further includes:

[0019] If the detected fluctuation range is within the vacuum fluctuation range, the obtained vacuum signal is considered reliable.

[0020] If the vacuum signal changes from unreliable to reliable during the current ignition cycle, the vacuum source is controlled to provide vacuum assistance when entering the next braking cycle, and the auxiliary assistance components do not participate in braking assistance.

[0021] If the detection fluctuation range calculated by the vacuum signal verification method is within the vacuum fluctuation range, that is, the detection fluctuation range does not exceed the theoretical maximum fluctuation range of the braking system, then the vacuum signal obtained by the vacuum sensor is determined to be reliable, and the vacuum assist is not faulty. This achieves the verification of the vacuum signal during vehicle operation, so as to assist the driver in monitoring the reliability of the vacuum assist. If the vacuum signal changes from unreliable to reliable within the current ignition cycle, that is, the factors that caused the vacuum signal to be unreliable have been eliminated, when entering the next braking cycle, the vacuum signal verification method can adjust the braking strategy in time, the vacuum source performs normal vacuum assist, and the auxiliary assist components do not participate in braking, thereby eliminating the interference caused to the driver by the operation of the auxiliary assist components, which is conducive to ensuring the normal operation of the vehicle's braking assist.

[0022] According to some embodiments of the present invention, determining the validity of a vacuum signal based on a pressure signal includes:

[0023] Compare the pressure signal with the preset pressure value;

[0024] If the pressure signal is greater than the preset pressure value, the vacuum signal is determined to meet the first valid condition.

[0025] The validity of the vacuum signal is determined based on the first valid condition.

[0026] The method for verifying the vacuum signal can determine its validity by comparing the pressure signal of the brake master cylinder with a preset pressure value, i.e., by judging the amount of pressure applied by the driver to the pedal. If the pressure signal is greater than the preset pressure value, the vacuum signal corresponding to the vacuum booster is deemed to meet the first valid condition. By filtering valid vacuum signals, the detection fluctuation range of the vacuum booster can be calculated, which helps to improve the accuracy of the vacuum signal verification. Conversely, if the pressure signal is less than the preset pressure value, it is considered that the pressure applied by the driver to the pedal is too small, the vacuum change in the vacuum booster is too small, the vacuum signal obtained by the vacuum sensor has a large error, the verification accuracy is low, and no further verification steps are performed.

[0027] According to some embodiments of the present invention, determining the validity of a vacuum signal based on a pressure signal further includes:

[0028] The boosting speed of the brake master cylinder is calculated based on multiple pressure signals, and the boosting speed is compared with a first preset speed.

[0029] If the pressurization rate is greater than the first preset rate, the vacuum signal is determined to meet the second valid condition.

[0030] The validity of the vacuum signal is determined based on the second valid condition.

[0031] The method for verifying the vacuum signal can indirectly monitor the rate of change of the vacuum booster by calculating the boosting speed of the brake master cylinder and comparing the boosting speed with a first preset speed. If the boosting speed is greater than the first preset speed, that is, the vacuum booster's vacuum fluctuation is large per unit time, then the corresponding vacuum signal is determined to meet the second validity condition. By filtering valid vacuum signals, the detection fluctuation range of the vacuum booster can be calculated, which helps to improve the accuracy of the verification. Conversely, if the boosting speed is less than the first preset speed, it is considered that the driver's speed of pressing the pedal is too slow, the vacuum fluctuation in the vacuum booster is too small, the obtained vacuum signal has a large error, the verification accuracy is low, and no further verification steps are performed.

[0032] According to some embodiments of the present invention, determining the validity of a vacuum signal based on a pressure signal further includes:

[0033] The depressurization rate of the brake master cylinder is calculated based on multiple pressure signals, and the depressurization rate is compared with a second preset rate.

[0034] If the depressurization rate is greater than the second preset rate, the vacuum signal is determined to meet the third valid condition.

[0035] If the vacuum signal meets the first, second, and third valid conditions, then the vacuum signal is determined to be valid.

[0036] The method for verifying the vacuum signal can indirectly monitor the rate of change of the vacuum booster by calculating the depressurization speed of the brake master cylinder and comparing it with a second preset speed. If the depressurization speed is greater than the second preset speed, that is, the vacuum booster's vacuum fluctuation is large per unit time, then the corresponding vacuum signal is determined to meet the third valid condition. If the vacuum signal meets the first, second, and third valid conditions, then the vacuum signal is determined to be valid, and the acquired vacuum signal meets the detection accuracy requirements of the vacuum sensor. By filtering valid vacuum signals, the detection fluctuation range of the vacuum booster can be calculated, which helps to improve the accuracy of the verification. Conversely, if the depressurization speed is less than the second preset speed, it is considered that the driver released the pedal too slowly, the vacuum fluctuation in the vacuum booster is too small, the acquired vacuum signal has a large error, the verification accuracy is low, and no further verification steps are performed.

[0037] According to some embodiments of the present invention, the braking system further includes a vacuum source, characterized in that: acquiring the vacuum fluctuation range of the braking system includes:

[0038] Obtain the maximum vacuum change of the vacuum source and the vacuum loss of the vacuum booster during one braking cycle, and calculate the vacuum fluctuation range of the braking system based on the maximum vacuum change and vacuum loss.

[0039] The vacuum degree signal verification method fully considers the maximum vacuum degree change of the vacuum source when obtaining the vacuum degree fluctuation range of the braking system, so that the obtained vacuum degree fluctuation range covers the normal vacuum degree fluctuation of the braking system. It also takes into account the vacuum degree loss of the vacuum booster in one braking cycle, thereby improving the accuracy of the vacuum degree fluctuation range calculation and improving the verification accuracy of the vacuum degree signal verification method.

[0040] According to some embodiments of the present invention, obtaining the maximum vacuum change of the vacuum source and the vacuum loss of the vacuum booster during one braking cycle includes:

[0041] A bench endurance test was conducted on the vacuum source to obtain the maximum vacuum change.

[0042] The boosting speed is controlled to a first preset speed and the depressurization speed is controlled to a second preset speed. The vacuum degree value of the vacuum booster is obtained multiple times, and the vacuum degree loss of the vacuum booster in one braking cycle is calculated based on the multiple vacuum degree values.

[0043] Specifically, the vacuum degree signal verification method can be achieved by conducting a bench endurance test on the vacuum source to obtain the maximum vacuum degree change of the vacuum source. The maximum vacuum degree change includes the vacuum degree fluctuation during normal operation of the vacuum source, which helps to improve the accuracy of the verification. When obtaining the vacuum degree loss of the vacuum booster, the vacuum degree signal verification method can control the pressurization speed of the brake master cylinder to a first preset speed and the depressurization speed to a second preset speed to simulate the speed at which the driver presses and releases the pedal. When the driver presses the pedal, the volume inside the vacuum booster decreases and the vacuum degree drops rapidly. After the driver releases the pedal, the vacuum booster recovers its volume by absorbing air, and the vacuum degree decreases further. The vacuum degree loss of the vacuum booster in one braking cycle is calculated based on the multiple vacuum degree values ​​obtained. Furthermore, by controlling the pressurization speed and depressurization speed, the influence of the vacuum source on the vacuum booster's vacuum replenishment is reduced, which helps to improve the accuracy of the vacuum degree loss calculation.

[0044] According to some embodiments of the present invention, the vacuum fluctuation range of the braking system is calculated based on the maximum vacuum change and vacuum loss, including:

[0045] The first weighting coefficient is selected as the weighting coefficient for the maximum vacuum degree change, and the second weighting coefficient is selected as the weighting coefficient for the vacuum degree loss.

[0046] The vacuum fluctuation range is obtained by summing the product of the maximum vacuum change and the first weighting coefficient with the product of the vacuum loss and the second weighting coefficient.

[0047] The vacuum level signal verification method calculates the vacuum level fluctuation range of the braking system by weighting the maximum vacuum level change and vacuum level loss. Specifically, the method selects a first weighting coefficient as the weighting coefficient for the maximum vacuum level change of the vacuum source and a second weighting coefficient as the weighting coefficient for the vacuum level loss. The method calculates the vacuum level fluctuation range by accumulating the product of the maximum vacuum level change and the first weighting coefficient with the product of the vacuum level loss and the second weighting coefficient. The vacuum level fluctuation range considers not only the vacuum level fluctuation during normal operation of the vacuum source but also the vacuum level loss during one braking cycle of the vacuum booster. With actual vehicle testing, the values ​​of the first and second weighting coefficients can be adjusted to adjust the value of the vacuum level fluctuation range, making the vacuum level fluctuation range more closely match the actual vehicle and improving the verification accuracy of the vacuum level signal verification method.

[0048] According to a second aspect of the present invention, the controller includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements a method for verifying a vacuum signal as shown in any of the first aspects.

[0049] The controller according to embodiments of the present invention has at least the following beneficial effects: when the processor executes a computer-readable program stored in the memory, it can implement a vacuum signal verification method as shown in the first aspect. This vacuum signal verification method uses the vacuum fluctuation range of the braking system as a reference value, and the vacuum fluctuation range covers the normal vacuum fluctuation of the braking system, thereby reducing the risk of verification errors. When the driver depresses the pedal, i.e., after entering the braking cycle, the vacuum signal verification method monitors the vacuum signal of the vacuum booster and the pressure signal of the brake master cylinder in real time. After the driver releases the pedal and the pedal resets, i.e., the braking cycle ends, the vacuum signal verification method can verify the validity of the vacuum signal through the acquired pressure signal. The method involves making a judgment to determine whether the acquired vacuum degree signal can be used as a valid comparison signal. This helps improve the accuracy of the vacuum degree signal verification method. If all the vacuum degree signals acquired during the braking cycle are valid, the verification method can calculate the detection fluctuation range of the vacuum booster throughout the entire braking cycle by acquiring multiple valid vacuum degree signals. The detection fluctuation range of the vacuum booster is then compared with the vacuum degree fluctuation range of the braking system. If the detection fluctuation of the vacuum booster exceeds the vacuum degree fluctuation range of the braking system, the vacuum degree signal acquired by the vacuum degree sensor is determined to be unreliable, and the vehicle's vacuum booster is unreliable. This allows the braking system or the driver to adjust the braking scheme in a timely manner to ensure the driver's personal safety.

[0050] A vehicle according to a third aspect of the present invention includes a controller as shown in the second aspect.

[0051] The vehicle according to embodiments of the present invention has at least the following beneficial effects: the vehicle includes a controller as shown in the second aspect, which, when the processor executes a computer-readable program stored in a memory, can implement a vacuum signal verification method as shown in the first aspect. This vacuum signal verification method uses the vacuum fluctuation range of the braking system as a reference value, and the vacuum fluctuation range covers the normal vacuum fluctuation of the braking system, thereby reducing the risk of verification errors. When the driver depresses the pedal, i.e., after entering the braking cycle, the vacuum signal verification method monitors the vacuum signal of the vacuum booster and the pressure signal of the brake master cylinder in real time. After the driver releases the pedal and the pedal returns to its original position, i.e., the braking cycle ends, the vacuum signal verification method can verify the vacuum level using the acquired pressure signal. The validity of the vacuum degree signal is judged to determine whether the acquired vacuum degree signal can be used as a valid comparison signal, which helps to improve the verification accuracy of the vacuum degree signal verification method. If all the vacuum degree signals acquired during the braking cycle are valid, the vacuum degree signal verification method can calculate the detection fluctuation range of the vacuum booster throughout the entire braking cycle by acquiring multiple valid vacuum degree signals, and compare the detection fluctuation range of the vacuum booster with the vacuum degree fluctuation range of the braking system. If the detection fluctuation of the vacuum booster exceeds the vacuum degree fluctuation range of the braking system, the vacuum degree signal acquired by the vacuum degree sensor is determined to be unreliable, and the vehicle's vacuum booster is unreliable, so that the braking system or driver can adjust the braking scheme in time to ensure the driver's personal safety.

[0052] According to a fourth aspect of the present invention, a computer-readable storage medium stores computer-executable instructions for performing a method for verifying a vacuum signal as described in any of the first aspects.

[0053] The computer-readable storage medium according to embodiments of the present invention has at least the following advantages: Computer-executable instructions are used to execute a vacuum signal verification method as shown in any of the first aspects, wherein the vacuum signal verification method uses the vacuum fluctuation range of the braking system as a reference value, the vacuum fluctuation range covering the normal vacuum fluctuation of the braking system, thereby reducing the risk of verification errors; when the driver depresses the pedal, i.e., after entering the braking cycle, the vacuum signal verification method monitors the vacuum signal of the vacuum booster and the pressure signal of the brake master cylinder in real time; after the driver releases the pedal and the pedal returns to its original position, i.e., the braking cycle ends, the vacuum signal verification method can determine the validity of the vacuum signal by the acquired pressure signal. The method of checking vacuum signals can determine whether the acquired vacuum signals can be used as valid comparison signals, which helps improve the accuracy of the vacuum signal verification method. If all the vacuum signals acquired during the braking cycle are valid, the vacuum signal verification method can calculate the detection fluctuation range of the vacuum booster during the entire braking cycle by acquiring multiple valid vacuum signals, and compare the detection fluctuation range of the vacuum booster with the vacuum fluctuation range of the braking system. If the detection fluctuation of the vacuum booster exceeds the vacuum fluctuation range of the braking system, the vacuum signal acquired by the vacuum sensor is determined to be unreliable, and the vehicle's vacuum booster is unreliable, so that the braking system or the driver can adjust the braking scheme in time to ensure the driver's personal safety.

[0054] Additional aspects and advantages of the invention 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 the invention. Attached Figure Description

[0055] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0056] Figure 1 This is a flowchart of a method for verifying vacuum signals according to an embodiment of the present invention;

[0057] Figure 2 This is a flowchart illustrating the steps of a vacuum degree signal verification method according to an embodiment of the present invention.

[0058] Figure 3 This is a flowchart illustrating the steps of a vacuum degree signal verification method according to an embodiment of the present invention.

[0059] Figure 4 This is a flowchart illustrating the steps of a vacuum degree signal verification method according to an embodiment of the present invention.

[0060] Figure 5 This is a flowchart illustrating the steps of a vacuum degree signal verification method according to an embodiment of the present invention.

[0061] Figure 6This is a flowchart illustrating the steps of a vacuum degree signal verification method according to an embodiment of the present invention.

[0062] Figure 7 This is a flowchart illustrating the steps of a vacuum degree signal verification method according to an embodiment of the present invention.

[0063] Figure 8 This is a flowchart illustrating the steps of a vacuum degree signal verification method according to an embodiment of the present invention.

[0064] Figure 9 This is a flowchart illustrating the steps of a vacuum degree signal verification method according to an embodiment of the present invention.

[0065] Figure 10 This is a flowchart illustrating the steps of a vacuum degree signal verification method according to an embodiment of the present invention. Detailed Implementation

[0066] Embodiments of the present invention are described in detail below. Examples of these 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 present invention, and should not be construed as limiting the present invention.

[0067] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the drawings and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0068] In the description of this invention, "multiple" refers to two or more. The use of "first" and "second" is for distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features or their sequential relationship.

[0069] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0070] Reference Figures 1 to 10 As shown, an embodiment of the present invention provides a method for verifying vacuum signals, applied to a braking system having a vacuum source, auxiliary booster components, a master cylinder, and a vacuum booster, comprising the following steps:

[0071] Step S100: Obtain the vacuum fluctuation range of the braking system;

[0072] Step S200: During one braking cycle, the vacuum level signal of the vacuum booster and the pressure signal of the brake master cylinder are acquired multiple times.

[0073] Step S300: After the braking cycle ends, the validity of the vacuum signal is determined based on the pressure signal.

[0074] Step S400: If all the vacuum level signals acquired during the braking cycle are valid, calculate the detection fluctuation range of the vacuum booster and compare the detection fluctuation range with the vacuum level fluctuation range.

[0075] In step S500, if the detected fluctuation range exceeds the vacuum fluctuation range, the obtained vacuum signal is determined to be unreliable.

[0076] Reference Figure 1 and Figure 2 As shown, the vacuum degree signal verification method uses the vacuum degree fluctuation range of the braking system as a reference value. The vacuum degree fluctuation range covers the normal vacuum degree fluctuation of the braking system, thereby reducing the risk of verification errors.

[0077] When the driver depresses the pedal, the braking cycle begins. The vacuum signal verification method monitors the vacuum booster's vacuum signal and the brake master cylinder's pressure signal in real time. When the driver releases the pedal and it returns to its original position, the braking cycle ends. The vacuum signal verification method can determine the validity of the vacuum signal by analyzing the acquired pressure signal, thereby determining whether the acquired vacuum signal can be used as a valid comparison signal. This helps improve the verification accuracy of the vacuum signal verification method.

[0078] If all the vacuum level signals acquired during the braking cycle are valid, the verification method for these vacuum level signals calculates the detection fluctuation range of the vacuum booster throughout the entire braking cycle by acquiring multiple valid vacuum level signals. This detection fluctuation range is then compared with the vacuum level fluctuation range of the braking system. If the detection fluctuation of the vacuum booster exceeds the vacuum level fluctuation range of the braking system, the vacuum level signal acquired by the vacuum level sensor is determined to be unreliable, and the vacuum booster for vehicle braking is unreliable. This allows the braking system or the driver to adjust the braking scheme in a timely manner to ensure the driver's personal safety.

[0079] Reference Figure 1 and Figure 3 As shown, it is understandable that the verification method for this vacuum degree signal also includes the following steps:

[0080] In step S610, if the vacuum signal is determined to be unreliable, a signal indicating a vacuum assist failure is sent to the driver, and when entering the next braking cycle, the vacuum source and the auxiliary assist component are controlled to participate in braking assist together.

[0081] Reference Figure 1 and Figure 3 As shown, the vehicle can signal a malfunction in the vacuum booster function by illuminating a malfunction indicator light or issuing an audible alert, thereby increasing the driver's awareness and allowing them to adjust their driving strategy in a timely manner, such as reducing the vehicle's speed or promptly troubleshooting the vacuum booster function.

[0082] Reference Figure 1 and Figure 3 As shown, if the verification method of the vacuum signal determines that the vacuum signal is unreliable, that is, when relying solely on the vacuum source for vacuum assistance, there is a high risk of insufficient braking or false triggering of braking assistance, making it difficult to guarantee normal braking of the vehicle. Furthermore, when the vehicle enters the next braking cycle, the verification method of the vacuum signal can control the auxiliary assistance components and the vacuum source to participate in braking assistance together, that is, adjust the braking strategy in a timely manner to ensure sufficient braking assistance, so as to ensure that the vehicle can brake and decelerate as expected, and protect the personal safety of the occupants.

[0083] It should be noted that the auxiliary power assist component can be the vehicle's ABS (Anti-lock Braking System) or ESC (Electronic Stability Control System). If the verification method of the vacuum signal determines that the vacuum signal is unreliable and there is a fault in the vacuum assist, the ABS or ESC can intervene in the braking to ensure sufficient braking assistance, so that the vehicle can brake and decelerate as expected by the driver, and protect the personal safety of the people in the vehicle.

[0084] Most vehicles on the market are equipped with auxiliary power assist components such as ABS or ESC. The vacuum level signal verification method uses the vehicle's vacuum sensor to detect the vacuum level signal of the vacuum booster, and monitors the pressure signal in the master cylinder during the braking cycle using ABS or ESC. This vacuum level signal verification method, without adding hardware, indirectly determines whether the vacuum booster function is malfunctioning by comparing the detected fluctuation range of the vacuum booster with the vacuum level fluctuation range. Through the cooperation of auxiliary power assist components, it provides braking assistance to ensure vehicle driving safety.

[0085] Reference Figure 1 and Figure 4 As shown, it is understandable that the verification method for this vacuum degree signal also includes the following steps:

[0086] Step S710: If the detected fluctuation range is included within the vacuum fluctuation range, the obtained vacuum signal is determined to be reliable.

[0087] Reference Figure 1 and Figure 4As shown, during vehicle operation, the vacuum signal verification method can judge the vacuum signal acquired by the vacuum sensor to ensure the validity of the vacuum signal as a comparison signal. The detection fluctuation range of the vacuum booster can be calculated through the valid vacuum signal. If the calculated detection fluctuation range is included in the vacuum fluctuation range, that is, the detection fluctuation range does not exceed the theoretical fluctuation range, the acquired vacuum signal can be determined to be reliable, that is, the vacuum booster function is not faulty. This helps to ensure the normal operation of the vehicle vacuum booster and improve the safety performance of vehicle operation.

[0088] In step S720, if the vacuum signal changes from unreliable to reliable during the current ignition cycle, when entering the next braking cycle, the vacuum source is controlled to provide vacuum assistance, and the auxiliary assistance component does not participate in braking assistance.

[0089] Reference Figure 1 and Figure 4 As shown, if the vacuum signal changes from unreliable to reliable within the current ignition cycle, the factors that caused the vacuum signal to be unreliable have been eliminated. When entering the next braking cycle, the verification method of the vacuum signal can adjust the braking strategy in time, the vacuum source performs normal vacuum assistance, and the auxiliary assistance components do not participate in braking assistance, thereby eliminating the interference caused to the driver by the operation of the auxiliary assistance components, which is conducive to ensuring the normal operation of vehicle braking assistance.

[0090] Considering that the auxiliary power assist components generate significant noise during operation, which can easily affect the driver's normal driving or cause panic, the vacuum signal verification method requires that if the verified vacuum signal changes from unreliable to reliable during the ignition cycle, the auxiliary power assist components should be controlled not to participate in braking assistance when entering the next braking cycle, thereby eliminating the adverse effects of the auxiliary power assist components' operation on the driver.

[0091] The reasons why a vacuum degree signal changes from unreliable to reliable include, but are not limited to: the vehicle leaving environments with extreme high temperature, low temperature, humidity, high altitude, etc.

[0092] It should be noted that the current ignition cycle refers to the time period from engine start-up to engine shutdown. Considering that the vacuum source for some vehicles is the engine's intake manifold, meaning the engine must be in the starting phase for the intake manifold to generate a vacuum, the verification method for this vacuum signal needs to verify the vacuum signal acquired by the vacuum sensor within the ignition cycle to determine if there is a malfunction in the vacuum assist function.

[0093] Reference Figure 1 and Figure 8As shown, it can be understood that in step S100, the vacuum degree signal verification method uses the vacuum degree fluctuation range of the braking system as a reference value. The vacuum degree fluctuation range covers the normal vacuum degree fluctuation of the braking system, thereby reducing the risk of verification errors.

[0094] Reference Figure 1 and Figure 8 As shown, in step S100, the method for verifying the vacuum degree signal further includes the following steps:

[0095] Step S110: Obtain the maximum vacuum change of the vacuum source and the vacuum loss of the vacuum booster in one braking cycle, and calculate the vacuum fluctuation range of the braking system based on the maximum vacuum change and vacuum loss.

[0096] The vacuum degree signal verification method fully considers the maximum vacuum degree change of the vacuum source when obtaining the vacuum degree fluctuation range of the braking system, so that the obtained vacuum degree fluctuation range covers the normal vacuum degree fluctuation of the braking system. It also takes into account the vacuum degree loss of the vacuum booster in one braking cycle, thereby improving the accuracy of the vacuum degree fluctuation range calculation and improving the verification accuracy of the vacuum degree signal verification method.

[0097] Reference Figure 1 and Figure 9 As shown, it can be understood that in step S110, obtaining the maximum vacuum change of the vacuum source and the vacuum loss of the vacuum booster during one braking cycle includes the following steps:

[0098] Step S111: Perform a bench durability test on the vacuum source to obtain the maximum vacuum change of the vacuum source; the verification method of this vacuum signal is to monitor the vacuum change of the vacuum source separately through the bench durability test. The bench durability test can obtain the limit vacuum change, i.e. the maximum vacuum change, under the condition that the vacuum source is without fault.

[0099] Step S112: Control the pressurization speed to a first preset speed and the depressurization speed to a second preset speed, and obtain the vacuum degree value of the vacuum booster multiple times. Calculate the vacuum degree loss of the vacuum booster in one braking cycle based on the multiple vacuum degree values.

[0100] The pressurization rate is the rate at which the brake master cylinder applies pressure while the driver depresses the pedal, and the depressurization rate is the rate at which the brake master cylinder reduces pressure while the driver releases the pedal. The method for verifying this vacuum signal indirectly controls the rate of change of the vacuum booster's vacuum level by controlling the pressure of the brake master cylinder, thereby calculating the vacuum loss of the vacuum booster during one braking cycle under preset conditions. The maximum vacuum change of the vacuum source and the vacuum loss of the vacuum booster can be obtained through pre-delivery vehicle testing.

[0101] Reference Figure 1 and Figure 9 As shown, the vacuum level signal verification method simulates the speed at which a driver depresses and releases the pedal by controlling the pressurization and depressurization rates. When the driver depresses the pedal, the volume inside the vacuum booster decreases and the vacuum level drops rapidly. After the driver releases the pedal, the vacuum booster recovers its volume by absorbing air, further reducing the vacuum level. This vacuum level signal verification method calculates the vacuum level loss of the vacuum booster during one braking cycle based on multiple vacuum level values. Furthermore, by controlling the pressurization and depressurization rates, the influence of the vacuum source on the vacuum booster's vacuum replenishment is reduced, which helps improve the accuracy of the vacuum level loss calculation.

[0102] In some embodiments, the vehicle's vacuum source is the engine's intake manifold and / or vacuum pump.

[0103] If the vacuum source is the engine's intake manifold, the method for verifying the vacuum signal is to perform a bench endurance test on the engine. By monitoring the change in vacuum at the intake manifold during the entire test process, assuming no faults, the maximum change in vacuum at the intake manifold can be obtained, denoted as X bar.

[0104] If the vacuum source is a vacuum pump, the verification method for this vacuum degree signal can be to perform a bench durability test on the vacuum pump. By monitoring the change in vacuum degree that the vacuum pump can provide throughout the entire test process, and under the condition of no failure, the maximum vacuum degree change of the vacuum pump can be obtained, denoted as Y bar.

[0105] If the vehicle's vacuum source includes both the engine's intake manifold and the vacuum pump, then the maximum vacuum change is the sum of the vacuum changes in the engine's intake manifold and the vacuum pump, which is X + Y bar.

[0106] The method for verifying the vacuum level signal is based on the vacuum booster matched to the current vehicle. It calculates the vacuum level loss of the vacuum booster during one braking cycle by quickly pressing the pedal, which means that the vacuum chamber of the corresponding vacuum booster is quickly compressed, and then quickly releasing the pedal, which means that the vacuum chamber of the corresponding vacuum booster quickly returns to its original volume after the vacuum is consumed. The vacuum level replenished by the vacuum source to the vacuum booster during this process is negligible.

[0107] Specifically, the vacuum signal verification method controls the pressurization speed of the brake master cylinder to a first preset speed, which simulates the speed at which the driver depresses the brake pedal, and controls the depressurization speed of the brake master cylinder to a second preset speed, which simulates the speed at which the driver releases the brake pedal. During this process, the vacuum chamber of the corresponding vacuum booster shrinks, and the vacuum level drops rapidly. Then, by absorbing air, the vacuum chamber is restored to its original size, and the vacuum level decreases further. This vacuum signal verification method uses a vacuum sensor to repeatedly acquire the vacuum signal of the vacuum booster, and can calculate the vacuum loss of the vacuum booster in one braking cycle, denoted as Z bar.

[0108] The verification method for this vacuum degree signal uses a weighted analysis method based on X, Y, and Z to obtain the vacuum degree fluctuation range of the braking system, denoted as H bar, and uses this vacuum degree fluctuation range as an evaluation index for whether the subsequent vacuum assistance is reliable.

[0109] It should be noted that a braking cycle refers to the time period from when the driver presses the brake pedal until the driver releases the brake pedal and the brake pedal returns to its original position.

[0110] Reference Figure 8 and Figure 10 As shown, it can be understood that in step S110, calculating the vacuum fluctuation range of the braking system based on the maximum vacuum change and vacuum loss includes the following steps:

[0111] Step S113: Select the first weighting coefficient as the weighting coefficient for the maximum vacuum degree change, and select the second weighting coefficient as the weighting coefficient for the vacuum degree loss.

[0112] The method for verifying the vacuum level signal can calculate the vacuum level fluctuation range of the braking system by performing a weighted analysis on the maximum vacuum level change and vacuum level loss. Specifically, the first weighting coefficient and the second weighting coefficient can be adjusted based on the results of actual vehicle testing.

[0113] Step S114: The product of the maximum vacuum degree change and the first weighting coefficient is added together with the product of the vacuum degree loss and the second weighting coefficient to obtain the vacuum degree fluctuation range.

[0114] The vacuum level signal verification method calculates the vacuum level fluctuation range by weighted accumulation. The vacuum level fluctuation range not only takes into account the normal vacuum level fluctuation of the vacuum source, but also the vacuum level loss of the vacuum booster during one braking cycle. In conjunction with actual vehicle testing, the vacuum level signal verification method can adjust the value of the vacuum level fluctuation range by adjusting the values ​​of the first weighting coefficient and the second weighting coefficient, so that the vacuum level fluctuation range is closer to the actual vehicle, which helps to improve the verification accuracy of the vacuum level signal verification method.

[0115] Reference Figure 1 and Figure 5 As shown, it is understandable that, considering the limited detection accuracy of vacuum sensors, if the change in vacuum signal is small, or if the vacuum fluctuation is small within a certain period of time, the accuracy of the vacuum signal obtained by the vacuum sensor is low, making it difficult to meet the requirements of subsequent comparison.

[0116] Reference Figure 1 and Figure 2 As shown, in steps S200 and S300, when the driver presses the pedal, that is, after entering the braking cycle, the vacuum signal verification method can monitor the vacuum booster's vacuum signal and the brake master cylinder's pressure signal during driving. After the driver releases the pedal and the pedal returns to its original position, the braking cycle ends. The vacuum signal verification method can use the acquired pressure signal to determine the validity of the vacuum signal, thereby determining whether the acquired vacuum signal can be used as a valid comparison signal, which helps to improve the verification accuracy of the vacuum signal verification method.

[0117] Reference Figure 1 and Figure 5 As shown, specifically, in step S300, determining the validity of the vacuum signal based on the pressure signal includes the following steps:

[0118] Step S310: Compare the pressure signal with the preset pressure value;

[0119] Step S320: If the pressure signal is greater than the preset pressure value, then the vacuum signal is determined to meet the first valid condition.

[0120] Step S330: Determine the validity of the vacuum signal based on the first valid condition.

[0121] Reference Figure 1 and Figure 5 As shown, the vacuum signal verification method determines the validity of the vacuum signal by comparing the pressure signal of the brake master cylinder with a preset pressure value, i.e., determining the amount of pressure applied by the driver to the pedal. If the pressure signal value is greater than the preset pressure value, the vacuum signal corresponding to the vacuum booster is deemed to meet the first validity condition. This vacuum signal verification method improves the accuracy of verification by filtering valid vacuum signals to calculate the detection fluctuation range of the vacuum booster.

[0122] Conversely, if the pressure value of the pressure signal is less than the preset pressure value, that is, the vacuum signal does not meet the first valid condition, it is considered that the pressure applied by the driver to the pedal is too small, the change in vacuum in the vacuum booster is too small, the vacuum signal obtained by the vacuum sensor has a large error, the accuracy of the verification is low, and the subsequent verification steps are no longer performed.

[0123] Reference Figure 1 and Figure 6 As shown, it can be understood that in step S300, determining the validity of the vacuum signal based on the pressure signal also includes the following steps:

[0124] Step S340: Calculate the boosting speed of the brake master cylinder based on multiple pressure signals, and compare the boosting speed with the first preset speed;

[0125] Reference Figure 1 and Figure 6 As shown, the method for verifying the vacuum signal can indirectly monitor the rate of change of the vacuum booster by calculating the boosting speed of the brake master cylinder and comparing the boosting speed with the first preset speed when determining the validity of the vacuum signal.

[0126] Step S350: If the pressurization rate is greater than the first preset rate, then the vacuum signal is determined to meet the second valid condition.

[0127] Step S360: Determine the validity of the vacuum signal based on the second valid condition.

[0128] Reference Figure 1 and Figure 6 As shown, if the pressurization rate is greater than the first preset rate, meaning the vacuum level of the vacuum booster fluctuates significantly, then the corresponding vacuum level signal is determined to meet the second valid condition. This vacuum level signal verification method improves the accuracy of verification by filtering valid vacuum level signals and calculating the detection fluctuation range.

[0129] Conversely, if the boosting speed is less than the first preset speed, that is, the vacuum signal does not meet the second valid condition, it is considered that the driver applies too little pressure to the pedal, the vacuum fluctuation in the vacuum booster is too small, the vacuum signal obtained by the vacuum sensor has a large error, the accuracy of the verification is low, and the subsequent verification steps are no longer performed.

[0130] Reference Figure 1 and Figure 7 As shown, it can be understood that in step S300, determining the validity of the vacuum signal based on the pressure signal also includes the following steps:

[0131] Step S370: Calculate the depressurization rate of the brake master cylinder based on multiple pressure signals, and compare the depressurization rate with the second preset rate;

[0132] The method for verifying the vacuum level signal indirectly monitors the rate of change of the vacuum level of the vacuum booster by calculating the depressurization rate of the brake master cylinder and comparing the depressurization rate with a second preset rate.

[0133] Step S380: If the depressurization rate is greater than the second preset rate, then the vacuum signal is determined to meet the third valid condition.

[0134] Step S390: If the vacuum signal meets the first valid condition, the second valid condition and the third valid condition, then the vacuum signal is determined to be valid.

[0135] Reference Figure 1 and Figure 7 As shown, if the depressurization rate is greater than the second preset rate, meaning the vacuum level fluctuation of the vacuum booster is large, then the vacuum level signal corresponding to the vacuum booster is determined to meet the third valid condition. If the vacuum level signal meets the first, second, and third valid conditions, then the acquired vacuum level signal is determined to be valid, and the acquired vacuum level signal meets the detection accuracy requirements of the vacuum sensor. This vacuum level signal verification method, by screening valid vacuum level signals to calculate the detection fluctuation range, helps to improve the accuracy of verification.

[0136] Conversely, if the depressurization speed is less than the second preset speed, it is considered that the driver released the pedal too slowly, the vacuum fluctuation in the vacuum booster is too small, the vacuum signal obtained by the vacuum sensor has a large error, the accuracy of the verification is low, and the subsequent verification steps will not be performed.

[0137] Reference Figure 1 , Figure 6 and Figure 7 As shown, the vacuum signal verification method controls the pressurization speed of the brake master cylinder to a first preset speed and the depressurization speed of the brake master cylinder to a second preset speed when acquiring the vacuum loss of the vacuum booster. In steps S350 and S380, the first preset speed and the second preset speed are used as evaluation indicators to judge the validity of the vacuum signal. This helps to eliminate verification errors caused by excessively small changes in vacuum or small fluctuations in vacuum within a certain period of time, and also helps to enhance the comparison effect between the vacuum fluctuation range obtained from the vacuum loss and the detected fluctuation range.

[0138] A controller according to one embodiment of the present invention includes a memory, a processor, and a computer program. The computer program can run on the processor and is stored in the memory. When the processor executes the computer program, it implements the vacuum signal verification method of the above embodiment. The vacuum signal verification method shown in the above embodiment is implemented.

[0139] The vacuum signal verification method uses the vacuum fluctuation range of the braking system as a reference value. This range covers the normal vacuum fluctuations of the braking system, thus reducing the risk of verification errors. When the driver depresses the pedal, entering the braking cycle, the method monitors the vacuum booster's vacuum signal and the brake master cylinder's pressure signal in real time. After the driver releases the pedal and it resets, the braking cycle ends. The method can then determine the validity of the vacuum signal by analyzing the acquired pressure signal, thus judging whether it can be used as a valid comparison signal. This improves the accuracy of the verification method. If all multiple vacuum signals acquired during the braking cycle are valid, the method can calculate the detection fluctuation range of the vacuum booster throughout the braking cycle and compare it with the vacuum fluctuation range of the braking system. If the vacuum booster's detection fluctuation exceeds the braking system's vacuum fluctuation range, the vacuum signal acquired by the vacuum sensor is deemed unreliable, and the vehicle's vacuum booster is unreliable. This allows the braking system or driver to adjust the braking strategy promptly to ensure driver safety.

[0140] One embodiment of the present invention provides a vehicle that includes a controller as shown in the above embodiment.

[0141] When the processor executes a computer-readable program stored in memory, it can implement a vacuum signal verification method as described in the above embodiments. This method uses the vacuum fluctuation range of the braking system as a reference value, covering the normal vacuum fluctuations of the braking system, thereby reducing the risk of verification errors. When the driver depresses the pedal, i.e., after entering the braking cycle, the method monitors the vacuum signal of the vacuum booster and the pressure signal of the brake master cylinder in real time. After the driver releases the pedal and the pedal returns to its original position, i.e., the braking cycle ends, the method can determine the validity of the vacuum signal by using the acquired pressure signal, thereby determining the validity of the acquired signal. Whether the vacuum level signal can be used as a valid comparison signal is beneficial to improving the accuracy of the vacuum level signal verification method. If all the vacuum level signals acquired during the braking cycle are valid, the verification method can calculate the detection fluctuation range of the vacuum booster throughout the entire braking cycle by acquiring multiple valid vacuum level signals, and compare the detection fluctuation range of the vacuum booster with the vacuum level fluctuation range of the braking system. If the detection fluctuation of the vacuum booster exceeds the vacuum level fluctuation range of the braking system, the vacuum level signal acquired by the vacuum level sensor is determined to be unreliable, and the vehicle's vacuum booster is unreliable. This allows the braking system or the driver to adjust the braking scheme in a timely manner to ensure the driver's personal safety.

[0142] A computer-readable storage medium according to an embodiment of the present invention stores computer-executable instructions for executing the vacuum signal verification method of the above embodiment, thereby implementing the vacuum signal verification method shown in the above embodiment. The vacuum signal verification method uses the vacuum fluctuation range of the braking system as a reference value. This range covers the normal vacuum fluctuations of the braking system, thus reducing the risk of verification errors. When the driver depresses the pedal, entering the braking cycle, the method monitors the vacuum booster's vacuum signal and the brake master cylinder's pressure signal in real time. After the driver releases the pedal and it resets, the braking cycle ends. The method can then determine the validity of the vacuum signal by analyzing the acquired pressure signal, thus judging whether it can be used as a valid comparison signal. This improves the accuracy of the verification method. If all multiple vacuum signals acquired during the braking cycle are valid, the method can calculate the detection fluctuation range of the vacuum booster throughout the braking cycle and compare it with the vacuum fluctuation range of the braking system. If the vacuum booster's detection fluctuation exceeds the braking system's vacuum fluctuation range, the vacuum signal acquired by the vacuum sensor is deemed unreliable, and the vehicle's vacuum booster is unreliable. This allows the braking system or driver to adjust the braking strategy promptly to ensure driver safety.

[0143] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0144] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0145] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0146] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0147] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A method for verifying vacuum signals, applied to a braking system with a master cylinder and a vacuum booster, characterized in that, include: Obtain the vacuum fluctuation range of the braking system; During a single braking cycle, the vacuum level signal of the vacuum booster and the pressure signal of the master cylinder are acquired multiple times. After the braking cycle ends, the validity of the vacuum signal is determined based on the pressure signal; If all of the vacuum level signals acquired during the braking cycle are valid, calculate the detection fluctuation range of the vacuum booster and compare the detection fluctuation range with the vacuum level fluctuation range. If the detected fluctuation range exceeds the vacuum fluctuation range, the obtained vacuum signal is determined to be unreliable. The step of determining the validity of the vacuum signal based on the pressure signal includes: Compare the pressure signal with a preset pressure value; If the pressure signal is greater than the preset pressure value, then the vacuum signal is determined to meet the first valid condition; The validity of the vacuum signal is determined based on the first valid condition.

2. The method for verifying vacuum signals according to claim 1, wherein the braking system further includes a vacuum source and an auxiliary assist component, characterized in that: The method for verifying the vacuum degree signal also includes: If the vacuum signal is determined to be unreliable, a signal indicating a vacuum assist malfunction is sent to the driver, and when entering the next braking cycle, the vacuum source and the auxiliary assist component are controlled to jointly participate in braking assist.

3. The method for verifying vacuum degree signals according to claim 2, characterized in that: The method for verifying the vacuum degree signal also includes: If the detected fluctuation range is included within the vacuum fluctuation range, then the obtained vacuum signal is determined to be reliable; During the current ignition cycle, if the vacuum signal changes from unreliable to reliable, when entering the next braking cycle, the vacuum source is controlled to provide vacuum assistance, and the auxiliary assistance component does not participate in braking assistance.

4. The method for verifying vacuum degree signals according to claim 1, characterized in that: The step of determining the validity of the vacuum signal based on the pressure signal further includes: The pressurization rate of the brake master cylinder is calculated based on multiple pressure signals, and the pressurization rate is compared with a first preset rate. If the pressurization rate is greater than the first preset rate, then the vacuum signal is determined to meet the second valid condition; The validity of the vacuum signal is determined based on the second valid condition.

5. The method for verifying vacuum degree signals according to claim 4, characterized in that: The step of determining the validity of the vacuum signal based on the pressure signal further includes: The depressurization rate of the brake master cylinder is calculated based on multiple pressure signals, and the depressurization rate is compared with a second preset rate. If the pressure relief rate is greater than the second preset rate, then the vacuum signal is determined to meet the third valid condition; If the vacuum signal meets the first valid condition, the second valid condition, and the third valid condition, then the vacuum signal is determined to be valid.

6. The method for verifying the vacuum signal according to claim 5, wherein the braking system further includes a vacuum source, characterized in that: The process of obtaining the vacuum fluctuation range of the braking system includes: The maximum vacuum change of the vacuum source and the vacuum loss of the vacuum booster in one braking cycle are obtained, and the vacuum fluctuation range of the braking system is calculated based on the maximum vacuum change and the vacuum loss.

7. The method for verifying vacuum degree signals according to claim 6, characterized in that: The process of obtaining the maximum vacuum change of the vacuum source and the vacuum loss of the vacuum booster during one braking cycle includes: A bench durability test was conducted on the vacuum source to obtain the maximum vacuum change of the vacuum source; The pressurization speed is controlled to the first preset speed and the depressurization speed is controlled to the second preset speed. The vacuum degree value of the vacuum booster is obtained multiple times, and the vacuum degree loss of the vacuum booster in one braking cycle is calculated based on the multiple vacuum degree values.

8. The method for verifying vacuum degree signals according to claim 6, characterized in that: The calculation of the vacuum fluctuation range of the braking system based on the maximum vacuum change and the vacuum loss includes: A first weighting coefficient is selected as the weighting coefficient for the maximum vacuum degree change, and a second weighting coefficient is selected as the weighting coefficient for the vacuum degree loss. The vacuum fluctuation range is obtained by summing the product of the maximum vacuum change and the first weighting coefficient with the product of the vacuum loss and the second weighting coefficient.

9. A controller, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method for verifying the vacuum signal as described in any one of claims 1 to 8.

10. A vehicle, characterized in that, It includes the controller as described in claim 9.

11. A computer-readable storage medium, characterized in that, The device stores computer-executable instructions for performing the vacuum signal verification method as described in any one of claims 1 to 8.

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