A control method, device and system for electric hydraulic brake assist mode

Abstract

The present invention relates to a control method, device, and system for an electric hydraulic brake assist mode, and belongs to the field of automotive technology. The method includes sending a first control instruction to a sensor detection module to control the sensor detection module to detect whether a sensor is faulty, and obtaining a first result returned by the sensor detection module to indicate whether the sensor is faulty; after selecting a brake assist mode to control the motor operation based on the first result, sending a second control instruction to a motor working state detection module to control the motor working state detection module to detect whether the motor is faulty, and obtaining a second result returned by the motor working state detection module to indicate whether the motor is faulty; and selecting a brake assist mode to control the motor operation based on the second result. By detecting the sensor and motor, the present invention increases the service life of the sensor and motor and reduces the safety hazards of vehicle brake failure.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to a control method, device and system for an electric hydraulic brake assist mode. Background Art

[0002] With the development of the automotive industry and the increasing proportion of electric vehicles, electric vehicle brake assist systems face two major challenges compared to fuel vehicles: the elimination of the engine vacuum source and the increase in vehicle weight. Traditional vacuum brake assist systems are no longer sufficient for future needs. Energy storage electric hydraulic brake assist systems, as an alternative, are now attracting attention from major automakers and automotive suppliers.

[0003] The current energy storage electric hydraulic brake assist system lacks the ability to detect sensors and motors when they fail, resulting in the driver being unable to detect brake failure in a timely manner, posing a safety hazard.

[0004] Therefore, there is an urgent need for a control method for an electric hydraulic brake assist mode to solve the potential safety hazard of vehicle brake failure caused by the lack of detection of sensors and motors in the existing technology. Summary of the Invention

[0005] In view of this, it is necessary to provide a control method for an electro-hydraulic brake assist mode to solve the potential safety hazard of vehicle brake failure caused by the lack of detection of sensors and motors in the prior art.

[0006] In order to solve the above problems, the present invention provides a control method for an electric hydraulic brake boosting mode, comprising:

[0007] Sending a first control instruction to the sensor detection module to control the sensor detection module to detect whether the sensor is faulty, and obtaining a first result returned by the sensor detection module to indicate whether the sensor is faulty;

[0008] After the brake assist mode is selected according to the first result to control the motor to operate, a second control instruction is sent to the motor operating state detection module to control the motor operating state detection module to detect whether the motor is faulty, and a second result returned by the motor operating state detection module to indicate whether the motor is faulty is obtained;

[0009] Selecting a brake assist mode to control the motor operation according to the second result. In a possible implementation, before sending the first control instruction to the sensor detection module, the method further includes:

[0010] Sending a third control instruction to the control circuit self-test module so that the control circuit self-test module detects whether the circuit of the ECU is faulty and obtains a third result, and obtaining the third result returned by the control circuit self-test module;

[0011] When it is determined that the third result is normal, the fourth control instruction is sent to the power supply voltage self-test module.

[0012] In a possible implementation, the brake assist mode includes one or more of a normal assist mode, a degraded assist mode, and a limp home assist mode.

[0013] In a possible implementation, controlling the sensor detection module to detect whether the sensor is faulty, and obtaining a first result returned by the sensor detection module that indicates whether the sensor is faulty, includes:

[0014] The sensor detection module determines whether the sensor is faulty according to the voltage value of the sensor and the change value of the voltage of the sensor within a preset time, and obtains a first result.

[0015] In a possible implementation, the sensor includes a first sensor and a second sensor, and the sensor detection module detects whether the sensor is faulty to obtain a first result, including:

[0016] When both the first sensor and the second sensor are normal, the first result is the voltage value and the beat amplitude of the first sensor, and the beat amplitude of the first sensor is the change value of the voltage of the first sensor within a preset time;

[0017] When the first sensor is normal and the second sensor is abnormal, the first result is the voltage value and the beat amplitude of the first sensor;

[0018] When the first sensor is abnormal and the second sensor is normal, the first result is the voltage value and the beat amplitude of the second sensor;

[0019] When both the first sensor and the second sensor are abnormal, the first result is that both sensors are abnormal.

[0020] In a possible implementation, selecting the brake assist mode according to the first result includes:

[0021] When the first result is the voltage value and the beating amplitude of the first sensor, selecting the normal power-assist mode and performing braking according to the voltage value and the beating amplitude of the first sensor;

[0022] When the first result is the voltage value and the beating amplitude of the second sensor, selecting the degraded power assist mode and performing braking according to the voltage value and the beating amplitude of the second sensor;

[0023] When the first result is that all sensors are abnormal, the limp home assist mode is selected.

[0024] In one possible implementation, obtaining an alarm oil pressure of the energy accumulator, a lower limit oil pressure of the energy accumulator, an upper limit oil pressure of the energy accumulator, a target oil pressure of the energy accumulator, and a motor working position flag, and performing braking according to the voltage value and the beat amplitude of the first sensor includes:

[0025] Obtaining a first oil pressure of the first accumulator based on a voltage value and a beat amplitude of the first sensor;

[0026] When the first oil pressure is lower than the alarm oil pressure, or the first oil pressure is lower than the lower limit oil pressure, the motor working position flag is set to the working state, and the motor is in the boost state;

[0027] When the first oil pressure is greater than the target oil pressure, the motor working position flag is set to an inoperative state, and the motor is in an inoperative state;

[0028] When the first oil pressure is less than the target oil pressure and the first oil pressure is greater than or equal to the lower oil limit, the motor is in an inoperative state;

[0029] The brake push rod is driven to brake based on the current oil pressure of the motor;

[0030] The braking according to the voltage value and the beating amplitude of the second sensor includes:

[0031] Obtaining a second oil pressure of the second accumulator based on a voltage value and a beat amplitude of the second sensor;

[0032] When the second oil pressure is less than the lower limit oil pressure, the motor working position flag is set to the working state, and the motor is in the boost state;

[0033] When the second oil pressure is greater than or equal to the lower limit oil pressure, setting the motor working position flag to an inoperative state;

[0034] The brake push rod is driven to brake based on the current oil pressure of the motor;

[0035] When the first result is that all sensors are abnormal, selecting the limp home assist mode includes:

[0036] When the position of the brake push rod changes, the motor working position flag is set to the working state, the motor is in the boost state, and the motor continues to boost for the preset time.

[0037] The brake push rod is driven to brake based on the current oil pressure of the motor.

[0038] On the other hand, the present invention also provides a control device for a brake assist mode, comprising:

[0039] a data acquisition module, configured to send a first control instruction to the sensor detection module to control the sensor detection module to detect whether the sensor is faulty, and to obtain a first result returned by the sensor detection module to indicate whether the sensor is faulty;

[0040] a first braking mode selection module, configured to, after selecting the brake assist mode according to the first result to control the motor to operate, send a second control instruction to the motor operating state detection module to control the motor operating state detection module to detect whether the motor is faulty, and obtain a second result returned by the motor operating state detection module to indicate whether the motor is faulty;

[0041] The second braking mode selection module is configured to select a braking assist mode according to the second result to control the operation of the motor.

[0042] On the other hand, the present invention further provides a control system for a brake assist mode, comprising: a sensor detection module, a motor working state detection module, and a controller.

[0043] In a possible implementation, it further includes: a sensor detection module and a motor working state monitoring module.

[0044] The beneficial effects of the present invention are: the present invention provides a control method for an electric hydraulic brake assist mode, the controller in the EUC sends a first control instruction to the sensor detection module to control the sensor detection module to detect whether the sensor is faulty, and obtains a first result returned by the sensor detection module to characterize whether the sensor is faulty, so that the controller selects the brake assist mode according to the first result, which can improve the NVH performance of the system and reduce the starting frequency of the motor. After the controller selects the brake assist mode according to the first result to control the motor to work, it sends a second control instruction to the motor working state detection module to control the motor working state detection module to detect whether the motor is faulty, and obtains a second result returned by the motor working state detection module to characterize whether the motor is faulty, the controller selects the brake assist mode according to the second result, so that the motor brakes according to the oil pressure of the energy storage device. The present invention improves the service life of the sensor and the motor by detecting the sensor and the motor, and reduces the safety hazards of vehicle brake failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A flow chart of an embodiment of a control method for an electric hydraulic brake assist mode provided by the present invention;

[0046] Figure 2 A schematic structural diagram of an embodiment of a dual-energy storage electric hydraulic brake booster system provided by the present invention;

[0047] Figure 3A flow chart of an embodiment of a control method for an electric hydraulic brake assist mode provided by the present invention;

[0048] Figure 4 For the present invention Figure 1 A schematic flow chart of an embodiment of S102;

[0049] Figure 5 A schematic diagram of a motor entering limp home mode process according to an embodiment of a control method for an electric hydraulic brake assist mode provided by the present invention;

[0050] Figure 6 A schematic structural diagram of an embodiment of a control device for a brake assist mode provided by the present invention;

[0051] Among them, 200, dual energy storage electric hydraulic brake assist system; 201, ECU; 202, motor; 203, plunger pump; 204, energy accumulator B; 205, energy accumulator A; 206, sensor B; 207, sensor A; 208, fluid storage tank; 209, brake push rod; 2010, hydraulic distributor; 2011, brake master cylinder. DETAILED DESCRIPTION

[0052] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, and are not used to limit the scope of the present invention.

[0053] Before presenting the embodiments, the following terms are explained.

[0054] An ECU (Electronic Control Unit), also known as a car's "on-board computer," controls the vehicle's driving state and various functions. It primarily uses data collection and exchange between various sensors and buses to determine vehicle status and the driver's intentions, and controls the vehicle through actuators.

[0055] Electronic Stability Controller (ESC) is an active safety technology that assists the driver in controlling the vehicle. It automatically corrects vehicle instability, helping to prevent accidents. Using advanced sensing technology, ESC determines the driver's driving intentions. If the vehicle begins to stray from the road, the system intervenes, applying braking force to one or more wheels and reducing engine throttle intervention to guide the vehicle back on course.

[0056] Noise, Vibration, and Harshness (NVH) is a comprehensive measure of vehicle manufacturing quality, and is the most direct and superficial quality experienced by vehicle users.

[0057] PID (proportional-integral-derivative control) proportional-integral-derivative control forms a control deviation based on a given value and the actual output value. The deviation is linearly combined into a control quantity based on the proportion, integration, and differentiation to control the controlled object.

[0058] PWM (Pulse Width Modulation) is a method of digitally encoding analog signal levels. In PWM, a high-resolution counter is used to generate a square wave, and the analog signal level can be encoded by adjusting the square wave's duty cycle. PWM is commonly used in switching power supplies and motor control.

[0059] The present invention provides a control method, device and system for an electro-hydraulic brake assist mode, which are described below respectively.

[0060] Figure 1 A flow chart of an embodiment of a control method for an electric hydraulic brake assist mode provided by the present invention is shown as follows: Figure 1 As shown, the control method of the electric hydraulic brake assist mode includes:

[0061] S101: Send a first control instruction to a sensor detection module to control the sensor detection module to detect whether a sensor is faulty, and obtain a first result returned by the sensor detection module to indicate whether the sensor is faulty;

[0062] S102: After the brake assist mode is selected according to the first result to control the motor to operate, sending a second control instruction to the motor operating state detection module to control the motor operating state detection module to detect whether the motor is faulty, and obtaining a second result returned by the motor operating state detection module to indicate whether the motor is faulty;

[0063] S103 : Select a brake assist mode according to the second result to control the operation of the motor.

[0064] Compared with the prior art, this embodiment provides a control method for an electric hydraulic brake assist mode, in which the controller in the EUC sends a first control instruction to the sensor detection module to control the sensor detection module to detect whether the sensor is faulty, and obtains a first result returned by the sensor detection module to characterize whether the sensor is faulty, so that the controller selects the brake assist mode according to the first result, which can improve the NVH performance of the system and reduce the starting frequency of the motor. After the controller selects the brake assist mode according to the first result to control the motor to work, it sends a second control instruction to the motor working state detection module to control the motor working state detection module to detect whether the motor is faulty, and obtains a second result returned by the motor working state detection module to characterize whether the motor is faulty, and selects the brake assist mode according to the second result, so that the motor brakes according to the oil pressure of the energy accumulator. The present invention improves the service life of the sensor and the motor by detecting the sensor and the motor, and reduces the safety hazards of vehicle brake failure.

[0065] It should be noted that this embodiment is directed to a dual energy storage electric hydraulic brake booster system, such as Figure 2 As shown, the system consists of a dual-energy-storage electro-hydraulic brake assist system and an external system. The dual-energy-storage electro-hydraulic brake assist system 200 includes a brake push rod 209, a hydraulic distributor 2010, a brake master cylinder, a fluid reservoir 208, an ECU 201, a motor 202, a plunger pump 203, sensors A 207 and B 208, accumulators A 205 and B 204, and a relief valve. The external system includes the ESC and front and rear brake circuits.

[0066] The system ECU controls the motor, which uses a plunger pump to pressurize the brake fluid in the reservoir into accumulators A and B. A relief valve is installed between accumulators A and B. If one accumulator leaks or fails, the other still has high-pressure fluid. Accumulators A and B are connected to separate hydraulic distributors, which convert the high-pressure fluid in accumulators A and B into thrust for the master cylinder based on the displacement of the brake push rod, generating assist. The brake oil pressure generated in the master cylinder is fed through the ESC to the front and rear brake circuits, achieving braking.

[0067] In some embodiments of the present invention, before sending the first control instruction to the sensor detection module, the method further includes:

[0068] Sending a third control instruction to the control circuit self-test module so that the control circuit self-test module detects whether the circuit of the ECU is faulty and obtains a third result, and obtaining the third result returned by the control circuit self-test module;

[0069] When it is determined that the third result is normal, the fourth control instruction is sent to the power supply voltage self-test module.

[0070] It should be noted that the control circuit self-test module, the power supply voltage self-test module, the sensor detection module, and the motor working state detection module are arranged inside the ECU and are respectively connected to the controller in the ECU. The sensor detection module is also connected to the sensor to detect whether the sensor is faulty. The motor working state detection module is also connected to the motor to detect whether the motor is faulty. In a specific embodiment of the present invention, Figure 3 As shown, the dual-energy storage electric hydraulic brake assist system performs a system self-check before operation, checking the normal status of each module. If any anomalies are found, corresponding alarms will be issued and brake assist mode management will be implemented. Specifically, after the vehicle is powered on, the system checks the ignition signal. If the signal level is low, it will exit. If the signal level is high, it will enter the next step of the control circuit self-check module. If the control circuit self-check module detects a fault in the ECU circuit, it will continuously send corresponding alarm information to the vehicle and exit the test.

[0071] If the control circuit self-test module tests normally, the power supply voltage self-test module will be tested. If an ECU voltage fault is detected, the corresponding alarm information will be continuously sent to the vehicle and the test will be exited. In other words, the sensor and motor tests will not be started until it is confirmed that there are no problems with the ECU circuit and voltage. Otherwise, the system will directly exit.

[0072] If the power supply voltage self-test module is normal, the sensor detection module will be tested. If a fault is detected, the corresponding alarm information will be continuously sent to the vehicle, and the brake assist mode will be managed according to the sensor fault condition. Then the next step is to detect the motor working status module.

[0073] When the motor working status monitoring module detects a fault, it will continue to send corresponding alarm information to the entire vehicle, and will manage the brake assist mode according to the fault condition of the sensor, and then proceed to the next motor working module. Click the working module to complete the work and the system exits.

[0074] In some embodiments of the present invention, the brake assist mode includes one or more of a normal assist mode, a degraded assist mode, and a limp home assist mode.

[0075] In some embodiments of the present invention, controlling the sensor detection module to detect whether the sensor is faulty and obtaining a first result returned by the sensor detection module that indicates whether the sensor is faulty includes:

[0076] The sensor detection module determines whether the sensor is faulty according to the voltage value of the sensor and the change value of the voltage of the sensor within a preset time, and obtains a first result.

[0077] In some embodiments of the present invention, Figure 4As shown, in step S101, the sensor includes a first sensor and a second sensor, and the sensor detection module detects whether the sensor is faulty to obtain a first result, including:

[0078] S401: When both the first sensor and the second sensor are normal, the first result is the voltage value and the beat amplitude of the first sensor, where the beat amplitude of the first sensor is the change in the voltage of the first sensor within a preset time;

[0079] S402: When the first sensor is normal and the second sensor is abnormal, the first result is the voltage value and the beat amplitude of the first sensor;

[0080] S403: When the first sensor is abnormal and the second sensor is normal, the first result is the voltage value and the beat amplitude of the second sensor;

[0081] S404: When both the first sensor and the second sensor are abnormal, the first result is that both sensors are abnormal.

[0082] In a specific embodiment of the present invention, the sensor detection module detects whether the voltage of the sensor is within the valid period. For example, the range of the valid area is 0-5V. That is, if the voltage of the sensor is not within this interval, it can be determined that the sensor is abnormal. The sensor detection module also needs to detect that the voltage change value of the sensor within a preset time is within a preset range to determine that the sensor is normal. For example, T represents 1s, and the voltage change value is 0.25V. That is, if the voltage value of the sensor changes by more than 0.25V within 1s, it is considered a fault.

[0083] When both sensors A / B are normal, the controller in the ECU operates in normal power-assist mode and uses the data from sensor A as the effective value, converts the effective value into the oil pressure of accumulator A, and brakes according to the oil pressure of accumulator A; when sensor A is normal and sensor B fails, the controller in the ECU operates in normal power-assist mode and uses the data from sensor A as the effective value, converts the effective value into the oil pressure of accumulator A, and brakes according to the oil pressure of accumulator A; when sensor A fails and sensor B is normal, the controller in the ECU operates in normal power-assist mode and uses the data from sensor B as the effective value, converts the effective value into the oil pressure of accumulator B, and brakes according to the oil pressure of accumulator B; when both sensors A / B fail, the limp-home power-assist mode is operated.

[0084] For ease of description, P a Indicates the real-time oil pressure in accumulator A, with P b is the real-time oil pressure in accumulator B, and P warning P is the alarm oil pressure of the accumulator. low P is the lower limit oil pressure of the accumulator.target is the target oil pressure of the accumulator, and P max This is the upper limit of the oil pressure of the accumulator. Each pressure value can be adjusted according to the actual situation of the vehicle. Different pressure values ​​will cause different pressurization times of the motor.

[0085] Normal power assist mode: Take the data of sensor A as the effective value, first determine P a Real-time oil pressure in accumulator A, P a <P warning When the system low pressure alarm is issued and the motor working flag is set to 1, the motor starts working to increase the pressure; a The increase of P a <P low When the low pressure alarm is released and the motor working flag is set to 1, the motor continues to increase pressure; when P a >P target When the motor working mark position is 0, the motor stops boosting; when there are other conditions that cause P a >Pmax, start mechanical pressure relief to ensure that the accumulator oil pressure drops to P low With P target Between; when P low ≤P a <P target When the motor is not working, the NVH performance of the system can be improved and the starting frequency of the motor can be reduced.

[0086] Degraded power assist mode: the data of sensor B is taken as the effective value, and energy storage device B is used as a backup to judge P b Real-time oil pressure in accumulator B, P b <P low When the motor working flag is set to 1, the motor continues to increase pressure; b ≥P low When the motor working mark position is 0, the motor stops boosting.

[0087] Limp assist mode: The accumulator pressure P is not considered at this time a 、P b , mainly judges the braking signal. When the brake push rod is displaced, the motor working flag position is set to 1, the motor continues to increase pressure, and the duration is T0. Then the motor working flag position is set to 0, the motor stops increasing pressure and waits for the next braking signal.

[0088] In some embodiments of the present invention, selecting the brake assist mode according to the first result includes:

[0089] When the first result is the voltage value and the beating amplitude of the first sensor, selecting the normal power-assist mode and performing braking according to the voltage value and the beating amplitude of the first sensor;

[0090] When the first result is the voltage value and the beating amplitude of the second sensor, selecting the degraded power assist mode and performing braking according to the voltage value and the beating amplitude of the second sensor;

[0091] When the first result is that all sensors are abnormal, the limp home assist mode is selected.

[0092] In some embodiments of the present invention, obtaining the alarm oil pressure of the energy accumulator, the lower limit oil pressure of the energy accumulator, the upper limit oil pressure of the energy accumulator, the target oil pressure of the energy accumulator, and the motor working position flag, and performing braking according to the voltage value and the beating amplitude of the first sensor includes:

[0093] Obtaining a first oil pressure of the first accumulator based on a voltage value and a beat amplitude of the first sensor;

[0094] When the first oil pressure is lower than the alarm oil pressure, or the first oil pressure is lower than the lower limit oil pressure, the motor working position flag is set to the working state, and the motor is in the boost state;

[0095] When the first oil pressure is greater than the target oil pressure, the motor working position flag is set to an inoperative state, and the motor is in an inoperative state;

[0096] When the first oil pressure is less than the target oil pressure and the first oil pressure is greater than or equal to the lower oil limit, the motor is in an inoperative state;

[0097] The brake push rod is driven to brake based on the current oil pressure of the motor;

[0098] The braking according to the voltage value and the beating amplitude of the second sensor includes:

[0099] Obtaining a second oil pressure of the second accumulator based on a voltage value and a beat amplitude of the second sensor;

[0100] When the second oil pressure is less than the lower limit oil pressure, the motor working position flag is set to the working state, and the motor is in the boost state;

[0101] When the second oil pressure is greater than or equal to the lower limit oil pressure, setting the motor working position flag to an inoperative state;

[0102] The brake push rod is driven to brake based on the current oil pressure of the motor;

[0103] When the first result is that all sensors are abnormal, selecting the limp home assist mode includes:

[0104] When the position of the brake push rod changes, the motor working position flag is set to the working state, the motor is in the boost state, and the motor continues to boost for the preset time.

[0105] The brake push rod is driven to brake based on the current oil pressure of the motor.

[0106] In a specific embodiment of the present invention, the second result includes: one or more of frequent motor braking failures and frequent motor working failures.

[0107] In a specific embodiment of the present invention, Figure 5 As shown, if the motor operates continuously for more than N1 times within time period T1, it is considered frequent braking and a warning is issued to the vehicle. If the motor operates continuously for more than N2 times within time period T2, it is considered frequent motor operation and a warning is issued to the vehicle. If the motor operates continuously for more than T2, a system fault is determined and a warning is issued to the vehicle, and the system enters limp home mode. T1, T2, N1, and N2 can be adjusted according to the actual vehicle conditions, with T1 < T2 and N1 < N2 being sufficient.

[0108] It should be noted that the energy storage brake assist system control technology refers to controlling the motor to pre-charge the energy storage device to a set value in advance, releasing appropriate high-pressure oil to the brake master cylinder to generate assistance according to the input of the brake pedal, and controlling the motor to replenish the pressure when the oil pressure in the energy storage device drops to the set value for the next braking use. Therefore, it is necessary to control the oil pressure of the motor. In a specific embodiment of the present invention, a process of re-judging the motor working flag is added to the motor control strategy to ensure the correctness of the motor working timing. If the motor working flag is already set to 1, it is determined whether P a ≥P target , when P a If the motor working flag is already set to 0, then determine whether P a <P low , when P a If the oil pressure is lower than the lower limit, the motor working flag is set to 1, and the operation continues in the opposite direction. After the motor working flag is judged, the controller drives the motor according to the target current using PID control and PWM modulation to generate oil pressure, and then exits after the cycle control.

[0109] In order to better implement a control method of an electric hydraulic brake boosting mode in an embodiment of the present invention, based on a control method of an electric hydraulic brake boosting mode, correspondingly, as Figure 6 As shown, an embodiment of the present invention further provides a control device 600 for a brake assist mode, and a control device 600 for a brake assist mode includes:

[0110] The data acquisition module 601 is configured to send a first control instruction to the sensor detection module to control the sensor detection module to detect whether the sensor is faulty, and to obtain a first result returned by the sensor detection module to indicate whether the sensor is faulty.

[0111] a first braking mode selection module 602 configured to, after selecting the brake assist mode to control the motor to operate according to the first result, send a second control instruction to the motor operating state detection module to control the motor operating state detection module to detect whether the motor is faulty, and obtain a second result returned by the motor operating state detection module indicating whether the motor is faulty;

[0112] The second braking mode selection module 603 is configured to select a braking assist mode according to the second result to control the operation of the motor.

[0113] The control device 600 for a brake assist mode provided in the above embodiment can implement the technical solution described in the above embodiment of the control method for an electric hydraulic brake assist mode. The specific implementation principles of the above modules or units can be found in the corresponding contents in the above embodiment of the control method for an electric hydraulic brake assist mode, which will not be repeated here.

[0114] On the other hand, the present invention further provides a control system for a brake assist mode, comprising: a sensor detection module, a motor working state detection module, and a controller.

[0115] In some embodiments of the present invention, the system further includes: a sensor detection module and a motor working state monitoring module.

[0116] Those skilled in the art will appreciate that all or part of the process steps of the above-described embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, such as a magnetic disk, an optical disk, a read-only memory, or a random access memory.

[0117] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed by the present invention should be covered by the scope of protection of the present invention.

Claims

1. A control method for an electric hydraulic brake assist mode, characterized in that: include: Sending a first control instruction to the sensor detection module to control the sensor detection module to detect whether the sensor is faulty, and obtaining a first result returned by the sensor detection module to indicate whether the sensor is faulty; After selecting a brake assist mode to control the motor to operate according to the first result, sending a second control instruction to the motor operating state detection module to control the motor operating state detection module to detect whether the motor is faulty, and obtaining a second result returned by the motor operating state detection module to indicate whether the motor is faulty, wherein the brake assist mode includes one or more of a normal assist mode, a degraded assist mode, and a limp home assist mode; selecting a brake assist mode to control the motor operation according to the second result; The sensor includes a first sensor and a second sensor, and the sensor detection module detects whether the sensor is faulty to obtain a first result, including: When both the first sensor and the second sensor are normal, the first result is the voltage value and the beat amplitude of the first sensor, and the beat amplitude of the first sensor is the change value of the voltage of the first sensor within a preset time; When the first sensor is normal and the second sensor is abnormal, the first result is the voltage value and the beat amplitude of the first sensor; When the first sensor is abnormal and the second sensor is normal, the first result is the voltage value and the beat amplitude of the second sensor; When both the first sensor and the second sensor are abnormal, the first result is that both sensors are abnormal.

2. The control method of the electric hydraulic brake assist mode according to claim 1, characterized in that: Before sending the first control instruction to the sensor detection module, the method further includes: Sending a third control instruction to the control circuit self-test module so that the control circuit self-test module detects whether the circuit of the ECU is faulty and obtains a third result, and obtaining the third result returned by the control circuit self-test module; When it is determined that the third result is normal, a fourth control instruction is sent to the control circuit self-test module.

3. The control method of the electric hydraulic brake assist mode according to claim 1, characterized in that: The controlling the sensor detection module to detect whether the sensor is faulty and obtaining a first result returned by the sensor detection module to indicate whether the sensor is faulty includes: The sensor detection module determines whether the sensor is faulty according to the voltage value of the sensor and the change value of the voltage of the sensor within a preset time, and obtains a first result.

4. The control method of the electric hydraulic brake assist mode according to claim 3, characterized in that: Selecting a brake assist mode according to the first result includes: When the first result is the voltage value and the beating amplitude of the first sensor, selecting the normal power-assist mode and performing braking according to the voltage value and the beating amplitude of the first sensor; When the first result is the voltage value and the beating amplitude of the second sensor, selecting the degraded power assist mode and performing braking according to the voltage value and the beating amplitude of the second sensor; When the first result is that all sensors are abnormal, the limp home assist mode is selected.

5. The control method of the electric hydraulic brake assist mode according to claim 4, characterized in that: Acquiring the alarm oil pressure of the energy accumulator, the lower limit oil pressure of the energy accumulator, the upper limit oil pressure of the energy accumulator, the target oil pressure of the energy accumulator, and the motor working position flag, and performing braking according to the voltage value and the beating amplitude of the first sensor, including: Obtaining a first oil pressure of the first accumulator based on a voltage value and a beat amplitude of the first sensor; When the first oil pressure is lower than the alarm oil pressure, or the first oil pressure is lower than the lower limit oil pressure, the motor working position flag is set to the working state, and the motor is in the boost state; When the first oil pressure is greater than the target oil pressure, the motor working position flag is set to an inoperative state, and the motor is in an inoperative state; When the first oil pressure is less than the target oil pressure and the first oil pressure is greater than or equal to the lower limit oil pressure, the motor is in an inoperative state; The brake push rod is driven to brake based on the current oil pressure of the motor; The braking according to the voltage value and the beating amplitude of the second sensor includes: Obtaining a second oil pressure of the second accumulator based on a voltage value and a beat amplitude of the second sensor; When the second oil pressure is less than the lower limit oil pressure, the motor working position flag is set to the working state, and the motor is in the boost state; When the second oil pressure is greater than or equal to the lower limit oil pressure, setting the motor working position flag to an inoperative state; The brake push rod is driven to brake based on the current oil pressure of the motor; When the first result is that all sensors are abnormal, selecting the limp home assist mode includes: When the position of the brake push rod changes, the motor working position flag is set to the working state, the motor is in the boost state, and the motor continues to boost for the preset time. The brake push rod is driven to brake based on the current oil pressure of the motor.

6. A control device for a brake assist mode, characterized in that: The device is based on the control method of the electric hydraulic brake boosting mode according to any one of claims 1 to 5, comprising: a data acquisition module, configured to send a first control instruction to the sensor detection module to control the sensor detection module to detect whether the sensor is faulty, and to obtain a first result returned by the sensor detection module to indicate whether the sensor is faulty; a first braking mode selection module, configured to, after selecting a braking assist mode to control the motor to operate according to a first result, send a second control instruction to the motor operating state detection module to control the motor operating state detection module to detect whether the motor is faulty, and obtain a second result returned by the motor operating state detection module indicating whether the motor is faulty, wherein the braking assist mode includes one or more of a normal assist mode, a degraded assist mode, and a limp home assist mode; a second braking mode selection module, configured to select a braking assist mode according to the second result to control the operation of the motor; The sensor includes a first sensor and a second sensor, and the sensor detection module detects whether the sensor is faulty to obtain a first result, including: When both the first sensor and the second sensor are normal, the first result is the voltage value and the beat amplitude of the first sensor, and the beat amplitude of the first sensor is the change value of the voltage of the first sensor within a preset time; When the first sensor is normal and the second sensor is abnormal, the first result is the voltage value and the beat amplitude of the first sensor; When the first sensor is abnormal and the second sensor is normal, the first result is the voltage value and the beat amplitude of the second sensor; When both the first sensor and the second sensor are abnormal, the first result is that both sensors are abnormal.

7. A control system for a brake assist mode, characterized in that: The system is based on the control method of the electric hydraulic brake assist mode according to any one of claims 1 to 5, comprising: Sensor detection module, motor working status detection module and controller.

8. The control system of the brake assist mode according to claim 7, characterized in that: Also includes: Sensor detection module and motor working status monitoring module.

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