Self-checking system and method for electronic hydraulic brake system

Abstract

The embodiment of the present invention provides a self-test system and method for an electronic hydraulic brake system, which relates to the field of vehicle brake technology. The self-test system for the electronic hydraulic brake system includes a power-on self-test module and a power-off self-test module; the power-on self-test module is used to determine the last power-off state of the vehicle after receiving a power-on instruction, and perform a power-on self-test on the electronic hydraulic brake system based on the last power-off state; the power-off self-test module is used to start timing when it is detected that the electronic hydraulic brake system is in the power-off state of the whole vehicle, and when the timing time reaches a preset timing time, each component in the electronic hydraulic brake system is tested to complete the power-off self-test. The self-test steps of the electronic hydraulic brake system are divided into a power-on stage and a power-off stage, and the self-test steps are adjusted and optimized according to the power-off results to improve the self-test efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle braking, and in particular to a self-testing system and method for an electronic hydraulic braking system. Background Art

[0002] The integrated electronic hydraulic brake system has many functions, and multiple brake functions share one controller. When some functions fail, braking can only rely on mechanical backup. Therefore, it is necessary for the integrated electronic hydraulic brake system to perform self-checks for each function before operation.

[0003] However, the current self-test method tests each function of the integrated electronic hydraulic brake system when the power is turned on, or tests each function of the integrated electronic hydraulic brake system when the power is turned off, which makes the power-on self-test or power-off self-test take a long time and the user experience is poor. Summary of the invention

[0004] The object of the present invention is to provide a self-test system and method for an electronic hydraulic brake system, which can realize power-on self-test and power-off self-test of a vehicle, reduce the self-test time, and improve the user experience.

[0005] In order to achieve the above purpose, the technical solution adopted by the embodiment of the present invention is as follows:

[0006] In a first aspect, an embodiment of the present invention provides a self-test system for an electronic hydraulic brake system, the system comprising a power-on self-test module and a power-off self-test module;

[0007] The power-on self-test module is used to determine the last power-off state of the vehicle after receiving the power-on command, and perform a power-on self-test on the electronic hydraulic brake system based on the last power-off state;

[0008] The power-off self-test module is used to start timing when it detects that the electronic hydraulic brake system is in the power-off state of the whole vehicle. When the timing time reaches a preset timing time, each component in the electronic hydraulic brake system is tested to complete the power-off self-test.

[0009] Optionally, the power-on self-check module includes a piston zero position self-learning module;

[0010] The power-on self-check module is used to send a self-learning control instruction to the piston zero position self-learning module when the last power-off state is abnormal;

[0011] The piston zero position self-learning module is used to control the piston to return to the zero position based on the self-learning control instruction.

[0012] Optionally, the piston zero position self-learning module is used to control the reverse rotation of the motor of the pressure-building chamber of the electronic hydraulic brake system based on the self-learning control instruction, so that the piston returns to the mechanical zero position, and control the forward rotation of the motor so that the piston returns to the software zero position.

[0013] Optionally, the power-on self-check module further includes a mechanical backup power-assist module, and the power-on self-check module is further used to judge the state of the brake pedal when the last power-off state is abnormal, and when the state of the brake pedal is in a stepped state, judge whether the brake pedal is released;

[0014] When the brake pedal is not released, sending a power assist instruction to the mechanical backup power assist module;

[0015] The mechanical backup power assist module is used to provide mechanical power assist to the vehicle based on the power assist instruction.

[0016] Optionally, the power-on self-check module includes a piston zero position self-learning module and a mechanical backup validity self-check module, and the power-on self-check module is further used to judge the state of the brake pedal when the last power-off state is normal, and send a self-learning control instruction to the piston zero position self-learning module when the state of the brake pedal is not stepped on;

[0017] The piston zero position self-learning module is used to control the piston to return to the zero position based on the self-learning control instruction;

[0018] The power-on self-check module is also used to send a mechanical backup validity self-check instruction to the mechanical backup validity self-check module when the last power-off state is normal and the brake pedal is in a stepped state;

[0019] The mechanical backup validity self-check module is used to detect the mechanical backup of the electronic hydraulic brake system based on the mechanical backup validity self-check instruction.

[0020] Optionally, the electronic hydraulic braking system includes a pressure building chamber and a master cylinder, and the mechanical backup effectiveness self-test module detects the controllability of the piston isolation valve and the controllability of the circuit isolation valve in the electronic hydraulic braking system based on the mechanical backup effectiveness self-test instruction, wherein the circuit isolation valve is used to block the hydraulic pressure of the master cylinder, and the piston isolation valve is used to block the hydraulic pressure of the pressure building chamber.

[0021] Optionally, the power-on self-check module is further used for controlling the piston zero position self-learning module to exit the operation of returning the piston to the zero position when it detects that the brake pedal is stepped on during the period when the piston zero position self-learning module controls the piston to return to the zero position based on the self-learning control instruction, and sending a mechanical backup validity self-check instruction to the mechanical backup validity self-check module;

[0022] The mechanical backup validity self-check module is used to detect the mechanical backup of the electronic hydraulic brake system based on the mechanical backup validity self-check instruction.

[0023] Optionally, the power-off self-test module includes a first lower electronic module;

[0024] The first lower electronic module is used to start timing when it is detected that the electronic hydraulic brake system is in a vehicle power-off state, and when the timing time reaches a preset timing time, control the pressure-building chamber of the electronic hydraulic brake system to establish a first preset pressure;

[0025] When the pressure-building chamber maintains the first preset pressure, power-off detection is performed on each component in the electronic hydraulic brake system.

[0026] Optionally, the power-off self-test module includes a second lower electronic module;

[0027] The second lower electronic module is used to start timing when it is detected that the electronic hydraulic brake system is in a vehicle power-off state. When the timing time reaches a preset timing time, the piston isolation valve and the circuit isolation valve in the electronic hydraulic brake system are controlled to be in an open state, wherein the circuit isolation valve is used to block the hydraulic pressure of the master cylinder, and the piston isolation valve is used to block the hydraulic pressure of the pressure building chamber; the pressure building chamber of the electronic hydraulic brake system is controlled to establish a first target hydraulic pressure; when the real-time hydraulic pressure of the master cylinder is consistent with the first target hydraulic pressure, the circuit isolation valve is closed, and the pressure building chamber is controlled to establish a second target hydraulic pressure, wherein the first target hydraulic pressure is greater than the second target hydraulic pressure; based on the first target hydraulic pressure and the second target hydraulic pressure, each component in the electronic hydraulic brake system is tested for power-off.

[0028] In a second aspect, an embodiment of the present invention provides a self-inspection method for an electronic hydraulic brake system, wherein a self-inspection system of the electronic hydraulic brake system is used to perform power-on self-inspection and power-off self-inspection on the electronic hydraulic brake system.

[0029] The present invention has the following beneficial effects:

[0030] The power-on self-test module is used to determine the vehicle's last power-off state after receiving the power-on command, and perform a power-on self-test on the electronic hydraulic brake system based on the last power-off state. The power-off self-test module is used to start timing when it detects that the electronic hydraulic brake system is in the vehicle power-off state. When the timing time reaches the preset timing time, each component in the electronic hydraulic brake system is tested to complete the power-off self-test. The self-test steps of the electronic hydraulic brake system are divided into the power-on stage and the power-off stage. According to the power-off results, the self-test steps are adjusted and optimized to improve the self-test efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 A schematic diagram of an electronic hydraulic brake system provided by an embodiment of the present invention;

[0033] Figure 2 One of the schematic diagrams of a self-test system of an electronic hydraulic brake system is provided in accordance with an embodiment of the present invention;

[0034] Figure 3 A second schematic diagram of a self-checking system of an electronic hydraulic brake system provided by an embodiment of the present invention;

[0035] Figure 4 A third schematic diagram of a self-checking system of an electronic hydraulic brake system provided by an embodiment of the present invention;

[0036] Figure 5 A fourth schematic diagram of a self-checking system of an electronic hydraulic brake system provided by an embodiment of the present invention;

[0037] Figure 6 A fifth schematic diagram of a self-checking system of an electronic hydraulic brake system provided by an embodiment of the present invention;

[0038] Figure 7 One of the state switching schematic diagrams of the electronic hydraulic brake system provided by an embodiment of the present invention;

[0039] Figure 8 A second schematic diagram of state switching of an electronic hydraulic brake system provided by an embodiment of the present invention;

[0040] Fig. 9 A third state switching diagram of the electronic hydraulic brake system provided by an embodiment of the present invention;

[0041] Fig.10 A fourth state switching diagram of the electronic hydraulic brake system provided in an embodiment of the present invention;

[0042] Fig.11 A fifth state switching diagram of the electronic hydraulic brake system provided in an embodiment of the present invention;

[0043] Fig.12 A sixth state switching diagram of the electronic hydraulic brake system provided in an embodiment of the present invention;

[0044] Fig.13A seventh state switching diagram of an electronic hydraulic brake system provided in an embodiment of the present invention;

[0045] Fig.14 An eighth state switching diagram of the electronic hydraulic brake system provided by an embodiment of the present invention;

[0046] Fig.15 A ninth state switching diagram of an electronic hydraulic brake system provided in an embodiment of the present invention;

[0047] Fig.16 A tenth schematic diagram of state switching of an electronic hydraulic brake system provided in an embodiment of the present invention;

[0048] Fig.17 The eleventh state switching diagram of the electronic hydraulic brake system provided by the embodiment of the present invention;

[0049] Fig.18 A twelfth schematic diagram of state switching of an electronic hydraulic brake system provided in an embodiment of the present invention;

[0050] Fig.19 The thirteenth state switching diagram of the electronic hydraulic brake system provided by the embodiment of the present invention;

[0051] Fig. 20 A sixth schematic diagram of a self-checking system of an electronic hydraulic brake system provided by an embodiment of the present invention;

[0052] Fig.21 A fourteenth schematic diagram of state switching of an electronic hydraulic brake system provided in an embodiment of the present invention;

[0053] Fig. 22 The fifteenth state switching diagram of the electronic hydraulic brake system provided in the embodiment of the present invention;

[0054] Fig.23 A sixteenth schematic diagram of state switching of an electronic hydraulic brake system provided in an embodiment of the present invention;

[0055] Fig.24 The seventeenth state switching diagram of the electronic hydraulic brake system provided in the embodiment of the present invention;

[0056] Fig.25 The eighteenth state switching diagram of the electronic hydraulic brake system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0058] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0059] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0060] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, they are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the invention is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0061] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0062] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0063] The integrated electronic hydraulic braking system includes the functions of three major braking products: EHB (Electronic Hydraulic Brake), EPB (Electronic Park Brake), and ESC (Electronic Stability Control). It can achieve high-quality basic braking, wire-controlled braking, wire-controlled parking, stability control and other functions, and can serve as a chassis domain controller to fully take over the wire-controlled chassis.

[0064] like Figure 1 As shown, it is a schematic diagram of an electronic hydraulic brake system, which includes an oil pot module 10, a wheel end module 20, a main brake circuit 30 and a mechanical brake circuit 40. The oil pot module includes a small oil pot 11 and a large oil pot 12. The main brake circuit 30 includes a pressure building chamber 31 and a PSV1 valve and a PSV2 valve. The pressure building of the pressure building chamber 31 is established by the piston movement in the pressure building chamber driven by the motor. The wheel end module 20 includes an IV1 valve, an IV2 valve, an IV3 valve, an IV4 valve, an OV1 valve, an OV2 valve, an OV3 valve and an OV4 valve. The IV1 valve is connected to the OV1 valve, the OV1 valve is connected to the first wheel end, the IV2 valve is connected to the OV2 valve, and the OV2 valve is connected to the second wheel end. The IV3 valve is connected to the OV3 valve, the OV3 valve is connected to the third wheel end, the IV4 valve is connected to the OV4 valve, and the OV4 valve is connected to the fourth wheel end. The PSV1 valve of the main brake circuit 30 is connected to the IV1 valve and the IV2 valve through an oil circuit, and the PSV2 valve of the main brake circuit 30 is connected to the IV3 valve and the IV4 valve through an oil circuit. When the solenoid valve in the mechanical brake circuit 40 is in a closed state and the PSV1 valve and the PSV2 valve are in an open state, the pressure building chamber 31 provides hydraulic pressure to the IV1 valve, the IV2 valve, the IV3 valve and the IV4 valve.

[0065] The mechanical brake circuit 40 includes a master cylinder 41, a CSV1 valve, a CSV2 valve, an SSV valve and a TSV valve. The CSV1 valve, the CSV2 valve, the SSV valve and the TSV valve are respectively connected to the master cylinder. The SSV valve is connected to the simulation chamber 42. The simulation chamber 42 is connected to the oil pot module 10 through an oil circuit. The other end of the TSV valve is connected to the oil pot module 10. The CSV1 valve is connected to the IV1 valve and the IV2 valve through an oil circuit. The CSV2 valve is connected to the IV3 valve and the IV4 valve through an oil circuit. When the CSV1 valve and the CSV2 valve are in an open state, that is, the CSV1 valve and the CSV2 valve allow flow to pass through, and the PSV1 valve and the PSV2 valve are in a closed state, that is, the PSV1 valve and the PSV2 valve do not allow flow to pass through, the master cylinder 41 provides hydraulic pressure to the IV1 valve, the IV2 valve, the IV3 valve and the IV4 valve. The master cylinder 41 is connected to the brake pedal 43, and pressure is built up for the master cylinder 41 by stepping on the brake pedal 43.

[0066] It should be noted that the CSV1 valve, CSV2 valve, IV1 valve, IV2 valve, IV3 valve and IV4 valve are normally open valves, that is, when the CSV1 valve, CSV2 valve, IV1 valve, IV2 valve, IV3 valve and IV4 valve are powered on, the CSV1 valve, CSV2 valve, IV1 valve, IV2 valve, IV3 valve and IV4 valve are in a closed state, that is, a state in which flow is not allowed to pass, and when the CSV1 valve, CSV2 valve, IV1 valve, IV2 valve, IV3 valve and IV4 valve are powered off, the CSV1 valve, CSV2 valve, IV1 valve, IV2 valve, IV3 valve and IV4 valve are in an open state, that is, a state in which flow is allowed to pass. In the electronic hydraulic brake system, other solenoid valves except the above-mentioned CSV1 valve, CSV2 valve, IV1 valve, IV2 valve, IV3 valve and IV4 valve are normally closed valves.

[0067] The integrated electronic hydraulic brake system has many functions, and multiple brake functions share one controller. When some functions fail, braking can only rely on mechanical backup. Therefore, it is necessary for the integrated electronic hydraulic brake system to perform self-checks for each function before operation.

[0068] However, the current self-test method tests each function of the integrated electronic hydraulic brake system when powered on, or tests each function of the integrated electronic hydraulic brake system when powered off, which makes the power-on self-test or power-off self-test take a long time and the user experience is poor. In view of the discovery of the above problems, this embodiment provides a self-test system and method for an electronic hydraulic brake system. The power-on self-test module is used to determine the vehicle's last power-off state after receiving the power-on instruction, and perform a power-on self-test on the electronic hydraulic brake system based on the last power-off state. The power-off self-test module is used to start timing when it is detected that the electronic hydraulic brake system is in the whole vehicle power-off state. When the timing time reaches the preset timing time, each component in the electronic hydraulic brake system is tested to complete the power-off self-test. The self-test steps of the electronic hydraulic brake system are divided into a power-on stage and a power-off stage. According to the power-off result, the self-test steps are adjusted and optimized to improve the self-test efficiency. The scheme provided in this embodiment is described in detail below.

[0069] Please refer to Figure 2 , Figure 2 Schematic diagram of the self-test system of the electronic hydraulic brake system. The method including each module is described in detail below.

[0070] The self-test system 100 of the electronic hydraulic brake system includes a power-on self-test module 101 and a power-off self-test module 102; the power-on self-test module 101 is used to determine the last power-off state of the vehicle after receiving a power-on command, and perform a power-on self-test on the electronic hydraulic brake system based on the last power-off state; the power-off self-test module 102 is used to start timing when it detects that the electronic hydraulic brake system is in the power-off state of the whole vehicle, and when the timing time reaches a preset timing time, each component in the electronic hydraulic brake system is tested to complete the power-off self-test.

[0071] It should be noted that the power-on method may be a Bluetooth key power-on method, that is, when a power-on instruction sent by a Bluetooth key is received, the power-on is performed. The vehicle power-on method may also require ignition power-on after the brake pedal is stepped on, that is, when the brake pedal is stepped on, it is determined that the power-on instruction is received, and the power-on is performed based on the power-on instruction.

[0072] The power-on instruction may include a power-on instruction for a CAN network wake-up signal, a KL15 hard-line wake-up signal, and an EPB switch.

[0073] After receiving the power-on command, the power-on self-test module determines the state of the vehicle at the last power-off. There are multiple ways to obtain the power-off state of the last power-off. In one implementation, the power-off information of the last power-off can be obtained, and the state of the last power-off can be determined based on the power-off information of the last power-off.

[0074] It should be noted that the power-off information of the last power-off may include system information or power supply information. The power-off state of the last power-off is determined based on the system information or the power supply information.

[0075] The last power-off state includes abnormal power-off and normal power-off. When the last power-off state is abnormal, power-on detection is performed on each component in the electronic hydraulic brake system based on the abnormal power-off mode. When the last power-off state is normal, power-on detection is performed on each component in the electronic hydraulic brake system based on the normal power-off mode.

[0076] The triggering condition for the power-off self-test module to perform a power-off self-test on the electronic hydraulic brake system is: starting the timing when it is detected that the electronic hydraulic brake system is in the power-off state of the whole vehicle, and performing a power-off self-test when the timing time reaches the preset timing time and the vehicle's brake pedal is not stepped on, the vehicle speed is zero, and the vehicle's parking system is in the parking state.

[0077] The vehicle power-off state of the electronic hydraulic brake system refers to receiving the KL15 OFF signal. KL15 represents the vehicle power main line, which is responsible for supplying power to most of the electrical equipment on the vehicle.

[0078] There are many ways to detect the components of the electronic hydraulic brake system. In one implementation, when the electronic hydraulic brake system is in the vehicle power-off state, start timing and determine the timing time, compare the timing time with the preset timing time, and when the timing time is equal to the preset timing time, the vehicle's brake pedal is not stepped on, the vehicle speed is zero, and the vehicle's parking system is in the parking state, enter the power-off self-test process, that is, determine the self-test strategy of each component in the electronic hydraulic brake system, and detect each component in the electronic hydraulic brake system based on the self-test strategy. For example, the solenoid valve group in the electronic hydraulic brake system is turned on or off, and each hydraulic circuit and hydraulic chamber in the electronic hydraulic brake system are tested to ensure that the electronic hydraulic brake system is normal and effective.

[0079] In another implementation method of testing each component of the electronic hydraulic brake system, when the timing time reaches a preset timing time, the vehicle's brake pedal is not stepped on, the vehicle's speed is zero, and the vehicle's parking system is in the parking state, when it is detected that the brake pedal is stepped on, the current power-off self-test is exited, and when it is detected again that the timing time of the electronic hydraulic brake system in the vehicle's power-off state reaches the preset timing time, the vehicle's brake pedal is not stepped on, the vehicle's speed is zero, and the vehicle's parking system is in the parking state, a second power-off self-test is performed.

[0080] When the power-off self-test is performed again, if it is detected that the brake pedal is stepped on, the power-off self-test process will not be performed again during the process from the current vehicle ignition to the current power-off.

[0081] In another example, when the timing time of the vehicle's power-off state reaches a preset timing time, the vehicle's brake pedal is not stepped on, the vehicle's speed is zero, and the vehicle's parking system is in the parking state, the power-off self-check process is performed. If it is detected during the self-check process that the brake pedal is stepped on, the power-off self-check process is exited, the vehicle's normal power assistance is restored, and the second power-off self-check is waited for.

[0082] It should be noted that the preset timing duration can be set to 2 minutes, 4 minutes, 6 minutes or 8 minutes, and the present invention does not impose any specific limitation on this.

[0083] When the power-off self-test is completed, the power-off self-test information of the electronic hydraulic brake system is stored in an EEPROM (Electrically Erasable Programmable read only memory) for monitoring the state of the electronic hydraulic brake system.

[0084] In addition to determining whether it is necessary to inspect each component in the electronic hydraulic braking system based on the status of the electronic hydraulic braking system, it is also possible to obtain the vehicle's single mileage and compare the single mileage with the preset mileage. When the single mileage is less than or equal to the preset mileage, the power-off self-inspection process will not be performed during the period from the current ignition to the current power-off.

[0085] It should be noted that the preset driving mileage can be set to 400m, 500m, 600m, etc., and the embodiment of the present invention does not impose any specific limitation on this.

[0086] In order to improve the user experience, the overall detection time of the power-off self-test of each component in the electronic hydraulic brake system is set to not exceed a preset time according to the self-test strategy of each component in the electronic hydraulic brake system. The preset time can be set to 10s, 15s, 20s, etc., and the embodiment of the present invention does not make specific restrictions on this.

[0087] When the power-off self-test is completed, regardless of whether there is a fault in the electronic hydraulic brake system, the residual pressure in the electronic hydraulic brake system needs to be released to ensure subsequent driving safety.

[0088] like Figure 3 As shown, the power-on self-check module 101 also includes a piston zero position self-learning module 1011. The power-on self-check module 101 is used to send a self-learning control instruction to the piston zero position self-learning module 1011 when the last power-off state is abnormal; the piston zero position self-learning module is used to control the piston to return to the zero position based on the self-learning control instruction.

[0089] When the last power-off state was abnormal, the piston zero position self-learning module controls the piston in the pressure building chamber in the electronic hydraulic brake system to return to the zero position based on the self-learning control instruction, so as to avoid the residual hydraulic pressure in the electronic hydraulic brake system due to the last power-off abnormality. After the control piston returns to the zero position, the electronic hydraulic brake system can be depressurized, that is, the residual pressure in the electronic hydraulic brake system is released and the piston in the pressure building chamber is calibrated back to zero, so as to avoid failure of the electronic hydraulic brake system during vehicle driving and facilitate the normal pressure building in the pressure building chamber during subsequent vehicle operation, so as to ensure the normal operation of the electronic hydraulic brake system and thus ensure driving safety.

[0090] The specific method in which the piston zero position self-learning module 1011 controls the piston to return to the zero position based on the self-learning control instruction may be:

[0091] The motor is controlled to reverse to control the piston of the pressure-building chamber to retreat, and the piston speed is obtained in real time. According to the piston speed, when it is confirmed that the piston retreats to the mechanical zero position, the piston retreat control of the pressure-building chamber is ended. When it is determined that the piston of the pressure-building chamber has retreated to the mechanical zero position, the motor is controlled to rotate forward so that the piston rotates forward to the software zero position. The distance between the software zero position and the bottom of the pressure-building chamber is smaller than the distance between the mechanical zero position and the bottom of the pressure-building chamber, and the software zero position is the pressure relief zero position compensation value obtained after learning the pressure relief error of the residual hydraulic pressure of the mechanical zero position.

[0092] For the software zero position, the technician can detect the residual liquid pressure in the main brake circuit of the electronic hydraulic brake system when the pressure-building piston returns to the mechanical zero position multiple times in different scenarios or at different times, remove the residual liquid pressure by moving the piston, and record the position of the piston when the residual liquid pressure is completely eliminated as the pressure relief compensation position. In this way, multiple sets of compensation values ​​can be obtained, and the compensation data include the residual liquid pressure and the corresponding pressure relief compensation position. Furthermore, based on the multiple sets of residual liquid pressures and pressure relief compensation positions, data fitting can be performed to obtain a pressure relief zero position compensation value as the software zero position. It can also be based on the multiple sets of residual liquid pressures and pressure relief compensation positions. Machine learning training is performed to generate a pressure relief zero position compensation value as the software zero position. In addition, the software zero position can also be a fixed value set by the technician based on experience. And the above-mentioned methods of obtaining the second zero position are only examples, and their specific implementation methods are not limited.

[0093] For example, in combination Figure 1 In the electronic hydraulic brake system shown, when it is necessary to release the residual hydraulic pressure in the main brake circuit, the vehicle controller can fix the speed or change the speed to control the motor to reverse, so as to control the piston of the pressure building chamber to retreat away from the bottom of the pressure building chamber, and in this process, the speed sensor of the motor obtains the piston speed in real time.

[0094] While controlling the motor to reverse, the vehicle controller confirms in real time whether the piston has retreated to the mechanical zero position based on the obtained piston speed. If so, the piston retreat control of the pressure-building chamber is terminated. When it is determined that the piston of the pressure-building chamber has retreated to the mechanical zero position, the vehicle controller controls the motor to rotate forward so that the piston rotates forward to the software zero position.

[0095] like Figure 4 As shown, the power-on self-check module 101 also includes a mechanical backup power-assist module 1012. The power-on self-check module 101 is used to determine the state of the brake pedal when the last power-off state is abnormal, and when the brake pedal is in the stepped state, determine whether the brake pedal is released; when the brake pedal is not released, send a power-assist instruction to the mechanical backup power-assist module 1012; the mechanical backup power-assist module 1012 is used to mechanically assist the vehicle based on the power-assist instruction.

[0096] When the last power-off state is detected to be abnormal, only mechanical backup assistance is provided. Figure 1 , when the power-off state of the last power-off was abnormal, the PSV1 valve and PSV2 valve corresponding to the pressure-building chamber were in a power-off state, the motor of the pressure-building chamber was in a power-off state, the circuit isolation valve, namely the SSV valve, CSV1 valve and CSV2 valve, was in an open state, and the IV1 valve, IV2 valve, IV3 valve and IV4 valve were all in a power-off state, namely the IV1 valve, IV2 valve, IV3 valve and IV4 valve were in an open state. At this time, the only way to provide braking force for the vehicle is to control the pressure building of the master cylinder through the brake pedal. The hydraulic pressure built by the master cylinder is pushed to the wheel end through the CSV1 valve, CSV2 valve, IV1 valve, IV2 valve, IV3 valve and IV4 valve, pushing the caliper to clamp the brake disc to achieve braking.

[0097] like Figure 5 As shown, the power-on self-check module 101 also includes a mechanical backup validity self-check module 1013. The power-on self-check module 101 is also used to determine the state of the brake pedal when the last power-off state was normal, and when the brake pedal is in an un-stepped state, send a self-learning control instruction to the piston zero position self-learning module 1011; the piston zero position self-learning module 1011 is used to control the piston to return to the zero position based on the self-learning control instruction; the power-on self-check module 101 is also used to send a mechanical backup validity self-check instruction to the mechanical backup validity self-check module 1013 when the last power-off state was normal and the brake pedal was in a stepped state; the mechanical backup validity self-check module 1013 is used to detect the mechanical backup of the electronic hydraulic brake system based on the mechanical backup validity self-check instruction.

[0098] When the last power-off state was normal and the brake pedal was not pressed, the piston zero position self-learning module 1011 was used to control the piston to return to the zero position based on the self-learning control instruction. The specific method is consistent with the method in which the piston zero position self-learning module 1011 controls the piston in the pressure building chamber in the electronic hydraulic brake system to return to the zero position based on the self-learning control instruction when the last power-off state was abnormal, and will not be repeated here.

[0099] The power-on self-check module 101 is also used for detecting the mechanical backup of the electronic hydraulic brake system based on the mechanical backup validity self-check instruction when the last power-off state is normal and the brake pedal is in a stepped state. There are multiple ways to detect the mechanical backup. In one implementation:

[0100] The mechanical backup effectiveness self-check module 1013 checks the controllability of the piston isolation valve and the controllability of the circuit isolation valve in the electronic hydraulic brake system based on the mechanical backup effectiveness self-check instruction.

[0101] like Figure 1As shown, the piston isolation valve includes a PSV1 valve and a PSV2 valve, and the circuit isolation valve includes a CSV1 valve, a CSV2 valve and an SSV valve.

[0102] The mechanical backup effectiveness self-check module 1013 detects the controllability of the piston isolation valve and the controllability of the loop isolation valve based on the mechanical backup effectiveness self-check instruction in the following manner:

[0103] Control the CSV1 valve and the CSV2 valve to be closed, control the PSV1 valve, the PSV2 valve, and the SSV valve to be open, and determine the first hydraulic pressure of the master cylinder and the first hydraulic pressure curve in the process of establishing the first hydraulic pressure based on the stepping operation of the brake pedal. Establish a second hydraulic pressure for the pressure-building chamber and determine the second hydraulic pressure curve in the process of establishing the second hydraulic pressure for the pressure-building chamber. Based on the first hydraulic pressure curve and the second hydraulic pressure curve, whether the pressure-building chamber and the master cylinder can build pressure normally. When the master cylinder and the pressure-building chamber can build pressure normally, power on the SSV valve, power off the CSV1 valve, and determine the first change curve of the hydraulic pressure at the pressure-building chamber within a preset time and the first change rate of the first change curve. Power off the CSV2 valve, determine the second change curve of the hydraulic pressure at the pressure-building chamber within a preset time and the second change rate of the second change curve. Detect the PSV1 valve, the PSV2 valve, the CSV1 valve, and the CSV2 valve based on the first change rate and the second change rate.

[0104] The first hydraulic curve is compared with the first preset hydraulic curve. When the first hydraulic curve is consistent with the first preset hydraulic curve, it is determined that the master cylinder can build pressure normally and the power-on state of the SSV valve is normal. The second hydraulic curve is compared with the second preset hydraulic curve. When the second hydraulic curve is consistent with the second preset hydraulic curve, it is determined that the pressure-building chamber can build pressure normally.

[0105] The vehicle controller is preset with multiple preset curves corresponding to different hydraulic pressures established by the master cylinder when there is no leakage in the master cylinder. The first preset curve corresponding to the first hydraulic pressure is obtained from the multiple preset curves, and the first preset curve is compared with the first hydraulic pressure curve. When the first preset curve is consistent with the first hydraulic pressure curve, it is determined that the master cylinder has no leakage, pressure can be built normally, and the SSV valve is powered normally. When the first preset curve is inconsistent with the first hydraulic pressure curve, it is determined that the master cylinder is leaking and pressure cannot be built normally or the SSV valve conduction is abnormal.

[0106] The vehicle controller is preset with multiple preset curves corresponding to different hydraulic pressures in the pressure building chamber when there is no leakage in the pressure building chamber. A second preset curve corresponding to the second hydraulic pressure is obtained from the multiple preset curves, and the second preset curve is compared with the second hydraulic pressure curve. When the second preset curve is consistent with the second hydraulic pressure curve, it is determined that there is no leakage in the pressure building chamber and pressure can be built normally. When the second preset curve is inconsistent with the second hydraulic pressure curve, it is determined that there is leakage in the pressure building chamber and pressure cannot be built normally.

[0107] The first change rate is compared with the second change rate. When the second change rate is greater than the first change rate, it is determined that the power-off state of the CSV1 valve and the CSV2 valve is normal, and the power-on state of the PSV1 valve and the PSV2 valve is normal. When the second change rate is less than or equal to the first change rate, a fault alarm message is generated and the vehicle enters a driving prohibition state.

[0108] The power-on self-test module 101 is also used to control the piston zero position self-learning module 1011 to exit the operation of returning the piston to the zero position when it detects that the brake pedal is stepped on during the period when the piston zero position self-learning module 1011 controls the piston to return to the zero position based on the self-learning control instruction, and sends a mechanical backup validity self-test instruction to the mechanical backup validity self-test module 1013; the mechanical backup validity self-test module 1013 is used to detect the mechanical backup of the electronic hydraulic brake system based on the mechanical backup validity self-test instruction.

[0109] like Figure 6 As shown, the power-off self-test module 102 includes a first lower electronic module 1021. The first lower electronic module is used to start timing when it is detected that the electronic hydraulic brake system is in the power-off state of the whole vehicle, and when the timing time reaches a preset timing time, control the pressure-building chamber of the electronic hydraulic brake system to establish a first preset pressure; when the pressure-building chamber maintains the first preset pressure, perform power-off detection on each component in the electronic hydraulic brake system.

[0110] There are many ways to implement power-off detection of each component in the electronic hydraulic brake system based on the first lower electronic module 1021. In one implementation:

[0111] The state of each solenoid valve group in the electronic hydraulic brake system is switched to the power-off state. The pressure-building chamber is controlled to establish the first preset pressure and detect the real-time pressure of the master cylinder. Based on the real-time pressure of the master cylinder, the first preset pressure and the real-time pressure of the pressure-building chamber, the working state of the pressure-building chamber, the PSV1 valve and the PSV2 valve is determined.

[0112] When the real-time pressure of the master cylinder is zero and the real-time pressure of the pressure-building chamber is consistent with the first preset pressure, it is determined that there is no leakage in the pressure-building chamber and there is no forward leakage in the PSV1 valve and the PSV2 valve.

[0113] Reference Figure 7 ,for Figure 1Schematic diagram of the structure when the solenoid valve group is switched to the power-off state. In the figure, when the state of the solenoid valve group in the electronic hydraulic brake system is switched to the power-off state, since the CSV1 valve, CSV2 valve, IV1 valve, IV2 valve, IV3 valve and IV4 valve are normally open valves, when the solenoid valve group in the electronic hydraulic brake system is in the power-off state, the CSV1 valve, CSV2 valve, IV1 valve, IV2 valve, IV3 valve and IV4 valve in the electronic hydraulic brake system are in the open state, that is, the state of allowing flow to pass. Except for the above-mentioned CSV1 valve, CSV2 valve, IV1 valve, IV2 valve, IV3 valve and IV4 valve, the other solenoid valves are in the closed state, that is, the state of not allowing flow to pass.

[0114] When the state of the solenoid valve group of the electronic hydraulic brake system is switched to the power-off state, the PSV1 valve and the PSV2 valve are also in the closed state. If there is no abnormality in the PSV1 valve and the PSV2 valve, the PSV1 valve and the PSV2 valve can seal the pressure in the pressure-building chamber in the pressure-building chamber, and the hydraulic pressure of other oil circuits in the electronic hydraulic brake system is 0. When the PSV1 valve or the PSV2 valve is abnormal, the PSV1 valve and the PSV2 valve cannot seal the pressure in the pressure-building chamber in the pressure-building chamber, and the pressure will leak from the pressure-building chamber to other oil circuits in the electronic hydraulic brake system, making the hydraulic pressure in other oil circuits in the electronic hydraulic brake system not 0.

[0115] When the real-time pressure of the master cylinder is zero and the real-time pressure of the pressure-building chamber is consistent with the first preset pressure, it is considered that the pressure-building chamber has no leakage, and the PSV1 valve and the PSV2 valve can correctly seal the flow, that is, the PSV1 valve and the PSV2 valve have no forward leakage. When the pressure of the master cylinder is not zero or the real-time pressure of the pressure-building chamber is inconsistent with the first preset pressure, it is determined that the PSV1 valve or the PSV2 valve has a forward leakage.

[0116] like Figure 8 As shown, in Figure 7 On the basis of the above, control the CSV1 valve, CSV2 valve, IV1 valve, IV2 valve, IV3 valve and IV4 valve to the closed state. Control the PSV1 valve to the open state. Detect the real-time pressure of the pressure-building chamber. When the real-time pressure of the pressure-building chamber is consistent with the first preset pressure, determine that the CSV1 valve has no reverse leakage, and determine that the IV1 valve and the IV2 valve have no forward leakage.

[0117] When the pressure building chamber builds up the first preset pressure, when the PSV1 valve is in the open state, the hydraulic pressure at the pressure building chamber leaks to the oil circuit connecting the PSV1 valve and the CSV1 valve, and the oil circuit connecting the CSV1 valve and the IV1 valve and the IV2 valve. When the CSV1 valve leaks in the reverse direction, the hydraulic pressure will leak from the CSV1 valve to the master cylinder, and when there is leakage in the IV1 valve or the IV2 valve, it will leak to the wheel end.

[0118] In one example, the leakage of the CSV1 valve, the IV1 valve, and the IV2 valve may be detected based on a comparison result between the real-time pressure of the pressure building chamber and the first preset pressure.

[0119] When the real-time pressure of the pressure building chamber is consistent with the first preset pressure, it is determined that the CSV1 valve has no reverse leakage, and the IV1 valve and the IV2 valve have no forward leakage.

[0120] When the real-time pressure of the pressure building chamber is inconsistent with the first preset pressure, when the pressure detected in the master cylinder is not 0, it is determined that the CSV1 valve has reverse leakage. If pressure is detected at the wheel end, the IV1 valve or IV2 valve has forward leakage.

[0121] The pressure sensor at the pressure building chamber compares the real-time pressure of the pressure building chamber with the first preset pressure. When the real-time pressure of the pressure building chamber is consistent with the first preset pressure, it is determined that the CSV1 valve has no reverse leakage, and it is determined that the IV1 valve and the IV2 valve have no forward leakage.

[0122] In another example, the target displacement of the piston corresponding to the first preset pressure can be determined, the first displacement corresponding to the real-time pressure of the pressure-building chamber can be determined, and the first displacement can be compared with the target displacement. When the first displacement is consistent with the target displacement, it is determined that the CSV1 valve has no reverse leakage, and it is determined that the IV1 valve and the IV2 valve have no forward leakage. When the first displacement is inconsistent with the target displacement and when the pressure detected in the master cylinder is not 0, it is determined that the CSV1 valve has reverse leakage. If the first displacement is inconsistent with the target displacement and pressure is detected at the wheel end, there is forward leakage in the IV1 valve or the IV2 valve.

[0123] When it is determined that the CSV1 valve has no reverse leakage and that the IV1 valve and IV2 valve have no forward leakage, the pressure-building chamber is controlled to maintain the first preset pressure. The IV1 valve is controlled to be in an open state. The real-time pressure of the pressure-building chamber is detected. When the real-time pressure of the pressure-building chamber is consistent with the first preset pressure, it is determined that the OV1 valve has no leakage, the IV1 valve is normally conducted, the wheel end corresponding to the IV1 has no leakage, and the wheel end pipeline corresponding to the IV1 valve has no leakage.

[0124] like Fig. 9 As shown, in Figure 8 On the basis of, the IV1 valve is controlled to be in an open state. When the IV1 valve is controlled normally, the hydraulic pressure can pass through the IV1 valve to the oil circuit connected to the OV1 valve and push the hydraulic pressure to the wheel end corresponding to the IV1 valve, that is, the hydraulic pressure can be detected at the wheel end corresponding to the IV1 valve, and the hydraulic pressure detected at the wheel end corresponding to the IV1 valve is consistent with the first preset pressure. When the OV1 valve has no leakage, the hydraulic pressure will not leak through the OV1 valve and the oil circuit connecting the OV1 valve and the oil tank module.

[0125] In one example, by detecting the comparison result between the real-time pressure of the pressure-building chamber and the first preset pressure, when the real-time pressure of the pressure-building chamber is consistent with the first preset pressure, it is determined that the IV1 valve is controlled normally and the OV1 valve has no leakage. There is no leakage at the wheel end corresponding to IV1 and there is no leakage at the wheel end pipeline corresponding to IV1. When the real-time pressure of the pressure-building chamber is inconsistent with the first preset pressure, it is determined that the IV1 valve is abnormally controlled or the OV1 valve has no leakage or the wheel end corresponding to IV1 has no leakage or the wheel end pipeline corresponding to IV1 has no leakage.

[0126] The OV1 valve is controlled to be in an open state. The real-time pressure of the pressure-building chamber is detected. When the real-time pressure of the pressure-building chamber is consistent with the first preset pressure, it is determined that the OV1 valve is normally connected.

[0127] When the conduction state of the OV1 valve is detected, the pressure-building chamber establishes a first preset pressure and the pressure of the pressure-building chamber is maintained at the first preset pressure.

[0128] like Fig.10 As shown, in Fig. 9 On the basis of, the OV1 valve is controlled to be in the open state. Since the OV1 valve is in the open state, the hydraulic pressure will be released to the small oil pot through the oil circuit of the OV1 valve and the oil pot module. At this time, in order to maintain the first preset pressure in the pressure building chamber, the motor continues to work, and the piston corresponding to the pressure building chamber continues to push forward to maintain the first preset pressure in the pressure building chamber.

[0129] In one example, when the real-time pressure of the pressure building chamber is consistent with the first preset pressure, it is determined that the OV1 valve is controlled normally, that is, the OV1 valve is conducted normally.

[0130] In another example, the displacement of the piston corresponding to the pressure-building chamber can be determined to judge whether the conduction of the OV1 valve is normal. If it is detected that the displacement of the piston corresponding to the pressure-building chamber is consistent with the displacement corresponding to maintaining the first preset pressure, it is determined that the conduction of the OV1 valve is normal.

[0131] The OV1 valve is controlled to be closed, and the IV2 valve is controlled to be open. The real-time pressure of the pressure-building chamber is detected. When the real-time pressure of the pressure-building chamber is consistent with the first preset pressure, it is determined that the IV2 valve is normally connected, the OV2 valve has no leakage, the wheel end corresponding to the IV2 valve has no leakage, and the wheel end pipe corresponding to the IV2 valve has no leakage.

[0132] like Fig.11 As shown, in Fig.10 On the basis of the above, control the OV1 valve to the closed state and the IV2 valve to the open state. After closing the OV1 valve, the hydraulic pressure will no longer be released to the oil tank module. When the IV2 valve is opened, the hydraulic pressure will be pushed to the corresponding wheel end through the IV2 valve.

[0133] When the real-time pressure of the pressure building chamber is consistent with the first preset pressure, it can be determined that the IV2 valve is conducting normally, the OV2 valve has no leakage, the wheel end corresponding to the IV2 valve has no leakage, and the wheel end pipe corresponding to the IV2 valve has no leakage.

[0134] If there is leakage at the wheel end corresponding to the IV2 valve, Fig.11 The hydraulic pressure in the entire conductive oil circuit will change, that is, the real-time pressure of the pressure building chamber is inconsistent with the first preset pressure. When the IV2 valve is abnormally controlled, the hydraulic pressure pushed from the pressure building chamber to the wheel end cannot be detected at the wheel end corresponding to the IV2 valve. When the OV2 valve leaks, the hydraulic pressure will leak into the oil pot through the OV2 valve, causing the real-time pressure of the pressure building chamber to be inconsistent with the first preset pressure. When the wheel end pipeline corresponding to the IV2 valve leaks, the real-time pressure of the pressure building chamber will also be inconsistent with the first preset pressure. Therefore, the comparison result of the real-time pressure of the pressure building chamber with the first preset pressure can be used to determine whether the IV2 valve, the OV2 valve, the wheel end corresponding to the IV2 valve, or the wheel end pipeline corresponding to the IV2 valve is leaking.

[0135] The OV2 valve is controlled to be in an open state, and the real-time pressure of the pressure-building chamber is detected. When the real-time pressure of the pressure-building chamber is consistent with the first preset pressure, it is determined that the OV2 valve is normally conducting.

[0136] like Fig.12 As shown, in Fig.11 Based on the above, the OV2 valve is controlled to be in an open state. For the same reason as the OV1 valve is in an open state, the conduction state of the OV2 valve is determined by comparing the real-time pressure of the pressure-building chamber with the first preset pressure, which will not be described in detail.

[0137] The OV2 valve is controlled to be closed, and the PSV2 valve is controlled to be open. The real-time pressure of the pressure-building chamber is detected. When the real-time pressure of the pressure-building chamber is consistent with the first preset pressure, it is determined that the CSV2 valve has no reverse leakage, and the IV3 valve and the IV4 valve have no leakage.

[0138] like Fig.13 ,exist Fig.12 On this basis, the OV2 valve is controlled to be closed and the PSV2 valve is controlled to be open.

[0139] In one example, the hydraulic pressure of the pressure-building chamber is released through the PSV2 valve to the oil circuit connecting the IV3 valve and the PSV2 valve. When the real-time pressure of the pressure-building chamber is consistent with the first preset pressure, it is determined that the CSV2 valve has no reverse leakage, and the IV3 valve and the IV4 valve have no leakage. When the real-time pressure of the pressure-building chamber is inconsistent with the first preset pressure, it is determined that the CSV2 valve has reverse leakage, the IV3 valve has leakage, or the IV4 valve has leakage.

[0140] In another example, the displacement of the piston corresponding to the pressure-building chamber can be determined to determine whether the CSV2 valve has no reverse leakage, and whether the IV3 valve and the IV4 valve have leakage. If it is detected that the first displacement of the piston corresponding to the pressure-building chamber is consistent with the target displacement corresponding to the first preset pressure, it is determined that the CSV2 valve has no reverse leakage, and the IV3 valve and the IV4 valve have no leakage. If it is detected that the first displacement of the piston corresponding to the pressure-building chamber is inconsistent with the target displacement corresponding to the first preset pressure, it is determined that the CSV2 valve has reverse leakage, the IV3 valve has leakage, or the IV4 valve has leakage.

[0141] When the CSV2 valve has reverse leakage, the hydraulic pressure will leak through the CSV2 valve to the master cylinder. When the pressure detector of the master cylinder detects that the pressure of the master cylinder is not zero, it is determined that the CSV2 valve has reverse leakage. When the IV3 valve leaks, the hydraulic pressure will leak through the IV3 valve to the corresponding wheel end. When the pressure sensor based on the wheel end corresponding to the IV3 valve detects that the pressure is not zero, it is determined that the IV3 valve is leaking.

[0142] Since the IV4 valve is connected to the IV3 valve through an oil circuit, when the IV4 valve leaks, the hydraulic pressure is released through the PSV2 valve to the oil circuit connecting the IV3 valve and the PSV2 valve and the oil circuit connecting the IV3 valve and the IV4 valve. Therefore, when the IV4 valve leaks, the hydraulic pressure will leak through the IV4 valve to the wheel end corresponding to the IV4 valve, and pressure detection will be performed through the pressure sensor corresponding to the wheel end corresponding to the IV4 valve. When the pressure detected by the pressure sensor corresponding to the wheel end corresponding to the IV4 valve is not zero, it is determined that the IV4 valve is leaking.

[0143] Control the IV3 valve to the open state, detect the real-time pressure of the pressure building chamber, and when the real-time pressure of the pressure building chamber is consistent with the first preset pressure, determine that the IV3 valve is conducting normally, the OV3 valve has no leakage, the wheel end corresponding to the IV3 valve has no leakage, and the pipeline of the wheel end corresponding to the IV3 valve has no leakage.

[0144] like Fig.14 As shown, in Fig.13 On the basis of, IV3 valve is controlled to be open.

[0145] When the IV3 valve is in the open state, the hydraulic pressure is released through the IV3 valve into the oil passage connecting the IV3 valve and the OV3 valve.

[0146] In one example, the real-time pressure of the pressure-building chamber is compared with the first preset pressure, and the leakage of the IV3 valve, the OV3 valve, the judgment corresponding to the IV3 valve, and the pipeline corresponding to the judgment of the IV3 valve are determined based on the comparison result. When the real-time pressure of the pressure-building chamber is consistent with the first preset pressure, it is determined that the IV3 valve is normally conducted, the OV3 valve has no leakage, the wheel end corresponding to the IV3 valve has no leakage, and the pipeline corresponding to the wheel end of the IV3 valve has no leakage. When the real-time pressure of the pressure-building chamber is inconsistent with the first preset pressure, it is determined that the IV3 valve is abnormally controlled, the OV3 valve is leaking, the wheel end corresponding to the IV3 valve is leaking, or the pipeline corresponding to the wheel end of the IV3 valve is leaking.

[0147] In another example, the first displacement of the piston corresponding to the real-time pressure of the pressure-building chamber is determined, the target displacement of the piston corresponding to the first preset pressure is determined, and the first displacement is compared with the target displacement. When the first displacement is equal to the target displacement, it is determined that the IV3 valve is normally connected, the OV3 valve corresponding to the IV3 valve has no leakage, the wheel end corresponding to the IV3 valve has no leakage, and the pipeline of the wheel end corresponding to the IV3 valve has no leakage. When the first displacement is inconsistent with the target displacement, it is determined that the IV3 valve is abnormally controlled, the OV3 valve corresponding to the IV3 valve is leaking, the wheel end corresponding to the IV3 valve is leaking, or the pipeline of the wheel end corresponding to the IV3 valve is leaking.

[0148] In another example, the first displacement of the piston corresponding to the real-time pressure of the pressure-building chamber is determined, the target displacement corresponding to the first preset pressure is determined, and the absolute value of the difference between the first displacement and the target displacement is calculated. When the absolute value is less than or equal to the preset error, it is determined that the IV3 valve is conducting normally, the OV3 valve has no leakage, the wheel end corresponding to the IV3 valve has no leakage, and the pipeline of the wheel end corresponding to the IV3 valve has no leakage. When the absolute value is greater than the preset error, the IV3 valve is abnormally controlled, the OV3 valve leaks, the wheel end corresponding to the IV3 valve leaks, or the pipeline of the wheel end corresponding to the IV3 valve leaks.

[0149] The OV3 valve is controlled to be in an open state, and the real-time pressure of the pressure-building chamber is detected. When the real-time pressure of the pressure-building chamber is consistent with the first preset pressure, it is determined that the OV3 valve is conducting normally.

[0150] When the conduction state of the OV3 valve is detected, the pressure-building chamber establishes a first preset pressure and the pressure of the pressure-building chamber is maintained at the first preset pressure.

[0151] like Fig.15 As shown, in Fig.14 On this basis, the OV3 valve is controlled to be in the open state.

[0152] Since the OV3 valve is in an open state, the hydraulic pressure will be released to the oil tank through the oil circuit of the OV3 valve and the oil tank module. At this time, in order to maintain the first preset pressure in the pressure building chamber, the motor continues to work, and the piston corresponding to the pressure building chamber continues to push forward to maintain the first preset pressure in the pressure building chamber.

[0153] In one example, when the real-time pressure of the pressure building chamber is consistent with the first preset pressure, it is determined that the OV3 valve is controlled normally, that is, the OV3 valve is conducted normally.

[0154] In another example, the displacement of the piston corresponding to the pressure-building chamber can be determined to judge whether the conduction of the OV3 valve is normal. If it is detected that the displacement of the piston corresponding to the pressure-building chamber is consistent with the displacement corresponding to maintaining the first preset pressure, it is determined that the conduction of the OV3 valve is normal.

[0155] The OV3 valve is controlled to be closed, and the IV4 valve is controlled to be open. The real-time pressure of the pressure-building chamber is detected. When the real-time pressure of the pressure-building chamber is consistent with the first preset pressure, it is determined that the IV4 valve is normally connected, the OV4 valve has no leakage, the wheel end corresponding to the IV4 valve has no leakage, and the pipeline of the wheel end corresponding to the IV4 valve has no leakage, otherwise.

[0156] like Fig.16 As shown, in Fig.15 On the basis of the above, control the OV3 valve to the closed state and the IV4 valve to the open state. After closing the OV3 valve, the hydraulic pressure will no longer be released to the oil tank module. When the IV4 valve is opened, the hydraulic pressure will be pushed to the corresponding wheel end through the IV4 valve.

[0157] When the real-time pressure of the pressure building chamber is consistent with the first preset pressure, it can be determined that the IV4 valve is conducting normally, the OV4 valve corresponding to the IV4 valve has no leakage, the wheel end corresponding to the IV4 valve has no leakage, and the wheel end pipe corresponding to the IV4 valve has no leakage, otherwise.

[0158] If there is leakage at the wheel end corresponding to the IV4 valve, Fig.16 The hydraulic pressure in the entire conductive oil circuit will change, that is, the real-time pressure of the pressure building chamber will be inconsistent with the first preset pressure. When the IV4 valve is abnormally controlled, the hydraulic pressure pushed from the pressure building chamber to the wheel end cannot be detected at the wheel end corresponding to the IV4 valve. When the OV4 valve leaks, the hydraulic pressure will leak into the oil pot through the OV4 valve, causing the real-time pressure of the pressure building chamber to be inconsistent with the first preset pressure. When the wheel end pipeline corresponding to the IV4 valve leaks, the real-time pressure of the pressure building chamber will also be inconsistent with the first preset pressure. Therefore, the comparison result of the real-time pressure of the pressure building chamber with the first preset pressure can be used to determine whether the IV4 valve, the OV4 valve, the wheel end corresponding to the IV4 valve, or the wheel end pipeline corresponding to the IV4 valve is leaking.

[0159] The OV4 valve is controlled to be in an open state, and the real-time pressure of the pressure-building chamber is detected. When the real-time pressure of the pressure-building chamber is consistent with the first preset pressure, it is determined that the OV4 valve is normally connected, otherwise.

[0160] like Fig.17 As shown, in Fig.16Based on the above, the OV4 valve is controlled to be in an open state. For the same reason as the OV3 valve is in an open state, the conduction state of the OV4 valve is determined by comparing the real-time pressure of the pressure-building chamber with the first preset pressure, which will not be described in detail.

[0161] The OV4 valve is controlled to be closed, and the CSV1 valve and the CSV2 valve are controlled to be open, and the real-time pressure of the pressure-building chamber is detected. When the real-time pressure of the pressure-building chamber is consistent with the first preset pressure, it is determined that the flow conduction of the CSV1 valve and the CSV2 valve is normal, and the TSV valve and the SSV valve are leak-free. When the flow conduction of the CSV1 valve and the CSV2 valve is normal, and the TSV valve and the SSV valve are leak-free, the real-time pressure of the master cylinder is compared with the real-time pressure of the master cylinder. When the real-time pressure of the pressure-building chamber is consistent with the real-time pressure of the master cylinder, it is determined that the pressure sensor of the master cylinder and the pressure sensor of the pressure-building chamber are normal.

[0162] like Fig.18 As shown, in Fig.17 On the basis of, the OV4 valve is controlled to be closed, and the CSV1 valve and CSV2 valve are controlled to be open. The PSV1 valve, PSV2 valve, CSV1 valve, CSV2 valve, IV1 valve, IV2 valve, IV3 valve and IV4 valve are all in the open state.

[0163] When the pressure building chamber builds up the first preset pressure, the hydraulic pressure is released to the CSV1 valve and the CSV2 valve through the PSV1 valve and the PSV2 valve. When the CSV1 valve and the CSV2 valve are in the open state, the hydraulic pressure is released to the master cylinder through the CSV1 valve and the CSV2 valve.

[0164] Since the TSV valve is connected to the master cylinder, when the TSV valve leaks, the hydraulic pressure in the master cylinder will leak from the TSV valve to the oil tank module, causing the real-time pressure at the pressure-building chamber to decrease. When the SSV valve leaks, the hydraulic pressure will leak to the simulation chamber connected to the SSV valve, causing the real-time pressure at the pressure-building chamber to decrease.

[0165] Therefore, the leakage of the SSV valve and the TSV can be judged based on the comparison result between the real-time pressure of the pressure building chamber and the first preset pressure.

[0166] When the real-time pressure of the pressure-building chamber is consistent with the first preset pressure, it is determined that the TSV valve and the SSV valve have no leakage. When the real-time pressure of the pressure-building chamber is inconsistent with the first preset pressure, it is determined that the TSV valve or the SSV valve has leakage.

[0167] When the CSV1 valve and the CSV2 valve are abnormally controlled, the pressure sensor at the master cylinder cannot detect the pressure. Therefore, to determine whether the CSV1 valve and the CSV2 valve are abnormally controlled, the pressure of the master cylinder can be detected. When it is detected that the real-time pressure of the master cylinder is consistent with the real-time pressure of the pressure-building chamber, it is determined that the CSV1 valve and the CSV2 valve are normally controlled and the pressure sensor of the master cylinder and the pressure sensor of the pressure-building chamber are normal.

[0168] The SSV valve is controlled to be in an open state. The real-time pressure of the pressure-building chamber is detected, and when the real-time pressure of the pressure-building chamber is consistent with the first preset pressure, it is determined that the flow conduction of the SSV valve is normal.

[0169] like Fig.19 As shown, in Fig.18 On the basis of, the SSV valve is controlled to be in the open state.

[0170] In one example, when the SSV valve is in an open state, hydraulic pressure is released from the SSV valve into the simulation chamber. When the real-time pressure of the pressure-building chamber is consistent with the first preset pressure, it is determined that the flow conduction of the SSV valve is normal.

[0171] In another example, when the SSV valve is in an open state, hydraulic pressure will be released from the SSV valve into the simulation chamber, the pressure building chamber will establish a first preset pressure and the pressure of the pressure building chamber will be maintained at the first preset pressure. In order to maintain the first preset pressure in the pressure building chamber, the motor will continue to work, and the piston corresponding to the pressure building chamber will continue to push forward to maintain the first preset pressure in the pressure building chamber. When it is detected that the displacement of the piston corresponding to the pressure building chamber is consistent with the displacement corresponding to maintaining the first preset pressure, it is determined that the SSV valve is conducting normally.

[0172] like Fig. 20 As shown, the power-off self-test module 102 includes a second lower electronic module 1022;

[0173] The second lower electronic module is used to start timing when it detects that the electronic hydraulic brake system is in a vehicle power-off state. When the timing time reaches a preset timing time, the piston isolation valve and the circuit isolation valve in the electronic hydraulic brake system are controlled to be in an open state, wherein the circuit isolation valve is used to block the hydraulic pressure of the master cylinder, and the piston isolation valve is used to block the hydraulic pressure of the pressure building chamber; the pressure building chamber of the electronic hydraulic brake system is controlled to establish a first target hydraulic pressure; when the real-time hydraulic pressure of the master cylinder is consistent with the first target hydraulic pressure, the circuit isolation valve is closed, and the pressure building chamber is controlled to establish a second target hydraulic pressure, wherein the first target hydraulic pressure is greater than the second target hydraulic pressure; based on the first target hydraulic pressure and the second target hydraulic pressure, each component in the electronic hydraulic brake system is tested for power-off.

[0174] When the vehicle power-off time reaches the preset time, it will enter the power-off self-test process normally. Fig.21As shown, the piston isolation valve in the electronic hydraulic brake system is controlled to be in the open state, that is, the PSV1 valve and the PSV2 valve are controlled to be in the open state, and the TSV valve is in the power-off state, so that the TSV valve is in the closed state. The circuit isolation valve in the electronic hydraulic brake system is controlled to be in the open state, that is, the CSV1 valve and the CSV2 valve are controlled to be in the open state.

[0175] When the timing time of the vehicle's power-off state reaches the preset timing time, the power-off self-test process is entered normally, and the IV1 valve, IV2 valve, IV3 valve and IV4 valve can also be controlled to be in a closed state, that is, the IV1 valve, IV2 valve, IV3 valve and IV4 valve are energized to make the IV1 valve, IV2 valve, IV3 valve and IV4 valve in a closed state to avoid hydraulic leakage when building pressure in the pressure chamber.

[0176] When the pressure building chamber establishes the first target hydraulic pressure, the SSV valve is energized to open the SSV valve. When the PSV1 valve, the PSV2 valve, the CSV1 valve, and the CSV2 valve are all in the open state, the first target hydraulic pressure is pushed to the master cylinder through the PSV1 valve, the PSV2 valve, the CSV1 valve, and the CSV2 valve. Since the PSV1 valve is connected to the CSV1 valve, and the PSV2 valve is connected to the CSV2 valve, when the PSV1 valve and the CSV1 valve are in the open state, the hydraulic pressure can be pushed into the master cylinder through the PSV1 valve and the CSV1 valve, and when the PSV2 valve and the CSV2 valve are in the open state, the hydraulic pressure can be pushed into the master cylinder through the PSV2 valve and the CSV2 valve.

[0177] After the first target hydraulic pressure is sealed in the master cylinder, Fig. 22 As shown, in Fig.21 On the basis of, the CSV1 valve and the CSV2 valve are controlled to be in the closed state, at which time the first target hydraulic pressure is sealed in the master cylinder.

[0178] After the first target hydraulic pressure is sealed in the master cylinder, the motor corresponding to the pressure-building chamber is controlled to operate and control the pressure-building chamber to establish the second target hydraulic pressure. When the CSV1 valve and the CSV2 valve are in the closed state, the second target hydraulic pressure will be sealed in the oil circuit in the conductive state.

[0179] Based on the first target hydraulic pressure and the second target hydraulic pressure, each solenoid valve in the electronic hydraulic brake system is closed and opened, so that power-off detection is performed based on changes in the first target hydraulic pressure and the second target hydraulic pressure.

[0180] Based on the first target hydraulic pressure of the master cylinder and the second target hydraulic pressure of the pressure-building chamber, power-off detection is performed on each component in the electronic hydraulic brake system. Since the first target hydraulic pressure is greater than the second target hydraulic pressure, when the first target hydraulic pressure is blocked in the master cylinder, if there is no forward leakage in the circuit isolation valve, the pressure will not leak through the circuit isolation valve to the circuit connected to the piston isolation valve. When there is a forward leakage in the circuit isolation valve, the real-time hydraulic pressure in the master cylinder will not meet the first target hydraulic pressure. When it is detected that the real-time hydraulic pressure of the master cylinder is consistent with the first target hydraulic pressure, the circuit isolation valve is closed, and the pressure-building chamber is controlled to establish the second target hydraulic pressure. When it is detected that the real-time hydraulic pressure of the pressure-building chamber is less than the second target hydraulic pressure, it indicates that the circuit isolation valve is leaking in the reverse direction. When it is detected that the real-time hydraulic pressure of the pressure-building chamber is consistent with the second target hydraulic pressure, it indicates that the circuit isolation valve has no reverse leakage. Through the above scheme, bidirectional detection of the solenoid valve can be completed.

[0181] Specifically: the real-time hydraulic pressure corresponding to the master cylinder is obtained, and the real-time hydraulic pressure is compared with the first target hydraulic pressure. When the real-time hydraulic pressure of the master cylinder is consistent with the first target hydraulic pressure, it is determined that the circuit isolation valve has no forward leakage.

[0182] In one example, the first pressure sensor detects the real-time hydraulic pressure of the master cylinder. When the reading of the first pressure sensor is consistent with the first target hydraulic pressure, it is determined that the circuit isolation valve has no positive leakage, that is, the CSV1 valve and the CSV2 valve have no positive leakage. When the CSV1 valve and the CSV2 valve leak, the hydraulic pressure of the master cylinder cannot be blocked in the master cylinder and will leak to other places of the electronic hydraulic brake system. At this time, the real-time hydraulic pressure of the master cylinder cannot reach the first target hydraulic pressure.

[0183] In another example, the electronic hydraulic brake system may further include a first displacement sensor connected to the master cylinder, and the first displacement sensor is used to detect the displacement of the piston in the master cylinder. Based on the real-time displacement of the piston in the master cylinder detected by the first displacement sensor, a target displacement corresponding to the first target hydraulic pressure is determined, and the real-time displacement is compared with the target displacement. When the real-time displacement is consistent with the target displacement, it is determined that the CSV1 valve and the CSV2 valve have no positive leakage.

[0184] In another example, based on the real-time displacement of the piston in the master cylinder detected by the first displacement sensor, the target displacement corresponding to the first target hydraulic pressure is determined, the absolute value of the difference between the real-time displacement and the target displacement is calculated, and the absolute value is compared with a preset error. When the absolute value is less than or equal to the preset error, it is determined that there is no forward leakage in the CSV1 valve and the CSV2 valve.

[0185] When it is determined that there is no forward leakage from the loop isolation valve, the CSV2 valve is powered off to keep the CSV2 valve in the open state.

[0186] like Fig.23As shown, in Fig. 22 On the basis of the above, the CSV2 valve is controlled to be in the open state. When the CSV2 valve is in the open state, the hydraulic pressure in the master cylinder will be released through the CSV2 valve, and when the PSV1 valve and the PSV2 valve are also in the open state, the first target hydraulic pressure in the master cylinder and the second target hydraulic pressure in the pressure building chamber will be hydraulically merged.

[0187] Obtain the real-time hydraulic pressure corresponding to the master cylinder and the real-time hydraulic pressure corresponding to the pressure-building chamber.

[0188] The real-time hydraulic pressure of the master cylinder is detected based on the first pressure sensor corresponding to the master cylinder, and the real-time hydraulic pressure of the pressure building chamber is detected based on the second pressure sensor corresponding to the pressure building chamber.

[0189] Determine whether the real-time hydraulic pressure corresponding to the master cylinder is less than the first target hydraulic pressure. When the real-time hydraulic pressure corresponding to the master cylinder is less than the first target hydraulic pressure, determine whether the real-time hydraulic pressure corresponding to the pressure building chamber is greater than the second target hydraulic pressure. When the real-time hydraulic pressure corresponding to the pressure building chamber is greater than the second target hydraulic pressure, determine whether the real-time hydraulic pressure corresponding to the master cylinder is consistent with the real-time hydraulic pressure corresponding to the pressure building chamber. When the real-time hydraulic pressure corresponding to the master cylinder is consistent with the real-time hydraulic pressure corresponding to the pressure building chamber, determine that the CSV2 valve is conducting normally.

[0190] Since the first target hydraulic pressure established by the pressure-building chamber is greater than the second target hydraulic pressure established, when the CSV2 valve is opened, the first target hydraulic pressure and the second target hydraulic pressure will be merged, and the fused pressure is less than the first target hydraulic pressure and greater than the second target hydraulic pressure. If the CSV2 valve is controlled normally, that is, when the CSV2 valve is conducting normally, the real-time hydraulic pressure of the master cylinder must be less than the first target hydraulic pressure before the CSV2 valve is opened, and the real-time hydraulic pressure of the pressure-building chamber must be greater than the second target hydraulic pressure before the CSV2 valve is opened. And, finally, the first target hydraulic pressure and the second target hydraulic pressure are merged into a fixed value. At this time Fig.23 The hydraulic pressure at each point in the oil circuit that is connected should be equal.

[0191] Therefore, the conduction state of the CSV2 valve can be detected based on the relationship between the real-time hydraulic pressure of the master cylinder and the first target hydraulic pressure, the relationship between the real-time hydraulic pressure of the pressure building chamber and the second target hydraulic pressure, and the relationship between the real-time hydraulic pressure corresponding to the master cylinder and the real-time hydraulic pressure corresponding to the pressure building chamber.

[0192] That is, when the real-time hydraulic pressure of the master cylinder is less than the first target hydraulic pressure, the real-time hydraulic pressure of the pressure-building chamber is greater than the second target hydraulic pressure, and the real-time hydraulic pressure of the master cylinder is consistent with the real-time hydraulic pressure of the pressure-building chamber, it is determined that the CSV2 valve is conducting normally.

[0193] When the CSV2 valve is conducting normally, the CSV2 valve is energized to close the CSV2 valve, and the TSV valve is energized to open the TSV valve.

[0194] like Fig.24 As shown, in Fig.23 On the basis of, the CSV2 valve is controlled to be closed, and the TSV valve is controlled to be open. The TSV valve is connected to the oil pot module, the oil pot module includes a small oil pot and a large oil pot, one end of the TSV valve is connected to the master cylinder, and the other end of the TSV valve is connected to the small oil pot.

[0195] When the CSV2 valve and CSV1 valve are in the closed state and the TSV valve is in the open state, the hydraulic pressure in the master cylinder will leak into the small oil pot.

[0196] Get the real-time hydraulic pressure of the master cylinder. When the real-time hydraulic pressure of the master cylinder is zero, it is determined that the TSV valve conduction is normal. When the real-time hydraulic pressure of the master cylinder is zero, it means that the hydraulic pressure in the master cylinder is released into the small oil pot through the TSV valve. At this time, the TSV valve conduction is normal. When the TSV valve conduction is abnormal, the real-time hydraulic pressure of the master cylinder is not zero.

[0197] When the TSV valve is conducting normally, the SSV valve is controlled to be powered off so that the SSV valve is in a closed state, and the CSV1 valve is powered off so that the CSV1 valve is in an open state. The real-time hydraulic pressure of the pressure building chamber and the real-time hydraulic pressure of the master cylinder are obtained. When the real-time hydraulic pressure of the pressure building chamber and the real-time hydraulic pressure of the master cylinder are both zero, it is determined that the CSV1 valve is conducting normally.

[0198] like Fig.25 As shown, in Fig.24 On the basis of, the SSV valve is controlled to be closed, and the CSV1 valve is controlled to be open. At this time, the TSV valve is turned on, and the TSV valve is connected to the small oil pot through the master cylinder. When the TSV valve is turned on, the hydraulic pressure passing through the TSV valve will be released into the small oil pot to complete the pressure relief. When the CSV1 valve is in the open state, the PSV1 valve corresponding to the pressure building chamber is connected to the CSV1 valve, and the hydraulic pressure in the pressure building chamber will be released into the small oil pot through the PSV1 valve, CSV1 valve and TSV valve, so that the real-time hydraulic pressure at the pressure building chamber is zero, and the hydraulic pressure in the master cylinder is also released into the small oil pot through the TSV valve, so that the real-time hydraulic pressure at the master cylinder is zero.

[0199] When the real-time hydraulic pressure of the pressure-building chamber and the real-time hydraulic pressure of the master cylinder are both zero, it is determined that the CSV1 valve is conducting normally.

[0200] Control the CSV2 valve to cut off the power so that the CSV2 valve is in the open state; cut off the power to the PSV1 valve and the PSV2 valve so that the PSV1 valve and the PSV2 valve are in the closed state to complete the power-off self-test.

[0201] The present invention also provides a self-inspection method for an electronic hydraulic brake system, and a self-inspection system of the electronic hydraulic brake system is used to perform power-on self-inspection and power-off self-inspection on the electronic hydraulic brake system.

[0202] In the embodiments provided by the present invention, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0203] In addition, each functional module in each embodiment of the present invention can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part. If the function is implemented in the form of a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

[0204] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0205] The above are only various embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A self-test system for an electronic hydraulic brake system, characterized in that: The system includes a power-on self-test module and a power-off self-test module; The power-on self-test module is used to determine the last power-off state of the vehicle after receiving the power-on command, and perform a power-on self-test on the electronic hydraulic brake system based on the last power-off state; The power-off self-test module is used to start timing when it is detected that the electronic hydraulic brake system is in the power-off state of the whole vehicle, and when the timing time reaches a preset timing time, each component in the electronic hydraulic brake system is tested to complete the power-off self-test; the power-on self-test module includes a piston zero position self-learning module; The power-on self-check module is used to send a self-learning control instruction to the piston zero position self-learning module when the last power-off state is abnormal; The piston zero position self-learning module is used to control the piston to return to the zero position based on the self-learning control instruction; The power-on self-check module includes a mechanical backup validity self-check module, and the power-on self-check module is also used to judge the state of the brake pedal when the last power-off state is normal, and send a self-learning control instruction to the piston zero position self-learning module when the state of the brake pedal is not stepped on; The piston zero position self-learning module is used to control the piston to return to the zero position based on the self-learning control instruction; The power-on self-check module is also used to send a mechanical backup validity self-check instruction to the mechanical backup validity self-check module when the last power-off state is normal and the brake pedal is in a stepped state; The mechanical backup validity self-check module is used to detect the mechanical backup of the electronic hydraulic brake system based on the mechanical backup validity self-check instruction.

2. The system according to claim 1, characterized in that The piston zero position self-learning module is used to control the motor of the pressure-building chamber of the electronic hydraulic brake system to rotate in the reverse direction based on the self-learning control instruction, so that the piston returns to the mechanical zero position, and control the motor to rotate forward so that the piston returns to the software zero position.

3. The system according to claim 1, characterized in that The power-on self-check module also includes a mechanical backup power module, and the power-on self-check module is also used to judge the state of the brake pedal when the last power-off state is abnormal, and when the state of the brake pedal is in a stepped state, judge whether the brake pedal is released; When the brake pedal is not released, sending a power assist instruction to the mechanical backup power assist module; The mechanical backup power assist module is used to provide mechanical power assist to the vehicle based on the power assist instruction.

4. The system according to claim 1, characterized in that The electronic hydraulic braking system includes a pressure building chamber and a master cylinder. The mechanical backup effectiveness self-test module detects the controllability of the piston isolation valve and the controllability of the circuit isolation valve in the electronic hydraulic braking system based on the mechanical backup effectiveness self-test instruction, wherein the circuit isolation valve is used to block the hydraulic pressure of the master cylinder, and the piston isolation valve is used to block the hydraulic pressure of the pressure building chamber.

5. The system according to claim 1, characterized in that The power-on self-check module is also used for controlling the piston zero position self-learning module to exit the operation of returning the piston to the zero position when it detects that the brake pedal is stepped on during the period when the piston zero position self-learning module controls the piston to return to the zero position based on the self-learning control instruction, and sending a mechanical backup validity self-check instruction to the mechanical backup validity self-check module; The mechanical backup validity self-check module is used to detect the mechanical backup of the electronic hydraulic brake system based on the mechanical backup validity self-check instruction.

6. The system according to claim 1, characterized in that The power-off self-test module comprises a first lower electronic module; The first lower electronic module is used to start timing when it is detected that the electronic hydraulic brake system is in a vehicle power-off state, and when the timing time reaches a preset timing time, control the pressure-building chamber of the electronic hydraulic brake system to establish a first preset pressure; When the pressure-building chamber maintains the first preset pressure, power-off detection is performed on each component in the electronic hydraulic brake system.

7. The system according to claim 1, characterized in that The power-off self-test module includes a second lower electronic module; The second lower electronic module is used to start timing when it is detected that the electronic hydraulic brake system is in a vehicle power-off state. When the timing time reaches a preset timing time, the piston isolation valve and the circuit isolation valve in the electronic hydraulic brake system are controlled to be in an open state, wherein the circuit isolation valve is used to block the hydraulic pressure of the master cylinder, and the piston isolation valve is used to block the hydraulic pressure of the pressure building chamber; the pressure building chamber of the electronic hydraulic brake system is controlled to establish a first target hydraulic pressure; when the real-time hydraulic pressure of the master cylinder is consistent with the first target hydraulic pressure, the circuit isolation valve is closed, and the pressure building chamber is controlled to establish a second target hydraulic pressure, wherein the first target hydraulic pressure is greater than the second target hydraulic pressure; based on the first target hydraulic pressure and the second target hydraulic pressure, each component in the electronic hydraulic brake system is tested for power-off.

8. A self-test method for an electronic hydraulic brake system, characterized in that: By using the self-test system of the electronic hydraulic brake system according to any one of claims 1 to 7, the electronic hydraulic brake system is subjected to power-on self-test and power-off self-test.

Images