Method and device for oil pressure processing, integrated brake system and vehicle

Abstract

The application discloses an oil line pressure processing method and device, an integrated brake system and a vehicle, and applies to the technical field of vehicle brake control. The method comprises the following steps: if it is detected that the oil line of the vehicle leaks, the working state of the oil line of the vehicle is switched to an oil line separation state; in the oil line separation state, the oil line pressure of the current pressure building period of the vehicle is limited and processed to obtain a first target oil line pressure; the multiple oil lines are alternately controlled according to the first target oil line pressure, and a non-leakage oil line is detected during the pressure building period; if the non-leakage oil line is detected, the working state of the oil line of the vehicle is switched to a single oil line state; in the single oil line state, the oil line pressure of the current pressure building period of the vehicle is limited and processed to obtain a second target oil line pressure; and the non-leakage oil line is controlled according to the second target oil line pressure. The application improves the control accuracy of the pressure building of the oil line of the vehicle and ensures the brake stability and driving safety of the vehicle.

Description

Technical Field

[0001] This application relates to the field of vehicle braking control technology, and in particular to hydraulic pressure handling methods, devices, integrated braking systems, and vehicles. Background Technology

[0002] Integrated Braking Control (IBC) systems typically have multiple hydraulic circuits, which control the pressure in these circuits to achieve vehicle braking. Related technologies often diagnose hydraulic circuit leaks by checking flow rate and solenoid valves. A preset pressure build-up target is used as the pressure target, and pressure is built up in leak-free circuits based on this target to achieve vehicle braking. However, the precision of hydraulic circuit pressure build-up control needs improvement. Summary of the Invention

[0003] This application provides a method, apparatus, integrated braking system, and vehicle for handling oil circuit pressure, which improves the control accuracy of oil circuit pressure build-up.

[0004] On one hand, embodiments of this application provide a method for handling oil circuit pressure, the method comprising the following steps:

[0005] If a fuel line leak is detected in the vehicle, the vehicle's fuel line operating state is switched to a fuel line separation state, wherein the fuel line separation state is used to control the multiple fuel lines of the vehicle to alternately build up pressure.

[0006] In the oil circuit separation state, the first initial oil circuit pressure of the vehicle is limited to obtain the first target oil circuit pressure, wherein the first initial oil circuit pressure is the oil circuit pressure of the vehicle during the current pressure build-up cycle when the oil circuit working state of the vehicle is switched to the oil circuit separation state.

[0007] The vehicle's multiple oil circuits are alternately pressurized based on the first target oil circuit pressure, and non-leaking oil circuits among the multiple oil circuits are detected during the alternating pressurization control.

[0008] If the non-leaking oil circuit is detected, the oil circuit operating state of the vehicle is switched to a single oil circuit state, wherein the single oil circuit state is used to perform pressure build-up control only on the non-leaking oil circuit.

[0009] In the single-oil-circuit state, the second initial oil-circuit pressure of the vehicle is limited to obtain the second target oil-circuit pressure, wherein the second initial oil-circuit pressure is the oil-circuit pressure of the vehicle during the current pressure build-up cycle when the oil-circuit working state of the vehicle is switched to the single-oil-circuit state.

[0010] Pressure build-up control is applied to the non-leakage oil circuit based on the second target oil circuit pressure.

[0011] On the other hand, embodiments of this application provide an oil circuit pressure handling device, which includes:

[0012] The first processing module is used to control the vehicle's oil circuit working state to switch to an oil circuit separation state when an oil circuit leak is detected. The oil circuit separation state is used to control multiple oil circuits of the vehicle to alternately build up pressure.

[0013] The second processing module is used to limit the first initial oil circuit pressure of the vehicle in the oil circuit separation state to obtain a first target oil circuit pressure, wherein the first initial oil circuit pressure is the oil circuit pressure of the vehicle in the current pressure build-up cycle when the oil circuit working state of the vehicle is switched to the oil circuit separation state.

[0014] The third processing module is used to perform alternating pressure building control on multiple oil circuits of the vehicle according to the first target oil circuit pressure, and to detect non-leaking oil circuits among the multiple oil circuits during the alternating pressure building control.

[0015] The fourth processing module is used to control the oil circuit working state of the vehicle to switch to a single oil circuit state when the non-leaking oil circuit is detected. The single oil circuit state is used to control the solenoid valve of the leaking oil circuit of the vehicle to close and to perform pressure build-up control on the non-leaking oil circuit.

[0016] The fifth processing module is used to limit the second initial oil circuit pressure of the vehicle in the single oil circuit state to obtain the second target oil circuit pressure, wherein the second initial oil circuit pressure is the oil circuit pressure of the vehicle in the current pressure build-up cycle when the oil circuit working state of the vehicle is switched to the single oil circuit state.

[0017] The sixth processing module is used to control the pressure build-up of the non-leakage oil circuit based on the second target oil circuit pressure.

[0018] In another aspect, embodiments of this application provide an integrated braking system, the system comprising:

[0019] At least one processor;

[0020] At least one memory for storing at least one program;

[0021] When the at least one program is executed by the at least one processor, the at least one processor implements the above-described oil circuit pressure processing method.

[0022] In another aspect, embodiments of this application provide a vehicle that includes the aforementioned hydraulic pressure handling device and / or the aforementioned integrated braking system.

[0023] The beneficial effects of this application are as follows: It provides a method, apparatus, integrated braking system, and vehicle for handling hydraulic pressure. If a hydraulic leak is detected in the vehicle's hydraulic system, the system switches the vehicle's hydraulic system operating state to a hydraulic system separation state. In the hydraulic system separation state, the hydraulic pressure of the vehicle's current pressure build-up cycle is limited to obtain a first target hydraulic pressure. Multiple hydraulic systems are alternately pressure-build controlled based on the first target hydraulic pressure, and non-leaking hydraulic systems are detected during this pressure build-up period. If a non-leaking hydraulic system is detected, the system switches the vehicle's hydraulic system operating state to a single hydraulic system state. In the single hydraulic system state, the hydraulic pressure of the vehicle's current pressure build-up cycle is limited to obtain a second target hydraulic pressure. Pressure build-up control is performed on the non-leaking hydraulic systems based on the second target hydraulic pressure. This application improves the diagnostic efficiency of oil circuit leaks and the control accuracy of alternating pressure build-up by limiting the oil circuit pressure when a vehicle experiences an oil circuit leak and using the limited oil circuit pressure to perform alternating pressure build-up control on multiple oil circuits of the vehicle, while realizing oil circuit leak diagnosis during alternating pressure build-up. Furthermore, by limiting the oil circuit pressure of the vehicle when a non-leaking oil circuit is detected, and realizing pressure build-up control on the non-leaking oil circuit based on the limited oil circuit pressure, the control accuracy of single oil circuit pressure build-up is improved, thereby improving the control accuracy of oil circuit pressure build-up and ensuring the braking stability and driving safety of the vehicle.

[0024] Other features and advantages of this application will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the description, claims and drawings. Attached Figure Description

[0025] Figure 1 This is a flowchart of an oil circuit pressure handling method provided in an embodiment of this application;

[0026] Figure 2 This is a structural diagram of an oil circuit pressure handling device provided in an embodiment of this application;

[0027] Figure 3 This is an example diagram of an integrated braking system provided in an embodiment of this application. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0029] The present application will be further described below with reference to the accompanying drawings and specific embodiments. The described embodiments should not be considered as limitations on the present application, and all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of the present application.

[0030] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0032] Integrated Braking Control (IBC) is a braking control system that simplifies the structure of traditional braking systems through a highly integrated design, thereby improving vehicle braking performance. IBC systems typically have multiple hydraulic circuits, and braking is achieved by controlling the pressure in these circuits. Related technologies often diagnose hydraulic circuit leaks by examining flow rates and solenoid valves. A preset pressure build-up target is used as the pressure target, and pressure is built up in leak-free circuits based on this target to achieve vehicle braking. However, the control accuracy of hydraulic circuit pressure build-up and the efficiency of hydraulic circuit leak diagnosis need improvement.

[0033] In view of this, embodiments of this application provide a method, apparatus, integrated braking system, and vehicle for handling oil pressure, to improve the control accuracy of oil pressure build-up and the diagnostic efficiency of oil leakage.

[0034] First, the implementation steps of the oil circuit pressure handling method provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0035] The oil pressure handling method provided in this application can be applied to terminals, servers, or software running on either terminal or server. Terminals can be tablets, laptops, desktop computers, etc., but are not limited to these. Servers can be independent physical servers, server clusters or distributed systems composed of multiple physical servers, or cloud servers providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms. Furthermore, a server can be a node server in a blockchain network, but is not limited to this. Blockchain is a new application model of computer technologies such as distributed data storage, peer-to-peer transmission, consensus mechanisms, and encryption algorithms.

[0036] Reference Figure 1 , Figure 1 This is a flowchart of the oil circuit pressure handling method provided in the embodiments of this application. The oil circuit pressure handling method provided in the embodiments of this application mainly includes the following steps S101-S106:

[0037] S101, when a leak is detected in the vehicle's oil circuit, the vehicle's oil circuit working state is switched to oil circuit separation state. The oil circuit separation state is used to control the multiple oil circuits of the vehicle to alternately build up pressure.

[0038] S102, In the oil circuit separation state, the first initial oil circuit pressure of the vehicle is limited to obtain the first target oil circuit pressure. The first initial oil circuit pressure is the oil circuit pressure of the vehicle when the oil circuit working state of the vehicle is switched to the oil circuit separation state.

[0039] S103, based on the first target oil circuit pressure, performs alternating pressure building control on multiple oil circuits of the vehicle, and detects non-leaking oil circuits among the multiple oil circuits during the alternating pressure building control;

[0040] S104, when a non-leaking oil circuit is detected, the oil circuit working state of the vehicle is switched to single oil circuit state, which is used to perform pressure build-up control only on the non-leaking oil circuit.

[0041] S105, In the single oil circuit state, the second initial oil circuit pressure of the vehicle is limited to obtain the second target oil circuit pressure. The second initial oil circuit pressure is the oil circuit pressure of the vehicle when the oil circuit working state of the vehicle is switched to the single oil circuit state.

[0042] S106, pressure build-up control of the non-leakage oil circuit is performed based on the second target oil circuit pressure.

[0043] In this embodiment, when a fuel line leak is detected in the vehicle, the vehicle's fuel line operating state is switched to a fuel line separation state. This fuel line separation state is mainly used to control the alternating pressure build-up of multiple fuel lines in the vehicle. In this fuel line separation state, the initial fuel line pressure of the vehicle is limited to obtain a first target fuel line pressure. The first initial fuel line pressure is the fuel line pressure during the current pressure build-up cycle of the vehicle when the fuel line operating state is switched to the fuel line separation state. Then, the alternating pressure build-up control of the multiple fuel lines of the vehicle is performed based on the first target fuel line pressure. During the alternating pressure build-up control, non-leakage oil circuits among multiple oil circuits are detected. If a non-leakage oil circuit is detected, the vehicle's oil circuit operating state is switched to a single oil circuit state. This single oil circuit state is mainly used to perform pressure build-up control only on the non-leakage oil circuit. In this single oil circuit state, the second initial oil circuit pressure is limited to obtain the second target oil circuit pressure. The second initial oil circuit pressure is the oil circuit pressure of the vehicle in the current pressure build-up cycle when the vehicle's oil circuit operating state is switched to the single oil circuit state. Then, pressure build-up control is performed on the non-leakage oil circuit based on the second target oil circuit pressure. Thus, by limiting the oil pressure in the vehicle when there is an oil leak, and using the limited oil pressure to perform alternating pressure build-up control on multiple oil lines of the vehicle, and realizing oil leak diagnosis during the alternating pressure build-up period, the diagnostic efficiency of oil leaks and the control accuracy of alternating pressure build-up can be improved. Furthermore, by limiting the oil pressure in the vehicle when a non-leaking oil line is detected, and using the limited oil pressure to achieve pressure build-up control on the non-leaking oil line, the control accuracy of single oil line pressure build-up is improved, thereby improving the control accuracy of oil line pressure build-up and ensuring the braking stability and driving safety of the vehicle.

[0044] In step S101 above, during vehicle operation, it is detected whether there is an oil circuit leak. If so, the oil circuit working state of the vehicle is switched to the oil circuit separation state so that the multiple oil circuits of the vehicle can be alternately pressurized in the oil circuit separation state, thereby realizing oil circuit leak diagnosis during the alternating pressurization period. If not, it returns to the step of detecting whether there is an oil circuit leak in the vehicle to realize cyclic detection.

[0045] The above-mentioned oil circuit operating status is used to indicate the vehicle's control mode for multiple oil circuits.

[0046] The above-mentioned oil circuit separation state is an alternating pressure building control mode. This oil circuit separation state is used to control multiple oil circuits of the vehicle to alternately build up pressure. During the alternating pressure building period, oil circuit leakage diagnosis will be realized, that is, to diagnose the oil circuits in the vehicle that have leaks and the oil circuits that do not have leaks.

[0047] In step S102 above, in the oil circuit separation state, firstly, the first initial oil circuit pressure of the vehicle is obtained. The first initial oil circuit pressure refers to the oil circuit pressure of the vehicle in the current pressure build-up cycle when the oil circuit working state of the vehicle is switched to the oil circuit separation state. Then, the first initial oil circuit pressure is restricted to obtain the first target oil circuit pressure. The first target oil circuit pressure is used to perform alternating pressure build-up control on multiple oil circuits of the vehicle, thereby improving the control accuracy of alternating pressure build-up. This can effectively avoid situations such as sudden changes in oil circuit pressure or excessive motor load leading to braking system failure, ensuring the braking stability of the vehicle, improving the diagnostic efficiency of oil circuit leakage, and ensuring the timeliness of oil circuit leakage diagnosis.

[0048] The aforementioned first initial oil circuit pressure is used to indicate the oil circuit pressure during the current pressure build-up cycle of the vehicle when the vehicle's oil circuit operating state switches to the oil circuit disconnect state.

[0049] The aforementioned first target oil circuit pressure is used to indicate the target pressure of multiple oil circuits in the vehicle during pressure build-up.

[0050] The aforementioned acquisition of the vehicle's first initial oil circuit pressure may include, when the vehicle's oil circuit working state is switched to the oil circuit separation state, detecting the pressure of multiple oil circuits of the vehicle through a preset pressure sensor to obtain the oil circuit pressure of multiple oil circuits, and then processing the oil circuit pressure of multiple oil circuits to obtain the first initial oil circuit pressure, but is not limited to this.

[0051] The above process of the oil circuit pressures of multiple oil circuits to obtain the first initial oil circuit pressure can be included among the oil circuit pressures of multiple oil circuits, and the largest pressure value is selected as the first initial oil circuit pressure.

[0052] Alternatively, the above-mentioned processing of the oil pressure of multiple oil lines to obtain the first initial oil pressure may include obtaining the average value of the oil pressure of multiple oil lines as the first initial oil pressure, but is not limited to this.

[0053] The above-mentioned limitation process for the first initial oil circuit pressure of the vehicle to obtain the first target oil circuit pressure may include, but is not limited to, outputting the preset limit threshold as the first target oil circuit pressure if the first initial oil circuit pressure is greater than the preset limit threshold.

[0054] In step S103 above, in order to achieve oil circuit leakage diagnosis, that is, to diagnose the oil circuits in the vehicle that have leaks and those that do not, after obtaining the first target oil circuit pressure, the multiple oil circuits of the vehicle are controlled to alternately build up pressure based on the first target oil circuit pressure, and the oil circuits that do not have leaks are detected during the alternating pressure building period.

[0055] The aforementioned alternating pressure build-up control of multiple oil circuits in a vehicle can include pressure build-up control of a first part of the oil circuit; if a preset time has elapsed after pressure build-up control of the first part of the oil circuit, then pressure build-up control of the first part of the oil circuit is paused, and pressure build-up control of the second part of the oil circuit is performed; if a preset time has elapsed after pressure build-up control of the second part of the oil circuit, then pressure build-up control of the second part of the oil circuit is paused, and pressure build-up control of the first part of the oil circuit is performed; this cycle is repeated to achieve alternating pressure build-up.

[0056] Both the first part of the oil circuit and the second part of the oil circuit mentioned above may include one or more oil circuits, and the oil circuits included in the first part of the oil circuit and the oil circuits included in the second part of the oil circuit do not overlap with each other.

[0057] The aforementioned non-leaking oil circuit is used to indicate that there is no oil leakage in the vehicle.

[0058] The above-mentioned detection of non-leakage oil circuits among multiple oil circuits during alternating pressure build-up control may include, for each oil circuit undergoing pressure build-up control, obtaining the time it takes for the oil circuit pressure to reach the target oil circuit pressure as the pressure build-up time. If the pressure build-up time is less than a preset time threshold, the oil circuit is determined to be a leaking oil circuit; if the pressure build-up time is greater than or equal to the preset time threshold, the oil circuit is determined to be a non-leaking oil circuit, but it is not limited to this.

[0059] In step S104 above, if no oil leakage is detected during the alternating pressure build-up, the vehicle's oil circuit working state is switched to single oil circuit state so that pressure build-up control is performed only on the non-leaking oil circuit in the single oil circuit state, thereby ensuring normal braking of the vehicle.

[0060] The above-mentioned single oil circuit state is a single oil circuit control mode, which is used to perform pressure build-up control only on non-leakage oil circuits.

[0061] In step S105 above, in the single-oil-circuit state, firstly, the second initial oil circuit pressure of the vehicle is obtained. The second initial oil circuit pressure refers to the oil circuit pressure of the vehicle during the current pressure build-up cycle when the vehicle's oil circuit working state is switched to the single-oil-circuit state. Then, the second initial oil circuit pressure is restricted to obtain the second target oil circuit pressure. The second target oil circuit pressure is used to control the pressure build-up of the oil circuit in the vehicle where there is no leakage, thereby improving the control accuracy of single-oil-circuit pressure build-up, effectively avoiding situations such as sudden changes in oil circuit pressure or excessive motor load leading to braking system failure, reducing the risk of loss of control of the vehicle during braking, and ensuring the braking stability of the vehicle.

[0062] The aforementioned second initial oil circuit pressure is used to indicate the oil circuit pressure during the current pressure build-up cycle of the vehicle when the vehicle's oil circuit operating state is switched to single oil circuit state.

[0063] The aforementioned second target oil circuit pressure is used to indicate the target pressure of the non-leakage oil circuit during pressure build-up.

[0064] The aforementioned acquisition of the second initial oil circuit pressure of the vehicle may include, when the vehicle's oil circuit working state is switched to single oil circuit state, detecting the pressure of multiple oil circuits of the vehicle through a preset pressure sensor to obtain the oil circuit pressure of multiple oil circuits, and then processing the oil circuit pressure of multiple oil circuits to obtain the second initial oil circuit pressure, but is not limited to this.

[0065] The above process of the oil circuit pressures of multiple oil circuits to obtain the second initial oil circuit pressure can be included among the oil circuit pressures of multiple oil circuits, and the largest pressure value is selected as the second initial oil circuit pressure.

[0066] Alternatively, the above-mentioned processing of the oil pressure of multiple oil lines to obtain the second initial oil pressure may include obtaining the average value of the oil pressure of multiple oil lines as the second initial oil pressure, but is not limited to this.

[0067] The above-mentioned limitation process for the second initial oil circuit pressure to obtain the second target oil circuit pressure may include, but is not limited to, outputting the preset limitation threshold as the second target oil circuit pressure if the second initial oil circuit pressure is greater than the preset limitation threshold.

[0068] In step S106 above, after obtaining the second target oil circuit pressure, pressure building control is performed on the oil circuits in the vehicle that do not have leaks based on the second target oil circuit pressure. At the same time, the solenoid valves of the oil circuits in the vehicle that have leaks are closed to avoid pressure building control on the oil circuits that have leaks, thereby ensuring normal braking of the vehicle.

[0069] The steps described above will be explained in further detail below.

[0070] In some embodiments, before limiting the first initial oil circuit pressure of the vehicle to obtain the first target oil circuit pressure, the method may further include:

[0071] The first initial oil circuit pressure is obtained based on the front axle pressure and rear axle pressure of the vehicle when the oil circuit working state is switched to the oil circuit disconnected state.

[0072] In this embodiment, since there is a certain correlation between the vehicle's oil circuit pressure and the front and rear axle pressures, when the vehicle is in an oil circuit disconnected state, the front and rear axle pressures of the vehicle are obtained when the vehicle's oil circuit working state is switched to an oil circuit disconnected state. Then, based on the front and rear axle pressures, the first initial oil circuit pressure is determined to improve the efficiency of obtaining the initial oil circuit pressure.

[0073] The aforementioned acquisition of the front axle pressure and rear axle pressure of the vehicle when the vehicle's oil circuit working state is switched to the oil circuit disconnected state can include, but is not limited to, detecting the pressure of the front axle and rear axle of the vehicle through a preset pressure sensor when the vehicle's oil circuit working state is switched to the oil circuit disconnected state.

[0074] The above method of obtaining the first initial oil circuit pressure based on the front axle pressure and rear axle pressure of the vehicle when the oil circuit working state is switched to the oil circuit disconnection state may include obtaining the average value of the front axle pressure and rear axle pressure of the vehicle when the oil circuit working state is switched to the oil circuit disconnection state as the first initial oil circuit pressure.

[0075] Alternatively, the method described above, which obtains the first initial hydraulic pressure based on the front axle pressure and rear axle pressure of the vehicle when the hydraulic circuit working state is switched to the hydraulic circuit disconnected state, may include selecting the largest pressure value from the front axle pressure and rear axle pressure of the vehicle when the hydraulic circuit working state is switched to the hydraulic circuit disconnected state as the first initial hydraulic pressure, so as to ensure that the vehicle's braking system has a certain pressure build-up capability.

[0076] In some embodiments, the above-described limiting process of the vehicle's initial oil circuit pressure to obtain the first target oil circuit pressure may include:

[0077] Obtain the vehicle's first historical oil circuit pressure, where the first historical oil circuit pressure is the oil circuit pressure of the vehicle in the previous pressure build-up cycle when the vehicle's oil circuit working state is switched to the oil circuit disconnection state.

[0078] The pressure difference of the first oil circuit is obtained based on the first historical oil circuit pressure and the first initial oil circuit pressure.

[0079] The first target oil circuit pressure is obtained based on the pressure difference of the first oil circuit and the first historical oil circuit pressure.

[0080] In this embodiment, under the oil circuit separation state, firstly, the oil circuit pressure of the vehicle in the previous pressure build-up cycle when the vehicle's oil circuit working state is switched to the oil circuit separation state is obtained as the first historical oil circuit pressure; then, the first oil circuit pressure difference is obtained by using the first historical oil circuit pressure and the first initial oil circuit pressure. The first oil circuit pressure difference can measure the increase or decrease of the oil circuit pressure in the current pressure build-up cycle relative to the oil circuit pressure in the previous pressure build-up cycle; then, the first initial oil circuit pressure is limited according to the first oil circuit pressure difference and the first historical oil circuit pressure to obtain the first target oil circuit pressure, thereby improving the diagnostic efficiency of oil circuit leakage and the control accuracy of alternating pressure build-up, avoiding situations such as excessive oil circuit pressure or excessive motor load leading to braking system failure, and ensuring the braking stability of the vehicle.

[0081] The aforementioned first historical oil circuit pressure is used to indicate the oil circuit pressure of the vehicle in the previous pressure build-up cycle when the vehicle's oil circuit working state is switched to the oil circuit disconnection state.

[0082] The aforementioned first oil circuit pressure difference is used to indicate the degree of increase or decrease in oil circuit pressure in the current pressure build-up cycle relative to the oil circuit pressure in the previous pressure build-up cycle when the vehicle's oil circuit working state is switched to oil circuit separation state.

[0083] The above-mentioned method of obtaining the first oil circuit pressure difference based on the first historical oil circuit pressure and the first initial oil circuit pressure may include obtaining first mapping data. The first mapping data includes multiple first variables and the pressure difference corresponding to each first variable. Each first variable includes the corresponding first historical oil circuit pressure and the first initial oil circuit pressure. The pressure difference corresponding to the first historical oil circuit pressure and the first initial oil circuit pressure is selected from the first mapping data as the first oil circuit pressure difference, but it is not limited to this.

[0084] The above-mentioned method of obtaining the first target oil circuit pressure based on the first oil circuit pressure difference and the first historical oil circuit pressure may include obtaining second mapping data. The second mapping data includes multiple second variables and the target pressure corresponding to each second variable. Each second variable includes the corresponding first oil circuit pressure difference and the first historical oil circuit pressure. The target pressure corresponding to the first oil circuit pressure difference and the first historical oil circuit pressure is selected from the second mapping data as the first target oil circuit pressure, but it is not limited to this.

[0085] Both the first mapping data and the second mapping data mentioned above can be preset according to actual conditions, and this embodiment does not impose specific limitations on them.

[0086] The first mapping data and the second mapping data mentioned above can be tabular data or chart data, but are not limited to these.

[0087] In some embodiments, obtaining the first oil circuit pressure difference based on the first historical oil circuit pressure and the first initial oil circuit pressure may include:

[0088] The difference between the first initial oil circuit pressure and the first historical oil circuit pressure is calculated as the first oil circuit pressure difference.

[0089] In this embodiment, the difference between the first initial oil circuit pressure and the first historical oil circuit pressure is calculated, and this difference is used as the first oil circuit pressure difference. The first oil circuit pressure difference is then used to measure the degree of difference between the oil circuit pressure in the current pressure building cycle and the oil circuit pressure in the previous pressure building cycle, so as to facilitate the implementation of subsequent restriction processing.

[0090] The aforementioned first oil circuit pressure difference is the difference between the first initial oil circuit pressure and the first historical oil circuit pressure.

[0091] In some embodiments, obtaining the first target oil circuit pressure based on the first oil circuit pressure difference and the first historical oil circuit pressure may include:

[0092] If the pressure difference of the first oil circuit is greater than the preset first hydraulic threshold, then the sum of the first historical oil circuit pressure and the first hydraulic threshold is calculated as the first target oil circuit pressure, and the first hydraulic threshold is greater than zero.

[0093] Alternatively, if the pressure difference of the first oil circuit is less than the preset second hydraulic threshold, the sum of the first historical oil circuit pressure and the second hydraulic threshold is calculated as the first target oil circuit pressure, and the second hydraulic threshold is less than zero.

[0094] Alternatively, if the pressure difference of the first oil circuit is greater than or equal to the second hydraulic threshold and the pressure difference of the first oil circuit is less than or equal to the first hydraulic threshold, then the first historical oil circuit pressure is used as the first target oil circuit pressure.

[0095] In this embodiment, after obtaining the first hydraulic circuit pressure difference value, the first hydraulic circuit pressure difference value is compared with a preset first hydraulic threshold and a preset second hydraulic threshold, and corresponding restriction processing is performed based on the comparison results. The first hydraulic threshold is greater than zero, and the second hydraulic threshold is less than zero.

[0096] Specifically, when the pressure difference in the first hydraulic circuit exceeds the first hydraulic threshold, it indicates that the difference between the hydraulic circuit pressure in the current pressure-building cycle and the previous pressure-building cycle is too large, and the hydraulic circuit pressure in the current pressure-building cycle is too high. In other words, compared to the previous pressure-building cycle, the hydraulic circuit pressure in the current pressure-building cycle has increased excessively. This means that the hydraulic circuit pressure change between two adjacent pressure-building cycles is too rapid and the slope is too steep. This can easily lead to excessive or sudden increases in hydraulic circuit pressure, excessive motor load, and ultimately, braking system failure. Therefore, it is necessary to limit the hydraulic circuit pressure in the current pressure-building cycle. The limiting method is to calculate the sum of the first historical hydraulic circuit pressure and the first hydraulic threshold as the first target hydraulic circuit pressure. This avoids excessive or sudden increases in hydraulic circuit pressure and excessive motor load, reducing the risk of braking system failure and ensuring vehicle braking stability.

[0097] When the pressure difference in the first hydraulic circuit is less than the second hydraulic threshold, it indicates that the difference between the hydraulic circuit pressure in the current pressure-building cycle and the previous pressure-building cycle is too large, and the hydraulic circuit pressure in the current pressure-building cycle is too small. In other words, compared to the previous pressure-building cycle, the hydraulic circuit pressure in the current pressure-building cycle is reduced excessively. This means that the hydraulic circuit pressure change between two adjacent pressure-building cycles is too rapid and the slope is too steep. This can easily lead to situations such as excessively low or sudden changes in hydraulic circuit pressure, excessive motor load, etc., resulting in braking system failure. Therefore, it is necessary to limit the hydraulic circuit pressure in the current pressure-building cycle. The limiting method is to calculate the sum of the first historical hydraulic circuit pressure and the second hydraulic threshold as the first target hydraulic circuit pressure, thereby avoiding situations such as excessively low or sudden changes in hydraulic circuit pressure and excessive motor load, reducing the risk of braking system failure, and ensuring vehicle braking stability.

[0098] When the pressure difference of the first oil circuit is greater than or equal to the second hydraulic threshold and the pressure difference of the first oil circuit is less than or equal to the first hydraulic threshold, it indicates that the difference between the oil circuit pressure of the current pressure building cycle and the oil circuit pressure of the previous pressure building cycle is not significant and the oil circuit pressure of the current pressure building cycle is within the normal range. This means that the oil circuit pressure change between two adjacent pressure building cycles is normal. At this time, there is no need to limit the oil circuit pressure of the current pressure building cycle. In order to ensure the control accuracy of alternating pressure building, the first historical oil circuit pressure is selected as the first target oil circuit pressure.

[0099] The first hydraulic threshold and the second hydraulic threshold can be set according to the actual situation. This embodiment does not make specific limitations on this. However, it should be noted that the first hydraulic threshold is greater than zero and the second hydraulic threshold is less than zero.

[0100] In some embodiments, the above-mentioned multiple oil circuits may include a first oil circuit and a second oil circuit, and the oil circuit separation state may include either a first separation state or a second separation state, wherein in the first separation state the solenoid valve of the first oil circuit is normally open, and in the second separation state the solenoid valve of the second oil circuit is normally open.

[0101] The above-mentioned alternating pressure build-up control of multiple oil circuits in the vehicle based on the first target oil circuit pressure can include:

[0102] In the first separation state, the first oil circuit is pressure-built control based on the first target oil circuit pressure, and the second oil circuit is pressure-built control based on the vehicle's brake pedal status and the first target oil circuit pressure.

[0103] Alternatively, in the second separation state, pressure build-up control is performed on the second oil circuit based on the first target oil circuit pressure, and pressure build-up control is performed on the first oil circuit based on the brake pedal state and the first target oil circuit pressure.

[0104] In this embodiment, in the first disconnected state, the solenoid valve of the first hydraulic circuit is normally open, while the solenoid valve of the second hydraulic circuit is configured to open or close based on the vehicle's brake pedal state. In the second disconnected state, the solenoid valve of the second hydraulic circuit is normally open, while the solenoid valve of the first hydraulic circuit is configured to open or close based on the vehicle's brake pedal state. Based on this, in the first disconnected state, pressure build-up control is performed on the first hydraulic circuit according to the first target hydraulic circuit pressure, while simultaneously detecting the vehicle's brake pedal state, and pressure build-up control is performed on the second hydraulic circuit based on the vehicle's brake pedal state and the first target hydraulic circuit pressure; alternatively, in the second disconnected state, pressure build-up control is performed on the second hydraulic circuit according to the first target hydraulic circuit pressure, while simultaneously detecting the brake pedal state, and pressure build-up control is performed on the first hydraulic circuit based on the brake pedal state and the first target hydraulic circuit pressure. This achieves alternating pressure build-up control, ensuring the control accuracy of alternating pressure build-up.

[0105] The aforementioned first separation state is an alternating pressure building control mode when the solenoid valve of the first oil circuit is normally open. The aforementioned first separation state is used to control the pressure building of the first oil circuit and to control the pressure building of the second oil circuit according to the brake pedal status.

[0106] The aforementioned second separation state is an alternating pressure building control mode when the solenoid valve of the second oil circuit is normally open. The aforementioned second separation state is used to control the pressure building of the second oil circuit and to control the pressure building of the first oil circuit according to the brake pedal status.

[0107] The above brake pedal status is used to indicate the status of the vehicle's brake pedal.

[0108] The aforementioned brake pedal state can include either a released state or a depressed state, wherein the released state means that the vehicle's brake pedal is not depressed, and the depressed state means that the vehicle's brake pedal is depressed.

[0109] The above-mentioned pressure control of the first oil circuit based on the first target oil circuit pressure may include pressure building of the first oil circuit so that the pressure of the first oil circuit reaches the first target oil circuit pressure, but is not limited to this.

[0110] The aforementioned pressure-building control of the second hydraulic circuit based on the vehicle's brake pedal state and the first target hydraulic circuit pressure may include, but is not limited to, prohibiting pressure-building control of the second hydraulic circuit if the brake pedal is released; controlling pressure building of the second hydraulic circuit to reach the preset limit pressure if the brake pedal is depressed and the first target hydraulic circuit pressure is greater than the preset limit pressure; and controlling pressure building of the second hydraulic circuit to reach the first target hydraulic circuit pressure if the brake pedal is released and the first target hydraulic circuit pressure is less than or equal to the preset limit pressure, but is not limited to these methods.

[0111] The above-mentioned pressure control of the second oil circuit based on the first target oil circuit pressure may include pressure building of the second oil circuit so that the pressure of the second oil circuit reaches the first target oil circuit pressure, but is not limited to this.

[0112] The aforementioned pressure-building control of the first hydraulic circuit based on the brake pedal state and the first target hydraulic circuit pressure may include, but is not limited to, prohibiting pressure-building control of the first hydraulic circuit if the brake pedal is in the released state; performing pressure-building control of the first hydraulic circuit if the brake pedal is in the depressed state and the first target hydraulic circuit pressure is greater than the preset limit pressure building pressure, so that the pressure of the first hydraulic circuit reaches the preset limit pressure building pressure; and performing pressure-building control of the first hydraulic circuit if the brake pedal is in the released state and the first target hydraulic circuit pressure is less than or equal to the preset limit pressure building pressure, so that the pressure of the first hydraulic circuit reaches the first target hydraulic circuit pressure.

[0113] In some embodiments, the above-mentioned pressure build-up control of the second oil circuit based on the vehicle's brake pedal state and the first target oil circuit pressure may include:

[0114] When the brake pedal is depressed, the solenoid valve controlling the second hydraulic circuit opens.

[0115] The first pressure build-up pressure is obtained based on the first target oil circuit pressure and the pressure build-up pressure of the second oil circuit when the solenoid valve of the second oil circuit is open.

[0116] The pressure build-up of the second oil circuit is controlled based on the first pressure build-up pressure.

[0117] In this embodiment, in the first separation state, if the vehicle's brake pedal is detected to be depressed, the solenoid valve of the second oil circuit is first controlled to open. Then, the pressure build-up pressure of the second oil circuit when the solenoid valve of the second oil circuit is open is obtained. Then, based on the first target oil circuit pressure and the pressure build-up pressure of the second oil circuit when the solenoid valve of the second oil circuit is open, a first pressure build-up pressure is determined to ensure the pressure build-up accuracy of the second oil circuit. Finally, the first pressure build-up pressure is used to control the pressure build-up of the second oil circuit, thereby improving the control accuracy of alternating pressure build-up and ensuring the braking stability of the vehicle.

[0118] When the solenoid valve in the second oil circuit is open, the pressure build-up pressure in the second oil circuit can be the pressure build-up pressure detected in real time. This embodiment does not specifically limit this.

[0119] The aforementioned first pressure build-up pressure is used to indicate the target pressure of the second oil circuit during pressure build-up.

[0120] The above-mentioned method of obtaining the first pressure build-up pressure based on the first target oil circuit pressure and the pressure build-up pressure of the second oil circuit when the solenoid valve of the second oil circuit is open may include obtaining third mapping data. The third mapping data includes multiple third variables and the target pressure corresponding to each third variable. Each third variable includes the corresponding first target oil circuit pressure and pressure build-up pressure. The target pressure corresponding to the first target oil circuit pressure and the pressure build-up pressure of the second oil circuit when the solenoid valve of the second oil circuit is open is selected from the third mapping data as the first pressure build-up pressure, but it is not limited to this.

[0121] The aforementioned third mapping data can be preset according to actual conditions, and this embodiment does not impose specific limitations on it.

[0122] The aforementioned third mapping data can be tabular data or chart data, but is not limited to these.

[0123] The above-mentioned pressure control of the second oil circuit based on the first pressure build-up pressure may include pressure build-up of the second oil circuit so that the pressure of the second oil circuit reaches the first pressure build-up pressure, but is not limited to this.

[0124] In some embodiments, obtaining the first pressure build-up pressure based on the first target oil circuit pressure and the pressure build-up pressure of the second oil circuit when the solenoid valve of the second oil circuit is open may include:

[0125] Between the first target oil circuit pressure and the pressure build-up pressure of the second oil circuit when the solenoid valve of the second oil circuit is open, the lower pressure value is selected as the first pressure build-up pressure.

[0126] In this embodiment, to avoid brake system failure due to excessive oil circuit pressure, the minimum pressure value between the first target oil circuit pressure and the pressure build-up pressure of the second oil circuit when the solenoid valve of the second oil circuit is opened is selected as the first pressure build-up pressure, thereby reducing the risk of brake system failure and ensuring the braking stability of the vehicle.

[0127] In some embodiments, the above-mentioned pressure build-up control of the second oil circuit based on the vehicle's brake pedal state and the first target oil circuit pressure may further include:

[0128] When the brake pedal is in the released state, the solenoid valve controlling the second oil circuit is closed;

[0129] Pressure build-up control of the second oil circuit is prohibited.

[0130] In this embodiment, in the first separation state, if it is detected that the vehicle's brake pedal is not depressed, the solenoid valve of the second oil circuit is kept closed, and pressure build-up control of the second oil circuit is prohibited, so as to realize alternating pressure build-up control and ensure the braking stability of the vehicle.

[0131] In some embodiments, the above-mentioned pressure build-up control of the first oil circuit based on the brake pedal state and the first target oil circuit pressure may include:

[0132] When the brake pedal is depressed, the solenoid valve controlling the first oil circuit opens.

[0133] The second pressure build-up pressure is obtained based on the first target oil circuit pressure and the pressure build-up pressure of the first oil circuit when the solenoid valve of the first oil circuit is open.

[0134] The pressure build-up of the first oil circuit is controlled based on the second pressure build-up pressure.

[0135] In this embodiment, in the second separation state, if the vehicle's brake pedal is detected to be depressed, the solenoid valve of the first oil circuit is first opened. Then, the pressure build-up pressure of the first oil circuit when the solenoid valve of the first oil circuit is open is obtained. Then, based on the first target oil circuit pressure and the pressure build-up pressure of the first oil circuit when the solenoid valve of the first oil circuit is open, a second pressure build-up pressure is determined to ensure the accuracy of the pressure build-up pressure of the first oil circuit. Finally, the pressure build-up pressure of the first oil circuit is controlled by the second pressure build-up pressure, thereby improving the control accuracy of alternating pressure build-up and ensuring the braking stability of the vehicle.

[0136] When the solenoid valve in the first oil circuit is open, the pressure build-up pressure in the first oil circuit can be the pressure build-up pressure detected in real time. This embodiment does not specifically limit this.

[0137] The aforementioned second pressure build-up pressure is used to indicate the target pressure of the first oil circuit during pressure build-up.

[0138] The above-mentioned method of obtaining the second pressure build-up pressure based on the first target oil circuit pressure and the pressure build-up pressure of the first oil circuit when the solenoid valve of the first oil circuit is open may include obtaining fourth mapping data. The fourth mapping data includes multiple fourth variables and the target pressure corresponding to each fourth variable. Each fourth variable includes the corresponding first target oil circuit pressure and pressure build-up pressure. The target pressure corresponding to the first target oil circuit pressure and the pressure build-up pressure of the first oil circuit when the solenoid valve of the first oil circuit is open is selected from the fourth mapping data as the second pressure build-up pressure, but it is not limited to this.

[0139] The aforementioned fourth mapping data can be preset according to actual conditions, and this embodiment does not impose specific limitations on it.

[0140] The fourth mapping data mentioned above can be tabular data or chart data, but is not limited to these.

[0141] The above-mentioned pressure control of the first oil circuit based on the second pressure build-up pressure may include pressure build-up of the first oil circuit so that the pressure of the first oil circuit reaches the second pressure build-up pressure, but is not limited to this.

[0142] In some embodiments, obtaining the second pressure build-up pressure based on the first target oil circuit pressure and the pressure build-up pressure of the first oil circuit when the solenoid valve of the first oil circuit is open may include:

[0143] Between the first target oil circuit pressure and the first oil circuit pressure build-up pressure when the solenoid valve of the first oil circuit is open, the lower pressure value is selected as the second pressure build-up pressure.

[0144] In this embodiment, to avoid brake system failure due to excessive oil circuit pressure, the lower pressure value between the first target oil circuit pressure and the pressure build-up pressure of the first oil circuit when the solenoid valve of the first oil circuit is open is selected as the second pressure build-up pressure, thereby reducing the risk of brake system failure and ensuring vehicle braking stability.

[0145] In some embodiments, the above-mentioned pressure build-up control of the first oil circuit based on the vehicle's brake pedal state and the first target oil circuit pressure may further include:

[0146] When the brake pedal is in the released state, the solenoid valve controlling the first oil circuit is closed;

[0147] Pressure control of the first oil line is prohibited.

[0148] In this embodiment, in the second separation state, if it is detected that the vehicle's brake pedal is not depressed, the solenoid valve of the first oil circuit is kept closed, and pressure build-up control of the first oil circuit is prohibited, so as to achieve alternating pressure build-up and ensure the braking stability of the vehicle.

[0149] In some embodiments, before limiting the second initial oil circuit pressure of the vehicle to obtain the second target oil circuit pressure, the method may further include:

[0150] The second initial oil circuit pressure is obtained based on the front axle pressure and rear axle pressure of the vehicle when the oil circuit working state is switched to single oil circuit state.

[0151] In this embodiment, since there is a certain correlation between the vehicle's oil circuit pressure and the front and rear axle pressures, when the vehicle is in a single oil circuit state, the front and rear axle pressures of the vehicle are obtained when the vehicle's oil circuit working state is switched to a single oil circuit state. Then, based on the front and rear axle pressures, the second initial oil circuit pressure is determined to improve the efficiency of obtaining the initial oil circuit pressure.

[0152] The above-mentioned acquisition of the front axle pressure and rear axle pressure of the vehicle when the vehicle's oil circuit working state is switched to single oil circuit state may include, but is not limited to, detecting the pressure of the front axle and rear axle of the vehicle through a preset pressure sensor when the vehicle's oil circuit working state is switched to single oil circuit state.

[0153] The above-mentioned method of obtaining the second initial oil circuit pressure based on the front axle pressure and rear axle pressure of the vehicle when the oil circuit working state is switched to the single oil circuit state may include obtaining the average value of the front axle pressure and rear axle pressure of the vehicle when the oil circuit working state is switched to the single oil circuit state as the second initial oil circuit pressure.

[0154] Alternatively, the second initial hydraulic pressure can be obtained by considering the front and rear axle pressures of the vehicle when the vehicle's hydraulic system is switched to a single hydraulic system. This can include selecting the maximum pressure value from the front and rear axle pressures when the vehicle's hydraulic system is switched to a single hydraulic system as the second initial hydraulic pressure, to ensure that the vehicle's braking system has a certain pressure-building capability.

[0155] In some embodiments, the above-described limiting process for the second initial oil circuit pressure of the vehicle to obtain the second target oil circuit pressure may include:

[0156] Obtain the vehicle's second historical oil circuit pressure, wherein the second historical oil circuit pressure is the oil circuit pressure of the vehicle in the previous pressure build-up cycle when the vehicle's oil circuit working state is switched to single oil circuit state.

[0157] The third initial oil circuit pressure of the vehicle is obtained based on the solenoid valve voltage of the non-leakage oil circuit and the second initial oil circuit pressure.

[0158] The pressure difference of the second oil circuit is obtained based on the third initial oil circuit pressure and the second historical oil circuit pressure.

[0159] The second target oil circuit pressure is obtained based on the pressure difference of the second oil circuit, the pressure of the second historical oil circuit, and the pressure of the third initial oil circuit.

[0160] In this embodiment, under single-oil-circuit conditions, firstly, the oil circuit pressure of the vehicle in the previous pressure-building cycle when the vehicle's oil circuit operating state is switched to single-oil-circuit state is obtained as the second historical oil circuit pressure. Then, the second initial oil circuit pressure is corrected by the voltage of the solenoid valve in the non-leakage oil circuit to ensure the accuracy of the oil circuit pressure in the current pressure-building cycle, thus obtaining the third initial oil circuit pressure of the vehicle. Next, the second oil circuit pressure difference is obtained by using the third initial oil circuit pressure and the second historical oil circuit pressure. The second oil circuit pressure difference can measure the increase or decrease of the oil circuit pressure in the current pressure-building cycle relative to the oil circuit pressure in the previous pressure-building cycle. Finally, the third initial oil circuit pressure is limited based on the second oil circuit pressure difference and the second historical oil circuit pressure to obtain the second target oil circuit pressure. This improves the control accuracy of single-oil-circuit pressure building, effectively avoids situations such as sudden changes in oil circuit pressure or excessive motor load leading to braking system failure, reduces the risk of loss of control of the vehicle during braking, and ensures the braking stability of the vehicle.

[0161] The aforementioned second historical oil circuit pressure is used to indicate the oil circuit pressure of the vehicle in the previous pressure build-up cycle when the vehicle's oil circuit operating state is switched to single oil circuit state.

[0162] The aforementioned third initial oil circuit pressure is used to indicate the corrected second initial oil circuit pressure.

[0163] The process of obtaining the vehicle's third initial oil circuit pressure based on the solenoid valve voltage of the non-leakage oil circuit and the second initial oil circuit pressure may include acquiring fifth mapping data. The fifth mapping data includes multiple fifth variables and a target pressure corresponding to each fifth variable. Each fifth variable includes the corresponding solenoid valve voltage and the second initial oil circuit pressure. The target pressure corresponding to the solenoid valve voltage of the non-leakage oil circuit and the second initial oil circuit pressure is selected from the fifth mapping data as the third initial oil circuit pressure, but it is not limited to this.

[0164] The aforementioned second oil circuit pressure difference is used to measure the increase or decrease in oil circuit pressure in the current pressure build-up cycle relative to the oil circuit pressure in the previous pressure build-up cycle when the vehicle's oil circuit operating state is switched to single oil circuit state.

[0165] The above-mentioned method of obtaining the second oil circuit pressure difference based on the third initial oil circuit pressure and the second historical oil circuit pressure may include obtaining sixth mapping data. The sixth mapping data includes multiple sixth variables and the pressure difference corresponding to each sixth variable. Each sixth variable includes the corresponding third initial oil circuit pressure and the second historical oil circuit pressure. The pressure difference corresponding to the third initial oil circuit pressure and the second historical oil circuit pressure is selected from the sixth mapping data as the second oil circuit pressure difference, but it is not limited to this.

[0166] The above-mentioned method of obtaining the second target oil circuit pressure based on the second oil circuit pressure difference, the second historical oil circuit pressure, and the third initial oil circuit pressure may include acquiring seventh mapping data. The seventh mapping data includes multiple seventh variables and the target pressure corresponding to each seventh variable. Each seventh variable includes the corresponding second oil circuit pressure difference, the second historical oil circuit pressure, and the third initial oil circuit pressure. The target pressure corresponding to the second oil circuit pressure difference, the second historical oil circuit pressure, and the third initial oil circuit pressure is selected from the seventh mapping data as the second target oil circuit pressure, but it is not limited to this.

[0167] The sixth and seventh mapping data mentioned above can be preset according to actual conditions, and this embodiment does not impose specific limitations on them.

[0168] The sixth and seventh mapping data mentioned above can be tabular or graphical data, but are not limited to these.

[0169] In some embodiments, obtaining the vehicle's third initial oil circuit pressure based on the solenoid valve voltage of the non-leakage oil circuit and the second initial oil circuit pressure may include:

[0170] If the voltage of the solenoid valve in the non-leakage oil circuit is greater than the preset voltage threshold, then the minimum pressure value among the preset first limiting pressure and the second initial oil circuit pressure is selected as the third initial oil circuit pressure.

[0171] Alternatively, if the voltage of the solenoid valve in the non-leaking oil circuit is less than or equal to the voltage threshold, then the minimum pressure value between the preset second limiting pressure and the second initial oil circuit pressure is selected as the third initial oil circuit pressure, and the first limiting pressure is greater than the second limiting pressure.

[0172] In this embodiment, the braking system degradation caused by abnormal solenoid valve voltage in the oil circuit has a higher priority than abnormal oil circuit pressure. Therefore, after obtaining the second initial oil circuit pressure, it is necessary to first correct the second initial oil circuit pressure based on the degradation of the braking system in order to reduce the impact of abnormal solenoid valve voltage on the oil circuit pressure building process.

[0173] When the voltage of the solenoid valve in the hydraulic circuit is too low, the vehicle's braking system will enter a degraded mode. In this mode, the full functionality of the braking system cannot be used, which can easily lead to insufficient motor pressure build-up capacity, resulting in excessive motor pressure build-up stroke and ultimately braking system failure. Therefore, in degraded mode, the flow rate of the non-leakage hydraulic circuit must be limited to ensure normal vehicle braking. When the voltage of the solenoid valve in the hydraulic circuit is within the normal range, the vehicle's braking system will remain in non-degraded mode. In this mode, all functions of the braking system can be used normally. However, because only a single hydraulic circuit builds pressure in single-circuit mode, there is a possibility of excessive braking force due to excessive hydraulic pressure, potentially leading to loss of vehicle braking control. Therefore, in non-degraded mode, the flow rate of the non-leakage hydraulic circuit must also be limited to reduce the risk of loss of vehicle control.

[0174] Specifically, when the voltage of the solenoid valve in the non-leakage oil circuit is greater than the preset voltage threshold, it indicates that the voltage of the solenoid valve in the non-leakage oil circuit is within the normal range, and the vehicle's braking system is in non-degraded mode. At this time, the oil circuit pressure of the current pressure build-up cycle will be corrected to limit the flow rate of the non-leakage oil circuit. The correction method is to select the minimum pressure value between the preset first limiting pressure and the second initial oil circuit pressure as the third initial oil circuit pressure, thereby avoiding the situation where the braking force of the vehicle is too large due to excessive oil circuit pressure, reducing the risk of loss of vehicle control, and ensuring the braking stability of the vehicle.

[0175] When the voltage of the solenoid valve in the non-leakage oil circuit is less than or equal to the preset voltage threshold, it indicates that the voltage of the solenoid valve in the non-leakage oil circuit is too low. The vehicle's braking system will enter a degraded mode. At this time, the oil circuit pressure of the current pressure build-up cycle will be corrected to limit the flow rate of the non-leakage oil circuit. The correction method is to select the minimum pressure value between the preset second limit pressure and the second initial oil circuit pressure as the third initial oil circuit pressure. This avoids the situation where the motor's pressure build-up stroke is too large due to insufficient pressure build-up capacity when the voltage of the solenoid valve in the oil circuit is too low, thereby reducing the risk of braking system failure and ensuring the braking stability of the vehicle.

[0176] Both the first limiting pressure and the second limiting pressure can be set according to actual conditions, and this embodiment does not impose specific limitations on them. However, it should be noted that since an excessively low voltage of the solenoid valve in the hydraulic circuit will have a greater negative impact on the braking system, when the voltage of the solenoid valve in the hydraulic circuit is too low, the hydraulic circuit pressure needs to be corrected to a greater extent, and the first limiting pressure should be set higher than the second limiting pressure.

[0177] The voltage thresholds mentioned above can be set according to actual conditions, and this embodiment does not impose specific limitations on them.

[0178] In some embodiments, obtaining the second oil circuit pressure difference based on the third initial oil circuit pressure and the second historical oil circuit pressure may include:

[0179] The difference between the third initial oil circuit pressure and the second historical oil circuit pressure is calculated as the second oil circuit pressure difference.

[0180] In this embodiment, the difference between the third initial oil circuit pressure and the second historical oil circuit pressure is calculated as the second oil circuit pressure difference. The second oil circuit pressure difference is then used to measure the degree of difference between the oil circuit pressure in the current pressure building cycle and the oil circuit pressure in the previous pressure building cycle, so as to facilitate the implementation of subsequent restriction processing.

[0181] In some embodiments, obtaining the second target oil circuit pressure based on the second oil circuit pressure difference, the second historical oil circuit pressure, and the third initial oil circuit pressure may include:

[0182] If the pressure difference of the second oil circuit is greater than the preset step size threshold, the sum of the step size threshold and the second historical oil circuit pressure is calculated as the second target oil circuit pressure.

[0183] Alternatively, if the pressure difference in the second oil circuit is less than or equal to the step size threshold, then the third initial oil circuit pressure is used as the second target oil circuit pressure.

[0184] In this embodiment, after obtaining the pressure difference value of the second oil circuit, the pressure difference value of the second oil circuit is compared with a preset step size threshold, and corresponding restriction processing is performed based on the comparison result.

[0185] Specifically, when the pressure difference in the second hydraulic circuit exceeds the step threshold, it indicates that the difference between the hydraulic circuit pressure in the current pressure-building cycle and the previous pressure-building cycle is too large, and the hydraulic circuit pressure in the current pressure-building cycle is too high. In other words, compared to the previous pressure-building cycle, the hydraulic circuit pressure in the current pressure-building cycle has increased excessively. This means that the hydraulic circuit pressure change between two adjacent pressure-building cycles is too rapid and the slope is too steep. This can easily lead to excessive or sudden increases in hydraulic circuit pressure, excessive motor load, and ultimately, braking system failure. Therefore, it is necessary to limit the hydraulic circuit pressure in the current pressure-building cycle. The limiting method is to calculate the sum of the step threshold and the second historical hydraulic circuit pressure as the second target hydraulic circuit pressure. This avoids excessive or sudden increases in hydraulic circuit pressure and excessive motor load, reducing the risk of braking system failure and ensuring vehicle braking stability.

[0186] When the pressure difference of the second oil circuit is less than or equal to the step size threshold, it indicates that the difference between the oil circuit pressure of the current pressure building cycle and the oil circuit pressure of the previous pressure building cycle is not significant and the oil circuit pressure of the current pressure building cycle is within the normal value range. This means that the oil circuit pressure change between two adjacent pressure building cycles is normal. At this time, there is no need to limit the oil circuit pressure of the current pressure building cycle, and the third initial oil circuit pressure can be directly used as the second target oil circuit pressure.

[0187] The above step size threshold can be set according to the actual situation, and this implementation method does not impose specific limitations on it.

[0188] In some implementations, the aforementioned single-oil-circuit state may include either a first single-oil-circuit state or a second single-oil-circuit state, wherein in the first single-oil-circuit state, only the first oil circuit is pressure-built and controlled, and the first oil circuit is a non-leakage oil circuit; in the second single-oil-circuit state, only the second oil circuit is pressure-built and controlled, and the second oil circuit is a non-leakage oil circuit.

[0189] The above-mentioned pressure build-up control of the non-leakage oil circuit based on the second target oil circuit pressure can include:

[0190] In the first single-line state, the pressure build-up control of the first oil circuit is performed based on the second target oil circuit pressure.

[0191] Alternatively, in the second single-line state, the pressure build-up control of the second oil circuit is performed based on the second target oil circuit pressure.

[0192] In this embodiment, the single-circuit state is defined as either a first single-circuit state or a second single-circuit state. The first single-circuit state is used to perform pressure build-up control only on the first oil circuit, and the second single-circuit state is used to perform pressure build-up control only on the second oil circuit. Based on this, when the vehicle's oil circuit operating state switches from the oil circuit separation state to the first single-circuit state, pressure build-up control is performed on the first oil circuit based on the second target oil circuit pressure; when the vehicle's oil circuit operating state switches from the oil circuit separation state to the second single-circuit state, pressure build-up control is performed on the second oil circuit based on the second target oil circuit pressure, thereby improving the pressure build-up control efficiency of a single oil circuit.

[0193] The aforementioned first single oil circuit status is used to perform pressure build-up control only on the first oil circuit.

[0194] The aforementioned second single-line oil circuit state is used to control the pressure build-up only for the second oil circuit.

[0195] The above-mentioned pressure build-up control of the first oil circuit based on the second target oil circuit pressure may include pressure build-up control of the first oil circuit so that the pressure of the first oil circuit reaches the second target oil circuit pressure, but is not limited to this.

[0196] The above-mentioned pressure build-up control of the second oil circuit based on the second target oil circuit pressure may include pressure build-up control of the second oil circuit to make the pressure of the second oil circuit reach the second target oil circuit pressure, but is not limited to this.

[0197] In some embodiments, the above method may further include:

[0198] In the absence of detected oil line leaks, the vehicle's oil line operating status is determined to be in full-function mode, where full-function mode is used to perform pressure build-up control on each oil line of the vehicle.

[0199] In full-function mode, the vehicle's fourth initial oil circuit pressure is acquired, and pressure build-up control is performed on each oil circuit of the vehicle based on the fourth initial oil circuit pressure.

[0200] In this embodiment, if no leaks are detected in any of the vehicle's oil lines, the vehicle's oil line operating state is determined to be a full-function state. This full-function state is used to perform pressure build-up control on each of the vehicle's oil lines. In this full-function state, the vehicle's fourth initial oil line pressure is first obtained. The fourth initial oil line pressure refers to the oil line pressure of the vehicle during the current pressure build-up cycle when the vehicle's oil line operating state is full-function. Then, based on the fourth initial oil line pressure, pressure build-up control is performed on each of the vehicle's oil lines to ensure normal braking of the vehicle.

[0201] The above-mentioned full-function state is the normal control mode, which is used to perform pressure equalization control on each oil circuit of the vehicle.

[0202] The aforementioned fourth initial oil circuit pressure is used to indicate the oil circuit pressure during the current pressure build-up cycle of the vehicle when the vehicle's oil circuit is in full-function operation.

[0203] The above-mentioned acquisition of the fourth initial oil circuit pressure of the vehicle may include, when the vehicle's oil circuit is in full-function operation, detecting the pressure of multiple oil circuits of the vehicle through preset oil circuit sensors to obtain the oil circuit pressure of multiple oil circuits; processing the oil circuit pressure of multiple oil circuits to obtain the fourth initial oil circuit pressure, but is not limited to this.

[0204] The above process of the oil circuit pressures of multiple oil circuits yields a fourth initial oil circuit pressure, which can be included among the oil circuit pressures of multiple oil circuits, with the largest pressure value selected as the fourth initial oil circuit pressure.

[0205] Alternatively, the above-mentioned processing of the oil pressure of multiple oil lines to obtain the fourth initial oil pressure may include obtaining the average value of the oil pressure of multiple oil lines as the fourth initial oil pressure, but is not limited to this.

[0206] The aforementioned pressure build-up control of each oil circuit of the vehicle based on the fourth initial oil circuit pressure may include simultaneously building up pressure in each oil circuit of the vehicle so that the pressure in each oil circuit reaches the fourth initial oil circuit pressure, but is not limited to this.

[0207] In some implementations, obtaining the fourth initial oil circuit pressure of the vehicle may include:

[0208] The fourth initial oil circuit pressure is obtained based on the front axle pressure and rear axle pressure of the vehicle in full-function condition.

[0209] In this embodiment, since there is a certain correlation between the vehicle's oil circuit pressure and the front and rear axle pressures, the front and rear axle pressures of the vehicle in full-function state are obtained, and then the fourth initial oil circuit pressure is determined based on the front and rear axle pressures to improve the efficiency of obtaining the initial oil circuit pressure.

[0210] The above-mentioned acquisition of the front axle pressure and rear axle pressure of the vehicle in full-function state may include, in full-function state, detecting the pressure of the front axle and rear axle of the vehicle through preset pressure sensors to obtain the front axle pressure and rear axle pressure.

[0211] The above-mentioned method of obtaining the fourth initial oil circuit pressure based on the front axle pressure and rear axle pressure of the vehicle in full-function state may include obtaining the average value of the front axle pressure and rear axle pressure of the vehicle in full-function state as the fourth initial oil circuit pressure.

[0212] Alternatively, the above-mentioned method of obtaining the fourth initial oil circuit pressure based on the front axle pressure and rear axle pressure of the vehicle in full-function state may include selecting the largest pressure value from the front axle pressure and rear axle pressure of the vehicle in full-function state as the fourth initial oil circuit pressure to ensure that the braking system has a certain pressure build-up capability.

[0213] In some embodiments, switching the oil circuit operating state of the vehicle to an oil circuit disconnected state may include:

[0214] If a leak in the vehicle's oil circuit is detected within the first time interval, the vehicle's oil circuit operating state is switched from full-function state to oil circuit disconnect state.

[0215] In this embodiment, after detecting an oil leak in the vehicle, a preset first time period is waited; when the first time period is reached, the vehicle's oil circuit working state is switched from full-function state to oil circuit disconnect state, thereby giving the braking system enough time to control the opening and closing of the solenoid valves of each oil circuit, effectively ensuring the smoothness of the state switch and improving the braking stability of the vehicle.

[0216] The aforementioned first duration can be set according to actual conditions, and this implementation method does not impose specific limitations on it.

[0217] For example, the first duration mentioned above could be 300 milliseconds, but it is not limited to this.

[0218] In some embodiments, the above-mentioned alternating pressure build-up control of multiple oil circuits of the vehicle based on the first target oil circuit pressure may further include:

[0219] In the first separation state, if the second time interval after the oil leak is not detected is reached, the oil circuit operating state of the vehicle is switched from the first separation state to the second separation state.

[0220] Alternatively, in the second separation state, if a third time interval is reached after no oil leak is detected, the oil circuit operating state of the vehicle is switched from the second separation state to the first separation state.

[0221] In this embodiment, in the first separation state, a leaking oil circuit is detected, and a preset second time period is waited. If the second time period is reached and no leaking oil circuit is detected, the vehicle's oil circuit operating state is switched from the first separation state to the second separation state to detect whether there is an oil circuit leak in the first oil circuit. Alternatively, in the second separation state, a leaking oil circuit is detected, and a preset third time period is waited. If the third time period is reached and no leaking oil circuit is detected, the vehicle's oil circuit operating state is switched from the second separation state to the first separation state to detect whether there is an oil circuit leak in the second oil circuit. In this way, alternating pressure build-up control of multiple oil circuits is achieved, ensuring the normal progress of oil circuit leak diagnosis during alternating pressure build-up control, and allowing the braking system sufficient time to control the opening and closing of the solenoid valves of each oil circuit, ensuring smoothness during state switching.

[0222] The second and third durations mentioned above can be set according to actual conditions, and this embodiment does not impose specific limitations on them.

[0223] For example, both the second duration and the third duration mentioned above can be 20 milliseconds, but are not limited to this.

[0224] In some implementations, switching the vehicle's oil circuit operating state to a single oil circuit state may include:

[0225] If the fourth time interval after detecting a non-leaking oil circuit is reached, the vehicle's oil circuit operation state is switched to single oil circuit state.

[0226] In this embodiment, after a non-leaking oil circuit is detected, a preset fourth time period is waited; when the fourth time period is reached, the oil circuit working state of the vehicle is switched from the oil circuit separation state to the single oil circuit state, thereby giving the braking system enough time to control the opening and closing of the solenoid valves of each oil circuit, effectively ensuring the smoothness of the state switch and improving the braking stability of the vehicle.

[0227] The aforementioned fourth duration can be set according to actual circumstances, and this implementation method does not impose specific limitations on it.

[0228] For example, the fourth duration mentioned above could be 20 milliseconds, but it is not limited to this.

[0229] To facilitate understanding of the oil circuit pressure handling method described above in this application, an example of its actual application scenario is provided below.

[0230] In this example, the vehicle's braking system is an integrated braking system, which is equipped with a first hydraulic circuit and a second hydraulic circuit. The vehicle's hydraulic circuit operating states include a full-function state, a hydraulic circuit disconnected state, and a single hydraulic circuit state. The hydraulic circuit disconnected state includes either a first disconnected state or a second disconnected state, and the single hydraulic circuit state includes either a first single hydraulic circuit state or a second single hydraulic circuit state. Specifically, the full-function state is used to control the pressure build-up of the first and second hydraulic circuits based on the target hydraulic circuit pressure; the first disconnected state is used to control the pressure build-up of the first hydraulic circuit and, based on the brake pedal state, to control the pressure build-up of the second hydraulic circuit; the second disconnected state is used to control the pressure build-up of the second hydraulic circuit and, based on the brake pedal state, to control the pressure build-up of the first hydraulic circuit; the first single hydraulic circuit state is used to control the pressure build-up of only the first hydraulic circuit; and the second single hydraulic circuit state is used to control the pressure build-up of only the second hydraulic circuit.

[0231] The specific steps for handling the pressure of the first and second oil circuits in this example are as follows: S201-S207.

[0232] S201, When the vehicle is in motion, the vehicle's oil circuit is in full-function mode. In full-function mode, pressure build-up control is performed on each oil circuit of the vehicle, and the vehicle is checked for oil circuit leaks. If the leak is detected, wait for 300 milliseconds, control the vehicle's oil circuit to switch from full-function mode to oil circuit disconnection mode, and proceed to step S202. If the leak is not detected, maintain the full-function mode and return to the step of checking for oil circuit leaks to achieve cyclic detection.

[0233] S202, in the oil circuit separation state, the first initial oil circuit pressure and the first historical oil circuit pressure of the vehicle are obtained, and the first initial oil circuit pressure of the vehicle is limited according to the first historical oil circuit pressure to obtain the first target oil circuit pressure.

[0234] First, select the maximum pressure value between the front axle pressure and the rear axle pressure when the vehicle's oil circuit working state is switched to the oil circuit disconnected state as the first initial oil circuit pressure, i.e., Ptarget1=max(F1,F2), where Ptarget1 is the first initial oil circuit pressure, F1 is the front axle pressure when the vehicle's oil circuit working state is switched to the oil circuit disconnected state, and F2 is the rear axle pressure when the vehicle's oil circuit working state is switched to the oil circuit disconnected state.

[0235] Then, the difference between the first initial oil circuit pressure and the first historical oil circuit pressure is calculated as the first oil circuit pressure difference, that is, Delta1=Ptarget1-PK1, where Delta1 is the first oil circuit pressure difference and PK1 is the first historical oil circuit pressure.

[0236] Then, the pressure difference of the first oil circuit is compared with the preset first hydraulic threshold and the preset second hydraulic threshold to obtain the first target oil circuit pressure. Specifically: when Delta1 > A1, A1 is the first hydraulic threshold and A1 > 0, let Ptarget_ratelimited1 = PK1 + A1, where Ptarget_ratelimited1 is the first target oil circuit pressure; when Delta1 < A2, A2 is the second hydraulic threshold and A2 < 0, let Ptarget_ratelimited1 = PK1 + A2; when A2 ≤ Delta1 ≤ A1, let Ptarget_ratelimited1 = PK1.

[0237] S203, the default vehicle oil circuit separation state is the first separation state. In the first separation state, for the first oil circuit, its solenoid valve is normally open, and pressure build-up control is performed on the first oil circuit according to the first target oil circuit pressure to make the pressure of the first oil circuit reach the first target oil circuit pressure. For the second oil circuit, the opening and closing of its solenoid valve is affected by the state of the vehicle's brake pedal. If the vehicle's brake pedal is detected to be depressed, the solenoid valve of the second oil circuit is controlled to open, and the minimum pressure value between the first target oil circuit pressure and the pressure build-up pressure of the second oil circuit when the solenoid valve of the second oil circuit is open is selected as the first pressure build-up pressure, that is, P1=min(Ptarget_ratelimited1, Ptarget_C2), where P1 is the first pressure build-up pressure and Ptarget_C2 is the pressure build-up pressure of the second oil circuit when the solenoid valve of the second oil circuit is open; if the vehicle's brake pedal is detected not to be depressed, the solenoid valve of the second oil circuit is controlled to close and pressure build-up control of the second oil circuit is prohibited.

[0238] During the pressure build-up of the aforementioned oil circuit, the first and second oil circuits are tested to detect whether there is a leak in the second oil circuit. If no leak is detected, the second time interval is reached, and the vehicle's oil circuit operating state is switched from the first separation state to the second separation state, and the process proceeds to step S204 to detect whether there is a leak in the first oil circuit. The second time interval is 20 milliseconds. If a leak is detected within the second time interval, the process proceeds to step S205.

[0239] S204, in the second separation state, for the second oil circuit, its solenoid valve is normally open, and pressure build-up control is performed on the second oil circuit according to the first target oil circuit pressure so that the pressure of the second oil circuit reaches the first target oil circuit pressure; for the first oil circuit, the opening and closing of its solenoid valve is affected by the state of the vehicle's brake pedal. If it is detected that the vehicle's brake pedal is depressed, the solenoid valve of the first oil circuit is controlled to open, and the minimum pressure value between the first target oil circuit pressure and the pressure build-up pressure of the first oil circuit when the solenoid valve of the first oil circuit is open is selected as the second pressure build-up pressure, that is, P2=min(Ptarget_ratelimited1, Ptarget_C1), where P2 is the second pressure build-up pressure and Ptarget_C1 is the pressure build-up pressure of the first oil circuit when the solenoid valve of the first oil circuit is open; if it is detected that the vehicle's brake pedal is not depressed, the solenoid valve of the first oil circuit is controlled to close and pressure build-up control of the first oil circuit is prohibited.

[0240] During the pressure build-up of the aforementioned oil circuit, the first and second oil circuits are detected to identify those without leaks, i.e., non-leaking oil circuits. If no leaking oil circuit is detected, the third time interval is reached, and the vehicle's oil circuit operating state is switched from the second separation state to the first separation state, and the process returns to step S203 to achieve cyclic detection, where the third time interval is 20 milliseconds. If a leaking oil circuit is detected within the second time interval, the process proceeds to step S205.

[0241] S205, when a non-leaking oil circuit is detected, wait 20 milliseconds, control the vehicle's oil circuit working state to switch from oil circuit separation state to single oil circuit state, and proceed to step S206.

[0242] S206, in single oil circuit state, acquire the second initial oil circuit pressure of the vehicle, the solenoid valve voltage of the non-leakage oil circuit and the second historical oil circuit pressure, and limit the second initial oil circuit pressure according to the solenoid valve voltage of the non-leakage oil circuit and the second historical oil circuit pressure to obtain the second target oil circuit pressure.

[0243] Specifically, firstly, the maximum pressure value between the front axle pressure and the rear axle pressure of the vehicle when the vehicle's oil circuit working state is switched to the single oil circuit state is selected as the second initial oil circuit pressure, i.e., Ptarget2=max(F3,F4), where Ptarget2 is the second initial oil circuit pressure, F3 is the front axle pressure of the vehicle when the vehicle's oil circuit working state is switched to the single oil circuit state, and F4 is the rear axle pressure of the vehicle when the vehicle's oil circuit working state is switched to the single oil circuit state.

[0244] Furthermore, the second initial oil circuit pressure is corrected by the solenoid valve voltage of the non-leakage oil circuit. Specifically: when U > U', U is the solenoid valve voltage of the non-leakage oil circuit, U' is the voltage threshold, and Ptarget3 = min(Ptarget2, R1), where Ptarget3 is the third initial oil circuit pressure and R1 is the first limiting pressure; when U1 ≤ U', between the preset second limiting pressure and the second initial oil circuit pressure, Ptarget3 = min(Ptarget2, R2), where R2 is the second limiting pressure and R2 < R1.

[0245] Then, the difference between the third initial oil circuit pressure and the second historical oil circuit pressure is calculated as the second oil circuit pressure difference, that is, Delta2=Ptarget3-PK2, where Delta2 is the second oil circuit pressure difference and PK2 is the second historical oil circuit pressure.

[0246] Next, the pressure difference of the second oil circuit is compared with the preset step size threshold, and the pressure of the third initial oil circuit is restricted accordingly based on the comparison result to obtain the second target oil circuit pressure. Specifically: when Delta2 > Pdiff, Pdiff is the step size threshold, and Ptarget_ratelimited2 = PK1 + Pdiff is set as the second target oil circuit pressure; when Delta2 ≤ Pdiff, Ptarget_ratelimited2 = Ptarget3 is set as the second target oil circuit pressure.

[0247] S207, in the first single-circuit state, pressure build-up control is performed on the first oil circuit to make the pressure of the first oil circuit reach the second target oil circuit pressure, and pressure build-up control on the second oil circuit is prohibited; in the second single-circuit state, pressure build-up control is performed on the second oil circuit to make the pressure of the second oil circuit reach the second target oil circuit pressure, and pressure build-up control on the first oil circuit is prohibited.

[0248] Secondly, refer to Figure 2 This application provides an oil circuit pressure handling device, which includes:

[0249] The first processing module 301 is used to control the oil circuit working state of the vehicle to switch to the oil circuit separation state when an oil circuit leak is detected. The oil circuit separation state is used to control multiple oil circuits of the vehicle to alternately build up pressure.

[0250] The second processing module 302 is used to limit the first initial oil circuit pressure of the vehicle in the oil circuit separation state to obtain the first target oil circuit pressure, wherein the first initial oil circuit pressure is the oil circuit pressure of the vehicle in the current pressure building cycle when the oil circuit working state of the vehicle is switched to the oil circuit separation state.

[0251] The third processing module 303 is used to perform alternating pressure building control on multiple oil circuits of the vehicle according to the first target oil circuit pressure, and to detect non-leaking oil circuits among the multiple oil circuits during the alternating pressure building control.

[0252] The fourth processing module 304 is used to control the vehicle's oil circuit working state to switch to a single oil circuit state when a non-leaking oil circuit is detected. The single oil circuit state is used to control the solenoid valve of the leaking oil circuit to close and to perform pressure build-up control on the non-leaking oil circuit.

[0253] The fifth processing module 305 is used to limit the second initial oil circuit pressure in the single oil circuit state to obtain the second target oil circuit pressure, wherein the second initial oil circuit pressure is the oil circuit pressure of the vehicle in the current pressure build-up cycle when the vehicle's oil circuit working state is switched to the single oil circuit state.

[0254] The sixth processing module 306 is used to control the pressure build-up of the non-leakage oil circuit based on the second target oil circuit pressure.

[0255] The content of the above method embodiments is applicable to the device embodiments. The specific functions implemented by the device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0256] Furthermore, refer to Figure 3 This application provides an integrated braking system, comprising:

[0257] At least one processor 401;

[0258] At least one memory 402 is used to store at least one program;

[0259] When at least one program is executed by at least one processor 401, the at least one processor 401 implements the above-described oil circuit pressure processing method.

[0260] Memory 402, as a non-transitory network system, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory 402 may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory 402 may optionally include memory 402 remotely located relative to processor 401, and these remote memories 402 can be connected to processor 401 via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0261] The memory 402 can be implemented as a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 402 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 402 and is called and executed by the processor 401.

[0262] The processor 401 can be implemented using a general-purpose central processing unit (CPU), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application.

[0263] In some embodiments, the aforementioned integrated braking system may further include:

[0264] Input / output interfaces are used to implement information input and output;

[0265] The communication interface is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0266] The bus transmits information between various components of the device (such as processor 401, memory 402, input / output interface and communication interface);

[0267] The processor 401, memory 402, input / output interface, and communication interface can communicate with each other within the device via a bus.

[0268] Similarly, the content of the above method embodiments is applicable to this device embodiment. The specific functions implemented by this device embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0269] Finally, this application provides a vehicle including the aforementioned hydraulic pressure handling device and / or the aforementioned integrated braking system.

[0270] The aforementioned vehicles can be private cars, such as sedans, sport utility vehicles (SUVs), multi-purpose vehicles (MPVs), or pickup trucks, or commercial vehicles, such as vans, buses, small trucks, or large trailers, or gasoline vehicles or new energy vehicles such as hybrid or pure electric vehicles.

[0271] Similarly, the content of the above method embodiments is applicable to this vehicle embodiment. The specific functions implemented in this vehicle embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0272] In summary, the embodiments of this application can improve the control accuracy of oil circuit pressure build-up. On the one hand, by limiting the oil circuit pressure when the vehicle leaks oil, and using the limited oil circuit pressure to perform alternating pressure build-up control on multiple oil circuits of the vehicle, and realizing oil circuit leak diagnosis during alternating pressure build-up, the control accuracy of alternating pressure build-up can be improved. This can effectively avoid situations such as sudden changes in oil circuit pressure or excessive motor load leading to braking system failure, ensuring the braking stability of the vehicle, and improving the diagnostic efficiency of oil circuit leaks, ensuring the timeliness of oil circuit leak diagnosis.

[0273] On the other hand, the embodiments of this application limit the oil pressure of the vehicle when a non-leaking oil circuit is detected, and achieve pressure build-up control of the non-leaking oil circuit based on the limited oil pressure, thereby improving the control accuracy of single oil circuit pressure build-up, effectively avoiding situations such as sudden changes in oil circuit pressure or excessive motor load leading to braking system failure, reducing the risk of loss of control of the vehicle during braking, and ensuring the braking stability of the vehicle.

[0274] In some alternative embodiments, the functions / operations mentioned in the block diagrams may not occur in the order shown in the operation diagrams. For example, depending on the functions / operations involved, two consecutively shown blocks may actually be executed substantially simultaneously, or the blocks may sometimes be executed in reverse order. Furthermore, the embodiments presented and described in the flowcharts of this application are provided by way of example to provide a more comprehensive understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and sub-operations described as part of a larger operation are executed independently.

[0275] Furthermore, although this application is described in the context of functional modules, it should be understood that, unless otherwise stated to the contrary, one or more of the functions and / or features may be integrated into a single physical device and / or software module, or one or more functions and / or features may be implemented in a separate physical device or software module. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding this application. Rather, given the properties, functions, and internal relationships of the various functional modules in the apparatus disclosed herein, the actual implementation of the module will be understood within the scope of conventional technology for an engineer. Therefore, those skilled in the art can implement the application set forth in the claims using ordinary techniques without excessive experimentation. It is also understood that the specific concepts disclosed are merely illustrative and not intended to limit the scope of this application, which is determined by the full scope of the appended claims and their equivalents.

[0276] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several programs to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0277] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequential list of executable programs for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, a program execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can retrieve and execute a program from or in conjunction with such a program execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can mean any means that can contain, store, communicate, propagate, or transmit a program for use by or in conjunction with a program execution system, apparatus, or device.

[0278] More specific examples of computer-readable media (a non-exhaustive list) include: electrical connections (electronic devices) having one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0279] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable program execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0280] In the foregoing description of this specification, the references to terms such as "one embodiment," "another embodiment," or "some embodiments," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0281] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

[0282] The above is a detailed description of the preferred embodiments of this application, but this application is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of this application, and these equivalent modifications or substitutions are all included within the scope defined by the claims of this application.

Claims

1. An oil line pressure processing method characterized by, The method comprises the following steps: In the case of detecting a hydraulic line leakage of the vehicle, the working state of the hydraulic line of the vehicle is switched to a hydraulic line separation state, wherein the hydraulic line separation state is used to control the multiple hydraulic lines of the vehicle to be alternately pressurized; In the hydraulic line separation state, a first initial hydraulic line pressure of the vehicle is limited to obtain a first target hydraulic line pressure, wherein the first initial hydraulic line pressure is the hydraulic line pressure of a current pressurization cycle of the vehicle in the case of switching the working state of the hydraulic line of the vehicle to the hydraulic line separation state; The multiple hydraulic lines of the vehicle are alternately pressurized according to the first target hydraulic line pressure, and a non-leakage hydraulic line is detected during the alternately pressurizing control; In the case of detecting the non-leakage hydraulic line, the working state of the hydraulic line of the vehicle is switched to a single hydraulic line state, wherein the single hydraulic line state is used to only pressurize the non-leakage hydraulic line; In the single hydraulic line state, a second initial hydraulic line pressure of the vehicle is limited to obtain a second target hydraulic line pressure, wherein the second initial hydraulic line pressure is the hydraulic line pressure of a current pressurization cycle of the vehicle in the case of switching the working state of the hydraulic line of the vehicle to the single hydraulic line state; The non-leakage hydraulic line is pressurized according to the second target hydraulic line pressure.

2. The oil passage pressure processing method according to claim 1, characterized by, The limiting process of the first initial hydraulic line pressure of the vehicle to obtain the first target hydraulic line pressure comprises: Obtaining a first historical hydraulic line pressure of the vehicle, wherein the first historical hydraulic line pressure is the hydraulic line pressure of a previous pressurization cycle of the vehicle in the case of switching the working state of the hydraulic line of the vehicle to the hydraulic line separation state; Obtaining a first hydraulic line pressure difference according to the first historical hydraulic line pressure and the first initial hydraulic line pressure; Obtaining the first target hydraulic line pressure according to the first hydraulic line pressure difference and the first historical hydraulic line pressure.

3. The oil pressure processing method according to claim 2, characterized by, The obtaining of the first hydraulic line pressure difference according to the first historical hydraulic line pressure and the first initial hydraulic line pressure comprises: Calculating the difference between the first initial hydraulic line pressure and the first historical hydraulic line pressure as the first hydraulic line pressure difference.

4. The oil passage pressure processing method according to claim 2, characterized by The obtaining of the first target hydraulic line pressure according to the first hydraulic line pressure difference and the first historical hydraulic line pressure comprises: If the first hydraulic line pressure difference is greater than a preset first hydraulic threshold, calculating the sum of the first historical hydraulic line pressure and the first hydraulic threshold as the first target hydraulic line pressure, wherein the first hydraulic threshold is greater than zero; Or, if the first hydraulic line pressure difference is less than a preset second hydraulic threshold, calculating the sum of the first historical hydraulic line pressure and the second hydraulic threshold as the first target hydraulic line pressure, wherein the second hydraulic threshold is less than zero; Or, if the first hydraulic line pressure difference is greater than or equal to the second hydraulic threshold and the first hydraulic line pressure difference is less than or equal to the first hydraulic threshold, taking the first historical hydraulic line pressure as the first target hydraulic line pressure.

5. The oil passage pressure processing method according to claim 1, characterized by, The multiple oil paths include a first oil path and a second oil path, and the oil path separation state includes a first separation state or a second separation state, in the first separation state, a solenoid valve of the first oil path is always open, and in the second separation state, a solenoid valve of the second oil path is always open; The alternating pressure building control of the multiple oil paths of the vehicle according to the first target oil path pressure includes: In the first separation state, the first oil path is controlled according to the first target oil path pressure, and the second oil path is controlled according to the brake pedal state of the vehicle and the first target oil path pressure; Or, in the second separation state, the second oil path is controlled according to the first target oil path pressure, and the first oil path is controlled according to the brake pedal state and the first target oil path pressure.

6. The oil pressure processing method according to claim 5, characterized by The pressure building control of the second oil path according to the brake pedal state of the vehicle and the first target oil path pressure includes: In the case that the brake pedal state is a pedal-down state, the solenoid valve of the second oil path is controlled to be open; A first pressure building pressure is obtained according to the first target oil path pressure and the pressure building pressure of the second oil path in the case that the solenoid valve of the second oil path is open; The second oil path is controlled according to the first pressure building pressure.

7. The oil pressure processing method according to claim 6, characterized by The first pressure building pressure is obtained according to the first target oil path pressure and the pressure building pressure of the second oil path in the case that the solenoid valve of the second oil path is open, including: The minimum pressure value is selected as the first pressure building pressure from the first target oil path pressure and the pressure building pressure of the second oil path in the case that the solenoid valve of the second oil path is open.

8. The oil pressure processing method according to claim 7, characterized by The pressure building control of the second oil path according to the brake pedal state of the vehicle and the first target oil path pressure includes: In the case that the brake pedal state is a pedal-up state, the solenoid valve of the second oil path is controlled to be closed; The pressure building control of the second oil path is prohibited.

9. The oil passage pressure handling method according to claim 1, characterized by, The second target oil path pressure is obtained by limiting the second initial oil path pressure of the vehicle, including: The second historical oil path pressure of the vehicle is obtained, wherein the second historical oil path pressure is the oil path pressure of a previous pressure building cycle of the vehicle in the case that the oil path working state of the vehicle is switched to the single oil path state; A third initial oil path pressure of the vehicle is obtained according to the solenoid valve voltage of the non-leakage oil path and the second initial oil path pressure; A second oil path pressure difference is obtained according to the third initial oil path pressure and the second historical oil path pressure; The second target oil path pressure is obtained according to the second oil path pressure difference, the second historical oil path pressure and the third initial oil path pressure.

10. The oil passage pressure processing method according to claim 9, characterized by, The third initial oil path pressure of the vehicle is obtained according to the solenoid valve voltage of the non-leakage oil path and the second initial oil path pressure, including: If the solenoid valve voltage of the non-leakage oil path is greater than a preset voltage threshold, the minimum pressure value is selected as the third initial oil path pressure from a preset first limited pressure and the second initial oil path pressure. Or, if the solenoid voltage of the non-leakage oil path is less than or equal to the voltage threshold, the minimum pressure value between the preset second limiting pressure and the second initial oil path pressure is selected as the third initial oil path pressure; Wherein, the first limiting pressure is greater than the second limiting pressure.

11. The oil passage pressure processing method according to claim 9, characterized by, The second target oil path pressure is obtained according to the second oil path pressure difference, the second historical oil path pressure and the third initial oil path pressure, including: If the second oil path pressure difference is greater than a preset step threshold, the sum of the step threshold and the second historical oil path pressure is calculated as the second target oil path pressure; Or, if the second oil path pressure difference is less than or equal to the step threshold, the third initial oil path pressure is taken as the second target oil path pressure.

12. An oil pressure processing device characterized by comprising: Including: The first processing module is used for switching the working state of the oil path of the vehicle to an oil path separation state when the oil path leakage of the vehicle is detected, wherein the oil path separation state is used for controlling the multiple oil paths of the vehicle to be alternately built up pressure; The second processing module is used for limiting the first initial oil path pressure of the vehicle in the oil path separation state to obtain a first target oil path pressure, wherein the first initial oil path pressure is the oil path pressure of the current build-up period of the vehicle when the working state of the oil path of the vehicle is switched to the oil path separation state; The third processing module is used for alternately building up pressure control of the multiple oil paths of the vehicle according to the first target oil path pressure, and detecting a non-leakage oil path in the multiple oil paths during the alternately building up pressure control; The fourth processing module is used for switching the working state of the oil path of the vehicle to a single oil path state when the non-leakage oil path is detected, wherein the single oil path state is used for controlling the solenoid of the leakage oil path of the vehicle to be closed and building up pressure control of the non-leakage oil path; The fifth processing module is used for limiting the second initial oil path pressure of the vehicle in the single oil path state to obtain a second target oil path pressure, wherein the second initial oil path pressure is the oil path pressure of the current build-up period of the vehicle when the working state of the oil path of the vehicle is switched to the single oil path state; The sixth processing module is used for building up pressure control of the non-leakage oil path according to the second target oil path pressure.

13. An integrated brake system characterized by, Including: At least one processor; At least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the oil path pressure processing method of any one of claims 1-11.

14. A vehicle characterized by comprising: An oil path pressure processing device as claimed in claim 12 and / or an integrated brake system as claimed in claim 13. An oil path pressure processing device as claimed in claim 12 and / or an integrated brake system as claimed in claim 13.

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