Detection method and device of vehicle braking system, readable storage medium and vehicle

Abstract

The invention discloses a detection method and device for a vehicle braking system, a readable storage medium and a vehicle, and relates to the technical field of new energy vehicles. The detection method of the vehicle braking system comprises the steps that in the running process of the vehicle braking system, multiple actual pressure intensity values of the vehicle braking system are obtained, multiple preset target pressure intensity values are obtained, and the multiple actual pressure intensity values correspond to the multiple target pressure intensity values in a one-to-one mode; calculating a mean value of the plurality of actual pressure values to obtain a first pressure mean value, and calculating a mean value of the plurality of target pressure values to obtain a second pressure mean value; calculating a plurality of first pressure change rates corresponding to the plurality of actual pressure values, and calculating a plurality of second pressure change rates corresponding to the plurality of target pressure values; and according to the first pressure intensity mean value, the second pressure intensity mean value, the multiple first pressure intensity change rates and the multiple second pressure intensity change rates, the running state of the vehicle braking system is determined. The detection accuracy of the vehicle braking system is ensured, and safety accidents of the vehicle braking system are avoided.

Description

Technical Field

[0001] The present application relates to the technical field of new energy vehicles, and in particular to a detection method, device, readable storage medium and vehicle for a vehicle braking system. Background Art

[0002] With the development of smart cars, the braking system has been upgraded from traditional mechanical hydraulic braking to intelligent power-assisted braking system. However, since the intelligent power-assisted braking system is an electronically controlled system, it is necessary to perform real-time detection of the braking system. However, the existing vehicle braking system detection method has technical problems such as low detection accuracy. Summary of the invention

[0003] The embodiments of the present application provide a vehicle braking system detection method, device, readable storage medium and vehicle, which are used to solve technical problems such as low detection accuracy of vehicle braking systems in the prior art.

[0004] In a first aspect of an embodiment of the present application, a method for detecting a vehicle braking system is provided. The method for detecting a vehicle braking system includes:

[0005] During the operation of the vehicle braking system, a plurality of actual pressure values ​​of the vehicle braking system are obtained, and a plurality of preset target pressure values ​​are obtained, wherein the plurality of actual pressure values ​​correspond to the plurality of target pressure values ​​one by one;

[0006] Calculating the average of multiple actual pressure values ​​to obtain a first pressure average, and calculating the average of multiple target pressure values ​​to obtain a second pressure average;

[0007] Calculating a plurality of first pressure change rates corresponding to a plurality of actual pressure values, and calculating a plurality of second pressure change rates corresponding to a plurality of target pressure values;

[0008] An operating state of a vehicle braking system is determined based on a first pressure average, a second pressure average, a plurality of first pressure change rates, and a plurality of second pressure change rates.

[0009] In this embodiment, the vehicle includes a vehicle braking system, which is used to stop or decelerate the vehicle. During the operation of the vehicle braking system, the vehicle braking system is detected to obtain multiple actual pressure values ​​of the vehicle braking system and multiple preset target pressure values, wherein the actual pressure value represents the real-time pressure of the vehicle braking system during operation, and the target pressure value represents the theoretical pressure of the vehicle braking system, and the multiple actual pressure values ​​correspond one-to-one to the multiple target pressure values.

[0010] Exemplarily, the actual pressure value may be specifically a transient actual auxiliary pressure, and the target pressure value may be specifically a transient target auxiliary pressure.

[0011] Exemplarily, based on a detection cycle, the vehicle braking system is detected multiple times in succession to obtain multiple actual pressure values.

[0012] Calculate the average of multiple actual pressure values ​​to obtain a first pressure average corresponding to the vehicle braking system. At the same time, calculate the average of multiple target pressure values ​​to obtain a second pressure average corresponding to the vehicle braking system, wherein the first pressure average is the average of multiple actual pressure values, and the second pressure average is the average of multiple target pressure values.

[0013] The numerical change rate of two adjacent actual pressure values ​​among the multiple actual pressure values ​​is calculated to obtain multiple first pressure change rates, where the first pressure change rate represents the numerical change amplitude of two adjacent actual pressure values ​​among the multiple actual pressure values.

[0014] The numerical change rate of two adjacent target pressure values ​​among the multiple target pressure values ​​is calculated to obtain multiple second pressure change rates, where the second pressure change rate represents the numerical change amplitude of two adjacent target pressure values ​​among the multiple target pressure values.

[0015] Data analysis is performed on the first pressure average, the second pressure average, a plurality of first pressure change rates, and a plurality of second pressure change rates to determine an operating state of the vehicle braking system, where the operating state represents an operating condition of the vehicle braking system.

[0016] Exemplarily, the operating status may be an abnormal situation or a normal situation.

[0017] It should be noted that the operating state of the vehicle braking system is determined based on multiple data including the first pressure average, the second pressure average, multiple first pressure change rates and multiple second pressure change rates, to ensure that the operating state of the vehicle braking system can be accurately determined and to avoid the vehicle braking system being in an abnormal state.

[0018] The detection method of the vehicle braking system in the present embodiment determines the operating status of the vehicle braking system by performing data analysis on the first pressure average, the second pressure average, multiple first pressure change rates and multiple second pressure change rates of the vehicle braking system, thereby ensuring that the operating status of the vehicle braking system can be accurately determined, improving the detection accuracy of the vehicle braking system, avoiding failures of the vehicle braking system, and thereby improving the safety of the vehicle.

[0019] In some embodiments, determining the operating state of the vehicle braking system according to the first pressure average, the second pressure average, a plurality of first pressure change rates, and a plurality of second pressure change rates includes:

[0020] Determining a first reference value of the vehicle braking system according to the first pressure average value, the second pressure average value, a plurality of first pressure change rates, and a plurality of second pressure change rates;

[0021] determining a second reference value of the vehicle braking system based on the plurality of first pressure change rates and the plurality of second pressure change rates;

[0022] The operating state is determined based on the first reference value and the second reference value.

[0023] In some embodiments, determining a first reference value of a vehicle braking system according to a first pressure average, a second pressure average, a plurality of first pressure change rates, and a plurality of second pressure change rates includes:

[0024] Calculating a difference between the first pressure average and the second pressure average to obtain a first difference;

[0025] Calculate the average of multiple first pressure change rates to obtain a first change rate average, and calculate the average of multiple second pressure change rates to obtain a second change rate average;

[0026] Calculate the difference between the first change rate mean and the second change rate mean to obtain a second difference;

[0027] A first reference value is determined according to the first difference and the second difference.

[0028] In some embodiments, determining a second reference value of the vehicle braking system according to a plurality of first pressure change rates and a plurality of second pressure change rates includes:

[0029] Calculate the average of multiple first pressure change rates to obtain a first change rate average;

[0030] Determine the maximum values ​​of the plurality of second pressure change rates, and obtain the maximum change rate and the minimum change rate;

[0031] A second reference value is determined according to the first change rate average, the change rate maximum and the change rate minimum.

[0032] In some embodiments, determining the operating state according to the first reference value and the second reference value includes:

[0033] When the first reference value is less than or equal to the second reference value, determining that the operating state is a normal state;

[0034] When the first reference value is greater than the second reference value, the operating state is determined to be an abnormal state.

[0035] In some embodiments, obtaining a plurality of actual pressure values ​​of a vehicle braking system includes:

[0036] Obtain multiple preset time points, where the multiple time points correspond one to one with multiple actual pressure values;

[0037] Based on each time point, the pressure of the vehicle braking system is detected to obtain multiple actual pressure values.

[0038] In some embodiments, calculating a plurality of first pressure change rates corresponding to a plurality of actual pressure values ​​includes:

[0039] Get the preset calculation period;

[0040] Determining a plurality of first change rates according to a plurality of actual pressure values ​​and a calculation cycle;

[0041] The average of the multiple first change rates is calculated to obtain the first pressure change rate.

[0042] In some embodiments, calculating a plurality of second pressure change rates corresponding to a plurality of target pressure values ​​includes:

[0043] Get the preset calculation period;

[0044] Determining a plurality of second change rates according to a plurality of target pressure values ​​and a calculation cycle;

[0045] The average of multiple second change rates is calculated to obtain the second pressure change rate.

[0046] According to a second aspect of an embodiment of the present application, a detection device for a vehicle brake system is provided. The detection device for a vehicle brake system includes:

[0047] An acquisition unit, used to acquire a plurality of actual pressure values ​​of the vehicle braking system and a plurality of preset target pressure values ​​during the operation of the vehicle braking system, wherein the plurality of actual pressure values ​​correspond to the plurality of target pressure values ​​one by one;

[0048] A processing unit, configured to calculate an average of a plurality of actual pressure values ​​to obtain a first pressure average value, and calculate an average of a plurality of target pressure values ​​to obtain a second pressure average value;

[0049] The processing unit is further used to calculate a plurality of first pressure change rates corresponding to a plurality of actual pressure values, and calculate a plurality of second pressure change rates corresponding to a plurality of target pressure values;

[0050] The processing unit is also used to determine the operating state of the vehicle braking system according to the first pressure average value, the second pressure average value, multiple first pressure change rates and multiple second pressure change rates.

[0051] In this embodiment, the vehicle includes a vehicle braking system, which is used to stop or decelerate the vehicle. During the operation of the vehicle braking system, the acquisition unit 902 detects the vehicle braking system, obtains multiple actual pressure values ​​of the vehicle braking system, and obtains multiple preset target pressure values, wherein the actual pressure value represents the real-time pressure of the vehicle braking system during operation, and the target pressure value represents the theoretical pressure of the vehicle braking system, and the multiple actual pressure values ​​correspond one-to-one to the multiple target pressure values.

[0052] Exemplarily, the actual pressure value may be specifically a transient actual auxiliary pressure, and the target pressure value may be specifically a transient target auxiliary pressure.

[0053] Exemplarily, based on a detection cycle, the vehicle braking system is detected multiple times in succession to obtain multiple actual pressure values.

[0054] The processing unit calculates the average of multiple actual pressure values ​​to obtain a first pressure average corresponding to the vehicle braking system. At the same time, it calculates the average of multiple target pressure values ​​to obtain a second pressure average corresponding to the vehicle braking system, wherein the first pressure average is the average of multiple actual pressure values, and the second pressure average is the average of multiple target pressure values.

[0055] The processing unit calculates a numerical change rate of two adjacent actual pressure values ​​among the multiple actual pressure values ​​to obtain multiple first pressure change rates, where the first pressure change rate represents a numerical change amplitude of two adjacent actual pressure values ​​among the multiple actual pressure values.

[0056] The processing unit calculates a numerical change rate of two adjacent target pressure values ​​among the multiple target pressure values ​​to obtain multiple second pressure change rates, where the second pressure change rate represents a numerical change amplitude of two adjacent target pressure values ​​among the multiple target pressure values.

[0057] The processing unit performs data analysis on the first pressure average, the second pressure average, multiple first pressure change rates, and multiple second pressure change rates to determine the operating state of the vehicle braking system, where the operating state represents the operating condition of the vehicle braking system.

[0058] Exemplarily, the operating status may be an abnormal situation or a normal situation.

[0059] It should be noted that the operating state of the vehicle braking system is determined based on multiple data including the first pressure average, the second pressure average, multiple first pressure change rates and multiple second pressure change rates, to ensure that the operating state of the vehicle braking system can be accurately determined and to avoid the vehicle braking system being in an abnormal state.

[0060] The detection device of the vehicle braking system in this embodiment determines the operating state of the vehicle braking system by performing data analysis through the first pressure average, the second pressure average, multiple first pressure change rates and multiple second pressure change rates of the vehicle braking system, thereby ensuring that the operating state of the vehicle braking system can be accurately determined, improving the detection accuracy of the vehicle braking system, avoiding malfunctions of the vehicle braking system, and thereby improving the safety of the vehicle.

[0061] In a third aspect of the embodiments of the present application, another detection device for a vehicle brake system is provided, comprising a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the steps of the detection method for a vehicle brake system in any of the above embodiments are implemented. Therefore, the detection device for a vehicle brake system has all the beneficial effects of the detection method for a vehicle brake system in any of the above embodiments, which will not be described in detail here.

[0062] In a fourth aspect of the embodiments of the present application, a readable storage medium is provided, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the vehicle brake system detection method in any of the above embodiments are implemented. Therefore, the readable storage medium has all the beneficial effects of the vehicle brake system detection method in any of the above embodiments, which will not be repeated here.

[0063] According to a fifth aspect of the present invention, a vehicle is proposed, comprising: a detection device for a vehicle braking system as defined in the above second aspect, or a detection device for a vehicle braking system as defined in the above third aspect, and / or a readable storage medium as defined in the above fourth aspect, thereby having all the beneficial technical effects of the detection device for a vehicle braking system as defined in the above second aspect, or a detection device for a vehicle braking system as defined in the above third aspect, and / or a readable storage medium as defined in the above fourth aspect, and no further details will be given herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0065] Figure 1 A flow chart of a method for detecting a vehicle braking system provided in an embodiment of the present application;

[0066] Figure 2 A functional module block diagram of a detection device for a vehicle braking system provided in an embodiment of the present application;

[0067] Figure 3 This is a structural block diagram of a detection device for a vehicle braking system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0068] In order to better understand the technical solutions provided by the embodiments of this specification, the technical solutions of the embodiments of this specification are described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of this specification and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this specification, rather than limitations on the technical solutions of this specification. In the absence of conflict, the embodiments of this specification and the technical features in the embodiments can be combined with each other.

[0069] In this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or equipment. In the absence of more restrictions, the elements limited by the statement "comprise one..." do not exclude the existence of other identical elements in the process, method, article or equipment including the elements. The term "more than two" includes two or more than two situations.

[0070] In some embodiments, Figure 1 A flow chart of a method for detecting a vehicle braking system provided in an embodiment of the present application, such as Figure 1 As shown, a detection method for a vehicle braking system is proposed, comprising:

[0071] Step S101, during the operation of the vehicle braking system, a plurality of actual pressure values ​​of the vehicle braking system are obtained, and a plurality of preset target pressure values ​​are obtained.

[0072] In this embodiment, the vehicle includes a vehicle braking system, which is used to stop or decelerate the vehicle. During the operation of the vehicle braking system, the vehicle braking system is detected to obtain multiple actual pressure values ​​of the vehicle braking system and multiple preset target pressure values, wherein the actual pressure value represents the real-time pressure of the vehicle braking system during operation, and the target pressure value represents the theoretical pressure of the vehicle braking system, and the multiple actual pressure values ​​correspond one-to-one to the multiple target pressure values.

[0073] Exemplarily, the actual pressure value may be specifically a transient actual auxiliary pressure, and the target pressure value may be specifically a transient target auxiliary pressure.

[0074] Exemplarily, based on a detection cycle, the vehicle braking system is detected multiple times in succession to obtain multiple actual pressure values.

[0075] Step S102, calculating the average of multiple actual pressure values ​​to obtain a first pressure average, and calculating the average of multiple target pressure values ​​to obtain a second pressure average.

[0076] Calculate the average of multiple actual pressure values ​​to obtain a first pressure average corresponding to the vehicle braking system. At the same time, calculate the average of multiple target pressure values ​​to obtain a second pressure average corresponding to the vehicle braking system, wherein the first pressure average is the average of multiple actual pressure values, and the second pressure average is the average of multiple target pressure values.

[0077] Exemplarily, the calculation formulas for the first pressure average and the second pressure average are:

[0078]

[0079] Among them, i represents the sequence number, Pactual_avg is the first pressure average, Ptarget_avg is the second pressure average, n represents the number, Pactual(i) is the i-th actual pressure value, and Ptarget(i) is the i-th target pressure value.

[0080] Step S103, calculating a plurality of first pressure change rates corresponding to a plurality of actual pressure values, and calculating a plurality of second pressure change rates corresponding to a plurality of target pressure values.

[0081] The numerical change rate of two adjacent actual pressure values ​​among the multiple actual pressure values ​​is calculated to obtain multiple first pressure change rates, where the first pressure change rate represents the numerical change amplitude of two adjacent actual pressure values ​​among the multiple actual pressure values.

[0082] The numerical change rate of two adjacent target pressure values ​​among the multiple target pressure values ​​is calculated to obtain multiple second pressure change rates, where the second pressure change rate represents the numerical change amplitude of two adjacent target pressure values ​​among the multiple target pressure values.

[0083] Step S104, determining the operating state of the vehicle braking system according to the first pressure average value, the second pressure average value, the multiple first pressure change rates and the multiple second pressure change rates.

[0084] Data analysis is performed on the first pressure average, the second pressure average, a plurality of first pressure change rates, and a plurality of second pressure change rates to determine an operating state of the vehicle braking system, where the operating state represents an operating condition of the vehicle braking system.

[0085] Exemplarily, the operating status may be an abnormal situation or a normal situation.

[0086] It should be noted that the operating state of the vehicle braking system is determined based on multiple data including the first pressure average, the second pressure average, multiple first pressure change rates and multiple second pressure change rates, to ensure that the operating state of the vehicle braking system can be accurately determined and to avoid the vehicle braking system being in an abnormal state.

[0087] The detection method of the vehicle braking system in the present embodiment determines the operating status of the vehicle braking system by performing data analysis on the first pressure average, the second pressure average, multiple first pressure change rates and multiple second pressure change rates of the vehicle braking system, thereby ensuring that the operating status of the vehicle braking system can be accurately determined, improving the detection accuracy of the vehicle braking system, avoiding failures of the vehicle braking system, and thereby improving the safety of the vehicle.

[0088] In some embodiments, a method for detecting a vehicle brake system is provided, and the operating state of the vehicle brake system is determined according to a first pressure average, a second pressure average, a plurality of first pressure change rates, and a plurality of second pressure change rates, including:

[0089] Step S201, determining a first reference value of a vehicle braking system according to a first pressure average value, a second pressure average value, a plurality of first pressure change rates, and a plurality of second pressure change rates.

[0090] In this embodiment, a first reference value of the vehicle braking system is determined based on a first pressure average, a second pressure average, multiple first pressure change rates, and multiple second pressure change rates, wherein the first reference value is a reference value for determining the operating state of the vehicle braking system.

[0091] Exemplarily, the first reference value may represent a difference between a first pressure average value, a second pressure average value, a plurality of first pressure change rates, and a plurality of second pressure change rates.

[0092] Step S202, determining a second reference value of the vehicle braking system according to the plurality of first pressure change rates and the plurality of second pressure change rates.

[0093] A second reference value of the vehicle braking system is determined based on the plurality of first pressure change rates and the plurality of second pressure change rates, wherein the second reference value is a reference value for determining an operating state of the vehicle braking system.

[0094] Exemplarily, the second reference value may represent the change amplitudes of the plurality of first pressure change rates and the plurality of second pressure change rates.

[0095] Step S203, determining the operating state according to the first reference value and the second reference value.

[0096] By comparing the first reference value and the second reference value, the operating state of the vehicle brake system can be determined.

[0097] For example, by comparing the magnitude relationship between the first reference value and the second reference value, the operating state of the vehicle braking system can be determined.

[0098] The detection method of the vehicle braking system in the present embodiment determines a first reference value of the vehicle braking system based on a first pressure average, a second pressure average, multiple first pressure change rates, and multiple second pressure change rates, and then determines a second reference value of the vehicle braking system based on multiple first pressure change rates and multiple second pressure change rates. By comparing the first reference value and the second reference value, the operating state of the vehicle braking system can be determined, ensuring that the operating state of the vehicle braking system can be accurately determined, avoiding malfunctions of the vehicle braking system, and thereby improving the operating safety of the vehicle.

[0099] In some embodiments, a detection method for a vehicle brake system is provided, which determines a first reference value of the vehicle brake system according to a first pressure average value, a second pressure average value, a plurality of first pressure change rates, and a plurality of second pressure change rates, including:

[0100] Step S301, calculating the difference between the first pressure average and the second pressure average to obtain a first difference.

[0101] In this embodiment, the difference between the first mean pressure value and the second mean pressure value is calculated to obtain a first difference value, wherein the first difference value is the difference between the first mean pressure value and the second mean pressure value.

[0102] Exemplarily, the calculation formula of the first difference is:

[0103] ΔP_avg=|Pactual_avg-Ptarget_avg|;

[0104] Among them, ΔP_avg is the first difference, Pactual_avg is the first pressure average, and Ptarget_avg is the second pressure average.

[0105] Exemplarily, the first difference may be an auxiliary mean pressure tracking difference of the vehicle braking system.

[0106] Step S302, calculating the average of multiple first pressure change rates to obtain the first change rate average, calculating the average of multiple second pressure change rates to obtain the second change rate average.

[0107] The average of the multiple first pressure change rates is calculated to obtain a first change rate average, wherein the first change rate average is the average of the multiple first pressure change rates.

[0108] The average of the multiple second pressure change rates is calculated to obtain a second change rate average, wherein the second change rate average is the average of the multiple second pressure change rates.

[0109] Exemplarily, the calculation formulas for the first change rate mean and the second change rate mean are:

[0110]

[0111] Wherein, i represents the serial number, KPactual(i) is the i-th first pressure change rate, KPtarget(i) is the i-th first pressure change rate, n is the number, KPactual_avg is the average of the first change rate, and KPtarget_avg is the average of the second change rate.

[0112] Step S303, calculating the difference between the first change rate mean and the second change rate mean to obtain a second difference.

[0113] The difference between the first change rate mean and the second change rate is calculated to obtain a second difference, wherein the second difference represents the difference between the first change rate mean and the second change rate.

[0114] Exemplarily, the calculation formula of the second difference is:

[0115] ΔKP_avg=|KPactual_avg-KPtarget_avg|;

[0116] Among them, ΔKP_avg is the second difference, KPactual_avg is the first change rate average, and KPtarget_avg is the second change rate average.

[0117] Step S304: determining a first reference value according to the first difference and the second difference.

[0118] A weighted sum is performed on the first difference and the second difference to obtain a first reference value.

[0119] Exemplarily, the calculation formula of the first reference value is:

[0120] ΔP1=β1×ΔP_avg+β2×ΔKP_avg;

[0121] Wherein, ΔP1 is a first reference value, β1 and β2 are a first conversion coefficient and a second conversion coefficient, ΔP_avg is a first difference, and ΔKP_avg is a second difference.

[0122] The detection method of the vehicle braking system in this embodiment determines the first difference and the second difference respectively, and then determines the first reference value based on the first difference and the second difference, thereby ensuring the numerical accuracy of the first reference value, and further ensuring that the operating status of the vehicle braking system can be accurately determined.

[0123] In some embodiments, a method for detecting a vehicle brake system is provided, and a second reference value of the vehicle brake system is determined according to a plurality of first pressure change rates and a plurality of second pressure change rates, comprising:

[0124] Step S401, calculating the average of multiple first pressure change rates to obtain the first change rate average.

[0125] The average of the multiple first pressure change rates is calculated to obtain a first change rate average, wherein the first change rate average is the average of the multiple first pressure change rates.

[0126] Step S402, determining the maximum values ​​of a plurality of second pressure change rates, and obtaining a maximum change rate and a minimum change rate.

[0127] The maximum value among the multiple second pressure change rates is obtained to obtain the maximum change rate, and the minimum value among the multiple second pressure change rates is obtained to obtain the minimum change rate.

[0128] Exemplarily, the calculation formulas for the maximum change rate and the minimum change rate are:

[0129]

[0130] Among them, i represents the serial number, KPtarget(i) is the i-th first pressure change rate, KPtargetlmax is the maximum change rate, and KPtargetmin is the minimum change rate.

[0131] Step S403, determining a second reference value according to the first change rate mean, the change rate maximum and the change rate minimum.

[0132] A weighted sum is performed on the first change rate mean, the change rate maximum and the change rate minimum to obtain a second reference value.

[0133] Exemplarily, the calculation formula of the second reference value is:

[0134] ΔP2=γ1×KPactual_avg+γ2×KPtargetlmax+γ3×KPtargetmin;

[0135] Among them, ΔP2 is the second reference value, KPactual_avg is the first change rate average, KPtargetlmax is the maximum change rate, KPtargetmin is the minimum change rate, γ1 is the first warning coefficient, calibration value, γ2 is the second warning coefficient, calibration value, γ3 is the third warning coefficient, calibration value.

[0136] The detection method of the vehicle braking system in this embodiment determines the first change rate mean, the change rate maximum and the change rate minimum, respectively, and then determines the second reference value based on the first change rate mean, the first difference and the second difference, thereby ensuring the numerical accuracy of the second reference value and further ensuring that the operating status of the vehicle braking system can be accurately determined.

[0137] In some embodiments, a detection method for a vehicle braking system is provided, and the operating state is determined according to a first reference value and a second reference value, including:

[0138] Step S501: when the first reference value is less than or equal to the second reference value, determine that the operating state is a normal state.

[0139] In this embodiment, when the first reference value is less than or equal to the second reference value, the operating state is determined to be a normal state, indicating that the vehicle braking system operates normally without any fault.

[0140] Step S502: When the first reference value is greater than the second reference value, determine that the operating state is an abnormal state.

[0141] When the first reference value is greater than the second reference value, the operating state is determined to be an abnormal state, indicating that the vehicle braking system is abnormal and there is a fault in the system.

[0142] Exemplarily, the operating state of the vehicle braking system can be indicated by the auxiliary pressure tracking alarm flag, and the vehicle braking system auxiliary pressure tracking alarm flag is set based on the relative size relationship between the equivalent tracking difference of the vehicle braking system auxiliary pressure and the tracking difference alarm threshold of the vehicle braking system auxiliary pressure. If the equivalent tracking difference of the vehicle braking system auxiliary pressure is not greater than the tracking difference alarm threshold of the vehicle braking system auxiliary pressure, the system pressure of the vehicle braking system is working normally, and the vehicle braking system auxiliary pressure tracking alarm flag is equal to 1; if the equivalent tracking difference of the vehicle braking system auxiliary pressure is greater than the tracking difference alarm threshold of the vehicle braking system auxiliary pressure, the system pressure of the vehicle braking system is working abnormally, and the vehicle braking system auxiliary pressure tracking alarm flag is equal to 0, and the instrument is reported to display to inform the driver that the braking system is abnormal and please stop for maintenance. The setting formula of the auxiliary pressure tracking alarm flag is:

[0143]

[0144] Among them, Flag is the auxiliary pressure tracking alarm flag, ΔP1 is the first reference value, and ΔP2 is the second reference value.

[0145] The detection method of the vehicle braking system in this embodiment determines that the operating state is a normal state when the first reference value is less than or equal to the second reference value, and determines that the operating state is an abnormal state when the first reference value is greater than the second reference value, thereby ensuring that the operating state of the vehicle braking system can be accurately determined, thereby ensuring the safe driving of the vehicle.

[0146] In some embodiments, a vehicle brake system detection method is provided, which obtains multiple actual pressure values ​​of the vehicle brake system, including:

[0147] Step S601, obtaining multiple preset time points.

[0148] In this embodiment, a plurality of preset time points are acquired, wherein the time points are preset detection time points, and the plurality of time points correspond one-to-one to the plurality of actual pressure values.

[0149] Exemplarily, the time interval between the multiple time points is a preset detection period, and the detection period may be 1 second.

[0150] Step S602: Based on each time point, the pressure of the vehicle braking system is detected to obtain multiple actual pressure values.

[0151] The pressure of the vehicle braking system is detected at each time point to obtain multiple actual pressure values.

[0152] The vehicle braking system detection method in this embodiment detects the pressure of the vehicle braking system at each time point to obtain multiple actual pressure values, thereby ensuring the real-time data of the actual pressure values ​​and the real-time detection of the vehicle braking system.

[0153] In some embodiments, a vehicle brake system detection method is provided, which calculates a plurality of first pressure change rates corresponding to a plurality of actual pressure values, including:

[0154] Step S701, obtaining a preset calculation cycle;

[0155] Step S702, determining a plurality of first change rates according to a plurality of actual pressure values ​​and a calculation cycle;

[0156] Step S703, calculating the average of multiple first change rates to obtain the first pressure change rate.

[0157] In this embodiment, a preset calculation cycle is obtained, and a plurality of first change rates are determined according to a plurality of actual pressure values ​​and the calculation cycle, wherein the calculation cycle is a preset time period.

[0158] The average of the multiple first change rates is calculated to obtain the first pressure change rate.

[0159] The detection method of the vehicle braking system in this embodiment determines multiple first change rates based on multiple actual pressure values ​​and calculation cycles, and then calculates the average of the multiple first change rates to obtain the first pressure change rate, thereby ensuring the data accuracy of the first pressure change rate and further improving the detection accuracy of the vehicle braking system.

[0160] In some embodiments, a vehicle brake system detection method is proposed, which calculates a plurality of second pressure change rates corresponding to a plurality of target pressure values, including:

[0161] Step S801, obtaining a preset calculation cycle;

[0162] Step S802, determining a plurality of second change rates according to a plurality of target pressure values ​​and a calculation cycle;

[0163] Step S803, calculating the average of multiple second change rates to obtain the second pressure change rate.

[0164] In this embodiment, a preset calculation cycle is obtained, and a plurality of second change rates are determined according to a plurality of target pressure values ​​and the calculation cycle, wherein the calculation cycle is a preset time period.

[0165] The average of multiple second change rates is calculated to obtain the second pressure change rate.

[0166] Exemplarily, the calculation formulas for the first pressure change rate and the second pressure change rate are:

[0167]

[0168] Wherein, Δt is the calculation period, i represents the sequence number, KPactual(i) is the i-th first pressure change rate, KPtarget(i) is the i-th first pressure change rate, Pactual(i) is the i-th actual pressure value, Ptarget(i) is the i-th target pressure value, Pactual(i-1) is the i-1th actual pressure value, and Ptarget(i-1) is the i-1th target pressure value.

[0169] The detection method of the vehicle braking system in this embodiment determines multiple second change rates based on multiple actual pressure values ​​and calculation cycles, and then calculates the average of the multiple second change rates to obtain the second pressure change rate, thereby ensuring the data accuracy of the second pressure change rate and further improving the detection accuracy of the vehicle braking system.

[0170] In some embodiments, Figure 2The functional module block diagram of the detection device of the vehicle braking system provided in the embodiment of the present application is as follows: Figure 2 As shown, in an embodiment of the present application, a detection device 900 for a vehicle braking system is provided, comprising:

[0171] An acquisition unit 902 is used to acquire multiple actual pressure values ​​of the vehicle braking system and multiple preset target pressure values ​​during the operation of the vehicle braking system, wherein the multiple actual pressure values ​​correspond to the multiple target pressure values ​​one by one;

[0172] The processing unit 904 is used to calculate the average of multiple actual pressure values ​​to obtain a first pressure average value, and calculate the average of multiple target pressure values ​​to obtain a second pressure average value;

[0173] The processing unit 904 is further configured to calculate a plurality of first pressure change rates corresponding to a plurality of actual pressure values, and calculate a plurality of second pressure change rates corresponding to a plurality of target pressure values;

[0174] The processing unit 904 is further used to determine the operating state of the vehicle braking system according to the first pressure average value, the second pressure average value, the multiple first pressure change rates and the multiple second pressure change rates.

[0175] In this embodiment, the vehicle includes a vehicle braking system, which is used to stop or decelerate the vehicle. During the operation of the vehicle braking system, the acquisition unit 902 detects the vehicle braking system, obtains multiple actual pressure values ​​of the vehicle braking system, and obtains multiple preset target pressure values, wherein the actual pressure value represents the real-time pressure of the vehicle braking system during operation, and the target pressure value represents the theoretical pressure of the vehicle braking system, and the multiple actual pressure values ​​correspond one-to-one to the multiple target pressure values.

[0176] Exemplarily, the actual pressure value may be specifically a transient actual auxiliary pressure, and the target pressure value may be specifically a transient target auxiliary pressure.

[0177] Exemplarily, based on a detection cycle, the vehicle braking system is detected multiple times in succession to obtain multiple actual pressure values.

[0178] The processing unit 904 calculates the average of multiple actual pressure values ​​to obtain a first pressure average corresponding to the vehicle braking system. At the same time, it calculates the average of multiple target pressure values ​​to obtain a second pressure average corresponding to the vehicle braking system, wherein the first pressure average is the average of multiple actual pressure values, and the second pressure average is the average of multiple target pressure values.

[0179] The processing unit 904 calculates a numerical change rate of two adjacent actual pressure values ​​among the multiple actual pressure values ​​to obtain multiple first pressure change rates, where the first pressure change rate represents a numerical change amplitude of two adjacent actual pressure values ​​among the multiple actual pressure values.

[0180] The processing unit 904 calculates the numerical change rate of two adjacent target pressure values ​​among the multiple target pressure values ​​to obtain multiple second pressure change rates, where the second pressure change rate represents the numerical change amplitude of two adjacent target pressure values ​​among the multiple target pressure values.

[0181] The processing unit 904 performs data analysis on the first pressure average, the second pressure average, multiple first pressure change rates, and multiple second pressure change rates to determine the operating state of the vehicle braking system, where the operating state represents the operating condition of the vehicle braking system.

[0182] Exemplarily, the operating status may be an abnormal situation or a normal situation.

[0183] It should be noted that the operating state of the vehicle braking system is determined based on multiple data including the first pressure average, the second pressure average, multiple first pressure change rates and multiple second pressure change rates, to ensure that the operating state of the vehicle braking system can be accurately determined and to avoid the vehicle braking system being in an abnormal state.

[0184] The detection device 900 of the vehicle braking system in this embodiment determines the operating status of the vehicle braking system by performing data analysis on the first pressure average, the second pressure average, multiple first pressure change rates and multiple second pressure change rates of the vehicle braking system, thereby ensuring that the operating status of the vehicle braking system can be accurately determined, improving the detection accuracy of the vehicle braking system, avoiding malfunctions of the vehicle braking system, and thereby improving the safety of the vehicle.

[0185] In some embodiments, a detection device 900 for a vehicle braking system is provided, and the detection device 900 for a vehicle braking system further includes:

[0186] The processing unit 904 is further configured to determine a first reference value of the vehicle braking system according to the first pressure average value, the second pressure average value, the plurality of first pressure change rates, and the plurality of second pressure change rates;

[0187] The processing unit 904 is further configured to determine a second reference value of the vehicle braking system according to the plurality of first pressure change rates and the plurality of second pressure change rates;

[0188] The processing unit 904 is further configured to determine the operating state according to the first reference value and the second reference value.

[0189] The detection device 900 of the vehicle braking system in this embodiment determines a first reference value of the vehicle braking system based on a first pressure average, a second pressure average, a plurality of first pressure change rates, and a plurality of second pressure change rates, and then determines a second reference value of the vehicle braking system based on the plurality of first pressure change rates and the plurality of second pressure change rates. By comparing the first reference value with the second reference value, the operating state of the vehicle braking system can be determined, thereby ensuring that the operating state of the vehicle braking system can be accurately determined, avoiding malfunctions of the vehicle braking system, and thereby improving the operating safety of the vehicle.

[0190] In some embodiments, a detection device 900 for a vehicle braking system is provided, and the detection device 900 for a vehicle braking system further includes:

[0191] The processing unit 904 is further configured to calculate a difference between the first pressure average and the second pressure average to obtain a first difference;

[0192] The processing unit 904 is further configured to calculate the average of the plurality of first pressure change rates to obtain the first change rate average, and calculate the average of the plurality of second pressure change rates to obtain the second change rate average;

[0193] The processing unit 904 is further configured to calculate a difference between the first change rate mean and the second change rate mean to obtain a second difference;

[0194] The processing unit 904 is further configured to determine a first reference value according to the first difference and the second difference.

[0195] The detection device 900 of the vehicle braking system in this embodiment determines the first difference and the second difference respectively, and then determines the first reference value based on the first difference and the second difference, thereby ensuring the numerical accuracy of the first reference value, and further ensuring that the operating state of the vehicle braking system can be accurately determined.

[0196] In some embodiments, a detection device 900 for a vehicle braking system is provided, and the detection device 900 for a vehicle braking system further includes:

[0197] The processing unit 904 is further configured to calculate the average of the plurality of first pressure change rates to obtain a first change rate average;

[0198] The processing unit 904 is further configured to determine the maximum values ​​of the plurality of second pressure change rates, and obtain a maximum change rate value and a minimum change rate value;

[0199] The processing unit 904 is further configured to determine a second reference value according to the first change rate mean value, the change rate maximum value, and the change rate minimum value.

[0200] The detection device 900 of the vehicle braking system in this embodiment determines the first mean value of the change rate, the maximum value of the change rate and the minimum value of the change rate respectively, and then determines the second reference value based on the first mean value of the change rate, the first difference and the second difference, thereby ensuring the numerical accuracy of the second reference value and further ensuring that the operating state of the vehicle braking system can be accurately determined.

[0201] In some embodiments, a detection device 900 for a vehicle braking system is provided, and the detection device 900 for a vehicle braking system further includes:

[0202] The processing unit 904 is further configured to determine that the operating state is a normal state when the first reference value is less than or equal to the second reference value;

[0203] The processing unit 904 is further configured to determine that the operating state is an abnormal state when the first reference value is greater than the second reference value.

[0204] The detection device 900 of the vehicle braking system in this embodiment determines that the operating state is a normal state when the first reference value is less than or equal to the second reference value, and determines that the operating state is an abnormal state when the first reference value is greater than the second reference value, thereby ensuring that the operating state of the vehicle braking system can be accurately determined, thereby ensuring the safe driving of the vehicle.

[0205] In some embodiments, a detection device 900 for a vehicle braking system is provided, and the detection device 900 for a vehicle braking system further includes:

[0206] The acquisition unit 902 is further used to acquire a plurality of preset time points, where the plurality of time points correspond one to one with the plurality of actual pressure values;

[0207] The acquisition unit 902 is further used to detect the pressure of the vehicle braking system at each time point to obtain multiple actual pressure values.

[0208] The vehicle braking system detection device 900 in this embodiment detects the pressure of the vehicle braking system at each time point to obtain multiple actual pressure values, thereby ensuring the real-time data of the actual pressure values ​​and the real-time detection of the vehicle braking system.

[0209] In some embodiments, a detection device 900 for a vehicle braking system is provided, and the detection device 900 for a vehicle braking system further includes:

[0210] The processing unit 904 is further used to obtain a preset calculation cycle;

[0211] The processing unit 904 is further configured to determine a plurality of first change rates according to a plurality of actual pressure values ​​and a calculation cycle;

[0212] The processing unit 904 is further configured to calculate an average of multiple first change rates to obtain a first pressure change rate.

[0213] The detection device 900 of the vehicle braking system in this embodiment determines multiple first change rates based on multiple actual pressure values ​​and calculation cycles, and then calculates the average of the multiple first change rates to obtain the first pressure change rate, thereby ensuring the data accuracy of the first pressure change rate and further improving the detection accuracy of the vehicle braking system.

[0214] In some embodiments, a detection device 900 for a vehicle braking system is provided, and the detection device 900 for a vehicle braking system further includes:

[0215] The processing unit 904 is further used to obtain a preset calculation cycle;

[0216] The processing unit 904 is further configured to determine a plurality of second change rates according to the plurality of target pressure values ​​and the calculation period;

[0217] The processing unit 904 is further configured to calculate an average of multiple second change rates to obtain a second pressure change rate.

[0218] The detection device 900 of the vehicle braking system in this embodiment determines multiple second change rates based on multiple actual pressure values ​​and calculation cycles, and then calculates the average of the multiple second change rates to obtain the second pressure change rate, thereby ensuring the data accuracy of the second pressure change rate and further improving the detection accuracy of the vehicle braking system.

[0219] In some embodiments, Figure 3 The structural block diagram of the detection device of the vehicle braking system provided in the embodiment of the present application is as follows: Figure 3 As shown, a detection device 1000 for a vehicle brake system is proposed, and the detection device 1000 for a vehicle brake system includes a processor 1002 and a memory 1004. The memory 1004 stores a computer program, and when the computer program is executed by the processor 1002, the steps of the detection method for a vehicle brake system in any of the above embodiments are implemented. Therefore, the detection device 1000 for a vehicle brake system has all the beneficial effects of the detection method for a vehicle brake system in any of the above embodiments, which will not be described in detail here.

[0220] In some embodiments, a readable storage medium is provided on which a program is stored. When the program is executed by a processor, the steps of the vehicle braking system detection method in any of the above embodiments are implemented, thereby having all the beneficial technical effects of the vehicle braking system detection method in any of the above embodiments.

[0221] In one embodiment of the present application, a vehicle is proposed, comprising: a detection device for a vehicle braking system as in any of the above embodiments, and / or a readable storage medium as in any of the above embodiments, and thus having all the beneficial technical effects of the detection device for a vehicle braking system as in any of the above embodiments, and / or the readable storage medium as in any of the above embodiments, which will not be elaborated herein.

[0222] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0223] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-readable program code.

[0224] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0225] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0226] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0227] An embodiment of the present application also provides a computer program product, which includes computer software instructions. When the computer software instructions are executed on a processing device, the processing device executes the process of a vehicle braking system detection method.

[0228] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can store or a data storage device such as a server or a data center that includes one or more available media integration. The available medium can be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state drive (SSD)), etc.

[0229] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0230] In the several embodiments provided in the present application, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0231] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0232] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0233] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program codes.

[0234] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

[0235] Although the preferred embodiments of this specification have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of this specification.

[0236] Obviously, those skilled in the art can make various changes and modifications to this specification without departing from the spirit and scope of this specification. Thus, if these modifications and variations of this specification fall within the scope of the claims of this specification and their equivalents, this specification is also intended to include these modifications and variations.

Claims

1. A method for detecting a vehicle braking system, characterized in that: The method comprises: During the operation of the vehicle braking system, a plurality of actual pressure values ​​of the vehicle braking system are obtained, and a plurality of preset target pressure values ​​are obtained, wherein the plurality of actual pressure values ​​correspond to the plurality of target pressure values ​​one by one; Calculating the average of the plurality of actual pressure values ​​to obtain a first pressure average, and calculating the average of the plurality of target pressure values ​​to obtain a second pressure average; Calculating a plurality of first pressure change rates corresponding to a plurality of the actual pressure values, and calculating a plurality of second pressure change rates corresponding to a plurality of the target pressure values; The operating state of the vehicle braking system is determined according to the first pressure average value, the second pressure average value, a plurality of the first pressure change rates, and a plurality of the second pressure change rates.

2. The method according to claim 1, characterized in that Determining the operating state of the vehicle braking system according to the first pressure average value, the second pressure average value, a plurality of the first pressure change rates, and a plurality of the second pressure change rates includes: Determining a first reference value of the vehicle braking system according to the first pressure average value, the second pressure average value, a plurality of the first pressure change rates, and a plurality of the second pressure change rates; determining a second reference value of the vehicle braking system according to a plurality of the first pressure change rates and a plurality of the second pressure change rates; The operating state is determined according to the first reference value and the second reference value.

3. The method according to claim 2, characterized in that Determining a first reference value of the vehicle braking system according to the first pressure average value, the second pressure average value, a plurality of the first pressure change rates, and a plurality of the second pressure change rates comprises: Calculating a difference between the first pressure average and the second pressure average to obtain a first difference; Calculating the average of a plurality of the first pressure change rates to obtain a first change rate average, and calculating the average of a plurality of the second pressure change rates to obtain a second change rate average; Calculating a difference between the first change rate mean and the second change rate mean to obtain a second difference; The first reference value is determined according to the first difference and the second difference.

4. The method according to claim 2, characterized in that: Determining a second reference value of the vehicle braking system according to a plurality of the first pressure change rates and a plurality of the second pressure change rates comprises: Calculating the average of a plurality of the first pressure change rates to obtain a first change rate average; Determine the maximum values ​​of a plurality of the second pressure change rates, and obtain a maximum change rate and a minimum change rate; The second reference value is determined according to the first change rate average, the change rate maximum and the change rate minimum.

5. The method according to claim 2, characterized in that: The determining the operating state according to the first reference value and the second reference value includes: When the first reference value is less than or equal to the second reference value, determining that the operating state is a normal state; When the first reference value is greater than the second reference value, it is determined that the operating state is an abnormal state.

6. The method according to any one of claims 1 to 5, characterized in that The obtaining of a plurality of actual pressure values ​​of the vehicle braking system comprises: Acquire a plurality of preset time points, wherein the plurality of time points correspond one-to-one to the plurality of actual pressure values; Based on each of the time points, the pressure of the vehicle braking system is detected to obtain a plurality of actual pressure values.

7. The method according to any one of claims 1 to 5, characterized in that The calculating a plurality of first pressure change rates corresponding to the plurality of actual pressure values ​​comprises: Get the preset calculation period; Determining a plurality of first change rates according to the plurality of actual pressure values ​​and the calculation period; The average of multiple first change rates is calculated to obtain the first pressure change rate.

8. The method according to any one of claims 1 to 5, characterized in that The calculating a plurality of second pressure change rates corresponding to the plurality of target pressure values ​​comprises: Get the preset calculation period; Determining a plurality of second change rates according to the plurality of target pressure values ​​and the calculation period; Calculate the average of multiple second change rates to obtain the second pressure change rate.

9. A detection device for a vehicle braking system, characterized in that: The device comprises: an acquisition unit, used to acquire a plurality of actual pressure values ​​of the vehicle braking system and a plurality of preset target pressure values ​​during the operation of the vehicle braking system, wherein the plurality of actual pressure values ​​correspond to the plurality of target pressure values ​​in a one-to-one manner; A processing unit, configured to calculate an average of the plurality of actual pressure values ​​to obtain a first pressure average, and calculate an average of the plurality of target pressure values ​​to obtain a second pressure average; The processing unit is further used to calculate a plurality of first pressure change rates corresponding to the plurality of actual pressure values, and calculate a plurality of second pressure change rates corresponding to the plurality of target pressure values; The processing unit is further used to determine the operating state of the vehicle braking system based on the first pressure average value, the second pressure average value, multiple first pressure change rates and multiple second pressure change rates.

10. A detection device for a vehicle braking system, characterized in that: include: processor; A memory, wherein a program or instruction is stored in the memory, and when the processor executes the program or instruction in the memory, the steps of the vehicle braking system detection method as claimed in any one of claims 1 to 8 are implemented.

11. A readable storage medium, characterized in that: The readable storage medium stores programs or instructions, and when the programs or instructions are executed by the processor, the steps of the vehicle braking system detection method as described in any one of claims 1 to 8 are implemented.

12. A vehicle, characterized in that: include: The detection device of the vehicle braking system according to claim 9 or 10; and / or The readable storage medium as claimed in claim 11.

Images