Self-check method and vehicle

Abstract

An embodiment of the present invention provides a self-inspection method and a vehicle, which relate to the field of vehicle self-inspection. The method includes: when it is detected that the vehicle meets the self-inspection conditions, determining a first self-inspection strategy for an electronic booster and a wheel-end module, respectively detecting each component in the electronic booster and the wheel-end module according to the first self-inspection strategy, determining a second self-inspection strategy for a redundant braking circuit, respectively detecting each component in the redundant braking circuit according to the second self-inspection strategy, so as to complete the self-inspection of the electronic hydraulic braking system, ensure that the electronic hydraulic braking system can work normally when it is started next time, and thus ensure driving safety.

Description

Technical Field

[0001] The present invention relates to the field of vehicle self-inspection, and in particular to a self-inspection method and a vehicle. Background Art

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

[0003] The detection strategy in the integrated electronic hydraulic brake system is more important. The power-off detection is a detection process for each function and component of the vehicle. These tests are designed to ensure that each system of the vehicle can work properly and can help identify potential problems.

[0004] Therefore, there is an urgent need for a self-checking method to perform self-checking on the electronic hydraulic brake system when the power is off to ensure driving safety. Summary of the invention

[0005] The purpose of the present invention is to provide a self-checking method and a vehicle, which can perform self-checking on an electronic hydraulic brake system to ensure driving safety.

[0006] In order to achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0007] In a first aspect, an embodiment of the present application provides a self-test method, which is applied to a vehicle controller, wherein the vehicle controller is communicatively connected to an electronic hydraulic brake system, wherein the electronic hydraulic brake system includes an electronic booster and an electronic stability control system, wherein the electronic booster is connected to the electronic stability control system, and the electronic stability control system further includes a wheel end module and a redundant brake circuit, wherein the method includes:

[0008] When it is detected that the vehicle meets the self-check condition, determining a first self-check strategy for the electronic booster and the wheel-end module;

[0009] According to the first self-test strategy, each component in the electronic booster and the wheel-end module is tested respectively;

[0010] determining a second self-test strategy for the redundant brake circuit;

[0011] Each component in the redundant brake circuit is tested separately according to the second self-test strategy to complete the self-test of the electronic hydraulic brake system.

[0012] In an optional embodiment, each component in the electronic booster includes an electric cylinder, a master cylinder and a first solenoid valve group, the vehicle controller is communicatively connected to the electric cylinder, the master cylinder and the first solenoid valve group, the wheel end module includes a second solenoid valve group, the vehicle controller is communicatively connected to the second solenoid valve group, and the step of respectively detecting each component in the electronic booster and the wheel end module according to the first self-test strategy includes:

[0013] Controlling the electric cylinder to establish a first preset pressure;

[0014] Based on the first preset pressure, the power-on state of the first solenoid valve group and / or the second solenoid valve group is controlled, and each component in the electronic booster and the wheel-end module is detected respectively.

[0015] In an optional embodiment, the first solenoid valve group includes a PSV1 valve and a PSV2 valve, and the step of controlling the power-on state of the first solenoid valve group and / or the second solenoid valve group based on the first preset pressure and detecting each device in the electronic booster and the wheel-end module respectively includes:

[0016] De-energizing the PSV1 valve and the PSV2 valve;

[0017] Detecting the real-time pressure of the master cylinder and the real-time pressure of the electric cylinder;

[0018] Based on the real-time pressure of the master cylinder, the first preset pressure, and the real-time pressure of the electric cylinder, the working states of the electric cylinder, the PSV1 valve, and the PSV2 valve are determined.

[0019] In an optional embodiment, the first solenoid valve group includes a PSV1 valve, a CSV1 valve and a CSV2 valve, the second solenoid valve group includes an IV1 valve, an IV2 valve, an IV3 valve and an IV4 valve, the CSV1 valve is respectively connected to the IV1 valve and the IV2 valve through an oil circuit, the CSV2 valve is respectively connected to the IV3 valve and the IV4 valve through an oil circuit, and the step of controlling the power-on state of the first solenoid valve group and / or the second solenoid valve group based on the first preset pressure and respectively detecting each device in the electronic booster and the wheel-end module includes:

[0020] Applying power to the CSV1 valve, the CSV2 valve, the IV1 valve, the IV2 valve, the IV3 valve, and the IV4 valve;

[0021] Applying power to the PSV1 valve;

[0022] Detecting the real-time pressure of the electric cylinder;

[0023] Based on the real-time pressure of the electric cylinder and the first preset pressure, the working states of the CSV1 valve, the IV1 valve and the IV2 valve are determined.

[0024] In an optional embodiment, the second solenoid valve group further includes an OV1 valve, the OV1 valve is connected to the IV1 valve, and the step of controlling the power-on state of the first solenoid valve group and / or the second solenoid valve group based on the first preset pressure and detecting each device in the electronic booster and the wheel-end module respectively further includes:

[0025] De-energizing the IV1 valve;

[0026] Detecting the real-time pressure of the electric cylinder;

[0027] Based on the real-time pressure of the electric cylinder and the first preset pressure, determining the working states of the OV1 valve, the IV1 valve, the wheel end corresponding to the IV1 valve, and the wheel end pipeline corresponding to the IV1 valve;

[0028] Applying power to the OV1 valve;

[0029] Detecting the real-time pressure of the electric cylinder;

[0030] The working state of the OV1 valve is determined based on the real-time pressure of the electric cylinder and the first preset pressure.

[0031] In an optional embodiment, the second solenoid valve group further includes an OV2 valve, the OV2 valve is connected to the IV2 valve, and the step of controlling the power-on state of the first solenoid valve group and / or the second solenoid valve group based on the first preset pressure and detecting each device in the electronic booster and the wheel-end module respectively further includes:

[0032] De-energizing the OV1 valve and the IV2 valve;

[0033] Detecting the real-time pressure of the electric cylinder;

[0034] Based on the real-time pressure of the electric cylinder and the first preset pressure, determining the working states of the IV2 valve, the OV2 valve, the wheel end corresponding to the IV2 valve, and the wheel end pipeline corresponding to the IV2 valve;

[0035] Applying power to the OV2 valve;

[0036] Detecting the real-time pressure of the electric cylinder;

[0037] The working state of the OV2 valve is determined based on the real-time pressure of the electric cylinder and the first preset pressure.

[0038] In an optional embodiment, the electronic booster includes a first solenoid valve group, the first solenoid valve group includes a CSV1 valve, the redundant brake circuit includes an RV1 valve, an RV2 valve, an SV1 valve, an SV2 valve and a redundant motor, the RV1 valve, the RV2 valve, the SV1 valve and the SV2 valve are all connected to the electronic booster, and the redundant motor is respectively connected to the RV1 valve, the RV2 valve, the SV1 valve and the SV2 valve, and the step of respectively detecting each component in the redundant brake circuit according to the second self-test strategy to complete the self-test of the electronic hydraulic brake system includes:

[0039] After the RV1 valve and the RV2 valve are powered off and the piston of the electric cylinder in the electronic booster is controlled to return to the zero position, the motor of the electric cylinder is controlled to rotate forward by a preset distance, wherein the preset distance is greater than the distance between the compensation hole of the electric cylinder and the zero position of the electric cylinder;

[0040] De-energizing the CSV1 valve to relieve pressure on the electric cylinder;

[0041] After the electric cylinder is depressurized, energizing the CSV1 valve;

[0042] Controlling the redundant motor to work and detecting the real-time pressure of the electric cylinder;

[0043] Based on the real-time pressure of the electric cylinder, the working status of the RV1 valve and the RV2 valve is determined.

[0044] In an optional embodiment, the first solenoid valve group further includes a PSV1 valve, and the method further includes:

[0045] Energize the RV1 valve and the PSV1 valve, and detect the real-time pressure of the electric cylinder;

[0046] Based on the real-time pressure of the electric cylinder, the working state of the RV1 valve is determined.

[0047] In an optional embodiment, the redundant brake circuit further includes a first accumulator, a second accumulator, a first plunger pump and a second plunger pump, the first accumulator is connected to the plunger pump, the second accumulator is connected to the second plunger pump, one end of the first plunger pump and the second plunger pump are respectively connected to the redundant motor, the other end of the first plunger pump is connected to the SV1 valve, and the other end of the second plunger pump is connected to the SV2 valve, and the method further includes:

[0048] performing a fluid discharge process on the first accumulator and the second accumulator;

[0049] Cut off power to the RV1 valve, RV2 valve, SV1 valve and SV2 valve;

[0050] Controlling the redundant motor to work and energizing the RV1 valve;

[0051] Determine the real-time pressure of the pressure sensor at the RV1 valve;

[0052] Based on the real-time pressure of the pressure sensor at the RV1 valve, the state of the SV1 valve is determined.

[0053] In an optional embodiment, the method further comprises:

[0054] supplying power to the SV1 valve and the SV2 valve;

[0055] Control the redundant motor to work and energize the CSV1 valve and the CSV2 valve;

[0056] Applying power to the RV1 valve and the PSV1 valve;

[0057] Detecting the real-time pressure of the electric cylinder;

[0058] Based on the real-time pressure of the electric cylinder, the state of the SV1 valve is determined.

[0059] In a second aspect, an embodiment of the present application provides a vehicle, including a vehicle controller and a memory, wherein the memory stores a computer program that can be executed by the vehicle controller, and the vehicle controller can execute the computer program to implement the self-test method.

[0060] This application has the following beneficial effects:

[0061] The present application determines a first self-test strategy for the electronic booster and the wheel-end module when it is detected that the vehicle meets the self-test conditions, respectively tests the components in the electronic booster and the wheel-end module according to the first self-test strategy, determines a second self-test strategy for the redundant braking circuit, and respectively tests the components in the redundant braking circuit according to the second self-test strategy to complete the self-test of the electronic hydraulic braking system, thereby ensuring that the electronic hydraulic braking system can operate normally when it is started next time, thereby ensuring driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0063] Figure 1 A schematic diagram of an electronic hydraulic brake system provided by an embodiment of the present invention;

[0064] Figure 2 A block diagram of a vehicle provided by an embodiment of the present invention;

[0065] Figure 3 One of the schematic diagrams of a self-checking method provided by an embodiment of the present invention;

[0066] Figure 4 A second schematic diagram of a self-checking method provided by an embodiment of the present invention;

[0067] Figure 5 A third schematic diagram of a self-checking method provided by an embodiment of the present invention;

[0068] Figure 6 A fourth schematic diagram of a self-checking method provided by an embodiment of the present invention;

[0069] Figure 7 A fifth schematic diagram of a self-checking method provided by an embodiment of the present invention;

[0070] Figure 8 A sixth schematic diagram of a self-checking method provided by an embodiment of the present invention;

[0071] Fig. 9 A seventh schematic diagram of a self-checking method provided by an embodiment of the present invention;

[0072] Fig.10 An eighth schematic diagram of a self-checking method provided by an embodiment of the present invention;

[0073] Fig.11 A ninth schematic diagram of a self-checking method provided by an embodiment of the present invention;

[0074] Fig.12 The present invention provides a tenth schematic diagram of a self-checking method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0075] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0076] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0077] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0078] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, they are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the invention is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0079] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0080] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0081] like Figure 1, which is a schematic diagram of an electronic hydraulic brake system, and the electronic hydraulic brake system includes an electronic booster 10, an electronic stability control system 20, and an oil pot module 30. The electronic booster 10 includes a main brake circuit 11 and a mechanical brake circuit 12, and the oil pot module 30 includes a small oil pot 31 and a large oil pot 32. The main brake circuit 11 includes an electric cylinder 111 and a PSV1 valve and a PSV2 valve. The pressure buildup of the electric cylinder 111 is achieved by the motor driving the piston movement in the electric cylinder to build up pressure. The mechanical brake circuit 12 includes a master cylinder 121, a CSV1 valve, a CSV2 valve, an SSV valve and a TSV valve. The CSV1 valve, the CSV2 valve, the SSV valve and the TSV valve are respectively connected to the master cylinder. The SSV valve is connected to the simulation chamber 122. The simulation chamber 122 is connected to the oil pot module 30 through an oil circuit. The other end of the TSV valve is connected to the oil pot module 30. The CSV1 valve is connected to the IV1 valve and the IV2 valve through an oil circuit. The CSV2 valve is connected to the IV3 valve and the IV4 valve through an oil circuit. When the CSV1 valve and the CSV2 valve are in a power-off state, that is, the CSV1 valve and the CSV2 valve allow flow to pass through, and the PSV1 valve and the PSV2 valve are in a power-off state, that is, the PSV1 valve and the PSV2 valve do not allow flow to pass through, the master cylinder 121 provides hydraulic pressure to the IV1 valve, the IV2 valve, the IV3 valve and the IV4 valve. The master cylinder 121 is connected to the brake pedal 123, and pressure is built up for the master cylinder 121 by stepping on the brake pedal 123.

[0082] The electronic stability control system 20 includes a wheel end module 21 and a redundant brake circuit 22. The wheel end module 21 includes an IV1 valve, an IV2 valve, an IV3 valve, an IV4 valve, an OV1 valve, an OV2 valve, an OV3 valve and an OV4 valve, wherein the IV1 valve is connected to the OV1 valve, the OV1 valve is connected to the first wheel end, the IV2 valve is connected to the OV2 valve, and the OV2 valve is connected to the second wheel end. The OV1 valve is in communication with the OV2 valve, the IV3 valve is connected to the OV3 valve, the OV3 valve is connected to the third wheel end, the IV4 valve is connected to the OV4 valve, the OV4 valve is connected to the fourth wheel end, and the OV3 valve is in communication with the OV4 valve. The PSV1 valve of the main brake circuit 11 is connected to the IV1 valve and the IV2 valve through the oil circuit, and the PSV2 valve of the main brake circuit 11 is connected to the IV3 valve and the IV4 valve through the oil circuit. When the solenoid valve in the mechanical brake circuit 12 is in the closed state and the PSV1 valve and the PSV2 valve are in the energized state, the electric cylinder 111 provides hydraulic pressure to the IV1 valve, the IV2 valve, the IV3 valve and the IV4 valve.

[0083] It should be noted that the CSV1 valve, CSV2 valve, IV1 valve, IV2 valve, IV3 valve and IV4 valve are normally open valves, that is, when the CSV1 valve, CSV2 valve, IV1 valve, IV2 valve, IV3 valve and IV4 valve are powered on, the CSV1 valve, CSV2 valve, IV1 valve, IV2 valve, IV3 valve and IV4 valve are powered on, that is, the flow is not allowed to pass through, and when the CSV1 valve, CSV2 valve, IV1 valve, IV2 valve, IV3 valve and IV4 valve are powered off, the CSV1 valve, CSV2 valve, IV1 valve, IV2 valve, IV3 valve and IV4 valve are powered off, that is, the flow is allowed to pass through. In the electronic hydraulic brake system, other solenoid valves except the above-mentioned CSV1 valve, CSV2 valve, IV1 valve, IV2 valve, IV3 valve and IV4 valve are normally closed valves.

[0084] The redundant brake circuit 22 includes an RV1 valve, an RV2 valve, an SV1 valve, an SV2 valve and a redundant motor 221. The RV1 valve, the RV2 valve, the SV1 valve and the SV2 valve are all connected to the electronic booster. The redundant motor 221 is connected to the RV1 valve, the RV2 valve, the SV1 valve and the SV2 valve respectively. The SV1 valve is connected to the oil pot module 30 via a one-way valve, and the SV2 valve is connected to the oil pot module 30 via a one-way valve. The RV1 valve is connected to the CSV1 valve, and the RV2 valve is connected to the CSV2 valve. The redundant braking circuit 22 also includes a first accumulator A1 and a second accumulator A2, a first plunger pump 222 and a second plunger pump 223. The first plunger pump 222 is connected to the accumulator A1, and the second plunger pump 223 is connected to the second accumulator A2. The first accumulator A1 and the second accumulator A2 store oil for use by the redundant motor 221. The first plunger pump 222 is respectively connected to the RV1 valve and the SV1 valve, and the second plunger pump 223 is respectively connected to the RV2 valve and the SV2 valve.

[0085] After research, it was found that the integrated electronic hydraulic brake system has multiple braking functions sharing one vehicle controller. When some functions fail, the system can only rely on mechanical backup for braking. Therefore, it is necessary for the integrated electronic hydraulic brake system to perform self-checks for each function before operation.

[0086] The detection strategy in the integrated electronic hydraulic brake system is more important. The power-off detection is a detection process for each function and component of the vehicle. These tests are designed to ensure that each system of the vehicle can work properly and can help identify potential problems.

[0087] In view of the discovery of the above problems, the present embodiment provides a self-inspection method and a vehicle, which can determine the first self-inspection strategy of the electronic booster and the wheel-end module when it is detected that the vehicle meets the self-inspection conditions, and detect each component in the electronic booster and the wheel-end module respectively according to the first self-inspection strategy, determine the second self-inspection strategy of the redundant braking circuit, and detect each component in the redundant braking circuit respectively according to the second self-inspection strategy to complete the self-inspection of the electronic hydraulic braking system, ensure that the electronic hydraulic braking system can work normally when it is started next time, and further ensure driving safety. The solution provided in the present embodiment is elaborated in detail below.

[0088] This embodiment provides a vehicle that can perform self-inspection on the vehicle. Figure 2 , Figure 2 1 is a schematic diagram of the structure of the vehicle 100 provided in the embodiment of the present application. The vehicle 100 may also include Figure 2 More or fewer components as shown, or with Figure 2 Different configurations are shown. Figure 2 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0089] The vehicle 100 includes a self-checking device 110 , a memory 120 , and a vehicle controller 130 .

[0090] The components of the memory 120 and the vehicle controller 130 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines. The self-test device 110 includes at least one software function module that can be stored in the memory 120 in the form of software or firmware or solidified in the operating system (OS) of the vehicle 100. The vehicle controller 130 is used to execute the executable modules stored in the memory 120, such as the software function modules and computer programs included in the self-test device 110.

[0091] The memory 120 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electric erasable programmable read-only memory (EEPROM), etc. The memory 120 is used to store a program, and the vehicle controller 130 executes the program after receiving an execution instruction.

[0092] Please refer to Figure 3 , Figure 3 For application Figure 2 The flowchart of a self-checking device method of the vehicle 100 is shown in FIG. 1 , and each step of the method is described in detail below.

[0093] like Figure 1 As shown, the electronic hydraulic brake system includes an electronic booster 10 and an electronic stability control system 20 . The electronic booster 10 is connected to the electronic stability control system 20 . The electronic stability control system 20 also includes a wheel end module 21 and a redundant brake circuit 22 .

[0094] S201: When it is detected that the vehicle meets the self-checking condition, a first self-checking strategy for the electronic booster and the wheel end module is determined.

[0095] S202: Detect each component in the electronic booster and the wheel-end module respectively according to the first self-detection strategy.

[0096] S203: Determine a second self-check strategy for the redundant braking circuit.

[0097] S204: Detect each component in the redundant brake circuit according to the second self-detection strategy to complete the self-detection of the electronic hydraulic brake system.

[0098] When determining whether the vehicle meets the self-test conditions, it can be determined whether the vehicle has received the KL15 OFF signal. KL15 represents the vehicle power main line, which is responsible for powering most of the electrical equipment on the vehicle. After receiving the KL15 OFF signal, it is determined that the vehicle meets the self-test conditions.

[0099] In another example, when the electronic hydraulic brake system is in the vehicle power-off state, that is, the KL15 OFF signal is received, timing is started and the duration of the vehicle power-off state is determined, and the duration of the vehicle power-off state is compared with a preset timing duration. When the duration of the vehicle power-off state is equal to the preset timing duration and the vehicle's brake pedal is not stepped on, the vehicle speed is zero, and the vehicle's parking system is in the parking state, it is determined that the vehicle meets the self-test conditions.

[0100] In another example, the single driving mileage of the vehicle can be obtained and compared with the preset driving mileage. When the single driving mileage is less than or equal to the preset driving mileage, the self-check process is not performed during the period from the current ignition to the current power-off.

[0101] It should be noted that the preset driving mileage can be set to 400m, 500m, 600m, etc., and the embodiment of the present invention does not impose any specific limitation on this.

[0102] In order to improve the user experience, the overall detection time of the self-test of each component in the electronic hydraulic brake system is set to not exceed the preset time according to the self-test strategy of each component in the electronic hydraulic brake system. The preset time can be set to 10s, 15s, 20s, etc., and the embodiment of the present invention does not make specific restrictions on this.

[0103] Still refer to Figure 1 The components in the electronic booster in the electronic hydraulic brake system include an electric cylinder, a master cylinder and a first solenoid valve group, the wheel end module includes a second solenoid valve group, the vehicle controller is communicatively connected with the electric cylinder, the master cylinder, the first solenoid valve group and the second solenoid valve group, and the wheel end module includes a second solenoid valve group.

[0104] There are many ways to implement the detection of each device in the electronic booster and the wheel end module according to the first self-test strategy. In one implementation, Figure 4 As shown, the following steps are included:

[0105] S301: Control the electric cylinder to establish a first preset pressure.

[0106] S302: Based on the first preset pressure, control the power-on state of the first solenoid valve group and / or the second solenoid valve group, and detect each component in the electronic booster and the wheel-end module respectively.

[0107] The first solenoid valve group may include a PSV valve, a CSV valve, an SSV valve, and a TSV valve.

[0108] The second solenoid valve group may include an IV valve and an OV valve.

[0109] Before self-testing, all solenoid valves in the entire electronic hydraulic brake system are in the initial state. After the control electric cylinder establishes the first preset pressure, the PSV1 valve is energized for pressure detection, the IV1 valve is de-energized for pressure detection, the OV1 valve is energized for pressure detection, the OV1 valve and the IV2 valve are de-energized for pressure detection, the OV2 valve is energized for pressure detection, the OV2 valve is de-energized and the PSV2 valve is energized for pressure detection, the IV3 valve is de-energized for pressure detection, the OV3 valve is energized for pressure detection, the OV3 valve and the IV4 valve are de-energized for pressure detection, the OV4 valve is energized for pressure detection, the OV4 valve, the TSV valve and the CSV valve are de-energized for pressure detection, and the SSV valve is energized for pressure detection. After the electric cylinder builds pressure once, all components in the electronic booster and the wheel-end module can be tested. By performing self-testing in the above order, the number of pressure build-ups and the time of self-testing can be reduced, and the number of motor starts and solenoid valve switches can be reduced.

[0110] There are many ways to control the power-on state of the first solenoid valve group and / or the second solenoid valve group based on the first preset pressure, and to detect each device in the electronic booster and the wheel end module respectively. In one implementation, Figure 5 As shown, the following steps are included:

[0111] S401: Cut off power to the PSV1 valve and the PSV2 valve.

[0112] S402: Detect the real-time pressure of the master cylinder and the real-time pressure of the electric cylinder.

[0113] S403: Determine the working states of the electric cylinder, the PSV1 valve and the PSV2 valve based on the real-time pressure of the master cylinder, the first preset pressure and the real-time pressure of the electric cylinder.

[0114] Cut off the power to the PSV1 and PSV2 valves, and the PSV1 and PSV2 valves are in the closed state. If there is no abnormality in the PSV1 and PSV2 valves, the PSV1 and PSV2 valves can seal the pressure in the electric cylinder in the electric cylinder, and the hydraulic pressure in other oil circuits in the electronic booster is 0. When the PSV1 or PSV2 valve is abnormal, the PSV1 and PSV2 valves cannot seal the pressure in the electric cylinder in the electric cylinder, and the pressure will leak from the electric cylinder to other oil circuits in the electronic booster, making the hydraulic pressure in other oil circuits of the electronic booster not 0.

[0115] For example, when the PSV1 valve or the PSV2 valve leaks, since the CSV1 valve and the CSV2 valve are in a power-off state, the hydraulic pressure can leak to the master cylinder through the oil circuit between the PSV1 valve and the CSV1 valve or leak to the master cylinder through the oil circuit between the PSV2 valve and the CSV2 valve. Therefore, the presence of hydraulic pressure in the master cylinder can be detected at the master cylinder, that is, it is detected that the real-time pressure of the master cylinder is not 0.

[0116] In one example, when the real-time pressure of the master cylinder is zero and the real-time pressure of the electric cylinder is consistent with the first preset pressure, it is considered that the electric cylinder has no leakage, and the PSV1 valve and the PSV2 valve can correctly seal the flow, that is, the PSV1 valve and the PSV2 valve have no forward leakage, and the motor of the electric cylinder is controlled normally, and the PSV1 valve and the PSV2 valve are controlled normally. When the real-time pressure of the master cylinder is not zero or the real-time pressure of the electric cylinder is inconsistent with the first preset pressure, the electric cylinder leaks, the PSV1 valve and the PSV2 valve have forward leakage, the PSV valve is abnormally controlled, or the motor is abnormally controlled.

[0117] In another example, when the real-time pressure of the master cylinder is zero, the first displacement of the piston corresponding to the real-time pressure of the electric cylinder is determined, the target displacement of the piston corresponding to the first preset pressure is determined, and the first displacement is compared with the target displacement. When the first displacement is equal to the target displacement, it is determined that the electric cylinder has no leakage, and the PSV1 valve and the PSV2 valve can correctly seal the flow, that is, the PSV1 valve and the PSV2 valve have no forward leakage, and the motor of the electric cylinder is controlled normally, and the PSV1 valve and the PSV2 valve are controlled normally. When the master cylinder pressure is not zero or the first displacement is inconsistent with the target displacement, it is determined that the electric cylinder leaks, the PSV1 valve and the PSV2 valve have forward leakage, the PSV valve is abnormally controlled, or the motor is abnormally controlled.

[0118] In another example, when the real-time pressure of the master cylinder is zero, the first displacement of the piston corresponding to the real-time pressure of the electric cylinder is determined, the target displacement corresponding to the first preset pressure is determined, and the absolute value of the difference between the first displacement and the target displacement is calculated. When the absolute value is less than or equal to the preset error, it is determined that the electric cylinder has no leakage, and the PSV1 valve and the PSV2 valve can correctly seal the flow, that is, the PSV1 valve and the PSV2 valve have no forward leakage, and the electric cylinder's motor is controlled normally, and the PSV1 valve and the PSV2 valve are controlled normally. When the first pressure of the master cylinder is not zero or the absolute value is greater than the preset error, it is determined that the electric cylinder is leaking, the PSV1 valve and the PSV2 valve have forward leakage, the PSV valve is abnormally controlled, or the motor is abnormally controlled.

[0119] In another implementation mode, based on the first preset pressure, the power-on state of the first solenoid valve group and / or the second solenoid valve group is controlled to detect each device in the electronic booster and the wheel end module respectively. Figure 6 As shown, the following steps are included:

[0120] like Figure 1 As shown, the first solenoid valve group includes PSV1 valve, CSV1 valve and CSV2 valve, the second solenoid valve group includes IV1 valve, IV2 valve, IV3 valve and IV4 valve, the CSV1 valve is connected to the IV1 valve and the IV2 valve respectively through the oil circuit, and the CSV2 valve is connected to the IV3 valve and IV4 valve respectively through the oil circuit.

[0121] S501: Power is supplied to the CSV1 valve, the CSV2 valve, the IV1 valve, the IV2 valve, the IV3 valve, and the IV4 valve.

[0122] S502: Power on the PSV1 valve.

[0123] S503: Detect the real-time pressure of the electric cylinder.

[0124] S504: Determine the working states of the CSV1 valve, the IV1 valve, and the IV2 valve based on the real-time pressure of the electric cylinder and the first preset pressure.

[0125] When detecting the working status of the CSV1 valve, IV1 valve and IV2 valve, the CSV1 valve, CSV2 valve, IV1 valve, IV2 valve, IV3 valve, IV4 valve and PSV1 valve are in the energized state, and all the solenoid valves in the electronic hydraulic control system except the CSV1 valve, CSV2 valve, IV1 valve, IV2 valve, IV3 valve, IV4 and PSV1 valve are in the de-energized state.

[0126] When the electric cylinder builds up the first preset pressure, when the PSV1 valve is in the energized state, the hydraulic pressure at the electric cylinder leaks to the oil circuit connecting the PSV1 valve and the CSV1 valve, and the oil circuit connecting the CSV1 valve and the IV1 valve and the IV2 valve. When the CSV1 valve leaks in the reverse direction, the hydraulic pressure will leak from the CSV1 valve to the master cylinder. When there is a leak in the IV1 valve or the IV2 valve, the first preset pressure built up by the electric cylinder will leak to the first wheel end or the second wheel end.

[0127] In one example, the working states of the CSV1 valve, the IV1 valve, and the IV2 valve may be determined based on a comparison result between the real-time pressure of the electric cylinder and the first preset pressure.

[0128] When the real-time pressure of the electric cylinder is consistent with the first preset pressure, it is determined that the CSV1 valve has no reverse leakage, the IV1 valve and the IV2 valve have no forward leakage, and when the real-time pressure of the electric cylinder is consistent with the first preset pressure, it can also be determined that the PSV1 valve is controlled normally.

[0129] When the real-time pressure of the electric cylinder is inconsistent with the first preset pressure, it can be determined that the CSV1 valve has reverse leakage when the real-time pressure detected by the master cylinder is not 0. If pressure is detected at the first wheel end or the second wheel end, the IV1 valve or the IV2 valve has forward leakage.

[0130] The pressure sensor at the electric cylinder compares the real-time pressure of the electric cylinder with the first preset pressure. When the real-time pressure of the electric cylinder is consistent with the first preset pressure, it is determined that the CSV1 valve has no reverse leakage, and it is determined that the IV1 valve and the IV2 valve have no forward leakage. When the real-time pressure of the electric cylinder is inconsistent with the first preset pressure, it is determined that the CSV1 valve is reversely leaking, the IV1 valve and the IV2 valve are forward leaking, or the PSV1 valve is abnormally controlled.

[0131] The second solenoid valve group also includes an OV1 valve, which is connected to the IV1 valve. Based on the first preset pressure, the power-on state of the first solenoid valve group and / or the second solenoid valve group is controlled. The detection of each device in the electronic booster and the wheel end module also includes, for example, Figure 7 As shown, the following steps are included:

[0132] S601: Cut off power to IV1 valve.

[0133] S602: Detect the real-time pressure of the electric cylinder.

[0134] S603: Based on the real-time pressure of the electric cylinder and the first preset pressure, determine the working states of the OV1 valve, the IV1 valve, the wheel end corresponding to the IV1 valve, and the wheel end pipeline corresponding to the IV1 valve.

[0135] S604: Power is supplied to the OV1 valve.

[0136] S605: Detect the real-time pressure of the electric cylinder.

[0137] S606: Determine the working state of the OV1 valve based on the real-time pressure of the electric cylinder and the first preset pressure.

[0138] On the basis of energizing the CSV1 valve, CSV2 valve, IV1 valve, IV2 valve, IV3 valve and IV4 valve and energizing the PSV1 valve, the IV1 valve is in a power-off state. When the IV1 valve is controlled normally, the hydraulic pressure can pass through the IV1 valve to the oil circuit connected to the OV1 valve and push the hydraulic pressure to the first wheel end, that is, the hydraulic pressure can be detected at the first wheel end, and the hydraulic pressure detected at the first wheel end is consistent with the first preset pressure. When the OV1 valve has no leakage, the hydraulic pressure will not leak through the OV1 valve and the oil circuit connecting the OV1 valve and the oil tank module.

[0139] In one example, by detecting the comparison result between the real-time pressure of the electric cylinder and the first preset pressure, when the real-time pressure of the electric cylinder is consistent with the first preset pressure, it is determined that the IV1 valve is controlled normally and the OV1 valve has no leakage. The wheel end corresponding to IV1 has no leakage and the wheel end pipeline corresponding to the IV1 valve has no leakage. When the real-time pressure of the electric cylinder is inconsistent with the first preset pressure, it is determined that the IV1 valve is abnormally controlled or the OV1 valve has no leakage or the wheel end corresponding to the IV1 valve has no leakage or the wheel end pipeline corresponding to the IV1 valve has no leakage.

[0140] When the conduction state of the OV1 valve is detected, the OV1 valve is controlled to be energized. Since the OV1 valve is in the energized state, the hydraulic pressure will be released to the small oil pot through the oil circuit of the OV1 valve and the oil pot module. At this time, in order to maintain the first preset pressure of the electric cylinder, the motor continues to work, and the piston corresponding to the electric cylinder continues to push forward to maintain the first preset pressure of the electric cylinder.

[0141] In one example, when the real-time pressure of the electric cylinder is consistent with the first preset pressure, it is determined that the OV1 valve is controlled normally, that is, the OV1 valve is conducted normally.

[0142] In another example, the displacement of the piston corresponding to the electric cylinder can be determined to judge whether the conduction of the OV1 valve is normal. If it is detected that the displacement of the piston corresponding to the electric cylinder is consistent with the displacement corresponding to maintaining the first preset pressure, it is determined that the conduction of the OV1 valve is normal.

[0143] The second solenoid valve group also includes an OV2 valve, which controls the power-on state of the first solenoid valve group and / or the second solenoid valve group based on the first preset pressure, and detects each device in the electronic booster and the wheel end module separately, such as Figure 8 As shown, the following steps are included:

[0144] S701: Cut off power to the OV1 valve and IV2 valve.

[0145] S702: Detect the real-time pressure of the electric cylinder.

[0146] S703: Based on the real-time pressure of the electric cylinder and the first preset pressure, determine the working states of the IV2 valve, the OV2 valve, the wheel end corresponding to the IV2 valve, and the wheel end pipeline corresponding to the IV2 valve.

[0147] S704: Power is supplied to the OV2 valve.

[0148] S705: Detect the real-time pressure of the electric cylinder.

[0149] S706: Determine the working state of the OV2 valve based on the real-time pressure of the electric cylinder and the first preset pressure.

[0150] Control the OV1 valve and IV2 valve to the de-energized state, so that the OV1 valve is de-energized and the IV2 valve is open. After the OV1 valve is de-energized, the hydraulic pressure will no longer be released to the oil tank module. When the IV2 valve is opened, the hydraulic pressure will be pushed to the second wheel end through the IV2 valve.

[0151] When the real-time pressure of the electric cylinder is consistent with the first preset pressure, it can be determined that the IV2 valve is conducting normally, the OV2 valve has no leakage, the wheel end corresponding to the IV2 valve has no leakage, and the wheel end pipeline corresponding to the IV2 valve has no leakage.

[0152] If there is a leak at the wheel end corresponding to the IV2 valve, that is, the second wheel end, the hydraulic pressure in the conducted oil circuit will change, that is, the real-time pressure of the electric cylinder will be inconsistent with the first preset pressure. When the IV2 valve is abnormally controlled, the hydraulic pressure pushed to the second wheel end by the electric cylinder cannot be detected at the second wheel end. When the OV2 valve leaks, the hydraulic pressure will leak into the oil pot through the OV2 valve, causing the real-time pressure of the electric cylinder to be inconsistent with the first preset pressure. When the wheel end pipeline corresponding to the IV2 valve leaks, the real-time pressure of the electric cylinder will also be inconsistent with the first preset pressure. Therefore, the working status of the IV2 valve, the OV2 valve, the wheel end corresponding to the IV2 valve, and the wheel end pipeline corresponding to the IV2 valve can be determined by comparing the real-time pressure of the electric cylinder with the first preset pressure.

[0153] The OV2 valve is controlled to be in the energized state. For the same reason as the OV1 valve is in the energized state, the conduction state of the OV2 valve is determined by comparing the real-time pressure of the electric cylinder with the first preset pressure, which will not be described in detail.

[0154] The second solenoid valve group also includes IV3 valve and IV4 valve, and CSV2 valve is connected to IV3 valve and IV4 valve through oil circuit. Based on the first preset pressure, the power-on state of the first solenoid valve group and / or the second solenoid valve group is controlled, and the detection of each device in the electronic booster and the wheel end module also includes: powering on CSV1 valve, CSV2 valve, IV3 valve, IV4 valve and PSV2 valve. Detect the real-time pressure of the electric cylinder. Based on the real-time pressure of the electric cylinder and the first preset pressure, determine the working state of CSV2 valve, IV3 valve and IV4 valve. In one example, the hydraulic pressure of the electric cylinder is relieved through PSV2 valve to the oil circuit connecting IV3 and PSV2 valve. When the real-time pressure of the electric cylinder is consistent with the first preset pressure, it is determined that there is no reverse leakage of CSV2 valve, IV3 valve and IV4 valve. When the real-time pressure of the electric cylinder is inconsistent with the first preset pressure, it is determined that CSV2 valve is reversely leaking, IV3 valve is leaking or IV4 valve is leaking. When there is reverse leakage in the CSV2 valve, the hydraulic pressure will leak to the master cylinder through the CSV2 valve. When the pressure detector of the master cylinder detects that the pressure of the master cylinder is not zero, it is determined that there is reverse leakage in the CSV2 valve. When the IV3 valve leaks, the hydraulic pressure will leak to the third wheel end through the IV3 valve. When the pressure sensor based on the third wheel end detects that the pressure is not zero, it is determined that the IV3 valve is leaking. Since the IV4 valve is connected to the IV3 valve through an oil circuit, when the IV4 valve leaks, the hydraulic pressure is released through the PSV2 valve to the oil circuit connecting the IV3 valve and the PSV2 valve and the oil circuit connecting the IV3 valve and the IV4 valve. Therefore, when the IV4 valve leaks, the hydraulic pressure will leak to the fourth wheel end through the IV4 valve, and the pressure will be detected by the pressure sensor corresponding to the fourth wheel end. When the pressure detected by the pressure sensor corresponding to the fourth wheel end is not zero, it is determined that the IV4 valve is leaking.

[0155] The second solenoid valve group also includes an OV3 valve and an OV4 valve, the OV3 valve is connected to the IV3 valve, and the OV4 valve is connected to the IV4 valve. The IV3 valve is controlled to be in a power-off state, the real-time pressure of the electric cylinder is detected, and based on the real-time pressure of the electric cylinder and the first preset pressure, the working states of the IV3 valve, the OV3 valve, the wheel end corresponding to the IV3 valve, and the pipeline of the wheel end corresponding to the IV3 valve are determined. When the IV3 valve is in a power-off state, the hydraulic pressure is discharged from the IV3 valve into the oil circuit connecting IV3 and OV3.

[0156] In one example, the real-time pressure of the electric cylinder is compared with the first preset pressure, and the leakage of the IV3 valve, the OV3 valve, the wheel end corresponding to the IV3 valve, and the pipeline corresponding to the wheel end of the IV3 valve is determined based on the comparison result. When the real-time pressure of the electric cylinder is consistent with the first preset pressure, it is determined that the IV3 valve is normally conducted, the OV3 valve is not leaking, the wheel end corresponding to the IV3 valve is not leaking, and the pipeline corresponding to the wheel end of the IV3 valve is not leaking. When the real-time pressure of the electric cylinder is inconsistent with the first preset pressure, it is determined that the IV3 valve is abnormally controlled, the OV3 valve is leaking, the wheel end corresponding to the IV3 valve is leaking, or the pipeline corresponding to the wheel end of the IV3 valve is leaking.

[0157] The OV3 valve is controlled to be powered on, the real-time pressure of the electric cylinder is detected, and the working state of the OV3 valve is determined based on the real-time pressure of the electric cylinder and the first preset pressure. Since the OV3 valve is powered on, the hydraulic pressure will be released to the oil pot through the oil circuit of the OV3 valve and the oil pot module. At this time, in order to maintain the first preset pressure of the electric cylinder, the motor continues to work, and the piston corresponding to the electric cylinder continues to push forward to maintain the first preset pressure of the electric cylinder. In one example, when the real-time pressure of the electric cylinder is consistent with the first preset pressure, it is determined that the OV3 valve is controlled normally, that is, the OV3 valve is conducting normally.

[0158] Control the OV3 valve and IV4 valve to the power-off state, detect the real-time pressure of the electric cylinder, and determine the working state of the IV4 valve, the OV4 valve, the wheel end corresponding to the IV4 valve, and the pipeline of the wheel end corresponding to the IV4 valve based on the real-time pressure of the electric cylinder and the first preset pressure. Control the OV3 valve and IV4 valve to the power-off state. After the OV3 valve is powered off, the hydraulic pressure will no longer be released to the oil tank module. Open the IV4 valve, and the hydraulic pressure will be pushed to the fourth wheel end through the IV4 valve.

[0159] When the real-time pressure of the electric cylinder is consistent with the first preset pressure, it can be determined that the IV4 valve is conducting normally, the OV4 valve corresponding to the IV4 valve has no leakage, the wheel end corresponding to the IV4 valve has no leakage, and the wheel end pipe corresponding to the IV4 valve has no leakage.

[0160] If there is a leak at the wheel end corresponding to the IV4 valve, that is, the fourth wheel end, the hydraulic pressure in the conducted oil circuit will change, that is, the real-time pressure of the electric cylinder will be inconsistent with the first preset pressure. When the IV4 valve is abnormally controlled, the hydraulic pressure pushed to the wheel end by the electric cylinder cannot be detected at the fourth wheel end. When the OV4 valve leaks, the hydraulic pressure will leak into the oil pot through the OV4 valve, causing the real-time pressure of the electric cylinder to be inconsistent with the first preset pressure. When the wheel end pipeline corresponding to the IV4 valve leaks, the real-time pressure of the electric cylinder will also be inconsistent with the first preset pressure. Therefore, the comparison result of the real-time pressure of the electric cylinder with the first preset pressure can be used to determine whether the IV4 valve, the OV4 valve, the wheel end corresponding to the IV4 valve, or the wheel end pipeline corresponding to the IV4 valve is leaking.

[0161] The OV4 valve is controlled to be in an energized state, the real-time pressure of the electric cylinder is detected, and the working state of the OV4 valve is determined based on the real-time pressure of the electric cylinder and the first preset pressure.

[0162] The OV4 valve is controlled to be in an energized state. For the same reason as the OV3 valve is in an open state, the conduction state of the OV4 valve is determined by comparing the real-time pressure of the electric cylinder with the first preset pressure, which will not be described in detail.

[0163] The first solenoid valve group also includes a TSV valve and an SSV valve, the SSV valve is connected to the master cylinder, and the TSV valve is connected to the master cylinder. The PSV1 valve and the PSV2 valve are controlled to be in an energized state, the real-time pressure of the electric cylinder is detected, and based on the real-time pressure of the electric cylinder and the first preset pressure, the working states of the CSV1 valve, the CSV2 valve, the TSV valve and the SSV valve, the real-time pressure of the master cylinder is detected, and based on the real-time pressure of the master cylinder and the real-time pressure of the electric cylinder, the working states of the pressure sensor of the master cylinder and the pressure sensor of the electric cylinder are determined. The PSV1 valve and the PSV2 valve are in an energized state, and the other solenoid valves are in an off-power state. When the electric cylinder establishes the first preset pressure, the hydraulic pressure is released to the CSV1 valve and the CSV2 valve through the PSV1 valve and the PSV2 valve. When the CSV1 valve and the CSV2 valve are in an off-power state, the hydraulic pressure is released to the master cylinder through the CSV1 valve and the CSV2 valve.

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

[0165] Therefore, the operating states of the CSV1 valve, the CSV2 valve, the TSV valve, and the SSV valve may be determined based on the comparison result between the real-time pressure of the electric cylinder and the first preset pressure.

[0166] When the real-time pressure of the electric cylinder is consistent with the first preset pressure, it is determined that the TSV valve and the SSV valve have no leakage, and the CSV1 valve and the CSV2 valve are controlled normally. When the real-time pressure of the electric cylinder is inconsistent with the first preset pressure, it is determined that the TSV valve or the SSV valve is leaking or the CSV1 valve and the CSV2 valve are abnormally controlled.

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

[0168] The SSV valve is controlled to be in an energized state, the real-time pressure of the electric cylinder is detected, and the working state of the SSV valve is determined based on the real-time pressure of the electric cylinder and the first preset pressure.

[0169] The SSV valve is controlled to be in an energized state. In one example, when the SSV valve is in an energized state, hydraulic pressure is released from the SSV valve into the simulation chamber. When the real-time pressure of the electric cylinder is consistent with the first preset pressure, it is determined that the flow conduction of the SSV valve is normal.

[0170] There are many ways to implement the self-test of the electronic hydraulic brake system by testing each device in the redundant brake circuit according to the second self-test strategy. In one implementation, Fig. 9 As shown, the following steps are included:

[0171] like Figure 1 As shown, the electronic booster includes a first solenoid valve group, the first solenoid valve group includes a CSV1 valve, the redundant brake circuit includes an RV1 valve, an RV2 valve, an SV1 valve, an SV2 valve and a redundant motor, the RV1 valve, the RV2 valve, the SV1 valve and the SV2 valve are all connected to the electronic booster, and the redundant motor is respectively connected to the RV1 valve, the RV2 valve, the SV1 valve and the SV2 valve.

[0172] S801: Cut off the power to the RV1 valve and the RV2 valve, control the piston of the electric cylinder in the electronic booster to return to the zero position, and then control the motor of the electric cylinder to rotate forward by a preset distance.

[0173] The preset distance is greater than the distance between the compensation hole of the electric cylinder and the zero position of the electric cylinder.

[0174] S802: Cut off the power to the CSV1 valve to relieve the pressure of the electric cylinder.

[0175] S803: After the electric cylinder is depressurized, energize the CSV1 valve.

[0176] S804: Control the redundant motor to work and detect the real-time pressure of the electric cylinder.

[0177] S805: Determine the working status of the RV1 valve and the RV2 valve based on the real-time pressure of the electric cylinder.

[0178] When the real-time pressure of the electric cylinder is zero, it is determined that the RV1 valve and the RV2 valve can be closed and there is no leakage.

[0179] Turn off the power to the RV1 valve and the RV2 valve, and control the piston of the electric cylinder in the electronic booster to retract to the software zero position. Then control the piston of the electric cylinder to rotate forward. The forward rotation distance must be greater than the distance from the compensation hole of the electric cylinder to the zero position of the electric cylinder, so that the piston blocks the compensation hole.

[0180] After the piston of the electric cylinder blocks the compensation hole, the CSV1 valve is controlled to be in an open state, so that the pressure generated by the positive rotation of the piston can be discharged into the oil pot module. After the pressure is discharged into the oil pot module, the CSV1 valve is controlled to be closed.

[0181] When the RV1 valve and RV2 valve are closed, the redundant motor works to build pressure and detects the real-time pressure of the electric cylinder. When the RV1 valve and RV2 valve leak, oil will enter the electric cylinder, making the reading of the pressure sensor at PSV1 not zero, that is, the real-time pressure of the electric cylinder is not zero.

[0182] When the RV1 valve and the RV2 valve can be closed normally and there is no leakage, the real-time pressure of the electric cylinder is zero.

[0183] Determine whether the RV1 valve can be opened normally, such as Fig.10 As shown, the following steps are included:

[0184] S901: Power on the RV1 valve and PSV1 valve, and detect the real-time pressure of the electric cylinder.

[0185] S902: Determine the working state of the RV1 valve based on the real-time pressure of the electric cylinder.

[0186] Control the RV1 valve and PSV1 valve to open. At this time, the pressure of the redundant brake circuit will enter the electric cylinder to determine the real-time pressure of the electric cylinder. When it is determined that the real-time pressure of the electric cylinder is not zero and the real-time pressure of the electric cylinder is constant at a certain value, it is determined that the RV1 valve can be opened normally. If the real-time pressure of the electric cylinder is detected to be zero, it is determined that the RV1 valve is opened abnormally.

[0187] When the RV1 valve opens normally, close the RV1 valve and control the CSV1 valve to open, so that the pressure of the redundant motor is released into the oil tank module, and close the CSV1 valve. The redundant motor continues to work, controls the opening of the RV2 valve and the PSV2 valve, and detects the real-time pressure of the electric cylinder. When the real-time pressure of the electric cylinder is constant at a certain value, it is determined that the RV2 valve can be opened normally. When the real-time pressure of the electric cylinder is zero, it is determined that the opening of the RV2 valve is abnormal.

[0188] The implementation method of separately detecting each device in the redundant braking circuit also includes, for example, Fig.11 As shown, the following steps are included:

[0189] like Figure 1 As shown, the redundant braking circuit also includes a first accumulator A1, a second accumulator A2, a first plunger pump 222 and a second plunger pump 223. The first accumulator is connected to the plunger pump, the second accumulator is connected to the second plunger pump, one end of the first plunger pump and the second plunger pump are respectively connected to the redundant motor 221, the other end of the first plunger pump 222 is connected to the SV1 valve, and the other end of the second plunger pump 223 is connected to the SV2 valve.

[0190] S1001: draining the first accumulator and the second accumulator.

[0191] S1002: Cut off power to the RV1 valve, RV2 valve, SV1 valve and SV2 valve.

[0192] S1003: Control the redundant motor to work and energize the RV1 valve.

[0193] S1004: Determine the real-time pressure of the pressure sensor at the RV1 valve.

[0194] S1005: Determine the state of the SV1 valve based on the real-time pressure of the pressure sensor at the RV1 valve.

[0195] When the real-time pressure of the pressure sensor at the RV1 valve is zero, it is determined that the SV1 valve can be closed normally.

[0196] Open the SV1 valve, SV2 valve, CSV1 valve, CSV2 valve, RV1 valve and RV2 valve, and the redundant motor starts to work, and the oil in the first accumulator A1 and the second accumulator A2 is discharged into the oil pot through the first plunger pump, the second plunger pump, the RV1 valve, the RV2 valve, the CSV1 valve and the CSV2 valve. After the oil in the first accumulator A1 and the second accumulator A2 is discharged into the oil pot, the RV1 valve, the RV2 valve, the SV1 valve, the SV2 valve, the CSV1 valve and the CSV2 valve are controlled to be closed.

[0197] The redundant motor is controlled to work continuously and the RV1 valve is powered on so that the RV1 valve is opened. When the pressure sensor at the RV1 detects pressure, it is determined that the SV1 valve can be closed normally. After the SV1 valve is opened, oil can be drawn from the oil pot to the first accumulator. After the oil in the first accumulator is emptied, the redundant motor cannot build pressure. After the SV1 valve is closed and the redundant motor works, if pressure can be built, it indicates that the SV1 valve is closed abnormally. Oil can still be drawn from the oil pot. Therefore, whether the SV1 valve is closed abnormally can be judged based on whether the redundant motor can build pressure normally. If the real-time pressure detected by the pressure sensor at the RV1 valve is not zero, it is determined that the SV1 valve is closed abnormally.

[0198] The method of detecting whether the SV2 valve can be closed normally is similar to the method of determining the SV1 valve. The RV1 valve, RV2 valve, SV1 valve and SV2 valve are powered off, the redundant motor is controlled to work, and the RV2 valve and PSV2 valve are powered on to determine the real-time pressure of the electric cylinder. The state of the SV2 valve is determined based on the real-time pressure of the electric cylinder. If the real-time pressure of the electric cylinder is zero, it is determined that the SV2 valve can be closed normally. If the real-time pressure of the electric cylinder is not zero, it is determined that the SV2 valve is closed abnormally.

[0199] There are many ways to determine whether the SV1 valve can be normally conducted. In one implementation, Fig.12 As shown, the following steps are included:

[0200] S1111: Power on valves SV1 and SV2.

[0201] S1112: Control the redundant motor to work and energize the CSV1 valve and CSV2 valve.

[0202] S1113: Energize RV1 valve and PSV1 valve.

[0203] S1114: Detect the real-time pressure of the electric cylinder.

[0204] S1115: Determine the state of the SV1 valve based on the real-time pressure of the electric cylinder.

[0205] Control the SV1 valve and SV2 valve to be in the open state, and control the first plunger pump and the second plunger pump to work, so that liquid can be pumped from the oil pot to the redundant motor through the first plunger pump and the second plunger pump. When it is determined that the redundant motor can build up pressure, it is determined that the SV1 valve can be normally conducted.

[0206] Specifically, the SV1 valve and the SV2 valve are in an open state, the first plunger pump, the second plunger pump and the redundant motor are working, and the CSV1 valve and the CSV2 valve are controlled to be in a closed state.

[0207] In one example, the RV1 valve and the PSV1 valve are opened, and when it is detected that the real-time pressure of the electric cylinder is not zero, it is determined that the SV1 valve is normally turned on, and when the real-time pressure of the electric cylinder is zero, it is determined that the SV1 valve is abnormally turned on.

[0208] In another example, the RV1 valve is opened, and when it is detected that the real-time pressure of the pressure sensor at the RV1 valve is not zero, it is determined that the SV1 valve can be normally turned on; when the real-time pressure of the pressure sensor at the RV1 valve is zero, it is determined that the SV1 valve is abnormally turned on.

[0209] The method of determining whether the conduction of the SV2 valve is normal is similar to that of the SV1 valve and will not be described in detail here.

[0210] The present application also provides a vehicle 100, which includes a vehicle controller 130 and a memory 120. The memory 120 stores computer executable instructions, and when the computer executable instructions are executed by the vehicle controller 130, the self-checking method is implemented.

[0211] The embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by the vehicle controller 130, the self-test method is implemented.

[0212] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to the multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of boxes in the block diagram and / or the flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0213] In addition, each functional module in each embodiment of the present application can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part. If the function is implemented in the form of a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions 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 method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a disk or an optical disk.

[0214] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0215] The above are only various implementations of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A self-test method, characterized in that: Applied to a vehicle controller, the vehicle controller is communicatively connected to an electronic hydraulic brake system, the electronic hydraulic brake system includes an electronic booster and an electronic stability control system, the electronic booster is connected to the electronic stability control system, the electronic stability control system also includes a wheel end module and a redundant brake circuit, the method includes: When it is detected that the vehicle meets the self-check condition, determining a first self-check strategy for the electronic booster and the wheel-end module; According to the first self-test strategy, each component in the electronic booster and the wheel-end module is tested respectively; determining a second self-test strategy for the redundant brake circuit; Testing each component in the redundant brake circuit according to the second self-test strategy to complete the self-test of the electronic hydraulic brake system; The electronic booster includes a first solenoid valve group, the first solenoid valve group includes a CSV1 valve, the redundant brake circuit includes an RV1 valve, an RV2 valve, an SV1 valve, an SV2 valve and a redundant motor, the RV1 valve, the RV2 valve, the SV1 valve and the SV2 valve are all connected to the electronic booster, the redundant motor is respectively connected to the RV1 valve, the RV2 valve, the SV1 valve and the SV2 valve, and the steps of respectively detecting each device in the redundant brake circuit according to the second self-test strategy to complete the self-test of the electronic hydraulic brake system include: After the RV1 valve and the RV2 valve are powered off and the piston of the electric cylinder in the electronic booster is controlled to return to the zero position, the motor of the electric cylinder is controlled to rotate forward by a preset distance, wherein the preset distance is greater than the distance between the compensation hole of the electric cylinder and the zero position of the electric cylinder; De-energizing the CSV1 valve to relieve pressure on the electric cylinder; After the electric cylinder is depressurized, energizing the CSV1 valve; Controlling the redundant motor to work and detecting the real-time pressure of the electric cylinder; Based on the real-time pressure of the electric cylinder, the working status of the RV1 valve and the RV2 valve is determined.

2. The method according to claim 1, characterized in that The components in the electronic booster include an electric cylinder, a master cylinder, and a first solenoid valve group; the vehicle controller is in communication connection with the electric cylinder, the master cylinder, and the first solenoid valve group; the wheel end module includes a second solenoid valve group; the vehicle controller is in communication connection with the second solenoid valve group; the step of respectively detecting the components in the electronic booster and the wheel end module according to the first self-test strategy includes: Controlling the electric cylinder to establish a first preset pressure; Based on the first preset pressure, the power-on state of the first solenoid valve group and / or the second solenoid valve group is controlled, and each component in the electronic booster and the wheel-end module is detected respectively.

3. The method according to claim 2, characterized in that The first solenoid valve group includes a PSV1 valve and a PSV2 valve. The step of controlling the power-on state of the first solenoid valve group and / or the second solenoid valve group based on the first preset pressure and detecting each device in the electronic booster and the wheel end module respectively includes: De-energizing the PSV1 valve and the PSV2 valve; Detecting the real-time pressure of the master cylinder and the real-time pressure of the electric cylinder; Based on the real-time pressure of the master cylinder, the first preset pressure, and the real-time pressure of the electric cylinder, the working states of the electric cylinder, the PSV1 valve, and the PSV2 valve are determined.

4. The method according to claim 2, characterized in that: The first solenoid valve group includes a PSV1 valve, a CSV1 valve and a CSV2 valve, the second solenoid valve group includes an IV1 valve, an IV2 valve, an IV3 valve and an IV4 valve, the CSV1 valve is respectively connected to the IV1 valve and the IV2 valve through an oil circuit, the CSV2 valve is respectively connected to the IV3 valve and the IV4 valve through an oil circuit, and the step of controlling the power-on state of the first solenoid valve group and / or the second solenoid valve group based on the first preset pressure and detecting each device in the electronic booster and the wheel-end module respectively includes: Applying power to the CSV1 valve, the CSV2 valve, the IV1 valve, the IV2 valve, the IV3 valve, and the IV4 valve; Applying power to the PSV1 valve; Detecting the real-time pressure of the electric cylinder; Based on the real-time pressure of the electric cylinder and the first preset pressure, the working states of the CSV1 valve, the IV1 valve and the IV2 valve are determined.

5. The method according to claim 4, characterized in that The second solenoid valve group further includes an OV1 valve, and the OV1 valve is connected to the IV1 valve. The step of controlling the power-on state of the first solenoid valve group and / or the second solenoid valve group based on the first preset pressure and detecting each device in the electronic booster and the wheel end module respectively also includes: De-energizing the IV1 valve; Detecting the real-time pressure of the electric cylinder; Determine the working states of the OV1 valve, the IV1 valve, the wheel end corresponding to the IV1 valve, and the wheel end pipeline corresponding to the IV1 valve based on the real-time pressure of the electric cylinder and the first preset pressure; Applying power to the OV1 valve; Detecting the real-time pressure of the electric cylinder; The working state of the OV1 valve is determined based on the real-time pressure of the electric cylinder and the first preset pressure.

6. The method according to claim 5, characterized in that The second solenoid valve group further includes an OV2 valve, and the OV2 valve is connected to the IV2 valve. The step of controlling the power-on state of the first solenoid valve group and / or the second solenoid valve group based on the first preset pressure and detecting each device in the electronic booster and the wheel end module respectively also includes: De-energizing the OV1 valve and the IV2 valve; Detecting the real-time pressure of the electric cylinder; Based on the real-time pressure of the electric cylinder and the first preset pressure, determining the working states of the IV2 valve, the OV2 valve, the wheel end corresponding to the IV2 valve, and the wheel end pipeline corresponding to the IV2 valve; Applying power to the OV2 valve; Detecting the real-time pressure of the electric cylinder; The working state of the OV2 valve is determined based on the real-time pressure of the electric cylinder and the first preset pressure.

7. The method according to claim 1, characterized in that The first solenoid valve group further includes a PSV1 valve, and the method further includes: Energize the RV1 valve and the PSV1 valve, and detect the real-time pressure of the electric cylinder; Based on the real-time pressure of the electric cylinder, the working state of the RV1 valve is determined.

8. The method according to claim 1, characterized in that: The redundant brake circuit further includes a first accumulator, a second accumulator, a first plunger pump and a second plunger pump, the first accumulator is connected to the plunger pump, the second accumulator is connected to the second plunger pump, one end of the first plunger pump and the second plunger pump are respectively connected to the redundant motor, the other end of the first plunger pump is connected to the SV1 valve, and the other end of the second plunger pump is connected to the SV2 valve, and the method further includes: performing a fluid discharge process on the first accumulator and the second accumulator; Cut off power to the RV1 valve, RV2 valve, SV1 valve and SV2 valve; Controlling the redundant motor to work and energizing the RV1 valve; Determine the real-time pressure of the pressure sensor at the RV1 valve; Based on the real-time pressure of the pressure sensor at the RV1 valve, the state of the SV1 valve is determined.

9. The method according to claim 4, characterized in that The method further comprises: supplying power to the SV1 valve and the SV2 valve; Control the redundant motor to work and energize the CSV1 valve and the CSV2 valve; Applying power to the RV1 valve and the PSV1 valve; Detecting the real-time pressure of the electric cylinder; Based on the real-time pressure of the electric cylinder, the state of the SV1 valve is determined.

10. A vehicle, characterized in that: The invention comprises a vehicle controller and a memory, wherein the memory stores a computer program executable by the vehicle controller, and the vehicle controller can execute the computer program to implement the self-checking method according to any one of claims 1 to 9.

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