Abnormal protection method and device of brake-by-wire system and vehicle

Abstract

The invention relates to an abnormal protection method and device for a brake-by-wire system and a vehicle, and relates to the technical field of brake-by-wire systems, and the method comprises the steps that real-time monitoring data are obtained through a temperature sensor, a pressure sensor and a flow sensor which are arranged on a brake disc and a brake pipeline; judging the working state of the brake-by-wire system based on the monitoring data; on the basis of historical braking data, vehicle driving condition data and the monitoring data, the abnormal condition of the braking system is predicted on the basis of a pre-trained brake-by-wire system performance prediction model; determining a final abnormal condition based on the working state judgment result and the predicted abnormal condition; and when the final abnormal condition is displayed to be abnormal, a pedal curve reactivity adjusting action, a power limiting action, a vehicle speed limiting action and a reminding action are executed, and the braking energy recovery force is adjusted according to the abnormal severity degree.

Description

Technical Field

[0001] The present application relates to the technical field of brake-by-wire systems, and in particular to an abnormality protection method, device and vehicle for brake-by-wire systems. Background Art

[0002] In the related art, when there is a problem with the performance of the wire control brake system, the driver cannot be notified in time, and the driving safety is low.

[0003] When the brakes experience slight thermal decay or slight leakage in the brake lines, the closed-loop control strategy of the decoupled braking system automatically replenishes fluid, making it impossible for the driver to sense the brake status through "foot feel" and still drive at normal speed; when the problem is serious, the brakes fail, which can easily lead to serious accidents.

[0004] How to solve the above technical problems is a technical problem that needs to be solved by those skilled in the art. Summary of the invention

[0005] In order to at least partially solve the above technical problems, the present application provides an abnormal protection method, device and vehicle for a wire control brake system.

[0006] In a first aspect, the abnormal protection method of the wire control brake system provided in the present application adopts the following technical solution.

[0007] The abnormal protection method of the wire control brake system includes: Real-time monitoring data is obtained through temperature sensors, pressure sensors and flow sensors installed on the brake disc and brake pipes; determining the working state of the brake-by-wire system based on the monitoring data; Predicting abnormal conditions of the braking system based on the historical braking data, the vehicle driving condition data and the monitoring data based on a pre-trained brake-by-wire system performance prediction model; Determine the final abnormal situation based on the work status judgment result and the predicted abnormal situation; When the final abnormal situation is displayed as abnormal, pedal curve responsiveness adjustment action, power limitation action, vehicle speed limitation action and reminder action are executed and the braking energy recovery strength is adjusted according to the severity of the abnormality.

[0008] Optionally, the step of determining the working state of the brake-by-wire system based on the monitoring data includes: Calculate the statistical characteristics of the monitoring data; the statistical characteristics include: mean, variance and standard deviation; Obtaining change trend characteristics based on the monitoring data; Comparing the statistical features and the change trend features with a normal working state feature template; Compare the extracted features with the corresponding ranges in the feature template one by one to determine whether each feature is within the normal range; The working status of the brake-by-wire system is determined based on the comparison results; if all extracted features are within the normal range, the brake-by-wire system is judged to be in a normal working state; if one or more features are beyond the normal range, the brake-by-wire system may be judged to be in an abnormal working state, and the type and degree of deviation of the abnormal features are recorded.

[0009] Optionally, predicting an abnormality of the braking system based on a pre-trained brake-by-wire system performance prediction model based on historical braking data, vehicle driving condition data, and the monitoring data includes: The historical braking data, vehicle driving condition data and real-time monitoring data are used as inputs to the pre-trained brake-by-wire system performance prediction model; The input data is analyzed and calculated using a pre-trained brake-by-wire system performance prediction model; the brake-by-wire system performance prediction model outputs the probability of abnormalities in the braking system in the future and possible abnormality types; The pre-trained brake-by-wire system performance prediction model is trained by the following steps: Collect some historical braking data, vehicle driving condition data and corresponding braking system status labels to build a training data set; Divide the training data set into training set and validation set; Build an initial model and train it using the training set; Use the validation set to verify and evaluate the trained initial model, and further adjust the model based on the evaluation results until the model confidence reaches the preset value.

[0010] Optionally, the final abnormal situation is determined based on the working state judgment result and the predicted abnormal situation, including: According to the characteristics of the brake-by-wire system, actual application scenarios and analysis of historical data, corresponding weights are set for the working status judgment results and predicted abnormal conditions; For the working state judgment result, if it is judged that the brake-by-wire system is in a normal working state, the quantization value is set to 0; if it is judged that there may be an abnormal working state, a first quantization value is obtained according to the type and degree of deviation of the recorded abnormal characteristics; the first quantization value is a value between 0 and 1; wherein, the greater the degree of deviation, the closer the first quantization value is to 1; For the predicted abnormal situation, the probability of the brake system being abnormal in the future period of time output by the brake-by-wire system performance prediction model is used as a second quantitative value, and the second quantitative value is a value between 0 and 1; Multiplying the first quantized value of the working state judgment result by its corresponding weight, multiplying the second quantized value of the predicted abnormal situation by its corresponding weight, and then adding the two products to obtain a comprehensive quantized value; Determine the level of the final abnormal situation according to the threshold range of the comprehensive quantitative value; If both the working state judgment result and the predicted abnormal situation obtain abnormal types, the abnormal types of the two are compared; if the types are consistent, the abnormal type is used as the type of the final abnormal situation.

[0011] Optionally, when the final abnormal situation is displayed as abnormal, a pedal curve responsiveness adjustment action, a power limit action, a vehicle speed limit action and a reminder action are executed and the braking energy recovery strength is adjusted according to the severity of the abnormality, including: Extracting abnormal severity information from a final abnormal situation determined based on the work status judgment result and the predicted abnormal situation; According to the pedal curve responsiveness adjustment parameter corresponding to the severity of the abnormality, the signal transmission relationship between the pedal force sensor and the brake actuator is adjusted through the control unit of the wire control brake system to achieve corresponding adjustment of the pedal curve responsiveness; The control unit of the brake-by-wire system sends a power limit command to the power system, and the power system reduces the output power according to the power limit parameter corresponding to the severity of the abnormality according to the command; The control unit monitors the actual speed of the vehicle and compares it with the speed limit parameter corresponding to the severity of the abnormality; when the actual speed exceeds the speed limit, the control unit reduces the vehicle speed to within the speed limit by adjusting the power system output power or applying appropriate braking; According to the reminder method corresponding to the severity of the abnormality, the corresponding reminder means are triggered; The control unit of the wire control brake system sends adjustment instructions to the brake energy recovery system. The brake energy recovery system adjusts parameters according to the brake energy recovery intensity corresponding to the severity of the abnormality, changing the motor's power generation mode and recovery ratio.

[0012] Optionally, the method further includes: During normal driving of the vehicle, the driver's braking operation data is collected; the braking operation data includes the pedal stepping force, the stepping frequency, and the stepping duration; Establishing a driver's personal braking habit database based on the braking operation data; When the pedal curve responsiveness needs to be adjusted, the adjustment parameters are optimized according to the driver's braking habit database; for drivers who are used to sudden braking, the feedback strength in the initial pedaling stage is increased when adjusting the pedal curve responsiveness; for drivers who are used to gentle braking, a gentler adjustment method is used; During the adjustment process, prompt information is sent to the driver through the vehicle's human-computer interaction system.

[0013] Optionally, the method further includes: According to the degree of impact of the abnormality on driving safety, the degree of urgency and the possible consequences, the abnormal conditions that may occur in the wire control brake system are divided into different categories; Set a priority order for each category of exceptions; When multiple abnormal conditions are detected at the same time, check whether there are conflicts between the abnormal protection actions corresponding to these abnormal conditions; the conflict includes that the control requirements of different protection actions on vehicle power, braking, and vehicle speed are contradictory or interfere with each other; Sort the currently detected multiple abnormal situations according to the priority of the abnormal situation; For protection actions that have conflicts but can be coordinated, the conflicts are resolved by adjusting the execution parameters or sequence of the actions; When conflicts between certain protection actions cannot be resolved through coordinated execution, the protection actions corresponding to the abnormal situations with lower priority levels are temporarily yielded; During the execution of abnormal protection actions, the vehicle status and abnormal situation changes are continuously monitored, and the execution of protection actions is dynamically adjusted according to the real-time situation; According to the determined execution sequence and parameters of the abnormal protection action, the control unit of the wire control brake system sends instructions to related systems to execute the abnormal protection action.

[0014] Optionally, the method further includes: Obtain the vehicle's current weather data based on weather forecast information and GPS positioning system; The vehicle's GPS positioning system obtains the vehicle's geographical location information and combines it with map data to determine the vehicle's current terrain and road type; According to the collected weather data, terrain and road type data, the corresponding abnormality judgment threshold is searched from the mapping table; The control unit updates the currently used abnormality judgment threshold to the found corresponding threshold.

[0015] In a second aspect, the abnormal protection device of the wire control brake system provided in the present application adopts the following technical solution.

[0016] The abnormal protection device of the wire control brake system is characterized by comprising: The first processing module is used to obtain real-time monitoring data through temperature sensors, pressure sensors and flow sensors arranged on the brake disc and the brake pipeline; A second processing module is used to: determine the working state of the brake-by-wire system based on the monitoring data; A third processing module is used to predict an abnormality of the braking system based on the historical braking data, the vehicle driving condition data and the monitoring data based on a pre-trained brake-by-wire system performance prediction model; A fourth processing module is used to: determine a final abnormal situation based on the working state judgment result and the predicted abnormal situation; The fifth processing module is used to: when the final abnormal situation is displayed as abnormal, execute pedal curve responsiveness adjustment action, power limit action, vehicle speed limit action and reminder action and adjust the braking energy recovery force according to the severity of the abnormality.

[0017] On the third aspect, the vehicle provided in this application adopts the following technical solution.

[0018] A vehicle comprises: a processor and a memory storing a program, wherein the program comprises instructions, and when the instructions are executed by the processor, the processor executes any one of the above-mentioned abnormal protection methods for a brake-by-wire system. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a flow chart of an abnormal protection method of a wire control brake system according to an embodiment of the present application; Figure 2 is a system block diagram of an abnormal protection device of a wire control brake system according to an embodiment of the present application; In the figure, 201 is a first processing module; 202 is a second processing module; 203 is a third processing module; 204 is a fourth processing module; 205 is a fifth processing module. DETAILED DESCRIPTION

[0020] The following is combined with Figure 1-2 The present application is further described with specific embodiments: The embodiment of the present application discloses an abnormality protection method for a wire control brake system, comprising the following steps: Step 101: Acquire real-time monitoring data through temperature sensors, pressure sensors, and flow sensors provided on the brake disc and brake pipeline.

[0021] Step 102: Determine the working state of the brake-by-wire system based on the monitoring data.

[0022] Step 103 : predicting abnormal conditions of the braking system based on the historical braking data, the vehicle driving condition data and the monitoring data and based on a pre-trained brake-by-wire system performance prediction model.

[0023] Step 104: Determine the final abnormal situation based on the working state judgment result and the predicted abnormal situation.

[0024] Step 105: When the final abnormal situation is displayed as abnormal, the pedal curve responsiveness adjustment action, the power limit action, the vehicle speed limit action and the reminder action are executed and the braking energy recovery strength is adjusted according to the severity of the abnormality.

[0025] Specifically, by installing temperature, pressure and flow sensors on the brake disc and brake pipe to obtain real-time monitoring data, using the pre-trained wire control brake system performance prediction model, integrating historical braking data, vehicle driving condition data and real-time monitoring data, the future abnormal conditions of the brake system are predicted. When it is finally determined to be abnormal, the pedal curve responsiveness adjustment, power limitation, speed limitation, reminder and adjustment of the braking energy recovery strength according to the severity of the abnormality are executed; the pedal curve responsiveness adjustment allows the driver to control the brake more accurately, the power limitation and speed limitation can reduce the risk of vehicle driving, and promptly remind the driver to take countermeasures. Adjusting the braking energy recovery strength takes into account energy efficiency while ensuring safety.

[0026] As a specific implementation of the abnormal protection method for a wire control brake system,.

[0027] Specifically, by calculating the statistical characteristics of the monitoring data, such as the mean, variance, and standard deviation, the central tendency and dispersion of the data can be grasped as a whole. The mean can reflect the average level of the data, while the variance and standard deviation reflect the fluctuation of the data. For example, if the variance of the pressure sensor data suddenly increases, it means that the pressure fluctuates violently, which may indicate potential problems in the braking system. Obtaining the change trend characteristics based on the monitoring data helps to dynamically understand the operating status of the braking system. The performance of the braking system usually changes over time. By analyzing the change trend of the data, such as rising, falling, or stable, abnormal changes in system performance can be discovered in time. For example, if the temperature of the brake disc continues to rise and the rate of increase exceeds the normal range, it may indicate that the brake disc is at risk of overheating. The statistical characteristics and change trend characteristics are compared with the normal working state feature template, and the extracted features are compared with the corresponding range in the template one by one. The normal working state feature template is established based on a large number of experimental and actual operation data, representing the performance of the braking system under normal conditions. Through comparison, it is possible to quickly identify which features are beyond the normal range, so as to accurately determine whether the system may be abnormal. The working status is determined based on the comparison results. If all features are within the normal range, the system is considered normal. If any feature exceeds the range, it is considered to be abnormal and the type of abnormal feature and the degree of deviation are recorded.

[0028] As a specific implementation of the abnormal protection method for a wire control brake system, the abnormal condition of the brake system is predicted based on the historical braking data, the vehicle driving condition data and the monitoring data based on a pre-trained wire control brake system performance prediction model, including: The historical braking data, vehicle driving condition data and real-time monitoring data are used as inputs to the pre-trained brake-by-wire system performance prediction model; The input data is analyzed and calculated using a pre-trained brake-by-wire system performance prediction model; the brake-by-wire system performance prediction model outputs the probability of abnormalities in the braking system in the future and possible abnormality types; The pre-trained brake-by-wire system performance prediction model is trained by the following steps: Collect some historical braking data, vehicle driving condition data and corresponding braking system status labels to build a training data set; Divide the training data set into training set and validation set; Build an initial model and train it using the training set; Use the validation set to verify and evaluate the trained initial model, and further adjust the model based on the evaluation results until the model confidence reaches the preset value.

[0029] Specifically, historical braking data covers the past operation information of the braking system, which can reflect its long-term performance and potential rules; vehicle driving condition data includes the impact of different road conditions, driving habits and other factors on the braking system; real-time monitoring data provides the actual current status of the braking system. When these multivariate data are input into the trained model, the model can conduct in-depth analysis and calculation of the input data, and output the probability of abnormalities in the braking system in the future and the possible types of abnormalities.

[0030] As a specific implementation of the abnormal protection method for the wire control brake system, the final abnormal situation is determined based on the working state judgment result and the predicted abnormal situation, including: According to the characteristics of the brake-by-wire system, actual application scenarios and analysis of historical data, corresponding weights are set for the working status judgment results and predicted abnormal conditions; For the working state judgment result, if it is judged that the brake-by-wire system is in a normal working state, the quantization value is set to 0; if it is judged that there may be an abnormal working state, a first quantization value is obtained according to the type and degree of deviation of the recorded abnormal characteristics; the first quantization value is a value between 0 and 1; wherein, the greater the degree of deviation, the closer the first quantization value is to 1; For the predicted abnormal situation, the probability of the brake system being abnormal in the future period of time output by the brake-by-wire system performance prediction model is used as a second quantitative value, and the second quantitative value is a value between 0 and 1; Multiplying the first quantized value of the working state judgment result by its corresponding weight, multiplying the second quantized value of the predicted abnormal situation by its corresponding weight, and then adding the two products to obtain a comprehensive quantized value; Determine the level of the final abnormal situation according to the threshold range of the comprehensive quantitative value; If both the working state judgment result and the predicted abnormal situation obtain abnormal types, the abnormal types of the two are compared; if the types are consistent, the abnormal type is used as the type of the final abnormal situation.

[0031] Specifically, the working state judgment result is quantified into a first quantization value between 0 and 1. The greater the deviation, the closer the value is to 1, which can intuitively reflect the degree of deviation of the current working state from the normal state; the predicted abnormal situation is taken as the abnormal probability output by the model as the second quantization value, which is also between 0 and 1, accurately reflecting the possibility of abnormalities in the future. The first quantization value and the second quantization value are multiplied by the corresponding weights and added together, and the obtained comprehensive quantization value combines the information of the working state and abnormal prediction. The level of the final abnormal situation is determined according to the threshold range of the comprehensive quantization value. Different abnormal levels can correspond to different processing strategies. For example, a mild abnormality may only require simple reminders and monitoring, while a severe abnormality requires immediate emergency measures to ensure the safety of vehicles and personnel. When the working state judgment result and the predicted abnormal situation both obtain abnormal types, the two are compared and used as the final abnormal type when the type is consistent, which improves the accuracy of abnormal type determination and effectively improves the accuracy of abnormal determination of the wire control brake system.

[0032] As one implementation of the abnormality protection method of the wire control brake system, when the final abnormal situation is displayed as abnormal, a pedal curve responsiveness adjustment action, a power limit action, a vehicle speed limit action and a reminder action are performed and the braking energy recovery strength is adjusted according to the severity of the abnormality, including: Extracting the abnormal severity information from the final abnormal situation determined based on the work status judgment result and the predicted abnormal situation; According to the pedal curve responsiveness adjustment parameter corresponding to the severity of the abnormality, the signal transmission relationship between the pedal force sensor and the brake actuator is adjusted through the control unit of the wire control brake system to achieve corresponding adjustment of the pedal curve responsiveness; The control unit of the brake-by-wire system sends a power limit command to the power system, and the power system reduces the output power according to the power limit parameter corresponding to the severity of the abnormality according to the command; The control unit monitors the actual speed of the vehicle and compares it with the speed limit parameter corresponding to the severity of the abnormality; when the actual speed exceeds the speed limit, the control unit reduces the vehicle speed to within the speed limit by adjusting the power system output power or applying appropriate braking; According to the reminder method corresponding to the severity of the abnormality, the corresponding reminder means are triggered; The control unit of the wire control brake system sends adjustment instructions to the brake energy recovery system. The brake energy recovery system adjusts parameters according to the brake energy recovery intensity corresponding to the severity of the abnormality, changing the motor's power generation mode and recovery ratio.

[0033] As one implementation of the abnormal protection method for a wire control brake system, the method further includes: During normal driving of the vehicle, the driver's braking operation data is collected; the braking operation data includes the pedal stepping force, the stepping frequency, and the stepping duration; Establishing a driver's personal braking habit database based on the braking operation data; When the pedal curve responsiveness needs to be adjusted, the adjustment parameters are optimized according to the driver's braking habit database; for drivers who are used to sudden braking, the feedback strength in the initial pedaling stage is increased when adjusting the pedal curve responsiveness; for drivers who are used to gentle braking, a gentler adjustment method is used; During the adjustment process, prompt information is sent to the driver through the vehicle's human-computer interaction system.

[0034] Specifically, when the vehicle is driving normally, brake operation data such as pedal stepping force, pedaling frequency, and pedaling duration are collected, and the driver's personal braking habit database is constructed based on this data. The braking habit database reflects the unique braking habits of each driver; for example, drivers who are accustomed to sudden braking have a large pedal stepping force, high frequency, and may have a short duration, while drivers who are accustomed to gentle braking are the opposite. For drivers who are accustomed to sudden braking, increasing the feedback force in the initial stepping stage can better fit their decisive and rapid braking style. When they step on the pedal, they can immediately feel obvious resistance feedback, avoiding excessive or insufficient braking due to insufficient feedback, and improving the safety of braking. For drivers who are accustomed to gentle braking, a gentler adjustment method is adopted, and they will not feel uncomfortable due to sudden strong feedback. During the adjustment process, the human-computer interaction system sends prompt information to the driver, and the driver can promptly understand that the pedal curve responsiveness is being adjusted and the general situation of the adjustment. For example, when the system detects that the pedal curve responsiveness needs to be adjusted according to the driver's braking habits, the driver is informed through voice prompts or screen displays to improve the driving experience. .

[0035] As one implementation of the abnormal protection method for a wire control brake system, the method further includes: According to the degree of impact of the abnormality on driving safety, the degree of urgency and the possible consequences, the abnormal conditions that may occur in the wire control brake system are divided into different categories; Set a priority order for each category of exceptions; When multiple abnormal conditions are detected at the same time, check whether there are conflicts between the abnormal protection actions corresponding to these abnormal conditions; the conflict includes that the control requirements of different protection actions on vehicle power, braking, and vehicle speed are contradictory or interfere with each other; Sort the currently detected multiple abnormal situations according to the priority of the abnormal situation; For protection actions that have conflicts but can be coordinated, the conflicts are resolved by adjusting the execution parameters or sequence of the actions; When conflicts between certain protection actions cannot be resolved through coordinated execution, the protection actions corresponding to the abnormal situations with lower priority levels are temporarily yielded; During the execution of abnormal protection actions, the vehicle status and abnormal situation changes are continuously monitored, and the execution of protection actions is dynamically adjusted according to the real-time situation; According to the determined execution sequence and parameters of the abnormal protection action, the control unit of the wire control brake system sends instructions to related systems to execute the abnormal protection action.

[0036] Specifically, the abnormal situations are classified and prioritized according to their impact on driving safety, urgency, and possible consequences. The abnormal protection actions of the wire control brake system involve the control of multiple key aspects such as vehicle power, braking, and vehicle speed. Different abnormal situations may trigger conflicting or interfering protection actions. For example, one abnormality may require increased braking force to stop the vehicle, while another abnormality may require reduced power output to maintain stable driving. If the conflict is not checked, it may lead to vehicle control confusion and cause more serious safety problems.

[0037] Sort the detected anomalies according to the priority of the abnormal situation, clarify the order of processing, and avoid improper processing due to confusion. For protection actions that have conflicts but can be coordinated and executed, the conflicts are resolved by adjusting the execution parameters or order. When the conflicts between certain protection actions cannot be coordinated and resolved, the protection actions corresponding to the abnormal situations with lower priorities are temporarily compromised, giving priority to ensuring that the abnormalities that have the greatest impact on driving safety are handled in a timely manner, avoiding losses due to small gains, and ensuring the overall safety of the vehicle. In the process of executing abnormal protection actions, the vehicle status and abnormal situation changes are continuously monitored, and the execution of protection actions is dynamically adjusted according to real-time conditions. According to the determined execution order and parameters of abnormal protection actions, instructions are sent to related systems through the control unit to execute protection actions, thereby enhancing the reliability and stability of the wire control brake system.

[0038] As one implementation of the abnormal protection method for a wire control brake system, the method further includes: Obtain the vehicle's current weather data based on weather forecast information and GPS positioning system; The vehicle's GPS positioning system obtains the vehicle's geographical location information and combines it with map data to determine the vehicle's current terrain and road type; According to the collected weather data, terrain and road type data, the corresponding abnormality judgment threshold is searched from the mapping table; The control unit updates the currently used abnormality judgment threshold to the found corresponding threshold.

[0039] The present application also provides an abnormal protection device for a wire control brake system, comprising: The first processing module 201 is used to obtain real-time monitoring data through temperature sensors, pressure sensors and flow sensors arranged on the brake disc and the brake pipeline; A second processing module 202 is used to determine the working state of the brake-by-wire system based on the monitoring data; The third processing module 203 is used to predict the abnormality of the braking system based on the historical braking data, the vehicle driving condition data and the monitoring data based on the pre-trained brake-by-wire system performance prediction model; The fourth processing module 204 is used to: determine the final abnormal situation based on the working state judgment result and the predicted abnormal situation; The fifth processing module 205 is used to: when the final abnormal situation is displayed as abnormal, execute pedal curve responsiveness adjustment action, power limit action, vehicle speed limit action and reminder action and adjust the braking energy recovery force according to the severity of the abnormality.

[0040] The present application also provides a vehicle, comprising: a processor, and a memory storing a program, wherein the program comprises instructions, and when the instructions are executed by the processor, the processor executes any one of the above-mentioned abnormal protection methods for the wire control brake system.

[0041] It should be noted that the above embodiments are only used to illustrate the present application and are not intended to limit the technical solutions described in the present application. Although the present application has been described in detail in this specification with reference to the above embodiments, a person of ordinary skill in the art should understand that a person of ordinary skill in the art can still modify or make equivalent substitutions to the present application, and all technical solutions and improvements thereof that do not depart from the spirit and scope of the present application should be included in the scope of the claims of the present application.

Claims

1. An abnormal protection method for a wire control brake system, characterized in that: include: Real-time monitoring data is obtained through temperature sensors, pressure sensors and flow sensors installed on the brake disc and brake pipes; determining the working state of the brake-by-wire system based on the monitoring data; Predicting abnormal conditions of the braking system based on the historical braking data, the vehicle driving condition data and the monitoring data based on a pre-trained brake-by-wire system performance prediction model; Determine the final abnormal situation based on the work status judgment result and the predicted abnormal situation; When the final abnormal situation is displayed as abnormal, pedal curve responsiveness adjustment action, power limitation action, vehicle speed limitation action and reminder action are executed and the braking energy recovery strength is adjusted according to the severity of the abnormality.

2. The abnormal protection method for a wire control brake system according to claim 1, characterized in that The step of determining the working state of the brake-by-wire system based on the monitoring data comprises: Calculate the statistical characteristics of the monitoring data; the statistical characteristics include: mean, variance and standard deviation; Obtaining change trend characteristics based on the monitoring data; Comparing the statistical features and the change trend features with a normal working state feature template; Compare the extracted features with the corresponding ranges in the feature template one by one to determine whether each feature is within the normal range; The working status of the brake-by-wire system is determined based on the comparison results; if all extracted features are within the normal range, the brake-by-wire system is judged to be in a normal working state; if one or more features are beyond the normal range, the brake-by-wire system may be judged to be in an abnormal working state, and the type and degree of deviation of the abnormal features are recorded.

3. The abnormality protection method of the wire control brake system according to claim 2, characterized in that: Based on the historical braking data, the vehicle driving condition data and the monitoring data, the abnormal condition of the braking system is predicted based on the pre-trained brake-by-wire system performance prediction model, including: The historical braking data, vehicle driving condition data and real-time monitoring data are used as inputs to the pre-trained brake-by-wire system performance prediction model; The input data is analyzed and calculated using a pre-trained brake-by-wire system performance prediction model; the brake-by-wire system performance prediction model outputs the probability of abnormalities in the braking system in the future and possible abnormality types; The pre-trained brake-by-wire system performance prediction model is trained by the following steps: Collect some historical braking data, vehicle driving condition data and corresponding braking system status labels to build a training data set; Divide the training data set into training set and validation set; Build an initial model and train it using the training set; Use the validation set to verify and evaluate the trained initial model, and further adjust the model based on the evaluation results until the model confidence reaches the preset value.

4. The abnormality protection method of the wire control brake system according to claim 3, characterized in that: The final abnormal situation is determined based on the work status judgment results and the predicted abnormal situation, including: According to the characteristics of the brake-by-wire system, actual application scenarios and analysis of historical data, corresponding weights are set for the working status judgment results and predicted abnormal conditions; For the working state judgment result, if it is judged that the brake-by-wire system is in a normal working state, the quantization value is set to 0; if it is judged that there may be an abnormal working state, a first quantization value is obtained according to the type and degree of deviation of the recorded abnormal characteristics; the first quantization value is a value between 0 and 1; wherein, the greater the degree of deviation, the closer the first quantization value is to 1; For the predicted abnormal situation, the probability of the brake system being abnormal in the future period of time output by the brake-by-wire system performance prediction model is used as a second quantitative value, and the second quantitative value is a value between 0 and 1; Multiplying the first quantized value of the working state judgment result by its corresponding weight, multiplying the second quantized value of the predicted abnormal situation by its corresponding weight, and then adding the two products to obtain a comprehensive quantized value; Determine the level of the final abnormal situation according to the threshold range of the comprehensive quantitative value; If both the working state judgment result and the predicted abnormal situation obtain abnormal types, the abnormal types of the two are compared; if the types are consistent, the abnormal type is used as the type of the final abnormal situation.

5. The abnormality protection method of the wire control brake system according to claim 4, characterized in that: When the final abnormal situation is displayed as abnormal, the pedal curve responsiveness adjustment action, power limit action, vehicle speed limit action and reminder action are executed and the braking energy recovery strength is adjusted according to the severity of the abnormality, including: Extracting the abnormal severity information from the final abnormal situation determined based on the work status judgment result and the predicted abnormal situation; According to the pedal curve responsiveness adjustment parameter corresponding to the severity of the abnormality, the signal transmission relationship between the pedal force sensor and the brake actuator is adjusted through the control unit of the wire control brake system to achieve corresponding adjustment of the pedal curve responsiveness; The control unit of the brake-by-wire system sends a power limit command to the power system, and the power system reduces the output power according to the power limit parameter corresponding to the severity of the abnormality according to the command; The control unit monitors the actual speed of the vehicle and compares it with the speed limit parameter corresponding to the severity of the abnormality; when the actual speed exceeds the speed limit, the control unit reduces the vehicle speed to within the speed limit by adjusting the power system output power or applying appropriate braking; According to the reminder method corresponding to the severity of the abnormality, the corresponding reminder means are triggered; The control unit of the wire control brake system sends adjustment instructions to the brake energy recovery system. The brake energy recovery system adjusts parameters according to the brake energy recovery intensity corresponding to the severity of the abnormality, changing the motor's power generation mode and recovery ratio.

6. The abnormality protection method of the wire control brake system according to claim 5, characterized in that: The method further comprises: During normal driving of the vehicle, the driver's braking operation data is collected; the braking operation data includes the pedal stepping force, the stepping frequency, and the stepping duration; Establishing a driver's personal braking habit database based on the braking operation data; When the pedal curve responsiveness needs to be adjusted, the adjustment parameters are optimized according to the driver's braking habit database; for drivers who are used to sudden braking, the feedback strength in the initial pedaling stage is increased when adjusting the pedal curve responsiveness; for drivers who are used to gentle braking, a gentler adjustment method is used; During the adjustment process, prompt information is sent to the driver through the vehicle's human-computer interaction system.

7. The abnormality protection method of the wire control brake system according to claim 6, characterized in that: The method further comprises: According to the degree of impact of the abnormality on driving safety, the degree of urgency and the possible consequences, the abnormal conditions that may occur in the wire control brake system are divided into different categories; Set a priority order for each category of exceptions; When multiple abnormal conditions are detected at the same time, check whether there are conflicts between the abnormal protection actions corresponding to these abnormal conditions; the conflict includes that the control requirements of different protection actions on vehicle power, braking, and vehicle speed are contradictory or interfere with each other; Sort the various abnormal situations currently detected according to their priority; For protection actions that have conflicts but can be coordinated, the conflicts are resolved by adjusting the execution parameters or sequence of the actions; When conflicts between certain protection actions cannot be resolved through coordinated execution, the protection actions corresponding to the abnormal situations with lower priority levels are temporarily yielded; During the execution of abnormal protection actions, the vehicle status and abnormal situation changes are continuously monitored, and the execution of protection actions is dynamically adjusted according to the real-time situation; According to the determined execution sequence and parameters of the abnormal protection action, the control unit of the wire control brake system sends instructions to related systems to execute the abnormal protection action.

8. The abnormality protection method of the wire control brake system according to claim 7, characterized in that: The method further comprises: Obtain the vehicle's current weather data based on weather forecast information and GPS positioning system; The vehicle's GPS positioning system obtains the vehicle's geographical location information and combines it with map data to determine the vehicle's current terrain and road type; According to the collected weather data, terrain and road type data, the corresponding abnormality judgment threshold is searched from the mapping table; The control unit updates the currently used abnormality judgment threshold to the found corresponding threshold.

9. An abnormal protection device for a wire control brake system, characterized in that: include: The first processing module is used to obtain real-time monitoring data through temperature sensors, pressure sensors and flow sensors arranged on the brake disc and the brake pipeline; A second processing module is used to: determine the working state of the brake-by-wire system based on the monitoring data; A third processing module is used to predict an abnormality of the braking system based on the historical braking data, the vehicle driving condition data and the monitoring data based on a pre-trained brake-by-wire system performance prediction model; A fourth processing module is used to: determine a final abnormal situation based on the working state judgment result and the predicted abnormal situation; The fifth processing module is used to: when the final abnormal situation is displayed as abnormal, execute pedal curve responsiveness adjustment action, power limit action, vehicle speed limit action and reminder action and adjust the braking energy recovery force according to the severity of the abnormality.

10. A vehicle comprising: A processor, and a memory storing a program, wherein the program includes instructions, and when the instructions are executed by the processor, the processor executes the abnormality protection method for a wire control brake system according to any one of claims 1-8.

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