Abnormal protection method, device and vehicle for a wire control braking system

Abstract

The present application relates to an abnormal protection method, device and vehicle for a wire control braking system, and relates to the technical field of wire control braking systems. The method includes: obtaining real-time monitoring data through temperature sensors, pressure sensors and flow sensors arranged on a brake disc and a brake pipeline; judging the working state of the wire control braking system based on the monitoring data; predicting abnormal conditions of the braking system based on historical braking data, vehicle driving condition data and the monitoring data by means of a pre-trained wire control braking system performance prediction model; determining a final abnormal condition based on the working state judgment result and the predicted abnormal conditions; when the final abnormal condition shows abnormality, performing a pedal curve responsiveness adjustment action, a power limit action, a vehicle speed limit action and a reminder action, and adjusting the braking energy recovery intensity according to the severity of the abnormality.

Description

Technical Field

[0001] The present application relates to the technical field of electronic brake systems, and in particular to an abnormal protection method, device and vehicle for an electronic brake system. Background Art

[0002] In the related art, when there are problems with the performance of the electronic brake system, the driver cannot be prompted in time, and the driving safety is relatively low.

[0003] When there is slight heat fade in the brake or slight leakage in the brake pipeline, the closed-loop control strategy of the decoupled brake system automatically replenishes the fluid, making it impossible for the driver to perceive the brake state through the "foot feeling", and still driving at a normal speed; when the problem is serious, the brake fails, which is likely to cause serious accidents.

[0004] How to solve the above technical problems is a technical problem that those skilled in the art need to solve. 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 an electronic brake system.

[0006] In a first aspect, the abnormal protection method for an electronic brake system provided by the present application adopts the following technical solutions.

[0007] An abnormal protection method for an electronic brake system includes:

[0008] Obtaining real-time monitoring data through temperature sensors, pressure sensors and flow sensors arranged on the brake disc and the brake pipeline;

[0009] Judging the working state of the electronic brake system based on the monitoring data;

[0010] Predicting the abnormal conditions of the brake system based on the historical braking data, vehicle driving condition data and the monitoring data by means of a pre-trained electronic brake system performance prediction model;

[0011] Determining the final abnormal conditions based on the working state judgment result and the predicted abnormal conditions;

[0012] When the final abnormal conditions show abnormality, perform pedal curve response adjustment actions, power limit actions, vehicle speed limit actions and reminder actions, and adjust the braking energy recovery intensity according to the abnormal severity.

[0013] Optionally, the step of judging the working state of the electronic brake system based on the monitoring data includes:

[0014] Calculating the statistical features of the monitoring data; the statistical features include: such as mean value, variance and standard deviation;

[0015] Obtain the change trend characteristics based on the monitoring data;

[0016] Compare the statistical characteristics and the change trend characteristics with the normal working state characteristic template;

[0017] Compare each extracted characteristic with the corresponding range in the characteristic template one by one to determine whether each characteristic is within the normal range;

[0018] Judge the working state of the electronic brake system according to the comparison result; if all the extracted characteristics are within the normal range, it is judged that the electronic brake system is in the normal working state; if there is one or more characteristics exceeding the normal range, it is judged that the electronic brake system may have an abnormal working state, and record the type and deviation degree of the abnormal characteristics.

[0019] Optionally, predict the abnormal conditions of the brake system based on the historical braking data, vehicle driving condition data and the monitoring data using a pre-trained electronic brake system performance prediction model, including:

[0020] Take the historical braking data, vehicle driving condition data and real-time monitoring data as inputs and input them into the pre-trained electronic brake system performance prediction model;

[0021] Use the pre-trained electronic brake system performance prediction model to analyze and calculate the input data; the electronic brake system performance prediction model outputs the probability of the brake system having an abnormality in a future period of time and the possible types of abnormalities;

[0022] The pre-trained electronic brake system performance prediction model is trained through the following steps:

[0023] Collect a number of historical braking data, vehicle driving condition data and the corresponding brake system state labels to construct a training data set;

[0024] Divide the training data set into a training set and a validation set;

[0025] Construct an initial model and use the training set to train the initial model;

[0026] Use the validation set to validate and evaluate the trained initial model, and further adjust the model according to the evaluation result until the model confidence reaches the preset value.

[0027] Optionally, determine the final abnormal conditions based on the working state judgment result and the predicted abnormal conditions, including:

[0028] According to the characteristics of the electronic brake system, the actual application scenario and the analysis of historical data, set corresponding weights for the working state judgment result and the predicted abnormal conditions respectively;

[0029] For the working state judgment result, if it is judged that the electronic stability program (ESP) 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 deviation degree of the recorded abnormal characteristics; the first quantization value is a value between 0 and 1; among them, the greater the deviation degree, the closer the first quantization value is to 1.

[0030] For the predicted abnormal situation, the probability that the braking system will be abnormal in the future period output by the ESP system performance prediction model is used as the second quantization value, and the second quantization value is a value between 0 and 1.

[0031] Multiply the first quantization value of the working state judgment result by its corresponding weight, multiply the second quantization value of the predicted abnormal situation by its corresponding weight, and then add the two products to obtain a comprehensive quantization value.

[0032] According to the threshold range where the comprehensive quantization value is located, determine the level of the final abnormal situation.

[0033] If both the working state judgment result and the predicted abnormal situation obtain the abnormal type, compare the abnormal types of the two; if the types are the same, use this abnormal type as the type of the final abnormal situation.

[0034] Optionally, when the final abnormal situation shows abnormality, perform actions such as adjusting the pedal curve responsiveness, power limit, vehicle speed limit, and reminder, and adjust the braking energy recovery intensity according to the abnormal severity, including:

[0035] Based on the final abnormal situation determined by the working state judgment result and the predicted abnormal situation, extract the abnormal severity information therein.

[0036] According to the pedal curve responsiveness adjustment parameters corresponding to the abnormal severity, the control unit of the ESP system adjusts the signal transmission relationship between the pedal force sensor and the brake actuator to achieve the corresponding adjustment of the pedal curve responsiveness.

[0037] The control unit of the ESP system sends a power limit command to the power system, and the power system reduces the output power according to the command according to the power limit parameters corresponding to the abnormal severity.

[0038] The control unit monitors the actual vehicle speed of the vehicle and compares it with the vehicle speed limit parameters corresponding to the abnormal severity; when the actual vehicle speed exceeds the limit vehicle speed, the control unit reduces the vehicle speed to within the limit vehicle speed by adjusting the output power of the power system or applying appropriate braking.

[0039] According to the reminder method corresponding to the abnormal severity, trigger the corresponding reminder means.

[0040] The control unit of the electronic brake system sends an adjustment instruction to the brake energy recovery system, and the brake energy recovery system changes the power generation mode and recovery ratio of the motor according to the adjustment parameters of the brake energy recovery intensity corresponding to the abnormal severity.

[0041] Optionally, the method further includes:

[0042] During normal vehicle driving, collect the driver's braking operation data; the braking operation data includes the pedal depression force, depression frequency, and depression duration;

[0043] Establish a braking habit database for the driver based on the braking operation data;

[0044] When adjusting the pedal curve responsiveness, personalize and optimize the adjustment parameters according to the driver's braking habit database; for drivers who are used to braking suddenly, increase the feedback force during the initial depression stage when adjusting the pedal curve responsiveness; for drivers who are used to gentle braking, adopt a more gentle adjustment method;

[0045] During the adjustment process, send a prompt message to the driver through the vehicle's human-machine interaction system.

[0046] Optionally, the method further includes:

[0047] Classify the possible abnormal situations of the electronic brake system into different categories according to the impact degree, emergency degree, and possible consequences of the abnormality on driving safety;

[0048] Set a priority order for each type of abnormal situation;

[0049] When multiple abnormal situations are detected simultaneously, check whether there are conflicts between the corresponding abnormal protection actions of these abnormal situations; the conflicts include that the control requirements of different protection actions for vehicle power, braking, and vehicle speed are contradictory or interfere with each other;

[0050] Sort the multiple currently detected abnormal situations according to the priority of the abnormal situations;

[0051] For protection actions with conflicts that can be coordinated for execution, resolve the conflicts by adjusting the execution parameters or order of the actions;

[0052] When the conflicts between some protection actions cannot be resolved by coordinated execution, make the protection actions corresponding to the abnormal situations with lower priorities temporarily give way;

[0053] During the execution of the abnormal protection actions, continuously monitor the vehicle's state and the changes in the abnormal situations, and dynamically adjust the execution of the protection actions according to the real-time situation;

[0054] According to the determined execution order and parameters of the abnormal protection actions, the control unit of the wire control braking system sends instructions to relevant systems to execute the abnormal protection actions.

[0055] Optionally, the method further includes:

[0056] Obtain the current weather data of the vehicle based on the weather forecast information and the GPS positioning system;

[0057] Obtain the geographical location information of the vehicle based on the GPS positioning system of the vehicle and combine the map data to judge the current terrain and road type of the vehicle;

[0058] Find the corresponding abnormal judgment threshold from the mapping table according to the collected weather data and terrain and road type data;

[0059] The control unit updates the currently used abnormal judgment threshold to the corresponding threshold found.

[0060] In a second aspect, the abnormal protection device of the wire control braking system provided by the present application adopts the following technical solution.

[0061] An abnormal protection device of a wire control braking system, characterized by including:

[0062] A first processing module, configured to: obtain real-time monitoring data through temperature sensors, pressure sensors, and flow sensors arranged on the brake disc and the brake pipeline;

[0063] A second processing module, configured to: judge the working state of the wire control braking system based on the monitoring data;

[0064] A third processing module, configured to: predict abnormal conditions of the braking system based on historical braking data, vehicle driving condition data, and the monitoring data based on a pre-trained wire control braking system performance prediction model;

[0065] A fourth processing module, configured to: determine the final abnormal condition based on the working state judgment result and the predicted abnormal condition;

[0066] A fifth processing module, configured to: when the final abnormal condition shows an abnormality, execute pedal curve responsiveness adjustment actions, power limit actions, vehicle speed limit actions, and reminder actions, and adjust the braking energy recovery intensity according to the abnormal severity.

[0067] In a third aspect, the vehicle provided by the present application adopts the following technical solution.

[0068] A vehicle, including: a processor, and a memory storing a program, the program including instructions that, when executed by the processor, cause the processor to execute any one of the above-mentioned abnormal protection methods of the wire control braking system. Description of the Drawings

[0069] Figure 1 is a flowchart of the abnormal protection method for the electronic brake system according to an embodiment of the present application;

[0070] Figure 2 is a system block diagram of the abnormal protection device for the electronic brake system according to an embodiment of the present application;

[0071] In the figure, 201 is the first processing module; 202 is the second processing module; 203 is the third processing module; 204 is the fourth processing module; 205 is the fifth processing module. Detailed Embodiment

[0072] The following further describes the present application in conjunction with the attached Figure 1-2 drawings and specific embodiments:

[0073] The embodiment of the present application discloses an abnormal protection method for an electronic brake system, including the following steps:

[0074] Step 101: Obtain real-time monitoring data through temperature sensors, pressure sensors, and flow sensors provided on the brake disc and brake pipeline.

[0075] Step 102: Judge the working state of the electronic brake system based on the monitoring data.

[0076] Step 103: Predict abnormal conditions of the brake system based on historical braking data, vehicle driving condition data, and the monitoring data using a pre-trained performance prediction model of the electronic brake system.

[0077] Step 104: Determine the final abnormal conditions based on the working state judgment result and the predicted abnormal conditions.

[0078] Step 105: When the final abnormal conditions show abnormality, perform actions such as adjusting the pedal curve responsiveness, power limit, vehicle speed limit, and reminder, and adjust the brake energy recovery intensity according to the severity of the abnormality.

[0079] Specifically, real-time monitoring data is obtained by setting temperature, pressure, and flow sensors on the brake disc and brake pipeline. Using a pre-trained performance prediction model of the electronic brake system, historical braking data, vehicle driving condition data, and real-time monitoring data are fused to predict future abnormal conditions of the brake system. When the final determination is abnormal, perform actions such as adjusting the pedal curve responsiveness, power limit, vehicle speed limit, reminder, and adjusting the brake energy recovery intensity according to the severity of the abnormality; adjusting the pedal curve responsiveness can enable the driver to more precisely control braking, power limit and vehicle speed limit can reduce the vehicle driving risk, timely remind the driver to take countermeasures, and adjusting the brake energy recovery intensity takes into account energy utilization efficiency while ensuring safety.

[0080] As a specific implementation of the abnormal protection method for the electronic stability program (ESP) system,

[0081] Specifically, calculating the statistical characteristics of the monitoring data, such as the mean, variance, and standard deviation, can grasp the central tendency and dispersion degree of the data 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 indicates that the pressure fluctuates violently, which may well indicate potential problems in the braking system. Obtaining the change trend characteristics based on the monitoring data helps to dynamically understand the operating state 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 the system performance can be detected in a timely manner. For example, if the temperature of the brake disc continues to rise and the rising rate exceeds the normal range, it may imply the risk of overheating of the brake disc. Comparing the statistical characteristics and change trend characteristics with the normal working state characteristic template, and comparing each extracted characteristic with the corresponding range in the template one by one. The normal working state characteristic template is established based on a large number of experiments and actual operation data, representing the performance of the braking system under normal conditions. Through comparison, it is possible to quickly identify which characteristics exceed the normal range, so as to accurately judge whether the system may be abnormal. Judging the working state according to the comparison result. If all characteristics are within the normal range, the system is determined to be normal. If there are characteristics beyond the range, it is determined that it may be abnormal and the type of abnormal characteristics and the degree of deviation are recorded.

[0082] As a specific implementation of the abnormal protection method for the electronic stability program (ESP) system, predicting the abnormal situation of the braking system based on historical braking data, vehicle driving condition data, and the monitoring data using a pre-trained performance prediction model for the electronic stability program (ESP) system, including:

[0083] Taking the historical braking data, vehicle driving condition data, and real-time monitoring data as inputs and inputting them into the pre-trained performance prediction model for the electronic stability program (ESP) system;

[0084] Using the pre-trained performance prediction model for the electronic stability program (ESP) system to analyze and calculate the input data; the performance prediction model for the electronic stability program (ESP) system outputs the probability of the braking system being abnormal in a future period of time and the possible types of abnormalities;

[0085] The pre-trained performance prediction model for the electronic stability program (ESP) system is trained through the following steps:

[0086] Collecting a number of historical braking data, vehicle driving condition data, and the corresponding braking system status labels to construct a training data set;

[0087] Dividing the training data set into a training set and a validation set;

[0088] Construct an initial model and train the initial model using a training set;

[0089] Validate and evaluate the trained initial model using a validation set, and further adjust the model according to the evaluation results until the model confidence reaches a preset value.

[0090] Specifically, historical braking data covers the past operating information of the braking system and can reflect its long-term performance and potential patterns; vehicle driving condition data contains the impacts of different road conditions, driving habits, etc. on the braking system; real-time monitoring data provides the current actual state of the braking system. When these multi-source data are input into the trained model, the model can conduct in-depth analysis and calculation on the input data and output the probability of the braking system having an abnormality in a future period of time and the possible types of abnormalities.

[0091] As a specific implementation manner of the abnormality protection method for the wire-controlled braking system, determine the final abnormal situation based on the working state judgment result and the predicted abnormal situation, including:

[0092] According to the characteristics of the wire-controlled braking system, the actual application scenario, and the analysis of historical data, set corresponding weights for the working state judgment result and the predicted abnormal situation respectively;

[0093] For the working state judgment result, if it is judged that the wire-controlled braking 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, obtain a first quantization value according to the type and deviation degree of the recorded abnormal characteristics; the first quantization value is a value between 0 and 1; among them, the greater the deviation degree, the closer the first quantization value is to 1;

[0094] For the predicted abnormal situation, use the probability of the braking system having an abnormality in a future period of time output by the wire-controlled braking system performance prediction model as the second quantization value, and the second quantization value is a value between 0 and 1;

[0095] Multiply the first quantization value of the working state judgment result by its corresponding weight, multiply the second quantization value of the predicted abnormal situation by its corresponding weight, and then add the two products to obtain a comprehensive quantization value;

[0096] Determine the level of the final abnormal situation according to the threshold range where the comprehensive quantization value is located;

[0097] If both the working state judgment result and the predicted abnormal situation obtain abnormal types, compare the abnormal types of both; if the types are the same, use this abnormal type as the type of the final abnormal situation.

[0098] Specifically, the working state judgment result is quantified into a first quantization value between 0 and 1. The greater the deviation degree, the closer this 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 takes the abnormal probability output by the model as the second quantization value, which is also between 0 and 1, accurately reflecting the possibility of future abnormalities. The first quantization value and the second quantization value are multiplied by their corresponding weights and then added together. The obtained comprehensive quantization value combines the information of both the working state and the abnormal prediction. According to the threshold range where the comprehensive quantization value is located, the level of the final abnormal situation is determined. Different abnormal levels can correspond to different processing strategies. For example, for mild abnormalities, simple reminders and monitoring may be sufficient, while for severe abnormalities, immediate emergency measures need to be taken to ensure the safety of the vehicle and personnel. When both the working state judgment result and the predicted abnormal situation result in abnormal types, they are compared, and when the types are the same, it is used as the final abnormal type, improving the accuracy of abnormal type determination and effectively enhancing the accuracy of abnormal determination of the electronic stability program.

[0099] As one implementation of the abnormal protection method for the electronic stability program, when the final abnormal situation shows abnormality, perform pedal curve responsiveness adjustment actions, power limit actions, vehicle speed limit actions, and reminder actions, and adjust the braking energy recovery intensity according to the abnormal severity, including:

[0100] Based on the final abnormal situation determined by the working state judgment result and the predicted abnormal situation, extract the abnormal severity information therein;

[0101] According to the pedal curve responsiveness adjustment parameters corresponding to the abnormal severity, through the control unit of the electronic stability program, adjust the signal transmission relationship between the pedal force sensor and the brake actuator to achieve the corresponding adjustment of the pedal curve responsiveness;

[0102] The control unit of the electronic stability program sends a power limit instruction to the power system, and the power system reduces the output power according to the instruction according to the power limit parameters corresponding to the abnormal severity;

[0103] The control unit monitors the actual vehicle speed of the vehicle and compares it with the vehicle speed limit parameters corresponding to the abnormal severity; when the actual vehicle speed exceeds the limit vehicle speed, the control unit reduces the vehicle speed to within the limit vehicle speed by adjusting the output power of the power system or applying appropriate braking;

[0104] According to the reminder method corresponding to the abnormal severity, trigger the corresponding reminder means;

[0105] The control unit of the electronic stability program sends an adjustment instruction to the braking energy recovery system, and the braking energy recovery system changes the power generation mode and recovery ratio of the motor according to the braking energy recovery intensity adjustment parameters corresponding to the abnormal severity.

[0106] As one implementation of the abnormal protection method for a wire control brake system, the method further includes:

[0107] 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;

[0108] Establishing a driver's personal braking habit database based on the braking operation data;

[0109] 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;

[0110] During the adjustment process, prompt information is sent to the driver through the vehicle's human-computer interaction system.

[0111] 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. .

[0112] As one implementation of the abnormal protection method for a wire control brake system, the method further includes:

[0113] 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;

[0114] Set a priority order for each category of exceptions;

[0115] When multiple abnormal situations are detected simultaneously, check whether there are conflicts between the corresponding abnormal protection actions for these abnormal situations; the conflicts include that the control requirements of different protection actions for vehicle power, braking, and vehicle speed are contradictory or interfere with each other.

[0116] Sort the multiple currently detected abnormal situations according to the priority of the abnormal situations.

[0117] For protection actions that have conflicts but can be coordinated for execution, resolve the conflicts by adjusting the execution parameters or order of the actions.

[0118] When the conflicts between some protection actions cannot be resolved by coordinated execution, make the protection actions corresponding to the abnormal situations with lower priority temporarily give way.

[0119] During the execution of the abnormal protection actions, continuously monitor the vehicle state and the changes in the abnormal situations, and dynamically adjust the execution of the protection actions according to the real-time situation.

[0120] According to the determined execution order and parameters of the abnormal protection actions, send instructions to relevant systems through the control unit of the electronic brake system to execute the abnormal protection actions.

[0121] Specifically, classify the abnormal situations and set the priority order according to the degree of influence on driving safety, the urgency, and the possible consequences of the abnormality. The abnormal protection actions of the electronic brake system involve the control of multiple key aspects such as vehicle power, braking, and vehicle speed. Different abnormal situations may trigger contradictory or interfering protection actions. For example, one abnormality may require increasing the braking force to stop the vehicle, while another abnormality may require reducing the power output to maintain stable driving. If conflicts are not checked, it may lead to chaotic vehicle control and cause more serious safety problems.

[0122] Sort the detected abnormalities according to the priority of the abnormal situations to clarify the order of handling and avoid improper handling due to chaos. For protection actions that have conflicts but can be coordinated for execution, resolve the conflicts by adjusting the execution parameters or order. When the conflicts between some protection actions cannot be coordinated and resolved, let the protection actions corresponding to the abnormal situations with lower priority temporarily give way to ensure that the abnormalities with the greatest impact on driving safety are processed in a timely manner, avoid losing the big for the small, and ensure the overall safety of the vehicle. Continuously monitor the vehicle state and the changes in the abnormal situations during the execution of the abnormal protection actions, and dynamically adjust the execution of the protection actions according to the real-time situation. According to the determined execution order and parameters of the abnormal protection actions, send instructions to relevant systems through the control unit to execute the protection actions, which enhances the reliability and stability of the electronic brake system.

[0123] As one implementation manner of the abnormal protection method of the electronic brake system, the method further includes:

[0124] Obtain the current weather data of the vehicle based on the weather forecast information and the GPS positioning system;

[0125] Obtain the geographical location information of the vehicle based on the vehicle's GPS positioning system and determine the current terrain and road type of the vehicle in combination with the map data;

[0126] Search for the corresponding abnormal judgment threshold from the mapping table according to the collected weather data and terrain and road type data;

[0127] The control unit updates the currently used abnormal judgment threshold to the corresponding threshold found.

[0128] The present application also provides an abnormal protection device for a wire control braking system, including:

[0129] The first processing module 201 is used to: obtain real-time monitoring data through the temperature sensors, pressure sensors, and flow sensors arranged on the brake disc and the brake pipeline;

[0130] The second processing module 202 is used to: judge the working state of the wire control braking system based on the monitoring data;

[0131] The third processing module 203 is used to: predict the abnormal situation of the braking system based on the historical braking data, vehicle driving condition data, and the monitoring data based on a pre-trained wire control braking system performance prediction model;

[0132] 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;

[0133] The fifth processing module 205 is used to: when the final abnormal situation shows an abnormality, perform pedal curve responsiveness adjustment actions, power limit actions, vehicle speed limit actions, and reminder actions and adjust the braking energy recovery intensity according to the abnormal severity.

[0134] The present application also provides a vehicle, including: a processor, and a memory storing a program, the program includes 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 braking system.

[0135] It should be noted that: the above embodiments are only used to illustrate the present application and do not limit the technical solutions described in the present application. Although this specification has described the present application in detail with reference to the above embodiments, those of ordinary skill in the art should understand that those skilled in the technical field can still modify the present application or make equivalent replacements, and all technical solutions and their improvements that do not depart from the spirit and scope of the present application should be covered within the scope of the claims of the present application.

Claims

1. An abnormal protection method for a wire control braking system, characterized in that, Including: Obtaining real-time monitoring data through temperature sensors, pressure sensors, and flow sensors set on the brake disc and brake pipeline; Judging the working state of the electronic brake system based on the monitoring data; Predicting abnormal conditions of the braking system based on historical braking data, vehicle driving condition data, and the monitoring data using a pre-trained performance prediction model of the electronic brake system; Determining the final abnormal condition based on the working state judgment result and the predicted abnormal condition; When the final abnormal condition shows abnormality, performing actions such as adjusting the pedal curve responsiveness, power limit, vehicle speed limit, and reminder, and adjusting the braking energy recovery intensity according to the severity of the abnormality; The step of judging the working state of the electronic brake system based on the monitoring data includes: Calculating the statistical characteristics of the monitoring data; the statistical characteristics include: mean, variance, and standard deviation; Obtaining the change trend characteristics based on the monitoring data; Comparing the statistical characteristics and the change trend characteristics with the normal working state characteristic template; Comparing each extracted characteristic with the corresponding range in the characteristic template one by one to judge whether each characteristic is within the normal range; Judging the working state of the electronic brake system according to the comparison result; if all the extracted characteristics are within the normal range, it is judged that the electronic brake system is in a normal working state; if there is one or more characteristics outside the normal range, it is judged that the electronic brake system may have an abnormal working state, and record the type and deviation degree of the abnormal characteristics; Predicting abnormal conditions of the braking system based on historical braking data, vehicle driving condition data, and the monitoring data using a pre-trained performance prediction model of the electronic brake system, including: Taking historical braking data, vehicle driving condition data, and real-time monitoring data as inputs and inputting them into a pre-trained performance prediction model of the electronic brake system; Analyzing and calculating the input data using the pre-trained performance prediction model of the electronic brake system; the performance prediction model of the electronic brake system outputs the probability of abnormality and possible abnormal types of the braking system in a future period of time; The pre-trained performance prediction model of the electronic brake system is trained through the following steps: Collecting a number of historical braking data, vehicle driving condition data, and corresponding braking system state labels to construct a training data set; Dividing the training data set into a training set and a validation set; Constructing an initial model and training the initial model using the training set; Validating and evaluating the trained initial model using the validation set, and further adjusting the model according to the evaluation result until the model confidence reaches a preset value.

2. The abnormal protection method of the wire control braking system according to claim 1, characterized in that Determining the final abnormal condition based on the working state judgment result and the predicted abnormal condition, including: Setting corresponding weights for the working state judgment result and the predicted abnormal condition respectively according to the characteristics of the electronic brake system, the actual application scenario, and the analysis of historical data; 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.

3. The abnormal protection method of the wire control braking system according to claim 2, 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 an adjustment instruction to the brake energy recovery system, and the brake energy recovery system adjusts the parameters according to the brake energy recovery intensity corresponding to the severity of the abnormality, and changes the power generation mode and recovery ratio of the motor.

4. The abnormal protection method for the wire control braking system according to claim 3, 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.

5. The abnormal protection method for the wire control braking system according to claim 4, characterized in that, The method further comprises: Based on the impact degree, urgency, and possible consequences of the anomaly on driving safety, the possible anomalies that may occur in the wire control braking system are classified into different categories; Set a priority order for each type of anomaly; When multiple anomalies are detected simultaneously, check whether there are conflicts between the corresponding anomaly protection actions for these anomalies; the conflicts include that the control requirements of different protection actions for vehicle power, braking, and vehicle speed are contradictory or interfere with each other; Sort the multiple anomalies currently detected according to the anomaly priority; For protection actions with conflicts that can be coordinated for execution, resolve the conflicts by adjusting the execution parameters or order of the actions; When the conflicts between some protection actions cannot be resolved by coordinated execution, make the protection actions corresponding to the anomalies with lower priority temporarily give way; During the execution of the anomaly protection actions, continuously monitor the vehicle state and the changes in the anomalies, and dynamically adjust the execution of the protection actions according to the real-time situation; According to the determined execution order and parameters of the anomaly protection actions, send instructions to relevant systems through the control unit of the wire control braking system to execute the anomaly protection actions.

6. The abnormal protection method of the wire control braking system according to claim 5, characterized in that The method further includes: Obtain the current weather data of the vehicle based on the weather forecast information and the GPS positioning system; Obtain the geographical location information of the vehicle based on the vehicle's GPS positioning system and combine the map data to judge the current terrain and road type of the vehicle; Search for the corresponding anomaly judgment threshold from the mapping table according to the collected weather data and terrain and road type data; The control unit updates the currently used anomaly judgment threshold to the found corresponding threshold.

7. An abnormal protection device for a wire control braking system, which is used to implement the abnormal protection method of the wire control braking system according to any one of claims 1-6, characterized in that, Including: 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 brake pipeline; The second processing module is used to: judge the working state of the wire control braking system based on the monitoring data; The third processing module is used to: predict the anomalies of the braking system based on the historical braking data, vehicle driving condition data, and the monitoring data based on a pre-trained wire control braking system performance prediction model; The fourth processing module is used to: determine the final anomaly based on the working state judgment result and the predicted anomalies; The fifth processing module is used to: when the final anomaly shows an anomaly, execute the pedal curve responsiveness adjustment action, power limit action, vehicle speed limit action, and reminder action, and adjust the braking energy recovery intensity according to the anomaly severity.

8. A vehicle, comprising: A processor and a memory storing a program, characterized in that the program includes instructions that, when executed by the processor, cause the processor to execute the anomaly protection method of the wire control braking system according to any one of claims 1-6.

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