Automobile brake monitoring method, vehicle-mounted controller, system and automobile

Abstract

The invention discloses an automobile brake monitoring method, a vehicle-mounted controller, a system and an automobile. The method comprises the steps that the current pedal travel and current monitoring data of the automobile braking system in the braking process are obtained; determining a current braking curve according to the current pedal travel and the current monitoring data; and performing risk monitoring on the automobile braking system according to the current braking curve and a preset braking curve. According to the method, risk monitoring is carried out on the automobile braking system according to the current braking curve and the preset braking curve, the risk existing in the automobile braking system can be monitored in real time in the braking process of the automobile braking system, and the safety performance of the automobile braking system is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle braking, and particularly to a vehicle braking monitoring method, an in-vehicle controller, a system and a vehicle. Background Art

[0002] Currently, the risk monitoring of a vehicle braking system is usually achieved by monitoring the amount of brake fluid in the vehicle braking system. Specifically, a liquid level sensor is used to monitor the amount of brake fluid in the vehicle braking system. When the liquid level sensor detects a signal that the amount of brake fluid is lower than the set scale, the signal is sent to the vehicle instrument for an alarm, and the customer is reminded to check the vehicle braking system. However, only monitoring the amount of brake fluid in the vehicle braking system lacks the monitoring of the braking process of the vehicle braking system, and cannot monitor in real time the leakage of brake fluid or other risks in the vehicle braking system. There is a lag in the risk identification of the vehicle braking system, resulting in certain braking safety risks in the vehicle braking system. Therefore, how to monitor in real time the risks in the braking process of the vehicle braking system to improve the safety performance of the vehicle braking system is an urgent problem to be solved currently. Summary of the Invention

[0003] Embodiments of the present invention provide a vehicle braking monitoring method, an in-vehicle controller, a system and a vehicle to solve the problem of how to monitor in real time the risks in the braking process of the vehicle braking system.

[0004] A vehicle braking monitoring method includes:

[0005] Obtaining a current pedal stroke and current monitoring data of the vehicle braking system during a braking process;

[0006] Determining a current braking curve according to the current pedal stroke and the current monitoring data;

[0007] Performing risk monitoring on the vehicle braking system according to the current braking curve and a preset braking curve.

[0008] Preferably, the obtaining a current pedal stroke and current monitoring data of the vehicle braking system during a braking process includes:

[0009] Obtaining a current pedal stroke and a current brake fluid pressure of the vehicle braking system during a braking process;

[0010] Preferably, the determining a current braking curve according to the current pedal stroke and the current monitoring data includes:

[0011] Obtaining a current pedal stroke - brake fluid pressure curve according to the current pedal stroke and the current brake fluid pressure;

[0012] Preferably, the risk monitoring of the vehicle braking system according to the current braking curve and the preset braking curve includes:

[0013] Performing risk monitoring on the vehicle braking system according to the current pedal travel - brake fluid pressure curve and the preset pedal travel - brake fluid pressure curve.

[0014] Preferably, the obtaining of the current pedal travel and the current monitoring data of the vehicle braking system during braking includes:

[0015] Obtaining the current pedal travel and the current braking deceleration of the vehicle braking system during braking;

[0016] Preferably, the determining of the current braking curve according to the current pedal travel and the current monitoring data includes:

[0017] Obtaining the current pedal travel - braking deceleration curve according to the current pedal travel and the current braking deceleration;

[0018] Preferably, the risk monitoring of the vehicle braking system according to the current braking curve and the preset braking curve includes:

[0019] Performing risk monitoring on the vehicle braking system according to the current pedal travel - braking deceleration curve and the preset pedal travel - braking deceleration curve.

[0020] Preferably, the preset braking curve includes a first braking curve and a second braking curve;

[0021] The risk monitoring of the vehicle braking system according to the current braking curve and the preset braking curve includes:

[0022] Comparing the current braking curve with the first braking curve and the second braking curve;

[0023] If the current braking curve is between the first braking curve and the second braking curve, it is determined that there is no risk in the vehicle braking system;

[0024] If the current braking curve is not between the first braking curve and the second braking curve, it is determined that there is a risk in the vehicle braking system.

[0025] Preferably, before the obtaining of the current pedal travel and the current monitoring data of the vehicle braking system during braking, the vehicle braking monitoring method further includes:

[0026] Obtaining the historical pedal travel and the historical monitoring data of the vehicle braking system during normal braking;

[0027] Determine a historical braking curve based on the historical pedal travel and the historical monitoring data;

[0028] Based on the historical braking curve and a preset error threshold, determine the first braking curve and the second braking curve.

[0029] Preferably, after determining that there is a risk in the vehicle braking system, the vehicle braking monitoring method further includes:

[0030] Determine a target braking deviation based on the current braking curve, the first braking curve, and the second braking curve;

[0031] If the target braking deviation is less than a preset deviation threshold, output a low-risk warning signal;

[0032] If the target braking deviation is not less than the preset deviation threshold, output a high-risk warning signal.

[0033] Preferably, the determining the target braking deviation based on the current braking curve, the first braking curve, and the second braking curve includes:

[0034] Determine a first braking deviation based on the current braking curve and the first braking curve;

[0035] Determine a second braking deviation based on the current braking curve and the second braking curve;

[0036] Determine the smaller value of the first braking deviation and the second braking deviation as the target braking deviation.

[0037] A vehicle-mounted controller includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the above vehicle braking monitoring method is implemented.

[0038] A vehicle braking monitoring system includes the above vehicle-mounted controller and the vehicle braking system. The vehicle braking system includes a pedal travel depth sensor and a monitoring data sensor; the pedal travel depth sensor is used to obtain the current pedal travel during the braking process of the vehicle braking system; the monitoring data sensor is used to obtain the current monitoring data corresponding to each current pedal travel during the braking process of the vehicle braking system; the vehicle-mounted controller is connected to the vehicle braking system and is used to implement the above vehicle braking monitoring method.

[0039] A vehicle includes the above vehicle braking monitoring system.

[0040] The above-mentioned vehicle braking monitoring method, vehicle-mounted controller, system and vehicle obtain the current pedal travel and current monitoring data during the braking process of the vehicle braking system, determine the current braking curve according to the current pedal travel and current monitoring data; and perform risk monitoring on the vehicle braking system according to the current braking curve and the preset braking curve, which can realize real-time monitoring of the risks existing in the vehicle braking system during the braking process of the vehicle braking system and improve the safety performance of the vehicle braking system. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to these drawings.

[0042] Figure 1 is a flowchart of a vehicle braking monitoring method according to an embodiment of the present invention;

[0043] Figure 2 is Figure 1 a flowchart of step S103 therein;

[0044] Figure 3 is Figure 1 a flowchart of the steps before step S101 therein;

[0045] Figure 4 is Figure 2 a flowchart of the steps after step S203 therein;

[0046] Figure 5 is Figure 4 another flowchart of step S401 therein;

[0047] Figure 6 is a schematic diagram of a vehicle-mounted controller according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0048] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0049] The embodiments of the present invention provide a vehicle braking monitoring method, which is used to achieve the purpose of real-time monitoring of the risks of the vehicle braking system during braking and improve the safety performance of the vehicle braking system.

[0050] In one embodiment, as Figure 1 shown, a vehicle braking monitoring method is provided. Taking the vehicle-mounted controller in Figure 6 as an example, the method includes the following steps:

[0051] S101: Obtain the current pedal stroke and current monitoring data of the vehicle braking system during the braking process;

[0052] S102: Determine the current braking curve according to the current pedal stroke and current monitoring data;

[0053] S103: Perform risk monitoring on the vehicle braking system according to the current braking curve and the preset braking curve.

[0054] Among them, the current pedal stroke refers to the pedal stroke of the vehicle braking system monitored at the current moment during the braking process. The current monitoring data refers to the data monitored at the current moment for risk monitoring of the vehicle braking system.

[0055] As an example, in step S101, when the vehicle-mounted controller determines that the vehicle braking system is in the braking state, it obtains the pedal stroke and monitoring data generated by the vehicle braking system during the braking process, determines the pedal stroke as the current pedal stroke, and determines the monitoring data as the current monitoring data respectively. Both the current pedal stroke and the current monitoring data are time-related, that is, both carry the time stamp corresponding to the current moment, so as to determine the current braking curve based on the current pedal stroke and current monitoring data corresponding to different time stamps in the subsequent process.

[0056] Among them, the current braking curve refers to the curve determined according to the current pedal stroke and current monitoring data during the braking process of the vehicle braking system.

[0057] As an example, in step S102, after the vehicle-mounted controller obtains the current pedal stroke at each moment during the braking process of the vehicle braking system and the current monitoring data corresponding to the current pedal stroke at each moment, it determines the current braking curve according to the corresponding relationship between the current pedal stroke and the current monitoring data. In this example, the current pedal stroke at each moment during the braking process of the vehicle braking system and the current monitoring data corresponding to the current pedal stroke at each moment are corresponding in the plane coordinate system to form the current braking curve. Specifically, the current pedal stroke obtained at each moment is used as the abscissa of the plane coordinate system, and the current monitoring data corresponding to the current pedal stroke at each moment is used as the ordinate of the plane coordinate system to obtain the current braking curve. In this example, determining the current braking curve according to the current pedal stroke and the current monitoring data corresponding to the current pedal stroke is convenient for subsequent real-time monitoring of the vehicle braking system during the braking process according to the current braking curve.

[0058] Among them, the preset braking curve is a curve preset for determining whether there is a risk in the braking process of the vehicle braking system.

[0059] As an example, in step S103, during the braking process of the vehicle braking system, after the vehicle-mounted controller determines the current braking curve according to the current pedal stroke and the current monitoring data, it compares and analyzes the current braking curve with the preset braking curve to determine whether there is a risk in the braking process of the vehicle braking system. For example, obtain the difference between the current braking curve and the preset braking curve. If the difference is within the reasonable difference range, it is determined that there is no risk in the braking process of the vehicle braking system; if the difference is not within the reasonable difference range, it is determined that there is a risk in the braking process of the vehicle braking system. In this example, by monitoring the risk of the vehicle braking system according to the current braking curve and the preset braking curve, it is possible to realize real-time monitoring of the risks existing in the vehicle braking system during the braking process of the vehicle braking system, and improve the safety performance of the vehicle braking system.

[0060] In this embodiment, the current pedal stroke and the current monitoring data during the braking process of the vehicle braking system are obtained, and the current braking curve is determined according to the current pedal stroke and the current monitoring data; by monitoring the risk of the vehicle braking system according to the current braking curve and the preset braking curve, it is possible to realize real-time monitoring of the risks existing in the vehicle braking system during the braking process of the vehicle braking system, and improve the safety performance of the vehicle braking system.

[0061] In one embodiment, a vehicle braking monitoring method is provided. Taking the vehicle-mounted controller in Figure 6 as an example for illustration, the method includes the following steps:

[0062] A101: Obtain the current pedal stroke and the current brake fluid pressure during the braking process of the vehicle braking system;

[0063] A102: Obtain the current pedal stroke - brake fluid pressure curve according to the current pedal stroke and the current brake fluid pressure;

[0064] A103: Monitor the risk of the vehicle braking system according to the current pedal stroke - brake fluid pressure curve and the preset pedal stroke - brake fluid pressure curve.

[0065] Among them, step A101 is a specific implementation manner of step S101, step A102 is a specific implementation manner of step S102, and step A103 is a specific implementation manner of step S103.

[0066] As an example, in step A101, when the vehicle-mounted controller determines that the vehicle braking system is in a braking state, it obtains the pedal travel and braking fluid pressure generated during the braking process of the vehicle braking system, and determines them as the current pedal travel and the current braking fluid pressure respectively. Both the current pedal travel and the current braking fluid pressure are related to time, that is, both carry the time stamp corresponding to the current moment, so as to determine the feasibility of the current pedal travel - braking fluid pressure curve based on the current pedal travel and the current braking fluid pressure corresponding to different time stamps in the subsequent process.

[0067] Among them, the current pedal travel - braking fluid pressure curve refers to the corresponding relationship curve of the current pedal travel and the current braking fluid pressure determined according to the current pedal travel during the braking process of the vehicle braking system and the current braking fluid pressure corresponding to each current pedal travel. For example, the current pedal travel - braking fluid pressure curve can have the current pedal travel at each moment during the braking process of the vehicle braking system as the abscissa, and the current braking fluid pressure corresponding to the current pedal travel at each moment during the braking process of the vehicle braking system as the ordinate.

[0068] As an example, in step A102, after the vehicle-mounted controller obtains the current pedal travel and the current braking fluid pressure during the braking process of the vehicle braking system, it performs a fitting process on the current pedal travel and the current braking fluid pressure corresponding to each current pedal travel to obtain the current pedal travel - braking fluid pressure curve corresponding to the vehicle braking system. In this example, the abscissa of the current pedal travel - braking fluid pressure curve is the current pedal travel, and the ordinate is the current braking fluid pressure corresponding to each current pedal travel. In this example, fitting the current pedal travel and the current braking fluid pressure to determine the current pedal travel - braking fluid pressure curve is convenient for determining whether there is a risk in the vehicle braking system according to the current pedal travel - braking fluid pressure curve in the subsequent process.

[0069] As an example, in step A103, after the vehicle-mounted controller obtains the current pedal travel - brake fluid pressure curve corresponding to the braking process of the vehicle braking system, it compares the current pedal travel - brake fluid pressure curve with the preset pedal travel - brake fluid pressure curve corresponding to the normal braking process to determine whether there is a risk during the braking process of the vehicle braking system, so as to achieve the purpose of risk monitoring of the vehicle braking system. In this example, the preset pedal travel - brake fluid pressure curve is formed by fitting the historical pedal travel and the historical brake fluid pressure. Among them, the historical pedal travel refers to the pedal travel of the vehicle braking system monitored during the normal braking process before the current moment, and the historical brake fluid pressure refers to the brake fluid pressure of the vehicle braking system monitored during the normal braking process before the current moment. In the preset pedal travel - brake fluid pressure curve, the historical pedal travel is used as the abscissa, and the historical brake fluid pressure corresponding to the historical pedal travel is used as the ordinate. The vehicle-mounted controller can calculate the difference between the current brake fluid pressure corresponding to each current pedal travel and the historical brake fluid pressure corresponding to the historical pedal travel of the same magnitude to obtain a difference range, and monitor the risk of the vehicle braking system according to whether the difference range is within the normal difference range. If the difference range is within the normal difference range, it is determined that there is no risk in the vehicle braking system; if the difference range is not within the normal difference range, it is determined that there is a risk in the vehicle braking system. In this example, according to the current pedal travel - brake fluid pressure curve and the preset pedal travel - brake fluid pressure curve, the purpose of risk monitoring of the vehicle braking system during the braking process can be achieved, and it can be determined in real time whether there is a risk in the vehicle braking system during the braking process, improving the safety performance of the vehicle braking system.

[0070] In this embodiment, according to the obtained current pedal travel and current brake fluid pressure of the vehicle braking system during the braking process, the current pedal travel - brake fluid pressure curve is obtained. According to the current pedal travel - brake fluid pressure curve and the preset pedal travel - brake fluid pressure curve, the purpose of risk monitoring of the vehicle braking system during the braking process can be achieved, and it can be determined in real time whether there is a risk in the vehicle braking system during the braking process, improving the safety performance of the vehicle braking system.

[0071] In another embodiment, a vehicle braking monitoring method is provided. Taking the vehicle-mounted controller in Figure 6 as an example for illustration, the method includes the following steps:

[0072] B101: Obtain the current pedal travel and current braking deceleration of the vehicle braking system during the braking process;

[0073] B102: Obtain the current pedal travel - braking deceleration curve according to the current pedal travel and the current braking deceleration;

[0074] B103: Monitor the risk of the vehicle braking system based on the current pedal travel - braking deceleration curve and the preset pedal travel - braking deceleration curve.

[0075] Among them, step B101 is another specific implementation manner of step S101, step B102 is another specific implementation manner of step S102, and step B103 is another specific implementation manner of step S103.

[0076] Among them, the current braking deceleration is the deceleration of the whole vehicle during the braking process of the vehicle braking system.

[0077] As an example, in step B101, when the vehicle-mounted controller determines that the vehicle braking system is in the braking state, it obtains the pedal travel and braking deceleration generated during the braking process of the vehicle braking system, and determines them as the current pedal travel and the current braking deceleration respectively. Both the current pedal travel and the current braking deceleration are related to time, that is, both carry the time stamp corresponding to the current moment, so as to determine the feasibility of the current pedal travel - braking deceleration curve based on the current pedal travel and the current braking deceleration corresponding to different time stamps later.

[0078] Among them, the current pedal travel - braking deceleration curve refers to the corresponding relationship curve of the current pedal travel and the current braking deceleration determined according to the current pedal travel during the braking process of the vehicle braking system and the current braking deceleration corresponding to each current pedal travel. For example, the current pedal travel - braking deceleration curve can have the current pedal travel at each moment during the braking process of the vehicle braking system as the abscissa, and the current braking deceleration corresponding to each current pedal travel during the braking process of the vehicle braking system as the ordinate.

[0079] As an example, in step B102, after the vehicle-mounted controller obtains the current pedal travel and the current braking deceleration during the braking process of the vehicle braking system, it performs a fitting process on the current pedal travel and the current braking deceleration corresponding to each current pedal travel to obtain the current pedal travel - braking deceleration curve corresponding to the vehicle braking system. In this example, the abscissa of the current pedal travel - braking deceleration curve is the current pedal travel, and the ordinate is the current braking deceleration corresponding to each current pedal travel. In this example, fitting the current pedal travel and the current braking deceleration to determine the current pedal travel - braking deceleration curve is convenient for determining whether there is a risk in the vehicle braking system based on the current pedal travel - braking deceleration curve later.

[0080] As an example, in step B103, after the vehicle-mounted controller obtains the current pedal travel - braking deceleration curve corresponding to the braking process of the vehicle braking system, it compares the current pedal travel - braking deceleration curve with the preset pedal travel - braking deceleration curve corresponding to the normal braking process to determine whether there is a risk in the vehicle braking system during the braking process, so as to achieve the purpose of risk monitoring of the vehicle braking system. In this example, the preset pedal travel - braking deceleration curve is formed by fitting the historical pedal travel and the historical braking deceleration. Among them, the historical pedal travel refers to the pedal travel of the vehicle braking system monitored during the normal braking process before the current moment, and the historical braking deceleration refers to the braking deceleration of the vehicle braking system monitored during the normal braking process before the current moment. In the preset pedal travel - braking deceleration curve, the historical pedal travel is used as the abscissa, and the historical braking deceleration corresponding to the historical pedal travel is used as the ordinate. The vehicle-mounted controller can calculate the difference between the current braking deceleration corresponding to each current pedal travel and the historical braking deceleration corresponding to the historical pedal travel of the same magnitude, obtain the difference range, and monitor the risk of the vehicle braking system according to whether the difference range is within the normal difference range. If the difference range is within the normal difference range, it is determined that there is no risk in the vehicle braking system; if the difference range is not within the normal difference range, it is determined that there is a risk in the vehicle braking system. Among them, the historical braking deceleration refers to the braking deceleration corresponding to the historical pedal travel in the preset pedal travel - braking deceleration curve. In this example, according to the current pedal travel - braking deceleration curve and the preset pedal travel - braking deceleration curve, the purpose of risk monitoring of the vehicle braking system during the braking process can be achieved, and it can be determined in real time whether there is a risk in the vehicle braking system during the braking process, improving the safety performance of the vehicle braking system.

[0081] In this embodiment, according to the obtained current pedal travel and current braking deceleration of the vehicle braking system during the braking process, obtain the current pedal travel - braking deceleration curve. According to the current pedal travel - braking deceleration curve and the preset pedal travel - braking deceleration curve, the purpose of risk monitoring of the vehicle braking system during the braking process can be achieved, and it can be determined in real time whether there is a risk in the vehicle braking system during the braking process, improving the safety performance of the vehicle braking system.

[0082] In one embodiment, the preset braking curve in step S103 includes a first braking curve and a second braking curve.

[0083] Among them, the first braking curve and the second braking curve refer to the boundary curves obtained after correcting the historical braking curve according to a preset error threshold, and are used to determine whether the current braking curve exceeds the reasonable difference range. It can be understood that the first braking curve and the second braking curve are the normal braking curves determined during the normal braking process of a risk-free automotive braking system. If the current braking curve is between the first braking curve and the second braking curve, it indicates that there is no risk in the braking process of the automotive braking system corresponding to the current braking curve. Therefore, the relationship between the current braking curve and the first braking curve and the second braking curve can be used to monitor whether there is a risk in the braking process of the automotive braking system. For example, the vehicle-mounted controller can correct the historical braking curve based on the preset error threshold to obtain the first braking curve and the second braking curve. Among them, the preset error threshold is the error threshold used to correct the historical braking curve.

[0084] In one embodiment, as Figure 2 shown, step S103, that is, according to the current braking curve and the preset braking curve, perform risk monitoring on the automotive braking system, including:

[0085] S201: Compare the current braking curve with the first braking curve and the second braking curve;

[0086] S202: If the current braking curve is between the first braking curve and the second braking curve, determine that there is no risk in the automotive braking system;

[0087] S203: If the current braking curve is not between the first braking curve and the second braking curve, determine that there is a risk in the automotive braking system.

[0088] As an example, in step S201, the vehicle-mounted controller compares the current braking curve corresponding to the braking process of the automotive braking system with the first braking curve and the second braking curve to determine whether there is a risk in the automotive braking system. It can be understood that the first braking curve and the second braking curve, as the boundary curves for judging whether the current braking curve exceeds the reasonable difference range, can be used to judge whether the current braking curve is within the preset boundary range, so as to further perform risk monitoring on the braking process of the automotive braking system through the judgment of the current braking curve.

[0089] As an example, in step S202, when the vehicle-mounted controller determines that the current braking curve is between the first braking curve and the second braking curve, it determines that there is no risk in the vehicle braking system. Since the current braking curve is determined by the vehicle braking system according to the current pedal stroke and the current brake fluid pressure during the braking process, if the current braking curve is between the first braking curve and the second braking curve, it indicates that the current braking curve meets the boundary requirements of the first braking curve and the second braking curve, that is, the current braking curve is a normal braking curve, which can further indicate that there is no risk in the vehicle braking system during the braking process.

[0090] As an example, in step S203, when the vehicle-mounted controller determines that the current braking curve is not between the first braking curve and the second braking curve, it determines that there is a risk in the vehicle braking system. Since the current braking curve is determined by the vehicle braking system according to the current pedal stroke and the current brake fluid pressure during the braking process, if the current braking curve is not between the first braking curve and the second braking curve, it indicates that the current braking curve does not meet the boundary requirements of the first braking curve and the second braking curve, that is, there is a risk in the vehicle braking system, that is, there may be a risk of liquid leakage or air doping in the vehicle braking system during the braking process.

[0091] In this embodiment, whether there is a risk in the vehicle braking system is determined according to whether the current braking curve is between the first braking curve and the second braking curve. By the current braking curve determined in real time during the braking process of the vehicle braking system, real-time risk monitoring of the vehicle braking system is carried out, and it is determined in real time whether there is a risk in the vehicle braking system during the braking process, which can improve the safety performance of the vehicle braking system.

[0092] In one embodiment, as Figure 3 shown, before step S101, that is, before obtaining the current pedal stroke and the current monitoring data of the vehicle braking system during the braking process, the vehicle braking monitoring method further includes:

[0093] S301: Obtain the historical pedal stroke and historical monitoring data of the vehicle braking system during the normal braking process;

[0094] S302: Determine the historical braking curve according to the historical pedal stroke and the historical monitoring data;

[0095] S303: Determine the first braking curve and the second braking curve based on the historical braking curve and the preset error threshold.

[0096] Among them, the historical pedal stroke refers to the pedal stroke of the vehicle braking system monitored before the current moment during the normal braking process. The historical monitoring data is the data used for risk monitoring of the vehicle braking system monitored before the current moment. The normal braking process refers to the braking process of the vehicle braking system in a risk-free state.

[0097] As an example, in step S301, during the normal braking process of the vehicle braking system, the vehicle-mounted controller obtains the pedal travel and monitoring data generated by the vehicle braking system, and takes the pedal travel obtained during this normal braking process as the historical pedal travel, and takes the monitoring data obtained during this normal braking process as the historical monitoring data. Understandably, the normal braking process of the vehicle braking system refers to the braking process of the vehicle braking system in a risk-free state. The historical pedal travel and historical monitoring data obtained during this braking process are both data of the vehicle braking system in a risk-free state. Obtaining the historical pedal travel and historical monitoring data of the vehicle braking system in a risk-free state facilitates subsequent obtaining of the historical braking curve and provides a basis for risk monitoring of the vehicle braking system during the braking process.

[0098] The historical braking curve refers to the curve determined based on the historical pedal travel and historical monitoring data of the vehicle braking system during the normal braking process.

[0099] As an example, in step S302, after the vehicle-mounted controller obtains the historical pedal travel at each moment during the normal braking process of the vehicle braking system and the historical monitoring data corresponding to the historical pedal travel at each moment, it determines the historical braking curve according to the corresponding relationship between the historical pedal travel and the historical monitoring data. In this example, the historical pedal travel at each moment during the normal braking process of the vehicle braking system and the historical monitoring data corresponding to the historical pedal travel at each moment are fitted in a plane coordinate system to form the historical braking curve. Specifically, the historical pedal travel obtained at each moment is used as the abscissa of the plane coordinate system, and the historical monitoring data corresponding to the historical pedal travel at each moment is used as the ordinate of the plane coordinate system to obtain the historical braking curve. In this example, determining the historical braking curve according to the historical pedal travel and the historical monitoring data corresponding to the historical pedal travel facilitates subsequent determination of the preset braking curve based on the historical braking curve and provides a more accurate basis for risk monitoring of the vehicle braking system during the braking process.

[0100] The preset error threshold is used to correct the historical braking curve to determine the preset braking curve. Understandably, for the vehicle braking system, the historical braking curve generated during the normal braking process can reflect that the vehicle braking system is normal and risk-free within a certain error threshold range. Therefore, it is necessary to set a preset error threshold to determine the preset braking curve. The first braking curve and the second braking curve refer to the boundary curves obtained after correcting the historical braking curve according to the preset error threshold.

[0101] As an example, in step S303, the vehicle-mounted controller corrects the historical braking curve according to a preset error threshold to obtain a preset braking curve. In this example, each historical monitoring data in the historical braking curve is added with the preset error threshold to obtain a first braking curve, and each historical monitoring data in the historical braking curve is subtracted by the preset error threshold to obtain a second braking curve. The range formed by the first braking curve and the second braking curve is used to determine whether the current braking curve exceeds the reasonable difference range and to determine whether there is a risk during the braking process of the vehicle braking system. Understandably, if the current braking curve during the braking process of the vehicle braking system is within the range formed between the first braking curve and the second braking curve, it indicates that there is no risk in the vehicle braking system.

[0102] In this embodiment, according to the obtained historical pedal travel and historical monitoring data during the normal braking process of the vehicle braking system, the historical braking curve is determined, and based on the historical braking curve and the preset error threshold, a preset braking curve including the first braking curve and the second braking curve is determined, providing a relatively accurate reference basis for subsequent risk monitoring of the vehicle braking system during the braking process.

[0103] In one embodiment, as Figure 4 shown, after step S203, that is, after determining that there is a risk in the vehicle braking system, the vehicle braking monitoring method further includes:

[0104] S401: Determine a target braking deviation according to the current braking curve, the first braking curve, and the second braking curve;

[0105] S402: If the target braking deviation is less than the preset deviation threshold, output a low-risk warning signal;

[0106] S403: If the target braking deviation is not less than the preset deviation threshold, output a high-risk warning signal.

[0107] Among them, the target braking deviation refers to the deviation between the current braking curve and the first braking curve or the second braking curve when it is determined that the current braking curve is not between the first braking curve and the second braking curve, and is used to determine the risk level of the vehicle braking system.

[0108] As an example, in step S401, after the vehicle-mounted controller determines that there is a risk in the vehicle braking system, that is, after determining that the current braking curve is not between the first braking curve and the second braking curve, the vehicle-mounted controller calculates the deviations between the current braking curve and the first braking curve and the second braking curve respectively, and determines the target braking deviation according to the two deviations. It can be understood that if the current braking curve is not between the first braking curve and the second braking curve (it can be the entire current braking curve or a part of the current braking curve), it indicates that there is a risk in the vehicle braking system during the braking process, and it is necessary to further determine the risk level. Since the magnitude of the target braking deviation reflects the deviation degree between the current braking curve and the first braking curve or the second braking curve, therefore, the risk level of the vehicle braking system during the braking process can be determined through the target braking deviation.

[0109] For example, if the current braking curve includes the current pedal travel - brake fluid pressure curve, the first braking curve is the first pedal travel - brake fluid pressure curve, and the second braking curve is the second pedal travel - brake fluid pressure curve; the vehicle-mounted controller respectively queries the first pedal travel - brake fluid pressure curve and the second pedal travel - brake fluid pressure curve based on the current pedal travel, and determines the first brake fluid pressure and the second brake fluid pressure; then, the current brake fluid pressure corresponding to the current pedal travel is respectively subjected to deviation calculation with the first brake fluid pressure and the second brake fluid pressure to determine two deviation values, and the target braking deviation is determined according to the two deviation values.

[0110] Another example, if the current braking curve includes the current pedal travel - braking deceleration curve, the first braking curve is the first pedal travel - braking deceleration curve, and the second braking curve is the second pedal travel - braking deceleration curve; the vehicle-mounted controller respectively queries the first pedal travel - braking deceleration curve and the second pedal travel - braking deceleration curve based on the current pedal travel, and determines the first braking deceleration and the second braking deceleration; then, the current braking deceleration corresponding to the current pedal travel is respectively subjected to deviation calculation with the first braking deceleration and the second braking deceleration to determine two deviation values, and the target braking deviation is determined according to the two deviation values.

[0111] Among them, the preset deviation threshold is used to determine the risk level when there is a risk in the vehicle braking system during the braking process. The low-risk warning signal refers to the warning signal output when it is determined that the target braking deviation is less than the preset deviation threshold.

[0112] As an example, in step S402, when the vehicle-mounted controller determines that the target braking deviation is less than the preset deviation threshold, it determines that the vehicle braking system has a low risk level and outputs a low-risk warning signal to remind the driver to detect the vehicle braking system at an appropriate time and environment. Understandably, the risk level of the vehicle braking system during braking can be determined through the target braking deviation. When the target braking deviation is less than the preset deviation threshold, it indicates that the difference between the current braking curve and the first and second braking curves is small. There is a risk in the vehicle braking system during braking, but the risk is low. A low-risk warning signal can be issued to prompt the driver to detect the vehicle braking system in a suitable time and environment.

[0113] Among them, the high-risk warning signal refers to the warning signal output when it is determined that the target braking deviation is not less than the preset deviation threshold.

[0114] As an example, in step S403, when the vehicle-mounted controller determines that the target braking deviation is not less than the preset deviation threshold, it determines that the vehicle braking system has a high risk level and outputs a high-risk warning signal to remind the driver to detect the vehicle braking system as soon as possible. Understandably, the risk level of the vehicle braking system during braking can be determined through the target braking deviation. When the target braking deviation is not less than the preset deviation threshold, it indicates that the difference between the current braking curve and the first and second braking curves is large. There is a relatively high risk in the vehicle braking system during braking. A high-risk warning signal is directly issued to prompt the driver to detect the vehicle braking system as soon as possible and avoid accidents.

[0115] In this embodiment, the target braking deviation between the current braking curve that is not between the first braking curve and the second braking curve and the first and second braking curves is obtained. According to the relationship between the target braking deviation and the preset deviation threshold, the risk level of the vehicle braking system is determined, and a warning signal corresponding to the risk level is output. This method can relatively accurately determine the risk level of the vehicle braking system, timely remind the driver to detect the vehicle braking system, improve the safety performance of the vehicle braking system, and avoid accidents.

[0116] In one embodiment, as Figure 5 shown, in step S401, that is, according to the current braking curve, the first braking curve, and the second braking curve, determining the target braking deviation includes:

[0117] S501: Determine the first braking deviation according to the current braking curve and the first braking curve;

[0118] S502: Determine the second braking deviation according to the current braking curve and the second braking curve;

[0119] S503: Determine the smaller value of the first braking deviation and the second braking deviation as the target braking deviation.

[0120] The first braking deviation refers to the deviation between the current braking curve and the first braking curve.

[0121] As an example, in step S501, when the vehicle-mounted controller determines that the current braking curve is not between the first braking curve and the second braking curve, it obtains the deviation between the current braking curve and the first braking curve, and determines the first braking deviation based on this deviation. In this example, the vehicle-mounted controller obtains the current monitoring data corresponding to the current pedal stroke in the current braking curve, and the first monitoring data corresponding to the first pedal stroke in the first braking curve, calculates the deviation between the current monitoring data and the first monitoring data, obtains the corresponding deviation value, and determines the calculated deviation value as the first braking deviation.

[0122] For example, if the current braking curve includes a current pedal stroke - brake fluid pressure curve, and the first braking curve is a first pedal stroke - brake fluid pressure curve. The vehicle-mounted controller obtains the current pedal stroke - brake fluid pressure curve that is not between the first pedal stroke - brake fluid pressure curve and the second pedal stroke - brake fluid pressure curve, queries the first pedal stroke - brake fluid pressure curve to determine the first brake fluid pressure; then calculates the deviation between the current brake fluid pressure corresponding to the current pedal stroke and the first brake fluid pressure, obtains the corresponding deviation value, and determines the calculated deviation value as the first braking deviation.

[0123] Another example, if the current braking curve includes a current pedal stroke - braking deceleration curve, and the first braking curve is a first pedal stroke - braking deceleration curve. The vehicle-mounted controller obtains the current pedal stroke - braking deceleration curve that is not between the first pedal stroke - deceleration curve and the second pedal stroke - deceleration curve, queries the first pedal stroke - braking deceleration curve to determine the first braking deceleration; then calculates the deviation between the current braking deceleration corresponding to the current pedal stroke and the first braking deceleration, obtains the corresponding deviation value, and determines the calculated deviation value as the first braking deviation.

[0124] In this example, obtaining the first braking deviation between the current braking curve and the first braking curve facilitates subsequent determination of the target braking deviation based on this first braking deviation.

[0125] Among them, the second braking deviation refers to the deviation between the current braking curve and the second braking curve. As an example, in step S502, when the vehicle-mounted controller determines that the current braking curve is not between the first braking curve and the second braking curve, it obtains the deviation between the current braking curve and the second braking curve, and determines the second braking deviation according to this deviation. In this example, the vehicle-mounted controller obtains the current monitoring data corresponding to each current pedal stroke in the current braking curve, and the second monitoring data corresponding to the second pedal stroke in the second braking curve, calculates the deviation between the current monitoring data and the second monitoring data, obtains the corresponding deviation value through calculation, and determines the calculated deviation value as the second braking deviation.

[0126] For example, if the current braking curve includes a current pedal stroke - brake fluid pressure curve, and the second braking curve is a second pedal stroke - brake fluid pressure curve. The vehicle-mounted controller obtains the current pedal stroke - brake fluid pressure curve that is not between the first pedal stroke - brake fluid pressure curve and the second pedal stroke - brake fluid pressure curve, queries the second pedal stroke - brake fluid pressure curve, and determines the second brake fluid pressure; then calculates the deviation between the current brake fluid pressure corresponding to the current pedal stroke and the second brake fluid pressure, obtains the corresponding deviation value through calculation, and determines the calculated deviation value as the second braking deviation.

[0127] Another example, if the current braking curve includes a current pedal stroke - braking deceleration curve, and the second braking curve is a second pedal stroke - braking deceleration curve. The vehicle-mounted controller obtains the current pedal stroke - braking deceleration curve that is not between the first pedal stroke - deceleration curve and the second pedal stroke - deceleration curve, queries the second pedal stroke - braking deceleration curve in the current pedal stroke - braking deceleration curve, and determines the second braking deceleration; then calculates the deviation between the current braking deceleration corresponding to the current pedal stroke and the second braking deceleration, obtains the corresponding deviation value through calculation, and determines the calculated deviation value as the second braking deviation.

[0128] In this example, obtaining the second braking deviation between the current braking curve and the second braking curve facilitates subsequent determination of the target braking deviation based on this second braking deviation.

[0129] As an example, in step S503, after obtaining the first braking deviation and the second braking deviation, the vehicle-mounted controller compares the first braking deviation and the second braking deviation, and determines the smaller value of the first braking deviation and the second braking deviation as the target braking deviation. Understandably, since the smaller value of the deviation can reflect the deviation degree between the current braking curve that is not between the first braking curve and the second braking curve, and the first braking curve and the second braking curve. If the smaller deviation is already large, it indicates that the deviation degree between the current braking curve and the first braking curve and the second braking curve is large, and there is a high risk in the braking process of the vehicle braking system. Therefore, selecting the smaller value of the first braking deviation and the second braking deviation as the target braking deviation facilitates more accurate and timely determination of the risk in the braking process of the vehicle braking system.

[0130] In this embodiment, obtaining the first braking deviation and the second braking deviation, and selecting the smaller value of the first braking deviation and the second braking deviation as the target braking deviation facilitates more accurate and timely determination of the risk in the braking process of the vehicle braking system.

[0131] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0132] In one embodiment, a vehicle-mounted controller is provided. The vehicle-mounted controller can be a server, and its internal structure diagram can be as Figure 6 shown. The vehicle-mounted controller includes a processor, a memory, a network interface, and a database connected through a system bus. Among them, the processor of the vehicle-mounted controller is used to provide computing and control capabilities. The memory of the vehicle-mounted controller includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the vehicle-mounted controller is used to store the data used or generated during the execution of the vehicle braking monitoring method. The network interface of the vehicle-mounted controller is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements a vehicle braking monitoring method.

[0133] In one embodiment, a vehicle-mounted controller is provided, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, it implements the vehicle braking monitoring method in the above embodiment, such as Figure 1 shown in S101 - S103, or Figures 2 to 5 shown in, to avoid repetition, it will not be elaborated here.

[0134] In one embodiment, a vehicle braking monitoring system is provided, which is characterized by including the above vehicle-mounted controller and the vehicle braking system. The vehicle braking system includes a pedal travel depth sensor and a monitoring data sensor. The pedal travel depth sensor is used to obtain the current pedal travel during the braking process of the vehicle braking system. The monitoring data sensor is used to obtain the current monitoring data corresponding to each current pedal travel during the braking process of the vehicle braking system. The vehicle-mounted controller is connected to the vehicle braking system and is used to implement the above vehicle braking monitoring method.

[0135] As an example, the vehicle braking system includes an electro-hydraulic power booster, and the electro-hydraulic power booster includes a pedal travel depth sensor and a monitoring data sensor. Among them, the pedal travel depth sensor is used to collect the current pedal travel during the braking process of the vehicle braking system and send the collected current pedal travel to the vehicle-mounted controller. The monitoring data sensor includes a pressure sensor and a deceleration sensor. Among them, the pressure sensor is used to obtain the current brake fluid pressure corresponding to each current pedal travel during the braking process of the vehicle braking system and send the collected current brake fluid pressure to the vehicle-mounted controller. The deceleration sensor is used to obtain the current braking deceleration corresponding to each current pedal travel during the braking process of the vehicle braking system and send the collected current braking deceleration to the vehicle-mounted controller. The vehicle-mounted controller is connected to the vehicle braking system and is used to obtain the current pedal travel collected by the pedal travel depth sensor, the current brake fluid pressure collected by the pressure sensor, and the current braking deceleration collected by the deceleration sensor, and determine the current pedal travel - brake fluid pressure curve according to the current pedal travel and the current brake fluid pressure. According to the current pedal travel - brake fluid pressure curve and the preset pedal travel - brake fluid pressure curve, risk monitoring is performed on the vehicle braking system to achieve the purpose of real-time risk monitoring of the vehicle braking system during the braking process. Or, according to the current pedal travel and the current braking deceleration, determine the current pedal travel - braking deceleration curve, and perform risk monitoring on the vehicle braking system according to the current pedal travel - braking deceleration curve and the preset pedal travel - braking deceleration curve to achieve the purpose of real-time risk monitoring of the vehicle braking system during the braking process.

[0136] In this embodiment, the vehicle-mounted controller acquires the current pedal travel collected by the pedal travel depth sensor, the current brake fluid pressure collected by the pressure sensor, and the current braking deceleration collected by the deceleration sensor. Moreover, according to the current pedal travel-brake fluid pressure curve and the preset pedal travel-brake fluid pressure curve, the vehicle braking system is monitored for risks, so as to achieve the purpose of real-time risk monitoring of the vehicle braking system during the braking process. Alternatively, according to the current pedal travel and the current braking deceleration, the current pedal travel-braking deceleration curve is determined, and according to the current pedal travel-braking deceleration curve and the preset pedal travel-braking deceleration curve, the vehicle braking system is monitored for risks, so as to achieve the purpose of real-time risk monitoring of the vehicle braking system during the braking process, thereby improving the safety performance of the vehicle-mounted control system.

[0137] In one embodiment, a vehicle is provided, which includes the above vehicle braking monitoring system.

[0138] The above-described embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. An automotive braking monitoring method, characterized in that, it includes: Obtain the current pedal travel and current monitoring data of the automotive braking system during braking; Determine the current braking curve according to the current pedal travel and the current monitoring data; Perform risk monitoring on the automotive braking system according to the current braking curve and a preset braking curve.

2. The automotive braking monitoring method according to claim 1, characterized in that, The obtaining of the current pedal travel and current monitoring data of the automotive braking system during braking includes: Obtain the current pedal travel and current brake fluid pressure of the automotive braking system during braking; The determining of the current braking curve according to the current pedal travel and the current monitoring data includes: Obtain the current pedal travel - brake fluid pressure curve according to the current pedal travel and the current brake fluid pressure; The performing of risk monitoring on the automotive braking system according to the current braking curve and a preset braking curve includes: Perform risk monitoring on the automotive braking system according to the current pedal travel - brake fluid pressure curve and a preset pedal travel - brake fluid pressure curve.

3. The automotive braking monitoring method according to claim 1, characterized in that, The obtaining of the current pedal travel and current monitoring data of the automotive braking system during braking includes: Obtain the current pedal travel and current braking deceleration of the automotive braking system during braking; The determining of the current braking curve according to the current pedal travel and the current monitoring data includes: Obtain the current pedal travel - braking deceleration curve according to the current pedal travel and the current braking deceleration; The performing of risk monitoring on the automotive braking system according to the current braking curve and a preset braking curve includes: Perform risk monitoring on the automotive braking system according to the current pedal travel - braking deceleration curve and a preset pedal travel - braking deceleration curve.

4. The automotive braking monitoring method according to claim 1, characterized in that, The preset braking curve includes a first braking curve and a second braking curve; The performing of risk monitoring on the automotive braking system according to the current braking curve and a preset braking curve includes: Compare the current braking curve with the first braking curve and the second braking curve; If the current braking curve is between the first braking curve and the second braking curve, it is determined that there is no risk in the automotive braking system; If the current braking curve is not between the first braking curve and the second braking curve, it is determined that there is a risk in the automotive braking system.

5. The automotive braking monitoring method according to claim 4, characterized in that, Before the obtaining of the current pedal travel and current monitoring data of the automotive braking system during braking, the automotive braking monitoring method further includes: Obtain the historical pedal travel and historical monitoring data of the automotive braking system during normal braking; Determine the historical braking curve according to the historical pedal travel and the historical monitoring data; Determine the first braking curve and the second braking curve based on the historical braking curve and a preset error threshold.

6. The vehicle braking monitoring method according to claim 5, wherein, after determining that there is a risk in the vehicle braking system, the vehicle braking monitoring method further includes: determine a target braking deviation according to the current braking curve, the first braking curve and the second braking curve; if the target braking deviation is less than a preset deviation threshold, output a low-risk warning signal; if the target braking deviation is not less than the preset deviation threshold, output a high-risk warning signal.

7. The vehicle braking monitoring method according to claim 6, wherein, the determining the target braking deviation according to the current braking curve, the first braking curve and the second braking curve includes: determine a first braking deviation according to the current braking curve and the first braking curve; determine a second braking deviation according to the current braking curve and the second braking curve; determine the smaller value of the first braking deviation and the second braking deviation as the target braking deviation.

8. A vehicle-mounted controller, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein, when the processor executes the computer program, it implements the vehicle braking monitoring method according to any one of claims 1 to 7.

9. A vehicle braking monitoring system, wherein, comprises the vehicle-mounted controller according to claim 8 and the vehicle braking system, the vehicle braking system includes a pedal travel depth sensor and a monitoring data sensor; the pedal travel depth sensor is used to obtain the current pedal travel of the vehicle braking system during braking; the monitoring data sensor is used to obtain the current monitoring data corresponding to each current pedal travel of the vehicle braking system during braking; the vehicle-mounted controller is connected to the vehicle braking system and is used to implement the vehicle braking monitoring method according to any one of claims 1 to 7.

10. A vehicle, wherein, comprises the vehicle braking monitoring system according to claim 9.

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