Master cylinder pressure abnormity early warning method and device and vehicle

Abstract

The invention discloses a main cylinder pressure abnormity early warning method and device and a vehicle, and is applied to the technical field of vehicle control. Performing anomaly detection on the master cylinder pressure of the target vehicle based on the driving attribute data to obtain an anomaly type of the master cylinder pressure; wherein the abnormal type comprises any one of a first abnormal type and a second abnormal type, the first abnormal type shows that the main cylinder pressure is larger than a preset first pressure value, the second abnormal type shows that the main cylinder pressure is smaller than a preset second pressure value, and the second pressure value is smaller than the first pressure value; performing fault diagnosis on the main cylinder pressure according to the abnormal type to obtain a fault type of the main cylinder pressure; and according to the fault type, abnormal early warning processing is carried out on the target vehicle. The abnormal early warning precision of the pressure of the main cylinder can be improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a method, device and vehicle for warning abnormal master cylinder pressure. Background Art

[0002] Master cylinder pressure refers to the hydraulic oil pressure generated within the master cylinder of a vehicle's hydraulic brake system. In related technologies, if the real-time master cylinder pressure detected exceeds a preset pressure range, a warning of abnormal master cylinder pressure is issued to the vehicle, for example, by outputting a signal indicating that the master cylinder pressure is too high or too low. Otherwise, no warning is issued. However, these related technologies only provide a simple warning when abnormal master cylinder pressure is detected, and the accuracy of these warnings needs to be improved. Summary of the Invention

[0003] The embodiments of the present application provide a master cylinder pressure abnormality warning method, device, and vehicle for effectively improving the abnormality warning accuracy of the master cylinder pressure.

[0004] In one aspect, an embodiment of the present application provides a method for warning of abnormal master cylinder pressure, comprising the following steps: Obtaining driving attribute data of the target vehicle; performing abnormality detection on the master cylinder pressure of the target vehicle based on the driving attribute data to obtain an abnormality type of the master cylinder pressure; wherein the abnormality type includes either a first abnormality type or a second abnormality type, the first abnormality type indicating that the master cylinder pressure is greater than a preset first pressure value, and the second abnormality type indicating that the master cylinder pressure is less than a preset second pressure value, the second pressure value being less than the first pressure value; performing a fault diagnosis on the master cylinder pressure according to the abnormality type to obtain the fault type of the master cylinder pressure; According to the fault type, abnormal warning processing is performed on the target vehicle.

[0005] On the other hand, an embodiment of the present application provides a master cylinder pressure abnormality warning device, comprising: An acquisition module, used to obtain driving attribute data of a target vehicle; a first processing module, configured to perform abnormality detection on the master cylinder pressure of the target vehicle based on the driving attribute data to obtain an abnormality type of the master cylinder pressure; wherein the abnormality type includes either a first abnormality type or a second abnormality type, the first abnormality type indicating that the master cylinder pressure is greater than a preset first pressure value, and the second abnormality type indicating that the master cylinder pressure is less than a preset second pressure value, the second pressure value being less than the first pressure value; a second processing module, configured to perform a fault diagnosis on the master cylinder pressure according to the abnormality type to obtain the fault type of the master cylinder pressure; The third processing module is used to perform abnormal warning processing on the target vehicle according to the fault type.

[0006] In another aspect, an embodiment of the present application provides a vehicle, comprising: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the above-mentioned master cylinder pressure abnormality warning method.

[0007] According to an embodiment of the present application, a master cylinder pressure abnormality warning method, device, and vehicle are provided. The method obtains driving attribute data of a target vehicle; based on the driving attribute data, an abnormality detection is performed on the target vehicle's master cylinder pressure to obtain an abnormality type of the master cylinder pressure; wherein the abnormality type includes either a first abnormality type or a second abnormality type, wherein the first abnormality type indicates that the master cylinder pressure is greater than a preset first pressure value, and the second abnormality type indicates that the master cylinder pressure is less than a preset second pressure value, wherein the second pressure value is less than the first pressure value; a fault diagnosis is performed on the master cylinder pressure based on the abnormality type to obtain a master cylinder pressure fault type; and based on the fault type, an abnormality warning process is performed on the target vehicle. According to the technical solution of the embodiment of the present application, when the master cylinder pressure is detected to be excessive or insufficient, the specific fault type is further diagnosed and accurate warning processing is performed accordingly. For example, a warning signal indicating master cylinder seal failure is output, rather than a simple warning signal indicating insufficient master cylinder pressure. This effectively improves the accuracy of the master cylinder pressure abnormality warning, facilitates rapid identification of the fault point causing the excessive or insufficient master cylinder pressure, and ensures the vehicle's braking effectiveness and safety.

[0008] Other features and advantages of the present application will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present application. The purposes and other advantages of the present application can be achieved and obtained through the structures particularly pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 This is a flow chart of a master cylinder pressure abnormality warning method provided by this application; Figure 2 This is a specific implementation process diagram of the abnormal warning when the master cylinder pressure is too high provided by this application; Figure 3 This is a specific implementation process diagram of the abnormal warning when the master cylinder pressure is too low provided by this application; Figure 4This is a structural diagram of a master cylinder pressure abnormality warning device provided by this application; Figure 5 This is an example diagram of a vehicle provided in this application. DETAILED DESCRIPTION

[0010] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0011] The present application is further described below in conjunction with the accompanying drawings and specific embodiments. The described embodiments should not be considered as limiting the present application. All other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0012] In the following description, reference is made to “some embodiments”, which describes a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0013] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0014] The master cylinder is a core component of a vehicle's hydraulic braking system. When the driver applies the brake pedal, the brake pedal push rod is directly connected to the master cylinder piston. This push rod converts the mechanical force generated by the driver's application of the brake pedal into hydraulic oil pressure, thereby braking the vehicle. Therefore, master cylinder pressure refers to the hydraulic oil pressure generated within the master cylinder of the hydraulic braking system. This pressure is transmitted through the brake lines of the hydraulic braking system to the brake cylinders (calipers or wheel cylinders) of each wheel, pushing the brake pads against the brake discs, thereby generating braking force.

[0015] To ensure effective and safe braking, real-time master cylinder pressure monitoring is essential to prevent excessive or insufficient master cylinder pressure at the same brake pedal displacement. Excessive master cylinder pressure can easily lead to a hard brake pedal feel and foot-bumping, while insufficient master cylinder pressure can cause a soft pedal and brake failure. Both excessive and insufficient master cylinder pressure severely impact the vehicle's driving experience and safety.

[0016] In related technologies, real-time master cylinder pressure is compared with a preset pressure range. If the master cylinder pressure is detected to be outside the range, a warning signal indicating excessive or insufficient master cylinder pressure is issued. Otherwise, no warning is issued. However, these technologies only provide a simple warning when abnormal master cylinder pressure is detected, and the accuracy of these warnings needs to be improved.

[0017] To this end, the embodiments of the present application provide a master cylinder pressure abnormality warning method, device and vehicle, which aim to first detect whether the master cylinder pressure of the target vehicle is too high or too low based on the driving attribute data of the target vehicle, and then perform fault diagnosis for the situation where the master cylinder pressure is too high or too low, diagnose the specific fault type, and finally perform accurate warning processing for the specific fault type, thereby effectively improving the abnormal warning accuracy of the master cylinder pressure.

[0018] First, a master cylinder pressure abnormality warning method provided by an embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0019] The embodiment of the present application provides a master cylinder pressure abnormality warning method, which can be applied to a terminal, a server, or software running in a terminal or a server. The terminal can be a tablet computer, a laptop computer, a desktop computer, etc., but is not limited thereto. The server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers. It can also be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms. In addition, the server can also be a node server in a blockchain network, but is not limited thereto. Among them, blockchain is a new application model of computer technologies such as distributed data storage, point-to-point transmission, consensus mechanism, and encryption algorithm.

[0020] Reference Figure 1 The master cylinder pressure abnormality warning method may include the following steps S101-S104.

[0021] S101, obtaining driving attribute data of a target vehicle.

[0022] It should be noted that the target vehicle refers to a vehicle suitable for a master cylinder pressure abnormality warning method in an embodiment of the present application, and its driving attribute data refers to data that is highly correlated with the driving behavior of the target vehicle during driving.

[0023] In this step, during the driving process, the driving attribute data of the target vehicle is obtained so that the master cylinder pressure of the target vehicle can be monitored in real time and abnormal warning can be performed based on these data in subsequent processing.

[0024] Alternatively, the driving attribute data may be set based on actual conditions, and the present embodiment does not limit this. For example, the driving attribute data may include, but is not limited to, a brake pedal signal, a master cylinder pressure signal, a brake pedal stroke value, a brake pedal stroke change rate, and the like.

[0025] S102 : performing abnormality detection on the master cylinder pressure of the target vehicle based on the driving attribute data to obtain the abnormality type of the master cylinder pressure.

[0026] It should be noted that the abnormality type may include either a first abnormality type or a second abnormality type. The first abnormality type indicates that the master cylinder pressure is greater than a preset first pressure value, corresponding to a situation where the master cylinder pressure is too high. The second abnormality type indicates that the master cylinder pressure is less than a preset second pressure value, and the second pressure value is less than the first pressure value, corresponding to a situation where the master cylinder pressure is too low.

[0027] In this step, the target vehicle's master cylinder pressure is detected for abnormalities based on the driving attribute data. The purpose is to monitor whether the master cylinder pressure is excessive or insufficient, thereby determining the abnormality type of the master cylinder pressure. If the master cylinder pressure is excessive, the abnormality type is the first abnormality type; if the master cylinder pressure is insufficient, the abnormality type is the second abnormality type.

[0028] S103 , performing fault diagnosis on the master cylinder pressure according to the abnormality type to obtain the fault type of the master cylinder pressure.

[0029] In this step, the abnormal type of the master cylinder pressure is obtained by monitoring whether the master cylinder pressure is too large or too small, and the master cylinder pressure fault diagnosis is performed based on this, aiming to diagnose the specific fault type associated with the abnormal type, such as pedal simulator valve failure, isolation valve failure, etc., thereby obtaining the fault type of the master cylinder pressure.

[0030] Optionally, the master cylinder pressure fault type can be set based on actual conditions, and this embodiment of the present application does not limit this. For example, if the master cylinder pressure is too high, the fault type could be pedal simulator valve failure, isolation valve failure, mechanical structure jamming, low sensor sensitivity, etc.; whereas if the master cylinder pressure is too low, the fault type could be isolation valve failure, brake fluid leakage, master cylinder air intake, high sensor sensitivity, etc., but are not limited to these.

[0031] S104: Perform abnormal warning processing on the target vehicle according to the fault type.

[0032] In this step, after the specific fault type is diagnosed, targeted early warning processing is performed on the specific fault type based on this, thereby achieving accurate early warning of the master cylinder pressure.

[0033] It can be seen that the embodiment of the present application first detects whether the master cylinder pressure of the target vehicle is too high or too low based on the driving attribute data of the target vehicle, and then performs fault diagnosis for the situation where the master cylinder pressure is too high or too low, thereby diagnosing the specific fault type, and finally performs accurate early warning processing for the specific fault type. In this way, compared with the method of only outputting a warning signal of too high or too low master cylinder pressure when detecting that the master cylinder pressure is too high or too low, the embodiment of the present application further diagnoses the specific fault type when detecting that the master cylinder pressure is too high or too low, and performs accurate early warning processing accordingly, such as outputting a warning signal of master cylinder seal failure, rather than a simple warning signal of too low master cylinder pressure, thereby effectively improving the abnormal warning accuracy of the master cylinder pressure, helping to quickly identify the fault point that causes the master cylinder pressure to be too high or too low, and ensuring the braking effect and braking safety of the vehicle.

[0034] The above steps will be further explained below.

[0035] In some embodiments, in step S102, performing abnormality detection on the master cylinder pressure of the target vehicle based on the driving attribute data to obtain the abnormality type of the master cylinder pressure may include: If the driving attribute data satisfies a preset first precondition, the master cylinder pressure of the target vehicle is obtained; If the master cylinder pressure meets the preset first abnormal condition, the first abnormal type is output.

[0036] It should be noted that the driving attribute data may include brake pedal information, master cylinder pressure signal and hydraulic diagnosis request status. The brake pedal information includes brake pedal signal, brake pedal stroke value and brake pedal stroke change rate. The stroke change rate refers to the stroke change value of the brake pedal per unit time. The hydraulic diagnosis request status is used to indicate whether a hydraulic diagnosis request is detected. The hydraulic diagnosis request is a diagnostic request generated by the target vehicle when a hydraulic brake system fault is detected. It can use the expression of the existing technology and will not be repeated here.

[0037] In this embodiment, a determination is first made as to whether the driving attribute data satisfies a first precondition, which is a precondition for monitoring whether the master cylinder pressure is excessive. If the driving attribute data satisfies the first precondition, it indicates that the target vehicle currently meets the precondition for monitoring whether the master cylinder pressure is excessive. In this case, monitoring whether the master cylinder pressure is excessive can effectively ensure monitoring accuracy. The target vehicle's master cylinder pressure is then acquired to facilitate further monitoring of whether the master cylinder pressure is excessive. Otherwise, it indicates that the target vehicle currently does not meet the precondition for monitoring the master cylinder pressure. In this case, monitoring whether the master cylinder pressure is excessive may result in misjudgments or missed detections. The process then returns to step S101, completing a loop of determinations. This ensures that the target vehicle's driving conditions meet the detection requirements for subsequent master cylinder pressure anomaly detection, reduces the impact of driving conditions on master cylinder pressure anomaly detection, and ensures the accuracy of subsequent master cylinder pressure anomaly detection.

[0038] If the driving attribute data satisfies the first precondition, the master cylinder pressure is checked to see if it meets the first abnormality condition, which is essential for determining whether the master cylinder pressure is excessive. If the master cylinder pressure meets the first abnormality condition, it indicates that the master cylinder pressure is currently excessive, and the first abnormality type is output. Otherwise, it indicates that the master cylinder pressure is not currently excessive, and the process returns to step S101, completing a loop of determinations. This effectively improves the accuracy and efficiency of detecting excessive master cylinder pressure.

[0039] Optionally, the first precondition can be flexibly set according to actual conditions, and this embodiment does not specifically limit this. For example, the first precondition can include at least one of the following conditions (1)-(5): Condition (1): Detecting that the brake pedal signal is valid. The validity of the brake pedal signal is a key condition for the subsequent master cylinder pressure abnormality detection. If the brake pedal signal is invalid, it will seriously affect the subsequent master cylinder pressure abnormality detection.

[0040] Condition (2): Detecting that the master cylinder pressure signal is valid. The validity of the master cylinder pressure signal is a key condition for subsequent master cylinder pressure anomaly detection. If the master cylinder pressure signal is invalid, it will seriously affect the subsequent master cylinder pressure anomaly detection.

[0041] Condition (3): The brake pedal stroke is not detected to be greater than the preset stroke threshold value within the preset time period, i.e., the driver cannot continuously depress the brake pedal for an extended period of time. If the brake pedal is detected to be continuously depressed for an extended period of time, it may easily cause the hydraulic brake system to overheat, affecting the sensor accuracy, thereby reducing the accuracy of subsequent master cylinder pressure abnormality detection. The stroke threshold value may be set based on actual conditions and is not specifically limited in this embodiment.

[0042] Condition (4): The brake pedal stroke change rate is not detected as a negative value, and the absolute value of the brake pedal stroke change rate is greater than the preset stroke change rate threshold, that is, the driver cannot quickly release the brake pedal. It should be understood that a negative stroke change rate indicates a reduction in the brake pedal stroke, that is, the brake pedal is released; the absolute value of the stroke change rate is greater than the stroke change rate threshold, which means that the brake pedal stroke change value per unit time is large, that is, the brake pedal stroke gradient is large; in summary, this means that the brake pedal is quickly released. If the brake pedal is detected to be quickly released, it is easy to cause hysteresis, thereby reducing the accuracy of subsequent master cylinder pressure abnormality detection. Among them, the stroke change rate threshold can be set according to actual conditions, and this embodiment does not specifically limit this.

[0043] Condition (5): The hydraulic diagnostic request status indicates that no hydraulic diagnostic request has been detected. The absence of a hydraulic diagnostic request is a key condition for subsequent master cylinder pressure anomaly detection. If a hydraulic diagnostic request is present, it indicates a hydraulic brake system failure and hydraulic brake system degradation, which will seriously affect subsequent master cylinder pressure anomaly detection.

[0044] Alternatively, the first abnormal condition can be flexibly set based on actual circumstances, and this embodiment does not specifically limit this. For example, the first abnormal condition can be that the master cylinder pressure is greater than a preset first threshold. This can directly determine that the master cylinder pressure is excessive, thereby improving the efficiency and accuracy of detecting whether the master cylinder pressure is excessive, but the present invention is not limited to this.

[0045] In some embodiments, the fault diagnosis of the master cylinder pressure according to the abnormality type in step S103 to obtain the fault type of the master cylinder pressure includes: When the abnormality type is a first abnormality type, obtaining first braking attribute data of the target vehicle; Fault diagnosis is performed based on the first braking attribute data to obtain the fault type.

[0046] In this embodiment, when the abnormality type is the first abnormality type, namely, excessive master cylinder pressure, the system first acquires the target vehicle's first braking attribute data. This first braking attribute data refers to data related to the target vehicle's braking behavior and hydraulic brake system during driving, and may include sensor data, mechanical structure data, and other data. Fault diagnosis for excessive master cylinder pressure is then performed using this first braking attribute data as a benchmark, thereby determining the specific fault type corresponding to the excessive master cylinder pressure condition and achieving accurate fault diagnosis. This effectively improves the accuracy of fault diagnosis for excessive master cylinder pressure.

[0047] In some embodiments, the first brake attribute data may include pedal simulator information, isolation valve status, pressure information, a pedal displacement signal, and braking torque. The pedal simulator information may include the valve status, spring displacement change rate, and mechanical connection status of the pedal simulator. The pressure information may include the master cylinder pressure and the brake fluid pressure of the servo cylinder. The valve status indicates whether the valve of the pedal simulator is fully open, the isolation valve status indicates whether the isolation valve is fully closed, the spring displacement change rate refers to the change in the spring of the pedal simulator per unit time, the mechanical connection status indicates whether the connection between the master cylinder and the pedal simulator is blocked, and the pedal displacement signal refers to the signal output by the pedal displacement sensor.

[0048] The above-mentioned fault type may include at least one of a pedal simulator valve fault type, an isolation valve fault type, a spring sticking fault type or a pedal displacement sensor fault type.

[0049] The fault diagnosis performed based on the first braking attribute data to obtain the fault type may include at least one of the following: If the valve body state indicates that the valve body of the pedal simulator is not fully open, and the mechanical connection state indicates that the connection between the master cylinder of the target vehicle and the pedal simulator is blocked, the fault type is determined to be a pedal simulator valve fault type; If the isolation valve status indicates that the isolation valve of the target vehicle is not completely closed, and the brake fluid pressure is higher than the master cylinder pressure, the fault type is determined to be an isolation valve fault type; If the spring displacement change rate is less than the preset change rate threshold, the fault type is determined to be a spring stuck fault type; If the pedal displacement signal is higher than the braking torque, the fault type is determined to be a pedal displacement sensor fault type.

[0050] In this embodiment, when it is recognized that the master cylinder pressure is too high, relevant fault diagnosis is performed, including the following situations (1)-(4): Case (1): Under normal circumstances, the valve body of the pedal simulator should be fully open. Based on this, the valve body of the pedal simulator is tested to obtain the valve body status of the pedal simulator, which is used to indicate whether the valve body of the pedal simulator is fully open. Incomplete opening means that the valve body of the pedal simulator is only slightly open or not open at all. At the same time, the connection between the master cylinder and the pedal simulator is tested to obtain the mechanical connection status of the pedal simulator. Subsequently, when the valve body of the pedal simulator is not fully open (that is, the valve port of the pedal simulator is stuck) and the connection between the master cylinder and the pedal simulator is blocked, the brake fluid in the master cylinder will not flow normally into the pedal simulator, resulting in excessive pressure in the master cylinder, causing phenomena such as a hard pedal feel. Therefore, the fault type is determined to be a pedal simulator valve fault type.

[0051] Case (2): Under normal circumstances, the isolation valve should be completely closed. Based on this, the isolation valve status is detected to obtain the isolation valve status, which is used to indicate whether the isolation valve of the target vehicle is completely closed. Incomplete closure means that the isolation valve is only closed slightly, or not closed at all, or the isolation valve is closed but leaks due to insufficient sealing. At the same time, the brake fluid pressure in the servo cylinder is monitored. Subsequently, when the isolation valve is not completely closed (i.e., the isolation valve is stuck or leaking), and the brake fluid pressure is higher than the master cylinder pressure, the brake fluid in the servo cylinder will flow into the master cylinder, causing excessive pressure in the master cylinder, resulting in phenomena such as the brake pedal pressing down. Therefore, the fault type is determined to be the isolation valve fault type.

[0052] Case (3): Under normal circumstances, the pedal simulator's spring should expand and contract normally. Based on this, the pedal simulator's spring status is detected to obtain the spring displacement change rate, i.e., the amount of change in the pedal simulator's spring per unit time. Subsequently, when the spring displacement change rate is less than the preset change rate threshold, it indicates that the pedal simulator's spring is not expanding and contracting normally and is stuck, resulting in excessive pressure in the master cylinder. Therefore, the fault type is determined to be a spring stuck fault.

[0053] Case (4): Under normal circumstances, the signal output by the pedal displacement sensor should fully reflect the driver's actual braking demand. The braking demand can be calculated based on the brake pedal travel value to obtain the target vehicle's deceleration, and the braking torque can be calculated accordingly. This is a prior art and will not be described in detail. Based on this, the pedal displacement sensor is monitored to obtain a pedal displacement signal. Subsequently, if the pedal displacement signal is higher than the braking torque, it means that the signal output by the pedal displacement sensor is higher than the driver's actual braking demand, which exaggerates the driver's actual braking demand, thereby causing excessive pressure in the master cylinder. Therefore, the fault type is determined to be a pedal displacement sensor fault type.

[0054] It can be seen that, through the above-mentioned related fault troubleshooting, this embodiment can accurately determine the specific fault type when the master cylinder pressure is too high, thereby effectively improving the accuracy of fault diagnosis when the master cylinder pressure is too high.

[0055] In some embodiments, in step S102, performing abnormality detection on the master cylinder pressure of the target vehicle based on the driving attribute data to obtain the abnormality type of the master cylinder pressure includes: If the driving attribute data satisfies the preset second precondition, the push rod stroke value of the target vehicle is obtained; If the push rod stroke value meets the preset second abnormal condition, the second abnormal type is output.

[0056] It should be noted that driving attribute data may include brake pedal information, master cylinder pressure signal, hydraulic diagnostic request status, and sensor fault status. Brake pedal information includes the brake pedal signal and brake pedal travel value. The hydraulic diagnostic request status indicates whether a hydraulic diagnostic request has been detected. A hydraulic diagnostic request is a diagnostic request generated by the target vehicle when a hydraulic brake system fault is detected. The sensor fault status indicates whether any sensor has an undervoltage fault.

[0057] In this embodiment, first, a determination is made as to whether the driving attribute data satisfies a second precondition, which serves as a precondition for monitoring whether the master cylinder pressure is too low. If the driving attribute data satisfies the second precondition, it indicates that the target vehicle currently meets the precondition for monitoring whether the master cylinder pressure is too low. In this case, monitoring whether the master cylinder pressure is too low effectively ensures monitoring accuracy. The target vehicle's push rod travel value, i.e., the travel value of the brake pedal push rod, is then acquired to further monitor whether the master cylinder pressure is too low. If the data does not meet the precondition for monitoring whether the master cylinder pressure is too low, monitoring whether the master cylinder pressure is too low may result in misjudgments or missed detections. The process then returns to step S101, completing a loop of determinations. This ensures that the target vehicle's driving conditions meet the detection requirements for subsequent master cylinder pressure anomaly detection, reduces the impact of driving conditions on master cylinder pressure anomaly detection, and ensures the accuracy of subsequent master cylinder pressure anomaly detection.

[0058] If the driving attribute data satisfies the second precondition, the push rod stroke value is checked to see if it satisfies the second abnormality condition, which is essential for determining whether the master cylinder pressure is too low. If the push rod stroke value satisfies the second abnormality condition, it indicates that the master cylinder pressure has completely reached the low level at that moment, and the second abnormality type is output. Otherwise, it indicates that the master cylinder pressure has not completely reached the low level at that moment, and the process returns to step S101 above, completing the loop. This effectively improves the accuracy and efficiency of detecting whether the master cylinder pressure is too low.

[0059] Optionally, the second precondition can be flexibly set according to actual conditions, and this embodiment does not specifically limit this. For example, the second precondition can include at least one of the following conditions (6)-(10): Condition (6): Detecting that the brake pedal signal is valid. The validity of the brake pedal signal is a key condition for the subsequent master cylinder pressure abnormality detection. If the brake pedal signal is invalid, it will seriously affect the subsequent master cylinder pressure abnormality detection.

[0060] Condition (7): Detecting that the master cylinder pressure signal is valid. The validity of the master cylinder pressure signal is a key condition for subsequent master cylinder pressure anomaly detection. If the master cylinder pressure signal is invalid, it will seriously affect the subsequent master cylinder pressure anomaly detection.

[0061] Condition (8): The brake pedal stroke value is not detected to be greater than the preset stroke threshold value within the preset time period, that is, the driver cannot continuously depress the brake pedal for a long period of time. If the brake pedal is detected to be continuously depressed for a long period of time, it is likely to cause the hydraulic brake system to overheat, affecting the accuracy of the sensor, thereby reducing the accuracy of subsequent master cylinder pressure abnormality detection. The stroke threshold value can be set according to actual conditions and is not specifically limited in this embodiment.

[0062] Condition (9): The hydraulic diagnostic request status indicates that no hydraulic diagnostic request has been detected, i.e., no hydraulic diagnostic request has been received. The absence of a hydraulic diagnostic request is a key condition for subsequent master cylinder pressure anomaly detection. If a hydraulic diagnostic request has been received, it indicates that the hydraulic brake system has failed and has been degraded, which will seriously affect subsequent master cylinder pressure anomaly detection.

[0063] Condition (10): The sensor fault state indicates that all sensors are free of undervoltage faults. The absence of undervoltage faults is a key condition for subsequent master cylinder pressure anomaly detection. If one or more sensors have undervoltage faults, it means that the hydraulic brake system is degraded, which will affect the accuracy of subsequent master cylinder pressure anomaly detection.

[0064] Alternatively, the second abnormal condition can be flexibly set based on actual circumstances, and this embodiment does not impose specific limitations thereon. For example, the second abnormal condition may be a push rod displacement value greater than a preset push rod threshold. During normal braking, the brake pedal push rod travel is typically input, which has a certain correlation with the vehicle's deceleration. If abnormal vehicle deceleration occurs under the same brake pedal travel, this indicates that the master cylinder pressure is too low. Thus, indirectly determining the master cylinder pressure is too low through the push rod displacement value improves the accuracy and efficiency of detecting whether the master cylinder pressure is too low, but the present invention is not limited to this embodiment.

[0065] In some embodiments, the above step S103 performs fault diagnosis on the master cylinder pressure according to the abnormality type to obtain the fault type of the master cylinder pressure, which may include: When the abnormality type is a second abnormality type, obtaining second braking attribute data of the target vehicle; Fault diagnosis is performed based on the second braking attribute data to obtain the fault type.

[0066] In this embodiment, when the abnormality type is the second abnormality type, namely, low master cylinder pressure, the system first obtains the target vehicle's second braking attribute data. This second braking attribute data refers to data related to the target vehicle's braking behavior and hydraulic brake system during driving, and may include sensor data, mechanical structure data, etc. Fault diagnosis for low master cylinder pressure is then performed using this second braking attribute data as a reference. This determines the specific fault type corresponding to the low master cylinder pressure condition, enabling accurate fault diagnosis and improving the accuracy of fault diagnosis for low master cylinder pressure.

[0067] In some embodiments, the second brake attribute data may include isolation valve status, pressure information, master cylinder leakage status, master cylinder air intake status, pedal simulator leakage status, pressure sensor signal, pedal displacement signal, and braking torque. The pressure information may include master cylinder pressure and servo cylinder brake fluid pressure. The isolation valve status indicates whether the target vehicle's isolation valve is fully closed. The master cylinder leakage status indicates whether the target vehicle's master cylinder has at least one of an external leakage fault or a high-pressure leakage fault. An external leakage fault refers to hydraulic oil leaking from the interior of the master cylinder to the external environment. A high-pressure leakage fault refers to brake fluid leakage from the interior of the master cylinder under high-pressure operating conditions (e.g., sudden braking). The master cylinder air intake status indicates whether the master cylinder has an air intake fault. An air intake fault occurs when gas enters the interior of the master cylinder from outside the master cylinder. The pedal simulator leakage status indicates whether the pedal simulator has a leakage fault. A leakage fault occurs when brake fluid flows from the interior of the pedal simulator to the outside. The pressure sensor signal refers to the pressure signal output by the pressure sensor. The pedal displacement signal refers to the signal output by the pedal displacement sensor.

[0068] The above-mentioned fault type may include at least one of an isolation valve fault type, a master cylinder leakage fault type, a master cylinder air intake fault type, a pedal simulator fault type, a pressure sensor fault type or a pedal displacement sensor fault type.

[0069] The fault diagnosis performed based on the second braking attribute data to obtain the fault type may include at least one of the following: If the isolation valve status indicates that the isolation valve of the target vehicle is not completely closed and the brake fluid pressure is lower than the master cylinder pressure, the fault type is determined to be an isolation valve fault type; If the master cylinder leakage status indicates that the target vehicle's master cylinder has an external leakage fault and / or a high-pressure leakage fault, the fault type is determined to be a master cylinder leakage fault type; If the pedal simulator leakage state indicates that the pedal simulator has a leakage fault, the fault type is determined to be a pedal simulator fault type; If the master cylinder air intake state indicates that the master cylinder has an air intake fault, the fault type is determined to be a master cylinder air intake fault type; If the pressure sensor signal is at zero within the preset time period, the fault type is determined to be a pressure sensor fault type; If the pedal displacement signal is lower than the braking torque, the fault type is determined to be a pedal displacement sensor fault type.

[0070] In this embodiment, when it is recognized that the master cylinder pressure is too low, relevant fault diagnosis is performed, including the following situations (5)-(10): Case (5): Under normal circumstances, the isolation valve should be completely closed. Based on this, the isolation valve is tested to obtain the isolation valve status. The isolation valve status is used to indicate whether the isolation valve of the target vehicle is completely closed. Incomplete closure means that the isolation valve is only slightly closed, or not closed at all, or the isolation valve is closed but leaks due to insufficient sealing. At the same time, the brake fluid pressure in the servo cylinder is monitored. Subsequently, when the isolation valve is not completely closed (i.e., the isolation valve is stuck or leaking), and the brake fluid pressure is lower than the master cylinder pressure, the brake fluid in the master cylinder will flow into the servo cylinder, resulting in too low pressure in the master cylinder, causing phenomena such as a soft pedal feel. Therefore, the fault type is determined to be an isolation valve fault type.

[0071] Case (6): Under normal circumstances, there should be no leakage fault inside the master cylinder. If at least one of an external leakage fault or a high-pressure leakage fault is detected in the master cylinder, the target vehicle will generate a corresponding fault signal, such as a master cylinder external leakage signal, a master cylinder high-pressure leakage signal, etc. Based on this, the fault signal associated with the master cylinder leakage is monitored to obtain the master cylinder leakage status, which is used to indicate whether the master cylinder has at least one of an external leakage fault or a high-pressure leakage fault. When a high-pressure leakage fault and / or an external leakage fault is detected in the master cylinder, the brake fluid inside the master cylinder will flow to the outside, thereby causing the pressure inside the master cylinder to decrease. Therefore, the fault type is determined to be a master cylinder leakage fault type.

[0072] Case (7): Under normal circumstances, the pedal simulator is connected to the master cylinder, which contains brake fluid. Similar to the master cylinder, there should be no leakage fault inside the pedal simulator. If a pedal simulator leak is detected, the target vehicle will generate a corresponding fault signal, such as a pedal simulator leakage signal. Based on this, the fault signal associated with the pedal simulator leak is monitored to obtain the pedal simulator leakage status, which is used to indicate whether the pedal simulator has a leakage fault. When a pedal simulator leak is detected, the brake fluid of the pedal simulator will flow to the outside, thereby causing the pressure inside the master cylinder to decrease, resulting in phenomena such as a soft pedal feel. Therefore, the fault type is determined to be a pedal simulator fault type.

[0073] Case (8): Under normal circumstances, the master cylinder is filled with brake fluid. If external gas is detected entering the master cylinder, the target vehicle will generate a corresponding fault signal, such as a master cylinder air intake fault signal. Based on this, the fault signal associated with the master cylinder air intake is monitored to obtain the master cylinder air intake status, which is used to indicate whether there is an air intake fault in the master cylinder. When the master cylinder air intake is detected, the pressure inside the master cylinder will decrease, resulting in phenomena such as a soft pedal feel. Therefore, the fault type is determined to be a master cylinder air intake fault type.

[0074] Case (9): Under normal circumstances, the pressure sensor should operate normally and is usually not at zero. Based on this, the pressure sensor is tested to obtain a pressure sensing signal. Subsequently, when the pressure sensing signal is at zero for a preset time period, it means that the pressure sensor has been stuck at zero for a long time. This will cause the pressure inside the master cylinder to be low, resulting in phenomena such as a soft pedal feel. Therefore, the fault type is determined to be a pressure sensing fault type.

[0075] Case (10): Under normal circumstances, the signal output by the pedal displacement sensor should fully reflect the driver's actual braking demand. The braking demand can be calculated based on the brake pedal stroke value to obtain the deceleration of the target vehicle, and the braking torque is calculated based on this. This is a prior art and will not be described in detail. Based on this, the pedal displacement sensor is monitored to obtain a pedal displacement signal. Subsequently, if the pedal displacement signal is lower than the braking torque, it means that the signal output by the pedal displacement sensor is lower than the driver's actual braking demand, and it fails to fully reflect the driver's actual braking demand, resulting in too little pressure in the master cylinder. Therefore, the fault type is determined to be a pedal displacement sensor fault type.

[0076] It can be seen that this embodiment can accurately determine the specific fault type when the master cylinder pressure is too low through the above-mentioned related fault troubleshooting, thereby effectively improving the accuracy of fault diagnosis when the master cylinder pressure is too low.

[0077] In some embodiments, the above-mentioned fault types may include at least one of a pedal simulator valve fault type, an isolation valve fault type, a spring sticking fault type, a master cylinder leakage fault type, a master cylinder intake fault type, a pedal simulator fault type, a pressure sensor fault type, or a pedal displacement sensor fault type.

[0078] In the above step S104, the abnormal warning process for the target vehicle may include at least one of the following according to the fault type: If the fault type is a pedal simulator valve fault type, the valve body of the pedal simulator of the target vehicle is restored and controlled. When a first preset time period has passed after the valve body of the pedal simulator is restored and controlled, if the valve body state of the pedal simulator indicates that the valve body of the pedal simulator is not fully open, and the mechanical connection state of the pedal simulator indicates that the connection between the master cylinder of the target vehicle and the pedal simulator is blocked, a fault code warning is issued; otherwise, no warning is issued. If the fault type is an isolation valve fault type, the isolation valve of the target vehicle is restored and controlled. When the second preset time period after the isolation valve is restored and controlled arrives, if the isolation valve status indicates that the isolation valve is not completely closed, and the brake fluid pressure of the servo cylinder of the target vehicle is not equal to the master cylinder pressure, a fault code warning is issued; otherwise, no warning is issued. If the fault type is a pressure sensor fault type, the pressure sensor is initialized and restored to calibration. When a third preset time period after the pressure sensor is initialized and restored to calibration arrives, if the pressure sensor signal is at zero within the preset time period, a fault code warning is issued; otherwise, no warning is issued. If the fault type is a pedal displacement sensor fault type, the pedal displacement sensor is initialized and restored to calibration. When a fourth preset time period after the pedal displacement sensor is initialized and restored to calibration is reached, if the pedal displacement signal is not equal to the braking torque, a fault code warning is issued; otherwise, no warning is issued; If the fault type is at least one of the spring stuck fault type, master cylinder leakage fault type, master cylinder air intake fault type or pedal simulator fault type, a fault code warning is issued.

[0079] In this embodiment, the above-mentioned fault types may include at least one of the pedal simulator valve fault type, the isolation valve fault type, the spring jam fault type, the master cylinder leakage fault type, the master cylinder air intake fault type, the pedal simulator fault type, the pressure sensor fault type or the pedal displacement sensor fault type. Each fault type can be pre-set with a corresponding fault code, so that the controller can accurately report the fault code when an individual fault occurs, and the maintenance personnel can also quickly determine the specific fault by reading the fault code during maintenance.

[0080] For various types of faults, there are the following warning methods (1)-(8): Warning method (1): When the master cylinder pressure is too high, the fault type of the pedal simulator valve can be identified through fault diagnosis, which indicates that the master cylinder pressure is too high due to a fault in the valve body of the pedal simulator. In this regard, first, the valve body of the pedal simulator is individually commanded and controlled, that is, recovery control. In the recovery control, the valve body of the pedal simulator is attempted to be controlled to monitor whether the valve body of the pedal simulator is fully open. At the same time, an attempt is made to reconnect the connection between the master cylinder and the pedal simulator. Usually, there is a backup path between the master cylinder and the pedal simulator. When the connection is blocked, the backup path can be switched to. After the switch, it is monitored whether the master cylinder can be connected to the pedal simulator through the backup path. The timer starts from the recovery control. When the first preset time is reached, if the valve body of the pedal simulator is still not fully opened and the connection between the master cylinder and the pedal simulator is still blocked, it means that the valve body of the pedal simulator cannot recover by itself and may be damaged and needs to be disassembled for repair. At this time, the fault code of the pedal simulator valve fault type is output and displayed on the instrument panel, such as fault code 01, for warning. Otherwise, no warning is issued.

[0081] Warning method (2): When the master cylinder pressure is too high or too low, the fault type of the isolation valve can be identified through fault diagnosis, which indicates that the master cylinder pressure is too high or too low due to a fault in the isolation valve. In this regard, first, the isolation valve is individually commanded to be controlled, that is, recovery control. In the recovery control, the isolation valve is tried to be controlled to monitor whether the isolation valve can be completely closed. The timer starts from the recovery control, and when the second preset time is reached, if the isolation valve is still not completely closed and the brake fluid pressure of the servo cylinder is still less than or greater than the master cylinder pressure, it means that the isolation valve cannot recover on its own and may be damaged and needs to be disassembled for repair. At this time, the fault code of the isolation valve fault type is output and displayed on the instrument panel, such as fault code 02, for early warning. Otherwise, no early warning is issued.

[0082] Warning method (3): When the master cylinder pressure is too low, the pressure sensor fault type can be identified through fault diagnosis, which indicates that the master cylinder pressure is too low because the pressure sensor is stuck at zero. To this end, first, the pressure sensor is initialized and restored, that is, recovery control. In the recovery control, the pressure sensor is reset and monitored to see if it leaves the zero position. The timing starts from the recovery control and waits for the third preset time period to arrive. If the pressure sensor signal is still at zero within the preset time period, it means that the pressure sensor cannot recover on its own and may be damaged. A new sensor needs to be replaced. At this time, a fault code of the pressure sensor fault type is output and displayed on the instrument panel, such as fault code 03, to provide a warning. Otherwise, no warning is issued.

[0083] Warning method (4): In the case of excessive or insufficient master cylinder pressure, the fault type of the pedal displacement sensor can be identified through fault diagnosis, indicating that the master cylinder pressure is excessive or insufficient due to a pedal displacement sensor fault. To this end, the pedal displacement sensor is first initialized and restored, i.e., recovery control. During the recovery control, an attempt is made to reset the pedal displacement sensor and monitor the pedal displacement sensor signal. The timing starts from the recovery control, and when the fourth preset time is reached, if the pedal displacement signal is less than or greater than the braking torque, it means that the pedal displacement sensor cannot recover on its own and may be damaged. A new sensor needs to be replaced. At this time, a fault code of the pedal displacement sensor fault type is output and displayed on the instrument panel, such as fault code 04, for warning. Otherwise, no warning is issued.

[0084] Warning method (5): In the case of excessive master cylinder pressure, fault diagnosis can reveal a spring jam fault type, which indicates excessive master cylinder pressure due to a spring jam in the pedal simulator. Since the spring is a mechanical structure, it is stuck and may be damaged, requiring disassembly and repair. At this time, a fault code of the spring jam fault type is output and displayed on the instrument panel, such as fault code 05, to provide a warning. Otherwise, no warning is issued.

[0085] Warning method (6): When the master cylinder pressure is too low, the master cylinder leakage fault type can be obtained through fault diagnosis, which means that the master cylinder pressure is too low due to external leakage or high-pressure leakage of the master cylinder. At this time, the hydraulic brake system is degraded and the master cylinder may be damaged. A new master cylinder needs to be replaced. At this time, the fault code of the master cylinder leakage fault type is output and displayed on the instrument panel, such as fault code 06, for warning. Otherwise, no warning is issued.

[0086] Warning method (7): When the master cylinder pressure is too low, the master cylinder air intake fault type can be obtained through fault diagnosis, which means that the master cylinder pressure is too low due to the master cylinder air intake. At this time, the hydraulic brake system is degraded and the master cylinder may be damaged. It needs to be vented and repaired. At this time, the fault code of the master cylinder air intake fault type is output and displayed on the instrument panel, such as fault code 07, for warning. Otherwise, no warning is given.

[0087] Warning method (8): When the master cylinder pressure is too low, the pedal simulator fault type can be obtained through fault diagnosis, which indicates that the master cylinder pressure is too low due to leakage of the pedal simulator. At this time, the hydraulic brake system is degraded and the pedal simulator may be damaged. Related parts need to be replaced. At this time, the fault code of the pedal simulator fault type is output and displayed on the instrument panel, such as fault code 08, for warning. Otherwise, no warning is issued.

[0088] It can be seen that this embodiment performs corresponding recovery control and targeted fault warning according to different fault types, which can effectively improve the abnormal warning accuracy of the master cylinder pressure, help to quickly identify the fault point that causes excessive or insufficient master cylinder pressure, and ensure the vehicle's braking effect and braking safety.

[0089] To facilitate understanding of the above-mentioned master cylinder pressure abnormality warning method of the present application, the actual application scenario of the above-mentioned master cylinder pressure abnormality warning method of the present application is illustrated here by way of example.

[0090] Reference Figure 2 During driving, the process of issuing an abnormal warning for excessive master cylinder pressure in the vehicle's hydraulic brake system is as follows: Steps A201 to A204: A201, Data Acquisition: Acquires vehicle driving attribute data, including master cylinder pressure signal, hydraulic diagnosis request status, brake pedal signal, brake pedal travel value, and brake pedal travel change rate.

[0091] A202, abnormality detection: If the driving attribute data meets the first precondition, i.e., the above conditions (1)-(5), the vehicle's master cylinder pressure is obtained, and it is determined whether the master cylinder pressure is greater than a preset first threshold. If so, it means that the master cylinder pressure is too high, and the first abnormality type is output, and the process goes to step A203. Otherwise, the process returns to step A201 to implement cyclic detection.

[0092] A203, Fault Diagnosis: Obtain first brake attribute data of the vehicle, which includes pedal simulator information, isolation valve status, pressure information, pedal displacement signal, and braking torque. The pedal simulator information may include the valve body status, spring displacement change rate, and mechanical connection status of the pedal simulator, and the pressure information may include the master cylinder pressure and the brake fluid pressure of the servo cylinder. Based on the first brake attribute data, determine whether the vehicle belongs to one or more of the above situations (1)-(4), and determine the specific fault type accordingly.

[0093] A204, abnormal warning: According to one or more of the above situations (1)-(4), an abnormal warning is performed as shown in one or more of the above warning methods (1)-(2) and (4)-(5). Specifically, the above situation (1) corresponds to the pedal simulator valve fault type, which adopts the above warning method (1); the above situation (2) corresponds to the isolation valve fault type, which adopts the above warning method (2); the above situation (3) corresponds to the spring jam fault type, which adopts the above warning method (5); the above situation (4) corresponds to the pedal displacement sensor fault type, which adopts the above warning method (4).

[0094] Reference Figure 3During driving, the process of issuing an abnormal warning for low master cylinder pressure in the vehicle's hydraulic brake system is as follows: Steps B201-B204: B201: Acquire vehicle driving attribute data, including the master cylinder pressure signal, hydraulic diagnosis request status, sensor fault status, brake pedal signal, and brake pedal travel value. In fact, the above step A201 and this step A201 can be combined into the same data acquisition step.

[0095] B202, abnormality detection: If the driving attribute data meets the second precondition, that is, the above conditions (6)-(10), the push rod displacement value of the vehicle is obtained, and it is determined whether the push rod displacement value is greater than the preset push rod threshold. If so, it means that the master cylinder pressure is too small, and the second abnormality type is output and the process goes to step B203. Otherwise, the process returns to step B201 to achieve cyclic detection.

[0096] B203, Fault Diagnosis: Obtain the vehicle's second brake attribute data, which includes isolation valve status, pressure information, master cylinder leakage status, master cylinder air intake status, pedal simulator leakage status, pressure sensor signal, pedal displacement signal, and braking torque. The pressure information may include master cylinder pressure and servo cylinder brake fluid pressure. Based on the second brake attribute data, determine whether the vehicle belongs to one or more of the above situations (5)-(10), and determine the specific fault type accordingly.

[0097] B204, abnormal warning: According to one or more of the above situations (5)-(10), an abnormal warning is performed as shown in one or more of the above warning methods (2)-(4) and (6)-(8). Specifically, the above situation (5) corresponds to the isolation valve fault type, which adopts the above warning method (2); the above situation (6) corresponds to the master cylinder leakage fault type, which adopts the above warning method (6); the above situation (7) corresponds to the pedal simulator fault type, which adopts the above warning method (8); the above situation (8) corresponds to the master cylinder intake fault type, which adopts the above warning method (7); the above situation (9) corresponds to the pressure sensor fault type, which adopts the above warning method (3); the above situation (10) corresponds to the pedal displacement sensor fault type, which adopts the above warning method (4).

[0098] In addition, refer to Figure 4 , the embodiment of the present application further provides a master cylinder pressure abnormality warning device, which may include: An acquisition module 301 is used to acquire driving attribute data of a target vehicle; A first processing module 302 is configured to perform abnormality detection on the master cylinder pressure of the target vehicle based on the driving attribute data to obtain an abnormality type of the master cylinder pressure; wherein the abnormality type includes either a first abnormality type or a second abnormality type, wherein the first abnormality type indicates that the master cylinder pressure is greater than a preset first pressure value, and the second abnormality type indicates that the master cylinder pressure is less than a preset second pressure value, wherein the second pressure value is less than the first pressure value; The second processing module 303 is used to perform fault diagnosis on the master cylinder pressure according to the abnormality type to obtain the fault type of the master cylinder pressure; The third processing module 304 is used to perform abnormal warning processing on the target vehicle according to the fault type.

[0099] The contents of the above method embodiments are all applicable to the present device embodiments. The functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0100] Finally, refer to Figure 5 , an embodiment of the present application further provides a vehicle, the vehicle comprising: at least one processor 401; at least one memory 402, configured to store at least one program; When at least one program is executed by at least one processor 401 , the at least one processor 401 implements the above-mentioned master cylinder pressure abnormality warning method.

[0101] The above-mentioned vehicles can be private cars, such as sedans, sport utility vehicles (SUVs), multi-purpose vehicles (MPVs) or pickup trucks, or commercial vehicles, such as vans, buses, small trucks or large trailers, or gasoline vehicles or new energy vehicles such as hybrid and pure electric vehicles.

[0102] The above-mentioned memory 402 is a non-transient network system that can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory 402 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory 402 optionally includes a memory 402 remotely arranged relative to the processor 401, and these remote memories 402 can be connected to the processor 401 via a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0103] The memory 402 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 402 can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 402 and is called by the processor 401 to execute the methods of the embodiments of this application.

[0104] The processor 401 may be implemented as a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and may be used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application.

[0105] In some embodiments, the vehicle may further include: Input / output interface, used to realize information input and output; Communication interface, used to realize communication interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, Wi-Fi, Bluetooth, etc.); A bus that transmits information between various components of the device (e.g., processor 401, memory 402, input / output interfaces, and communication interfaces); The processor 401 , the memory 402 , the input / output interface and the communication interface can be communicatively connected to each other within the device via a bus.

[0106] The contents of the above method embodiments are all applicable to the present vehicle embodiment. The functions specifically implemented by the present vehicle embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0107] In some optional embodiments, the function / operation mentioned in the block diagram may not occur in the order mentioned in the operation diagram. For example, depending on the function / operation involved, the two boxes shown in succession can actually be executed substantially simultaneously or the boxes can sometimes be executed in reverse order. In addition, the embodiments presented and described in the flow chart of the present application are provided in an exemplary manner for the purpose of providing a more comprehensive understanding of the technology. The disclosed method is not limited to the operations and logical flows presented herein. Optional embodiments are contemplated in which the order of the various operations is changed and the sub-operations described as a part of a larger operation are performed independently.

[0108] In addition, although the present application is described in the context of functional modules, it should be understood that, unless otherwise stated, one or more of the functions and / or features may be integrated into a single physical device and / or software module, or one or more functions and / or features may be implemented in separate physical devices or software modules. It is also understood that a detailed discussion of the actual implementation of each module is not necessary for understanding the present application. More specifically, given the properties, functions, and internal relationships of the various functional modules in the devices disclosed herein, the actual implementation of the module will be understood within the routine skills of an engineer. Therefore, a person skilled in the art can implement the present application as set forth in the claims using ordinary techniques without undue experimentation. It is also understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present application, which is determined by the full scope of the appended claims and their equivalents.

[0109] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several programs for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program code.

[0110] The logic and / or steps represented in a flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable programs for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, a program execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can retrieve and execute a program from a program execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, a program execution system, apparatus, or device.

[0111] More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic devices), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting, or processing it in another suitable manner as necessary, and then storing it in a computer memory.

[0112] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable program execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having logic gate circuits for implementing logical functions on data signals, an application-specific integrated circuit having suitable combinational logic gate circuits, a programmable gate array (PGA), a field-programmable gate array (FPGA), etc.

[0113] In the above description of this specification, reference to the terms "one embodiment / example," "another embodiment / example," or "certain embodiments / examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples.

[0114] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and intent of the present application, and that the scope of the present application is defined by the claims and their equivalents.

[0115] The above is a specific description of the preferred implementation of the present application, but the present application is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present application. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present application.

Claims

1. A master cylinder pressure abnormality warning method, characterized in that: The following steps are involved: Obtaining driving attribute data of the target vehicle; performing abnormality detection on the master cylinder pressure of the target vehicle based on the driving attribute data to obtain an abnormality type of the master cylinder pressure; wherein the abnormality type includes either a first abnormality type or a second abnormality type, the first abnormality type indicating that the master cylinder pressure is greater than a preset first pressure value, and the second abnormality type indicating that the master cylinder pressure is less than a preset second pressure value, the second pressure value being less than the first pressure value; performing a fault diagnosis on the master cylinder pressure according to the abnormality type to obtain the fault type of the master cylinder pressure; According to the fault type, abnormal warning processing is performed on the target vehicle.

2. The method according to claim 1, characterized in that The performing abnormality detection on the master cylinder pressure of the target vehicle based on the driving attribute data to obtain the abnormality type of the master cylinder pressure includes: If the driving attribute data satisfies a preset first precondition, obtaining the master cylinder pressure of the target vehicle; If the master cylinder pressure satisfies a preset first abnormal condition, the first abnormality type is output.

3. The method according to claim 1, characterized in that The performing fault diagnosis on the master cylinder pressure according to the abnormality type to obtain the fault type of the master cylinder pressure includes: When the abnormality type is the first abnormality type, obtaining first braking attribute data of the target vehicle; Fault diagnosis is performed based on the first braking attribute data to obtain the fault type.

4. The method according to claim 3, characterized in that The first brake attribute data includes pedal simulator information, isolation valve status, pressure information, pedal displacement signal, and braking torque; the pedal simulator information includes valve body status, spring displacement change rate, and mechanical connection status of the pedal simulator; the pressure information includes master cylinder pressure and servo cylinder brake fluid pressure; the fault type includes at least one of a pedal simulator valve fault type, an isolation valve fault type, a spring stuck fault type, or a pedal displacement sensor fault type; The performing fault diagnosis based on the first braking attribute data to obtain the fault type includes at least one of the following: If the valve body state indicates that the valve body of the pedal simulator is not fully open, and the mechanical communication state indicates that the connection between the master cylinder of the target vehicle and the pedal simulator is blocked, determining the fault type as a pedal simulator valve fault type; If the isolation valve state indicates that the isolation valve of the target vehicle is not completely closed, and the brake fluid pressure is higher than the master cylinder pressure, determining the fault type as the isolation valve fault type; If the spring displacement change rate is less than a preset change rate threshold, the fault type is determined to be the spring stuck fault type; If the pedal displacement signal is higher than the braking torque, the fault type is determined to be the pedal displacement sensor fault type.

5. The method according to claim 1, wherein The performing abnormality detection on the master cylinder pressure of the target vehicle based on the driving attribute data to obtain the abnormality type of the master cylinder pressure includes: If the driving attribute data satisfies a preset second precondition, obtaining a push rod stroke value of the target vehicle; If the push rod stroke value meets a preset second abnormal condition, the second abnormal type is output.

6. The method according to claim 1, characterized in that The performing fault diagnosis on the master cylinder pressure according to the abnormality type to obtain the fault type of the master cylinder pressure includes: When the abnormality type is the second abnormality type, obtaining second braking attribute data of the target vehicle; Fault diagnosis is performed based on the second braking attribute data to obtain the fault type.

7. The method according to claim 6, characterized in that The second brake attribute data includes an isolation valve status, pressure information, a master cylinder leakage status, a master cylinder air intake status, a pedal simulator leakage status, a pressure sensor signal, a pedal displacement signal, and a braking torque, wherein the pressure information includes the master cylinder pressure and the brake fluid pressure of the servo cylinder; the fault type includes at least one of an isolation valve fault type, a master cylinder leakage fault type, a master cylinder air intake fault type, a pedal simulator fault type, a pressure sensor fault type, or a pedal displacement sensor fault type; The performing fault diagnosis based on the second braking attribute data to obtain the fault type includes at least one of the following: If the isolation valve status indicates that the isolation valve of the target vehicle is not completely closed, and the brake fluid pressure is lower than the master cylinder pressure, determining the fault type as the isolation valve fault type; If the master cylinder leakage state indicates that the master cylinder of the target vehicle has an external leakage fault and / or a high-pressure leakage fault, determining the fault type as the master cylinder leakage fault type; If the leakage state of the pedal simulator indicates that the pedal simulator has a leakage fault, determining the fault type as the pedal simulator fault type; If the master cylinder air intake state indicates that the master cylinder has an air intake fault, determining the fault type as the master cylinder air intake fault type; If the pressure sensor signal is at zero within a preset time period, the fault type is determined to be the pressure sensor fault type; If the pedal displacement signal is lower than the braking torque, the fault type is determined to be the pedal displacement sensor fault type.

8. The method according to claim 1, characterized in that The fault type includes at least one of a pedal simulator valve fault type, an isolation valve fault type, a spring stuck fault type, a master cylinder leakage fault type, a master cylinder air intake fault type, a pedal simulator fault type, a pressure sensor fault type, or a pedal displacement sensor fault type; The performing abnormal warning processing on the target vehicle according to the fault type includes at least one of the following: If the fault type is the pedal simulator valve fault type, the valve body of the pedal simulator of the target vehicle is restored and controlled. When a first preset time period has passed after the valve body of the pedal simulator is restored and controlled, if the valve body state of the pedal simulator indicates that the valve body of the pedal simulator is not fully opened, and the mechanical connection state of the pedal simulator indicates that the connection between the master cylinder of the target vehicle and the pedal simulator is blocked, a fault code warning is issued; otherwise, no warning is issued. If the fault type is the isolation valve fault type, the isolation valve of the target vehicle is restored and controlled. When a second preset time period has passed after the isolation valve is restored and controlled, if the isolation valve state indicates that the isolation valve is not completely closed, and the brake fluid pressure of the servo cylinder of the target vehicle is not equal to the master cylinder pressure, a fault code warning is issued; otherwise, no warning is issued. If the fault type is the pressure sensor fault type, the pressure sensor is initialized and restored to calibration. When a third preset time period after the pressure sensor is initialized and restored to calibration arrives, if the pressure sensor signal is at zero within the preset time period, a fault code warning is issued; otherwise, no warning is issued. If the fault type is the pedal displacement sensor fault type, initializing and recalibrating the pedal displacement sensor, and when a fourth preset time period after the pedal displacement sensor is initialized and recalibrated is reached, if the pedal displacement signal is not equal to the braking torque, a fault code warning is issued; otherwise, no warning is issued; If the fault type is at least one of the spring stuck fault type, the master cylinder leakage fault type, the master cylinder air intake fault type or the pedal simulator fault type, a fault code warning is performed.

9. A master cylinder pressure abnormality warning device, characterized in that: include: An acquisition module, used to obtain driving attribute data of a target vehicle; a first processing module, configured to perform abnormality detection on the master cylinder pressure of the target vehicle based on the driving attribute data to obtain an abnormality type of the master cylinder pressure; wherein the abnormality type includes either a first abnormality type or a second abnormality type, the first abnormality type indicating that the master cylinder pressure is greater than a preset first pressure value, and the second abnormality type indicating that the master cylinder pressure is less than a preset second pressure value, the second pressure value being less than the first pressure value; a second processing module, configured to perform a fault diagnosis on the master cylinder pressure according to the abnormality type to obtain the fault type of the master cylinder pressure; The third processing module is used to perform abnormal warning processing on the target vehicle according to the fault type.

10. A vehicle, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the master cylinder pressure abnormality warning method according to any one of claims 1 to 8.

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