Hydraulic brake detection method, electronic equipment, medium, product and vehicle

Abstract

The invention relates to the technical field of hydraulic braking, in particular to a hydraulic braking detection method, electronic equipment, a medium, a product and a vehicle. According to the method, when an unmanned parking system is about to work, a pre-detection command is generated to detect the pressure reduction capacity of a brake-by-wire system and the pressure maintaining capacity of a whole vehicle braking system, for example, in response to the pre-detection command, the pressure maintaining capacity of a brake-by-wire system is detected; pressure building treatment is completed on the hydraulic braking system, then it is determined that the pressure maintaining hydraulic pressure value does not decrease within a certain range in the pressure maintaining process, it can be ensured that the braking system has the hydraulic braking capacity in the next parking period, and the braking capacity during unmanned parking can be supported.

Description

Technical Field

[0001] The present application relates to the field of hydraulic brake technology, and in particular to a hydraulic brake detection method, electronic equipment, medium, product and vehicle. Background Art

[0002] With the rapid development of intelligent driving, unmanned driving technology has emerged. In order to ensure vehicle safety, it is necessary to ensure driving safety in driverless scenarios (such as unmanned parking).

[0003] For example, it is necessary to ensure that the vehicle does not collide when there is no driver, so it is necessary to ensure that the vehicle's braking function is effective in the driverless scenario.

[0004] However, usually after the user issues an unmanned parking command, the vehicle will automatically start the unmanned parking program and complete the unmanned parking. At this time, if the braking function has failed, for example, there is a problem with the pressure holding ability of the hydraulic braking system, it will not be able to be fed back to the user in time, resulting in low vehicle driving safety during the unmanned parking process. Summary of the Invention

[0005] The present application provides a hydraulic brake detection method for solving the problem of low vehicle driving safety during unmanned parking.

[0006] In a first aspect, an embodiment of the present application provides a hydraulic brake detection method, which is applied to a vehicle including a hydraulic brake system. The method includes:

[0007] generating a pre-detection command in response to a user's unmanned parking instruction;

[0008] In response to the pre-detection command, completing a pressure buildup process for the hydraulic brake system;

[0009] Performing a pressure-maintaining process on the hydraulic brake system at a first moment, collecting a first brake hydraulic pressure value of the hydraulic brake system at a second moment, and a second brake hydraulic pressure value of the hydraulic brake system at a third moment, wherein the first moment corresponds to a completion moment of the pressure-building process, the second moment is later than the first moment, and the third moment is later than the second moment;

[0010] It is determined that the first brake hydraulic pressure value and the second brake hydraulic pressure value meet a first condition, and first information is generated, wherein the first information is used to characterize that the hydraulic brake system has hydraulic braking capability, and the first condition includes: a first pressure difference between the first brake hydraulic pressure value and a preset pressure holding pressure threshold is within a preset pressure difference range, a second pressure difference between the second brake hydraulic pressure value and the preset pressure holding pressure threshold is within a preset pressure difference range, and the second pressure difference is less than or equal to the first pressure difference.

[0011] The hydraulic brake detection method proposed in the embodiment of the present application enables the electronic device to perform hydraulic brake detection on the entire vehicle in response to the user's unmanned parking command, thereby pre-checking the braking capacity of the hydraulic brake system before the unmanned parking is started, to ensure driving safety during the unmanned parking process.

[0012] In some possible implementations of the first aspect above, the pressure building process of the hydraulic braking system is completed, including: building pressure on the hydraulic braking system in a preset boosting method, and collecting the pressure-building braking hydraulic pressure value of the hydraulic braking system in real time; judging that the pressure-building braking hydraulic pressure value meets the second condition, and stopping the pressure building process, wherein the second condition includes that the pressure-building braking hydraulic pressure value is greater than or equal to the preset braking pressure threshold.

[0013] It can be understood that the above-mentioned preset brake pressure threshold can be used to characterize the expected braking force of the hydraulic brake system for braking the vehicle. Therefore, if the electronic device determines that the pressure-building brake hydraulic value is greater than or equal to the preset brake pressure threshold, it can stop building pressure.

[0014] In some possible implementations of the first aspect described above, the hydraulic brake system is pressure-built up in a preset pressure-building manner, including: controlling the hydraulic pressure-building speed of the hydraulic brake system based on a preset pressure-building speed curve to achieve pressure-building.

[0015] It can be understood that if at the same moment, any pressure value of the sensor pressure value curve is lower than the pressure value of the error range curve at that moment, the electronic device can provide feedback to the user through alarm information, etc., that the current braking system cannot complete the pressure building process (for example, the brake hose may be leaking brake fluid), and the hydraulic braking system cannot provide sufficient hydraulic pressure to complete the braking of the vehicle. At this time, the vehicle does not have the braking force for unmanned parking.

[0016] In some possible implementations of the first aspect above, the method further includes: terminating the pressure maintaining process on the hydraulic brake system at a fourth moment, the fourth moment being later than the third moment.

[0017] It can be understood that in order to accurately ensure that the collected brake hydraulic pressure value is collected during the pressure maintaining process, it is necessary to collect the brake hydraulic pressure value used to determine whether a hydraulic brake system leakage occurs before the fourth moment of terminating the pressure maintaining process (for example, the second moment or the third moment).

[0018] In some possible implementations of the first aspect above, the length of the time period corresponding to the fourth moment and the first moment is a preset pressure holding time threshold.

[0019] In some possible implementations of the first aspect above, the hydraulic braking system also includes a pressure inlet valve and a pressure relief valve, and the method also includes: determining that the first brake hydraulic pressure value and the second brake hydraulic pressure value meet the first condition, controlling the pressure inlet valve to open and the pressure relief valve to close, and performing pressure relief processing on the hydraulic braking system through the pressure inlet valve.

[0020] It can be understood that the electronic device controls the opening of the pressure inlet valve and the closing of the pressure relief valve, and completes the pressure relief processing of the hydraulic braking system only through the pressure inlet valve, which can effectively avoid the noise caused by repeated opening and closing of multiple valves, and can also effectively avoid the waste of system operating resources and time resources caused by the pumping process, and effectively improve the efficiency of building brake hydraulic pressure after the hydraulic braking system is pre-tested in the example of this application and when the hydraulic braking system enters the unmanned parking braking condition.

[0021] Furthermore, the electronic device can use the moment when it is determined that the first brake hydraulic pressure value and the second brake hydraulic pressure value meet the first condition as the fourth moment to control the opening of the pressure inlet valve and the closing of the pressure relief valve, and perform pressure relief processing on the hydraulic brake system through the pressure inlet valve, so as to stop the pressure holding process in time when it is detected that the hydraulic brake system can provide sufficient braking force, thereby shortening the total pre-detection time of the hydraulic brake system.

[0022] In some possible implementations of the first aspect above, the hydraulic braking system also includes a pressure inlet valve and a pressure relief valve, and the method also includes: after the fourth moment, controlling the pressure inlet valve to open and the pressure relief valve to close, and performing pressure relief processing on the hydraulic braking system through the pressure inlet valve.

[0023] It can be understood that the electronic device can control the opening of the pressure inlet valve and the closing of the pressure relief valve after the preset pressure holding time is fully preset, and the pressure of the hydraulic brake system is relieved through the pressure inlet valve, thereby maintaining the pressure of the hydraulic brake system in full reference to the preset pressure holding time, so as to collect multiple first brake hydraulic pressure values ​​and multiple second brake hydraulic pressure values, thereby improving the detection accuracy of the hydraulic brake system.

[0024] In some possible implementations of the first aspect above, the hydraulic braking system also includes a linear motor and a master hydraulic cylinder, which perform pressure relief processing on the hydraulic braking system, including: using the linear motor to relieve pressure on the master hydraulic cylinder based on a preset pressure relief speed curve without opening the pressure relief valve.

[0025] As can be understood, the linear motor controls the reciprocating motion of the master hydraulic cylinder's piston, allowing the brake fluid within the master hydraulic cylinder to build, maintain, and release pressure within the hydraulic brake system as the linear motor reciprocates. Furthermore, the electronic device can release pressure at a preset release rate to prevent excessively rapid release, which could damage components such as the wheel-end brake assembly, brake hoses, and inlet valves.

[0026] In some possible implementations of the first aspect above, the method further includes: in response to the first information, turning on the unmanned parking function to complete the unmanned parking process for the vehicle.

[0027] It can be understood that the electronic device can respond to the first information, that is, when it is confirmed that the hydraulic braking system can provide sufficient braking force, it can automatically start the unmanned parking function, thereby eliminating the need for manual operation by the user and being convenient and quick.

[0028] In a second aspect, an embodiment of the present application also provides an electronic device, comprising: one or more processors; one or more memories; one or more memories storing one or more programs, wherein when one or more programs are executed by one or more processors, the electronic device executes the hydraulic brake detection method proposed in the above-mentioned first aspect and various implementations of the first aspect.

[0029] In a third aspect, an embodiment of the present application further provides a computer-readable medium having instructions stored thereon, which, when executed on a machine, causes the machine to execute the hydraulic brake detection method proposed in the first aspect and various implementations of the first aspect.

[0030] In a fourth aspect, an embodiment of the present application further provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the hydraulic brake detection method proposed in the above-mentioned first aspect and various implementations of the first aspect.

[0031] In a fifth aspect, an embodiment of the present application further provides a vehicle, which includes the electronic device proposed in the second aspect above.

[0032] It can be understood that the beneficial effects produced by the second to fifth aspects mentioned above can refer to the beneficial effects produced by the first aspect and various implementations of the first aspect mentioned above, and will not be elaborated here.

[0033] The technical solutions provided by the embodiments of the present application bring at least the following beneficial effects:

[0034] This method can generate a pre-detection command to detect the decompression capacity of the wire control brake system and the pressure maintaining capacity of the vehicle braking system when the unmanned parking system is about to work, so as to ensure that the braking system has hydraulic braking capacity in the next parking cycle and can support the braking capacity during unmanned parking. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic flow chart showing the steps of a hydraulic brake detection method proposed in some embodiments of the present application is shown;

[0036] Figure 2 A hydraulic brake system proposed in some embodiments of the present application is shown;

[0037] Figure 3 A schematic diagram of a hydraulic control curve proposed in some embodiments of the present application is shown;

[0038] Figure 4 A schematic structural diagram of an electronic device provided according to some embodiments of the present application is shown. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0040] It can be understood that in order to solve the problem of low driving safety of vehicles during unmanned parking, the present application proposes a hydraulic brake detection method, which generates a pre-detection command in response to the user's unmanned parking command; completes pressure building processing on the hydraulic brake system in response to the pre-detection command; performs pressure maintenance processing on the hydraulic brake system at a first moment, collects the first brake hydraulic pressure value of the hydraulic brake system at a second moment, and the second brake hydraulic pressure value of the hydraulic brake system at a third moment, wherein the first moment corresponds to the completion moment of the pressure building processing, the second moment is later than the first moment, and the third moment is later than the second moment; determines that the first brake hydraulic pressure value and the second brake hydraulic pressure value meet the first condition, and generates first information, wherein the first information is used to characterize that the hydraulic brake system has hydraulic braking capability, and the first condition includes: a first pressure difference between the first brake hydraulic pressure value and a preset pressure holding pressure threshold is within a preset pressure difference range, a second pressure difference between the second brake hydraulic pressure value and the preset pressure holding pressure threshold is within a preset pressure difference range, and the second pressure difference is less than or equal to the first pressure difference.

[0041] The technical solutions provided by the embodiments of the present application bring at least the following beneficial effects:

[0042] This method can generate a pre-detection command to detect the decompression capacity of the wire control brake system and the pressure maintaining capacity of the vehicle braking system when the unmanned parking system is about to work, so as to ensure that the braking system has hydraulic braking capacity in the next parking cycle and can support the braking capacity during unmanned parking.

[0043] The specific implementation process of a hydraulic brake detection method proposed in some embodiments of the present application is described in detail below with reference to relevant drawings.

[0044] Figure 1 A schematic flow chart of the steps of a hydraulic brake detection method proposed in some embodiments of the present application is shown.

[0045] I understand. Figure 1 The execution subject of the exemplary steps may be an electronic device, which may be arranged in a vehicle including a hydraulic brake system.

[0046] In some embodiments of the present application, the electronic device may be a smart phone, a smart TV, a smart watch, a smart bracelet, a desktop computer, a laptop computer, a personal computer (PC), a virtual reality (VR) device, an augmented reality (AR) device, a wireless terminal in self-driving, a terminal in transport safety (such as a vehicle-mounted terminal, etc.), etc., which can be installed in a vehicle.

[0047] In other embodiments, the electronic device may be an electronic control unit (ECU) of a vehicle.

[0048] refer to Figure 1 , the method may include the following steps:

[0049] S101 , generating a pre-detection command in response to a user's unmanned parking instruction.

[0050] For example, the electronic device can obtain the user's confirmation of the need for unmanned parking through a built-in touch screen, voice interaction, etc.

[0051] In other embodiments, the electronic device may obtain the user's confirmation of the need for unmanned parking from the user's mobile terminal via wireless transmission.

[0052] It is understandable that usually, after an electronic device receives an unmanned parking command from a user, it will directly start the unmanned parking program and perform unmanned parking. However, in an embodiment of the present application, a pre-detection command can be immediately generated in response to the unmanned parking command. The pre-detection command can use a preset method to fully test the hydraulic braking capacity of the vehicle's wire control brake system. After the test passes, the electronic device can continue to call the unmanned parking program to control the vehicle to complete unmanned parking.

[0053] If the test fails, meaning the vehicle does not have the hydraulic braking capability, the electronic equipment can promptly alert the user, allowing the user to take appropriate measures, such as sending the vehicle for inspection and repair, thereby ensuring the safety of unmanned parking.

[0054] In some embodiments, the warning method may include displaying the warning information on the vehicle's built-in screen, or may include sending the warning information to the user's terminal. As long as the warning information can be delivered to the user and the warning information can indicate that the vehicle does not have hydraulic braking capabilities at this time, there is no specific restriction on the specific content and delivery method of the warning information.

[0055] S102 , in response to the pre-detection command, completing pressure building processing for the hydraulic brake system.

[0056] It can be understood that the hydraulic brake system can increase the internal liquid pressure value based on the pre-detection command to achieve the expected pressure that can be used to brake the vehicle wheels. This process is called pressure building processing.

[0057] The following combination Figure 2 The hydraulic brake system is introduced in detail.

[0058] Figure 2 A hydraulic brake system proposed in some embodiments of the present application is shown.

[0059] refer to Figure 2 The hydraulic braking system may include an unmanned parking controller, a wire control brake controller, a brake master cylinder, a circuit pressure sensor, a brake hose, multiple pressure inlet valves, multiple pressure relief valves, a wheel end brake assembly and a brake oil tank.

[0060] The wire control brake controller may include a brake pedal. During the unmanned parking process, the brake pedal does not need to be depressed by the driver. Instead, the wire control brake controller generates a braking request and sends it to the brake master cylinder, so that the brake master cylinder (e.g. Figure 2 An example linear motor) can generate the force to push the piston.

[0061] Brake fluid is stored in the brake master cylinder and brake hose passages. The hydraulic pressure value generated by the brake master cylinder will be transmitted to the wheel cylinder (not shown in the figure) of each wheel brake assembly through the brake hose. The brake fluid is used to transmit the hydraulic pressure value so that the wheel brakes clamp the brake pads to achieve vehicle deceleration or stopping.

[0062] Therefore, the hydraulic pressure in the hydraulic brake system does not exist at the beginning, and it needs to be increased at a certain speed to complete the pressure building process.

[0063] In some embodiments of the present application, the pressure building process of the hydraulic brake system is completed, including:

[0064] The hydraulic brake system is pressure-built in a preset boosting manner, and the pressure-building brake hydraulic pressure value of the hydraulic brake system is collected in real time; it is determined that the pressure-building brake hydraulic pressure value meets the second condition, and the pressure-building process is stopped, wherein the second condition includes that the pressure-building brake hydraulic pressure value is greater than or equal to the preset brake pressure threshold.

[0065] Continue to refer Figure 2The hydraulic brake system may include a circuit pressure sensor that collects real-time information about the current hydraulic pressure within the brake hose connecting the master cylinder to the wheel-end brake assembly. Because hydraulic pressure is constant throughout the hose, the current hydraulic pressure reflects the braking force applied to the wheel-end brake assembly at the current moment. A higher current hydraulic pressure indicates a greater braking force, while a lower current hydraulic pressure indicates a lower braking force.

[0066] In this way, the hydraulic brake system can collect the pressure-building brake hydraulic pressure value and feed it back to the electronic equipment.

[0067] It can be understood that the above-mentioned preset brake pressure threshold can be used to characterize the expected braking force of the hydraulic brake system for braking the vehicle. Therefore, if the electronic device determines that the pressure-building brake hydraulic value is greater than or equal to the preset brake pressure threshold, it can stop building pressure.

[0068] In some embodiments of the present application, a pressure-building process is performed on a hydraulic brake system in a preset pressure-building manner, including: controlling the hydraulic pressure-building speed of the hydraulic brake system based on a preset pressure-building speed curve to achieve pressure-building process.

[0069] Figure 3 A schematic diagram of a hydraulic control curve proposed in some embodiments of the present application is shown.

[0070] refer to Figure 3 The horizontal axis of the hydraulic control curve is time, in milliseconds; the vertical axis of the hydraulic control curve is pressure, in Bar. For example, the electronic device can use the rising arm segment of the required pressure value curve as the preset boost speed curve.

[0071] In other embodiments of the present application, the electronic device can also monitor the pressure value fluctuations during the pressure building process based on the loop pressure sensor, for example, by referring to the sensor pressure value curve. If any pressure value of the sensor pressure value curve at the same moment is less than the pressure value of the error range curve at that moment, the electronic device can provide feedback to the user through alarm information, etc., indicating that the current braking system cannot complete the pressure building process (for example, the brake hose may be leaking brake fluid), and the hydraulic braking system cannot provide sufficient hydraulic pressure value to complete the braking of the vehicle, and the vehicle does not have the braking force for unmanned parking at this time.

[0072] For example, reference Figure 3 , t0 can be a moment in the pressure building process, X1 is the required pressure value at t0, X2 is the error range at t0, and X3 is the sensor pressure value collected by the loop pressure sensor at t0. Figure 3In the figure, X3 is greater than X2 and less than X1, which meets the pressure value of the circuit pressure monitoring. No alarm is required, and the hydraulic brake system can complete the pressure building process corresponding to time t0.

[0073] If the pressure value corresponding to X3 is less than X2 (this situation is not shown in the figure), the hydraulic braking system is unable to complete the pressure building process corresponding to time t0, and the electronic device can generate an alarm message to feedback to the user that the current braking system cannot complete the pressure building process.

[0074] S103, perform pressure maintenance processing on the hydraulic brake system at the first moment, collect the first brake hydraulic pressure value of the hydraulic brake system at the second moment, and the second brake hydraulic pressure value of the hydraulic brake system at the third moment, wherein the first moment corresponds to the completion moment of the pressure building processing, the second moment is later than the first moment, and the third moment is later than the second moment.

[0075] For example, at the first moment after the pressure building process is completed, the hydraulic brake system may be subjected to a pressure maintaining process, that is, the pressure in the hydraulic brake system is controlled so as not to change at this moment.

[0076] Continue to refer Figure 3 During the pressure holding process, the required pressure value curve can be maintained at a pressure value of P1 (Bar) from time t1 to time t2.

[0077] At this time, the brake hydraulic pressure values ​​corresponding to the hydraulic brake system at the second moment and the third moment between t1 and t2 are collected. For example, the first brake hydraulic pressure value Y1 of the hydraulic brake system at the second moment t3 and the second brake hydraulic pressure value Y2 of the hydraulic brake system at the third moment t4 are collected. It can be determined whether leakage in the hydraulic brake system has caused brake failure based on the rule of the difference between the first brake hydraulic pressure value Y1, the second brake hydraulic pressure value Y2 and the preset holding pressure threshold P1.

[0078] In some embodiments, the preset holding pressure threshold P1 can be 40 Bar, ensuring sufficient holding pressure to provide sufficient braking force to successfully brake the vehicle. Over the next period of time, even if there is a certain degree of brake fluid leakage in the hydraulic brake system, the electronic device can still ensure the vehicle's hydraulic braking ability in unmanned parking conditions from t1 to t2.

[0079] S104, determine that the first brake hydraulic pressure value and the second brake hydraulic pressure value meet the first condition, and generate first information, wherein the first information is used to characterize that the hydraulic brake system has hydraulic braking capability, and the first condition includes: a first pressure difference between the first brake hydraulic pressure value and a preset pressure holding pressure threshold is within a preset pressure difference range, and a second pressure difference between the second brake hydraulic pressure value and the preset pressure holding pressure threshold is within a preset pressure difference range.

[0080] It can be understood that the preset pressure difference range can be determined by the standard deviation between the preset error threshold and the preset holding pressure threshold.

[0081] For example, reference Figure 3 , the preset error threshold may be P0, the preset holding pressure threshold may be P1, and during the pressure holding process from time t1 to time t2, the preset pressure difference range may be P0-P1, that is, during the pressure holding process, the difference between the sensor pressure value and P1 should be within the difference range of P0-P1.

[0082] Therefore, if the first pressure difference between the first brake hydraulic pressure value Y1 at the second time t3 and the preset holding pressure threshold value P is within the difference range P0-P1, and the second pressure difference between the second brake hydraulic pressure value Y2 at the third time t4 and the preset holding pressure threshold value P is also within the difference range P0-P1, it can be indicated that there is no leakage in the closed pipeline of the hydraulic brake system. At this time, the electronic device can generate first information to indicate that the hydraulic brake system has hydraulic braking capability.

[0083] In some embodiments of the present application, the method further includes: terminating the pressure maintaining process on the hydraulic brake system at a fourth moment, the fourth moment being later than the third moment.

[0084] For example, refer to Figure 3 , time t2 can be used as an example of the fourth time, and the electronic device can terminate the pressure holding process at time t2. In order to accurately ensure that the collected brake hydraulic pressure value is collected during the pressure holding process, it is necessary to collect the brake hydraulic pressure value for determining whether a hydraulic brake system leakage occurs before the fourth time (for example, the second time or the third time) when the pressure holding process is terminated.

[0085] Furthermore, in some embodiments of the present application, the length of the time period corresponding to the fourth moment and the first moment is a preset pressure holding time threshold.

[0086] For example, refer to Figure 3 As an example, time t1 is the first time point at which the pressure buildup process ends, and time t2 is the fourth time point at which the pressure hold process ends. Therefore, the time period between time t1 and time t2 is the preset pressure hold duration.

[0087] It can be understood that through the above steps S101 to S104, the hydraulic brake detection method proposed in the embodiment of the present application, the electronic device can respond to the user's unmanned parking command and perform hydraulic brake detection on the entire vehicle, so that the braking capacity of the hydraulic brake system can be pre-checked before the unmanned parking is started, to ensure driving safety during the unmanned parking process.

[0088] It can be understood that in some embodiments, when a vehicle equipped with an electronic hydraulic braking system performs unmanned parking, a complete backup braking system is usually prepared for the vehicle. When the main brake controller (such as an electric power-assisted braking system or a wire-controlled braking system) fails (for example, when the power assist is degraded or the power supply fails), the backup braking system can actively take over the failed main brake controller to build up pressure for the liquid in the hydraulic brake system and provide hydraulic braking force.

[0089] However, in manned driving scenarios, there is no need for the backup braking system to intervene. The driver can manually take other effective braking measures, such as pulling the electronic handbrake to use other motors and electronic control units to complete braking, which can also ensure driving safety.

[0090] From this we can see that, on the one hand, the backup braking system is inefficient, for example, it can only be activated in unmanned driving scenarios; on the other hand, adding a backup braking system will greatly increase the hardware cost of the bicycle braking system.

[0091] By adopting the hydraulic brake detection method proposed in the embodiment of the present application, the electronic equipment can start the unmanned parking program after confirming the braking capacity of the entire vehicle, thereby saving the hardware cost of the backup braking system.

[0092] Exemplarily, the hydraulic brake system further includes a pressure inlet valve and a pressure relief valve.

[0093] In some embodiments of this application, reference Figure 2 , the electronic device can relieve the pressure of the hydraulic brake system only through the pressure inlet valve, that is, during the pressure relief process, the pressure relief valve is closed.

[0094] For example, the electronic device may send a pressure relief command to the brake-by-wire controller, so that the brake-by-wire controller may control the master brake cylinder to withdraw brake fluid from the brake hose via the pressure inlet valve according to the pressure relief command to complete the pressure relief process of the hydraulic brake system.

[0095] It's understandable that if pressure relief is achieved by opening the pressure relief valve, brake fluid will enter the brake reservoir, creating cavities inside the brake hose and the brake master cylinder. At this point, the electronic device must control the pressure relief valve to open, close the open pressure inlet valve, control the brake master cylinder to pump fluid from the brake reservoir to replenish the cavity, close the pressure relief valve again, and open the pressure inlet valve to re-build pressure.

[0096] Therefore, there are the following disadvantages in completing pressure relief through a pressure relief valve:

[0097] (a) The pressure relief valve and the pressure inlet valve need to be repeatedly opened and closed, which generates a lot of noise and reduces the user's brake hydraulic pre-check experience for unmanned parking.

[0098] (b) The pumping process takes a long time, and controlling the opening and closing of the pressure relief valve and the pressure inlet valve also requires the transmission time of multiple instructions, so there is also a waste of system operating resources and time resources.

[0099] The electronic device controls the opening of the pressure inlet valve and the closing of the pressure relief valve, and completes the pressure relief processing of the hydraulic brake system only through the pressure inlet valve, which can effectively avoid the noise caused by repeated opening and closing of multiple valves, and can also effectively avoid the waste of system operating resources and time resources caused by the pumping process, and effectively improve the efficiency of building brake hydraulic pressure after the hydraulic brake system is pre-tested in the example of this application and when the hydraulic brake system enters the unmanned parking braking condition.

[0100] In some embodiments of the present application, the method further includes: determining that the first brake hydraulic pressure value and the second brake hydraulic pressure value meet a first condition, controlling the pressure inlet valve to open and the pressure relief valve to close, and performing pressure relief processing on the hydraulic brake system through the pressure inlet valve.

[0101] It can be understood that the electronic device can use the moment when it is determined that the first brake hydraulic pressure value and the second brake hydraulic pressure value meet the first condition as the fourth moment to control the pressure inlet valve to open and the pressure relief valve to close, and perform pressure relief processing on the hydraulic brake system through the pressure inlet valve, so as to stop the pressure holding process in time when it is detected that the hydraulic brake system can provide sufficient braking force, thereby shortening the total pre-detection time of the hydraulic brake system.

[0102] In other embodiments of the present application, the method further includes: after the fourth moment, controlling the pressure inlet valve to open and the pressure relief valve to close, and performing pressure relief processing on the hydraulic brake system through the pressure inlet valve.

[0103] It can be understood that the electronic device can control the opening of the pressure inlet valve and the closing of the pressure relief valve after the preset pressure holding time is fully preset, and the pressure of the hydraulic brake system is relieved through the pressure inlet valve, thereby maintaining the pressure of the hydraulic brake system in full reference to the preset pressure holding time, so as to collect multiple first brake hydraulic pressure values ​​and multiple second brake hydraulic pressure values, thereby improving the detection accuracy of the hydraulic brake system.

[0104] In some embodiments of the present application, the above-mentioned hydraulic braking system also includes a linear motor and a master hydraulic cylinder to perform pressure relief processing on the hydraulic braking system, including: using the linear motor to relieve pressure on the master hydraulic cylinder based on a preset pressure relief speed curve without opening the pressure relief valve.

[0105] For example, continue to refer to Figure 2 The above-mentioned master brake cylinder includes a master hydraulic cylinder and a linear motor. The linear motor can control the reciprocating motion of the piston of the master hydraulic cylinder so that the brake fluid in the master hydraulic cylinder can build pressure, maintain pressure and release pressure on the brake hydraulic pressure value in the hydraulic brake system as the linear motor reciprocates.

[0106] For pressure relief processing, for example, the linear motor in the brake master cylinder moves the piston back, for example, the piston can move along Figure 2 The piston moves back toward the side of the master hydraulic cylinder so that the brake fluid in the brake hose can be drawn into the brake master cylinder through the pressure inlet valve by the negative pressure generated by the retreat of the piston.

[0107] It can be understood that the above preset pressure relief speed curve can be Figure 3 The required pressure value curve from time t2 to time t is shown in the example, so that the electronic device can release pressure at a preset pressure relief speed, avoiding damage to components such as the wheel end brake assembly, brake hose, and pressure inlet valve due to excessive pressure relief.

[0108] In other embodiments of the present application, the method further includes: in response to the first information, turning on the unmanned parking function to complete the unmanned parking process for the vehicle.

[0109] It can be understood that the electronic device can respond to the first information, that is, when it is confirmed that the hydraulic braking system can provide sufficient braking force, it can automatically start the unmanned parking function, thereby eliminating the need for manual operation by the user and being convenient and quick.

[0110] In other embodiments of the present application, the electronic device may be a brake-by-wire system.

[0111] According to the hydraulic brake detection method provided in the embodiments of the present application, the present application also provides an electronic device, which includes: one or more processors; one or more memories; one or more memories storing one or more programs, when one or more programs are executed by one or more processors, the electronic device executes the hydraulic brake detection method in any one of the above embodiments.

[0112] According to the hydraulic brake detection method provided in the embodiment of the present application, the present application also provides a computer program product, which includes: computer program code, when the computer program code is run on a computer, enables the computer to implement the steps performed by the electronic device in any one of the above embodiments.

[0113] According to the hydraulic brake detection method provided in an embodiment of the present application, the present application also provides a computer-readable medium, which stores program code. When the program code runs on a computer, the computer implements the steps performed by the electronic device in any one of the above embodiments.

[0114] In some embodiments, the electronic device may be the electronic device 1500 exemplified below.

[0115] The specific structure of the electronic device 1500 is described in detail below with reference to the relevant drawings.

[0116] Figure 4 A schematic structural diagram of an electronic device 1500 provided according to some embodiments of the present application is shown.

[0117] like Figure 4 As shown, the electronic device 1500 includes one or more processors 1501, a system memory 1502, a non-volatile memory (NVM) 1503, a communication interface 1504, an input / output (I / O) device 1505, and a system control logic 1506 for coupling the processor 1501, the system memory 1502, the non-volatile memory 1503, the communication interface 1504, and the input / output (I / O) device 1505. Among them:

[0118] The processor 1501 may include one or more processing units, for example, a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processor (DSP), a microprocessor (MCU), an artificial intelligence (AI) processor or a programmable logic device (field programmable gate array, FPGA), a neural network processor (neural-network processing unit, NPU), etc. The data processing unit or processing circuit may include one or more single-core or multi-core processors. In some embodiments, the processor 1501 can be used to execute instructions to implement the above-mentioned path planning method.

[0119] System memory 1502 is a volatile memory, such as random-access memory (RAM) or double data rate synchronous dynamic random access memory (DDR SDRAM). System memory 1502 is used to temporarily store data and / or instructions. For example, in some embodiments, system memory 1502 can be used to store instructions, as well as original data objects and modified data objects.

[0120] The non-volatile memory 1503 may include one or more tangible, non-transitory computer-readable media for storing data and / or instructions. In some embodiments, the non-volatile memory 1503 may include any suitable non-volatile memory such as flash memory and / or any suitable non-volatile storage device, such as a hard disk drive (HDD), a compact disc (CD), a digital versatile disc (DVD), a solid-state drive (SSD), etc. In some embodiments, the non-volatile memory 1503 may also be a removable storage medium, such as a secure digital (SD) memory card. In other embodiments, the non-volatile memory 1503 may be used to store instructions, as well as to store original data objects and changed data objects.

[0121] In some embodiments, the system memory 1502 and the non-volatile memory 1503 may respectively include a temporary copy and a permanent copy of the instruction 1507. The instruction 1507 may include: when executed by at least one of the processors 1501, causing the electronic device 1500 to implement the hydraulic brake detection method provided in various embodiments of the present application.

[0122] The communication interface 1504 may include a transceiver for providing a wired or wireless communication interface for the electronic device 1500, thereby enabling communication with any other suitable device via one or more networks. In some embodiments, the communication interface 1504 may be integrated into other components of the electronic device 1500, for example, the communication interface 1504 may be integrated into the processor 1501. In some embodiments, the electronic device 1500 may communicate with other devices via the communication interface 1504. For example, the electronic device 1500 may establish a communication connection with another device via the communication interface 1504 to send data change requests, obtain original data objects, and send changed data objects to the other device via the communication connection.

[0123] The input / output (I / O) device 1505 may include input devices such as a keyboard, a mouse, etc., and output devices such as a display, etc. Users can interact with the electronic device 1500 through the input / output (I / O) device 1505. For example, business personnel can input / select content for data changes through the input / output (I / O) device 1505.

[0124] The system control logic 1506 may include any suitable interface controller to provide any suitable interface with other modules of the electronic device 1500. For example, in some embodiments, the system control logic 1506 may include one or more memory controllers to provide an interface to the system memory 1502 and the non-volatile memory 1503.

[0125] In some embodiments, at least one of the processors 1501 may be packaged together with the logic of one or more controllers for the system control logic 1506 to form a system in package (SiP). In other embodiments, at least one of the processors 1501 may be integrated with the logic of one or more controllers for the system control logic 1506 on the same chip to form a system-on-chip (SoC).

[0126] I understand. Figure 4 The structure of the electronic device 1500 shown is only an example. In other embodiments, the electronic device 1500 may include more or fewer components than shown, or may combine or separate some components, or arrange the components differently. The components shown may be implemented in hardware, software, or a combination of software and hardware.

[0127] The various embodiments of the mechanisms disclosed in this application can be implemented in hardware, software, firmware, or a combination of these implementation methods. The embodiments of the present application can be implemented as computer modules or module codes executed on a programmable system, which includes at least one processor, a storage system (including volatile and non-volatile memory and / or storage elements), at least one input device, and at least one output device.

[0128] The module code can be applied to input instructions to perform the functions described herein and generate output information. The output information can be applied to one or more output devices in a known manner. For the purposes of this application, a processing system includes any system having a processor such as, for example, a digital signal processor (DSP), a microcontroller, an application specific integrated circuit (ASIC), or a microprocessor.

[0129] Module code can be implemented with high-level modular language or object-oriented programming language to communicate with the processing system. When necessary, module code can also be implemented with assembly language or machine language. In fact, the mechanism described in this application is not limited to the scope of any specific programming language. In either case, the language can be a compiled language or an interpreted language.

[0130] In some cases, the disclosed embodiments may be implemented in hardware, firmware, software, or any combination thereof. The disclosed embodiments may also be implemented as instructions carried or stored on one or more temporary or non-temporary machine-readable (e.g., computer-readable) storage media, which may be read and executed by one or more processors. For example, instructions may be distributed over a network or through other computer-readable media. Therefore, a machine-readable medium may include any mechanism for storing or transmitting information in a machine (e.g., computer) readable form, including but not limited to floppy disks, optical disks, optical discs, read-only memories (CD-ROMs), magneto-optical disks, read-only memories (ROMs), random access memories (RAMs), erasable programmable read-only memories (EPROMs), electrically erasable programmable read-only memories (EEPROMs), magnetic or optical cards, flash memory, or a tangible machine-readable memory for transmitting information (e.g., carrier waves, infrared signals, digital signals, etc.) using the Internet in electrical, optical, acoustic, or other forms of propagation signals. Accordingly, machine-readable media includes any type of machine-readable media suitable for storing or transmitting electronic instructions or information in a form readable by a machine (eg, a computer).

[0131] In the accompanying drawings, some structural or method features may be shown in a particular arrangement and / or order. However, it should be understood that such a particular arrangement and / or order may not be required. Rather, in some embodiments, these features may be arranged in a manner and / or order different from that shown in the illustrative drawings. In addition, the inclusion of a structural or method feature in a particular figure does not imply that such feature is required in all embodiments, and in some embodiments, such features may not be included or may be combined with other features.

[0132] The various embodiments of the mechanisms disclosed in this application can be implemented in hardware, software, firmware, or a combination of these implementation methods. The embodiments of the present application can be implemented as a computer program or program code executed on a programmable system, which includes at least one processor, a storage system (including volatile and non-volatile memory and / or storage elements), at least one input device, and at least one output device.

[0133] Program code can be applied to input instructions to perform the functions described herein and generate output information. The output information can be applied to one or more output devices in a known manner. For purposes of this application, a processing system includes any system having a processor such as, for example, a digital signal processor (DSP), a microcontroller, an application specific integrated circuit (ASIC), or a microprocessor.

[0134] Program code can be implemented with a high-level programming language or an object-oriented programming language to communicate with the processing system. Where necessary, program code can also be implemented in assembly language or machine language. In fact, the mechanism described in this application is not limited to the scope of any particular programming language. In either case, the language can be a compiled language or an interpreted language.

[0135] It should be noted that the units / modules mentioned in the various device embodiments of the present application are all logical units / modules. Physically, a logical unit / module can be a physical unit / module, or a part of a physical unit / module, or can be implemented as a combination of multiple physical units / modules. The physical implementation of these logical units / modules themselves is not the most important. The combination of functions implemented by these logical units / modules is the key to solving the technical problems raised by this application. In addition, in order to highlight the innovative part of this application, the above-mentioned device embodiments of this application do not introduce units / modules that are not closely related to solving the technical problems raised by this application. This does not mean that other units / modules do not exist in the above-mentioned device embodiments.

[0136] It should be noted that, in the examples and description of the present application, relational terms such as first and second, etc., are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article, or device. In the absence of further restrictions, an element defined by the statement "comprising a" does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0137] References in the specification to "some embodiments" or "an embodiment" mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one exemplary implementation or technique disclosed according to the embodiments of the present application. The appearances of the phrase "in some embodiments" in various places in the specification do not necessarily all refer to the same embodiment.

[0138] In addition, the language used in this specification has been primarily selected for readability and instructional purposes and may not be selected to describe or limit the disclosed subject matter. Therefore, the present disclosure of embodiments is intended to illustrate, not to limit, the scope of the concepts discussed herein.

Claims

1. A hydraulic brake detection method, applied to a vehicle including a hydraulic brake system, characterized in that: The method comprises: generating a pre-detection command in response to a user's unmanned parking instruction; In response to the pre-detection command, completing a pressure buildup process for the hydraulic brake system; performing a pressure-maintaining process on the hydraulic brake system at a first moment, collecting a first brake hydraulic pressure value of the hydraulic brake system at a second moment, and a second brake hydraulic pressure value of the hydraulic brake system at a third moment, wherein the first moment corresponds to a completion moment of the pressure-building process, the second moment is later than the first moment, and the third moment is later than the second moment; It is determined that the first brake hydraulic pressure value and the second brake hydraulic pressure value meet a first condition, and first information is generated, wherein the first information is used to characterize that the hydraulic brake system has hydraulic braking capability, and the first condition includes: a first pressure difference between the first brake hydraulic pressure value and a preset holding pressure threshold is within a preset pressure difference range, and a second pressure difference between the second brake hydraulic pressure value and the preset holding pressure threshold is within the preset pressure difference range.

2. The method according to claim 1, characterized in that The pressure building process of the hydraulic brake system includes: Performing pressure building processing on the hydraulic brake system in a preset pressure boosting manner, and collecting the built-up brake hydraulic pressure value of the hydraulic brake system in real time; It is determined that the pressure-building brake hydraulic pressure value meets a second condition, and the pressure-building process is stopped, wherein the second condition includes that the pressure-building brake hydraulic pressure value is greater than or equal to a preset brake pressure threshold.

3. The method according to claim 2, characterized in that The pressure-building process of the hydraulic brake system in a preset pressure-increasing manner includes: The hydraulic pressure increasing speed of the hydraulic brake system is controlled based on a preset pressure increasing speed curve to achieve the pressure building process.

4. The method according to claim 1, wherein The method further comprises: The pressure holding process for the hydraulic brake system is terminated at a fourth time, which is later than the third time.

5. The method according to claim 4, characterized in that The length of the time period corresponding to the fourth moment and the first moment is a preset pressure holding time threshold.

6. The method according to claim 1, characterized in that The hydraulic brake system further includes a pressure inlet valve and a pressure relief valve, and the method further includes: It is determined that the first brake hydraulic pressure value and the second brake hydraulic pressure value meet a first condition, the pressure inlet valve is controlled to be opened and the pressure relief valve is controlled to be closed, and the hydraulic brake system is relieved of pressure through the pressure inlet valve.

7. The method according to claim 4, characterized in that The hydraulic brake system further includes a pressure inlet valve and a pressure relief valve, and the method further includes: After the fourth moment, the pressure inlet valve is controlled to be opened and the pressure relief valve is controlled to be closed, and the pressure relief process is performed on the hydraulic brake system through the pressure inlet valve.

8. The method according to claim 6 or 7, characterized in that The hydraulic brake system further includes a linear motor and a master hydraulic cylinder, and the pressure relief process for the hydraulic brake system includes: The linear motor is used to perform pressure relief processing on the master hydraulic cylinder based on a preset pressure relief speed curve, without opening the pressure relief valve.

9. The method according to claim 1, characterized in that The method further comprises: In response to the first information, the unmanned parking function is turned on to complete the unmanned parking process for the vehicle.

10. An electronic device, characterized in that: include: one or more processors; One or more memories; the one or more memories store one or more programs, and when the one or more programs are executed by the one or more processors, the electronic device executes the hydraulic brake detection method according to any one of claims 1 to 9.

11. A computer-readable medium, characterized in that The computer-readable medium stores instructions, which, when executed on a machine, enable the machine to execute the hydraulic brake detection method according to any one of claims 1 to 9.

12. A computer program product, characterized in that The method comprises a computer program / instruction, which implements the hydraulic brake detection method according to any one of claims 1 to 9 when executed by a processor.

13. A vehicle, characterized in that: The vehicle includes the electronic device according to claim 10.

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