Brake fluid replacement method and device of hydraulic brake system and medium

Abstract

The invention discloses a brake fluid replacement method and device of a hydraulic brake system and a medium, and relates to the field of unmanned vehicles, and the method comprises the steps that a fault code of a target unmanned vehicle is obtained, and a vehicle control unit is controlled to be switched to an emergency stop mode based on the fault code; a rated amount of brake fluid is added into a brake oil can, and multi-round exhaust operation is conducted on a hydraulic controller and a brake pipeline of the hydraulic controller; and after the exhaust operation is completed, the sudden stop mode is relieved, if the fault code is not eliminated, the operation is repeated, and if the fault code is eliminated, brake fluid replacement is completed. The brake fluid of the unmanned vehicle can be replaced without complex tools, and the exhaust effect is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of autonomous vehicles, and more particularly to a method, equipment, and medium for replacing brake fluid in a hydraulic braking system. Background Technology

[0002] Vehicle braking systems are generally hydraulic braking systems. These systems use brake fluid to transmit the pressure exerted by the driver's foot on the brake pedal, thus achieving braking. Since liquids are incompressible while gases are compressible, to ensure effective pressure transmission, the hydraulic braking system must be filled with brake fluid and free of air. Brake fluid is added using specialized vacuum filling equipment at the factory. During brake system component repairs, brake fluid may be lost. Therefore, after repairs, brake fluid must be replenished promptly, and air in the brake lines must be purged to ensure braking safety. However, in outdoor or temporary repair areas, there may be no vacuum filling equipment. In such cases, repair personnel must manually bleed air from the brake lines and brake calipers by repeatedly pressing the brake pedal and adjusting the bleed valve. This process requires at least two people.

[0003] Since driverless vehicles do not require human operation, the brake pedal has been eliminated. When the hydraulic braking system components of a driverless vehicle are repaired, if there is no vacuum filling equipment and the air cannot be bleed in the same way as in a traditional vehicle by pressing the brake pedal, insufficient air bleed may occur, leading to braking system failure and causing a safety accident. Summary of the Invention

[0004] The purpose of this invention is to provide a method, equipment, and medium for replacing brake fluid in a hydraulic braking system, in order to solve the problem that unmanned vehicles cannot use the traditional method of stepping on the brake pedal to bleed the air after replacing brake fluid in the absence of vacuum filling equipment.

[0005] To achieve the above objectives, the technical solution of the present invention is as follows:

[0006] In a first aspect, the present invention provides a method for replacing brake fluid in a hydraulic braking system. The hydraulic braking system is installed on a target unmanned vehicle and includes: a vehicle controller, an electro-hydraulic assembly, a hydraulic brake, and a brake fluid reservoir. The vehicle controller is communicatively connected to the electro-hydraulic assembly, and the electro-hydraulic assembly, the hydraulic brake, and the brake fluid reservoir are connected through brake lines.

[0007] The replacement method includes:

[0008] Obtain the fault code of the target unmanned vehicle, and control the vehicle controller to switch to emergency stop mode based on the fault code;

[0009] Add the rated amount of brake fluid to the brake fluid reservoir and perform multiple rounds of bleed operation on the hydraulic controller and its brake lines;

[0010] After the bleed operation is completed, the emergency stop mode is deactivated. If the fault code is not cleared, repeat the above operation. If the fault code is cleared, the brake fluid replacement is complete.

[0011] The exhaust operation includes:

[0012] In response to the first maintenance command, the vehicle controller generates a first agreed signal to the electro-hydraulic assembly. The electro-hydraulic assembly, based on the first agreed signal, causes the hydraulic brake to build up pressure to the target pressure. After reaching the target pressure, the exhaust valve of the hydraulic brake is opened to release the air.

[0013] In response to the second maintenance command, the exhaust valve is closed, and the vehicle controller generates a second agreed signal to the electro-hydraulic assembly. After the exhaust valve is completely closed, the electro-hydraulic assembly releases the hydraulic brake to zero pressure based on the second agreed signal.

[0014] The replacement method further includes: establishing a communication connection between the vehicle controller and the maintenance equipment, wherein the maintenance equipment is used to send the first maintenance command and the second maintenance command to the vehicle controller.

[0015] The method for establishing a communication connection between the vehicle controller and the maintenance equipment is as follows:

[0016] The maintenance equipment sends a pre-defined message to the vehicle controller, which performs a security verification on the message. If the security verification is successful, the communication connection between the vehicle controller and the maintenance equipment is established; otherwise, the vehicle controller does not respond.

[0017] The agreed message includes: a password bit and a maintenance request.

[0018] The maintenance equipment is a third-party diagnostic device with safety certification, located outside the target unmanned vehicle. The target unmanned vehicle is equipped with an online diagnostic interface, and the third-party diagnostic device communicates with the vehicle controller through the online diagnostic interface.

[0019] The maintenance equipment is the original remote control of the target unmanned vehicle, which is installed on the target unmanned vehicle and is wirelessly connected to the vehicle controller.

[0020] The exhaust valve can be a solenoid valve, whose opening and closing state is automatically controlled by an electro-hydraulic assembly; the exhaust valve can also be a manual valve, which can be manually opened and closed by a maintenance personnel.

[0021] The completion of the venting operation is indicated by the venting valve discharging a continuous and clear flow of brake fluid.

[0022] After the target unmanned vehicle deactivates the emergency stop mode, it uses built-in sensors to monitor whether there is air in the hydraulic controller and brake lines. If air is found, a corresponding fault code is generated and reported.

[0023] In a second aspect, the present invention provides a computer device, comprising:

[0024] Memory, used to store computer programs / instructions;

[0025] A processor is used to execute the computer program / instructions to implement the steps of the brake fluid replacement method of the hydraulic braking system described above.

[0026] In a second aspect, the present invention provides a computer-readable storage medium having a computer program / instructions stored thereon, characterized in that, when the computer program / instructions are executed by a processor, they implement the steps of the above-described brake fluid replacement method for a hydraulic braking system.

[0027] Beneficial effects: The brake fluid replacement method of the hydraulic braking system of the present invention can realize the replacement of brake fluid in the hydraulic braking system of unmanned vehicles in any scenario, ensuring that there is no air in the brake line, providing a guarantee for the braking of unmanned vehicles, without the need for complex and expensive tools, effectively reducing the cost of brake fluid replacement; it supports third-party maintenance, and the password security verification ensures vehicle safety and avoids misoperation and malicious attacks. Attached Figure Description

[0028] Figure 1 This is a flowchart of the brake fluid replacement method for the hydraulic braking system of the present invention;

[0029] Figure 2 This is a schematic diagram of the hydraulic braking system of the present invention. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] Example 1

[0032] refer to Figure 1 and Figure 2 As shown, a method for replacing brake fluid in a hydraulic braking system is provided. The hydraulic braking system is installed on a target unmanned vehicle and includes: a vehicle controller, an electro-hydraulic assembly, a hydraulic brake, and a brake fluid reservoir. The vehicle controller is communicatively connected to the electro-hydraulic assembly, and the electro-hydraulic assembly, the hydraulic brake, and the brake fluid reservoir are connected through brake lines.

[0033] The replacement method includes:

[0034] Obtain the fault code of the target unmanned vehicle, and control the vehicle controller to switch to emergency stop mode based on the fault code;

[0035] Add the rated amount of brake fluid to the brake fluid reservoir and perform multiple rounds of bleed operation on the hydraulic controller and its brake lines;

[0036] After the bleed operation is completed, the emergency stop mode is deactivated. If the fault code is not cleared, repeat the above operation. If the fault code is cleared, the brake fluid replacement is complete.

[0037] The exhaust operation includes:

[0038] In response to the first maintenance command, the vehicle controller generates a first agreed signal to the electro-hydraulic assembly. The electro-hydraulic assembly, based on the first agreed signal, causes the hydraulic brake to build up pressure to the target pressure. After reaching the target pressure, the exhaust valve of the hydraulic brake is opened to release the air.

[0039] In response to the second maintenance command, the exhaust valve is closed, and the vehicle controller generates a second agreed signal to the electro-hydraulic assembly. After the exhaust valve is completely closed, the electro-hydraulic assembly releases the hydraulic brake to zero pressure based on the second agreed signal.

[0040] In this embodiment, the brake fluid replacement method further includes a pre-step before execution: establishing a communication connection between the vehicle controller and the maintenance equipment, wherein the maintenance equipment is used to send a first maintenance command and a second maintenance command to the vehicle controller.

[0041] In emergency stop mode, the power output of the target unmanned vehicle is prohibited;

[0042] The specific method for establishing a communication connection between the vehicle controller and the maintenance equipment is as follows: the maintenance equipment sends a pre-defined message to the vehicle controller, and the vehicle controller performs security verification on the pre-defined message before establishing a communication connection with the maintenance equipment. The pre-defined message contains a password bit and a maintenance request; the vehicle controller responds to the maintenance request by performing security verification on the password bit.

[0043] The maintenance equipment can be a third-party diagnostic device with safety certification, located on the exterior of the target unmanned vehicle. The target unmanned vehicle is equipped with an online diagnostic interface to enable communication between the third-party device and the vehicle controller. Alternatively, the maintenance equipment can be the original remote control of the target unmanned vehicle, located on the target unmanned vehicle, and directly connected to the vehicle controller wirelessly via Bluetooth or other means.

[0044] Maintenance personnel can send signals to apply brake pressure (first maintenance command) or release brake pressure (second maintenance command) via the brake lever on the original remote control.

[0045] The bleed is complete when a continuous and clear flow of brake fluid is discharged from the bleed valve.

[0046] The exhaust valve can be a solenoid valve, whose opening and closing status is automatically controlled by the electro-hydraulic assembly; or it can be a manual valve, which can be manually opened and closed by a maintenance personnel.

[0047] The maintenance equipment obtains the fault code of the target unmanned vehicle through the vehicle controller, controls the vehicle controller to switch to emergency stop mode based on the fault code, and sends a first maintenance command to the vehicle controller. The first maintenance command includes a password bit and a service brake control bit. The first agreed signal inherits the service brake control bit of the first maintenance command, and controls the hydraulic controller to enter the service brake state based on the service brake control bit. The second maintenance command includes a password bit and a service brake control bit. The second agreed signal inherits the service brake control bit of the second maintenance command, and controls the hydraulic controller to release the service brake state based on the service brake control bit. The first maintenance command, the second maintenance command, and the agreed message have the same password bit, and the service brake control bit states of the first maintenance command and the second maintenance command are opposite.

[0048] After the target unmanned vehicle deactivates its emergency stop mode, it uses built-in sensors to monitor the hydraulic controller and brake lines for air. If air is present, a corresponding fault code is generated and reported. It should be noted that the fault codes mentioned in this application refer to fault codes resulting from insufficient air bleeding in the hydraulic braking system or fault codes related to the hydraulic braking system.

[0049] After the bleed operation is completed, continuously monitor the brake fluid level in the brake reservoir for a preset period of time. If the brake fluid level in the brake reservoir is lower than the minimum scale threshold, brake fluid needs to be added to the brake reservoir until the rated value is reached.

[0050] Example 2

[0051] A method for replacing brake fluid in a hydraulic braking system, wherein the hydraulic braking system is installed on a target unmanned vehicle and includes: a vehicle controller, an electro-hydraulic assembly, a hydraulic brake, and a brake fluid reservoir. The vehicle controller is communicatively connected to the electro-hydraulic assembly, and the electro-hydraulic assembly, the hydraulic brake, and the brake fluid reservoir are connected through brake lines.

[0052] The replacement method includes:

[0053] Obtain the fault code of the target unmanned vehicle, and control the vehicle controller to switch to emergency stop mode based on the fault code;

[0054] Add the rated amount of brake fluid to the brake fluid reservoir and perform multiple rounds of bleed operation on the hydraulic controller and its brake lines;

[0055] After the bleed operation is completed, the emergency stop mode is deactivated. If the fault code is not cleared, repeat the above operation. If the fault code is cleared, the brake fluid replacement is complete.

[0056] The exhaust operation includes:

[0057] In response to the first maintenance command, the vehicle controller generates a first agreed signal to the electro-hydraulic assembly. The electro-hydraulic assembly, based on the first agreed signal, causes the hydraulic brake to build up pressure to the target pressure. After reaching the target pressure, the exhaust valve of the hydraulic brake is opened to release the air.

[0058] In response to the second maintenance command, the exhaust valve is closed, and the vehicle controller generates a second agreed signal to the electro-hydraulic assembly. After the exhaust valve is completely closed, the electro-hydraulic assembly releases the hydraulic brake to zero pressure based on the second agreed signal.

[0059] The hydraulic brake includes sub-brakes corresponding to the number of wheels, with each sub-brake corresponding to the braking of one wheel, and the exhaust valve is integrated on the sub-brake.

[0060] In this embodiment, performing multiple venting operations on the hydraulic controller and its brake lines means performing venting operations on each sub-brake and its brake lines in sequence.

[0061] In summary, the brake fluid replacement method of the hydraulic braking system of the present invention can realize the replacement of brake fluid in the hydraulic braking system of unmanned vehicles in any scenario, ensuring that there is no air in the brake lines, thus providing a guarantee for the braking of unmanned vehicles. It does not require complex and expensive tools, effectively reducing the cost of brake fluid replacement; it supports third-party maintenance, and the password security verification ensures vehicle safety and avoids misoperation and malicious attacks.

[0062] Example 3

[0063] A computer device, comprising:

[0064] Memory, used to store computer programs / instructions;

[0065] A processor is used to execute the computer program / instructions to implement the steps of the brake fluid replacement method of the hydraulic braking system described above.

[0066] Example 4

[0067] A computer-readable storage medium storing a computer program / instructions thereon, characterized in that, when the computer program / instructions are executed by a processor, the steps of the above-described brake fluid replacement method for a hydraulic braking system are implemented.

[0068] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0069] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A system that specifies functions in one or more boxes.

[0070] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including an instruction set implemented in a process. Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0071] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0072] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A method for replacing brake fluid in a hydraulic braking system, characterized in that, The hydraulic braking system is installed on the target unmanned vehicle. The hydraulic braking system includes: a vehicle controller, an electro-hydraulic assembly, a hydraulic brake, and a brake fluid reservoir. The vehicle controller is communicatively connected to the electro-hydraulic assembly, and the electro-hydraulic assembly, the hydraulic brake, and the brake fluid reservoir are connected through brake lines. The replacement method includes: Obtain the fault code of the target unmanned vehicle, and control the vehicle controller to switch to emergency stop mode based on the fault code; Add the rated amount of brake fluid to the brake fluid reservoir and perform multiple rounds of bleed operation on the hydraulic controller and its brake lines; After the bleed operation is completed, the emergency stop mode is deactivated. If the fault code is not cleared, repeat the above operation. If the fault code is cleared, the brake fluid replacement is complete. The exhaust operation includes: In response to the first maintenance command, the vehicle controller generates a first agreed signal to the electro-hydraulic assembly. The electro-hydraulic assembly, based on the first agreed signal, causes the hydraulic brake to build up pressure to the target pressure. After reaching the target pressure, the exhaust valve of the hydraulic brake is opened to release the air. In response to the second maintenance command, the exhaust valve is closed, and the vehicle controller generates a second agreed signal to the electro-hydraulic assembly. After the exhaust valve is completely closed, the electro-hydraulic assembly releases the hydraulic brake to zero pressure based on the second agreed signal.

2. The brake fluid replacement method for a hydraulic braking system according to claim 1, characterized in that, Also includes: A communication connection is established between the vehicle controller and the maintenance equipment, wherein the maintenance equipment is used to send the first maintenance command and the second maintenance command to the vehicle controller.

3. The brake fluid replacement method for a hydraulic braking system according to claim 2, characterized in that, The method for establishing a communication connection between the vehicle controller and the maintenance equipment is as follows: The maintenance equipment sends a pre-defined message to the vehicle controller, which performs a security verification on the message. If the security verification is successful, the communication connection between the vehicle controller and the maintenance equipment is established; otherwise, the vehicle controller does not respond. The agreed message includes: a password bit and a maintenance request.

4. The brake fluid replacement method for a hydraulic braking system according to claim 2, characterized in that, The maintenance equipment is a third-party diagnostic device with safety certification, located outside the target unmanned vehicle. The target unmanned vehicle is equipped with an online diagnostic interface, and the third-party diagnostic device communicates with the vehicle controller through the online diagnostic interface.

5. The brake fluid replacement method for a hydraulic braking system according to claim 2, characterized in that, The maintenance equipment is the original remote control of the target unmanned vehicle, which is installed on the target unmanned vehicle and is wirelessly connected to the vehicle controller.

6. The brake fluid replacement method for a hydraulic braking system according to claim 1, characterized in that, The exhaust valve can be a solenoid valve, whose opening and closing state is automatically controlled by an electro-hydraulic assembly; the exhaust valve can also be a manual valve, which can be manually opened and closed by a maintenance personnel.

7. The brake fluid replacement method for a hydraulic braking system according to claim 1, characterized in that, The completion of the venting operation is indicated by the venting valve discharging a continuous and clear flow of brake fluid.

8. The method for replacing brake fluid in a hydraulic braking system according to claim 1, characterized in that, After the target unmanned vehicle deactivates the emergency stop mode, it uses built-in sensors to monitor whether there is air in the hydraulic controller and brake lines. If air is found, a corresponding fault code is generated and reported.

9. A computer device, characterized in that, include: Memory, used to store computer programs / instructions; A processor for executing the computer program / instructions to implement the steps of the brake fluid replacement method for the hydraulic braking system according to any one of claims 1-8.

10. A computer-readable storage medium having a computer program / instructions stored thereon, characterized in that, When the computer program / instruction is executed by the processor, it implements the steps of the brake fluid replacement method of the hydraulic braking system according to any one of claims 1-8.

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