Vehicle control method and device and readable storage medium

Abstract

The invention discloses a vehicle control method and device and a readable storage medium, and relates to the technical field of automobile engineering. The vehicle control method comprises the steps that in the vehicle running process, a parking valve is controlled to be closed, and an emergency valve is controlled to be opened; detecting a first pressure value of the input end of the parking valve and a second pressure value of the output end of the parking valve; determining a difference value between the first pressure value and the second pressure value to obtain a pressure difference value; and under the condition that the pressure difference value is larger than or equal to the first pressure difference threshold value, the parking valve is controlled to be kept closed, and the emergency valve is controlled to be closed. The operation reliability of the vehicle is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle engineering technology, and in particular to a vehicle control method, apparatus, and readable storage medium. Background Technology

[0002] Currently, to ensure vehicle safety, the parking brake must use a purely mechanical device to lock the working parts, ensuring the vehicle remains reliably stationary. The medium used to release the parking brake varies depending on the vehicle model, primarily using compressed air (mainly for commercial vehicles) and hydraulic pressure (mainly for passenger cars and construction machinery).

[0003] Commercial vehicles require relatively large braking torque and primarily use compressed air. The thrust from the brake chamber is proportionally amplified through a mechanism and applied to the wheel brakes to apply the vehicle's brakes. When parked, the thrust from the brake chamber is provided by the compression of springs within the spring chamber. Passenger vehicles mainly rely on cables or integrated electronic parking brakes, controlled by handbrake valves or electronic switches. Construction machinery uses a full-power braking system, with parking brakes employing hydraulic disc or drum brakes. Due to the low speed and low temperature during braking in construction machinery, hydraulic oil is sufficient to meet performance requirements.

[0004] However, current vehicle control methods suffer from technical problems such as poor operational reliability. Summary of the Invention

[0005] This application provides a vehicle control method, apparatus, and readable storage medium to solve technical problems such as poor operational reliability in the prior art.

[0006] A first aspect of this application provides a vehicle control method. The vehicle includes a parking brake, a hydraulic fluid supply pump, a parking valve, and an emergency valve. The hydraulic fluid supply pump supplies hydraulic fluid to the parking brake, and the parking valve and emergency valve control the on / off connection between the parking brake and the hydraulic fluid supply pump. The method includes: While the vehicle is in motion, the parking valve is closed and the emergency valve is opened. Detect the first pressure value at the input end of the parking valve and the second pressure value at the output end of the parking valve; Determine the difference between the first pressure value and the second pressure value to obtain the pressure difference; If the pressure difference is greater than or equal to the first pressure difference threshold, the parking valve is kept closed, and the emergency valve is closed.

[0007] In some embodiments, the vehicle includes a service brake. After determining the difference between a first pressure value and a second pressure value to obtain the pressure difference, the method further includes: Before the service brake is activated, a second differential pressure threshold is obtained, which is less than the first differential pressure threshold. When the pressure difference is less than the first pressure difference threshold and greater than the second pressure difference threshold, the service brake is activated.

[0008] In some embodiments, the method further includes: Control the service brake to activate before the parking brake is activated; With the service brake engaged, the third pressure value between the parking brake and the fluid supply pump is detected. If the third pressure value is greater than the pressure threshold, the parking brake will be activated. Once the vehicle is successfully parked, control the parking brake to stop working.

[0009] In some embodiments, the method further includes: With the parking brake engaged, detect the fourth pressure value between the parking brake and the fluid supply pump. When the fourth pressure value is less than the first preset pressure, control the hydraulic pump to supply hydraulic oil to the parking brake. When the fourth pressure value is greater than or equal to the second preset pressure, the liquid supply pump is controlled to stop working, and the second preset pressure is greater than the first preset pressure.

[0010] In some embodiments, the vehicle further includes an accumulator for storing hydraulic fluid, and after detecting a fourth pressure value between the parking brake and the fluid supply pump, the method further includes: When the fourth pressure value is less than the first preset pressure and the liquid supply pump cannot work, the accumulator is controlled to supply hydraulic oil to the parking brake. When the fourth pressure value is greater than or equal to the second preset pressure, the accumulator is controlled to stop working.

[0011] In some embodiments, the method further includes: With the parking brake engaged, obtain the preset flow rate value; Control the opening of the parking valve to ensure that the flow rate between the parking brake and the fluid supply pump is equal to the preset flow rate value.

[0012] In some embodiments, the vehicle includes a first sensor and a second sensor to detect a first pressure value at the input of the parking valve and a second pressure value at the output of the parking valve, including: The first sensor is controlled to detect the pressure at the input end of the parking valve to obtain a first pressure value; The second sensor is controlled to detect the pressure at the output end of the parking valve to obtain a second pressure value.

[0013] The vehicle control method in this embodiment determines the pressure difference of the parking valve by comparing the first pressure value at the input end of the parking valve and the second pressure value at the output end of the parking valve. Then, it compares the pressure difference with a first pressure difference threshold. If the pressure difference is greater than or equal to the first pressure difference threshold, it controls the parking valve to remain closed and controls the emergency valve to close, thereby improving the operational reliability of the vehicle.

[0014] A second aspect of this application provides a vehicle control device. The vehicle includes a parking brake, a hydraulic oil supply pump, a parking valve, and an emergency valve. The hydraulic oil supply pump supplies hydraulic oil to the parking brake, and the parking valve and emergency valve control the on / off connection between the parking brake and the hydraulic oil supply pump. The device includes: The first control unit is used to control the parking valve to close and the emergency valve to open while the vehicle is in motion. The detection unit is used to detect the first pressure value at the input end of the parking valve and the second pressure value at the output end of the parking valve. A determining unit is used to determine the difference between the first pressure value and the second pressure value to obtain the pressure difference value; The second detection unit is used to control the parking valve to remain closed and the emergency valve to close when the pressure difference is greater than or equal to the first pressure difference threshold.

[0015] In this embodiment, the vehicle control device determines the pressure difference of the parking valve by comparing the first pressure value at the input end of the parking valve with the second pressure value at the output end of the parking valve. Then, it compares the pressure difference with a first pressure difference threshold. If the pressure difference is greater than or equal to the first pressure difference threshold, it controls the parking valve to remain closed and controls the emergency valve to close, thereby improving the operational reliability of the vehicle.

[0016] A third aspect of this application provides another vehicle control device, including a processor and a memory. The memory stores a computer program that, when executed by the processor, implements the steps of the vehicle control method as described in any of the above embodiments. Therefore, this vehicle control device possesses all the beneficial effects of the vehicle control method in any of the above embodiments, which will not be elaborated further here.

[0017] A fourth aspect of this application provides a readable storage medium storing a program or instructions that, when executed by a processor, implement the steps of the vehicle control method as described in any of the above embodiments. Therefore, this readable storage medium possesses all the beneficial effects of the vehicle control method in any of the above embodiments, which will not be elaborated further here. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A flowchart of a vehicle control method provided in an embodiment of this application; Figure 2 Functional block diagram of the vehicle control device provided in the embodiments of this application; Figure 3 This is a structural block diagram of a vehicle control device provided in an embodiment of this application. Detailed Implementation

[0020] To better understand the technical solutions provided in the embodiments of this specification, the technical solutions of the embodiments of this specification will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of this specification and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this specification, rather than limitations on the technical solutions of this specification. In the absence of conflict, the embodiments of this specification and the technical features in the embodiments can be combined with each other.

[0021] In this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. The term "two or more" includes two or more cases.

[0022] In some embodiments, such as Figure 1 As shown, an embodiment of this application provides a vehicle control method, including: Step S101: During vehicle operation, control the parking valve to close and control the emergency valve to open; Step S102: Detect the first pressure value at the input end of the parking valve and the second pressure value at the output end of the parking valve; Step S103: Determine the difference between the first pressure value and the second pressure value to obtain the pressure difference; In step S104, if the pressure difference is greater than or equal to the first pressure difference threshold, the parking valve is kept closed and the emergency valve is closed.

[0023] In this embodiment, a vehicle control method is proposed, wherein the vehicle includes a parking brake, a hydraulic pump, a parking valve, and an emergency valve. The hydraulic pump is used to supply hydraulic oil to the parking brake, and the parking valve and the emergency valve are used to control the on / off connection between the parking brake and the hydraulic pump.

[0024] For example, the vehicle can be a commercial vehicle.

[0025] For example, the vehicle can be a passenger car or a construction machine.

[0026] For example, the vehicle includes a braking system for performing braking operations on the vehicle, and the braking system includes a parking brake, a fluid supply pump, a parking valve, and an emergency valve.

[0027] For example, a parking brake is a braking device used to prevent a vehicle from rolling when parked. For vehicles using air brakes, the parking brake typically employs a "release spring brake" method. When the parking brake valve is in the braking position, the solenoid valve is closed, compressed air cannot pass through, and the spring force brakes the vehicle; when the air pressure reaches a certain value (e.g., above 6.5 bar), the spring force is overcome, and the parking brake is released. Some parking brake chambers also have a fine-toothed bolt, allowing manual release of the brake when there is no compressed air.

[0028] For example, in a hydraulic braking system, the supply pump (usually referring to the master cylinder) is responsible for converting the force of the driver pressing the brake pedal into hydraulic pressure, which pushes the brake fluid through the pipeline to the brake calipers of each wheel, thereby generating braking force.

[0029] For example, the parking valve is a key component that controls the on / off state of the parking brake system. The parking valve is used to control the connection between the parking brake and the fluid supply pump.

[0030] For example, an emergency valve is a device that provides backup braking in the event of a failure of the main braking system. In the event of a parking valve failure, the emergency valve can replace the parking valve.

[0031] While the vehicle is in motion, the parking valve is closed and the emergency valve is opened.

[0032] For example, during normal vehicle operation, the parking valve is kept closed and the emergency valve is kept open.

[0033] The pressure at the input and output ends of the parking valve is measured separately to obtain the first pressure value at the input end of the parking valve and the second pressure value at the output end of the parking valve.

[0034] The first pressure value represents the real-time pressure at the input end of the parking valve, and the second pressure value represents the real-time pressure at the output end of the parking valve.

[0035] For example, a first pressure sensor is provided at the input end of the parking valve, through which a first pressure value at the input end of the parking valve can be detected.

[0036] For example, a second pressure sensor is provided at the output end of the parking valve, through which a second pressure value at the output end of the parking valve can be detected.

[0037] The difference between the first pressure value and the second pressure value is determined to obtain the pressure difference value, wherein the pressure difference value is the difference between the first pressure value and the second pressure value.

[0038] For example, if the parking valve is functioning normally and without faults, the pressure difference should be 0.

[0039] Obtain a preset first differential pressure threshold, wherein the first differential pressure threshold is used to determine the differential pressure state of the parking valve.

[0040] If the pressure difference is greater than or equal to the first pressure difference threshold, it indicates that the parking valve is faulty. Control the parking valve to remain closed and control the emergency valve to close.

[0041] For example, if the pressure difference is greater than or equal to the first pressure difference threshold, it indicates that the parking valve is faulty and an emergency valve is needed to replace the parking valve, thereby controlling the emergency valve to close.

[0042] It should be noted that the control method of this embodiment detects the first pressure value at the input end of the parking valve and the second pressure value at the output end of the parking valve in real time, and determines the pressure difference between the first pressure value and the second pressure value. If the pressure difference is greater than or equal to the first pressure difference threshold, it indicates that there is a fault in the parking valve. The parking valve is controlled to remain closed, and the emergency valve is controlled to close, so as to avoid the parking valve fault affecting the normal operation of the vehicle and improve the operational reliability of the vehicle.

[0043] The vehicle control method in this embodiment determines the pressure difference of the parking valve by comparing the first pressure value at the input end of the parking valve and the second pressure value at the output end of the parking valve. Then, it compares the pressure difference with a first pressure difference threshold. If the pressure difference is greater than or equal to the first pressure difference threshold, it controls the parking valve to remain closed and controls the emergency valve to close, thereby improving the operational reliability of the vehicle.

[0044] In some embodiments, this application provides a vehicle control method that, after determining the difference between a first pressure value and a second pressure value to obtain the pressure difference, further includes: Before the service brake is activated, a second differential pressure threshold is obtained, which is less than the first differential pressure threshold. When the pressure difference is less than the first pressure difference threshold and greater than the second pressure difference threshold, the service brake is activated.

[0045] In this embodiment, the vehicle also includes a service brake, which is the core device used to decelerate and stop a car during driving. It is often referred to as a "foot brake" and converts kinetic energy into heat energy through friction to slow down or stop the vehicle.

[0046] Before activating the service brakes, a second differential pressure threshold is obtained, which is less than the first differential pressure threshold.

[0047] If the pressure difference is less than the first pressure difference threshold and greater than the second pressure difference threshold, it indicates that the service brake is in a state where it can be activated, and the service brake is activated.

[0048] In some embodiments of this application, a vehicle control method is provided, the method further comprising: Control the service brake to activate before the parking brake is activated; With the service brake engaged, the third pressure value between the parking brake and the fluid supply pump is detected. If the third pressure value is greater than the pressure threshold, the parking brake will be activated. Once the vehicle is successfully parked, control the parking brake to stop working.

[0049] In this embodiment, the service brake is activated before the parking brake is activated.

[0050] With the service brake engaged, the pressure between the parking brake and the fluid supply pump is monitored in real time to obtain a third pressure value, which is the pressure value between the parking brake and the fluid supply pump.

[0051] For example, a pressure sensor is provided between the parking brake and the fluid supply pump, and the pressure sensor can detect a third pressure value between the parking brake and the fluid supply pump.

[0052] Obtain the pressure threshold, where the pressure threshold is a preset pressure threshold.

[0053] If the third pressure value is greater than the pressure threshold, it indicates that the hydraulic pressure of the parking brake is normal and the parking brake can be activated.

[0054] In some embodiments of this application, a vehicle control method is provided, the method further comprising: With the parking brake engaged, detect the fourth pressure value between the parking brake and the fluid supply pump. When the fourth pressure value is less than the first preset pressure, control the hydraulic pump to supply hydraulic oil to the parking brake. When the fourth pressure value is greater than or equal to the second preset pressure, the liquid supply pump is controlled to stop working, and the second preset pressure is greater than the first preset pressure.

[0055] In this embodiment, when the parking brake is engaged, a fourth pressure value between the parking brake and the fluid supply pump is detected, wherein the fourth pressure value is the first real-time pressure value between the parking brake and the fluid supply pump.

[0056] For example, a pressure sensor is provided between the parking brake and the fluid supply pump, and the pressure sensor can detect a fourth pressure value between the parking brake and the fluid supply pump.

[0057] If the fourth pressure value is less than the first preset pressure, it indicates that the hydraulic pressure of the parking brake is insufficient, and the hydraulic supply pump is controlled to supply hydraulic oil to the parking brake.

[0058] For example, if the fourth pressure value is less than the first preset pressure, it indicates that the parking brake is not hydraulically powerful enough, and the hydraulic supply pump is activated to replenish hydraulic oil to the parking brake.

[0059] If the fourth pressure value is greater than or equal to the second preset pressure, it indicates that the hydraulic pressure of the parking brake is sufficient, and the control fluid supply pump stops working. The second preset pressure is greater than the first preset pressure.

[0060] In some embodiments, this application provides a vehicle control method that, after detecting a fourth pressure value between the parking brake and the fluid supply pump, further includes: When the fourth pressure value is less than the first preset pressure and the liquid supply pump cannot work, the accumulator is controlled to supply hydraulic oil to the parking brake. When the fourth pressure value is greater than or equal to the second preset pressure, the accumulator is controlled to stop working.

[0061] In this embodiment, the vehicle also includes an accumulator, which is a container for storing hydraulic oil.

[0062] For example, an accumulator can serve as a backup container for hydraulic oil.

[0063] In the event that the electric pump is not working, the accumulator is controlled to supply hydraulic oil to the booster chamber.

[0064] When the fourth pressure value is less than the first preset pressure and the liquid supply pump cannot work, the accumulator is controlled to supply hydraulic oil to the parking brake.

[0065] For example, in the event that the electric pump is not working, the accumulator can supply hydraulic oil to the booster chamber to ensure the reliability of the vehicle's braking.

[0066] When the fourth pressure value is greater than or equal to the second preset pressure, the accumulator is controlled to stop working.

[0067] In some embodiments of this application, a vehicle control method is provided, the method further comprising: With the parking brake engaged, obtain the preset flow rate value; Control the opening of the parking valve to ensure that the flow rate between the parking brake and the fluid supply pump is equal to the preset flow rate value.

[0068] In this embodiment, when the parking brake is activated, a preset flow rate value is obtained, wherein the preset flow rate value is the stable flow rate value between the parking brake and the fluid supply pump.

[0069] For example, the preset flow rate value can be the optimal flow rate value between the parking brake and the fluid supply pump.

[0070] Control the opening of the parking valve to ensure that the flow rate between the parking brake and the fluid supply pump is equal to the preset flow rate value.

[0071] For example, setting the flow rate between the parking brake and the fluid supply pump to a preset flow rate value can ensure the normal and stable operation of the parking brake and improve its reliability.

[0072] In some embodiments, this application provides a vehicle control method that detects a first pressure value at the input of the parking valve and a second pressure value at the output of the parking valve, including: The first sensor is controlled to detect the pressure at the input end of the parking valve to obtain a first pressure value; The second sensor is controlled to detect the pressure at the output end of the parking valve to obtain a second pressure value.

[0073] In this embodiment, the vehicle includes a first sensor and a second sensor.

[0074] The first sensor is set at the input end of the parking valve. The first sensor is controlled to detect the pressure at the input end of the parking valve and obtain the first pressure value.

[0075] The second sensor is located at the output end of the parking valve. The second sensor is controlled to detect the pressure at the output end of the parking valve and obtain the second pressure value.

[0076] For example, the drive-by-wire hydraulic parking brake function provides parking braking force when the unmanned platform is parked. The parking brake uses hydraulic oil and shares a pump station with the suspension circuit in the main oil source. Switching between the two systems is achieved through a reversing valve. The parking brake valve group mainly includes a pressure relief valve, a check valve, an accumulator, a solenoid valve, a relief valve, and a sensor.

[0077] For example, the maximum flow rate of the valve assembly is 25 L / min, and this value can be adjusted adaptively.

[0078] For example, the pressure relief valve is set to a pressure not exceeding 2 MPa, and this value can be adjusted adaptively, with a pressure adjustment range of 1.5 to 6 MPa.

[0079] For example, the relief valve is set to a pressure not exceeding 5 MPa, and this value can be adjusted adaptively, with a pressure adjustment range of 2.7 to 14 MPa.

[0080] For example, the accumulator has a volume of 2L and a pre-charge pressure of 0.5MPa, which can be adjusted adaptively.

[0081] For example, the two solenoid valves are a parking valve and an emergency parking valve, respectively, connected to different power supplies to improve system reliability.

[0082] For example, when the vehicle is in normal operation, the parking valve is energized, the emergency parking valve is de-energized, and the parking is released.

[0083] For example, during vehicle operation, two pressure sensors are calibrated. If the difference between the two sensor readings exceeds 0.5 MPa, an abnormality is determined, the emergency parking valve is energized, and the parking brake maintains pressure. If the sensor pressure value at the emergency parking valve is lower than 0.5 MPa, the service brake is activated to prevent damage to the parking brake.

[0084] For example, when the vehicle is in parking mode, the service brake is first activated (with set pressure), and after confirming successful parking, the parking brake is released.

[0085] For example, after the braking system is powered on, when the sensor detects that the system pressure is below 1 MPa, the pump starts to replenish fluid, and when it reaches 2 MPa, the pump stops.

[0086] In some embodiments, such as Figure 2 As shown, an embodiment of this application provides a vehicle control device 200, including: The first control unit 202 is used to control the parking valve to close and the emergency valve to open during vehicle operation. The detection unit 204 is used to detect the first pressure value at the input end of the parking valve and the second pressure value at the output end of the parking valve; The determining unit 206 is used to determine the difference between the first pressure value and the second pressure value to obtain the pressure difference value; The second detection unit 208 is used to control the parking valve to remain closed and the emergency valve to close when the pressure difference is greater than or equal to the first pressure difference threshold.

[0087] In this embodiment, a vehicle control device 200 is proposed, wherein the vehicle includes a parking brake, a hydraulic pump, a parking valve, and an emergency valve. The hydraulic pump is used to supply hydraulic oil to the parking brake, and the parking valve and the emergency valve are used to control the on / off connection between the parking brake and the hydraulic pump.

[0088] For example, the vehicle can be a commercial vehicle.

[0089] For example, the vehicle can be a passenger car or a construction machine.

[0090] For example, the vehicle includes a braking system for performing braking operations on the vehicle, and the braking system includes a parking brake, a fluid supply pump, a parking valve, and an emergency valve.

[0091] For example, a parking brake is a braking device used to prevent a vehicle from rolling when parked. For vehicles using air brakes, the parking brake typically employs a "release spring brake" method. When the parking brake valve is in the braking position, the solenoid valve is closed, compressed air cannot pass through, and the spring force brakes the vehicle; when the air pressure reaches a certain value (e.g., above 6.5 bar), the spring force is overcome, and the parking brake is released. Some parking brake chambers also have a fine-toothed bolt, allowing manual release of the brake when there is no compressed air.

[0092] For example, in a hydraulic braking system, the supply pump (usually referring to the master cylinder) is responsible for converting the force of the driver pressing the brake pedal into hydraulic pressure, which pushes the brake fluid through the pipeline to the brake calipers of each wheel, thereby generating braking force.

[0093] For example, the parking valve is a key component that controls the on / off state of the parking brake system. The parking valve is used to control the connection between the parking brake and the fluid supply pump.

[0094] For example, an emergency valve is a device that provides backup braking in the event of a failure of the main braking system. In the event of a parking valve failure, the emergency valve can replace the parking valve.

[0095] While the vehicle is in motion, the parking valve is closed and the emergency valve is opened.

[0096] For example, during normal vehicle operation, the parking valve is kept closed and the emergency valve is kept open.

[0097] The pressure at the input and output ends of the parking valve is measured separately to obtain the first pressure value at the input end of the parking valve and the second pressure value at the output end of the parking valve.

[0098] The first pressure value represents the real-time pressure at the input end of the parking valve, and the second pressure value represents the real-time pressure at the output end of the parking valve.

[0099] For example, a first pressure sensor is provided at the input end of the parking valve, through which a first pressure value at the input end of the parking valve can be detected.

[0100] For example, a second pressure sensor is provided at the output end of the parking valve, through which a second pressure value at the output end of the parking valve can be detected.

[0101] The difference between the first pressure value and the second pressure value is determined to obtain the pressure difference value, wherein the pressure difference value is the difference between the first pressure value and the second pressure value.

[0102] For example, if the parking valve is functioning normally and without faults, the pressure difference should be 0.

[0103] Obtain a preset first differential pressure threshold, wherein the first differential pressure threshold is used to determine the differential pressure state of the parking valve.

[0104] If the pressure difference is greater than or equal to the first pressure difference threshold, it indicates that the parking valve is faulty. Control the parking valve to remain closed and control the emergency valve to close.

[0105] For example, if the pressure difference is greater than or equal to the first pressure difference threshold, it indicates that the parking valve is faulty and an emergency valve is needed to replace the parking valve, thereby controlling the emergency valve to close.

[0106] It should be noted that the control method of this embodiment detects the first pressure value at the input end of the parking valve and the second pressure value at the output end of the parking valve in real time, and determines the pressure difference between the first pressure value and the second pressure value. If the pressure difference is greater than or equal to the first pressure difference threshold, it indicates that there is a fault in the parking valve. The parking valve is controlled to remain closed, and the emergency valve is controlled to close, so as to avoid the parking valve fault affecting the normal operation of the vehicle and improve the operational reliability of the vehicle.

[0107] In this embodiment, the vehicle control device 200 determines the pressure difference of the parking valve by comparing the first pressure value at the input end of the parking valve with the second pressure value at the output end of the parking valve. Then, it compares the pressure difference with a first pressure difference threshold. If the pressure difference is greater than or equal to the first pressure difference threshold, it controls the parking valve to remain closed and controls the emergency valve to close, thereby improving the operational reliability of the vehicle.

[0108] In some embodiments of this application, a vehicle control device 200 is provided, further comprising: The third control unit is used for: Before the service brake is activated, a second differential pressure threshold is obtained, which is less than the first differential pressure threshold. When the pressure difference is less than the first pressure difference threshold and greater than the second pressure difference threshold, the service brake is activated.

[0109] In some embodiments of this application, a vehicle control device 200 is provided, further comprising: The fourth control unit is used for: Control the service brake to activate before the parking brake is activated; With the service brake engaged, the third pressure value between the parking brake and the fluid supply pump is detected. If the third pressure value is greater than the pressure threshold, the parking brake will be activated. Once the vehicle is successfully parked, control the parking brake to stop working.

[0110] In some embodiments of this application, a vehicle control device 200 is provided, further comprising: The fifth control unit is used for: With the parking brake engaged, detect the fourth pressure value between the parking brake and the fluid supply pump. When the fourth pressure value is less than the first preset pressure, control the hydraulic pump to supply hydraulic oil to the parking brake. When the fourth pressure value is greater than or equal to the second preset pressure, the liquid supply pump is controlled to stop working, and the second preset pressure is greater than the first preset pressure.

[0111] In some embodiments of this application, a vehicle control device 200 is provided, further comprising: The sixth control unit is used for: When the fourth pressure value is less than the first preset pressure and the liquid supply pump cannot work, the accumulator is controlled to supply hydraulic oil to the parking brake. When the fourth pressure value is greater than or equal to the second preset pressure, the accumulator is controlled to stop working.

[0112] In some embodiments of this application, a vehicle control device 200 is provided, further comprising: The seventh control unit is used for: With the parking brake engaged, obtain the preset flow rate value; Control the opening of the parking valve to ensure that the flow rate between the parking brake and the fluid supply pump is equal to the preset flow rate value.

[0113] In some embodiments of this application, a vehicle control device 200 and a detection unit 204 are provided, which are further used for: The first sensor is controlled to detect the pressure at the input end of the parking valve to obtain a first pressure value; The second sensor is controlled to detect the pressure at the output end of the parking valve to obtain a second pressure value.

[0114] In some embodiments, such as Figure 3 As shown, a vehicle control device 300 is proposed. The vehicle control device 300 includes a processor 302 and a memory 304. The memory 304 stores a computer program, which, when executed by the processor 302, implements the steps of the vehicle control method as described in any of the above embodiments. Therefore, the vehicle control device 300 possesses all the beneficial effects of the vehicle control method in any of the above embodiments, which will not be elaborated further here.

[0115] In some embodiments, a readable storage medium is provided having a program stored thereon, which, when executed by a processor, implements the steps of the vehicle control method as described in any of the above embodiments, and thus has all the beneficial technical effects of the vehicle control method described in any of the above embodiments.

[0116] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0117] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-readable program code.

[0118] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. 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 computer, 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, create a machine for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0119] 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 instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0120] 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.

[0121] This application also provides a computer program product, which includes computer software instructions that, when executed on a processing device, cause the processing device to execute a process of a vehicle control method.

[0122] A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0123] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0124] In the several embodiments provided in this application, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, or indirect coupling or communication connection between devices or units, and may be electrical, mechanical, or other forms.

[0125] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0126] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0127] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0128] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

[0129] Although preferred embodiments have been described in this specification, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this specification.

[0130] Obviously, those skilled in the art can make various modifications and variations to this specification without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims and their equivalents, this specification is also intended to include such modifications and variations.

Claims

1. A method for controlling a vehicle, characterized in that, The vehicle includes a parking brake, a hydraulic fluid supply pump, a parking valve, and an emergency valve. The hydraulic fluid supply pump supplies hydraulic fluid to the parking brake. The parking valve and the emergency valve control the connection between the parking brake and the hydraulic fluid supply pump. The method includes: During the vehicle's operation, the parking valve is closed and the emergency valve is opened. The first pressure value at the input end of the parking valve and the second pressure value at the output end of the parking valve are detected. Determine the difference between the first pressure value and the second pressure value to obtain the pressure difference; If the pressure difference is greater than or equal to the first pressure difference threshold, the parking valve is kept closed, and the emergency valve is closed.

2. The method according to claim 1, characterized in that, The vehicle includes a service brake, and after determining the difference between the first pressure value and the second pressure value to obtain the pressure difference, the method further includes: Before the service brake is activated, a second differential pressure threshold is obtained, wherein the second differential pressure threshold is less than the first differential pressure threshold. When the pressure difference is less than the first pressure difference threshold and greater than the second pressure difference threshold, the service brake is controlled to start working.

3. The method according to claim 2, characterized in that, The method further includes: Before the parking brake is activated, the service brake is activated. When the service brake is engaged, a third pressure value between the parking brake and the fluid supply pump is detected. If the third pressure value is greater than the pressure threshold, the parking brake is activated. When the vehicle is successfully parked, the parking brake is controlled to stop working.

4. The method according to claim 1, characterized in that, The method further includes: When the parking brake is engaged, a fourth pressure value between the parking brake and the fluid supply pump is detected. When the fourth pressure value is less than the first preset pressure, the hydraulic pump is controlled to supply hydraulic oil to the parking brake. When the fourth pressure value is greater than or equal to the second preset pressure, the liquid supply pump is controlled to stop working, and the second preset pressure is greater than the first preset pressure.

5. The method according to claim 4, characterized in that, The vehicle also includes an accumulator for storing hydraulic oil, and after detecting the fourth pressure value between the parking brake and the hydraulic oil supply pump, the method further includes: When the fourth pressure value is less than the first preset pressure and the liquid supply pump cannot work, the accumulator is controlled to supply hydraulic oil to the parking brake. When the fourth pressure value is greater than or equal to the second preset pressure, the accumulator is controlled to stop working.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: When the parking brake is engaged, a preset flow rate value is obtained; The opening degree of the parking valve is controlled so that the flow rate between the parking brake and the fluid supply pump is equal to the preset flow rate value.

7. The method according to any one of claims 1 to 5, characterized in that, The vehicle includes a first sensor and a second sensor. Detecting the first pressure value at the input end of the parking valve and the second pressure value at the output end of the parking valve includes: The first sensor is controlled to detect the pressure at the input end of the parking valve to obtain the first pressure value; The second sensor is controlled to detect the pressure at the output end of the parking valve to obtain the second pressure value.

8. A vehicle control device, characterized in that, The vehicle includes a parking brake, a hydraulic fluid supply pump, a parking valve, and an emergency valve. The hydraulic fluid supply pump supplies hydraulic fluid to the parking brake. The parking valve and the emergency valve control the connection between the parking brake and the hydraulic fluid supply pump. The device includes: The first control unit is used to control the parking valve to close and the emergency valve to open during the driving of the vehicle. The detection unit is used to detect the first pressure value at the input end of the parking valve and the second pressure value at the output end of the parking valve; A determining unit is used to determine the difference between the first pressure value and the second pressure value to obtain a pressure difference value; The second detection unit is used to control the parking valve to remain closed and the emergency valve to close when the pressure difference is greater than or equal to the first pressure difference threshold.

9. A vehicle control device, characterized in that, include: processor; A memory, which stores programs or instructions, wherein a processor, when executing the programs or instructions in the memory, implements the steps of the vehicle control method as described in any one of claims 1 to 7.

10. A readable storage medium, characterized in that, A program or instructions are stored on a readable storage medium, which, when executed by a processor, implement the steps of the vehicle control method as described in any one of claims 1 to 7.

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