Vacuum degree signal verification method, controller, vehicle, and storage medium

Abstract

A vacuum degree signal verification method, a controller, a vehicle, and a storage medium. The vacuum degree signal verification method comprises: acquiring a vacuum degree fluctuation range of a braking system; within a primary braking period, acquiring a vacuum degree signal of a vacuum booster and a pressure signal of a braking master cylinder for multiple times; when the braking period is completed, determining the effectiveness of the vacuum degree signal on the basis of the pressure signal; if the plurality of vacuum degree signals acquired within the braking period are all effective, calculating a detection fluctuation range of the vacuum booster, and comparing the detection fluctuation range with the vacuum degree fluctuation range; and if the detection fluctuation range exceeds the vacuum degree fluctuation range, determining that the acquired vacuum degree signals are unreliable.

Description

Vacuum signal calibration method, controller, vehicle and storage medium Technical Field

[0001] The present invention relates to the technical field of vehicle braking, and in particular to a method for verifying a vacuum signal, a controller, a vehicle and a storage medium. Background Art

[0002] Currently, many vehicles use vacuum assist to achieve braking assistance. The vehicle uses the engine's intake manifold or vacuum pump as a vacuum source. The vacuum source transmits the vacuum to the vacuum booster through a pipeline. When the driver steps on the brake pedal, the vacuum booster uses atmospheric pressure to generate braking assistance, thereby achieving vehicle braking deceleration. In order to monitor the vacuum condition of the vacuum booster, the vehicle is generally equipped with a vacuum sensor.

[0003] In related technologies, the credibility of the vacuum sensor cannot be verified while the vehicle is driving, and the safety level is low. If the vehicle is in an extremely high temperature, low temperature, humid, high altitude environment during operation, or if abnormal conditions such as power supply occur, the vacuum signal obtained by the vacuum sensor is inaccurate, which can easily lead to vacuum assist failure.

[0004] Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a method for verifying a vacuum signal, which is beneficial for verifying the vacuum signal while the vehicle is driving, and assisting the driver in determining the reliability of the vacuum assist.

[0006] The present invention also provides a controller.

[0007] The present invention also provides a vehicle.

[0008] The present invention also provides a computer storage medium.

[0009] A method for verifying a vacuum signal according to an embodiment of the first aspect of the present invention is applied to a brake system having a master brake cylinder and a vacuum booster. The method for verifying a vacuum signal includes:

[0010] Obtain the vacuum fluctuation range of the brake system;

[0011] During one braking cycle, the vacuum degree signal of the vacuum booster and the pressure signal of the brake master cylinder are obtained multiple times;

[0012] After the braking cycle is completed, the effectiveness of the vacuum signal is judged based on the pressure signal;

[0013] If all the vacuum degree signals obtained during the braking cycle are valid, the detection fluctuation range of the vacuum booster is calculated and compared with the vacuum degree fluctuation range;

[0014] If the detection fluctuation range exceeds the vacuum degree fluctuation range, the obtained vacuum degree signal is determined to be unreliable.

[0015] The vacuum signal verification method according to the embodiment of the present invention has at least the following beneficial effects: the vacuum signal verification method uses the vacuum fluctuation range of the braking system as a reference value, and the vacuum fluctuation range covers the normal vacuum fluctuation of the braking system, thereby reducing the risk of verification errors; when the driver steps on the pedal, that is, after entering the braking cycle, the vacuum signal verification method monitors the vacuum signal of the vacuum booster and the pressure signal of the brake master cylinder in real time. After the driver releases the pedal and the pedal is reset, that is, the braking cycle ends, the vacuum signal verification method can judge the validity of the vacuum signal through the obtained pressure signal, thereby judging whether the obtained vacuum signal can be used It is an effective comparison signal, which is beneficial to improving the verification accuracy of the vacuum signal verification method. If all the multiple vacuum signals obtained during the braking cycle are valid, the vacuum signal verification method can calculate the detection fluctuation range of the vacuum booster during the entire braking cycle by obtaining multiple valid vacuum signals, and compare the detection fluctuation range of the vacuum booster with the vacuum fluctuation range of the braking system. If the detection fluctuation of the vacuum booster exceeds the vacuum fluctuation range of the braking system, the vacuum signal obtained by the vacuum sensor is determined to be unreliable and the vehicle's vacuum boosting is unreliable, so that the braking system or the driver can adjust the braking plan in time to ensure the driver's personal safety.

[0016] According to some embodiments of the present invention, the braking system further includes a vacuum source and an auxiliary power-assisting component, and is characterized in that the method for verifying the vacuum signal further includes:

[0017] If the vacuum signal is determined to be unreliable, a signal indicating a vacuum boost failure is sent to the driver, and when entering the next braking cycle, the vacuum source and auxiliary boost components are controlled to jointly participate in the braking boost.

[0018] If the vacuum signal verification method determines that the vacuum signal is unreliable, that is, when relying solely on the vacuum source for vacuum assistance, there is a risk of brake fatigue or false triggering of the brake assistance, making it difficult to ensure normal braking of the vehicle. The vacuum signal verification method can send a signal to the driver to prompt the driver of the vacuum assistance failure, thereby increasing the driver's vigilance during driving, so that the driver can adjust the driving plan in time. When entering the next braking cycle, the vacuum signal verification method can control the vacuum source and auxiliary assistance components to jointly participate in the brake assistance, that is, timely adjust the braking strategy to ensure that the braking assistance is sufficient, to ensure that the vehicle can brake and decelerate as expected, and to protect the personal safety of people in the vehicle.

[0019] According to some embodiments of the present invention, the method for verifying the vacuum signal further includes:

[0020] If the detection fluctuation range is included in the vacuum degree fluctuation range, the obtained vacuum degree signal is determined to be credible;

[0021] In the current ignition cycle, if the vacuum signal changes from unreliable to reliable, when entering the next braking cycle, the vacuum source is controlled to perform vacuum assistance, and the auxiliary assistance components do not participate in the brake assistance.

[0022] If the detection fluctuation range calculated by the verification method of the vacuum signal is contained in the vacuum fluctuation range, that is, the detection fluctuation range does not exceed the theoretical maximum fluctuation range of the braking system, then the vacuum signal obtained by the vacuum sensor is determined to be credible, and there is no fault in the vacuum assist, that is, the vacuum signal is verified during vehicle driving to assist the driver in monitoring the reliability of the vacuum assist; in the current ignition cycle, if the vacuum signal changes from unreliable to credible, that is, the factors causing the vacuum signal to be unreliable have been eliminated, when entering the next braking cycle, the verification method of the vacuum signal can adjust the braking strategy in time, the vacuum source performs normal vacuum assist, and the auxiliary assist components do not participate in braking, thereby eliminating the interference caused to the driver by the operation of the auxiliary assist components, which is conducive to ensuring the normal operation of the vehicle's brake assist.

[0023] According to some embodiments of the present invention, determining the validity of a vacuum signal based on a pressure signal includes:

[0024] comparing the pressure signal with a preset pressure value;

[0025] If the pressure signal is greater than the preset pressure value, it is determined that the vacuum signal meets the first validity condition;

[0026] The validity of the vacuum degree signal is judged according to the first validity condition.

[0027] When judging the validity of the vacuum signal, the vacuum signal verification method can compare the pressure signal of the brake master cylinder with the preset pressure value, that is, judge the size of the pressure applied by the driver to the pedal. If the pressure value of the pressure signal is greater than the preset pressure value, it is determined that the vacuum signal corresponding to the vacuum booster meets the first validity condition. By screening the valid vacuum signal, the detection fluctuation range of the vacuum booster is calculated, which is conducive to improving the accuracy of the vacuum signal verification. Conversely, if the pressure value of the pressure signal is less than the preset pressure value, it is considered that the pressure applied by the driver to the pedal is too small, the vacuum change in the vacuum booster is too small, the vacuum signal obtained by the vacuum sensor has a large error, the verification accuracy is low, and the subsequent verification steps are no longer performed.

[0028] According to some embodiments of the present invention, determining the validity of the vacuum signal based on the pressure signal further includes:

[0029] Calculating a pressure increasing speed of the brake master cylinder according to the plurality of pressure signals, and comparing the pressure increasing speed with a first preset speed;

[0030] If the boost speed is greater than the first preset speed, it is determined that the vacuum signal meets the second validity condition;

[0031] The validity of the vacuum degree signal is judged according to the second valid signal.

[0032] When judging the validity of the vacuum signal, the verification method of the vacuum signal can indirectly monitor the vacuum change rate of the vacuum booster by calculating the boost speed of the brake master cylinder, and compare the boost speed with the first preset speed. If the boost speed is greater than the first preset speed, that is, the vacuum fluctuation of the vacuum booster per unit time is large, then the corresponding vacuum signal is determined to meet the second validity condition. By screening the valid vacuum signal to calculate the detection fluctuation range of the vacuum booster, it is beneficial to improve the accuracy of the verification. Conversely, if the boost speed is less than the first preset speed, it is considered that the driver presses the pedal too slowly, the vacuum fluctuation in the vacuum booster is too small, the obtained vacuum signal has a large error, the verification accuracy is low, and the subsequent verification steps are no longer performed.

[0033] According to some embodiments of the present invention, determining the validity of the vacuum signal based on the pressure signal further includes:

[0034] calculating a pressure relief speed of the brake master cylinder according to the plurality of pressure signals, and comparing the pressure relief speed with a second preset speed;

[0035] If the pressure relief speed is greater than the second preset speed, it is determined that the vacuum signal meets the third validity condition;

[0036] If the vacuum signal meets the first validity condition, the second validity condition and the third validity condition, the vacuum signal is determined to be valid.

[0037] When judging the validity of the vacuum signal, the verification method of the vacuum signal can indirectly monitor the vacuum change rate of the vacuum booster by calculating the pressure relief speed of the brake master cylinder, and compare the pressure relief speed with the second preset speed. If the pressure relief speed is greater than the second preset speed, that is, the vacuum fluctuation of the vacuum booster per unit time is large, then the corresponding vacuum signal is determined to meet the third validity condition. If the vacuum signal meets the first validity condition, the second validity condition and the third validity condition, then the vacuum signal is determined to be valid, and the obtained vacuum signal meets the detection accuracy requirement of the vacuum sensor. By screening the valid vacuum signal to calculate the detection fluctuation range of the vacuum booster, it is beneficial to improve the accuracy of the verification. On the contrary, if the pressure relief speed is less than the second preset speed, it is considered that the driver is too slow to release the pedal, the vacuum fluctuation in the vacuum booster is too small, the obtained vacuum signal has a large error, the verification accuracy is low, and the subsequent verification steps are no longer performed.

[0038] According to some embodiments of the present invention, the braking system further includes a vacuum source, characterized in that obtaining a vacuum degree fluctuation range of the braking system includes:

[0039] The maximum vacuum degree change of the vacuum source and the vacuum degree loss of the vacuum booster during a braking cycle are obtained, and the vacuum degree fluctuation range of the braking system is calculated based on the maximum vacuum degree change and vacuum degree loss.

[0040] When obtaining the vacuum fluctuation range of the braking system, the vacuum signal verification method fully considers the maximum vacuum change of the vacuum source, so that the obtained vacuum fluctuation range covers the normal vacuum fluctuation of the braking system. It also takes into account the vacuum loss of the vacuum booster during a braking cycle, thereby improving the accuracy of the vacuum fluctuation range calculation, which is conducive to improving the verification accuracy of the vacuum signal verification method.

[0041] According to some embodiments of the present invention, obtaining the maximum vacuum degree change of the vacuum source and the vacuum degree loss of the vacuum booster during a braking cycle includes:

[0042] Conduct bench durability tests on the vacuum source to obtain the maximum vacuum degree change of the vacuum source;

[0043] The boost speed is controlled to be a first preset speed and the pressure relief speed is controlled to be a second preset speed, and the vacuum value of the vacuum booster is obtained multiple times, and the vacuum loss of the vacuum booster in one braking cycle is calculated based on the multiple vacuum values.

[0044] Specifically, the method for verifying the vacuum signal can obtain the maximum vacuum change of the vacuum source by performing a bench durability test on the vacuum source. The maximum vacuum change includes the vacuum fluctuation when the vacuum source is operating normally, which is beneficial to improving the accuracy of the verification. When obtaining the vacuum loss of the vacuum booster, the method for verifying the vacuum signal can control the boost speed of the brake master cylinder to a first preset speed and the pressure relief speed to a second preset speed to simulate the speed at which the driver presses the pedal and the speed at which he releases the pedal. When the driver presses the pedal, the volume in the vacuum booster becomes smaller and the vacuum decreases rapidly. After the driver releases the pedal, the vacuum booster restores its volume by absorbing air, and the vacuum further decreases. The vacuum loss of the vacuum booster in a braking cycle is calculated based on the multiple vacuum values ​​obtained, and the boost speed and the pressure relief speed are controlled to reduce the influence of the vacuum source on the vacuum booster's replenishment of vacuum, which is beneficial to improving the calculation accuracy of the vacuum loss.

[0045] According to some embodiments of the present invention, calculating the vacuum fluctuation range of the brake system based on the maximum vacuum change and the vacuum loss includes:

[0046] Selecting the first weighting coefficient as the weighting coefficient of the maximum vacuum degree change, and selecting the second weighting coefficient as the weighting coefficient of the vacuum degree loss;

[0047] The product of the maximum vacuum degree change and the first weighting coefficient is accumulated with the product of the vacuum degree loss and the second weighting coefficient to obtain the vacuum degree fluctuation range.

[0048] When obtaining the vacuum fluctuation range of the braking system, the vacuum signal verification method can calculate the vacuum fluctuation range of the braking system by performing a weighted analysis on the maximum vacuum change and the vacuum loss. Specifically, the vacuum signal verification method can select a first weighting coefficient as the weighting coefficient of the maximum vacuum change of the vacuum source, and select a second weighting coefficient as the weighting coefficient of the vacuum loss. The vacuum signal verification method calculates the vacuum fluctuation range by adding the product of the maximum vacuum change and the first weighting coefficient and the product of the vacuum loss and the second weighting coefficient. The vacuum fluctuation range not only takes into account the vacuum fluctuation during normal operation of the vacuum source, but also takes into account the vacuum loss of the vacuum booster in a braking cycle. In conjunction with actual vehicle testing, the values ​​of the first weighting coefficient and the second weighting coefficient can be adjusted, thereby adjusting the value of the vacuum fluctuation range, so that the vacuum fluctuation range is more in line with the actual vehicle, which is beneficial to improving the verification accuracy of the vacuum signal verification method.

[0049] According to an embodiment of the second aspect of the present invention, the controller includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the vacuum signal verification method as shown in any one of the first aspects is implemented.

[0050] According to the controller of the embodiment of the present invention, there are at least the following beneficial effects: when the processor executes the computer-readable program stored in the memory, it can implement the vacuum signal verification method shown in the first aspect, and the vacuum signal verification method uses the vacuum fluctuation range of the braking system as a reference value, and the vacuum fluctuation range covers the normal vacuum fluctuation of the braking system, thereby reducing the risk of verification errors; when the driver steps on the pedal, that is, after entering the braking cycle, the vacuum signal verification method monitors the vacuum signal of the vacuum booster and the pressure signal of the brake master cylinder in real time. After the driver releases the pedal and the pedal is reset, that is, the braking cycle ends, the vacuum signal verification method can verify the validity of the vacuum signal through the obtained pressure signal. A judgment is made to determine whether the obtained vacuum signal can be used as a valid comparison signal, which is beneficial to improving the verification accuracy of the vacuum signal verification method. If all multiple vacuum signals obtained during the braking cycle are valid, the vacuum signal verification method can calculate the detection fluctuation range of the vacuum booster during the entire braking cycle through the obtained multiple valid vacuum signals, and compare the detection fluctuation range of the vacuum booster with the vacuum fluctuation range of the braking system. If the detection fluctuation of the vacuum booster exceeds the vacuum fluctuation range of the braking system, the vacuum signal obtained by the vacuum sensor is determined to be unreliable and the vehicle's vacuum boosting is unreliable, so that the braking system or the driver can adjust the braking plan in time to ensure the driver's personal safety.

[0051] A vehicle according to an embodiment of a third aspect of the present invention includes the controller as shown in the second aspect.

[0052] The vehicle according to the embodiment of the present invention has at least the following beneficial effects: the vehicle includes the controller as shown in the second aspect, and when the processor executes the computer-readable program stored in the memory, it can implement the vacuum signal verification method as shown in the first aspect, and the vacuum signal verification method uses the vacuum fluctuation range of the braking system as a reference value, and the vacuum fluctuation range covers the normal vacuum fluctuation of the braking system, thereby reducing the risk of verification errors; when the driver steps on the pedal, that is, after entering the braking cycle, the vacuum signal verification method monitors the vacuum signal of the vacuum booster and the pressure signal of the brake master cylinder in real time. After the driver releases the pedal and the pedal is reset, that is, the braking cycle ends, the vacuum signal verification method can obtain the pressure signal to verify the vacuum The validity of the vacuum degree signal is judged, so as to judge whether the obtained vacuum degree signal can be used as a valid comparison signal, which is beneficial to improving the verification accuracy of the vacuum degree signal verification method. If the multiple vacuum degree signals obtained during the braking cycle are all valid, the vacuum degree signal verification method can calculate the detection fluctuation range of the vacuum booster during the entire braking cycle by obtaining multiple valid vacuum degree signals, and compare the detection fluctuation range of the vacuum booster with the vacuum degree fluctuation range of the braking system. If the detection fluctuation of the vacuum booster exceeds the vacuum degree fluctuation range of the braking system, the vacuum degree signal obtained by the vacuum sensor is determined to be unreliable and the vehicle's vacuum boosting is unreliable, so that the braking system or the driver can adjust the braking plan in time to ensure the driver's personal safety.

[0053] According to the computer-readable storage medium of the embodiment of the fourth aspect of the present invention, computer-executable instructions are stored, and the computer-executable instructions are used to execute the vacuum signal verification method as shown in any one of the first aspects.

[0054] According to the computer-readable storage medium of the embodiment of the present invention, there are at least the following beneficial effects: the computer executable instructions are used to execute the vacuum signal verification method as shown in any one of the first aspects, the vacuum signal verification method uses the vacuum fluctuation range of the braking system as a reference value, and the vacuum fluctuation range covers the normal vacuum fluctuation of the braking system, thereby reducing the risk of verification errors; when the driver steps on the pedal, that is, after entering the braking cycle, the vacuum signal verification method monitors the vacuum signal of the vacuum booster and the pressure signal of the brake master cylinder in real time, and after the driver releases the pedal and the pedal is reset, that is, the braking cycle ends, the vacuum signal verification method can judge the validity of the vacuum signal by the obtained pressure signal. The vacuum signal obtained can be judged as a valid comparison signal, which is beneficial to improving the calibration accuracy of the vacuum signal calibration method. If all the multiple vacuum signals obtained during the braking cycle are valid, the vacuum signal calibration method can calculate the detection fluctuation range of the vacuum booster during the entire braking cycle by obtaining multiple valid vacuum signals, and compare the detection fluctuation range of the vacuum booster with the vacuum fluctuation range of the braking system. If the detection fluctuation of the vacuum booster exceeds the vacuum fluctuation range of the braking system, the vacuum signal obtained by the vacuum sensor is determined to be unreliable and the vehicle's vacuum boosting is unreliable, so that the braking system or the driver can adjust the braking plan in time to ensure the driver's personal safety.

[0055] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0057] FIG1 is a flow chart of a method for verifying a vacuum signal according to an embodiment of the present invention;

[0058] FIG2 is a flowchart of a method for verifying a vacuum signal according to an embodiment of the present invention;

[0059] FIG3 is a flowchart of a method for verifying a vacuum signal according to an embodiment of the present invention;

[0060] FIG4 is a flowchart of a method for verifying a vacuum signal according to an embodiment of the present invention;

[0061] FIG5 is a flowchart of a method for verifying a vacuum signal according to an embodiment of the present invention;

[0062] FIG6 is a flowchart of a method for verifying a vacuum signal according to an embodiment of the present invention;

[0063] FIG7 is a flowchart of a method for verifying a vacuum signal according to an embodiment of the present invention;

[0064] FIG8 is a flowchart of a method for verifying a vacuum signal according to an embodiment of the present invention;

[0065] FIG9 is a flowchart of a method for verifying a vacuum signal according to an embodiment of the present invention;

[0066] FIG10 is a flowchart of a method for verifying a vacuum signal according to an embodiment of the present invention. DETAILED DESCRIPTION

[0067] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0068] In the description of the present invention, it should be understood that descriptions involving orientation, such as the orientation or positional relationship indicated by up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0069] In the description of the present invention, "a plurality" refers to more than two. The use of "first" or "second" is solely for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of the indicated technical features, or implicitly indicating the order of the indicated technical features.

[0070] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0071] 1 to 10 , a method for verifying a vacuum signal according to an embodiment of the present invention is applied to a brake system having a vacuum source, an auxiliary power-assisting component, a master brake cylinder, and a vacuum booster, and includes the following steps:

[0072] Step S100, obtaining the vacuum fluctuation range of the brake system;

[0073] Step S200, acquiring a vacuum degree signal of the vacuum booster and a pressure signal of the brake master cylinder multiple times during one braking cycle;

[0074] Step S300: After the braking cycle ends, the validity of the vacuum signal is determined based on the pressure signal;

[0075] Step S400 , if all the vacuum degree signals acquired during the braking cycle are valid, calculating the detection fluctuation range of the vacuum booster, and comparing the detection fluctuation range with the vacuum degree fluctuation range;

[0076] Step S500: If the detected fluctuation range exceeds the vacuum degree fluctuation range, the obtained vacuum degree signal is determined to be unreliable.

[0077] 1 and 2 , the vacuum signal verification method uses the vacuum fluctuation range of the brake system as a reference value. The vacuum fluctuation range covers the normal vacuum fluctuation of the brake system, thereby reducing the risk of verification errors.

[0078] When the driver steps on the pedal, that is, after entering the braking cycle, the vacuum signal verification method monitors the vacuum signal of the vacuum booster and the pressure signal of the brake master cylinder in real time. After the driver releases the pedal and the pedal is reset, the braking cycle ends. The vacuum signal verification method can judge the validity of the vacuum signal through the obtained pressure signal, thereby judging whether the obtained vacuum signal can be used as a valid comparison signal, which is conducive to improving the verification accuracy of the vacuum signal verification method.

[0079] If all the multiple vacuum signals obtained during the braking cycle are valid, the vacuum signal verification method calculates the detection fluctuation range of the vacuum booster during the entire braking cycle by obtaining multiple valid vacuum signals, and compares the detection fluctuation range with the vacuum fluctuation range of the braking system. If the detection fluctuation of the vacuum booster exceeds the vacuum fluctuation range of the braking system, it is determined that the vacuum signal obtained by the vacuum sensor is unreliable and the vacuum boosting of the vehicle braking is unreliable, so that the braking system or the driver can adjust the braking plan in time to ensure the driver's personal safety.

[0080] 1 and 3 , it can be understood that the vacuum signal verification method further includes the following steps:

[0081] Step S610: If the vacuum signal is determined to be unreliable, a signal indicating a vacuum boost failure is sent to the driver, and when entering the next braking cycle, the vacuum source and the auxiliary boost component are controlled to jointly participate in the braking boost.

[0082] 1 and 3 , the vehicle can signal the driver that there is a fault in the vacuum assist function by lighting up a fault light or giving a sound prompt, thereby increasing the driver's vigilance and allowing the driver to adjust the vehicle's driving strategy in a timely manner, such as reducing the vehicle's speed or troubleshooting the vacuum assist function in a timely manner.

[0083] 1 and 3 , if the vacuum signal verification method determines that the vacuum signal is unreliable, that is, when relying solely on the vacuum source for vacuum assistance, there may be defects such as brake fatigue or false triggering of the brake assistance, making it difficult to ensure normal braking of the vehicle. When the vehicle enters the next braking cycle, the vacuum signal verification method can control the auxiliary assistance components and the vacuum source to jointly participate in the brake assistance, that is, timely adjust the braking strategy to ensure that the braking assistance is sufficient, so as to ensure that the vehicle can brake and decelerate as expected, and protect the personal safety of the people in the vehicle.

[0084] It should be noted that the auxiliary power-assisting component can be the vehicle's ABS (anti-lock braking system) or ESC (electronic stability control system). If the vacuum signal verification method determines that the vacuum signal is unreliable and there is a fault in the vacuum power assist, the ABS or ESC can intervene in the braking to ensure that the braking force is sufficient, to ensure that the vehicle can brake and decelerate as expected by the driver, and to ensure the personal safety of people in the vehicle.

[0085] Most vehicles on the market are equipped with auxiliary power-assistance components such as ABS or ESC. This vacuum signal verification method uses the vehicle's vacuum sensor to detect the vacuum signal of the vacuum booster, and monitors the pressure signal within the brake master cylinder during the braking cycle through ABS or ESC. Without adding additional hardware, this vacuum signal verification method can indirectly determine whether the vacuum booster function is faulty by comparing the detection fluctuation range of the vacuum booster with the vacuum fluctuation range. By coordinating with auxiliary power-assistance components, auxiliary braking can be performed to ensure vehicle driving safety.

[0086] 1 and 4 , it can be understood that the vacuum signal verification method further includes the following steps:

[0087] Step S710: If the detected fluctuation range is included in the vacuum degree fluctuation range, the obtained vacuum degree signal is determined to be credible;

[0088] 1 and 4 , during vehicle driving, the vacuum signal verification method can judge the vacuum signal obtained by the vacuum sensor to ensure the validity of the vacuum signal as a comparison signal, and calculate the detection fluctuation range of the vacuum booster through the valid vacuum signal. If the calculated detection fluctuation range is contained in the vacuum fluctuation range, that is, the detection fluctuation range does not exceed the theoretical fluctuation range, it can be determined that the obtained vacuum signal is credible, that is, there is no fault in the vacuum boosting function, which is conducive to ensuring the normal operation of the vehicle's vacuum boosting and improving the safety performance of vehicle driving.

[0089] Step S720: In the current ignition cycle, if the vacuum signal changes from unreliable to reliable, when entering the next braking cycle, the vacuum source is controlled to perform vacuum assistance, and the auxiliary assistance component does not participate in the brake assistance.

[0090] 1 and 4 , in the current ignition cycle, if the vacuum signal changes from unreliable to reliable, that is, the factors causing the vacuum signal to be unreliable have been eliminated, when entering the next braking cycle, the verification method of the vacuum signal can adjust the braking strategy in time, the vacuum source performs normal vacuum assistance, and the auxiliary assistance components do not participate in the braking assistance, thereby eliminating the interference caused to the driver by the operation of the auxiliary assistance components, which is conducive to ensuring the normal operation of the vehicle's braking assistance.

[0091] Taking into account that the auxiliary power-assisting components will generate a lot of noise when operating, which may easily affect the driver's normal driving or cause the driver to panic, the vacuum signal verification method is to control the auxiliary power-assisting components not to participate in the braking assistance when entering the next braking cycle during the ignition cycle if the verified vacuum signal changes from unreliable to reliable, so as to eliminate the adverse effects of the auxiliary power-assisting components on the driver.

[0092] The reasons why the vacuum signal changes from unreliable to reliable include but are not limited to: the vehicle leaves an environment of extremely high temperature, low temperature, humidity, high altitude, etc.

[0093] It should be noted that the current ignition cycle refers to the time period from engine start to engine shutdown. Considering that the vacuum source of some vehicles is the engine's intake manifold, meaning that the engine must be started before the intake manifold can generate vacuum, the vacuum signal verification method requires verifying the vacuum signal obtained by the vacuum sensor during the ignition cycle to determine whether the vacuum assist function is faulty.

[0094] 1 and 8 , it can be understood that in step S100 , the method for verifying the vacuum signal uses the vacuum fluctuation range of the braking system as a reference value, and the vacuum fluctuation range covers the normal vacuum fluctuation of the braking system, thereby reducing the risk of verification errors.

[0095] 1 and 8 , in step S100 , the vacuum signal verification method further includes the following steps:

[0096] Step S110 , obtaining the maximum vacuum degree change of the vacuum source and the vacuum degree loss of the vacuum booster during one braking cycle, and calculating the vacuum degree fluctuation range of the braking system according to the maximum vacuum degree change and the vacuum degree loss.

[0097] When obtaining the vacuum fluctuation range of the braking system, the vacuum signal verification method fully considers the maximum vacuum change of the vacuum source, so that the obtained vacuum fluctuation range covers the normal vacuum fluctuation of the braking system. It also takes into account the vacuum loss of the vacuum booster during a braking cycle, thereby improving the accuracy of the vacuum fluctuation range calculation, which is conducive to improving the verification accuracy of the vacuum signal verification method.

[0098] 1 and 9 , it can be understood that, in step S110, obtaining the maximum vacuum degree change of the vacuum source and the vacuum degree loss of the vacuum booster during one braking cycle includes the following steps:

[0099] Step S111, performing a bench durability test on the vacuum source to obtain the maximum vacuum degree change of the vacuum source; the method for verifying the vacuum degree signal is to separately monitor the vacuum degree change of the vacuum source through the bench durability test. The bench durability test can obtain the extreme vacuum degree change when the vacuum source is not faulty, that is, the maximum vacuum degree change.

[0100] In step S112, the boost speed is controlled to be a first preset speed and the depressurization speed is controlled to be a second preset speed, and the vacuum value of the vacuum booster is obtained multiple times, and the vacuum loss of the vacuum booster in one braking cycle is calculated based on the multiple vacuum values.

[0101] The pressure increase rate is the rate at which pressure is applied to the master brake cylinder when the driver depresses the brake pedal, while the pressure reduction rate is the rate at which pressure is reduced when the driver releases the brake pedal. This vacuum signal verification method indirectly controls the rate of change in the vacuum booster's vacuum level by controlling the master brake cylinder's pressure, thereby calculating the vacuum loss of the vacuum booster during a braking cycle under preset conditions. The maximum vacuum change of the vacuum source and the vacuum loss of the vacuum booster can be determined through pre-delivery testing of the vehicle.

[0102] 1 and 9 , the vacuum signal verification method simulates the speed at which the driver presses on the pedal and the speed at which the driver releases the pedal by controlling the boost speed and the pressure relief speed. When the driver presses on the pedal, the volume in the vacuum booster becomes smaller and the vacuum decreases rapidly. After the driver releases the pedal, the vacuum booster recovers its volume by absorbing air, and the vacuum decreases further. The vacuum signal verification method calculates the vacuum loss of the vacuum booster in a braking cycle based on the multiple vacuum values ​​obtained, and reduces the influence of the vacuum source on the vacuum booster's supplementary vacuum by controlling the boost speed and the pressure relief speed, which is beneficial to improving the calculation accuracy of the vacuum loss.

[0103] In some embodiments, the vehicle's vacuum source is the engine's intake manifold and / or vacuum pump.

[0104] If the vacuum source is the engine's intake manifold, this vacuum signal calibration method can be used to perform bench endurance testing on the engine. By monitoring the vacuum changes at the intake manifold throughout the test, provided the engine is fault-free, the maximum vacuum change in the intake manifold can be obtained, recorded as X bar.

[0105] If the vacuum source is a vacuum pump, the vacuum signal calibration method can be used to perform a bench endurance test on the vacuum pump. By monitoring the vacuum change that the vacuum pump can provide during the entire test process and without any faults, the maximum vacuum change of the vacuum pump can be obtained, which is recorded as Y bar.

[0106] If the vehicle's vacuum source includes both the engine's intake manifold and the vacuum pump, the maximum vacuum change is the sum of the changes in the engine's intake manifold and the vacuum pump, which is X + Y bar.

[0107] The verification method of the vacuum signal is based on the vacuum booster matched with the current vehicle. It calculates the rapid compression of the vacuum chamber of the vacuum booster after the pedal is quickly stepped on, and then the rapid release of the pedal, that is, the rapid recovery of the vacuum chamber of the vacuum booster to its original volume after the vacuum is consumed, so as to obtain the vacuum loss of the vacuum booster in one braking cycle. The vacuum added by the vacuum source to the vacuum booster in this process can be ignored.

[0108] Specifically, this vacuum signal verification method controls the master cylinder's pressure increase speed to a first preset speed, simulating the speed at which the driver depresses the brake pedal, and controls the master cylinder's pressure relief speed to a second preset speed, simulating the speed at which the driver releases the brake pedal. During this process, the corresponding vacuum booster's vacuum chamber shrinks, rapidly reducing the vacuum level. Air is then absorbed, restoring the chamber to its original size, further reducing the vacuum level. This vacuum signal verification method uses a vacuum sensor to repeatedly acquire the booster's vacuum signal. This allows calculation of the booster's vacuum loss during a braking cycle, recorded as Z bar.

[0109] The vacuum signal verification method uses X, Y, and Z, and through weighted analysis, it can obtain the vacuum fluctuation range of the brake system, recorded as H bar, and use this vacuum fluctuation range as an evaluation indicator for the reliability of subsequent vacuum boosting.

[0110] It should be noted that a braking cycle refers to the time period from the driver pressing the brake pedal to the driver releasing the brake pedal and the brake pedal returning to its original position.

[0111] 8 and 10 , it can be understood that in step S110 , calculating the vacuum fluctuation range of the brake system according to the maximum vacuum change and the vacuum loss includes the following steps:

[0112] Step S113, selecting the first weighting coefficient as the weighting coefficient of the maximum vacuum degree change, and selecting the second weighting coefficient as the weighting coefficient of the vacuum degree loss;

[0113] When obtaining the vacuum fluctuation range of the braking system, the vacuum signal verification method can calculate the vacuum fluctuation range of the braking system by performing a weighted analysis of the maximum vacuum change and the vacuum loss. Specifically, the first weighting coefficient and the second weighting coefficient can be adjusted according to the results of the actual vehicle test.

[0114] Step S114 , accumulating the product of the maximum vacuum degree change and the first weighting coefficient and the product of the vacuum degree loss and the second weighting coefficient to obtain the vacuum degree fluctuation range.

[0115] The verification method of the vacuum signal calculates the vacuum fluctuation range by weighted accumulation. The vacuum fluctuation range not only takes into account the normal vacuum fluctuation of the vacuum source, but also takes into account the vacuum loss of the vacuum booster during a braking cycle. In conjunction with actual vehicle testing, the verification method of the vacuum signal can adjust the value of the vacuum fluctuation range by adjusting the values ​​of the first weighting coefficient and the second weighting coefficient, so that the vacuum fluctuation range is more in line with the actual vehicle, which is beneficial to improving the verification accuracy of the verification method of the vacuum signal.

[0116] 1 and 5 , it is understandable that, considering the limited detection accuracy of the vacuum sensor, if the vacuum signal changes slightly, or the vacuum fluctuation is small within a certain period of time, the accuracy of the vacuum signal obtained by the vacuum sensor is low, which makes it difficult to meet the requirements of subsequent comparisons.

[0117] 1 and 2 , in step S200 and step S300, when the driver steps on the pedal, that is, after entering the braking cycle, the vacuum signal verification method can monitor the vacuum signal of the vacuum booster and the pressure signal of the brake master cylinder during driving. After the driver releases the pedal and the pedal is reset, the braking cycle ends. The vacuum signal verification method can judge the validity of the vacuum signal through the obtained pressure signal, thereby judging whether the obtained vacuum signal can be used as a valid comparison signal, which is beneficial to improving the verification accuracy of the vacuum signal verification method.

[0118] 1 and 5 , specifically, in step S300 , judging the validity of the vacuum signal according to the pressure signal includes the following steps:

[0119] Step S310, comparing the pressure signal with a preset pressure value;

[0120] Step S320: If the pressure signal is greater than the preset pressure value, it is determined that the vacuum signal meets the first validity condition;

[0121] Step S330: determining the validity of the vacuum degree signal according to the first validity condition.

[0122] As shown in Figures 1 and 5 , this vacuum signal verification method determines the validity of the vacuum signal by comparing the master cylinder's pressure signal with a preset pressure value. This determines the driver's pedal pressure. If the pressure signal value exceeds the preset pressure value, the vacuum signal corresponding to the vacuum booster is determined to meet a first validity condition. This vacuum signal verification method screens valid vacuum signals to calculate the vacuum booster's detection fluctuation range, thereby improving verification accuracy.

[0123] On the contrary, if the pressure value of the pressure signal is less than the preset pressure value, that is, the vacuum signal does not meet the first valid condition, it is considered that the pressure applied by the driver to the pedal is too small, the vacuum change in the vacuum booster is too small, and the vacuum signal obtained by the vacuum sensor has a large error. The accuracy of the calibration is low, and the subsequent calibration steps are no longer performed.

[0124] 1 and 6 , it can be understood that, in step S300 , judging the validity of the vacuum signal according to the pressure signal further includes the following steps:

[0125] Step S340, calculating a pressure boosting speed of the master brake cylinder according to the plurality of pressure signals, and comparing the pressure boosting speed with a first preset speed;

[0126] 1 and 6 , when determining the validity of the vacuum signal, the vacuum signal verification method can indirectly monitor the vacuum booster's vacuum change rate by calculating the boost speed of the brake master cylinder and comparing the boost speed with a first preset speed.

[0127] Step S350 , if the boost speed is greater than the first preset speed, it is determined that the vacuum signal meets the second validity condition;

[0128] Step S360: Determine the validity of the vacuum signal according to the second valid signal.

[0129] As shown in Figures 1 and 6 , if the boost speed is greater than the first preset speed, meaning the vacuum level of the vacuum booster fluctuates significantly, the corresponding vacuum level signal is determined to meet the second validation condition. This vacuum level signal verification method screens valid vacuum level signals to calculate the detection fluctuation range, which helps improve verification accuracy.

[0130] On the contrary, if the boost speed is less than the first preset speed, that is, the vacuum signal does not meet the second validity condition, it is considered that the driver applies too slow pressure to the pedal, the vacuum fluctuation in the vacuum booster is too small, and the vacuum signal obtained by the vacuum sensor has a large error. The accuracy of the verification is low, and the subsequent verification steps are no longer performed.

[0131] 1 and 7 , it can be understood that, in step S300 , judging the validity of the vacuum signal according to the pressure signal further includes the following steps:

[0132] Step S370, calculating a pressure relief speed of the brake master cylinder according to the multiple pressure signals, and comparing the pressure relief speed with a second preset speed;

[0133] The vacuum signal verification method indirectly monitors the vacuum degree change rate of the vacuum booster by calculating the pressure relief speed of the brake master cylinder and comparing the pressure relief speed with a second preset speed.

[0134] Step S380: If the pressure relief speed is greater than the second preset speed, it is determined that the vacuum signal meets the third validity condition;

[0135] Step S390: If the vacuum signal meets the first validity condition, the second validity condition, and the third validity condition, the vacuum signal is determined to be valid.

[0136] As shown in Figures 1 and 7 , if the pressure relief rate is greater than the second preset rate, meaning the vacuum level of the vacuum booster fluctuates significantly, the vacuum level signal corresponding to the vacuum booster is determined to meet the third validity condition. If the vacuum level signal meets the first, second, and third validity conditions, the acquired vacuum level signal is determined to be valid and meets the detection accuracy requirements of the vacuum sensor. This vacuum level signal verification method, by screening valid vacuum level signals to calculate the detection fluctuation range, is beneficial for improving verification accuracy.

[0137] On the contrary, if the pressure relief speed is less than the second preset speed, it is considered that the driver released the pedal too slowly, the vacuum fluctuation in the vacuum booster is too small, the vacuum signal obtained by the vacuum sensor has a large error, the calibration accuracy is low, and the subsequent calibration steps are no longer performed.

[0138] 1 , 6 and 7 , the method for verifying the vacuum signal controls the boost speed of the brake master cylinder to a first preset speed and the depressurization speed of the brake master cylinder to a second preset speed when obtaining the vacuum loss of the vacuum booster. In step S350 and step S380, the first preset speed and the second preset speed are used as evaluation indicators to judge the validity of the vacuum signal, which is beneficial to eliminate verification errors caused by too small a change in vacuum or small fluctuations in vacuum within a certain period of time, and is beneficial to enhance the comparison effect between the vacuum fluctuation range obtained based on the vacuum loss and the detection fluctuation range.

[0139] A controller according to one embodiment of the present invention includes a memory, a processor, and a computer program. The computer program is executable on the processor and stored in the memory. When the processor executes the computer program, the vacuum signal verification method of the above embodiment is implemented. The vacuum signal verification method shown in the above embodiment is implemented.

[0140] This vacuum signal verification method uses the brake system's vacuum fluctuation range as a reference value. This vacuum fluctuation range covers normal vacuum fluctuations in the brake system, thereby reducing the risk of verification errors. When the driver depresses the brake pedal, i.e., upon entering a braking cycle, the vacuum signal verification method monitors the vacuum booster's vacuum signal and the brake master cylinder's pressure signal in real time. After the driver releases the brake pedal and the brake pedal returns to its original position, i.e., upon completion of the braking cycle, the vacuum signal verification method uses the acquired pressure signal to determine the validity of the vacuum signal, thereby determining whether the acquired vacuum signal can serve as a valid comparison signal. This helps improve the verification accuracy of the vacuum signal verification method. If all multiple vacuum signals acquired during the braking cycle are valid, the vacuum signal verification method can calculate the vacuum booster's detection fluctuation range throughout the entire braking cycle using the acquired multiple valid vacuum signals. This is then compared with the brake system's vacuum fluctuation range. If the vacuum booster's detection fluctuation exceeds the brake system's vacuum fluctuation range, the vacuum signal acquired by the vacuum sensor is deemed unreliable, and the vehicle's vacuum boosting is unreliable, allowing the brake system or the driver to promptly adjust the braking strategy to ensure the driver's personal safety.

[0141] A vehicle according to an embodiment of the present invention includes the controller shown in the above embodiment.

[0142] When the processor executes the computer-readable program stored in the memory, it can implement the vacuum signal verification method shown in the above embodiment. The vacuum signal verification method uses the vacuum fluctuation range of the braking system as a reference value. The vacuum fluctuation range covers the normal vacuum fluctuation of the braking system, thereby reducing the risk of verification errors. When the driver steps on the pedal, that is, after entering the braking cycle, the vacuum signal verification method monitors the vacuum signal of the vacuum booster and the pressure signal of the brake master cylinder in real time. After the driver releases the pedal and the pedal is reset, that is, the braking cycle ends, the vacuum signal verification method can judge the validity of the vacuum signal through the obtained pressure signal, thereby judging the obtained Whether the vacuum signal can be used as an effective comparison signal is conducive to improving the verification accuracy of the vacuum signal verification method. If all the multiple vacuum signals obtained during the braking cycle are valid, the vacuum signal verification method can calculate the detection fluctuation range of the vacuum booster during the entire braking cycle by obtaining multiple valid vacuum signals, and compare the detection fluctuation range of the vacuum booster with the vacuum fluctuation range of the braking system. If the detection fluctuation of the vacuum booster exceeds the vacuum fluctuation range of the braking system, the vacuum signal obtained by the vacuum sensor is determined to be unreliable and the vehicle's vacuum boosting is unreliable, so that the braking system or the driver can adjust the braking plan in time to ensure the driver's personal safety.

[0143] A computer-readable storage medium according to an embodiment of the present invention stores computer-executable instructions, which are used to execute the vacuum signal verification method of the above embodiment, thereby realizing the vacuum signal verification method shown in the above embodiment. The vacuum signal verification method uses the vacuum fluctuation range of the braking system as a reference value, and the vacuum fluctuation range covers the normal vacuum fluctuation of the braking system, thereby reducing the risk of verification errors. When the driver steps on the pedal, that is, after entering the braking cycle, the vacuum signal verification method monitors the vacuum signal of the vacuum booster and the pressure signal of the brake master cylinder in real time. After the driver releases the pedal and the pedal is reset, that is, the braking cycle ends, the vacuum signal verification method can judge the validity of the vacuum signal through the obtained pressure signal, thereby judging whether the obtained vacuum signal can be used as a valid comparison signal, which is conducive to improving the verification accuracy of the vacuum signal verification method. If all multiple vacuum signals obtained during the braking cycle are valid, the vacuum signal verification method uses the multiple valid vacuum signals obtained. It can calculate the detection fluctuation range of the vacuum booster during the entire braking cycle and compare the detection fluctuation range of the vacuum booster with the vacuum fluctuation range of the braking system. If the detection fluctuation of the vacuum booster exceeds the vacuum fluctuation range of the braking system, the vacuum signal obtained by the vacuum sensor is judged to be unreliable and the vehicle's vacuum boost is unreliable, so that the braking system or the driver can adjust the braking plan in time to ensure the driver's personal safety.

[0144] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0145] The present invention is described in terms of flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as combinations of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate a device for implementing the functions specified in one or more processes in the flowchart and / or one or more blocks in the block diagram.

[0146] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0147] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0148] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the scope of the present invention.

Claims

1. A method for verifying a vacuum signal is applied to a brake system having a master cylinder and a vacuum booster, and is characterized in that: include: Obtaining a vacuum fluctuation range of the brake system; In one braking cycle, a vacuum degree signal of the vacuum booster and a pressure signal of the brake master cylinder are obtained multiple times; After the braking cycle ends, determining the validity of the vacuum signal according to the pressure signal; If all of the plurality of vacuum degree signals acquired during the braking cycle are valid, calculating a detection fluctuation range of the vacuum booster, and comparing the detection fluctuation range with the vacuum degree fluctuation range; If the detection fluctuation range exceeds the vacuum degree fluctuation range, the obtained vacuum degree signal is determined to be unreliable.

2. The vacuum signal verification method according to claim 1, wherein the braking system further comprises a vacuum source and an auxiliary power-assisting component, and is characterized in that: The vacuum signal verification method further includes: If the vacuum signal is determined to be unreliable, a signal indicating a vacuum boost failure is sent to the driver, and when entering the next braking cycle, the vacuum source and the auxiliary boost component are controlled to jointly participate in the braking boost.

3. The method for verifying a vacuum signal according to claim 2, wherein: The vacuum signal verification method further includes: If the detection fluctuation range is included in the vacuum degree fluctuation range, then the obtained vacuum degree signal is determined to be credible; In the current ignition cycle, if the vacuum degree signal changes from unreliable to reliable, when entering the next braking cycle, the vacuum source is controlled to perform vacuum assistance, and the auxiliary assistance component does not participate in the braking assistance.

4. The method for verifying a vacuum signal according to claim 1, wherein: The determining the validity of the vacuum signal according to the pressure signal includes: comparing the pressure signal with a preset pressure value; If the pressure signal is greater than the preset pressure value, it is determined that the vacuum signal meets the first validity condition; The validity of the vacuum degree signal is judged according to the first validity condition.

5. The method for verifying a vacuum signal according to claim 4, wherein: The determining the validity of the vacuum signal according to the pressure signal further includes: calculating a pressure increasing speed of the master brake cylinder according to the plurality of pressure signals, and comparing the pressure increasing speed with a first preset speed; If the boost speed is greater than the first preset speed, determining that the vacuum signal meets a second validity condition; The validity of the vacuum degree signal is judged according to the second valid signal.

6. The method for verifying a vacuum signal according to claim 5, wherein: The determining the validity of the vacuum signal according to the pressure signal further includes: calculating a pressure relief speed of the brake master cylinder according to the plurality of pressure signals, and comparing the pressure relief speed with a second preset speed; If the pressure relief speed is greater than the second preset speed, it is determined that the vacuum signal meets a third validity condition; If the vacuum signal meets the first validity condition, the second validity condition, and the third validity condition, the vacuum signal is determined to be valid.

7. The method for verifying a vacuum signal according to claim 6, wherein the brake system further comprises a vacuum source, characterized in that: The obtaining of the vacuum fluctuation range of the brake system includes: The maximum vacuum degree change of the vacuum source and the vacuum degree loss of the vacuum booster during a braking cycle are obtained, and the vacuum degree fluctuation range of the braking system is calculated based on the maximum vacuum degree change and the vacuum degree loss.

8. The method for verifying a vacuum signal according to claim 7, wherein: The obtaining of the maximum vacuum degree change of the vacuum source and the vacuum degree loss of the vacuum booster during a braking cycle includes: Performing a bench durability test on the vacuum source to obtain a maximum vacuum degree change of the vacuum source; The boost speed is controlled to be the first preset speed, the pressure relief speed is controlled to be the second preset speed, and the vacuum value of the vacuum booster is obtained multiple times, and the vacuum loss of the vacuum booster in one braking cycle is calculated based on the multiple vacuum values.

9. The method for verifying a vacuum signal according to claim 7, wherein: Calculating the vacuum fluctuation range of the brake system according to the maximum vacuum change and the vacuum loss includes: Selecting a first weighting coefficient as a weighting coefficient for the maximum vacuum degree change, and selecting a second weighting coefficient as a weighting coefficient for the vacuum degree loss; The vacuum degree fluctuation range is obtained by accumulating the product of the maximum vacuum degree change and the first weighting coefficient and the product of the vacuum degree loss and the second weighting coefficient.

10. A controller, characterized in that The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the vacuum signal verification method according to any one of claims 1 to 9 when executing the computer program.

11. A vehicle, characterized in that The controller according to claim 10 is included.

12. A computer-readable storage medium, characterized in that Computer-executable instructions are stored, and the computer-executable instructions are used to execute the vacuum signal verification method according to any one of claims 1 to 9.

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