Braking system detection method and control method, vehicle control unit, and vehicle

Abstract

A braking system detection method and control method, a vehicle control unit, and a vehicle. The detection method comprises: acquiring the current temperature of a brake disk; determining a disk temperature fade level on the basis of the current temperature and a preset reference temperature; acquiring the current deceleration of a vehicle and the current hydraulic pressure of a wheel cylinder fluid; on the basis of a pre-constructed deceleration and hydraulic pressure correspondence model, and on the basis of the current deceleration and the current hydraulic pressure, determining a first element level; acquiring the current braking pressure of a master cylinder and the current fluid volume of the wheel cylinder fluid; on the basis of a pre-constructed braking pressure and fluid volume correspondence model, and on the basis of the current braking pressure and the current fluid volume, determining a second element level; determining a hydraulic fade level on the basis of the first element level and the second element level; and determining a braking system performance fade level on the basis of the disk temperature fade level and the hydraulic fade level. In the method, the effects of both disk temperature fade and hydraulic fade are taken into consideration, thereby improving the accuracy of detection of braking performance.

Description

Braking system testing methods, control methods, vehicle controllers and vehicles Technical Field

[0001] This invention relates to the field of vehicle braking technology, and in particular to a method for detecting a braking system, a control method, a vehicle controller, and a vehicle. Background Technology

[0002] When the braking performance of a vehicle's braking system deteriorates, the braking distance increases significantly, undoubtedly increasing the risk of traffic accidents. Currently, common methods for detecting brake performance degradation are limited to monitoring brake disc temperature. However, this ignores the impact of hydraulic fade on braking performance, leading to inaccurate braking system performance testing and consequently affecting vehicle safety, creating potential safety hazards.

[0003] Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a testing method for braking systems that can comprehensively consider the impact of disc temperature fade and hydraulic pressure fade on the braking performance of the braking system, thereby improving the accuracy of braking performance testing results.

[0005] The present invention also proposes a control method for a braking system based on the above-mentioned detection method for the braking system.

[0006] The present invention also includes a vehicle controller, a vehicle, electronic equipment, and a computer-readable storage medium.

[0007] According to a first aspect of the present invention, a method for detecting a braking system is applied to a vehicle, the braking system including a brake disc, wheel cylinders, and a master cylinder, wherein the wheel cylinders contain wheel cylinder fluid, and the detection method includes:

[0008] During vehicle operation, the current temperature of the brake disc is obtained;

[0009] The plate temperature degradation level is determined based on the current temperature and the preset reference temperature;

[0010] When the braking system performs braking, the current deceleration of the vehicle and the current hydraulic pressure of the wheel cylinder fluid are obtained;

[0011] Based on a pre-built model of the relationship between deceleration and hydraulic pressure, and according to the current deceleration and the current hydraulic pressure, the first element level is determined;

[0012] Obtain the current braking pressure of the master cylinder and the current fluid volume of the wheel cylinder;

[0013] Based on a pre-built model of the relationship between braking pressure and liquid volume, and according to the current braking pressure and the current liquid volume, the second element level is determined;

[0014] The hydraulic degradation level is determined based on the first element level and the second element level;

[0015] The braking system performance degradation level is determined based on the disc temperature degradation level and the hydraulic pressure degradation level.

[0016] The braking system detection method according to embodiments of the present invention has at least the following beneficial effects:

[0017] This invention determines the disc temperature degradation level based on the current temperature and a preset reference temperature; it determines a first factor level based on a pre-built deceleration and hydraulic pressure correspondence model, using the current deceleration and current hydraulic pressure; it determines a second factor level based on a pre-built braking pressure and fluid volume correspondence model, using the current braking pressure and current fluid volume; and it determines the hydraulic degradation level based on the first and second factor levels. Finally, it determines the braking system performance degradation level based on the disc temperature degradation level and the hydraulic degradation level. By comprehensively considering the impact of disc temperature degradation and hydraulic degradation on the braking performance of the braking system, it more accurately assesses the performance degradation of the braking system, helping drivers or maintenance personnel to promptly identify potential problems in the braking system and take corresponding measures, thereby improving the reliability and safety of the braking system.

[0018] According to some embodiments of the present invention, the braking system includes an anti-lock braking device, and before determining the hydraulic fade level based on the first factor level and the second factor level, it further includes:

[0019] When the current braking pressure is equal to the preset pressure reference value, it is detected whether the anti-lock braking device is activated; the preset pressure reference value is the braking pressure corresponding to the activation of the anti-lock braking device when the braking system has not experienced brake fade.

[0020] When the anti-lock braking system is not activated, obtain the actual braking pressure corresponding to when the anti-lock braking system is activated;

[0021] The third element level is determined based on the actual braking pressure and the preset pressure reference data;

[0022] The step of determining the hydraulic degradation level based on the first element level and the second element level includes:

[0023] The hydraulic degradation level is determined based on the first element level, the second element level, and the third element level.

[0024] According to some embodiments of the present invention, the preset pressure reference data includes a first pressure threshold and a second pressure threshold, and determining the third element level based on the actual braking pressure and the preset pressure reference data includes:

[0025] When the actual braking pressure is less than the first pressure threshold, the level of the third element is determined to be level 0.

[0026] When the actual braking pressure is greater than or equal to the first pressure threshold and less than the second pressure threshold, the level of the third element is determined to be Level 1.

[0027] When the actual braking pressure is greater than the second pressure threshold, the third element level is determined to be level 2.

[0028] According to some embodiments of the present invention, determining the hydraulic degradation level based on the first element level, the second element level, and the third element level includes:

[0029] Compare the first element level, the second element level, and the third element level;

[0030] When the first element level, the second element level, and the third element level are the same, the first element level, the second element level, or the third element level shall be used as the hydraulic degradation level.

[0031] When the levels of the first element level, the second element level, and the third element level are not the same, the highest level among the first element level, the second element level, and the third element level shall be taken as the hydraulic degradation level.

[0032] According to some embodiments of the present invention, the preset reference temperature includes a first temperature threshold and a second temperature threshold, and determining the plate temperature degradation level based on the current temperature and the preset reference temperature includes:

[0033] When the current temperature is less than the first temperature threshold, the plate temperature degradation level is determined to be level 0.

[0034] When the current temperature is greater than or equal to the first temperature threshold and less than the second temperature threshold, the plate temperature degradation level is determined to be level 1.

[0035] When the current temperature is greater than the second temperature threshold, the plate temperature degradation level is determined to be level 2.

[0036] According to some embodiments of the present invention, determining the first element level based on a pre-built deceleration and hydraulic pressure correspondence model, and according to the current deceleration and the current hydraulic pressure, includes:

[0037] Based on the deceleration and hydraulic pressure correspondence model, obtain the predicted deceleration corresponding to the current hydraulic pressure;

[0038] Calculate the first difference between the current deceleration and the predicted deceleration;

[0039] When the first difference is less than the first deviation threshold, the first element level is determined to be level 0.

[0040] When the first difference is greater than or equal to the first deviation threshold and less than the second deviation threshold, the disk temperature degradation level is determined to be level 1.

[0041] When the first difference is greater than the second deviation threshold, the first element level is determined to be level 2.

[0042] According to some embodiments of the present invention, determining the second element level based on a pre-built model of the correspondence between braking pressure and fluid volume, and according to the current braking pressure and the current fluid volume, includes:

[0043] Based on the relationship model between braking pressure and liquid volume, the predicted liquid volume corresponding to the current braking pressure is obtained;

[0044] Calculate a second difference between the current liquid volume and the predicted liquid volume;

[0045] When the second difference is less than the third deviation threshold, the level of the second element is determined to be level 0.

[0046] When the second difference is greater than or equal to the third deviation threshold and less than the fourth deviation threshold, the level of the second element is determined to be level 1.

[0047] When the second difference is greater than the fourth deviation threshold, the level of the second element is determined to be level 2.

[0048] According to a second aspect of the present invention, a control method for a braking system is applied to the brake pedal of the braking system, the control method comprising:

[0049] Based on the braking system detection method disclosed in the first aspect, the performance degradation level of the braking system is obtained;

[0050] The feedback force of the brake pedal is increased or decreased according to the performance degradation level of the braking system.

[0051] The control method for the braking system according to embodiments of the present invention has at least the following beneficial effects:

[0052] The braking system control method of this invention adopts the braking system detection method of the first aspect embodiment to obtain the braking system performance degradation level, thereby accurately assessing the performance degradation of the braking system; and adaptively adjusting the feedback force of the brake pedal according to the performance degradation of the braking system helps the driver to intuitively feel the working state of the braking system, thereby enabling the driver to better grasp the vehicle state, make accurate driving operations, and improve driving safety.

[0053] According to a third aspect of the present invention, a vehicle controller is applied to a vehicle, the braking system including a brake disc, wheel cylinders, and a master cylinder, wherein wheel cylinders are provided with wheel cylinder fluid, and the vehicle controller includes:

[0054] The first acquisition module is configured to acquire the current temperature of the brake disc during vehicle operation;

[0055] The disk temperature degradation level determination module is configured to determine the disk temperature degradation level based on the current temperature and a preset reference temperature.

[0056] The second acquisition module is configured to acquire the current deceleration of the vehicle and the current hydraulic pressure of the wheel cylinder fluid when the braking system performs braking;

[0057] The first element level determination module is configured to determine the first element level based on a pre-built deceleration and hydraulic pressure correspondence model, and according to the current deceleration and the current hydraulic pressure.

[0058] The third acquisition module is configured to acquire the current braking pressure of the master cylinder and the current liquid volume of the wheel cylinder fluid;

[0059] The second element level determination module is configured to determine the second element level based on a pre-built model of the correspondence between braking pressure and liquid volume, and according to the current braking pressure and the current liquid volume.

[0060] The hydraulic degradation level determination module is configured to determine the hydraulic degradation level based on the first element level and the second element level.

[0061] The braking system performance degradation level determination module is configured to determine the braking system performance degradation level based on the disc temperature degradation level and the hydraulic pressure degradation level.

[0062] The vehicle controller according to embodiments of the present invention has at least the following beneficial effects:

[0063] The vehicle controller of this invention determines the disc temperature degradation level based on the current temperature and a preset reference temperature; it determines a first factor level based on a pre-built deceleration and hydraulic pressure correspondence model, and based on the current deceleration and current hydraulic pressure; it determines a second factor level based on a pre-built braking pressure and fluid volume correspondence model, and based on the current braking pressure and current fluid volume; and it determines the hydraulic degradation level based on the first and second factor levels; then, it determines the braking system performance degradation level based on the disc temperature degradation level and the hydraulic degradation level. By comprehensively considering the impact of disc temperature degradation and hydraulic degradation on the braking performance of the braking system, it more accurately assesses the performance degradation of the braking system, helping drivers or maintenance personnel to promptly identify potential problems in the braking system and take corresponding measures, thereby improving the reliability and safety of the braking system.

[0064] A vehicle according to a fourth aspect of the present invention includes a vehicle controller disclosed in the third aspect.

[0065] The vehicle according to embodiments of the present invention has at least the following beneficial effects:

[0066] The vehicle in this embodiment of the invention employs a third-party vehicle controller, which enables more accurate assessment of the performance degradation of the braking system. This helps drivers or maintenance personnel to promptly identify potential vehicle problems and take corresponding measures, thereby improving the vehicle's intelligence and safety, and optimizing the driver's driving experience.

[0067] An electronic device according to a fifth aspect of the present invention includes: at least one processor and at least one memory, the at least one memory being used to store at least one program; when the at least one program is executed by the at least one processor, the at least one processor implements a method for detecting a braking system disclosed in the first aspect.

[0068] According to a sixth aspect of the present invention, a computer-readable storage medium stores processor-executable instructions, which, when executed by a processor, are used to perform a detection method for a braking system disclosed in the first aspect.

[0069] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0070] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0071] Figure 1 is a flowchart of the steps of an embodiment of the detection method for a braking system according to the present invention;

[0072] Figure 2 is a flowchart of the steps of another embodiment of the detection method for the braking system of the present invention;

[0073] Figure 3 is a schematic diagram of the detection principle of an embodiment of the detection method for a braking system according to the present invention;

[0074] Figure 4 is a schematic diagram illustrating the principle of determining the performance degradation level of a braking system in an embodiment of the braking system detection method of the present invention.

[0075] Figure 5 is a flowchart of the steps of an embodiment of the control method for a braking system of the present invention;

[0076] Figure 6 is a schematic diagram of an embodiment of the vehicle controller of the present invention.

[0077] Reference numerals: Vehicle controller 300; First acquisition module 301; Disc temperature degradation level determination module 302; Second acquisition module 303; First element level determination module 304; Third acquisition module 305; Second element level determination module 306; Hydraulic degradation level determination module 307; Braking system performance degradation level determination module 308. Detailed Implementation

[0078] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0079] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the drawings and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0080] In the description of this invention, "multiple" refers to two or more. The use of "first" and "second" is for distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features or their sequential relationship.

[0081] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0082] Current braking systems generally employ hydraulic braking technology. In practical applications, when the driver depresses the brake pedal, brake fluid in the master cylinder, under pressure, flows through the brake lines into the wheel cylinders. The pistons in the wheel cylinders move outward under the pressure of the brake fluid, pushing the brake pads against the brake discs, thus generating frictional torque. This converts the vehicle's kinetic energy into heat energy through friction, thereby achieving the purpose of deceleration and braking.

[0083] Considering that the performance degradation of braking systems is usually caused by the performance decline of the brake disc due to increased temperature (disc temperature fade) and the decrease in hydraulic performance in the hydraulic circuit (hydraulic fade), this invention provides a vehicle collision warning method to comprehensively assess the degradation of braking performance by taking into account the effects of disc temperature fade and hydraulic fade. This method is applied to vehicles with braking systems. In this embodiment, the vehicle can be a sedan, SUV, bus, etc., and this embodiment is not limited to any particular type. The braking system includes a brake disc, wheel cylinders, and a master cylinder. It is understood that the master cylinder is used to deliver brake fluid to the wheel cylinders. Under pressure, the wheel cylinder fluid can push the brake pads to press against the brake disc, thereby achieving vehicle braking.

[0084] Referring to Figure 1, in this embodiment of the invention, the detection method for the braking system includes:

[0085] Step S101: During vehicle operation, obtain the current temperature of the brake disc.

[0086] Step S102: Determine the plate temperature degradation level based on the current temperature and the preset reference temperature.

[0087] It is understandable that excessively high brake disc temperatures will directly lead to brake performance degradation, also known as disc temperature fade. Especially during continuous rapid acceleration and deceleration, the brake discs heat up continuously with insufficient cooling time, causing disc temperature fade and posing a significant safety risk. Therefore, in this embodiment of the invention, the temperature change of the brake discs can be continuously monitored. Specifically, a temperature sensor can be installed on the brake discs to periodically obtain their current temperature.

[0088] In this embodiment of the invention, a preset reference temperature can be set in advance. Specifically, the preset reference temperature can be the design value of the vehicle, which can represent the temperature value when the brake disc of the vehicle experiences disc temperature decay, or it can be a temperature value that can distinguish the degree of disc temperature decay. It should be noted that the preset reference temperature can be set according to specific circumstances, and it is related to the brake disc friction material and vehicle design parameters. The preset reference temperature can be determined according to the actual vehicle calibration.

[0089] In this embodiment of the invention, the preset reference temperature includes a first temperature threshold and a second temperature threshold, and step S102 includes:

[0090] Step S1021: When the current temperature is less than the first temperature threshold, the plate temperature decay level is determined to be level 0.

[0091] In this embodiment of the invention, the first temperature threshold can correspond to the temperature at which the brake disc experiences temperature decay, for example, 400 degrees Celsius. Therefore, when the current temperature is greater than or equal to the first temperature threshold, it can be determined that the brake disc has experienced temperature decay, and the braking system is in a temperature decay condition. Conversely, if the brake disc has not experienced temperature decay, the braking system is in normal operating condition, i.e., the temperature decay level is 0.

[0092] Step S1022: When the current temperature is greater than or equal to the first temperature threshold and less than the second temperature threshold, the plate temperature decay level is determined to be level 1.

[0093] Step S1023: When the current temperature is greater than the second temperature threshold, the plate temperature decay level is determined to be level 2.

[0094] In this embodiment of the invention, the second temperature threshold can be used as a temperature value to distinguish the severity of disc temperature degradation. The second temperature threshold is greater than the first temperature threshold, for example, 600 degrees Celsius. Based on this, when the current temperature is greater than or equal to the first temperature threshold and less than the second temperature threshold, the brake disc can be determined to be in a slight disc temperature degradation condition, i.e., disc temperature degradation level 1. When the current temperature is greater than the second temperature threshold, the brake disc can be determined to be in a severe disc temperature degradation condition, i.e., disc temperature degradation level 2.

[0095] This embodiment, by setting a first temperature threshold and a second temperature threshold respectively, not only effectively assesses whether the brake disc is in a disc temperature decay condition, but also distinguishes the severity of disc temperature decay.

[0096] In this embodiment of the invention, the brake disc can be the brake disc of any wheel, such as the left front wheel, left rear wheel, right front wheel, and right rear wheel. Therefore, this embodiment of the invention can obtain the current temperature of the brake disc of one or more wheels according to the actual situation, and this embodiment does not limit this.

[0097] Taking the current temperature of only one brake disc as an example, when the current temperature of the brake disc is less than the first temperature threshold, the disc temperature degradation level is 0; when the current temperature of the brake disc is greater than or equal to the first temperature threshold and less than the second temperature threshold, the disc temperature degradation level is 1; when the current temperature of the brake disc is greater than the second temperature threshold, the disc temperature degradation level is 2.

[0098] Taking the current temperature of four brake discs as an example, when the current temperature of any brake disc is less than the first temperature threshold, the disc temperature degradation level is 0; when the current temperature of any brake disc is greater than or equal to the first temperature threshold and less than the second temperature threshold, the disc temperature degradation level is 1; when the current temperature of any brake disc is greater than the second temperature threshold, the disc temperature degradation level is 2.

[0099] Step S103: When the braking system performs braking, obtain the current deceleration of the vehicle and the current hydraulic pressure of the wheel cylinder fluid.

[0100] Step S104: Based on the pre-built deceleration and hydraulic pressure correspondence model, and according to the current deceleration and current hydraulic pressure, determine the first element level.

[0101] It is understandable that when the braking system performs braking under normal conditions, there is a certain mathematical relationship between the hydraulic pressure of the wheel cylinder fluid and the vehicle's deceleration. Therefore, a model relating deceleration and hydraulic pressure can be pre-constructed. Specifically, this model can be trained based on the actual hydraulic pressure values ​​corresponding to each deceleration value during the vehicle's normal deceleration process. The trained model can predict the reference hydraulic pressure value corresponding to each deceleration during the vehicle's deceleration process.

[0102] In this embodiment of the invention, when the braking system performs braking, the relationship between deceleration and hydraulic pressure can be continuously monitored. Specifically, in this embodiment, a vehicle speedometer is installed on the vehicle to detect the vehicle's deceleration; a pressure sensor is installed in the wheel cylinder to obtain the hydraulic pressure corresponding to different decelerations in real time.

[0103] This invention determines the first factor level by comparing the relationship between the current deceleration and the current hydraulic pressure with a deceleration and hydraulic pressure correspondence model. It is understood that the first factor level is one of the factors used to evaluate hydraulic attenuation.

[0104] Specifically, in this embodiment of the invention, step S104 includes:

[0105] Step S1041: Based on the deceleration and hydraulic pressure correspondence model, obtain the predicted deceleration corresponding to the current hydraulic pressure.

[0106] Understandably, since the deceleration-hydraulic pressure correspondence model represents the relationship between hydraulic pressure and deceleration when the braking system performs braking under normal conditions, in this embodiment of the invention, the predicted deceleration can be obtained by substituting the current hydraulic pressure into the deceleration-hydraulic pressure correspondence model. The predicted deceleration is the deceleration that the vehicle should produce when the wheel cylinder fluid in the wheel cylinder is at the current hydraulic pressure under normal conditions.

[0107] Step S1042: Calculate the first difference between the current deceleration and the predicted deceleration.

[0108] Understandably, the first difference is the deviation between the current deceleration and the vehicle's ideal deceleration.

[0109] Step S1043: When the first difference is less than the first deviation threshold, the first element level is determined to be level 0.

[0110] It is understandable that the deviation between actual and ideal deceleration can be caused by factors other than hydraulic fade, such as tire performance and road conditions. Therefore, to improve the accuracy of the assessment, in this embodiment of the invention, the current deceleration can deviate within a certain range. Based on this, when the first difference is less than the first deviation threshold, it can be determined that the braking system has not experienced hydraulic fade and is in normal operating condition, i.e., the first element level is 0; conversely, it can be determined that the braking system has experienced hydraulic fade. In this embodiment, the first deviation threshold can be used as a benchmark value for assessing whether the braking system has experienced hydraulic fade, for example, 20%.

[0111] Step S1044: When the first difference is greater than or equal to the first deviation threshold and less than the second deviation threshold, the plate temperature degradation level is determined to be level 1.

[0112] Step S1045: When the first difference is greater than the second deviation threshold, the first element level is determined to be level 2.

[0113] In this embodiment of the invention, the second deviation threshold can be used as a benchmark value to distinguish the degree of hydraulic degradation in the braking system. The second deviation threshold is greater than the first deviation threshold, for example, 40%. Based on this, when the first difference is greater than or equal to the first deviation threshold and less than the second deviation threshold, it can be determined that the braking system has experienced slight hydraulic degradation and is in a slight hydraulic degradation condition, i.e., the first element level is 1. When the first difference is greater than the second deviation threshold, it can be determined that the braking system has experienced severe hydraulic degradation and is in a severe hydraulic degradation condition, i.e., the first element level is 2.

[0114] Step S105: Obtain the current braking pressure of the master cylinder and the current fluid volume of the wheel cylinder.

[0115] Step S106: Based on the pre-built model of the correspondence between braking pressure and liquid volume, and according to the current braking pressure and current liquid volume, determine the second element level.

[0116] It is understandable that when the braking system performs braking under normal conditions, there is a certain mathematical relationship between the braking pressure of the master cylinder and the fluid volume of the wheel cylinders. Therefore, a model relating braking pressure and fluid volume can be pre-built. Specifically, this model can be trained based on pre-measured actual fluid volume values ​​corresponding to various braking pressures in the master cylinder during normal vehicle deceleration. The trained model can predict the reference fluid volume values ​​corresponding to various braking pressures during vehicle deceleration.

[0117] In this embodiment of the invention, when the braking system performs braking, the relationship between braking pressure and fluid volume can be continuously monitored. Specifically, in this embodiment, a pressure sensor is set on the master cylinder to detect the braking pressure of the master cylinder; a fluid level sensor is set on the wheel cylinder to obtain the fluid volume corresponding to different braking pressures in real time.

[0118] This invention determines the second factor level by comparing the relationship between current braking pressure and current hydraulic volume with a model showing the correspondence between braking pressure and fluid volume. It is understood that the second factor level is another factor in evaluating hydraulic attenuation.

[0119] Specifically, in this embodiment of the invention, step S106 includes:

[0120] Step S1061: Based on the model of the relationship between braking pressure and liquid volume, obtain the predicted liquid volume corresponding to the current braking pressure.

[0121] It is understandable that, since the braking pressure-fluid volume correspondence model represents the relationship between braking pressure and fluid volume when the braking system performs braking under normal conditions, in this embodiment of the invention, the predicted fluid volume can be obtained by substituting the current braking pressure into the braking pressure-fluid volume correspondence model. The predicted fluid volume is the fluid volume that the wheel cylinder fluid should reach when the master cylinder generates the current hydraulic pressure under normal conditions.

[0122] Step S1062: Calculate the second difference between the current liquid volume and the predicted liquid volume;

[0123] Understandably, the second difference is the deviation between the current liquid volume and the ideal liquid volume of the wheel cylinder fluid.

[0124] Step S1063: When the second difference is less than the third deviation threshold, the level of the second element is determined to be level 0;

[0125] It is understandable that the deviation between the actual and ideal liquid volume can be caused by factors other than hydraulic attenuation, such as leakage in the wheel cylinder. Therefore, to improve the accuracy of the assessment, in this embodiment of the invention, the current liquid volume can deviate within a certain range. Based on this, when the second difference is less than the third deviation threshold, it can be determined that the braking system has not experienced hydraulic attenuation and is in normal operating condition, i.e., the second element level is 0; conversely, it can be determined that the braking system has experienced hydraulic attenuation. In this embodiment, the third deviation threshold can be used as a benchmark value for assessing whether the braking system has experienced hydraulic attenuation, for example, 20%.

[0126] Step S1064: When the second difference is greater than or equal to the third deviation threshold and less than the fourth deviation threshold, the level of the second element is determined to be level 1.

[0127] Step S1065: When the second difference is greater than the fourth deviation threshold, the level of the second element is determined to be level 2.

[0128] In this embodiment of the invention, the fourth deviation threshold can be used as a benchmark value to distinguish the degree of hydraulic degradation in the braking system. The fourth deviation threshold is greater than the third deviation threshold, for example, 40%. Based on this, when the second difference is greater than or equal to the third deviation threshold and less than the fourth deviation threshold, it can be determined that the braking system has experienced slight hydraulic degradation and is in a slight hydraulic degradation condition, i.e., the second element level is 1. When the second difference is greater than the fourth deviation threshold, it can be determined that the braking system has experienced severe hydraulic degradation and is in a severe hydraulic degradation condition, i.e., the second element level is 2.

[0129] Step S107: Determine the hydraulic degradation level based on the first element level and the second element level.

[0130] Specifically, in this embodiment of the invention, a comparison can be made between the first element level and the second element level, and the higher level between the first element level and the second element level can be taken as the hydraulic degradation level. It is understood that, in this embodiment of the invention, by taking the higher level as the hydraulic degradation level, a more accurate assessment of the hydraulic degradation situation can be ensured, and taking the highest level as the hydraulic degradation level can ensure the accurate identification and assessment of potential safety risks.

[0131] Step S108: Determine the braking system performance degradation level based on the disc temperature degradation level and the hydraulic pressure degradation level.

[0132] It is understandable that both disc temperature fade and hydraulic pressure fade, if either reaches a high degree of decline, can significantly impact braking performance. Therefore, this embodiment uses the higher of the two levels as the braking system performance degradation level to ensure a more accurate assessment of braking system performance. Furthermore, during inspection or repair, using the higher level as the braking system performance degradation level highlights the main problems currently facing the braking system, enabling maintenance personnel or drivers to more quickly identify and resolve major faults.

[0133] In this embodiment of the invention, the braking system includes an anti-lock braking system, i.e., an ABS system. Referring to FIG2, before step S107, the following steps are also included:

[0134] Step S109: When the current braking pressure is equal to the preset pressure reference value, check whether the anti-lock braking system (ABS) is activated. The preset pressure reference value is the braking pressure corresponding to the activation of the ABS when the braking system has not experienced brake fade.

[0135] Understandably, when monitoring shows that the driver has pressed the brake pedal and the master cylinder's braking pressure has reached the normal locking pressure, i.e., the preset pressure reference value, such as 100 bar, but the vehicle's ABS system is still not activated, it can be determined that the braking system is in a faded state.

[0136] Step S110: When the anti-lock braking system is not activated, obtain the actual braking pressure corresponding to when the anti-lock braking system is activated.

[0137] Step S111: Determine the third element level based on the actual braking pressure and the preset pressure reference data.

[0138] When the braking system is in a faded state, the braking pressure of the master cylinder required for ABS activation increases. This increase can be used as another factor to assess the hydraulic fade. Specifically, in this embodiment of the invention, when the anti-lock braking system is activated, a request is sent to the pressure sensor. Upon receiving the request, the pressure sensor immediately detects the current actual braking pressure of the master cylinder.

[0139] Specifically, in this embodiment of the invention, the preset pressure reference data includes a first pressure threshold and a second pressure threshold, and step S111 includes:

[0140] Step S1111: When the actual braking pressure is less than the first pressure threshold, the third element level is determined to be level 0.

[0141] It is understandable that factors such as tire wear can cause the ABS to fail to activate even when the master cylinder's braking pressure has reached the normal locking pressure. Therefore, to improve the accuracy of the assessment, in this embodiment of the invention, the actual braking pressure can have a certain range of deviation. Based on this, when the actual braking pressure is less than the first pressure threshold, it can be determined that the braking system has not experienced hydraulic degradation and is in normal operating condition, i.e., the third element level is 0; conversely, it can be determined that the braking system has experienced hydraulic degradation. In this embodiment, the first pressure threshold can be used as a benchmark value for assessing whether the braking system has experienced hydraulic degradation. The first pressure threshold is greater than a preset pressure reference value, such as 140 bar.

[0142] Step S1112: When the actual braking pressure is greater than or equal to the first pressure threshold and less than the second pressure threshold, the third element level is determined to be level 1.

[0143] Step S1113: When the actual braking pressure is greater than the second pressure threshold, the third element level is determined to be level 2.

[0144] In this embodiment of the invention, the second pressure threshold can be used as a benchmark value to distinguish the degree of hydraulic degradation in the braking system. The second pressure threshold is greater than the first pressure threshold, for example, 180 bar. Based on this, when the actual braking pressure is greater than or equal to the first pressure threshold and less than the second pressure threshold, it can be determined that the braking system has experienced slight hydraulic degradation and is in a slight hydraulic degradation condition, i.e., the third element level is 1. When the actual braking pressure is greater than the second pressure threshold, it can be determined that the braking system has experienced severe hydraulic degradation and is in a severe hydraulic degradation condition, i.e., the third element level is 2.

[0145] In this embodiment of the invention, step S107 is: determining the hydraulic degradation level based on the first element level, the second element level, and the third element level.

[0146] Specifically, in this embodiment of the invention, step S107 includes:

[0147] Step S1071: Compare the first element level, the second element level, and the third element level.

[0148] Step S1072: When the levels of the first element level, the second element level, and the third element level are the same, the level of the first element level, the second element level, or the third element level shall be used as the hydraulic degradation level.

[0149] Step S1073: When the levels of the first element level, the second element level, and the third element level are not the same, the highest level among the first element level, the second element level, and the third element level shall be taken as the hydraulic decay level.

[0150] In this embodiment of the invention, the first element level, the second element level, and the third element level each have three levels: level 0, level 1, and level 2. Therefore, when the levels of the first element level, the second element level, and the third element level are the same, each of these levels is either level 0, level 1, or level 2. Thus, any one of these levels can represent the actual situation of hydraulic fade.

[0151] When the levels of the first, second, and third elements are not the same, taking the highest level among the three elements as the hydraulic degradation level can ensure a more accurate assessment of the hydraulic degradation situation. Taking the highest level as the hydraulic degradation level can ensure the accurate identification and assessment of potential safety risks.

[0152] Referring to Figure 3, in this embodiment of the invention, the first element level, the second element level, and the third element level jointly determine the hydraulic fade level, and the hydraulic fade level and the disc temperature fade level jointly determine the braking system performance fade level. Based on this, this embodiment of the invention comprehensively evaluates the hydraulic fade level based on multiple elements, and on this basis, combines the hydraulic fade level and the disc temperature fade level to evaluate the fade of the braking system, thereby improving the detection accuracy of the braking system.

[0153] Referring to Figure 4, in this embodiment of the invention, disc temperature fade and hydraulic fade have three levels: level 0, level 1, and level 2, respectively. Based on this, when both disc temperature fade and hydraulic fade are level 0, the braking system performance degradation level is level 0; when either disc temperature fade or hydraulic fade is level 1, the braking system performance degradation level is level 1; and when either disc temperature fade or hydraulic fade is level 2, the braking system performance degradation level is level 2.

[0154] In this embodiment of the invention, the vehicle may further include a human-machine interaction system. This system may include information display devices such as an instrument panel, a central control unit, and a head-up display; audio playback devices such as Bluetooth speakers; and driving components such as a steering wheel and pedals. This embodiment does not limit the scope of this embodiment. When a performance degradation of the braking system is detected and the level of braking system performance degradation is obtained, this embodiment can send a reminder message to the driver through the human-machine interaction system.

[0155] Taking the human-computer interaction system as a head-up display (HUD) system as an example, when the braking system is detected to be experiencing performance degradation, a pop-up window in the HUD can display: "Braking system performance degradation, please drive at low speed or stop!"

[0156] In modern automotive braking systems, integrated systems have become the mainstream. The design philosophy of these integrated systems often emphasizes overall system performance and functional integration, potentially sacrificing the driver's direct perception of the braking system's status to some extent. Specifically, when brake fade occurs, due to the decoupled design of integrated systems, the driver cannot perceive the decrease in braking performance from the pedal feedback force. In this situation, the driver may continue to operate the vehicle according to normal driving habits, unaware that braking performance has deteriorated, thus increasing the risk of vehicle malfunction.

[0157] Therefore, referring to Figure 5, this embodiment of the invention also provides a control method for a braking system, applied to the brake pedal of the braking system, the control method including:

[0158] Step S201: Based on the braking system detection method of the above embodiment, obtain the braking system performance degradation level;

[0159] Step S202: Increase or decrease the feedback force of the brake pedal according to the performance degradation level of the braking system.

[0160] It is understood that, in this embodiment of the invention, the braking system performance degradation level has three levels: level 0, level 1, and level 2. Correspondingly, the feedback force of the brake pedal can also be preset to level 0, level 1, and level 2, wherein the feedback force of level 0 is greater than that of level 1, and the feedback force of level 1 is greater than that of level 2.

[0161] When the obtained braking system performance degradation level is 0, the brake pedal feedback force can be adjusted to level 0, so that the brake pedal maintains a slightly larger feedback force when no performance degradation occurs, allowing the driver to perceive that the vehicle has good braking performance. When the obtained braking system performance degradation level is 1, the brake pedal feedback force can be adjusted to level 1, so that the brake pedal maintains a moderate feedback force when slight performance degradation occurs, allowing the driver to perceive that the vehicle has average braking performance. When the obtained braking system performance degradation level is 2, the brake pedal feedback force can be adjusted to level 2, so that the brake pedal maintains a small feedback force when slight performance degradation occurs, allowing the driver to perceive that the vehicle has poor braking performance.

[0162] In this embodiment of the invention, the driver can perceive the decline in braking performance of the vehicle braking system by the change in pedal feedback force, and thus take corresponding driving measures, thereby improving the safety and reliability of the braking system.

[0163] Referring to Figure 6, this embodiment of the invention also provides a vehicle controller 300, applied to a vehicle. The braking system includes a brake disc, wheel cylinders, and a master cylinder. Wheel cylinders are provided with wheel cylinder fluid. The vehicle controller 300 includes:

[0164] The first acquisition module 301 is used to acquire the current temperature of the brake disc during vehicle operation.

[0165] The plate temperature degradation level determination module 302 is used to determine the plate temperature degradation level based on the current temperature and the preset reference temperature.

[0166] The second acquisition module 303 is used to acquire the current deceleration of the vehicle and the current hydraulic pressure of the wheel cylinder fluid when the braking system performs braking.

[0167] The first element level determination module 304 is used to determine the first element level based on a pre-built deceleration and hydraulic pressure correspondence model and according to the current deceleration and current hydraulic pressure.

[0168] The third acquisition module 305 is used to acquire the current braking pressure of the master cylinder and the current fluid volume of the wheel cylinder fluid.

[0169] The second element level determination module 306 is used to determine the second element level based on a pre-built model of the correspondence between braking pressure and liquid volume, and according to the current braking pressure and the current liquid volume.

[0170] The hydraulic degradation level determination module 307 is used to determine the hydraulic degradation level based on the first element level and the second element level.

[0171] The braking system performance degradation level determination module 308 is used to determine the braking system performance degradation level based on the disc temperature degradation level and the hydraulic pressure degradation level.

[0172] The vehicle controller 300 of this invention determines the disc temperature degradation level based on the current temperature and a preset reference temperature; it determines a first factor level based on a pre-built deceleration and hydraulic pressure correspondence model, and based on the current deceleration and current hydraulic pressure; it determines a second factor level based on a pre-built braking pressure and fluid volume correspondence model, and based on the current braking pressure and current fluid volume; and it determines the hydraulic degradation level based on the first and second factor levels; then, it determines the braking system performance degradation level based on the disc temperature degradation level and the hydraulic degradation level. By comprehensively considering the impact of disc temperature degradation and hydraulic degradation on the braking performance of the braking system, it more accurately assesses the performance degradation of the braking system, helping drivers or maintenance personnel to promptly identify potential problems in the braking system and take corresponding measures, thereby improving the reliability and safety of the braking system.

[0173] This invention also provides a vehicle, including the vehicle controller 300 described in the above embodiments.

[0174] Specifically, in this embodiment of the invention, the vehicle can be a private car, such as a sedan, SUV, MPV, or pickup truck. The vehicle can also be a commercial vehicle, such as a van, bus, small truck, or large semi-trailer. The vehicle can be a gasoline-powered vehicle or a new energy vehicle. When the vehicle is a new energy vehicle, it can be a hybrid vehicle or a pure electric vehicle.

[0175] It is understood that, since the vehicle controller 300 described above can accurately assess the performance degradation of the braking system, the vehicle in this embodiment helps drivers or maintenance personnel to promptly identify potential problems with the vehicle and take corresponding measures, thereby improving the vehicle's intelligence level and safety, and optimizing the driver's driving experience.

[0176] This application also provides an electronic device, which includes:

[0177] At least one processor;

[0178] At least one memory for storing at least one program;

[0179] The above-described method for detecting the braking system is implemented when at least one program is executed by at least one processor.

[0180] This application also provides a computer-readable storage medium storing a processor-executable computer program, which, when executed by a processor, is used to implement the above-described braking system detection method.

[0181] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatuses.

[0182] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0183] In the several embodiments provided in this application, it should be understood that the disclosed systems, 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 couplings or direct couplings or communication connections shown or discussed may be indirect couplings or communication connections through some interfaces, apparatuses, or units, and may be electrical, mechanical, or other forms.

[0184] In this application embodiment, the terms "module" or "unit" refer to a computer program or part of a computer program that has a predetermined function and works with other related parts to achieve a predetermined goal, and can be implemented wholly or partially using software, hardware (such as processing circuitry or memory), or a combination thereof. Similarly, a processor (or multiple processors or memory) can be used to implement one or more modules or units. Furthermore, each module or unit can be part of an overall module or unit that includes the functionality of that module or unit.

[0185] 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.

[0186] 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.

[0187] 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.

[0188] The step numbers in the above method embodiments are set only for ease of explanation and do not impose any restrictions on the order of the steps. The execution order of each step in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.

Claims

1. A method for detecting a braking system, characterized in that, Applied to vehicles, the braking system includes a brake disc, wheel cylinders, and a master cylinder, wherein the wheel cylinder contains wheel cylinder fluid, and the detection method includes: During vehicle operation, the current temperature of the brake disc is obtained; The plate temperature degradation level is determined based on the current temperature and the preset reference temperature; When the braking system performs braking, the current deceleration of the vehicle and the current hydraulic pressure of the wheel cylinder fluid are obtained; Based on a pre-built model of the relationship between deceleration and hydraulic pressure, and according to the current deceleration and the current hydraulic pressure, the first element level is determined; Obtain the current braking pressure of the master cylinder and the current fluid volume of the wheel cylinder; Based on a pre-built model of the relationship between braking pressure and liquid volume, and according to the current braking pressure and the current liquid volume, the second element level is determined; The hydraulic degradation level is determined based on the first element level and the second element level; The braking system performance degradation level is determined based on the disc temperature degradation level and the hydraulic pressure degradation level.

2. The detection method according to claim 1, characterized in that, The braking system includes an anti-lock braking system (ABS), and before determining the hydraulic fade level based on the first factor level and the second factor level, it further includes: When the current braking pressure is equal to the preset pressure reference value, it is detected whether the anti-lock braking device is activated; the preset pressure reference value is the braking pressure corresponding to the activation of the anti-lock braking device when the braking system has not experienced brake fade. When the anti-lock braking system is not activated, obtain the actual braking pressure corresponding to when the anti-lock braking system is activated; The third element level is determined based on the actual braking pressure and the preset pressure reference data; The step of determining the hydraulic degradation level based on the first element level and the second element level includes: The hydraulic degradation level is determined based on the first element level, the second element level, and the third element level.

3. The detection method according to claim 2, characterized in that, The preset pressure reference data includes a first pressure threshold and a second pressure threshold. The step of determining the third element level based on the actual braking pressure and the preset pressure reference data includes: When the actual braking pressure is less than the first pressure threshold, the level of the third element is determined to be level 0. When the actual braking pressure is greater than or equal to the first pressure threshold and less than the second pressure threshold, the level of the third element is determined to be Level 1. When the actual braking pressure is greater than the second pressure threshold, the third element level is determined to be level 2.

4. The detection method according to claim 2, characterized in that, Determining the hydraulic degradation level based on the first factor level, the second factor level, and the third factor level includes: Compare the first element level, the second element level, and the third element level; When the first element level, the second element level, and the third element level are the same, the first element level, the second element level, or the third element level shall be used as the hydraulic degradation level. When the levels of the first element level, the second element level, and the third element level are not the same, the highest level among the first element level, the second element level, and the third element level shall be taken as the hydraulic degradation level.

5. The detection method according to claim 1, characterized in that, The preset reference temperature includes a first temperature threshold and a second temperature threshold. Determining the plate temperature degradation level based on the current temperature and the preset reference temperature includes: When the current temperature is less than the first temperature threshold, the plate temperature degradation level is determined to be level 0. When the current temperature is greater than or equal to the first temperature threshold and less than the second temperature threshold, the plate temperature degradation level is determined to be level 1. When the current temperature is greater than the second temperature threshold, the plate temperature degradation level is determined to be level 2.

6. The detection method according to claim 1, characterized in that, The determination of the first element level based on the pre-built deceleration and hydraulic pressure correspondence model, and according to the current deceleration and the current hydraulic pressure, includes: Based on the deceleration and hydraulic pressure correspondence model, obtain the predicted deceleration corresponding to the current hydraulic pressure; Calculate the first difference between the current deceleration and the predicted deceleration; When the first difference is less than the first deviation threshold, the first element level is determined to be level 0. When the first difference is greater than or equal to the first deviation threshold and less than the second deviation threshold, the disk temperature degradation level is determined to be level 1. When the first difference is greater than the second deviation threshold, the first element level is determined to be level 2.

7. The detection method according to claim 1, characterized in that, The determination of the second element level based on the pre-built model of the correspondence between braking pressure and fluid volume, and according to the current braking pressure and the current fluid volume, includes: Based on the relationship model between braking pressure and liquid volume, the predicted liquid volume corresponding to the current braking pressure is obtained; Calculate a second difference between the current liquid volume and the predicted liquid volume; When the second difference is less than the third deviation threshold, the level of the second element is determined to be level 0. When the second difference is greater than or equal to the third deviation threshold and less than the fourth deviation threshold, the level of the second element is determined to be level 1. When the second difference is greater than the fourth deviation threshold, the level of the second element is determined to be level 2.

8. A control method for a braking system, characterized in that, The control method, applied to the brake pedal of the braking system, includes: Based on the detection method of the braking system as described in any one of claims 1 to 7, the performance degradation level of the braking system is obtained; The feedback force of the brake pedal is increased or decreased according to the performance degradation level of the braking system.

9. A vehicle controller, characterized in that, Applied to vehicles, the braking system includes a brake disc, wheel cylinders, and a master cylinder, wherein the wheel cylinders contain wheel cylinder fluid, and the vehicle controller includes: The first acquisition module is configured to acquire the current temperature of the brake disc during vehicle operation; The disk temperature degradation level determination module is configured to determine the disk temperature degradation level based on the current temperature and a preset reference temperature. The second acquisition module is configured to acquire the current deceleration of the vehicle and the current hydraulic pressure of the wheel cylinder fluid when the braking system performs braking. The first element level determination module is configured to determine the first element level based on a pre-built deceleration and hydraulic pressure correspondence model, and according to the current deceleration and the current hydraulic pressure. The third acquisition module is configured to acquire the current braking pressure of the master cylinder and the current liquid volume of the wheel cylinder fluid; The second element level determination module is configured to determine the second element level based on a pre-built model of the correspondence between braking pressure and liquid volume, and according to the current braking pressure and the current liquid volume. The hydraulic degradation level determination module is configured to determine the hydraulic degradation level based on the first element level and the second element level. The braking system performance degradation level determination module is configured to determine the braking system performance degradation level based on the disc temperature degradation level and the hydraulic pressure degradation level.

10. A vehicle, characterized in that, Includes the vehicle controller as described in claim 9.

11. An electronic device, characterized in that, include: At least one processor; At least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements a detection method for a braking system as described in any one of claims 1 to 7.

12. A computer-readable storage medium storing processor-executable instructions, characterized in that, The processor-executable instructions, when executed by the processor, are used to perform a detection method for a braking system as described in any one of claims 1 to 7.

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