Hydraulic circuit pressure processing method and apparatus, integrated braking system, and vehicle

Abstract

The present application is applied to the technical field of vehicle braking control. Disclosed are a hydraulic circuit pressure processing method and apparatus, an integrated braking system, and a vehicle. The method comprises: if a hydraulic circuit leakage is detected in a vehicle, controlling the hydraulic circuit operating state of the vehicle to be switched to a hydraulic circuit separation state (S101); in the hydraulic circuit separation state, performing limitation processing on a hydraulic circuit pressure in the current pressure build-up period of the vehicle, so as to obtain a first target hydraulic circuit pressure (S102); performing alternating pressure build-up control on a plurality of hydraulic circuits on the basis of the first target hydraulic circuit pressure, and, during the pressure build-up period, performing detection for a non-leaking hydraulic circuit (S103); if a non-leaking hydraulic circuit is detected, controlling the hydraulic circuit operating state of the vehicle to be switched to a single hydraulic circuit state (S104); in the single hydraulic circuit state, performing limitation processing on a hydraulic circuit pressure in the current pressure build-up period of the vehicle, so as to obtain a second target hydraulic circuit pressure (S105); and, on the basis of the second target hydraulic circuit pressure, performing pressure build-up control on the non-leaking hydraulic circuit (S106).

Description

Oil line pressure processing method and device, integrated braking system and vehicle

[0001] Cross-reference to Related Applications

[0002] The present application claims priority to the Chinese patent application No. 202411326141.2, filed on September 23, 2024, and entitled "Oil line pressure processing method and device, integrated braking system and vehicle", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present application relates to the technical field of vehicle braking control, in particular to an oil line pressure processing method and device, an integrated braking system and a vehicle. BACKGROUND

[0004] An integrated braking (IBC) system is usually provided with multiple oil lines, and vehicle braking is achieved by controlling the pressure of the multiple oil lines. Related technologies often diagnose oil line leakage from the flow rate of the oil line, solenoid valve, etc., set a preset pressure build-up pressure as a pressure build-up target, and build up pressure in the oil line without leakage based on the pressure build-up target, thereby achieving vehicle braking. The control accuracy of the oil line pressure build-up needs to be improved. SUMMARY

[0005] The present application provides an oil line pressure processing method and device, an integrated braking system and a vehicle, which can improve the control accuracy of the oil line pressure build-up.

[0006] In one aspect, the present application provides an oil line pressure processing method, which comprises the following steps:

[0007] In the case of detecting oil line leakage of the vehicle, the working state of the oil line of the vehicle is switched to an oil line separation state, wherein the oil line separation state is used to control the multiple oil lines of the vehicle to build up pressure alternately;

[0008] In the oil line separation state, the first initial oil line pressure of the vehicle is limited and processed to obtain a first target oil line pressure, wherein the first initial oil line pressure is the oil line pressure of the current pressure build-up cycle of the vehicle in the case of switching the working state of the oil line of the vehicle to the oil line separation state;

[0009] The multiple oil lines of the vehicle are controlled to build up pressure alternately according to the first target oil line pressure, and a non-leakage oil line in the multiple oil lines is detected during the alternately building up pressure control;

[0010] In a case where the non-leakage oil passage is detected, the oil passage working state of the vehicle is controlled to switch to a single oil passage state, wherein the single oil passage state is used for pressure building control on the non-leakage oil passage only.

[0011] In the single oil passage state, a second initial oil passage pressure of the vehicle is subjected to limiting processing to obtain a second target oil passage pressure, wherein the second initial oil passage pressure is an oil passage pressure of a current pressure building period of the vehicle in a case where the oil passage working state of the vehicle is switched to the single oil passage state.

[0012] The non-leakage oil passage is subjected to pressure building control according to the second target oil passage pressure.

[0013] On the other hand, an embodiment of the present application provides an oil passage pressure processing device, which comprises:

[0014] A first processing module is configured to control the oil passage working state of the vehicle to switch to an oil passage separation state in a case where an oil passage leakage of the vehicle is detected, wherein the oil passage separation state is used for controlling multiple oil passages of the vehicle to be subjected to alternating pressure building.

[0015] A second processing module is configured to, in the oil passage separation state, subject a first initial oil passage pressure of the vehicle to limiting processing to obtain a first target oil passage pressure, wherein the first initial oil passage pressure is an oil passage pressure of a current pressure building period of the vehicle in a case where the oil passage working state of the vehicle is switched to the oil passage separation state.

[0016] A third processing module is configured to, according to the first target oil passage pressure, control the multiple oil passages of the vehicle to be subjected to alternating pressure building, and detect a non-leakage oil passage in the multiple oil passages during the alternating pressure building.

[0017] A fourth processing module is configured to, in a case where the non-leakage oil passage is detected, control the oil passage working state of the vehicle to switch to a single oil passage state, wherein the single oil passage state is used for controlling a solenoid valve of a leakage oil passage of the vehicle to be closed and pressure building control on the non-leakage oil passage.

[0018] A fifth processing module is configured to, in the single oil passage state, subject a second initial oil passage pressure of the vehicle to limiting processing to obtain a second target oil passage pressure, wherein the second initial oil passage pressure is an oil passage pressure of a current pressure building period of the vehicle in a case where the oil passage working state of the vehicle is switched to the single oil passage state.

[0019] A sixth processing module is configured to, according to the second target oil passage pressure, subject the non-leakage oil passage to pressure building control.

[0020] In another aspect, an integrated brake system is provided, which comprises:

[0021] at least one processor;

[0022] at least one memory for storing at least one program;

[0023] When the at least one program is executed by the at least one processor, the at least one processor implements the above-mentioned oil line pressure processing method.

[0024] In another aspect, a vehicle is provided, which comprises the above-mentioned oil line pressure processing device and / or the above-mentioned integrated brake system.

[0025] The beneficial effects of the present application are as follows: the oil line pressure processing method, device, integrated brake system and vehicle are provided, if the oil line leakage of the vehicle is detected, the working state of the oil line of the vehicle is controlled to switch to an oil line separation state; in the oil line separation state, the oil line pressure of the current pressure building period of the vehicle is limited and processed to obtain a first target oil line pressure; the multiple oil lines are alternately controlled according to the first target oil line pressure, and the non-leakage oil line is detected during the pressure building period; if the non-leakage oil line is detected, the working state of the oil line of the vehicle is controlled to switch to a single oil line state; in the single oil line state, the oil line pressure of the current pressure building period of the vehicle is limited and processed to obtain a second target oil line pressure; the non-leakage oil line is controlled according to the second target oil line pressure. The oil line pressure of the vehicle is limited and processed when the oil line leaks, and the multiple oil lines of the vehicle are alternately controlled according to the limited oil line pressure, and the oil line leakage diagnosis is realized during the alternate pressure building, which can improve the diagnosis efficiency of the oil line leakage and the control accuracy of the alternate pressure building; and the oil line pressure of the vehicle is limited and processed when the non-leakage oil line is detected, and the pressure building control of the non-leakage oil line is realized based on the limited oil line pressure, which improves the control accuracy of the single oil line pressure building, and further improves the control accuracy of the oil line pressure building, and ensures the brake stability and driving safety of the vehicle.

[0026] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the present application. The objects and other advantages of the present application can be realized and attained by the structure particularly pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF DRAWINGS

[0027] FIG. 1 is a flowchart of an oil line pressure processing method provided by an embodiment of the present application;

[0028] FIG. 2 is a structural diagram of an oil line pressure processing device provided by an embodiment of the present application;

[0029] FIG. 3 is an example diagram of an integrated braking system according to an embodiment of the present application. DETAILED DESCRIPTION

[0030] For the purposes of the present application, the technical solutions and advantages thereof are more clearly apparent, the following further describes the present application in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely intended to explain the present application, and are not intended to limit the present application.

[0031] The present application is further described below in conjunction with the accompanying drawings and specific embodiments. The described embodiments should not be considered limiting of the present application, and all other embodiments that can be derived by those of ordinary skill in the art without creative effort from the described embodiments fall within the scope of the present application.

[0032] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments, but it is understood that "some embodiments" can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terminology used in the description herein is for the purpose of describing the embodiments of the present application only and is not intended to be limiting of the present application.

[0034] An integrated braking (IBC) system is a brake control system that simplifies the structure of a traditional brake system through a highly integrated design to improve the braking performance of a vehicle. The integrated braking system is usually provided with multiple oil circuits, and controls the pressure of the multiple oil circuits to achieve vehicle braking. Related technologies often diagnose oil circuit leakage from the flow rate of the oil circuit, the solenoid valve, etc., set a predetermined pressure build-up pressure as a pressure build-up target, and build up pressure in the oil circuit without leakage based on the pressure build-up target to achieve vehicle braking. The control accuracy of the oil circuit pressure build-up and the diagnosis efficiency of the oil circuit leakage need to be improved.

[0035] In view of this, the present application provides an oil circuit pressure processing method, device, integrated braking system and vehicle for improving the control accuracy of the oil circuit pressure build-up and the diagnosis efficiency of the oil circuit leakage.

[0036] First, the implementation steps of the oil circuit pressure processing method provided by the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings.

[0037] The oil path pressure processing method provided by the embodiments of the present application can be applied to a terminal, can be applied to a server, and can also be software running in the terminal or the server. The terminal can be a tablet computer, a notebook computer, a desktop computer, and the like, but is not limited thereto. The server can be a standalone physical server, can be a server cluster or a distributed system composed of multiple physical servers, and can also be a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms. In addition, the server can also be a node server in a blockchain network, but is not limited thereto. The blockchain is a new application mode of computer technologies such as distributed data storage, peer-to-peer transmission, consensus mechanism, and encryption algorithm.

[0038] Referring to FIG. 1, which is a flowchart of the oil path pressure processing method provided by the embodiments of the present application, the oil path pressure processing method provided by the embodiments of the present application mainly includes the following steps S101-S106:

[0039] S101, in the case of detecting oil path leakage of a vehicle, the working state of the oil path of the vehicle is controlled to switch to an oil path separation state, and the oil path separation state is used to control multiple oil paths of the vehicle to alternately build pressure;

[0040] S102, in the oil path separation state, a first initial oil path pressure of the vehicle is limited and processed to obtain a first target oil path pressure, and the first initial oil path pressure is the oil path pressure of the vehicle in the case of switching the working state of the oil path of the vehicle to the oil path separation state;

[0041] S103, the multiple oil paths of the vehicle are alternately controlled to build pressure according to the first target oil path pressure, and a non-leakage oil path in the multiple oil paths is detected during the alternately building pressure control;

[0042] S104, in the case of detecting the non-leakage oil path, the working state of the oil path of the vehicle is controlled to switch to a single oil path state, and the single oil path state is used to control the non-leakage oil path to build pressure;

[0043] S105, in the single oil path state, a second initial oil path pressure of the vehicle is limited and processed to obtain a second target oil path pressure, and the second initial oil path pressure is the oil path pressure of the vehicle in the case of switching the working state of the oil path of the vehicle to the single oil path state;

[0044] S106, the non-leakage oil path is controlled to build pressure according to the second target oil path pressure.

[0045] In the embodiment of the present application, in the case of detecting oil line leakage of the vehicle, the working state of the oil line of the vehicle is switched to an oil line separation state, which is mainly used for controlling the multiple oil lines of the vehicle to alternately build pressure. In the oil line separation state, the first initial oil line pressure of the vehicle is limited to obtain a first target oil line pressure, wherein the first initial oil line pressure is the oil line pressure of the current pressure building period of the vehicle in the case of switching the working state of the oil line of the vehicle to the oil line separation state. Then, the multiple oil lines of the vehicle are alternately controlled according to the first target oil line pressure, and a non-leakage oil line is detected during the alternate pressure building control. If the non-leakage oil line is detected, the working state of the oil line of the vehicle is switched to a single oil line state, which is mainly used for building pressure only on the non-leakage oil line. In the single oil line state, the second initial oil line pressure is limited to obtain a second target oil line pressure, wherein the second initial oil line pressure is the oil line pressure of the current pressure building period of the vehicle in the case of switching the working state of the oil line of the vehicle to the single oil line state. Then, the non-leakage oil line is controlled according to the second target oil line pressure. In this way, by limiting the oil line pressure of the vehicle when the oil line leaks, and using the limited oil line pressure to alternately control the multiple oil lines of the vehicle, and realizing oil line leakage diagnosis during the alternate pressure building, the diagnosis efficiency of the oil line leakage and the control accuracy of the alternate pressure building can be improved. In addition, by limiting the oil line pressure of the vehicle when the non-leakage oil line is detected, and building pressure on the non-leakage oil line based on the limited oil line pressure, the control accuracy of the single oil line pressure building is improved, and the control accuracy of the oil line pressure building is further improved, thereby ensuring the braking stability and driving safety of the vehicle.

[0046] In the step S101, it is detected whether the vehicle has oil line leakage during driving. If yes, the working state of the oil line of the vehicle is switched to an oil line separation state, so as to alternately build pressure on the multiple oil lines of the vehicle in the oil line separation state, thereby realizing oil line leakage diagnosis during the alternate pressure building. If no, the step of detecting whether the vehicle has oil line leakage is returned to, so as to realize cyclic detection.

[0047] The working state of the oil line is used to indicate the control mode of the vehicle on the multiple oil lines.

[0048] The oil line separation state is an alternate pressure building control mode, and the oil line separation state is used to control the multiple oil lines of the vehicle to alternately build pressure, and oil line leakage diagnosis will be realized during the alternate pressure building, i.e., diagnosing the oil line with leakage and the oil line without leakage in the vehicle.

[0049] In step S102, in the oil path separation state, first, the first initial oil path pressure of the vehicle is obtained, which is the oil path pressure of the current pressure building period of the vehicle when the working state of the oil path of the vehicle is switched to the oil path separation state; then, the first initial oil path pressure is limited to obtain the first target oil path pressure, which is used for alternating pressure building control of the multiple oil paths of the vehicle, thereby improving the control accuracy of alternating pressure building, effectively avoiding situations such as brake system failure caused by sudden change of oil path pressure or excessive motor load, ensuring the braking stability of the vehicle, and improving the diagnosis efficiency of oil path leakage and ensuring the timeliness of oil path leakage diagnosis.

[0050] The first initial oil path pressure is used to indicate the oil path pressure of the current pressure building period of the vehicle when the working state of the oil path of the vehicle is switched to the oil path separation state.

[0051] The first target oil path pressure is used to indicate the target pressure of the multiple oil paths of the vehicle during pressure building.

[0052] The first initial oil path pressure of the vehicle can be obtained by detecting the pressure of the multiple oil paths of the vehicle through a pre-set pressure sensor when the working state of the oil path of the vehicle is switched to the oil path separation state, obtaining the oil path pressure of the multiple oil paths, and then processing the oil path pressure of the multiple oil paths to obtain the first initial oil path pressure, but is not limited thereto.

[0053] The processing of the oil path pressure of the multiple oil paths to obtain the first initial oil path pressure can include selecting the maximum pressure value in the oil path pressure of the multiple oil paths as the first initial oil path pressure.

[0054] Alternatively, the processing of the oil path pressure of the multiple oil paths to obtain the first initial oil path pressure can include obtaining the average value of the oil path pressure of the multiple oil paths as the first initial oil path pressure, but is not limited thereto.

[0055] The limiting processing of the first initial oil path pressure of the vehicle to obtain the first target oil path pressure can include outputting the pre-set limit threshold as the first target oil path pressure if the first initial oil path pressure is greater than the pre-set limit threshold, but is not limited thereto.

[0056] In step S103, to realize oil path leakage diagnosis, i.e., to diagnose the oil paths with leakage and the oil paths without leakage in the vehicle, after obtaining the first target oil path pressure, the multiple oil paths of the vehicle are controlled to build pressure alternately based on the first target oil path pressure, and the oil paths without leakage in the multiple oil paths are detected during the alternating pressure building.

[0057] The alternating pressure building control of the plurality of oil paths of the vehicle can include building pressure control on the first part of the oil path; if a preset time period after the building pressure control on the first part of the oil path arrives, the building pressure control on the first part of the oil path is suspended, and the building pressure control on the second part of the oil path is performed; if a preset time period after the building pressure control on the second part of the oil path arrives, the building pressure control on the second part of the oil path is suspended, and the building pressure control on the first part of the oil path is performed; and the above process is repeated to achieve alternating pressure building.

[0058] The first part of the oil path and the second part of the oil path can each include one or more oil paths, and the oil paths included in the first part of the oil path and the oil paths included in the second part of the oil path are mutually exclusive.

[0059] The non-leakage oil path is used to indicate an oil path without leakage in the vehicle.

[0060] The detection of the non-leakage oil path in the plurality of oil paths during the alternating pressure building control can include, for each oil path being controlled, obtaining a time period when the pressure of the oil path reaches the target oil path pressure as a pressure building time period, if the pressure building time period is less than a preset time threshold, determining that the oil path is a leakage oil path; and if the pressure building time period is greater than or equal to the preset time threshold, determining that the oil path is a non-leakage oil path, but not limited thereto.

[0061] In step S104, during the alternating pressure building, if a non-leakage oil path is detected, the working state of the oil path of the vehicle is switched to a single oil path state, so that in the single oil path state, only the non-leakage oil path is controlled to build pressure, thereby ensuring the normal braking of the vehicle.

[0062] The single oil path state is a single oil path control mode, and the single oil path state is used to control the non-leakage oil path to build pressure.

[0063] In step S105, in the single oil path state, first, a second initial oil path pressure of the vehicle is obtained, which is the oil path pressure of the current pressure building cycle of the vehicle when the working state of the oil path of the vehicle is switched to the single oil path state; then, the second initial oil path pressure is limited to obtain a second target oil path pressure, which is used to build pressure on the non-leakage oil path in the vehicle, thereby improving the control accuracy of the single oil path pressure building, effectively avoiding situations such as brake system failure caused by sudden change of oil path pressure or excessive motor load, reducing the risk of loss of control of the vehicle during braking, and ensuring the braking stability of the vehicle.

[0064] The second initial oil path pressure is used to indicate the oil path pressure of the current pressure building cycle of the vehicle when the working state of the oil path of the vehicle is switched to the single oil path state.

[0065] The second target oil passage pressure is used to indicate a target pressure of the non-leakage oil passage when building pressure.

[0066] The second initial oil passage pressure of the vehicle can be obtained by detecting the pressures of the multiple oil passages of the vehicle through the preset pressure sensor when the working state of the oil passage of the vehicle is switched to the single oil passage state, processing the oil passage pressures of the multiple oil passages, and obtaining the second initial oil passage pressure, but is not limited thereto.

[0067] The processing of the oil passage pressures of the multiple oil passages to obtain the second initial oil passage pressure can include selecting the maximum pressure value as the second initial oil passage pressure from the oil passage pressures of the multiple oil passages.

[0068] Alternatively, the processing of the oil passage pressures of the multiple oil passages to obtain the second initial oil passage pressure can include obtaining the average value of the oil passage pressures of the multiple oil passages as the second initial oil passage pressure, but is not limited thereto.

[0069] The limiting processing of the second initial oil passage pressure to obtain the second target oil passage pressure can include outputting the preset limiting threshold value as the second target oil passage pressure if the second initial oil passage pressure is greater than the preset limiting threshold value, but is not limited thereto.

[0070] In step S106, after obtaining the second target oil passage pressure, the oil passage in which leakage does not exist in the vehicle is controlled to build pressure based on the second target oil passage pressure, and the solenoid valve of the oil passage in which leakage exists in the vehicle is closed to avoid building pressure of the oil passage in which leakage exists, thereby ensuring normal braking of the vehicle.

[0071] The above steps will be further described below.

[0072] In some embodiments, before the limiting processing of the first initial oil passage pressure of the vehicle to obtain the first target oil passage pressure, the method can further include:

[0073] The first initial oil passage pressure is obtained according to the front axle pressure and the rear axle pressure of the vehicle when the working state of the oil passage of the vehicle is switched to the oil passage separation state.

[0074] In this embodiment, since the oil passage pressure of the vehicle is related to the front axle pressure and the rear axle pressure of the vehicle, when the vehicle is in the oil passage separation state, the front axle pressure and the rear axle pressure of the vehicle when the working state of the oil passage of the vehicle is switched to the oil passage separation state are obtained, and then the first initial oil passage pressure is determined according to the front axle pressure and the rear axle pressure, so as to improve the efficiency of obtaining the initial oil passage pressure.

[0075] The obtaining of the front axle pressure and the rear axle pressure of the vehicle in the case where the working state of the oil circuit of the vehicle is switched to the oil circuit separation state can include, but is not limited to, obtaining the front axle pressure and the rear axle pressure of the vehicle in the case where the working state of the oil circuit of the vehicle is switched to the oil circuit separation state by pressure detection of the front axle and the rear axle of the vehicle by the preset pressure sensor.

[0076] The obtaining of the first initial oil circuit pressure according to the front axle pressure and the rear axle pressure of the vehicle in the case where the working state of the oil circuit of the vehicle is switched to the oil circuit separation state can include obtaining the average of the front axle pressure and the rear axle pressure of the vehicle in the case where the working state of the oil circuit of the vehicle is switched to the oil circuit separation state as the first initial oil circuit pressure.

[0077] Alternatively, the obtaining of the first initial oil circuit pressure according to the front axle pressure and the rear axle pressure of the vehicle in the case where the working state of the oil circuit of the vehicle is switched to the oil circuit separation state can include selecting the maximum pressure value from the front axle pressure and the rear axle pressure of the vehicle in the case where the working state of the oil circuit of the vehicle is switched to the oil circuit separation state as the first initial oil circuit pressure, so as to ensure that the braking system of the vehicle has a certain pressure building capacity.

[0078] In some embodiments, the limiting processing of the first initial oil circuit pressure of the vehicle to obtain the first target oil circuit pressure can include:

[0079] obtaining a first historical oil circuit pressure of the vehicle, wherein the first historical oil circuit pressure is the oil circuit pressure of a previous pressure building period of the vehicle in the case where the working state of the oil circuit of the vehicle is switched to the oil circuit separation state;

[0080] obtaining a first oil circuit pressure difference value according to the first historical oil circuit pressure and the first initial oil circuit pressure;

[0081] obtaining the first target oil circuit pressure according to the first oil circuit pressure difference value and the first historical oil circuit pressure.

[0082] In the oil circuit separation state, first, the first historical oil circuit pressure of the vehicle in the case where the working state of the oil circuit of the vehicle is switched to the oil circuit separation state is obtained as the oil circuit pressure of a previous pressure building period of the vehicle; then, the first oil circuit pressure difference value is obtained according to the first historical oil circuit pressure and the first initial oil circuit pressure, and the first oil circuit pressure difference value can measure the increase or decrease degree of the oil circuit pressure of the current pressure building period relative to the oil circuit pressure of the previous pressure building period; then, the first initial oil circuit pressure is limited according to the first oil circuit pressure difference value and the first historical oil circuit pressure to obtain the first target oil circuit pressure, so as to improve the diagnosis efficiency of the oil circuit leakage and the control accuracy of the alternate pressure building, and to avoid the situations such as the brake system failure caused by the excessive oil circuit pressure or the excessive motor load, and to ensure the braking stability of the vehicle.

[0083] The first historical oil line pressure is used to indicate the oil line pressure of a previous pressure building period when the working state of the oil line of the vehicle is switched to the oil line separation state.

[0084] The first oil line pressure difference is used to indicate the increase or decrease degree of the oil line pressure of the current pressure building period relative to the oil line pressure of the previous pressure building period when the working state of the oil line of the vehicle is switched to the oil line separation state.

[0085] The first oil line pressure difference obtained according to the first historical oil line pressure and the first initial oil line pressure can include obtaining first mapping data, the first mapping data including a plurality of first variables and a pressure difference value corresponding to each first variable, each first variable including a corresponding first historical oil line pressure and a first initial oil line pressure, and selecting the pressure difference value corresponding to the first historical oil line pressure and the first initial oil line pressure from the first mapping data as the first oil line pressure difference, but is not limited thereto.

[0086] The first target oil line pressure obtained according to the first oil line pressure difference and the first historical oil line pressure can include obtaining second mapping data, the second mapping data including a plurality of second variables and a target pressure corresponding to each second variable, each second variable including a corresponding first oil line pressure difference and a first historical oil line pressure, and selecting the target pressure corresponding to the first oil line pressure difference and the first historical oil line pressure from the second mapping data as the first target oil line pressure, but is not limited thereto.

[0087] The first mapping data and the second mapping data can be pre-set according to actual conditions, and the present embodiment is not limited in this regard.

[0088] The first mapping data and the second mapping data can be table data or chart data, but are not limited thereto.

[0089] In some embodiments, the first oil line pressure difference obtained according to the first historical oil line pressure and the first initial oil line pressure can include:

[0090] The difference between the first initial oil line pressure and the first historical oil line pressure is calculated as the first oil line pressure difference.

[0091] In the present embodiment, the difference between the first initial oil line pressure and the first historical oil line pressure is calculated, and the difference is taken as the first oil line pressure difference, and then the difference degree between the oil line pressure of the current pressure building period and the oil line pressure of the previous pressure building period is measured by the first oil line pressure difference, so as to facilitate the implementation of subsequent limiting processing.

[0092] The first oil line pressure difference is the difference between the first initial oil line pressure and the first historical oil line pressure.

[0093] In some embodiments, the obtaining the first target hydraulic pressure according to the first hydraulic pressure difference and the first historical hydraulic pressure can include:

[0094] If the first hydraulic pressure difference is greater than a preset first hydraulic threshold, the sum of the first historical hydraulic pressure and the first hydraulic threshold is calculated as the first target hydraulic pressure, and the first hydraulic threshold is greater than zero.

[0095] Alternatively, if the first hydraulic pressure difference is less than a preset second hydraulic threshold, the sum of the first historical hydraulic pressure and the second hydraulic threshold is calculated as the first target hydraulic pressure, and the second hydraulic threshold is less than zero.

[0096] Alternatively, if the first hydraulic pressure difference is greater than or equal to the second hydraulic threshold and the first hydraulic pressure difference is less than or equal to the first hydraulic threshold, the first historical hydraulic pressure is taken as the first target hydraulic pressure.

[0097] In the embodiment, after obtaining the first hydraulic pressure difference, the first hydraulic pressure difference is compared with the preset first hydraulic threshold and the preset second hydraulic threshold respectively, and corresponding limiting processing is performed according to the comparison result. The first hydraulic threshold is greater than zero, and the second hydraulic threshold is less than zero.

[0098] Specifically, when the first hydraulic pressure difference is greater than the first hydraulic threshold, it indicates that the difference between the hydraulic pressure of the current pressure building period and the hydraulic pressure of the previous pressure building period is too large, and the hydraulic pressure of the current pressure building period is too large, i.e., the hydraulic pressure of the current pressure building period increases too much compared with the hydraulic pressure of the previous pressure building period, which means that the hydraulic pressure changes too fast and the slope is too large between the adjacent two pressure building periods, at this time, the situations of the hydraulic pressure being too large or suddenly changing, the motor load being too large, etc. are prone to occur, which further leads to the failure of the brake system. Therefore, the hydraulic pressure of the current pressure building period needs to be limited, and the limiting processing is to calculate the sum of the first historical hydraulic pressure and the first hydraulic threshold as the first target hydraulic pressure, so as to avoid the situations of the hydraulic pressure being too large or suddenly changing, the motor load being too large, etc., reduce the failure risk of the brake system, and ensure the braking stability of the vehicle.

[0099] When the first oil line pressure difference value is less than the second hydraulic threshold value, it indicates that the difference between the oil line pressure of the current pressure building period and the oil line pressure of the previous pressure building period is too large and the oil line pressure of the current pressure building period is too small, i.e., the oil line pressure of the current pressure building period is reduced too much compared with the oil line pressure of the previous pressure building period, which means that the oil line pressure changes too fast and the slope is too large between the adjacent two pressure building periods, at this time, the oil line pressure is too small or suddenly changes, the motor load is too large, and the like, which may cause the brake system to fail. In this case, the oil line pressure of the current pressure building period needs to be limited, and the limiting manner is to calculate the sum of the first historical oil line pressure and the second hydraulic threshold value as the first target oil line pressure, so as to avoid the oil line pressure being too small or suddenly changing, the motor load being too large, and the like, reduce the risk of brake system failure, and ensure the braking stability of the vehicle.

[0100] When the first oil line pressure difference value is greater than or equal to the second hydraulic threshold value and less than or equal to the first hydraulic threshold value, it indicates that the difference between the oil line pressure of the current pressure building period and the oil line pressure of the previous pressure building period is not large and the oil line pressure of the current pressure building period is within the normal value range, which means that the oil line pressure changes normally between the adjacent two pressure building periods, at this time, the oil line pressure of the current pressure building period does not need to be limited, and in order to ensure the control accuracy of the alternating pressure building, the first historical oil line pressure is selected as the first target oil line pressure.

[0101] The first hydraulic threshold value and the second hydraulic threshold value can be set according to actual conditions, which are not limited in the embodiment, but it should be noted that the first hydraulic threshold value is greater than zero and the second hydraulic threshold value is less than zero.

[0102] In some embodiments, the plurality of oil lines can include a first oil line and a second oil line, and the oil line separation state can include any one of a first separation state or a second separation state, wherein the electromagnetic valve of the first oil line is always open in the first separation state, and the electromagnetic valve of the second oil line is always open in the second separation state.

[0103] The alternating pressure building control of the plurality of oil lines of the vehicle according to the first target oil line pressure can include:

[0104] In the first separation state, the first oil line is controlled to build pressure according to the first target oil line pressure, and the second oil line is controlled to build pressure according to the brake pedal state of the vehicle and the first target oil line pressure;

[0105] Or, in the second separation state, the second oil line is controlled to build pressure according to the first target oil line pressure, and the first oil line is controlled to build pressure according to the brake pedal state and the first target oil line pressure.

[0106] In the first separation state, the electromagnetic valve of the first oil path is always open, and the electromagnetic valve of the second oil path is configured to be opened or closed by the brake pedal state of the vehicle; and in the second separation state, the electromagnetic valve of the second oil path is always open, and the electromagnetic valve of the first oil path is configured to be opened or closed by the brake pedal state of the vehicle. Based on this, in the first separation state, the first oil path is controlled to build pressure according to the first target oil path pressure, while detecting the brake pedal state of the vehicle, and the second oil path is controlled to build pressure according to the brake pedal state of the vehicle and the first target oil path pressure; or in the second separation state, the second oil path is controlled to build pressure according to the first target oil path pressure, while detecting the brake pedal state, and the first oil path is controlled to build pressure according to the brake pedal state and the first target oil path pressure. In this way, alternating pressure building control is realized to ensure the control accuracy of alternating pressure building.

[0107] The first separation state is an alternating pressure building control mode in the case that the electromagnetic valve of the first oil path is always open, and is used to control the first oil path to build pressure and control the second oil path to build pressure according to the brake pedal state.

[0108] The second separation state is an alternating pressure building control mode in the case that the electromagnetic valve of the second oil path is always open, and is used to control the second oil path to build pressure and control the first oil path to build pressure according to the brake pedal state.

[0109] The brake pedal state is used to indicate the state of the brake pedal of the vehicle.

[0110] The brake pedal state can include any one of a released state or a depressed state, wherein the released state means that the brake pedal of the vehicle is not depressed, and the depressed state means that the brake pedal of the vehicle is depressed.

[0111] The control of the first oil path to build pressure according to the first target oil path pressure can include controlling the first oil path to build pressure so that the pressure of the first oil path reaches the first target oil path pressure, but is not limited thereto.

[0112] The control of the second oil path to build pressure according to the brake pedal state of the vehicle and the first target oil path pressure can include prohibiting the control of the second oil path to build pressure if the brake pedal state is the released state; controlling the second oil path to build pressure so that the pressure of the second oil path reaches a preset limited pressure building pressure if the brake pedal state is the depressed state and the first target oil path pressure is greater than the preset limited pressure building pressure; and controlling the second oil path to build pressure so that the pressure of the second oil path reaches the first target oil path pressure if the brake pedal state is the released state and the first target oil path pressure is less than or equal to the preset limited pressure building pressure, but is not limited thereto.

[0113] The building pressure control of the second oil passage according to the first target oil passage pressure can include building pressure of the second oil passage to make the pressure of the second oil passage reach the first target oil passage pressure, but is not limited thereto.

[0114] The building pressure control of the first oil passage according to the brake pedal state and the first target oil passage pressure can include: if the brake pedal state is the released state, the building pressure control of the first oil passage is prohibited; if the brake pedal state is the depressed state and the first target oil passage pressure is greater than a preset limit building pressure, the building pressure control of the first oil passage is performed to make the pressure of the first oil passage reach the preset limit building pressure; if the brake pedal state is the released state and the first target oil passage pressure is less than or equal to the preset limit building pressure, the building pressure control of the first oil passage is performed to make the pressure of the first oil passage reach the first target oil passage pressure, but is not limited thereto.

[0115] In some embodiments, the building pressure control of the second oil passage according to the brake pedal state and the first target oil passage pressure of the vehicle can include:

[0116] In the case that the brake pedal state is the depressed state, the electromagnetic valve of the second oil passage is controlled to be opened;

[0117] The first building pressure is obtained according to the first target oil passage pressure and the building pressure of the second oil passage in the case that the electromagnetic valve of the second oil passage is opened;

[0118] The building pressure control of the second oil passage is performed according to the first building pressure.

[0119] In the first separation state, if it is detected that the brake pedal of the vehicle is depressed, the electromagnetic valve of the second oil passage is first controlled to be opened, then the building pressure of the second oil passage in the case that the electromagnetic valve of the second oil passage is opened is obtained, and then the first building pressure is determined based on the first target oil passage pressure and the building pressure of the second oil passage in the case that the electromagnetic valve of the second oil passage is opened to ensure the building pressure accuracy of the second oil passage, and finally the building pressure control of the second oil passage is performed by using the first building pressure, thereby improving the control accuracy of the alternate building pressure and ensuring the braking stability of the vehicle.

[0120] The building pressure of the second oil passage in the case that the electromagnetic valve of the second oil passage is opened can be a real-time detected building pressure, which is not specifically limited in the embodiment.

[0121] The first building pressure is used to indicate the target pressure of the second oil passage when building pressure is performed.

[0122] The first pressure building pressure can be obtained according to the first target oil passage pressure and the pressure building pressure of the second oil passage when the electromagnetic valve of the second oil passage is opened. The first pressure building pressure can include obtaining third mapping data, the third mapping data including a plurality of third variables and a target pressure corresponding to each third variable, each third variable including a corresponding first target oil passage pressure and pressure building pressure; and selecting a target pressure corresponding to the first target oil passage pressure and the pressure building pressure of the second oil passage when the electromagnetic valve of the second oil passage is opened from the third mapping data as the first pressure building pressure, but the present application is not limited thereto.

[0123] The third mapping data can be pre-set according to actual conditions, and the present application is not limited thereto.

[0124] The third mapping data can be table data or chart data, but the present application is not limited thereto.

[0125] The second oil passage can be pressure built to reach the first pressure building pressure according to the first pressure building pressure, but the present application is not limited thereto.

[0126] In some embodiments, the first pressure building pressure can be obtained according to the first target oil passage pressure and the pressure building pressure of the second oil passage when the electromagnetic valve of the second oil passage is opened.

[0127] The minimum pressure value among the first target oil passage pressure and the pressure building pressure of the second oil passage when the electromagnetic valve of the second oil passage is opened can be selected as the first pressure building pressure.

[0128] In the present application, to avoid the brake system failure caused by excessive oil passage pressure, the minimum pressure value among the first target oil passage pressure and the pressure building pressure of the second oil passage when the electromagnetic valve of the second oil passage is opened is selected as the first pressure building pressure, thereby reducing the risk of brake system failure and ensuring the braking stability of the vehicle.

[0129] In some embodiments, the second oil passage can be pressure built according to the brake pedal state of the vehicle and the first target oil passage pressure.

[0130] The electromagnetic valve of the second oil passage can be controlled to be closed when the brake pedal state is released.

[0131] The pressure building control of the second oil passage can be prohibited.

[0132] In the first separation state, if it is detected that the brake pedal of the vehicle is not depressed, the electromagnetic valve of the second oil passage is controlled to be closed, and the pressure building control of the second oil passage is prohibited, so as to realize the alternate pressure building control and ensure the braking stability of the vehicle.

[0133] In some embodiments, the above-mentioned pressure building control of the first oil passage according to the brake pedal state and the first target oil passage pressure can include:

[0134] In the case where the brake pedal state is the depressed state, the electromagnetic valve of the first oil passage is controlled to be opened;

[0135] According to the first target oil passage pressure and the pressure building pressure of the first oil passage in the case where the electromagnetic valve of the first oil passage is opened, a second pressure building pressure is obtained;

[0136] The pressure building control of the first oil passage is performed according to the second pressure building pressure.

[0137] In the second separation state, if it is detected that the brake pedal of the vehicle is depressed, the electromagnetic valve of the first oil passage is first controlled to be opened, then the pressure building pressure of the first oil passage in the case where the electromagnetic valve of the first oil passage is opened is obtained, and then the second pressure building pressure is determined based on the first target oil passage pressure and the pressure building pressure of the first oil passage in the case where the electromagnetic valve of the first oil passage is opened, so as to ensure the pressure building precision of the first oil passage, and finally the pressure building control of the first oil passage is performed by using the second pressure building pressure, thereby improving the control precision of the alternate pressure building and ensuring the braking stability of the vehicle.

[0138] The above-mentioned pressure building pressure of the first oil passage in the case where the electromagnetic valve of the first oil passage is opened can be a real-time detected pressure building pressure, which is not specifically limited in the present embodiment.

[0139] The above-mentioned second pressure building pressure is used to indicate the target pressure of the first oil passage when the pressure building is performed.

[0140] The above-mentioned obtaining of the second pressure building pressure according to the first target oil passage pressure and the pressure building pressure of the first oil passage in the case where the electromagnetic valve of the first oil passage is opened can include obtaining fourth mapping data, the fourth mapping data including a plurality of fourth variables and a target pressure corresponding to each fourth variable, each fourth variable including a corresponding first target oil passage pressure and pressure building pressure, and selecting the target pressure corresponding to the first target oil passage pressure and the pressure building pressure of the first oil passage in the case where the electromagnetic valve of the first oil passage is opened from the fourth mapping data as the second pressure building pressure, but not limited thereto.

[0141] The above-mentioned fourth mapping data can be pre-set according to actual conditions, which is not specifically limited in the present embodiment.

[0142] The above-mentioned fourth mapping data can be table data or chart data, but not limited thereto.

[0143] The above-mentioned pressure building control of the first oil passage according to the second pressure building pressure can include performing the pressure building of the first oil passage so that the pressure of the first oil passage reaches the second pressure building pressure, but not limited thereto.

[0144] In some embodiments, the obtaining the second pressure build-up pressure according to the first target oil passage pressure and the pressure build-up pressure of the first oil passage when the electromagnetic valve of the first oil passage is opened can include:

[0145] Among the first target oil passage pressure and the pressure build-up pressure of the first oil passage when the electromagnetic valve of the first oil passage is opened, the minimum pressure value is selected as the second pressure build-up pressure.

[0146] In the embodiment, to avoid the situation that the brake system fails due to the excessively high oil passage pressure, among the first target oil passage pressure and the pressure build-up pressure of the first oil passage when the electromagnetic valve of the first oil passage is opened, the minimum pressure value is selected as the second pressure build-up pressure, thereby reducing the failure risk of the brake system and ensuring the braking stability of the vehicle.

[0147] In some embodiments, the pressure build-up control of the first oil passage according to the brake pedal state of the vehicle and the first target oil passage pressure can further include:

[0148] When the brake pedal state is the released state, the electromagnetic valve of the first oil passage is controlled to be closed;

[0149] The pressure build-up control of the first oil passage is prohibited.

[0150] In the embodiment, in the second separation state, if it is detected that the brake pedal of the vehicle is not depressed, the electromagnetic valve of the first oil passage is controlled to be kept closed, and the pressure build-up control of the first oil passage is prohibited, so as to realize the alternate pressure build-up and ensure the braking stability of the vehicle.

[0151] In some embodiments, before the limiting processing of the second initial oil passage pressure of the vehicle to obtain the second target oil passage pressure, the method can further include:

[0152] The second initial oil passage pressure is obtained according to the front axle pressure and the rear axle pressure of the vehicle when the working state of the oil passage of the vehicle is switched to the single oil passage state.

[0153] In the embodiment, since the oil passage pressure of the vehicle is related to the front axle pressure and the rear axle pressure of the vehicle, when the vehicle is in the single oil passage state, the front axle pressure and the rear axle pressure of the vehicle when the working state of the oil passage of the vehicle is switched to the single oil passage state are obtained, and then the second initial oil passage pressure is determined according to the front axle pressure and the rear axle pressure, so as to improve the efficiency of obtaining the initial oil passage pressure.

[0154] The obtaining of the front axle pressure and the rear axle pressure of the vehicle in the case where the working state of the oil circuit of the vehicle is switched to the single-oil-circuit state can include, but is not limited to, the following: in the case where the working state of the oil circuit of the vehicle is switched to the single-oil-circuit state, the front axle and the rear axle of the vehicle are detected by a preset pressure sensor to obtain the front axle pressure and the rear axle pressure.

[0155] The obtaining of the second initial oil circuit pressure according to the front axle pressure and the rear axle pressure of the vehicle in the case where the working state of the oil circuit of the vehicle is switched to the single-oil-circuit state can include the following: in the case where the working state of the oil circuit of the vehicle is switched to the single-oil-circuit state, an average value of the front axle pressure and the rear axle pressure of the vehicle is obtained as the second initial oil circuit pressure.

[0156] Alternatively, the obtaining of the second initial oil circuit pressure according to the front axle pressure and the rear axle pressure of the vehicle in the case where the working state of the oil circuit of the vehicle is switched to the single-oil-circuit state can include the following: in the case where the working state of the oil circuit of the vehicle is switched to the single-oil-circuit state, a maximum pressure value is selected from the front axle pressure and the rear axle pressure of the vehicle as the second initial oil circuit pressure, so as to ensure that the braking system of the vehicle has a certain pressure building capacity.

[0157] In some embodiments, the limiting processing of the second initial oil circuit pressure of the vehicle to obtain the second target oil circuit pressure can include the following:

[0158] The second historical oil circuit pressure of the vehicle is obtained, wherein the second historical oil circuit pressure is an oil circuit pressure of a previous pressure building period of the vehicle in the case where the working state of the oil circuit of the vehicle is switched to the single-oil-circuit state.

[0159] The third initial oil circuit pressure of the vehicle is obtained according to the solenoid valve voltage of the non-leakage oil circuit and the second initial oil circuit pressure.

[0160] The second oil circuit pressure difference is obtained according to the third initial oil circuit pressure and the second historical oil circuit pressure.

[0161] The second target oil circuit pressure is obtained according to the second oil circuit pressure difference, the second historical oil circuit pressure and the third initial oil circuit pressure.

[0162] In the single-oil-path state, in the embodiment, first, the oil path pressure of the previous build-up cycle of the vehicle when the oil path working state of the vehicle is switched to the single-oil-path state is obtained as the second historical oil path pressure; then, the second initial oil path pressure is corrected by the electromagnetic valve voltage of the non-leakage oil path to ensure the accuracy of the oil path pressure of the current build-up cycle, and the third initial oil path pressure of the vehicle is obtained; then, the second oil path pressure difference value is obtained by the third initial oil path pressure and the second historical oil path pressure, which can measure the increase or decrease of the oil path pressure of the current build-up cycle relative to the oil path pressure of the previous build-up cycle; finally, the third initial oil path pressure is limited according to the second oil path pressure difference value and the second historical oil path pressure, and the second target oil path pressure is obtained, thereby improving the control accuracy of the single-oil-path build-up, effectively avoiding the situation that the brake system fails due to the sudden change of the oil path pressure or the excessive load of the motor, reducing the risk of losing control of the vehicle during braking, and ensuring the braking stability of the vehicle.

[0163] The second historical oil path pressure is used to indicate the oil path pressure of the previous build-up cycle of the vehicle when the oil path working state of the vehicle is switched to the single-oil-path state.

[0164] The third initial oil path pressure is used to indicate the corrected second initial oil path pressure.

[0165] The third initial oil path pressure of the vehicle obtained according to the electromagnetic valve voltage of the non-leakage oil path and the second initial oil path pressure can include obtaining fifth mapping data, the fifth mapping data including a plurality of fifth variables and a target pressure corresponding to each fifth variable, each fifth variable including a corresponding electromagnetic valve voltage and second initial oil path pressure; selecting the target pressure corresponding to the electromagnetic valve voltage of the non-leakage oil path and the second initial oil path pressure from the fifth mapping data as the third initial oil path pressure, but not limited thereto.

[0166] The second oil path pressure difference value is used to measure the increase or decrease of the oil path pressure of the current build-up cycle relative to the oil path pressure of the previous build-up cycle when the oil path working state of the vehicle is switched to the single-oil-path state.

[0167] The second oil path pressure difference value obtained according to the third initial oil path pressure and the second historical oil path pressure can include obtaining sixth mapping data, the sixth mapping data including a plurality of sixth variables and a pressure difference value corresponding to each sixth variable, each sixth variable including a corresponding third initial oil path pressure and second historical oil path pressure; selecting the pressure difference value corresponding to the third initial oil path pressure and the second historical oil path pressure from the sixth mapping data as the second oil path pressure difference value, but not limited thereto.

[0168] The above obtaining the second target hydraulic line pressure according to the second hydraulic line pressure difference, the second historical hydraulic line pressure and the third initial hydraulic line pressure can include obtaining seventh mapping data, the seventh mapping data including a plurality of seventh variables and a target pressure corresponding to each seventh variable, each seventh variable including the corresponding second hydraulic line pressure difference, the second historical hydraulic line pressure and the third initial hydraulic line pressure; and selecting the target pressure corresponding to the second hydraulic line pressure difference, the second historical hydraulic line pressure and the third initial hydraulic line pressure from the seventh mapping data as the second target hydraulic line pressure, but not limited thereto.

[0169] The sixth mapping data and the seventh mapping data can be pre-set according to actual conditions, and the present embodiment does not make specific limitations thereto.

[0170] The sixth mapping data and the seventh mapping data can be table data or chart data, but not limited thereto.

[0171] In some embodiments, the above obtaining the third initial hydraulic line pressure of the vehicle according to the solenoid voltage of the non-leakage hydraulic line and the second initial hydraulic line pressure can include:

[0172] If the solenoid voltage of the non-leakage hydraulic line is greater than a preset voltage threshold, the minimum pressure value between the preset first limiting pressure and the second initial hydraulic line pressure is selected as the third initial hydraulic line pressure.

[0173] Or, if the solenoid voltage of the non-leakage hydraulic line is less than or equal to the voltage threshold, the minimum pressure value between the preset second limiting pressure and the second initial hydraulic line pressure is selected as the third initial hydraulic line pressure, and the first limiting pressure is greater than the second limiting pressure.

[0174] In the present embodiment, compared with the hydraulic line pressure abnormality, the priority of the brake system degradation caused by the solenoid voltage abnormality of the hydraulic line is higher, and therefore, after obtaining the second initial hydraulic line pressure, the second initial hydraulic line pressure needs to be corrected based on the degradation of the brake system to reduce the influence of the solenoid voltage abnormality of the hydraulic line on the hydraulic line pressure building process.

[0175] When the solenoid valve voltage of the oil circuit is too low, the braking system of the vehicle will enter a degraded mode, in which the full function of the braking system cannot be used, which is prone to cause the motor to have an excessive pressure building stroke due to insufficient pressure building capacity of the motor, and thus cause the braking system to fail. To this end, in the degraded mode, the flow rate of the non-leakage oil circuit needs to be limited to ensure normal braking of the vehicle. When the solenoid valve voltage of the oil circuit is within a normal range, the braking system of the vehicle remains in a non-degraded mode, in which the full function of the braking system can be normally used, but since there is only one oil circuit pressure building in the single oil circuit state, the braking force of the vehicle may be too large due to excessive oil circuit pressure, and thus the vehicle may lose control. To this end, in the non-degraded mode, the flow rate of the non-leakage oil circuit also needs to be limited to reduce the risk of vehicle loss of control.

[0176] Specifically, when the solenoid valve voltage of the non-leakage oil circuit is greater than a preset voltage threshold, it indicates that the solenoid valve voltage of the non-leakage oil circuit is within a normal range, and the braking system of the vehicle is in a non-degraded mode. At this time, the oil circuit pressure of the current pressure building cycle is corrected to limit the flow rate of the non-leakage oil circuit. The correction method is to select the minimum pressure value between the preset first limiting pressure and the second initial oil circuit pressure as the third initial oil circuit pressure, so as to avoid the situation that the braking force of the vehicle is too large due to excessive oil circuit pressure, reduce the risk of vehicle loss of control, and ensure the braking stability of the vehicle.

[0177] When the solenoid valve voltage of the non-leakage oil circuit is less than or equal to the preset voltage threshold, it indicates that the solenoid valve voltage of the non-leakage oil circuit is too low, and the braking system of the vehicle will enter a degraded mode. At this time, the oil circuit pressure of the current pressure building cycle is corrected to limit the flow rate of the non-leakage oil circuit. The correction method is to select the minimum pressure value between the preset second limiting pressure and the second initial oil circuit pressure as the third initial oil circuit pressure, so as to avoid the situation that the motor has an excessive pressure building stroke due to insufficient pressure building capacity of the motor when the solenoid valve voltage of the oil circuit is too low, reduce the risk of failure of the braking system, and ensure the braking stability of the vehicle.

[0178] The first limiting pressure and the second limiting pressure can be set according to actual conditions, which are not limited in the embodiment. However, it should be noted that too low solenoid valve voltage of the oil circuit will have a greater negative impact on the braking system, so the oil circuit pressure needs to be corrected to a greater extent when the solenoid valve voltage of the oil circuit is too low. The first limiting pressure is greater than the second limiting pressure.

[0179] The voltage threshold can be set according to actual conditions, which is not limited in the embodiment.

[0180] In some embodiments, the obtaining the second oil line pressure difference value according to the third initial oil line pressure and the second historical oil line pressure can include:

[0181] calculating a difference value between the third initial oil line pressure and the second historical oil line pressure as the second oil line pressure difference value.

[0182] In the embodiment, the difference value between the third initial oil line pressure and the second historical oil line pressure is calculated as the second oil line pressure difference value, and then the difference between the oil line pressure of the current pressure building period and the oil line pressure of the previous pressure building period is measured by the second oil line pressure difference value, so as to facilitate the implementation of subsequent limiting processing.

[0183] In some embodiments, the obtaining the second target oil line pressure according to the second oil line pressure difference value, the second historical oil line pressure and the third initial oil line pressure can include:

[0184] if the second oil line pressure difference value is greater than a preset step threshold, calculating a sum of the step threshold and the second historical oil line pressure as the second target oil line pressure;

[0185] or, if the second oil line pressure difference value is less than or equal to the step threshold, taking the third initial oil line pressure as the second target oil line pressure.

[0186] In the embodiment, after obtaining the second oil line pressure difference value, the second oil line pressure difference value is compared with the preset step threshold, and corresponding limiting processing is performed according to the comparison result.

[0187] Specifically, when the second oil line pressure difference value is greater than the step threshold, it indicates that the difference between the oil line pressure of the current pressure building period and the oil line pressure of the previous pressure building period is too large and the oil line pressure of the current pressure building period is too large, i.e., the oil line pressure of the current pressure building period increases too much compared with the oil line pressure of the previous pressure building period, which means that the oil line pressure changes too fast and the slope is too large between the adjacent two pressure building periods, at this time, the oil line pressure is prone to be too large or to mutate, the motor load is prone to be too large, and the like, and thus the brake system is prone to failure. In this case, the oil line pressure of the current pressure building period needs to be limited, and the limiting processing is to calculate the sum of the step threshold and the second historical oil line pressure as the second target oil line pressure, so as to avoid the oil line pressure being too large or mutating, the motor load being too large, and the like, reduce the risk of brake system failure, and ensure the braking stability of the vehicle.

[0188] When the second oil line pressure difference is less than or equal to the step threshold value, it indicates that the difference between the oil line pressure of the current pressure building period and the oil line pressure of the previous pressure building period is not large and the oil line pressure of the current pressure building period is within the normal value range, which means that the oil line pressure change between the adjacent two pressure building periods is normal, and the oil line pressure of the current pressure building period does not need to be limited, and the third initial oil line pressure is directly taken as the second target oil line pressure.

[0189] The step threshold value can be set according to actual conditions, and the embodiment is not limited in this regard.

[0190] In some embodiments, the single oil line state can include any one of a first single oil line state or a second single oil line state, wherein in the first single oil line state, only the first oil line is controlled for pressure building, and the first oil line is a non-leakage oil line; and in the second single oil line state, only the second oil line is controlled for pressure building, and the second oil line is a non-leakage oil line.

[0191] The pressure building control of the non-leakage oil line according to the second target oil line pressure can include:

[0192] In the first single oil line state, the first oil line is controlled for pressure building according to the second target oil line pressure.

[0193] Or, in the second single oil line state, the second oil line is controlled for pressure building according to the second target oil line pressure.

[0194] In the embodiment, the single oil line state includes the first single oil line state or the second single oil line state, the first single oil line state is used for pressure building control of only the first oil line, and the second single oil line state is used for pressure building control of only the second oil line. Based on this, when the oil line working state of the vehicle is switched from the oil line separation state to the first single oil line state, the first oil line is controlled for pressure building according to the second target oil line pressure; when the oil line working state of the vehicle is switched from the oil line separation state to the second single oil line state, the second oil line is controlled for pressure building according to the second target oil line pressure, thereby improving the pressure building control efficiency of the single oil line.

[0195] The first single oil line state is used for pressure building control of only the first oil line.

[0196] The second single oil line state is used for pressure building control of only the second oil line.

[0197] The pressure building control of the first oil line according to the second target oil line pressure can include, but is not limited to, pressure building control of the first oil line to make the pressure of the first oil line reach the second target oil line pressure.

[0198] The building pressure control on the second oil circuit according to the second target oil circuit pressure can include, but is not limited to, building pressure control on the second oil circuit to make the pressure of the second oil circuit reach the second target oil circuit pressure.

[0199] In some embodiments, the method can further include:

[0200] In the case where no oil circuit leakage of the vehicle is detected, determining that the working state of the oil circuit of the vehicle is a full-function state, wherein the full-function state is used for building pressure control on each oil circuit of the vehicle;

[0201] In the full-function state, obtaining a fourth initial oil circuit pressure of the vehicle, and building pressure control on each oil circuit of the vehicle according to the fourth initial oil circuit pressure.

[0202] In the embodiment, if it is detected that all oil circuits of the vehicle are not leaked, it is determined that the working state of the oil circuit of the vehicle is a full-function state, and the full-function state is used for building pressure control on each oil circuit of the vehicle; in the full-function state, a fourth initial oil circuit pressure of the vehicle is first obtained, the fourth initial oil circuit pressure refers to the oil circuit pressure of the current building pressure cycle of the vehicle in the case where the working state of the oil circuit of the vehicle is the full-function state, and then building pressure control is performed on each oil circuit of the vehicle according to the fourth initial oil circuit pressure, so as to ensure normal braking of the vehicle.

[0203] The full-function state is a normal control mode, and the full-function state is used for building pressure control on each oil circuit of the vehicle.

[0204] The fourth initial oil circuit pressure is used to indicate the oil circuit pressure of the current building pressure cycle of the vehicle in the case where the working state of the oil circuit of the vehicle is the full-function state.

[0205] The obtaining of the fourth initial oil circuit pressure of the vehicle can include, but is not limited to, in the case where the working state of the oil circuit of the vehicle is the full-function state, performing pressure detection on a plurality of oil circuits of the vehicle by a preset oil circuit sensor to obtain oil circuit pressures of the plurality of oil circuits; and processing the oil circuit pressures of the plurality of oil circuits to obtain the fourth initial oil circuit pressure.

[0206] The processing of the oil circuit pressures of the plurality of oil circuits to obtain the fourth initial oil circuit pressure can include selecting the maximum pressure value in the oil circuit pressures of the plurality of oil circuits as the fourth initial oil circuit pressure.

[0207] Alternatively, the processing of the oil circuit pressures of the plurality of oil circuits to obtain the fourth initial oil circuit pressure can include obtaining the average value of the oil circuit pressures of the plurality of oil circuits as the fourth initial oil circuit pressure, but is not limited thereto.

[0208] The above building pressure control of each oil line of the vehicle according to the fourth initial oil line pressure can include building pressure of each oil line of the vehicle at the same time, so that the pressure of each oil line reaches the fourth initial oil line pressure, but is not limited thereto.

[0209] In some embodiments, the above obtaining the fourth initial oil line pressure of the vehicle can include:

[0210] The fourth initial oil line pressure is obtained according to the front axle pressure and the rear axle pressure of the vehicle in the full function state.

[0211] In the embodiment, since the oil line pressure of the vehicle is related to the front axle pressure and the rear axle pressure of the vehicle, the front axle pressure and the rear axle pressure of the vehicle in the full function state are obtained, and then the fourth initial oil line pressure is determined according to the front axle pressure and the rear axle pressure, so as to improve the efficiency of obtaining the initial oil line pressure.

[0212] The above obtaining the front axle pressure and the rear axle pressure of the vehicle in the full function state can include detecting the front axle and the rear axle of the vehicle by a preset pressure sensor to obtain the front axle pressure and the rear axle pressure in the full function state.

[0213] The above obtaining the fourth initial oil line pressure according to the front axle pressure and the rear axle pressure of the vehicle in the full function state can include obtaining the average value of the front axle pressure and the rear axle pressure of the vehicle in the full function state as the fourth initial oil line pressure.

[0214] Alternatively, the above obtaining the fourth initial oil line pressure according to the front axle pressure and the rear axle pressure of the vehicle in the full function state can include selecting the maximum pressure value from the front axle pressure and the rear axle pressure of the vehicle in the full function state as the fourth initial oil line pressure, so as to ensure that the braking system has a certain building pressure capability.

[0215] In some embodiments, the above controlling the working state of the oil line of the vehicle to switch to the oil line separation state can include:

[0216] In a case where the first time length after detecting the oil line leakage of the vehicle arrives, the working state of the oil line of the vehicle is controlled to switch from the full function state to the oil line separation state.

[0217] In the embodiment, after detecting that the vehicle has oil line leakage, a preset first time length is waited for; when the first time length arrives, the working state of the oil line of the vehicle is controlled to switch from the full function state to the oil line separation state, so as to give the braking system enough time to control the opening and closing of the electromagnetic valve of each oil line, effectively ensure the smoothness during state switching, and improve the braking stability of the vehicle.

[0218] The above first time length can be set according to actual conditions, and the embodiment does not make specific limitation thereto.

[0219] For example, the first time length can be 300 milliseconds, but is not limited thereto.

[0220] In some embodiments, the alternating pressure building control of the plurality of oil lines of the vehicle according to the first target oil line pressure can further include:

[0221] In the first separation state, if a second time length after the non-leakage oil line is detected arrives, the working state of the oil lines of the vehicle is switched from the first separation state to the second separation state.

[0222] Alternatively, in the second separation state, if a third time length after the non-leakage oil line is detected arrives, the working state of the oil lines of the vehicle is switched from the second separation state to the first separation state.

[0223] In the first separation state, the leakage oil line is detected, and a second time length is waited for. If the second time length arrives and the leakage oil line is not detected, the working state of the oil lines of the vehicle is switched from the first separation state to the second separation state to detect whether the first oil line has an oil line leakage. Alternatively, in the second separation state, the leakage oil line is detected, and a third time length is waited for. If the third time length arrives and the leakage oil line is not detected, the working state of the oil lines of the vehicle is switched from the second separation state to the first separation state to detect whether the second oil line has an oil line leakage. In this way, the alternating pressure building control of the plurality of oil lines is realized, the normal operation of the oil line leakage diagnosis during the alternating pressure building control is ensured, and the brake system has sufficient time to control the opening and closing of the electromagnetic valves of the oil lines, ensuring the smoothness during state switching.

[0224] The second time length and the third time length can be set according to actual conditions, and the present embodiment does not make specific limitations thereto.

[0225] For example, the second time length and the third time length can both be 20 milliseconds, but are not limited thereto.

[0226] In some embodiments, the switching of the working state of the oil lines of the vehicle to the single oil line state can include:

[0227] In the case where a fourth time length after the non-leakage oil line is detected arrives, the working state of the oil lines of the vehicle is switched to the single oil line state.

[0228] In the present embodiment, after the non-leakage oil line is detected, a fourth time length is waited for. When the fourth time length arrives, the working state of the oil lines of the vehicle is switched from the oil line separation state to the single oil line state, and the brake system has sufficient time to control the opening and closing of the electromagnetic valves of the oil lines, effectively ensuring the smoothness during state switching and improving the braking stability of the vehicle.

[0229] The fourth time length can be set according to actual conditions, and the embodiment is not limited in this regard.

[0230] For example, the fourth time length can be 20 milliseconds, but is not limited thereto.

[0231] To facilitate the understanding of the above-mentioned oil path pressure processing method of the present application, the actual application scenario of the above-mentioned oil path pressure processing method of the present application is exemplified.

[0232] In this example, the brake system of the vehicle is an integrated brake system, which is configured with a first oil path and a second oil path, and the working state of the oil path of the vehicle includes a full-function state, an oil path separation state and a single-oil path state, the oil path separation state includes a first separation state or a second separation state, and the single-oil path state includes a first single-oil path state or a second single-oil path state. The full-function state is used to control the pressure build-up of the first oil path and the second oil path based on the target oil path pressure; the first separation state is used to control the pressure build-up of the first oil path and control the pressure build-up of the second oil path according to the brake pedal state; the second separation state is used to control the pressure build-up of the second oil path and control the pressure build-up of the first oil path according to the brake pedal state; the first single-oil path state is used to control the pressure build-up of only the first oil path; and the second single-oil path state is used to control the pressure build-up of only the second oil path.

[0233] In this example, the pressure processing process of the first oil path and the second oil path is as follows.

[0234] S201, when the vehicle is running, the working state of the oil path of the vehicle is in the full-function state, and the pressure build-up of each oil path of the vehicle is controlled in the full-function state, and whether the vehicle has oil path leakage is detected; if yes, wait for 300 milliseconds, control the working state of the oil path of the vehicle to switch from the full-function state to the oil path separation state, and enter step S202; if not, keep the full-function state, and return to the step of detecting whether the vehicle has oil path leakage to realize cyclic detection.

[0235] S202, in the oil path separation state, the first initial oil path pressure and the first historical oil path pressure of the vehicle are obtained, and the first initial oil path pressure of the vehicle is limited according to the first historical oil path pressure to obtain the first target oil path pressure.

[0236] Firstly, from the front axle pressure and the rear axle pressure of the vehicle in the case that the working state of the oil circuit of the vehicle is switched to the separated state of the oil circuit, the maximum pressure value is selected as the first initial oil circuit pressure, i.e., Ptarget1 = max (F1, F2), Ptarget1 is the first initial oil circuit pressure, F1 is the front axle pressure of the vehicle in the case that the working state of the oil circuit of the vehicle is switched to the separated state of the oil circuit, and F2 is the rear axle pressure of the vehicle in the case that the working state of the oil circuit of the vehicle is switched to the separated state of the oil circuit;

[0237] Then, the difference between the first initial oil circuit pressure and the first historical oil circuit pressure is calculated as the first oil circuit pressure difference, i.e., Delta1 = Ptarget1 - PK1, Delta1 is the first oil circuit pressure difference, and PK1 is the first historical oil circuit pressure.

[0238] Subsequently, the first oil circuit pressure difference is compared with the preset first hydraulic threshold and the preset second hydraulic threshold respectively, so as to obtain the first target oil circuit pressure, specifically: when Delta1 > A1, A1 is the first hydraulic threshold and A1 > 0, Ptarget_ratelimited1 = PK1 + A1 is set, wherein Ptarget_ratelimited1 is the first target oil circuit pressure; when Delta1 < A2, A2 is the second hydraulic threshold and A2 < 0, Ptarget_ratelimited1 = PK1 + A2 is set; when A2 ≤ Delta1 ≤ A1, Ptarget_ratelimited1 = PK1 is set.

[0239] S203, by default, the separated state of the oil circuit of the vehicle is the first separated state, in the first separated state, for the first oil circuit, the electromagnetic valve thereof is always open, and the first oil circuit is controlled to build pressure according to the first target oil circuit pressure, so that the pressure of the first oil circuit reaches the first target oil circuit pressure; for the second oil circuit, the opening and closing of the electromagnetic valve thereof is affected by the state of the brake pedal of the vehicle, if it is detected that the brake pedal of the vehicle is stepped on, the electromagnetic valve of the second oil circuit is controlled to be opened, and the minimum pressure value is selected as the first build pressure from the first target oil circuit pressure and the build pressure of the second oil circuit in the case that the electromagnetic valve of the second oil circuit is opened, i.e., P1 = min (Ptarget_ratelimited1, Ptarget_C2), P1 is the first build pressure, and Ptarget_C2 is the build pressure of the second oil circuit in the case that the electromagnetic valve of the second oil circuit is opened; if it is detected that the brake pedal of the vehicle is not stepped on, the electromagnetic valve of the second oil circuit is controlled to be closed and the build pressure control of the second oil circuit is prohibited.

[0240] During the above oil path pressure building period, the first oil path and the second oil path are detected, aiming to detect whether the second oil path has a leakage; if a second duration after no leakage oil path is detected arrives, the working state of the oil path of the vehicle is switched from the first separation state to the second separation state, and step S204 is entered to detect whether the first oil path has a leakage; wherein the second duration is 20 milliseconds; if a leakage oil path is detected within the second duration, step S205 is entered.

[0241] S204, in the second separation state, for the second oil path, the electromagnetic valve is always open, the second oil path is controlled according to the first target oil path pressure to build pressure, so that the pressure of the second oil path reaches the first target oil path pressure; for the first oil path, the opening and closing of the electromagnetic valve is affected by the state of the brake pedal of the vehicle, if it is detected that the brake pedal of the vehicle is stepped on, the electromagnetic valve of the first oil path is controlled to open, and the second building pressure is selected as the minimum pressure value between the first target oil path pressure and the building pressure of the first oil path under the condition that the electromagnetic valve of the first oil path is open, that is, P2 = min(Ptarget_ratelimited1, Ptarget_C1), P2 is the second building pressure, Ptarget_C1 is the building pressure of the first oil path under the condition that the electromagnetic valve of the first oil path is open; if it is detected that the brake pedal of the vehicle is not stepped on, the electromagnetic valve of the first oil path is controlled to be closed and the building control of the first oil path is prohibited.

[0242] During the above oil path pressure building period, the first oil path and the second oil path are detected, aiming to detect the oil path without leakage, i.e. non-leakage oil path; if a third duration after no leakage oil path is detected arrives, the working state of the oil path of the vehicle is switched from the second separation state to the first separation state, and returns to step S203 to realize cyclic detection, wherein the third duration is 20 milliseconds; if a leakage oil path is detected within the second duration, step S205 is entered.

[0243] S205, when the non-leakage oil path is detected, waiting for 20 milliseconds, the working state of the oil path of the vehicle is switched from the oil path separation state to the single oil path state, and step S206 is entered.

[0244] S206, in the single oil path state, the second initial oil path pressure of the vehicle, the electromagnetic valve voltage of the non-leakage oil path and the second historical oil path pressure are obtained, and the second initial oil path pressure is limited according to the electromagnetic valve voltage of the non-leakage oil path and the second historical oil path pressure to obtain the second target oil path pressure.

[0245] Specifically, first, from the front axle pressure and the rear axle pressure of the vehicle in the case of switching the working state of the oil circuit of the vehicle to the single oil circuit state, the maximum pressure value is selected as the second initial oil circuit pressure, i.e. Ptarget2 = max (F3, F4), Ptarget2 is the second initial oil circuit pressure, F3 is the front axle pressure of the vehicle in the case of switching the working state of the oil circuit of the vehicle to the single oil circuit state, and F4 is the rear axle pressure of the vehicle in the case of switching the working state of the oil circuit of the vehicle to the single oil circuit state;

[0246] Further, the second initial oil circuit pressure is corrected by the voltage of the electromagnetic valve of the non-leakage oil circuit, specifically: when U > U', U is the voltage of the electromagnetic valve of the non-leakage oil circuit, U' is the voltage threshold, Ptarget3 = min (Ptarget2, R1), Ptarget3 is the third initial oil circuit pressure, and R1 is the first limit pressure; when U1≤U', in the second limit pressure and the second initial oil circuit pressure, Ptarget3 = min (Ptarget2, R2), R2 is the second limit pressure, and R2 < R1;

[0247] Then, the difference between the third initial oil circuit pressure and the second historical oil circuit pressure is calculated as the second oil circuit pressure difference, i.e. Delta2 = Ptarget3 - PK2, Delta2 is the second oil circuit pressure difference, and PK2 is the second historical oil circuit pressure;

[0248] Then, the second oil circuit pressure difference is compared with the preset step threshold, and the third initial oil circuit pressure is limited according to the comparison result, and then the second target oil circuit pressure is obtained, specifically: when Delta2 > Pdiff, Pdiff is the step threshold, Ptarget_ratelimited2 = PK1 + Pdiff, Ptarget_ratelimited2 is the second target oil circuit pressure; when Delta2≤Pdiff, Ptarget_ratelimited2 = Ptarget3.

[0249] S207, in the first single oil circuit state, the first oil circuit is controlled to build pressure to make the pressure of the first oil circuit reach the second target oil circuit pressure, and the second oil circuit is prohibited from being controlled to build pressure; in the second single oil circuit state, the second oil circuit is controlled to build pressure to make the pressure of the second oil circuit reach the second target oil circuit pressure, and the first oil circuit is prohibited from being controlled to build pressure.

[0250] Secondly, referring to FIG. 2, the oil circuit pressure processing device provided by the embodiment of the application comprises:

[0251] The first processing module 301 is configured to control the oil circuit of the vehicle to switch to an oil circuit separation state when the oil circuit leakage of the vehicle is detected, wherein the oil circuit separation state is used to control multiple oil circuits of the vehicle to be alternately pressurized.

[0252] The second processing module 302 is configured to limit a first initial oil circuit pressure of the vehicle to obtain a first target oil circuit pressure in the oil circuit separation state, wherein the first initial oil circuit pressure is an oil circuit pressure of a current pressurization cycle of the vehicle when the oil circuit of the vehicle is switched to the oil circuit separation state.

[0253] The third processing module 303 is configured to control the multiple oil circuits of the vehicle to be alternately pressurized according to the first target oil circuit pressure, and detect a non-leakage oil circuit in the multiple oil circuits during the alternately pressurizing control.

[0254] The fourth processing module 304 is configured to control the oil circuit of the vehicle to switch to a single oil circuit state when the non-leakage oil circuit is detected, wherein the single oil circuit state is used to control a solenoid valve of a leakage oil circuit of the vehicle to be closed and the non-leakage oil circuit to be pressurized.

[0255] The fifth processing module 305 is configured to limit a second initial oil circuit pressure to obtain a second target oil circuit pressure in the single oil circuit state, wherein the second initial oil circuit pressure is an oil circuit pressure of a current pressurization cycle of the vehicle when the oil circuit of the vehicle is switched to the single oil circuit state.

[0256] The sixth processing module 306 is configured to control the non-leakage oil circuit to be pressurized according to the second target oil circuit pressure.

[0257] The contents in the method embodiments are applicable to the device embodiments, the device embodiments specifically realize the same functions as the method embodiments, and achieve the same beneficial effects as the method embodiments.

[0258] Further, referring to FIG. 3, the embodiment of the application provides an integrated brake system, which comprises:

[0259] at least one processor 401;

[0260] at least one memory 402 configured to store at least one program;

[0261] When the at least one program is executed by the at least one processor 401, the at least one processor 401 implements the above oil circuit pressure processing method.

[0262] The memory 402, as a non-transitory network system, can be used to store non-transitory software programs and non-transitory computer executable programs. In addition, the memory 402 can include a high-speed random access memory, and can also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state memory device. In some embodiments, the memory 402 can optionally include a memory 402 disposed remotely with respect to the processor 401, which can be connected to the processor 401 through a network. Examples of the above network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0263] The memory 402 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 402 can store an operating system and other application programs. When the technical solutions provided by the embodiments of the present application are implemented by software or firmware, the related program codes are stored in the memory 402 and are called and executed by the processor 401 to implement the method of the embodiments of the present application.

[0264] The processor 401 can be implemented in the form of a general-purpose central processing unit (CPU), a microprocessor, an application specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute related programs to implement the technical solutions provided by the embodiments of the present application.

[0265] In some embodiments, the integrated brake system described above can further include:

[0266] An input / output interface for realizing information input and output;

[0267] A communication interface for realizing communication interaction between the device and other devices, which can realize communication through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.);

[0268] A bus for transmitting information between various components (such as the processor 401, the memory 402, the input / output interface, and the communication interface) of the device;

[0269] The processor 401, the memory 402, the input / output interface, and the communication interface can realize communication connection between each other inside the device through the bus.

[0270] Similarly, the contents in the above method embodiments are applicable to the present device embodiments, the present device embodiments specifically implement the same functions as the above method embodiments, and achieve the same beneficial effects as the above method embodiments.

[0271] Finally, the present application provides a vehicle comprising the above oil pressure processing device and / or the above integrated brake system.

[0272] The above vehicle can be a private car, such as a sedan, a sport utility vehicle (SUV), a multi-purpose vehicle (MPV), or a pickup truck, etc., or can be an operating vehicle, such as a van, a bus, a small truck, or a large trailer, etc., or can be a fuel vehicle or a new energy vehicle such as a hybrid vehicle, a pure electric vehicle, etc.

[0273] Similarly, the contents in the above method embodiments are applicable to the present vehicle embodiments, the present vehicle embodiments specifically implement the same functions as the above method embodiments, and achieve the same beneficial effects as the above method embodiments.

[0274] As can be seen from the above, the present application can improve the control accuracy of oil pressure building. On the one hand, by limiting the oil pressure of the vehicle when the oil line leaks, and using the limited oil pressure to alternately build pressure control for multiple oil lines of the vehicle, and realizing oil leak diagnosis during the alternate pressure building, the control accuracy of the alternate pressure building is improved, which can effectively avoid the situation that the brake system fails due to sudden change of oil pressure or excessive load of the motor, etc., ensure the braking stability of the vehicle, and improve the diagnosis efficiency of the oil leak, and ensure the timeliness of the oil leak diagnosis.

[0275] On the other hand, the present application limits the oil pressure of the vehicle when a non-leakage oil line is detected, and builds pressure control for the non-leakage oil line based on the limited oil pressure, thereby improving the control accuracy of single oil pressure building, effectively avoiding the situation that the brake system fails due to sudden change of oil pressure or excessive load of the motor, etc., reducing the risk of losing control of the vehicle during braking, and ensuring the braking stability of the vehicle.

[0276] In some alternative embodiments, the function / operations mentioned in the block diagrams can not occur in the order mentioned in the operational illustrations. For example, depending on the involved function / operation, two blocks shown in succession can in fact be executed substantially concurrently or the blocks can sometimes be executed in reverse order, depending upon the functionality / operations involved. Further, embodiments presented and described in the flowcharts are only examples of implementations. The processes presented and described as examples can be implemented in hardware, software, or both hardware and software without deviating from the scope of the application. The various operations of methods described herein can be performed by any suitable means capable of performing the corresponding functions without deviating from the scope of the application. The various embodiments disclosed herein can be implemented in a variety of ways, including as a method, as a system, as a device, as a computer program product (including a non-transitory computer readable medium having program code stored thereon), or as any suitable combination of the foregoing.

[0277] Further, while the present application has been described in the context of functional modules, it is to be understood that one or more of the functions and / or features can be integrated in a single physical device and / or software module, or one or more functions and / or features can be implemented in separate physical devices or software modules. It is also to be understood that detailed discussion of the actual implementation of each module is unnecessary to an understanding of the present application. Rather, the actual implementation is within the routine skill of engineers familiar with the properties, functions and internal relationships of the various functional modules disclosed herein. Accordingly, the present application is not limited to purely hardware implementations, but also encompasses software implementations, including program code stored in a storage medium, which program code performs the functions described herein when executed by a suitable apparatus. It is also to be understood that the disclosed specific concepts are merely illustrative and not intended to limit the scope of the present application, which is defined by the appended claims and their equivalents.

[0278] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of programs for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0279] The logic and / or steps represented in the flow diagrams or otherwise described herein, for example, can be embodied in non-transitory computer- readable media, executed by a program executing system, apparatus, or device, such as a computer-based system, a processor-based system, or other system that can fetch the program (from the system, apparatus, or device) and execute the program, or in conjunction with such a program executing system, apparatus, or device. For the purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with the program executing system, apparatus, or device.

[0280] More specific examples (a non-exhaustive list) of the computer-readable medium include the following: an electrical connection (electronic) having one or more wires, a portable computer diskette (magnetic), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can also be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, for example, via optical scanning of the paper or other medium, then compiled, interpreted, or otherwise processed in a suitable manner, if necessary, and stored in a computer memory.

[0281] It should be understood that aspects of the present application can be implemented in hardware, software, firmware, or combinations thereof. In the above-described embodiments, multiple steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable program executing system. For example, if implemented in hardware, and as in another embodiment, any of the following technologies known in the art, or combinations thereof, can be used: discrete logic circuitry having logic gates for implementing logic functions upon data signals, application specific integrated circuits having appropriate combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), and the like.

[0282] In the above-described description of the present specification, the description referring to the terms "one embodiment," "another embodiment," or "certain embodiments," and the like, means that the particular feature, structure, material, or characteristic being described in connection with the embodiment or example is included in at least one embodiment or example of the present application. The illustrative appearances of the above-described terms in the description are not necessarily referred to the same embodiment or example throughout the specification. Moreover, the particular features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0283] While the embodiments of the application have been shown and described, it is to be understood that the embodiments can be varied, modified, substituted and changed by those skilled in the art without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

[0284] The above is a specific description of the preferred embodiments of the application, but the application is not limited to the described embodiments, and those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the application, and these equivalent modifications or substitutions are all included in the scope defined by the claims of the application.

Claims

1. An oil circuit pressure processing method comprising the steps of: in a case where a leakage of an oil circuit of a vehicle is detected, controlling a working state of the oil circuit of the vehicle to be switched to an oil circuit separation state, wherein the oil circuit separation state is used to control a plurality of oil circuits of the vehicle to be alternately pressurized; in the oil circuit separation state, performing a limiting process on a first initial oil circuit pressure of the vehicle to obtain a first target oil circuit pressure, wherein the first initial oil circuit pressure is an oil circuit pressure of a current pressurization cycle of the vehicle in a case where the working state of the oil circuit of the vehicle is switched to the oil circuit separation state; controlling the plurality of oil circuits of the vehicle to be alternately pressurized according to the first target oil circuit pressure, and detecting a non-leakage oil circuit among the plurality of oil circuits during the alternately pressurizing control; in a case where the non-leakage oil circuit is detected, controlling the working state of the oil circuit of the vehicle to be switched to a single oil circuit state, wherein the single oil circuit state is used to perform a pressurizing control on only the non-leakage oil circuit; in the single oil circuit state, performing a limiting process on a second initial oil circuit pressure of the vehicle to obtain a second target oil circuit pressure, wherein the second initial oil circuit pressure is an oil circuit pressure of a current pressurization cycle of the vehicle in a case where the working state of the oil circuit of the vehicle is switched to the single oil circuit state; performing a pressurizing control on the non-leakage oil circuit according to the second target oil circuit pressure.

2. The oil passage pressure handling method according to claim 1, wherein The limiting process on the first initial oil circuit pressure of the vehicle to obtain the first target oil circuit pressure comprises: obtaining a first historical oil circuit pressure of the vehicle, wherein the first historical oil circuit pressure is an oil circuit pressure of a previous pressurization cycle of the vehicle in a case where the working state of the oil circuit of the vehicle is switched to the oil circuit separation state; obtaining a first oil circuit pressure difference value according to the first historical oil circuit pressure and the first initial oil circuit pressure; obtaining the first target oil circuit pressure according to the first oil circuit pressure difference value and the first historical oil circuit pressure.

3. The oil passage pressure handling method according to claim 2, wherein The obtaining of the first oil circuit pressure difference value according to the first historical oil circuit pressure and the first initial oil circuit pressure comprises: calculating a difference value of the first initial oil circuit pressure relative to the first historical oil circuit pressure as the first oil circuit pressure difference value.

4. The oil passage pressure processing method according to claim 2, wherein The obtaining of the first target oil circuit pressure according to the first oil circuit pressure difference value and the first historical oil circuit pressure comprises: if the first oil circuit pressure difference value is greater than a preset first hydraulic threshold value, calculating a sum of the first historical oil circuit pressure and the first hydraulic threshold value as the first target oil circuit pressure, the first hydraulic threshold value being greater than zero; or, if the first oil circuit pressure difference value is less than a preset second hydraulic threshold value, calculating a sum of the first historical oil circuit pressure and the second hydraulic threshold value as the first target oil circuit pressure, the second hydraulic threshold value being less than zero; or, if the first oil circuit pressure difference value is greater than or equal to the second hydraulic threshold value and the first oil circuit pressure difference value is less than or equal to the first hydraulic threshold value, taking the first historical oil circuit pressure as the first target oil circuit pressure.

5. The oil passage pressure handling method according to claim 1, wherein The multiple oil paths include a first oil path and a second oil path, and the oil path separation state includes a first separation state or a second separation state, in the first separation state, a solenoid valve of the first oil path is always open, and in the second separation state, a solenoid valve of the second oil path is always open; The alternating pressure building control of the multiple oil paths of the vehicle according to the first target oil path pressure includes: In the first separation state, the first oil path is controlled according to the first target oil path pressure, and the second oil path is controlled according to the brake pedal state of the vehicle and the first target oil path pressure; Or, in the second separation state, the second oil path is controlled according to the first target oil path pressure, and the first oil path is controlled according to the brake pedal state and the first target oil path pressure.

6. The oil passage pressure processing method according to claim 5, wherein The pressure building control of the second oil path according to the brake pedal state of the vehicle and the first target oil path pressure includes: In the case that the brake pedal state is a pedal-down state, the solenoid valve of the second oil path is controlled to be open; A first pressure building pressure is obtained according to the first target oil path pressure and the pressure building pressure of the second oil path in the case that the solenoid valve of the second oil path is open; The second oil path is controlled according to the first pressure building pressure.

7. The oil passage pressure handling method according to claim 6, wherein The first pressure building pressure is obtained according to the first target oil path pressure and the pressure building pressure of the second oil path in the case that the solenoid valve of the second oil path is open, including: The minimum pressure value is selected as the first pressure building pressure from the first target oil path pressure and the pressure building pressure of the second oil path in the case that the solenoid valve of the second oil path is open.

8. The oil passage pressure handling method according to claim 7, wherein The pressure building control of the second oil path according to the brake pedal state of the vehicle and the first target oil path pressure includes: In the case that the brake pedal state is a pedal-up state, the solenoid valve of the second oil path is controlled to be closed; The pressure building control of the second oil path is prohibited.

9. The oil passage pressure handling method according to claim 1, wherein The second target oil path pressure is obtained by limiting the second initial oil path pressure of the vehicle, including: The second historical oil path pressure of the vehicle is obtained, wherein the second historical oil path pressure is the oil path pressure of a previous pressure building cycle of the vehicle in the case that the oil path working state of the vehicle is switched to the single oil path state; A third initial oil path pressure of the vehicle is obtained according to the solenoid valve voltage of the non-leakage oil path and the second initial oil path pressure; A second oil path pressure difference is obtained according to the third initial oil path pressure and the second historical oil path pressure; The second target oil path pressure is obtained according to the second oil path pressure difference, the second historical oil path pressure and the third initial oil path pressure.

10. The oil passage pressure handling method according to claim 9, wherein The third initial oil path pressure of the vehicle is obtained according to the solenoid valve voltage of the non-leakage oil path and the second initial oil path pressure, including: If the solenoid valve voltage of the non-leakage oil path is greater than a preset voltage threshold, the minimum pressure value is selected as the third initial oil path pressure from a preset first limited pressure and the second initial oil path pressure. Or, if the solenoid voltage of the non-leakage oil path is less than or equal to the voltage threshold, the minimum pressure value between the preset second limit pressure and the second initial oil path pressure is selected as the third initial oil path pressure. The first limit pressure is greater than the second limit pressure.

11. The oil passage pressure handling method according to claim 9, wherein The second target oil path pressure is obtained according to the second oil path pressure difference, the second historical oil path pressure and the third initial oil path pressure, including: If the second oil path pressure difference is greater than a preset step threshold, the sum of the step threshold and the second historical oil path pressure is calculated as the second target oil path pressure; Or, if the second oil path pressure difference is less than or equal to the step threshold, the third initial oil path pressure is taken as the second target oil path pressure.

12. An oil path pressure processing device, comprising: A first processing module configured to control the oil path working state of the vehicle to switch to an oil path separation state in the case of detecting oil path leakage of the vehicle, wherein the oil path separation state is configured to control multiple oil paths of the vehicle to alternately build pressure; A second processing module configured to limit process a first initial oil path pressure of the vehicle in the oil path separation state to obtain a first target oil path pressure, wherein the first initial oil path pressure is the oil path pressure of a current build pressure period of the vehicle in the case of switching the oil path working state of the vehicle to the oil path separation state; A third processing module configured to alternately build pressure control multiple oil paths of the vehicle according to the first target oil path pressure, and detect a non-leakage oil path in the multiple oil paths during the alternately build pressure control; A fourth processing module configured to control the oil path working state of the vehicle to switch to a single oil path state in the case of detecting the non-leakage oil path, wherein the single oil path state is configured to control the solenoid of the leakage oil path of the vehicle to close and build pressure control the non-leakage oil path; A fifth processing module configured to limit process a second initial oil path pressure of the vehicle in the single oil path state to obtain a second target oil path pressure, wherein the second initial oil path pressure is the oil path pressure of a current build pressure period of the vehicle in the case of switching the oil path working state of the vehicle to the single oil path state; A sixth processing module configured to build pressure control the non-leakage oil path according to the second target oil path pressure.

13. An integrated brake system, comprising: At least one processor; At least one memory configured 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 an oil path pressure processing method according to any one of claims 1-11.

14. A vehicle comprising an oil path pressure processing device according to claim 12 and / or an integrated brake system according to claim 13.

Images