CN111114518A - Method and device for detecting faults of electro-hydraulic brake system and electronic equipment - Google Patents
Method and device for detecting faults of electro-hydraulic brake system and electronic equipment Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
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Abstract
The embodiment of the invention relates to a method and a device for detecting faults of an electro-hydraulic brake system and electronic equipment, wherein the method comprises the following steps: detecting whether the electro-hydraulic brake system is in a boosting process; if the electric hydraulic brake system is in a pressurization process, acquiring a pressurization parameter of the pressurization process; and judging whether the electric hydraulic brake system has a fault or not based on the pressurization parameter. The embodiment of the invention solves the problem that a user cannot find out the fault of the electro-hydraulic braking system in time at present, thereby causing a safety accident.
Description
Technical Field
The embodiment of the invention relates to the technical field of an electro-hydraulic brake system, in particular to a method and a device for detecting faults of the electro-hydraulic brake system and electronic equipment.
Background
With the continuous development of automobile electromotion and intelligent technologies, automobiles have higher requirements on braking systems, the braking systems are required to provide enough braking efficiency and reliable braking safety, regenerative braking is also required to be matched, braking energy is recycled to the maximum extent, the endurance mileage of the electric automobiles is improved, enough active braking capacity is required, response is fast enough, braking pressure is controlled accurately, and more intelligent and diversified driving modes are provided. Since it is difficult for the conventional vacuum assisted Brake System to satisfy these requirements, it is difficult to mount the vacuum assisted Brake System on an unmanned vehicle, and applications thereof are gradually reduced, and various Electro-Hydraulic Brake Systems (EHBs) have been developed.
Once the existing electro-hydraulic brake system fails, the braking force is reduced or the braking fails, so that the risk of vehicle collision exists. In the process of the travel of the unmanned vehicle, no driver is directly involved in driving, and whether the electric hydraulic brake system has faults or not cannot be directly sensed. In contrast, at present, the electrohydraulic brake system of unmanned vehicles is detected mainly at the point of maintenance using professional detection equipment. And this makes the user can't discover in time that the electrohydraulic braking system is trouble, and then causes the incident.
Disclosure of Invention
At least one embodiment of the invention provides a method and a device for detecting faults of an electro-hydraulic brake system and electronic equipment, and solves the problem that at present, a user cannot find out the faults of the electro-hydraulic brake system in time, and further safety accidents are caused.
In a first aspect, an embodiment of the present invention provides a method for detecting a fault of an electrohydraulic brake system, including the following steps:
detecting whether the electro-hydraulic brake system is in a boosting process;
if the electric hydraulic brake system is in a pressurization process, acquiring a pressurization parameter of the pressurization process;
and judging whether the electric hydraulic brake system has a fault or not based on the pressurization parameter.
In a second aspect, an embodiment of the present invention further provides a device for detecting a fault of an electro-hydraulic brake system, including:
the pressure increasing process identification module is used for detecting whether the electro-hydraulic brake system is in a pressure increasing process;
the pressurization parameter acquisition module is used for acquiring the pressurization parameter of the pressurization process if the electric hydraulic brake system is in the pressurization process;
and the fault judgment module is used for judging whether the electric hydraulic brake system has a fault or not based on the pressurization parameter.
In a third aspect, an embodiment of the present invention further provides an electronic device, including: a processor and a memory;
the processor is configured to perform the steps of any of the methods described above by calling a program or instructions stored in the memory.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, which stores a program or instructions, where the program or instructions cause a computer to execute the steps of any one of the above methods.
The method for detecting the fault of the electric hydraulic brake system provided by the embodiment of the invention detects whether the electric hydraulic brake system is in a pressurization process; if the electric hydraulic brake system is in a pressurization process, acquiring a pressurization parameter of the pressurization process; the method is characterized in that whether the electric hydraulic brake system breaks down or not is judged based on the pressurization parameters, and the method is essentially characterized in that whether the electric hydraulic brake system breaks down or not can be monitored in real time without the participation of technicians and professional equipment, so that the problem that the current user cannot find the electric hydraulic brake system in time to cause safety accidents is solved, and the purposes of helping the user find the electric hydraulic brake system in time and reducing the occurrence probability of the safety accidents are achieved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.
FIG. 1 is a flow chart of a method for detecting a fault in an electro-hydraulic brake system according to an embodiment of the present invention;
FIG. 2 is a flow chart of another method for detecting a fault in an electro-hydraulic brake system provided by an embodiment of the present invention;
FIG. 3 is a flow chart of another method for detecting a fault in an electro-hydraulic brake system provided by an embodiment of the present invention;
FIG. 4 is a flow chart of another method for detecting a fault in an electro-hydraulic brake system provided by an embodiment of the present invention;
fig. 5 is a block diagram of a device for detecting a fault in an electrohydraulic brake system according to an embodiment of the present invention;
fig. 6 is a block diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and examples. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. The specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention, are within the scope of the invention.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The detection method aims at detecting the electric hydraulic brake system of the unmanned vehicle mainly by using professional detection equipment at a maintenance point in the prior art. The embodiment of the invention provides a method for detecting the faults of the electric hydraulic brake system, which is a method for monitoring whether the electric hydraulic brake system has the faults in real time without the participation of technical personnel and professional equipment, and can help a user to find the faults of the electric hydraulic brake system in time and reduce the probability of safety accidents.
The method for detecting the fault of the electric hydraulic brake system provided by the embodiment of the invention can be applied to detecting whether the electric hydraulic brake system of the unmanned vehicle is in fault during running. The method may be performed by an unmanned vehicle. Further, a plurality of vehicle control components are often provided in the unmanned vehicle, and the steps in the method for detecting a failure of the electrohydraulic brake system provided by the present invention are specifically executed by which vehicle control component, which is not limited by the present invention.
Fig. 1 is a flowchart of a method for detecting a fault in an electrohydraulic brake system according to an embodiment of the present invention.
The method comprises the following steps:
and S110, detecting whether the electro-hydraulic brake system is in a pressurization process.
The pressurization process refers to a process in which the hydraulic pressure value continuously rises with the passage of time. When the inventor researches the existing electro-hydraulic brake system, the main performance of the failure of the electro-hydraulic brake system is insufficient build-up pressure. And insufficient build-up pressure mainly occurs in the process of pressurization.
It should be noted that the braking process should not be simply understood as a boosting process in the present invention. In the braking process, the distance between the unmanned vehicle and the obstacle (such as a pedestrian or a vehicle) or the road sign (such as a pedestrian crossing) is continuously reduced, and the speed of the unmanned vehicle needs to be adjusted in real time according to road condition information. This causes the pressure boosting process and the pressure relief process to alternate during braking. The method for detecting the faults of the electro-hydraulic brake system only aims at the pressurization process.
The essence of this step is to identify the boosting process to determine when to detect the under-boost fault.
There are various ways to implement this step, and the present invention is not limited to this. Illustratively, a first pressure build-up command is obtained, wherein the first pressure build-up command comprises an initial moment of a pressure build-up process of the electro-hydraulic brake system; based on the first pressure build command, it is determined that the electro-hydraulic brake system is in a pressure boost process from an initial time. The first voltage-building instruction may be of various types, such as a brake control signal for controlling the unmanned vehicle to perform a braking operation, or a voltage-building control signal analyzed based on the brake control signal for controlling the unmanned vehicle to perform the braking operation.
Considering that during actual braking, a boosting process is often started, alternatively, when the first pressure build-up command is a brake control signal for controlling the unmanned vehicle to perform a braking operation, an initial timing of the boosting process of the electro-hydraulic brake system may be a timing for controlling the unmanned vehicle to start the braking operation.
The specific implementation manner of the step can also be that the hydraulic pressure value of the electric hydraulic brake system is detected at preset time intervals; and if the hydraulic pressure value at the t +1 th moment is greater than the hydraulic pressure value at the t th moment, determining that a pressurization process occurs, wherein the pressurization process starts from the t +1 th moment, and t is a positive integer.
And S120, if the electro-hydraulic brake system is in the pressurization process, acquiring the pressurization parameters of the pressurization process.
In the actual detection process, based on different detection ideas, the selection types and the number of the supercharging parameters can be different, and the invention does not limit the selection types and the number.
For example, if the detection idea is to detect whether the pressurization time reaches the standard when a certain hydraulic pressure value change amount is reached, the pressurization parameter may include an initial hydraulic pressure value, a target hydraulic pressure value, and an actual pressurization time required for pressurization from the initial hydraulic pressure value to the target hydraulic pressure value.
If the detection idea is to detect whether the hydraulic pressure value variation within a certain pressurization time reaches the standard, the pressurization parameter may include an initial hydraulic pressure value, a target pressurization time, and an actual hydraulic pressure value reached after the initial hydraulic pressure value is pressurized by the target pressurization time.
Hereinafter, a detailed description will be given of a specific detection method based on the above two detection concepts, and the detailed description will be omitted.
And S130, judging whether the electric hydraulic brake system has a fault or not based on the pressurization parameter.
The essence of the technical scheme is that the boosting process is identified in the driving process of the unmanned vehicle, whether the electric hydraulic brake system breaks down is judged based on the boosting parameters formed in the boosting process, and whether the electric hydraulic brake system breaks down can be monitored in real time without the participation of technicians and professional equipment in the detection process, so that the faults of the electric hydraulic brake system can be found in real time and in time, and the probability of safety accidents is reduced.
On the basis of the above technical solution, optionally, the method for detecting the fault of the electrohydraulic brake system further includes:
and if the electric hydraulic brake system fails, sending an alarm signal.
If the electrohydraulic brake system is not broken down, the above steps (i.e., S110-S130) are repeatedly performed until it is determined that the electrohydraulic brake system is broken down.
The execution main body for sending the alarm signal can include but is not limited to an electric hydraulic braking system, a vehicle control unit, an industrial personal computer and the like.
The Vehicle Control Unit (VCU) is an assembly controller of a Vehicle power system, and is responsible for coordinating the work of each component such as an engine, a driving motor, a gearbox, a power battery and the like, and after acquiring a Control signal of a user to the unmanned Vehicle, comprehensively analyzing and making a response judgment, the controller monitors the action of each component on the lower layer, and plays a key role in the functions of normal running of the Vehicle, braking feedback of battery energy, network management, fault diagnosis and processing, Vehicle state monitoring and the like.
An Industrial Personal Computer (IPC) is a general name of a tool for detecting and controlling an unmanned vehicle by using a bus structure. The industrial personal computer has important computer attributes and characteristics, such as a computer CPU, a hard disk, an internal memory, external equipment, an interface, an operating system, a control network, a protocol, computing power and a friendly human-computer interface. The product and technology of the industrial control industry are very special, belong to the intermediate product, it is reliable, embedded, intelligent industrial computer to provide for unmanned vehicle.
If the execution main body for sending the alarm signal is the electric hydraulic braking system, the alarm signal receiving object can be a vehicle control unit. The alarm signal may be represented as a fault code or string, such as EHB _ instability failure ═ 0x 01-failure. After the vehicle control unit receives the alarm signal, the vehicle control unit takes over the unmanned vehicle, and controls subsequent braking in other braking modes, such as motor braking or electronic parking Brake (electric Park Brake), so that the condition that the braking performance of the vehicle is reduced or the vehicle is collided is avoided.
If the execution main body for sending the alarm signal is the vehicle control unit, the alarm signal receiving object can be a voice playing device arranged on the unmanned vehicle. After receiving the alarm signal, the voice playing device plays an alarm sound to remind surrounding pedestrians or vehicles to pay attention.
If the execution main body for sending the alarm signal is an industrial personal computer, the alarm signal receiving object can be a terminal of a user, such as a mobile phone. After receiving the alarm signal, the user terminal sends broadcast information, plays voice warning information and the like to remind the user of the fault of the electro-hydraulic brake system, so that the user can find the fault of the electro-hydraulic brake system in real time and in time to repair the fault.
Alternatively, when the electrohydraulic brake system is not malfunctioning, the current state may also be recorded, such as in the form of a string, such as recorded as EHB _ available brake failure: 0x00-normal for subsequent review.
FIG. 2 is a flow chart of another method for detecting a fault in an electro-hydraulic brake system provided by an embodiment of the present invention. The detection idea of the method for detecting the faults of the electro-hydraulic brake system is to detect whether the pressurization time reaches the standard when a certain hydraulic pressure value variable quantity is reached. Referring to fig. 2, the method comprises the steps of:
and S210, detecting and judging whether the electro-hydraulic brake system is in a pressurization process. If yes, go to step S220; if not, the process continues to step S210.
S220, obtaining an initial hydraulic pressure value, a target hydraulic pressure value and actual pressurization time required for pressurization from the initial hydraulic pressure value to the target hydraulic pressure value.
The initial hydraulic pressure value refers to a hydraulic pressure value of the electro-hydraulic brake system at the moment when the pressurization process starts. The initial hydraulic pressure value can be obtained in various manners, and optionally, the initial hydraulic pressure value can be acquired by a hydraulic pressure sensor in the electric hydraulic brake system at the starting moment of the pressurization process.
The target hydraulic pressure value refers to a preset hydraulic pressure value of the electro-hydraulic brake system at the end moment of the pressurization process. The target hydraulic pressure value may be obtained in various ways, and may optionally be obtained by the aforementioned first pressure buildup instruction, that is, the first pressure buildup instruction includes the target hydraulic pressure value.
The actual pressurization time required for pressurization from the initial hydraulic pressure value to the target hydraulic pressure value can be obtained by actually recording the actual pressurization process. Note that, when the actual supercharging time is acquired, it should be recorded from 0 at the time of starting the supercharging process.
And S230, acquiring standard pressurization time required by pressurization from the initial hydraulic pressure value to the target hydraulic pressure value.
The standard pressure increase time refers to a pressure increase time required for increasing the pressure from the initial hydraulic pressure value to the target hydraulic pressure value in a state where the electro-hydraulic brake system is normally operated.
The standard pressurization time may be determined by various methods, for example, according to an experience specification of a worker, a statistical calculation of a plurality of electro-hydraulic brake systems, or a detected performance parameter of the hydraulic brake system, which is not limited in the present invention.
Illustratively, a method of determining a standard supercharging time is given below:
firstly, determining a hydraulic pressure level corresponding to an initial hydraulic pressure value and a hydraulic pressure level corresponding to a target hydraulic pressure value, wherein the hydraulic pressure levels are preset, and the value ranges of the hydraulic pressures corresponding to different hydraulic pressure levels are different.
There are various methods for setting the hydraulic pressure level, and the present invention is not limited thereto. The hydraulic pressure level is preset to be M stages, wherein the hydraulic pressure corresponding to the first stage is greater than or equal to 0bar and less than or equal to nbar; the hydraulic pressure corresponding to the second stage is greater than nbar and less than or equal to 2 nbar; the hydraulic pressure corresponding to the third stage is more than 2nbar and less than or equal to 3 nbar; by analogy, the hydraulic pressure corresponding to the M-th stage is greater than (M-1) nbar and less than or equal to Mnbar. Where bar is the hydraulic force value unit. n and M are positive integers, and n is less than M. And Mn is the maximum value which can be reached by the hydraulic pressure of the electro-hydraulic brake system when the pressure is built, and is determined by the pressure building capacity of the electro-hydraulic brake system.
Further, for example, if n is 5 and M is 10, the hydraulic pressure corresponding to the first stage is greater than or equal to 0bar and less than or equal to 5 bar; the hydraulic pressure corresponding to the second stage is more than 5bar and less than or equal to 10 bar; the hydraulic pressure corresponding to the third stage is more than 10bar and less than or equal to 15 bar; by analogy, the hydraulic pressure corresponding to the tenth stage is greater than 45bar and less than or equal to 50 bar.
And if the initial hydraulic pressure value is 7bar, the initial hydraulic pressure value is within the range of the hydraulic pressure corresponding to the second stage, and the hydraulic pressure level corresponding to the initial hydraulic pressure value is the second stage.
And if the target hydraulic pressure value is 23bar, the hydraulic pressure value is within the range of the hydraulic pressure corresponding to the fifth stage, and the hydraulic pressure grade corresponding to the target hydraulic pressure value is the fifth stage.
And secondly, determining standard pressurization time based on the hydraulic pressure grade corresponding to the initial hydraulic pressure value and the hydraulic pressure grade corresponding to the target hydraulic pressure value.
Alternatively, a corresponding relation table based on the hydraulic pressure level corresponding to the initial hydraulic pressure value, the hydraulic pressure level corresponding to the target hydraulic pressure value and the standard pressurization time may be established in advance according to experience of a worker, or statistics may be performed on a large number of electric hydraulic brake systems, or according to the detected performance parameters of the hydraulic brake systems. When the standard supercharging time is determined, it can be obtained by referring to the correspondence table.
Optionally, the target hydraulic pressure level jump value may also be determined based on the hydraulic pressure level corresponding to the initial hydraulic pressure value and the hydraulic pressure level corresponding to the target hydraulic pressure value; and determining the standard pressurization time based on the target hydraulic pressure grade jump value.
Continuing with the above example, if the hydraulic pressure level corresponding to the initial hydraulic pressure value is the second level, the hydraulic pressure level corresponding to the target hydraulic pressure value is the fifth level, and the target hydraulic pressure level jump value is 3.
There are various methods for determining the standard supercharging time based on the target hydraulic pressure level jump value, and the present invention is not limited thereto.
Research shows that the standard pressurization time and the target hydraulic pressure level jump value have a linear relation, and accordingly, the standard pressurization time can be set to be T1+ the target hydraulic pressure level jump value T2. Where T1 and T2 are fixed values representing time. The values of T1 and T2 may be determined based on operator experience, or based on statistical results for a large number of electro-hydraulic brake systems, or based on sensed performance parameters of the hydraulic brake system, or in other ways, which are not intended to be limiting.
And S240, judging whether the actual supercharging time is greater than the standard supercharging time. If yes, go to step S250, otherwise, go to step S260.
And S250, judging that the electric hydraulic brake system has a fault, and continuously executing S270.
And S260, judging that the electric hydraulic brake system has no fault, and repeatedly executing S210.
And S270, sending an alarm signal.
According to the technical scheme, the method for detecting the fault of the directly-operated electric hydraulic brake system is provided, and whether the electric hydraulic brake system has the fault can be monitored in real time without the participation of technicians and professional equipment in the detection process, so that the fault of the electric hydraulic brake system can be found in real time and in time, and the probability of safety accidents is reduced.
It should be noted that the method for detecting a fault in the electrohydraulic brake system provided in the present disclosure is only used for detecting a single boosting process. In other words, when the braking process includes a plurality of pressure-increasing processes and a plurality of pressure-releasing processes, which alternately occur, the initial hydraulic pressure value is the hydraulic pressure value of the electro-hydraulic brake system at the start time of the current pressure-increasing process each time S220 is performed. The target hydraulic pressure value is a preset hydraulic pressure value of the electro-hydraulic brake system at the moment when the current pressurization process is finished. The actual charging time is recorded from 0 at the start of the current charging process. The actual charging times of the different charging processes do not add up. And the target supercharging times of the different supercharging processes do not add up.
On the basis of the above technical solution, optionally, when S220 is executed, when the actual pressurization time required for the pressurization from the initial hydraulic pressure value to the target hydraulic pressure value is obtained, in the pressurization process, when the current hydraulic pressure value satisfies | the target hydraulic pressure-the current hydraulic pressure | < n, in the range of the error allowance, the current time is considered as the pressurization end time, the current hydraulic pressure reaches the target hydraulic pressure value, and at this time, the calculation of the actual pressurization time is stopped.
FIG. 3 is a flow chart of another method for detecting a fault in an electro-hydraulic brake system provided by an embodiment of the present invention. The detection idea of the method for detecting the faults of the electro-hydraulic brake system is to detect whether the change quantity of the hydraulic pressure value within a certain pressurization time reaches the standard or not. Referring to fig. 3, the method comprises the steps of:
and S310, detecting and judging whether the electro-hydraulic brake system is in a pressurization process. If yes, go to S320; if not, continue to execute S310.
S320, obtaining an initial hydraulic pressure value, a target pressurization time and an actual hydraulic pressure value which is obtained after the initial hydraulic pressure value is pressurized for the target pressurization time.
The initial hydraulic pressure value refers to a hydraulic pressure value of the electro-hydraulic brake system at the moment when the pressurization process starts. The initial hydraulic pressure value can be obtained in various manners, and optionally, the initial hydraulic pressure value can be acquired by a hydraulic pressure sensor in the electric hydraulic brake system at the starting moment of the pressurization process.
The target supercharging time refers to a preset duration of the supercharging process, i.e., a time interval from the start time to the end time of the supercharging process. The target hydraulic pressure value can be obtained in various ways, and optionally, it can be obtained by the aforementioned first pressure build instruction. Alternatively, the duration of the supercharging process in the actual supercharging process may also be taken as the target supercharging time.
The actual hydraulic pressure value reached after the initial hydraulic pressure value is pressurized for the target pressurization time can be acquired by a hydraulic pressure sensor in the electric hydraulic brake system from the hydraulic pressure value at the end of the pressurization process.
S330, acquiring a standard liquid pressure value which is obtained after the initial liquid pressure value is pressurized for the target pressurization time;
the standard hydraulic pressure value is a hydraulic pressure value which is obtained by starting from an initial hydraulic pressure value and increasing the pressure for a target pressure increasing time in a state that the electric hydraulic brake system normally operates.
The standard hydraulic pressure value may be determined by various methods, for example, it may be specified by an operator according to experience, may be obtained by counting a large number of electrohydraulic brake systems, or may be obtained according to a detected performance parameter of the hydraulic brake system, which is not limited in this disclosure.
And S340, judging whether the actual liquid pressure value is smaller than the standard liquid pressure value. If yes, go to step S350, otherwise go to step S360.
And S350, judging that the electric hydraulic brake system has a fault, and continuously executing S370.
And S360, judging that the electric hydraulic brake system has no fault, and repeatedly executing S310.
And S370, sending an alarm signal.
According to the technical scheme, the method for detecting the fault of the directly-operated electric hydraulic brake system is provided, and whether the electric hydraulic brake system has the fault can be monitored in real time without the participation of technicians and professional equipment in the detection process, so that the fault of the electric hydraulic brake system can be found in real time and in time, and the probability of safety accidents is reduced.
FIG. 4 is a flow chart of another method for detecting a fault in an electro-hydraulic brake system provided by an embodiment of the present invention. Referring to fig. 4, the method includes the steps of:
and S410, supplying power to the electro-hydraulic brake system.
And S420, controlling the electro-hydraulic brake system to perform mechanical fault self-checking, and judging whether the electro-hydraulic brake system has mechanical faults. If yes, go to S490; if not, go to S430.
And S430, acquiring a second pressure building instruction.
It should be noted that, the second voltage-building instruction and the first voltage-building instruction in the foregoing may be the same instruction or different instructions, and the present invention is not limited thereto.
And S440, controlling the starting pressure building of the electro-hydraulic brake system based on the second pressure building instruction.
S450, detecting whether the electro-hydraulic brake system can build pressure or not. If yes, go to S460; if not, go to step S490.
The implementation method of the step can be that whether the data acquired by the hydraulic pressure sensor in the electric hydraulic brake system changes in the pressurization process is judged, if yes, the electric hydraulic brake system is considered to be capable of building pressure, otherwise, the electric hydraulic brake system is incapable of building pressure.
And S460, detecting whether the electro-hydraulic brake system is in a pressurization process. If yes, go to S470; if not, S460 is repeatedly executed.
And S470, acquiring the supercharging parameters of the supercharging process.
And S480, judging whether the electric hydraulic brake system has a fault or not based on the pressurization parameter. If yes, go to S490; if not, S460 is repeatedly executed.
And S490, sending an alarm signal.
And S500, the vehicle controller takes over the unmanned vehicle and controls the follow-up braking in other braking modes.
Compared with the technical solutions provided in fig. 1 to fig. 3, the technical solution provided in fig. 4 mainly differs by adding a step of self-checking mechanical faults of the electro-hydraulic brake system and a step of self-checking whether the electro-hydraulic brake system can be pressurized. This is because, in practice, the problem of insufficient build-up pressure occurs only when the electro-hydraulic brake system has no mechanical failure and can build up pressure. This arrangement can improve the efficiency of the electro-hydraulic brake system fault detection.
It should be noted that, in practice, the main reasons why the electro-hydraulic brake system cannot build pressure are two types: one is that mechanical faults occur, including but not limited to temperature sensor faults, hydraulic pressure sensor faults, motor position zero uncalibrated, electrohydraulic brake system controller faults, motor position sensor faults, and mechanical actuator faults; another type is that air is present in the electro-hydraulic brake system. The main reason for the insufficient build-up pressure of the electro-hydraulic brake system is the presence of a small amount of air in the electro-hydraulic brake system. Therefore, the detection result obtained by combining the detection method for the faults of the electric hydraulic brake system can quickly locate the reasons of the faults, and a maintenance scheme is formed.
Fig. 5 is a block diagram of a device for detecting a fault in an electrohydraulic brake system according to an embodiment of the present invention. Referring to fig. 5, the apparatus for detecting a failure of an electro-hydraulic brake system includes: a boosting process identification module 510, a boosting parameter acquisition module 520, and a fault determination module 530.
A pressurization process identification module 510 for detecting whether the electro-hydraulic brake system is in a pressurization process;
a pressure increase parameter obtaining module 520, configured to obtain a pressure increase parameter of the pressure increase process if the electro-hydraulic brake system is in the pressure increase process;
a fault determination module 530, configured to determine whether the electro-hydraulic brake system is faulty based on the boosting parameter.
Further, the device for detecting the fault of the electro-hydraulic brake system further comprises an alarm module. And the alarm module is used for sending an alarm signal if the electric hydraulic brake system fails.
Further, the pressurization parameter obtaining module 520 is specifically configured to obtain an initial hydraulic pressure value, a target hydraulic pressure value, and an actual pressurization time required for pressurizing from the initial hydraulic pressure value to the target hydraulic pressure value;
the fault determination module 530 includes a standard supercharging time acquisition unit and a fault determination unit.
A standard pressurization time acquisition unit for acquiring a standard pressurization time required for pressurization from the initial hydraulic pressure value to the target hydraulic pressure value;
the fault judging unit is used for judging that the electric hydraulic brake system has a fault if the actual supercharging time is greater than the standard supercharging time; otherwise, the electro-hydraulic brake system is judged not to be in fault.
Further, the standard supercharging time acquisition unit includes a hydraulic pressure level determination subunit and a standard supercharging time determination subunit.
The hydraulic pressure grade determining subunit is configured to determine a hydraulic pressure grade corresponding to the initial hydraulic pressure value and a hydraulic pressure grade corresponding to the target hydraulic pressure value, where the hydraulic pressure grades are preset and the value ranges of the hydraulic pressures corresponding to different hydraulic pressure grades are different;
and the standard pressurization time determining subunit is used for determining the standard pressurization time based on the hydraulic pressure level corresponding to the initial hydraulic pressure value and the hydraulic pressure level corresponding to the target hydraulic pressure value.
Further, the standard supercharging time determining subunit is specifically configured to:
determining a target hydraulic pressure level jump value based on the hydraulic pressure level corresponding to the initial hydraulic pressure value and the hydraulic pressure level corresponding to the target hydraulic pressure value;
determining the standard boost time based on the target hydraulic pressure level jump value.
Further, the pressure increase parameter obtaining module 520 is specifically configured to obtain an initial hydraulic pressure value, a target pressure increase time, and an actual hydraulic pressure value that is obtained after the initial hydraulic pressure value is increased by the target pressure increase time;
the fault determination module 530 includes a standard liquid pressure value acquisition unit and a fault determination unit.
A standard liquid pressure value obtaining unit, configured to obtain a standard liquid pressure value that is reached after the initial liquid pressure value is increased by the target increasing time;
the fault judgment unit is used for judging that the electric hydraulic brake system has a fault if the actual hydraulic pressure value is smaller than the standard hydraulic pressure value; otherwise, the electro-hydraulic brake system is judged not to be in fault.
Further, the boosting process identification module 510 is specifically configured to:
acquiring a first pressure build-up instruction, wherein the pressure build-up instruction comprises an initial moment of a pressure boost process of an electro-hydraulic brake system;
determining that the electro-hydraulic brake system is in a boosting process from the initial time based on the first pressure build command.
Further, the boosting process identification module 510 is specifically configured to:
detecting a hydraulic pressure value of the electro-hydraulic brake system at preset time intervals;
and if the hydraulic pressure value at the t +1 th moment is greater than the hydraulic pressure value at the t th moment, determining that a pressurization process occurs, wherein the pressurization process starts from the t +1 th moment.
Further, the device for detecting the faults of the electro-hydraulic brake system also comprises a mechanical fault self-detection unit. The mechanical fault self-checking unit is used for supplying power to the electro-hydraulic brake system; and controlling the electro-hydraulic brake system to perform mechanical fault self-checking.
Further, the device for detecting the fault of the electro-hydraulic brake system further comprises a self-checking unit for pressure build-up. The pressure build-up self-checking unit is used for acquiring a second pressure build-up instruction; controlling the electro-hydraulic brake system to start building pressure; detecting whether the electro-hydraulic brake system is capable of building pressure.
The device of the above embodiment can implement the processes of the methods of the above embodiments, and is not described herein again to avoid repetition.
Fig. 6 is a block diagram of an electronic device according to an embodiment of the present invention. Referring to fig. 6, the electronic device includes: at least one processor 601, at least one memory 602, and at least one communication interface 603. The various components in the electronic device are coupled together by a bus system 604. A communication interface 603 for information transmission with an external device. It is understood that the bus system 604 is used to enable communications among the components. The bus system 604 includes a power bus, a control bus, and a status signal bus in addition to a data bus. But for the sake of clarity the various busses are labeled in fig. 6 as the bus system 604.
It will be appreciated that the memory 602 in this embodiment can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory.
In some embodiments, memory 602 stores the following elements, executable units or data structures, or a subset thereof, or an expanded set thereof: an operating system and an application program.
The operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, and is used for implementing various basic services and processing hardware-based tasks. The application programs include various application programs such as a media player (MediaPlayer), a Browser (Browser), etc. for implementing various application services. A program for implementing the method for detecting a fault in an electrohydraulic brake system according to an embodiment of the present invention may be included in the application program.
In the embodiment of the present invention, the processor 601 is configured to execute the steps of the embodiments of the method for detecting a fault of an electrohydraulic brake system provided by the embodiments of the present invention by calling a program or an instruction stored in the memory 602, which may be, specifically, a program or an instruction stored in an application program.
The method for detecting the fault of the electrohydraulic brake system provided by the embodiment of the invention can be applied to the processor 601 or realized by the processor 601. The processor 601 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 601. The processor 601 may be a general-purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, or discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The steps of the method for detecting the fault of the electro-hydraulic brake system provided by the embodiment of the invention can be directly embodied as the execution of a hardware decoding processor, or the combination of hardware and software units in the decoding processor. The software elements may be located in ram, flash, rom, prom, or eprom, registers, among other storage media that are well known in the art. The storage medium is located in a memory 602, and the processor 601 reads the information in the memory 602 and performs the steps of the method in combination with its hardware.
The electronic device may further include one or more physical components to implement the detection of the failure of the electrohydraulic brake system of the unmanned vehicle according to an instruction generated by the processor 601 when executing the method for detecting the failure of the electrohydraulic brake system provided by the embodiment of the present invention. The various physical components cooperate with the processor 601 and the memory 602 to implement the functions of the electronic device in this embodiment.
Embodiments of the present invention also provide a computer-readable storage medium containing a program or instructions for causing a computer to execute a method for detecting a malfunction of an electrohydraulic brake system, the method comprising:
detecting whether the electro-hydraulic brake system is in a boosting process;
if the electric hydraulic brake system is in a pressurization process, acquiring a pressurization parameter of the pressurization process;
and judging whether the electric hydraulic brake system has a fault or not based on the pressurization parameter.
Optionally, the computer executable instructions, when executed by the computer processor, may be further configured to implement the solution of the method for detecting a fault in an electrohydraulic brake system according to any of the embodiments of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Those skilled in the art will appreciate that although some embodiments described herein include some features included in other embodiments instead of others, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (13)
1. A method for detecting a fault in an electro-hydraulic brake system, comprising the steps of:
detecting whether the electro-hydraulic brake system is in a boosting process;
if the electric hydraulic brake system is in a pressurization process, acquiring a pressurization parameter of the pressurization process;
and judging whether the electric hydraulic brake system has a fault or not based on the pressurization parameter.
2. The method of claim 1, further comprising:
if the electric hydraulic brake system fails, sending an alarm signal;
and if the electric hydraulic brake system is not in fault, repeatedly executing the steps until the electric hydraulic brake system is judged to be in fault.
3. The method of claim 1, wherein said obtaining a boost parameter for said boost process comprises:
acquiring an initial hydraulic pressure value, a target hydraulic pressure value and actual pressurization time required for pressurizing from the initial hydraulic pressure value to the target hydraulic pressure value;
the determining whether the electro-hydraulic brake system is malfunctioning based on the boost parameter includes:
acquiring standard pressurization time required for pressurization from the initial hydraulic pressure value to the target hydraulic pressure value;
if the actual pressurization time is greater than the standard pressurization time, the electric hydraulic brake system breaks down;
otherwise, the electro-hydraulic brake system is not malfunctioning.
4. The method of claim 3, wherein said obtaining a standard pressurization time required to pressurize from said initial hydraulic pressure value to said target hydraulic pressure value comprises:
determining a hydraulic pressure level corresponding to the initial hydraulic pressure value and a hydraulic pressure level corresponding to the target hydraulic pressure value, wherein the hydraulic pressure levels are preset, and the values of the hydraulic pressures corresponding to different hydraulic pressure levels are different;
and determining the standard pressurization time based on the hydraulic pressure grade corresponding to the initial hydraulic pressure value and the hydraulic pressure grade corresponding to the target hydraulic pressure value.
5. The method of claim 4, wherein the determining the standard pressurization time based on the hydraulic pressure level corresponding to the initial hydraulic pressure value and the hydraulic pressure level corresponding to the target hydraulic pressure value comprises:
determining a target hydraulic pressure level jump value based on the hydraulic pressure level corresponding to the initial hydraulic pressure value and the hydraulic pressure level corresponding to the target hydraulic pressure value;
determining the standard boost time based on the target hydraulic pressure level jump value.
6. The method of claim 1, wherein said obtaining a boost parameter for said boost process comprises:
acquiring an initial hydraulic pressure value, target pressurization time and an actual hydraulic pressure value which is obtained after the initial hydraulic pressure value is pressurized for the target pressurization time;
the determining whether the electro-hydraulic brake system is malfunctioning based on the boost parameter includes:
acquiring a standard liquid pressure value which is reached after the initial liquid pressure value is pressurized for the target pressurization time;
if the actual hydraulic pressure value is smaller than the standard hydraulic pressure value, the electric hydraulic brake system breaks down;
otherwise, the electro-hydraulic brake system is not malfunctioning.
7. The method of claim 1, wherein the detecting whether the electro-hydraulic brake system is in a boost process comprises:
acquiring a first pressure build-up instruction, wherein the first pressure build-up instruction comprises an initial moment of a pressure build-up process of the electro-hydraulic brake system;
determining that the electro-hydraulic brake system is in a boosting process from the initial time based on the first pressure build command.
8. The method of claim 1, wherein the detecting whether the electro-hydraulic brake system is in a boost process comprises:
detecting a hydraulic pressure value of the electro-hydraulic brake system at preset time intervals;
and if the hydraulic pressure value at the t +1 th moment is greater than the hydraulic pressure value at the t th moment, determining that a pressurization process occurs, wherein the pressurization process starts from the t +1 th moment, and t is a positive integer.
9. The method of claim 1, prior to said detecting whether the electro-hydraulic brake system is in a boost process, further comprising:
supplying power to the electro-hydraulic brake system;
controlling the electro-hydraulic brake system to perform mechanical fault self-checking;
and if the electric hydraulic brake system has no mechanical fault, executing the step of detecting whether the electric hydraulic brake system is in a pressurization process.
10. The method of claim 1, wherein the detecting whether the electro-hydraulic brake system is in a boost process further comprises:
acquiring a second pressure building instruction;
controlling the electro-hydraulic brake system to start building pressure;
detecting whether the electro-hydraulic brake system is capable of building pressure;
and if the pressure can be built, executing the step of detecting whether the electro-hydraulic brake system is in the pressure boosting process.
11. An apparatus for detecting a fault in an electro-hydraulic brake system, comprising:
the pressure increasing process identification module is used for detecting whether the electro-hydraulic brake system is in a pressure increasing process;
the pressurization parameter acquisition module is used for acquiring the pressurization parameter of the pressurization process if the electric hydraulic brake system is in the pressurization process;
and the fault judgment module is used for judging whether the electric hydraulic brake system has a fault or not based on the pressurization parameter.
12. An electronic device, comprising: a processor and a memory;
the processor is adapted to perform the steps of the method of any one of claims 1 to 10 by calling a program or instructions stored in the memory.
13. A computer-readable storage medium, characterized in that it stores a program or instructions for causing a computer to carry out the steps of the method according to any one of claims 1 to 10.
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| CN201911271766.2A CN111114518A (en) | 2019-12-12 | 2019-12-12 | Method and device for detecting faults of electro-hydraulic brake system and electronic equipment |
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