CN114626059B - Pipeline leakage detection method, device and equipment of brake-by-wire system - Google Patents
Pipeline leakage detection method, device and equipment of brake-by-wire system Download PDFInfo
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- CN114626059B CN114626059B CN202210526716.XA CN202210526716A CN114626059B CN 114626059 B CN114626059 B CN 114626059B CN 202210526716 A CN202210526716 A CN 202210526716A CN 114626059 B CN114626059 B CN 114626059B
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- G06F21/50—Monitoring users, programs or devices to maintain the integrity of platforms, e.g. of processors, firmware or operating systems
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- G06F21/556—Detecting local intrusion or implementing counter-measures involving covert channels, i.e. data leakage between processes
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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
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- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
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Abstract
The application discloses a pipeline leakage detection method, a device and equipment of a line control actuating system, wherein the method comprises the following steps: in the running process of a vehicle, under the condition that the pipeline of the brake-by-wire system is detected to have a leakage risk, responding to a first pressurization request signal, sequentially controlling any sub-pipeline of a plurality of sub-pipelines of the pipeline to be conducted, closing other sub-pipelines, and performing pressurization processing on the conducted sub-pipelines; acquiring a first target relative displacement and a first actual relative displacement of a motor in a brake-by-wire system corresponding to each sub-pipeline from the pressurization starting time to the pressurization ending time of each sub-pipeline; the method comprises the steps that the leakage state corresponding to each sub-pipeline is determined based on a preset displacement deviation threshold value and the first target relative displacement and the first actual relative displacement corresponding to each sub-pipeline, and therefore pressure loss can be reduced; and the leakage condition of each sub-pipeline can be identified while the requirement of the brake pressure of a driver is met.
Description
Technical Field
The application relates to the technical field of pipeline detection of a vehicle brake-by-wire system, in particular to a pipeline leakage detection method, device and equipment of a brake-by-wire system.
Background
The brake-by-wire system, i.e., an electronic control brake system, is classified into a mechanical brake-by-wire system and a hydraulic brake-by-wire system. Aiming at a hydraulic brake-by-wire system, a hydraulic system contained in the brake-by-wire system realizes the pressurization of the pressure of a wheel cylinder through a pipeline; the general pipeline is divided into two sub-pipelines; when any one or two sub-pipelines leak, the brake of the hydraulic system is affected.
In the prior art, when leakage detection is performed on each sub-pipeline in the pipeline, detection of a leakage state is generally performed by adopting a one-time braking pressurization mode on any sub-pipeline before starting or after stopping a vehicle; this kind of mode makes the loss of pressure who is used for detecting the pipeline and reveals more, and need keep the vehicle parking state during the detection for it is comparatively inconvenient to detect.
Disclosure of Invention
In order to solve the technical problem, the application discloses a pipeline leakage detection method of a brake-by-wire system, which is used for circularly pressurizing each sub-pipeline of a pipeline in the brake-by-wire system based on the same pressurization request signal under the condition that the pipeline of the brake-by-wire system is detected to have leakage risk, so that the pressure loss can be reduced; and the leakage condition of each sub-pipeline can be identified while the requirement of the brake pressure of a driver is met.
In order to achieve the above object, the present application provides a method for detecting a line leakage of a line control actuator system, the method comprising:
in the running process of a vehicle, under the condition that the pipeline of the brake-by-wire system is detected to have a leakage risk, responding to a first pressurization request signal, sequentially controlling any one of a plurality of sub-pipelines of the pipeline to be conducted, closing other sub-pipelines, and performing pressurization treatment on the conducted sub-pipelines;
acquiring a first target relative displacement and a first actual relative displacement of a motor in the brake-by-wire system corresponding to each sub-pipeline from the pressurization starting time to the pressurization ending time of each sub-pipeline;
and determining the leakage state corresponding to each sub-pipeline based on a preset displacement deviation threshold value and the first target relative displacement and the first actual relative displacement corresponding to each sub-pipeline.
In some embodiments, the plurality of sub-pipelines include a first sub-pipeline and a second sub-pipeline, and in response to a first pressurization request signal, when it is detected that a pipeline of the brake-by-wire system is at risk of leakage, sequentially controlling any one of the plurality of sub-pipelines of the pipeline to be turned on, and the other sub-pipelines to be turned off, and performing pressurization processing on the turned-on sub-pipeline includes:
under the condition that the pipeline of the brake-by-wire system is detected to have leakage risk, responding to the first pressurization request signal, controlling the first sub-pipeline to be conducted, closing the second sub-pipeline, and performing pressurization treatment on the first sub-pipeline;
acquiring the pressurization duration for performing pressurization processing on the first sub-pipeline;
and if the pressurization time length meets a preset time length threshold value, controlling the first sub-pipeline to be closed, and controlling the second sub-pipeline to be conducted to perform pressurization treatment on the second sub-pipeline.
In some embodiments, the obtaining a first target relative displacement of a motor in the brake-by-wire system corresponding to each sub-pipeline from a pressurization start time to a pressurization end time of each sub-pipeline includes:
acquiring a first pressure value corresponding to any sub-pipeline in each sub-pipeline at the pressurization starting time and a second pressure value corresponding to any sub-pipeline in each sub-pipeline at the pressurization ending time;
determining a first pressure change value corresponding to each sub-pipeline based on each first pressure value and each second pressure value;
and determining the first target relative displacement of the motor corresponding to each sub-pipeline based on a preset gain coefficient and each first pressure change value.
In some embodiments, the obtaining a first actual relative displacement of a motor in the brake-by-wire system corresponding to each sub-pipeline from a pressurization start time to a pressurization end time of each sub-pipeline includes:
acquiring first position information corresponding to the motor of any one of the sub-pipelines at the pressurization starting time and second position information corresponding to the motor of any one of the sub-pipelines at the pressurization ending time;
and determining the first actual relative displacement of the motor corresponding to each sub-pipeline based on each first position information and each second position information.
In some embodiments, the leakage state corresponding to each sub-pipeline is determined based on a preset displacement deviation threshold value and the first target relative displacement and the first actual relative displacement corresponding to each sub-pipeline; the method comprises the following steps:
determining a first target displacement difference value corresponding to each sub-pipeline based on the first target relative displacement and the first actual relative displacement corresponding to each sub-pipeline;
and determining the leakage state corresponding to each sub-pipeline based on a preset displacement deviation threshold value and the first target displacement difference value for each sub-pipeline.
In some embodiments, the leak condition includes a line leak and a line normal; the determining, for each of the sub-pipelines, the leakage state corresponding to each of the sub-pipelines based on a preset displacement deviation threshold and the first target displacement difference includes:
determining that the leakage state of the sub-pipeline is the pipeline leakage under the condition that the first target displacement difference value is larger than the preset displacement deviation threshold value;
and under the condition that the first target displacement difference value is smaller than or equal to the preset displacement deviation threshold value, determining that the leakage state of the sub-pipeline is normal.
In some embodiments, in the case that a leakage risk of a pipeline of a brake-by-wire system is detected during the running of the vehicle, in response to a first pressurization request signal, sequentially controlling any one of a plurality of sub-pipelines of the pipeline to be turned on, and the other sub-pipelines to be turned off, before performing pressurization processing on the turned-on sub-pipeline, the method further includes:
responding to a second pressurization request signal, controlling the conduction of each sub-pipeline in the pipeline, and performing pressurization treatment on each sub-pipeline;
acquiring a second target relative displacement and a second actual relative displacement of the motor corresponding to the pipelines from the pressurization starting time to the pressurization ending time of each sub-pipeline;
determining a second target displacement difference value corresponding to the pipeline based on the second target relative displacement and a second actual relative displacement;
and if the second target displacement difference value is larger than a preset displacement deviation threshold value, determining that the pipeline has a leakage risk.
In some embodiments, after determining the leakage state corresponding to each sub-pipeline based on a preset displacement deviation threshold value and the first target relative displacement and the first actual relative displacement corresponding to each sub-pipeline, the method further includes:
acquiring current leakage detection times corresponding to each sub-pipeline;
and under the condition that the current leakage detection times are smaller than a preset detection threshold value and the first pressurization request signal exists, returning to the step of sequentially controlling the conduction of any one of the plurality of sub-pipelines of the pipeline, closing other sub-pipelines and performing pressurization treatment on the conducted sub-pipelines.
The application also provides a detection device is revealed to line control actuating system's pipeline, the device include:
the first control module is used for responding to a first pressurization request signal under the condition that the leakage risk of a pipeline of the brake-by-wire system is detected in the running process of a vehicle, sequentially controlling any one of a plurality of sub-pipelines of the pipeline to be conducted, closing other sub-pipelines and pressurizing the conducted sub-pipelines;
the acquisition module is used for acquiring a first target relative displacement and a first actual relative displacement of a motor in the brake-by-wire system corresponding to each sub-pipeline from the pressurization starting time to the pressurization ending time of each sub-pipeline;
and the leakage state determining module is used for determining the leakage state corresponding to each sub-pipeline based on a preset displacement deviation threshold value and the first target relative displacement and the first actual relative displacement corresponding to each sub-pipeline.
The application also provides a pipeline leakage detection device of the brake-by-wire system, which comprises a processor and a memory, wherein at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded and executed by the processor to realize the pipeline leakage detection method of the brake-by-wire system.
The present application further provides a computer-readable storage medium, in which at least one instruction or at least one program is stored, and the at least one instruction or the at least one program is loaded by a processor and executes the line leak detection method of the brake-by-wire system as described above.
The embodiment of the application has the following beneficial effects:
according to the pipeline leakage detection method of the brake-by-wire system, under the condition that the pipeline of the brake-by-wire system is detected to have leakage risk, the pressure of each sub-pipeline of the pipeline in the brake-by-wire system is circularly increased based on the same pressure increasing request signal, so that the pressure loss can be reduced; and the leakage condition of each sub-pipeline can be accurately identified while the requirement of the brake pressure of a driver is met.
Drawings
In order to more clearly illustrate the pipeline leakage detection method, device and equipment of the brake-by-wire system described in the present application, the drawings required for the embodiments will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic diagram of an implementation environment of a pipeline leakage detection of a line control actuating system according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a wire-controlled brake system according to an embodiment of the present application.
Fig. 3 is a schematic flowchart of a method for detecting a pipeline leakage of a line control actuating system according to an embodiment of the present disclosure;
fig. 4 is a schematic flowchart of a method for determining a relative displacement of a first target according to an embodiment of the present disclosure;
FIG. 5 is a schematic flow chart illustrating a method for cyclically pressurizing each sub-pipeline according to an embodiment of the present disclosure;
fig. 6 is a schematic flowchart of a method for detecting a risk of a line leakage of a line control system according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of a pipeline leakage detection apparatus of a line control actuating system according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 1, a schematic diagram of an implementation environment provided by an embodiment of the present application is shown, where the implementation environment may include:
at least one terminal 01 and at least one server 02. The at least one terminal 01 and the at least one server 02 may perform data communication through a network.
In an alternative embodiment, terminal 01 may be the performer of the line leak detection method of the brake-by-wire system. Terminal 01 may include, but is not limited to, vehicle terminals, smart phones, desktop computers, tablet computers, laptop computers, smart speakers, digital assistants, Augmented Reality (AR)/Virtual Reality (VR) devices, smart wearable devices, and other types of electronic devices. The operating system running on terminal 01 may include, but is not limited to, an android system, an IOS system, linux, windows, Unix, and the like.
The server 02 may provide the terminal 01 with a preset displacement deviation threshold. Optionally, the server 02 may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing basic cloud computing services such as a cloud service, a cloud database, cloud computing, a cloud function, cloud storage, a Network service, cloud communication, a middleware service, a domain name service, a security service, a CDN (Content Delivery Network), a big data and artificial intelligence platform, and the like.
Please refer to fig. 2, which illustrates a brake-by-wire system corresponding to the method for detecting a pipeline leakage of a brake-by-wire system according to an embodiment of the present application; the system comprises a motor 03, a pipeline and a servo cylinder 04;
wherein, the pipeline can be a pressure transmission pipeline; the conduit may include a plurality of sub-conduits. Correspondingly, the braking of the vehicle tires can be realized through the pipelines. Each sub-circuit may correspond to the braking of one or more vehicle tires.
In some exemplary embodiments, the plurality of sub-circuits may include a first sub-circuit 05 and a second sub-circuit 06. Wherein the first sub-circuit corresponds to a right front wheel (FR) and a left rear wheel (RL) of the vehicle; the right front wheel and the left rear wheel can be braked by pressurizing the first sub-pipeline. The second sub-circuit corresponds to the front left wheel (FL) and the rear right wheel (RR) of the vehicle; the braking of the left front wheel and the right rear wheel can be realized by pressurizing the second sub-pipeline.
In one example, the first sub-circuit may correspond to one solenoid valve 1 (PSV 1), and pressurization of the first sub-circuit may be achieved by opening the solenoid valve 1. The second partial line can be assigned a solenoid valve 2 (PSV 2), and the second partial line can be pressurized by opening the solenoid valve 2.
A servo cylinder (PSU) can be boosted by the aid of a motor, so that boosting of the servo cylinder is achieved, and further boosting of the first sub-pipeline and/or the second sub-pipeline is achieved.
Referring to fig. 3, which is a schematic flow chart illustrating a method for detecting a line leak of a line control actuating system according to an embodiment of the present application, the present specification provides the method steps as described in the embodiment or the flow chart, but based on the conventional method; or the inventive process may include additional or fewer steps. The step sequence recited in the embodiment is only one of the execution sequences of the steps, and does not represent the only execution sequence, and the pipeline leakage detection method of the brake-by-wire system can be executed according to the method sequence shown in the embodiment or the attached drawings. Specifically, as shown in fig. 3, the method includes:
s301, in the running process of a vehicle, under the condition that the pipeline of the brake-by-wire system is detected to have a leakage risk, responding to a first pressurization request signal, sequentially controlling any sub-pipeline of a plurality of sub-pipelines of the pipeline to be conducted, closing other sub-pipelines, and performing pressurization processing on the conducted sub-pipelines.
In the embodiment of the application, the leakage risk of the pipeline of the brake-by-wire system can represent that the displacement deviation of the motor in the brake-by-wire system is abnormal. The first pressurization request signal may be a request signal for performing pressurization processing on any one of the sub-pipelines, and the pipeline may include a plurality of sub-pipelines, where the plurality of sub-pipelines includes at least two sub-pipelines.
Optionally, when it is detected that the displacement deviation of the motor in the brake-by-wire system is abnormal, it may be determined that a leakage risk exists in a pipe of the brake-by-wire system. Correspondingly, the condition that the pipeline of the brake-by-wire system is detected to have leakage risk can be that at least one sub-pipeline has pipeline leakage, or the system is detected to be wrong, namely, the pipeline is detected to have leakage risk by mistake, and the actual pipeline does not have leakage risk.
Alternatively, the first pressure increase request signal may be generated based on a stepping action of the brake.
In the embodiment of the application, under the condition that the pipeline of the brake-by-wire system is detected to have a leakage risk, if a first pressurization request signal is received, any one of the sub-pipelines is sequentially conducted, and other sub-pipelines in the sub-pipelines are closed simultaneously, so that the conducted sub-pipelines can be sequentially subjected to pressurization treatment; the method comprises the steps of sequentially realizing pressurization processing on each sub-pipeline in the pipeline under the same first pressurization request signal; the pressure loss of the driver in the braking process can be effectively reduced.
Optionally, the pressurization time length of each sub-pipeline may be a preset time length threshold value; for example, it may be 0.5 s. And under the condition that the pressurization time of one sub-pipeline reaches a preset time threshold, closing the sub-pipeline, conducting any one of other sub-pipelines, and continuously carrying out pressurization treatment on the newly conducted sub-pipeline.
In some exemplary embodiments, the plurality of sub-pipes may include a first sub-pipe and a second sub-pipe.
Correspondingly, under the condition that the pipeline of the brake-by-wire system is detected to have leakage risk, responding to a first pressurization request signal, sequentially controlling any one of the first sub-pipeline and the second sub-pipeline to be conducted, simultaneously controlling the other one of the first sub-pipeline and the second sub-pipeline to be closed, and performing pressurization treatment on the conducted sub-pipeline; so as to realize continuous pressurization treatment of the first sub-pipeline and the second sub-pipeline. The first sub-pipeline and the second sub-pipeline are both arbitrary sub-pipelines.
In some exemplary embodiments, the plurality of sub-pipes may include a first sub-pipe, a second sub-pipe, and a third sub-pipe.
Correspondingly, under the condition that the pipeline of the brake-by-wire system is detected to have leakage risk, responding to a first pressurization request signal, sequentially controlling any one of the first sub-pipeline, the second sub-pipeline and the third sub-pipeline to be switched on, and simultaneously controlling the other two of the first sub-pipeline, the second sub-pipeline and the third sub-pipeline to be switched off, and performing pressurization treatment on the switched-on sub-pipelines; so as to realize the continuous pressurization treatment of the first sub-pipeline, the second sub-pipeline and the third sub-pipeline. The first sub-pipeline, the second sub-pipeline and the third sub-pipeline are all arbitrary sub-pipelines.
S302, acquiring a first target relative displacement and a first actual relative displacement of a motor in the brake-by-wire system corresponding to each sub-pipeline from the pressurization starting time to the pressurization ending time of each sub-pipeline.
In this embodiment of the application, the first target relative displacement may be a relative displacement of the motor of any one of the sub-pipelines under a normal condition of the pipeline; wherein, the pipeline is normal and can represent the state of the sub-pipeline as the leakage does not exist. The first actual relative displacement may be an actual relative displacement of the motor during the supercharging process. The supercharging process may refer to a time period from a supercharging start time to a supercharging end time.
In some exemplary embodiments, a first pressure variation value of the servo cylinder may be acquired from a pressurization start time to a pressurization end time of any one of the sub-pipes, and a first target relative displacement of the motor may be determined based on the first pressure variation value.
Specifically, as shown in fig. 4, a schematic flow chart of a method for determining a relative displacement of a first target according to an embodiment of the present application is shown; the details are as follows.
S401, a first pressure value corresponding to any sub-pipeline in each sub-pipeline at the pressurization starting time and a second pressure value corresponding to any sub-pipeline in each sub-pipeline at the pressurization ending time are obtained.
In the embodiment of the present application, it should be noted that both the first pressure value and the second pressure value may be pressure values obtained by a pressure sensor.
Specifically, pressure information of the servo cylinder may be acquired, and the first pressure value or the second pressure value may be determined based on the pressure information.
S402, determining a first pressure change value corresponding to each sub-pipeline based on each first pressure value and each second pressure value;
in this embodiment, for each sub-pipeline, the difference between the second pressure value and the first pressure value may be determined as the first pressure variation value corresponding to the sub-pipeline.
And S403, determining a first target relative displacement of the motor corresponding to each sub-pipeline based on the preset gain coefficient and each first pressure change value.
In the embodiment of the present application, the preset gain coefficient may be a linear relationship coefficient between the motor displacement and the servo cylinder pressure; is a constant. The linear relationship between the motor displacement and the servo cylinder pressure can be calculated as follows.
P = K X, wherein P represents the pressure of the servo cylinder; k represents a preset gain coefficient; x represents the motor displacement.
In this embodiment, a quotient of the first pressure change value and the preset gain coefficient may be determined for each sub-pipe as the first target relative displacement of the motor corresponding to the sub-pipe.
In this embodiment, the first target relative displacement of the motor in the normal state of the pipe of the brake-by-wire system can be accurately obtained by the linear relationship between the displacement of the motor and the pressure of the servo cylinder and the pressure change value of the servo cylinder.
In some exemplary embodiments, first position information corresponding to a motor of any one of the sub-pipelines at a pressurization starting time and second position information corresponding to the motor of any one of the sub-pipelines at a pressurization ending time may be acquired; and determining the first actual relative displacement of the motor corresponding to each sub-pipeline based on each first position information and each second position information.
Specifically, for each sub-pipeline, the difference between the second position information and the first position information may be determined as the first actual relative displacement of the motor corresponding to the sub-pipeline.
And S303, determining the leakage state corresponding to each sub-pipeline based on a preset displacement deviation threshold value and the first target relative displacement and the first actual relative displacement corresponding to each sub-pipeline.
In this embodiment of the application, the preset displacement deviation threshold may be a displacement deviation threshold of the motor when each sub-pipe in the pipe of the brake-by-wire system leaks. The leakage state may be a line leakage or a line normal.
Optionally, a first target displacement difference value corresponding to each sub-pipeline may be determined based on the first target relative displacement and the first actual relative displacement corresponding to each sub-pipeline; further, for each sub-pipeline, the leakage state corresponding to each sub-pipeline is determined based on a preset displacement deviation threshold and the first target displacement difference.
Specifically, for each sub-pipeline, a difference between the first actual relative displacement and the first target relative displacement may be determined as a first target displacement difference corresponding to the motor corresponding to the sub-pipeline; further, the leakage state corresponding to the sub-pipeline can be determined according to the comparison result of the first target displacement difference value and the preset displacement deviation threshold value. The comparison result may include that the first target displacement difference is greater than the preset displacement deviation threshold, the first target displacement difference is smaller than the preset displacement deviation threshold, and the first target displacement difference is equal to the preset displacement deviation threshold.
In some exemplary embodiments, in the case that the first target displacement difference value is greater than the preset displacement deviation threshold value, the leakage state of the sub-pipeline is determined to be a pipeline leakage. Based on this, can send out and reveal the early warning to remind the driver to carry out vehicle maintenance.
Determining that the leakage state of the sub-pipeline is normal under the condition that the first target displacement difference value is smaller than or equal to a preset displacement deviation threshold value; based on the information, the information that the pipeline of the brake-by-wire system has the leakage risk can be judged as misjudgment information, and other reminding processing is not carried out.
In some exemplary embodiments, after the pressurization process of each sub-circuit in the circuit is completed, the number of leak detections may be counted;
acquiring current leakage detection times corresponding to each sub-pipeline;
in one example, when the current leakage detection times are less than a preset detection threshold and the first pressurization request signal exists, the step of sequentially controlling the conduction of any one of a plurality of sub-pipelines of the pipeline, closing other sub-pipelines and performing pressurization processing on the conducted sub-pipelines is returned; so as to realize the recycling pressurization of each sub-pipeline in the pipeline; the accuracy of detection is improved.
Specifically, the preset detection threshold may be a threshold of the number of times of detection of each sub-pipeline in the case that the first pressurization request signal is continuously present. For example, the preset detection threshold may be 3.
In another example, the step of pressurizing each sub-pipe is ended when the current leak detection time is equal to or greater than a preset detection threshold.
In the embodiment, when the leakage risk of the pipeline of the brake-by-wire system is detected, the pressure of each sub-pipeline of the pipeline in the brake-by-wire system is controlled on the basis of the same pressure increasing request signal, so that the leakage state of each sub-pipeline is detected; not only can the pressure loss be reduced; and the leakage condition of each sub-pipeline can be identified while the requirement of the brake pressure of a driver is met. In addition, the leakage state of the sub-pipelines is detected by independently pressurizing each sub-pipeline; the accuracy of the detection result is higher.
In some exemplary embodiments, fig. 5 is a schematic flow chart illustrating a method for cyclically pressurizing each sub-pipeline according to an embodiment of the present application. In this embodiment, the plurality of sub-pipes includes a first word pipe and a second sub-pipe; the specific flow is as follows.
S501, under the condition that the pipeline of the brake-by-wire system is detected to have leakage risk, responding to a first pressurization request signal, controlling the first sub-pipeline to be conducted, closing the second sub-pipeline, and performing pressurization processing on the first sub-pipeline.
S502, acquiring the pressurization duration for performing pressurization treatment on the first sub-pipeline;
in the embodiment of the present application, the supercharging period may be a period corresponding to a period from the first sub-pipe supercharging start time to the first sub-pipe supercharging end time.
S503, if the supercharging duration meets the preset duration threshold, controlling the first sub-pipeline to be closed, and controlling the second sub-pipeline to be conducted, and performing supercharging processing on the second sub-pipeline.
In this embodiment of the present application, the preset time threshold may be a time threshold for performing pressurization processing on the first sub-pipeline; for example, it may be 0.5 s.
Correspondingly, when the pressurization duration of the first sub-pipeline reaches 0.5s, the first sub-pipeline is controlled to be closed and the second sub-pipeline is controlled to be conducted on the basis of the first pressurization request signal, and the second sub-pipeline is subjected to pressurization processing.
In the embodiment, the sub-pipelines in the pipeline are circularly pressurized based on the same pressurization request signal, so that the pressure loss can be reduced; and the leakage condition of each sub-pipeline can be identified while the requirement of the brake pressure of a driver is met.
In some exemplary embodiments, as shown in fig. 6, a schematic flow chart of a method for detecting a risk of a line leak of a line control power system according to an embodiment of the present application is shown; the details are as follows.
And S601, responding to the second pressurization request signal, controlling the conduction of each sub-pipeline in the pipeline, and performing pressurization processing on each sub-pipeline.
In the embodiment of the present application, the second pressurization request signal may be a request signal for performing pressurization processing on each sub-pipe in the pipe.
Specifically, based on the second pressurization request signal, all sub-pipelines in the pipeline may be controlled to be conducted, and pressurization processing may be performed on each sub-pipeline simultaneously.
In some exemplary embodiments, the first boost request signal may be a continuation boost request signal of the second boost request signal; correspondingly; the second pressure increase request signal may be generated based on a stepping action of the brake, and the second pressure increase request signal may be continuously present based on continuation of the braking stepping action; the second boost request signal, which is continuously present, may be determined as the first boost request signal.
And S602, acquiring a second target relative displacement and a second actual relative displacement of the motor corresponding to the pipeline from the pressurization starting time to the pressurization ending time of each sub-pipeline.
In this embodiment of the application, the second target relative displacement may be a relative displacement of the motor when all the sub-pipelines are normal; wherein, the pipeline is normal and can represent the state of the sub-pipeline as the leakage does not exist. The first actual relative displacement may be an actual relative displacement of the motor during the supercharging process. The supercharging process may refer to a time period from a supercharging start time to a supercharging end time.
In some exemplary embodiments, a second pressure change value of the servo cylinder may be acquired from a start time of pressurization of each sub-line to a termination time of pressurization, and a second target relative displacement of the motor may be determined based on the second pressure change value.
In some exemplary embodiments, third position information corresponding to a motor at a pressurization starting time of each sub-pipe and fourth position information corresponding to the motor at a pressurization ending time of each sub-pipe may be acquired; determining the second actual relative displacement of the motor corresponding to each sub-pipe based on the third position information and the fourth position information.
S603, determining a second target displacement difference value corresponding to the pipeline based on the second target relative displacement and the second actual relative displacement.
In this embodiment of the application, the difference between the second actual relative displacement and the second target relative displacement may be determined as a second target displacement difference corresponding to the motor;
s604, if the second target displacement difference value is larger than a preset displacement deviation threshold value, determining that the pipeline has a leakage risk.
In the embodiment of the application, under the condition that the pipeline is determined to have the leakage risk, the pressurization processing of each sub-pipeline can be started based on the first pressurization request signal; to detect the leak status of each sub-circuit.
In some exemplary embodiments, in the case that it is detected that the pipeline has a leakage risk based on the second pressurization request signal, the pressurization process for any one of the sub-pipelines may be directly started based on the continuous presence of the second pressurization request signal; to detect the leakage state of each sub-pipeline; to reduce pressure loss.
In the embodiment, the leakage detection of the pipeline of the brake-by-wire system is realized through the pressurization request signal sent by the driver in the running process of the vehicle, so that the leakage risk of the pipeline can be identified while the requirement of the brake pressure of the driver is met.
The embodiment of the present application further provides a pipeline leakage detection device of a line control actuating system, as shown in fig. 7, which is a schematic structural diagram of the pipeline leakage detection device of the line control actuating system provided in the embodiment of the present application; specifically, the device comprises:
the first control module 701 is used for responding to a first pressurization request signal when detecting that a pipeline of a brake-by-wire system has a leakage risk in the running process of a vehicle, sequentially controlling any one of a plurality of sub-pipelines of the pipeline to be conducted, and other sub-pipelines to be closed, and performing pressurization treatment on the conducted sub-pipelines;
an obtaining module 702, configured to obtain a first target relative displacement and a first actual relative displacement of a motor in the brake-by-wire system, where each sub-pipe corresponds to each sub-pipe, from a pressurization start time to a pressurization end time of each sub-pipe;
a leakage state determining module 703, configured to determine, based on a preset displacement deviation threshold and the first target relative displacement and the first actual relative displacement that each sub-pipe corresponds to, a leakage state that each sub-pipe corresponds to.
In an embodiment of the present application, the plurality of sub-pipes includes a first sub-pipe and a second sub-pipe; the first control module 701 includes:
the first control unit is used for responding to the first pressurization request signal to control the first sub-pipeline to be conducted and control the second sub-pipeline to be closed under the condition that the pipeline of the brake-by-wire system is detected to be leaked, and performing pressurization treatment on the first sub-pipeline;
the first acquisition unit is used for acquiring the pressurization duration of pressurization processing on the first sub-pipeline;
and the second control unit is used for controlling the first sub-pipeline to be closed and the second sub-pipeline to be conducted if the pressurization time meets a preset time threshold value, and carrying out pressurization treatment on the second sub-pipeline.
In this embodiment of the present application, the obtaining module 702 includes:
a second obtaining unit, configured to obtain a first pressure value corresponding to any one of the sub-pipelines at the pressurization starting time and a second pressure value corresponding to any one of the sub-pipelines at the pressurization ending time;
a first determining unit, configured to determine, based on each of the first pressure values and each of the second pressure values, a first pressure change value corresponding to each of the sub-pipelines;
and the second determining unit is used for determining the first target relative displacement of the motor corresponding to each sub-pipeline based on a preset gain coefficient and each first pressure change value.
In this embodiment of the present application, the obtaining module 702 further includes:
a third obtaining unit, configured to obtain first position information corresponding to the motor at the pressure increase start time of any one of the sub-pipelines and second position information corresponding to the motor at the pressure increase end time of any one of the sub-pipelines;
a third determining unit configured to determine the first actual relative displacement of the motor corresponding to each of the sub-pipes based on each of the first position information and each of the second position information.
In this embodiment of the present application, the leakage state determining module 703 includes:
a fourth determining unit, configured to determine, based on the first target relative displacement and the first actual relative displacement that each sub-pipe corresponds to, a first target displacement difference that each sub-pipe corresponds to;
and a fifth determining unit, configured to determine, for each sub-pipeline, the leakage state corresponding to each sub-pipeline based on a preset displacement deviation threshold and the first target displacement difference.
In the embodiment of the present application, the leakage state includes a pipeline leakage and a pipeline normal; the fifth determination unit includes:
the first determining subunit is configured to determine, when the first target displacement difference is greater than the preset displacement deviation threshold, that the leakage state of the sub-pipeline is the pipeline leakage;
and the second determining subunit is used for determining that the leakage state of the sub-pipeline is normal under the condition that the first target displacement difference value is smaller than or equal to the preset displacement deviation threshold value.
In the embodiment of the present application, the method further includes:
the second control module is used for responding to a second pressurization request signal, controlling the conduction of each sub-pipeline in the pipeline and carrying out pressurization processing on each sub-pipeline;
the displacement acquisition module is used for acquiring a second target relative displacement and a second actual relative displacement of the motor corresponding to the pipelines from the pressurization starting time to the pressurization ending time of each sub-pipeline;
the difference determining module is used for determining a second target displacement difference value corresponding to the pipeline based on the second target relative displacement and a second actual relative displacement;
and the leakage risk determining module is used for determining that the pipeline has leakage risk if the second target displacement difference value is greater than a preset displacement deviation threshold value.
In the embodiment of the present application, the method further includes:
the detection times acquisition module is used for acquiring the current leakage detection times corresponding to each sub-pipeline;
and the control return execution module is used for returning to the step of sequentially controlling the conduction of any one of the sub-pipelines of the pipeline, closing other sub-pipelines and carrying out pressurization processing on the conducted sub-pipelines under the condition that the current leakage detection times are smaller than a preset detection threshold value and the first pressurization request signal exists.
It should be noted that the device and method embodiments in the device embodiment are based on the same inventive concept.
The embodiment of the application provides a pipeline leakage detection device of a brake-by-wire system, which comprises a processor and a memory, wherein at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded and executed by the processor to realize the pipeline leakage detection method of the brake-by-wire system according to the embodiment of the method.
Further, fig. 8 is a schematic diagram of a hardware structure of an electronic device for implementing the pipeline leakage detection method of the brake-by-wire system according to the embodiment of the present application, where the electronic device may participate in constituting or including the pipeline leakage detection apparatus of the brake-by-wire system according to the embodiment of the present application. As shown in fig. 8, the electronic device 80 may include one or more processors (shown as 802a, 802b, … …, 802 n) which may include, but are not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA, a memory 804 for storing data, and a transmission device 806 for communication functions. Besides, the method can also comprise the following steps: a display, an input/output interface (I/O interface), a Universal Serial Bus (USB) port (which may be included as one of the ports of the I/O interface), a network interface, a power source, and/or a camera. It will be understood by those skilled in the art that the structure shown in fig. 8 is only an illustration and is not intended to limit the structure of the electronic device. For example, the electronic device 80 may also include more or fewer components than shown in FIG. 8, or have a different configuration than shown in FIG. 8.
It should be noted that the one or more processors and/or other brake-by-wire system line leak detection circuitry described above may be generally referred to herein as "brake-by-wire system line leak detection circuitry". The line leak detection circuit of the brake-by-wire system may be embodied in whole or in part as software, hardware, firmware, or any combination thereof. Further, the line leak detection circuitry of the brake-by-wire system may be a single, stand-alone processing module, or incorporated, in whole or in part, into any of the other components in the electronic device 80 (or mobile device). As referred to in the embodiments of the present application, the line leak detection circuit of the brake-by-wire system is controlled as a processor (e.g., selection of a variable resistance termination path to interface with).
The memory 804 can be used for storing software programs and modules of application software, such as program instructions/data storage devices corresponding to the pipeline leakage detection method of the brake-by-wire system described in the embodiment of the present application, and the processor executes various functional applications and pipeline leakage detection of the brake-by-wire system by running the software programs and modules stored in the memory 804, that is, the pipeline leakage detection method of the brake-by-wire system is implemented. The memory 804 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 804 can further include memory located remotely from the processor, which can be connected to the electronic device 80 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission means 806 is used for receiving or sending data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the electronic device 80. In one example, the transmission device 806 includes a network adapter (NIC) that can be connected to other network devices through a base station so as to communicate with the internet. In one embodiment, the transmission device 806 may be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.
The display may be, for example, a touch screen type Liquid Crystal Display (LCD) that may enable a user to interact with a user interface of the electronic device 80 (or mobile device).
Embodiments of the present application further provide a computer-readable storage medium, where the storage medium may be disposed in an electronic device to store at least one instruction or at least one program for implementing a line leak detection method of a brake-by-wire system in the method embodiments, where the at least one instruction or the at least one program is loaded and executed by the processor to implement the line leak detection method of the brake-by-wire system provided in the method embodiments.
Alternatively, in this embodiment, the storage medium may be located in at least one network server of a plurality of network servers of a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
It should be noted that: the sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
According to an aspect of the application, there is provided a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the method provided in the various alternative implementations described above.
The embodiments in the present application are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on differences from other embodiments. In particular, as for the apparatus and electronic device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference may be made to some descriptions of the method embodiments for relevant points.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (11)
1. A method of line control system line leak detection, the method comprising:
in the running process of a vehicle, under the condition that the pipeline of the brake-by-wire system is detected to have a leakage risk, responding to a first pressurization request signal, sequentially controlling any one of a plurality of sub-pipelines of the pipeline to be conducted, closing other sub-pipelines, and performing pressurization treatment on the conducted sub-pipelines; the first pressure increase request signal is a signal generated according to a stepping action of a brake;
acquiring a first target relative displacement and a first actual relative displacement of a motor in the brake-by-wire system corresponding to each sub-pipeline from the pressurization starting time to the pressurization ending time of each sub-pipeline; the first target relative displacement is the relative displacement of a motor of any sub-pipeline in each sub-pipeline under the condition that the pipeline is normal; the first actual relative displacement is the actual relative displacement of the motor from the supercharging starting time to the supercharging ending time;
and determining the leakage state corresponding to each sub-pipeline based on a preset displacement deviation threshold value and the first target relative displacement and the first actual relative displacement corresponding to each sub-pipeline.
2. The method for detecting the pipeline leakage of the brake-by-wire system according to claim 1, wherein the plurality of sub-pipelines include a first sub-pipeline and a second sub-pipeline, and when it is detected that a pipeline of the brake-by-wire system is at risk of leakage, in response to a first pressurization request signal, any one of the plurality of sub-pipelines of the pipeline is sequentially controlled to be conducted, and the other sub-pipelines are turned off, so as to perform pressurization processing on the conducted sub-pipelines, including:
under the condition that the pipeline of the brake-by-wire system is detected to have leakage risk, responding to the first pressurization request signal, controlling the first sub-pipeline to be conducted, closing the second sub-pipeline, and performing pressurization treatment on the first sub-pipeline;
acquiring the pressurization duration for performing pressurization processing on the first sub-pipeline;
and if the pressurization time length meets a preset time length threshold value, controlling the first sub-pipeline to be closed, and controlling the second sub-pipeline to be conducted to perform pressurization treatment on the second sub-pipeline.
3. The method for detecting the pipeline leakage of the brake-by-wire system according to claim 1, wherein the obtaining a first target relative displacement of a motor in the brake-by-wire system corresponding to each sub-pipeline from a pressurization start time to a pressurization end time of each sub-pipeline comprises:
acquiring a first pressure value corresponding to any sub-pipeline in each sub-pipeline at the pressurization starting time and a second pressure value corresponding to any sub-pipeline in each sub-pipeline at the pressurization ending time;
determining a first pressure change value corresponding to each sub-pipeline based on each first pressure value and each second pressure value;
and determining the first target relative displacement of the motor corresponding to each sub-pipeline based on a preset gain coefficient and each first pressure change value.
4. The method for detecting the pipeline leakage of the brake-by-wire system according to claim 1, wherein the obtaining a first actual relative displacement of a motor in the brake-by-wire system corresponding to each sub-pipeline from a pressurization start time to a pressurization end time of each sub-pipeline comprises:
acquiring first position information corresponding to the motor of any one of the sub-pipelines at the pressurization starting time and second position information corresponding to the motor of any one of the sub-pipelines at the pressurization ending time;
and determining the first actual relative displacement of the motor corresponding to each sub-pipeline based on each first position information and each second position information.
5. The pipeline leakage detection method of the brake-by-wire system according to claim 1, wherein the leakage state corresponding to each sub-pipeline is determined based on a preset displacement deviation threshold value and the first target relative displacement and the first actual relative displacement corresponding to each sub-pipeline; the method comprises the following steps:
determining a first target displacement difference value corresponding to each sub-pipeline based on the first target relative displacement and the first actual relative displacement corresponding to each sub-pipeline;
and determining the leakage state corresponding to each sub-pipeline based on a preset displacement deviation threshold value and the first target displacement difference value for each sub-pipeline.
6. The line leak detection method of a brake-by-wire system according to claim 5, wherein the leak state includes a line leak and a line normal; the determining, for each of the sub-pipelines, the leakage state corresponding to each of the sub-pipelines based on a preset displacement deviation threshold and the first target displacement difference includes:
determining that the leakage state of the sub-pipeline is the pipeline leakage under the condition that the first target displacement difference value is larger than the preset displacement deviation threshold value;
and under the condition that the first target displacement difference value is smaller than or equal to the preset displacement deviation threshold value, determining that the leakage state of the sub-pipeline is normal.
7. The method for detecting the pipeline leakage of the brake-by-wire system according to claim 1, wherein when detecting that the pipeline of the brake-by-wire system is at risk of leakage during the running of the vehicle, in response to a first pressurization request signal, any one of the plurality of sub-pipelines of the pipeline is sequentially controlled to be conductive, the other sub-pipelines are controlled to be closed, and before the conductive sub-pipeline is subjected to pressurization processing, the method further comprises:
responding to a second pressurization request signal, controlling the conduction of each sub-pipeline in the pipeline, and performing pressurization treatment on each sub-pipeline;
acquiring a second target relative displacement and a second actual relative displacement of the motor corresponding to each sub-pipeline from the pressurization starting time to the pressurization ending time of the sub-pipeline;
determining a second target displacement difference value corresponding to the pipeline based on the second target relative displacement and a second actual relative displacement;
and if the second target displacement difference value is larger than a preset displacement deviation threshold value, determining that the pipeline has a leakage risk.
8. The method for detecting the pipeline leakage of the brake-by-wire system according to claim 1, wherein after determining the leakage state corresponding to each sub-pipeline based on the preset displacement deviation threshold value and the first target relative displacement and the first actual relative displacement corresponding to each sub-pipeline, the method further comprises:
acquiring current leakage detection times corresponding to each sub-pipeline;
and under the condition that the current leakage detection times are smaller than a preset detection threshold value and the first pressurization request signal exists, returning to the step of sequentially controlling the conduction of any one of the plurality of sub-pipelines of the pipeline, closing other sub-pipelines and performing pressurization treatment on the conducted sub-pipelines.
9. The utility model provides a detection device is revealed to pipeline of line control moving system which characterized in that, the device include:
the first control module is used for responding to a first pressurization request signal under the condition that the leakage risk of a pipeline of the brake-by-wire system is detected in the running process of a vehicle, sequentially controlling any one of a plurality of sub-pipelines of the pipeline to be conducted, closing other sub-pipelines and pressurizing the conducted sub-pipelines; the first pressure increase request signal is a signal generated according to a stepping action of a brake;
the acquisition module is used for acquiring a first target relative displacement and a first actual relative displacement of a motor in the brake-by-wire system corresponding to each sub-pipeline from the pressurization starting time to the pressurization ending time of each sub-pipeline; the first target relative displacement is the relative displacement of a motor of any sub-pipeline in each sub-pipeline under the condition that the pipeline is normal; the first actual relative displacement is the actual relative displacement of the motor from the supercharging starting time to the supercharging ending time;
and the leakage state determining module is used for determining the leakage state corresponding to each sub-pipeline based on a preset displacement deviation threshold value and the first target relative displacement and the first actual relative displacement corresponding to each sub-pipeline.
10. A line leak detection apparatus of a brake-by-wire system, characterized in that the apparatus comprises a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the line leak detection method of the brake-by-wire system according to any one of claims 1 to 8.
11. A computer-readable storage medium, wherein at least one instruction or at least one program is stored in the storage medium, and the at least one instruction or the at least one program is loaded by a processor and executes the line leak detection method of the brake-by-wire system according to any one of claims 1 to 8.
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