CN117818549A - Automobile brake compensation device, system and method - Google Patents

Abstract

The invention provides an automobile braking compensation device, system and method, which comprises a first oil outlet passage, a first conventional oil inlet passage, a first active oil inlet passage, a first compensation oil inlet passage, a second oil outlet passage, a second conventional oil inlet passage, a second active oil inlet passage, a second compensation oil inlet passage and a motor, wherein a first isolation pressure limiting valve is arranged on the first conventional oil inlet passage, a first suction valve and a first oil return pump are arranged on the first active oil inlet passage, a first pressure reducing valve and a first accumulator are arranged on the first compensation oil inlet passage, a second isolation pressure limiting valve is arranged on the second conventional oil inlet passage, a second suction valve and a second oil return pump are arranged on the second active oil inlet passage, and a second pressure reducing valve and a second accumulator are arranged on the second compensation oil inlet passage. The invention can provide an automobile brake compensation device to achieve the technical effects of eliminating brake delay caused by brake liquid clearance and improving brake effect.

Description

Automobile brake compensation device, system and method

Technical Field

The invention relates to the technical field of vehicle braking, in particular to an automobile braking compensation device, an automobile braking compensation system and an automobile braking compensation method.

Background

In the current braking system, a braking reaction lag is caused by the existence of a braking gap between the step of pressing down the brake pedal and the response braking of the vehicle, and particularly, in the case that the vehicle needs emergency braking, a great potential safety hazard exists in the braking delay caused by the braking gap. Moreover, the current braking system has the condition of insufficient braking capability under some special working conditions, even when the main braking system fails, the braking efficiency which can be achieved by the braking redundancy system is not high, the braking effect is poor, and certain potential safety hazards exist.

That is, how to provide an automobile brake compensation device to achieve the technical effects of eliminating brake delay caused by brake fluid clearance and improving brake effect is a technical problem to be solved in the field.

Disclosure of Invention

In view of the foregoing, the present invention is directed to an apparatus, a system and a method for compensating braking of an automobile, which solve at least one of the above-mentioned problems.

In a first aspect, the present invention provides a brake compensation device for an automobile, the brake compensation device comprising:

the first oil outlet passage comprises a first end and a second end, a first pressure sensor is arranged between the first end and the second end of the first oil outlet passage, and the second end of the first oil outlet passage is a first oil outlet;

One end of the first conventional oil inlet passage is provided with a first oil inlet, and the other end of the first conventional oil inlet passage is sequentially communicated with a first isolation pressure limiting valve and a first end of the first oil outlet passage;

one end of the first active oil inlet passage is communicated with the first oil inlet, and the other end of the first active oil inlet passage is sequentially communicated with a first suction valve, a first oil return pump and a first end of the first oil outlet passage;

one end of the first compensation oil inlet passage is communicated with the first oil outlet, and the other end of the first compensation oil inlet passage is sequentially communicated with the first pressure reducing valve and the first energy accumulator;

the second oil outlet passage comprises a third end and a fourth end, a second pressure sensor is arranged between the third end and the fourth end of the second oil outlet passage, and the fourth end of the second oil outlet passage is a second oil outlet;

one end of the second conventional oil inlet passage is provided with a second oil inlet, and the other end of the second conventional oil inlet passage is sequentially communicated with a second isolation pressure limiting valve and a third end of the second oil outlet passage;

one end of the second active oil inlet passage is communicated with the second oil inlet, and the other end of the second active oil inlet passage is sequentially communicated with a second suction valve, a second oil return pump and a third end of the second oil outlet passage;

one end of the second compensation oil inlet passage is communicated with the second oil outlet, and the other end of the second compensation oil inlet passage is sequentially communicated with a second pressure reducing valve and a second energy accumulator;

And the motor is respectively connected with the first oil return pump and the second oil return pump.

Preferably, the first oil inlet and the second oil inlet are both connected with a main brake hydraulic cylinder.

Preferably, the first oil outlet is communicated with brake cylinders of two front wheels of the automobile, and the second oil outlet is communicated with brake cylinders of two rear wheels of the automobile;

or alternatively, the first and second heat exchangers may be,

the first oil outlet is communicated with the brake cylinders of the left front wheel and the right rear wheel of the automobile, and the second oil outlet is communicated with the brake cylinders of the right front wheel and the left rear wheel of the automobile.

Preferably, the first isolation pressure limiting valve and the second isolation pressure limiting valve are normally open valves;

the first suction valve and the second suction valve are normally closed valves;

the first pressure reducing valve and the second pressure reducing valve are normally closed valves.

In a second aspect, the present invention also provides an automotive brake compensation system, comprising:

the automobile brake compensation device according to any one of the first aspects;

a controller comprising a memory and a processor, the memory having stored therein a computer program which when executed by the processor performs the steps of: acquiring a whole vehicle control instruction; selecting a target braking path corresponding to the whole vehicle control instruction according to the whole vehicle control instruction, wherein the target braking path is at least one of a conventional braking path, an active boosting braking path and a compensating braking path; if the target braking path is a conventional braking path, performing corresponding conventional braking operation according to the conventional braking path; if the target braking path is an active pressurizing braking path, judging whether the wheels meet locking conditions or not; if yes, opening degrees of the first isolation pressure limiting valve and the second isolation pressure limiting valve are adjusted to prevent the wheel from locking; if the target braking path is a compensation braking path, performing corresponding compensation braking operation according to the compensation braking path; the conventional braking path comprises a path of brake fluid passing through a first conventional oil inlet passage and a first oil outlet passage and a path of brake fluid passing through a second conventional oil inlet passage and a second oil outlet passage, and the conventional braking operation comprises controlling the opening of a first isolation pressure limiting valve and the opening of a second isolation pressure limiting valve; the active pressurizing braking path comprises a path of braking liquid passing through a first suction valve, a first oil return pump and the first oil outlet passage, and a path of braking liquid passing through a second suction valve, a second oil return pump and the second oil outlet passage; the compensating braking path includes a path of brake fluid in a first accumulator through a first pressure relief valve and a first oil outlet, and a path of brake fluid in a second accumulator through a second pressure relief valve and a second oil outlet, and the compensating braking operation includes controlling the first pressure relief valve and the second pressure relief valve to open.

In a third aspect, the present invention also provides an automobile brake compensation method applied to the automobile brake compensation device of any one of the first aspects, the brake compensation method comprising:

acquiring a whole vehicle control instruction;

selecting a target braking path corresponding to the whole vehicle control instruction according to the whole vehicle control instruction, wherein the target braking path is at least one of a conventional braking path, an active boosting braking path and a compensating braking path;

if the target braking path is a conventional braking path, performing corresponding conventional braking operation according to the conventional braking path;

if the target braking path is an active pressurizing braking path, judging whether the wheels meet locking conditions or not; if so, the opening degrees of the first isolation pressure limiting valve and the second isolation pressure limiting valve are adjusted to prevent the wheel from locking.

If the target braking path is a compensation braking path, performing corresponding compensation braking operation according to the compensation braking path;

the conventional braking path comprises a path of brake fluid passing through a first conventional oil inlet passage and a first oil outlet passage and a path of brake fluid passing through a second conventional oil inlet passage and a second oil outlet passage, and the conventional braking operation comprises controlling the opening of a first isolation pressure limiting valve and the opening of a second isolation pressure limiting valve; the active pressurizing braking path comprises a path of braking liquid passing through a first suction valve, a first oil return pump and the first oil outlet passage, and a path of braking liquid passing through a second suction valve, a second oil return pump and the second oil outlet passage; the compensating braking path includes a path of brake fluid in a first accumulator through a first pressure relief valve and a first oil outlet, and a path of brake fluid in a second accumulator through a second pressure relief valve and a second oil outlet, and the compensating braking operation includes controlling the first pressure relief valve and the second pressure relief valve to open.

Preferably, the selecting a target braking path corresponding to the whole vehicle control instruction according to the whole vehicle control instruction specifically includes:

if the whole vehicle control instruction is a pedal braking instruction, a conventional braking path is selected as a target braking path;

if the whole vehicle control instruction is an active braking instruction, an active pressurizing braking path is selected as a target braking path;

and if the whole vehicle control instruction is an emergency braking instruction, selecting a compensation braking path and an active supercharging braking path as target braking paths.

Preferably, the automobile brake compensation method further comprises:

when the automobile brake compensation device is independently arranged between the main brake hydraulic cylinder and the brake cylinder of the automobile, the first accumulator is pre-stored by controlling the first suction valve, the first oil return pump and the first pressure reducing valve to be opened, and the second suction valve, the second oil return pump and the second pressure reducing valve to be opened, so that the first accumulator is pre-stored only when the automobile is in a static state after the automobile is electrified for the first time.

Preferably, the automobile brake compensation method further comprises:

The automobile brake compensation device is connected with the ABS system and then arranged between the main brake hydraulic cylinder and a brake cylinder of an automobile, and the automobile brake compensation device is linked with the ABS system to realize an ESC function and an AEB function;

or alternatively, the first and second heat exchangers may be,

the automobile brake compensation device is connected with the ESC system and then arranged between a main brake hydraulic cylinder and a brake wheel cylinder of an automobile, and the automobile brake compensation device is linked with the ESC system to realize the AEB enhancement function;

or alternatively, the first and second heat exchangers may be,

and connecting the automobile brake compensation device with the onebox system, and realizing the ABS function, the AEB function and the basic brake function after onebox failure by linkage of the automobile brake compensation device and the onebox system.

Preferably, the automobile brake compensation method further comprises:

when the automobile brake compensation device is connected with the ABS system, the automobile is in a static state after the automobile is electrified for the first time, and under the cooperation of the ABS system, the first suction valve, the first oil return pump and the first pressure reducing valve are controlled to be opened so as to pre-store energy for the first energy accumulator, and the second suction valve, the second oil return pump and the second pressure reducing valve are controlled to be opened so as to pre-store energy for the first energy accumulator;

Or alternatively, the first and second heat exchangers may be,

when the automobile brake compensation device is connected with the ESC system, the automobile is in a static state after the automobile is powered on for the first time, and under the cooperation of the ESC system, the first suction valve, the first oil return pump and the first pressure reducing valve are controlled to be opened so as to pre-store energy for the first energy accumulator, and the second suction valve, the second oil return pump and the second pressure reducing valve are controlled to be opened so as to pre-store energy for the first energy accumulator;

or alternatively, the first and second heat exchangers may be,

when the automobile brake compensation device is connected with the onebox system, the automobile is in a static state after the automobile is electrified for the first time and under the cooperation of the onebox system, the first suction valve, the first oil return pump and the first pressure reducing valve are controlled to be opened so as to pre-store energy for the first energy accumulator, and the second suction valve, the second oil return pump and the second pressure reducing valve are controlled to be opened so as to pre-store energy for the first energy accumulator.

Compared with the prior art, the invention has the beneficial effects that:

the invention provides an automobile brake compensation device, which is characterized in that a first conventional oil inlet passage and a second conventional oil inlet passage are arranged, a first isolation pressure limiting valve is arranged on the first conventional oil inlet passage, a second isolation pressure limiting valve is arranged on the second conventional oil inlet passage, so that conventional pressure increasing braking is realized, a first suction valve and a first oil return pump are arranged on the first active oil inlet passage, a second suction valve and a second oil return pump are arranged on the second active oil inlet passage, pressure sensors are arranged on the second oil outlet passage and the second oil outlet passage, so that when braking pressure is insufficient, active pressure increasing braking is carried out through the first active oil inlet passage and the second active oil inlet passage, and conventional pressure increasing braking can store brake fluid for an accumulator on the first compensation oil inlet passage and the second compensation oil inlet passage, so that when the active pressure increasing braking and the conventional pressure increasing braking are carried out, the first suction valve and the second suction valve are not needed to be compensated, and when the first braking is needed, the first braking signal is needed to be directly input to the first braking pedal, the automobile is simultaneously, the automobile brake is started by the emergency braking signal, the automobile is further braked by the emergency braking signal, and the automobile is responded to the emergency braking signal, and the signal is obtained from the first braking pedal, the ABS function, i.e. prevention of wheel locking, can be achieved by adjusting the opening of the first and second isolating pressure limiting valves.

The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the teachings of the present invention in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present invention more readily apparent.

Drawings

In order to more clearly illustrate the embodiments of the present description or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of an automotive brake compensating apparatus according to the present invention;

fig. 2 is a flow chart of the method for compensating braking of an automobile according to the present invention.

Reference numerals:

11. a first oil inlet;

12. a first isolation pressure limiting valve;

13. a first suction valve;

14. a first scavenge pump;

15. a first pressure reducing valve;

16. a first accumulator;

17. a first pressure sensor;

18. a first oil outlet;

21. a second oil inlet;

22. A second isolation pressure limiting valve;

23. a second suction valve;

24. a second scavenge pump;

25. a second pressure reducing valve;

26. a second accumulator;

27. a second pressure sensor;

28. a second oil outlet;

3. and a motor.

Detailed Description

The technical solutions of the embodiments of the present specification will be clearly and completely described below with reference to the drawings in the embodiments of the present specification, and it is apparent that the described embodiments are only some embodiments of the present specification, not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the specification fall within the scope of the present invention; wherein reference to "and/or" in this embodiment indicates and/or two cases, in other words, reference to a and/or B in the embodiments of this specification indicates two cases a and B, A or B, and describes three states in which a and B exist, such as a and/or B, indicating: only A and not B; only B and not A; includes A and B.

Meanwhile, in the present embodiment, when one component is considered to be "connected" to another component, it may be directly connected to the other component or may coexist with an intervening component. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present.

Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention.

It should be noted that, in order to make the description more detailed, so that those skilled in the art can understand the description more clearly and clearly, and further support the technical problems to be solved by the description and the corresponding technical effects to be achieved, before describing the description, it should be additionally noted that:

example 1

Referring to fig. 1, specifically, in an embodiment of the brake compensation device of the automobile, the brake compensation device includes a first oil outlet passage, a first conventional oil inlet passage, a first active oil inlet passage, a first compensation oil inlet passage, a second oil outlet passage, a second conventional oil inlet passage, a second active oil inlet passage, a second compensation oil inlet passage and a motor, where the first oil outlet passage includes a first end and a second end, a first pressure sensor is disposed between the first end and the second end of the first oil outlet passage, and the second end of the first oil outlet passage is a first oil outlet; one end of the first conventional oil inlet passage is a first oil inlet, and the other end of the first conventional oil inlet passage is sequentially communicated with a first isolation pressure limiting valve and a first end of the first oil outlet passage; one end of the first active oil inlet passage is communicated with the first oil inlet, and the other end of the first active oil inlet passage is sequentially communicated with a first suction valve, a first oil return pump and a first end of the first oil outlet passage; one end of the first compensation oil inlet passage is communicated with the first oil outlet, and the other end of the first compensation oil inlet passage is sequentially communicated with a first pressure reducing valve and a first energy accumulator; the second oil outlet passage comprises a third end and a fourth end, a second pressure sensor is arranged between the third end and the fourth end of the second oil outlet passage, and the fourth end of the second oil outlet passage is a second oil outlet; one end of the second conventional oil inlet passage is a second oil inlet, and the other end of the second conventional oil inlet passage is sequentially communicated with a second isolation pressure limiting valve and a third end of the second oil outlet passage; one end of the second active oil inlet passage is communicated with the second oil inlet, and the other end of the second active oil inlet passage is sequentially communicated with a second suction valve, a second oil return pump and a third end of the second oil outlet passage; one end of the second compensation oil inlet passage is communicated with the second oil outlet, and the other end of the second compensation oil inlet passage is sequentially communicated with a second pressure reducing valve and a second energy accumulator; the motor is connected with the first return pump and the second return pump respectively.

The invention provides an automobile brake compensation device, which is characterized in that a first conventional oil inlet passage and a second conventional oil inlet passage are arranged, a first isolation pressure limiting valve is arranged on the first conventional oil inlet passage, a second isolation pressure limiting valve is arranged on the second conventional oil inlet passage, so that conventional pressure increasing braking is realized, a first suction valve and a first oil return pump are arranged on the first active oil inlet passage, a second suction valve and a second oil return pump are arranged on the second active oil inlet passage, pressure sensors are arranged on the second oil outlet passage and the second oil outlet passage, so that when braking pressure is insufficient, active pressure increasing braking is carried out through the first active oil inlet passage and the second active oil inlet passage, and conventional pressure increasing braking can store brake fluid for an accumulator on the first compensation oil inlet passage and the second compensation oil inlet passage, so that when the active pressure increasing braking and the conventional pressure increasing braking are carried out, the first suction valve and the second suction valve are not needed to be compensated, and when the first braking is needed, the first braking signal is needed to be directly input to the first braking pedal, the automobile is simultaneously, the automobile brake is started by the emergency braking signal, the automobile is further braked by the emergency braking signal, and the automobile is responded to the emergency braking signal, and the signal is obtained from the first braking pedal, the ABS function, i.e. prevention of wheel locking, can be achieved by adjusting the opening of the first and second isolating pressure limiting valves.

According to the embodiment of the invention, the first pressure sensor is arranged at the first oil outlet, and the second pressure sensor is arranged at the second oil outlet, so that the brake fluid pressure in the brake cylinder is monitored through the pressure sensor.

In one possible embodiment, the first oil inlet and the second oil inlet are each connected to a main brake cylinder.

In one possible embodiment, the first oil outlet is communicated with brake cylinders of two front wheels of the automobile, and the second oil outlet is communicated with brake cylinders of two rear wheels of the automobile; or the first oil outlet is communicated with the brake wheel cylinders of the left front wheel and the right rear wheel of the automobile, and the second oil outlet is communicated with the brake wheel cylinders of the right front wheel and the left rear wheel of the automobile, namely the first oil outlet and the second oil outlet can be correspondingly connected according to the connection specifications of H-type and X-type brake pipelines of the automobile.

In one possible embodiment, the first and second isolation pressure limiting valves are normally open valves; the first suction valve and the second suction valve are normally closed valves; the first pressure reducing valve and the second pressure reducing valve are normally closed valves.

Specifically, the first isolation pressure limiting valve and the second isolation pressure limiting valve are normally open valves, namely when no power is supplied, the isolation pressure limiting valves are in a completely opened state, and the opening degree of the isolation pressure limiting valves can be controlled by adjusting the power-on current of the isolation pressure limiting valves; the first suction valve, the second suction valve, the first pressure reducing valve and the second pressure reducing valve are normally closed valves, namely, when no power is supplied, the suction valve and the pressure reducing valve are both in a closed state, and when power is supplied, the suction valve and the pressure reducing valve are in an open state.

Specifically, the automobile brake compensation device is arranged between a main brake hydraulic cylinder and a wheel brake cylinder of an automobile, and conventional braking, active pressure-increasing braking and compensation braking of the automobile can be realized through the automobile brake compensation device, wherein conventional braking of one group of wheels consists of a first conventional oil inlet passage and a first oil outlet passage, conventional braking of the other group of wheels consists of a second conventional oil inlet passage and a second oil outlet passage, and when a pedal brake instruction of the automobile is received, brake fluid in the main brake hydraulic cylinder can directly enter the wheel cylinder through a first isolation pressure limiting valve and a second isolation pressure limiting valve in an opening state to realize conventional pedal brake; the active pressure-increasing brake of one group of wheels consists of a first active oil inlet passage and a first oil outlet passage, the active pressure-increasing brake of the other group of wheels consists of a second active oil inlet passage and a second oil outlet passage, and the active pressure-increasing brake is used for judging that the vehicle needs to be braked after comprehensively evaluating vehicle signals (including signals such as steering wheel operation, gyroscope and wheel rotating speed) under the condition that a brake pedal is not stepped on, at the moment, a suction valve and an oil return pump are started to pump a brake liquid in a main brake liquid cylinder into the active oil inlet passage so as to act on a brake cylinder of the wheel to realize the active pressure-increasing brake; the compensation braking of one group of wheels is composed of a first compensation oil inlet passage and a first oil outlet, the compensation braking of the other group of wheels is composed of a second compensation oil inlet passage and a second oil outlet, and when the automobile needs emergency braking or the active braking capacity is insufficient, the first pressure reducing valve and the second pressure reducing valve are opened to release the braking liquid stored in the first accumulator and the braking liquid stored in the second accumulator into the wheel cylinder, so that the problem of braking delay caused by a braking liquid gap can be eliminated, and the purpose of improving the braking effect is achieved.

In addition, when the system monitors that the brake fluid is required to be stored in the accumulator, the pressure reducing valve can be opened to store part of the brake fluid in the corresponding accumulator when the vehicle is electrified for the first time or the vehicle is in a static state after the vehicle is electrified, and the pressure reducing valve is closed when the energy storage of the accumulator is completed.

The automobile brake compensation device in the embodiment of the application can be used as an independent brake device, can be combined with an existing brake-by-wire system to be used simultaneously, can realize active boosting braking, namely, when the braking pressure is insufficient under the condition that the current brake-by-wire system fails and the like, the active boosting is carried out through the active oil inlet passage and the compensation oil inlet passage, the energy storage device can be used for pre-storing energy, the braking liquid in the energy storage device can be partially released to achieve the effect of active boosting, the braking gap can be eliminated, and the quantity of the released braking liquid can be set according to specific conditions.

Example two

In particular, in an embodiment of such an automotive brake compensation system, the brake compensation system comprises:

the automotive brake compensation device of any one of embodiments;

a controller comprising a memory and a processor, the memory having stored therein a computer program which when executed by the processor performs the steps of: acquiring a whole vehicle control instruction; selecting a target braking path corresponding to the whole vehicle control instruction according to the whole vehicle control instruction, wherein the target braking path is at least one of a conventional braking path, an active boosting braking path and a compensating braking path; if the target braking path is a conventional braking path, performing corresponding conventional braking operation according to the conventional braking path; if the target braking path is an active pressurizing braking path, judging whether the wheels meet locking conditions or not; if yes, opening degrees of the first isolation pressure limiting valve and the second isolation pressure limiting valve are adjusted to prevent the wheel from locking; if the target braking path is a compensation braking path, performing corresponding compensation braking operation according to the compensation braking path; the conventional braking path comprises a path of brake fluid passing through a first conventional oil inlet passage and a first oil outlet passage and a path of brake fluid passing through a second conventional oil inlet passage and a second oil outlet passage, and the conventional braking operation comprises controlling the opening of a first isolation pressure limiting valve and the opening of a second isolation pressure limiting valve; the active pressurizing braking path comprises a path of braking liquid passing through a first suction valve, a first oil return pump and the first oil outlet passage, and a path of braking liquid passing through a second suction valve, a second oil return pump and the second oil outlet passage; the compensating braking path includes a path of brake fluid in a first accumulator through a first pressure relief valve and a first oil outlet, and a path of brake fluid in a second accumulator through a second pressure relief valve and a second oil outlet, and the compensating braking operation includes controlling the first pressure relief valve and the second pressure relief valve to open.

In one possible implementation manner, the step of selecting the target braking path corresponding to the whole vehicle control command according to the whole vehicle control command specifically includes the following substeps:

if the whole vehicle control instruction is a pedal braking instruction, selecting a conventional braking path as a target braking path;

if the whole vehicle control instruction is an active braking instruction, an active pressurizing braking path is selected as a target braking path;

and if the whole vehicle control instruction is an emergency braking instruction, selecting a compensation braking path and an active supercharging braking path as target braking paths.

In one possible embodiment, the automobile brake compensation system further comprises:

when the automobile brake compensation device is independently arranged between the main brake hydraulic cylinder and the brake cylinder of the automobile, the first accumulator is pre-stored by controlling the first suction valve, the first oil return pump and the first pressure reducing valve to be opened, and the second suction valve, the second oil return pump and the second pressure reducing valve to be opened, so that the first accumulator is pre-stored only when the automobile is in a static state after the automobile is electrified for the first time.

In one possible embodiment, the automobile brake compensation system further comprises:

the automobile brake compensation device is connected with an ABS system and then arranged between a main brake hydraulic cylinder and a brake cylinder of an automobile, and the automobile brake compensation device is linked with the ABS system to realize an ESC function and an AEB function;

or alternatively, the first and second heat exchangers may be,

the automobile brake compensation device is connected with the ESC system and then arranged between a main brake hydraulic cylinder and a brake wheel cylinder of an automobile, and the automobile brake compensation device is linked with the ESC system to realize the AEB enhancement function;

or alternatively, the first and second heat exchangers may be,

and connecting the automobile brake compensation device with the onebox system, and realizing an ABS function, an AEB function and a basic brake function after onebox failure by linkage of the automobile brake compensation device and the onebox system.

In one possible embodiment, the automobile brake compensation system further comprises:

when the automobile brake compensation device is connected with the ABS system, the automobile is in a static state after the automobile is electrified for the first time, and under the cooperation of the ABS system, the first suction valve, the first oil return pump and the first pressure reducing valve are controlled to be opened so as to pre-store energy for the first energy accumulator, and the second suction valve, the second oil return pump and the second pressure reducing valve are controlled to be opened so as to pre-store energy for the first energy accumulator;

Or alternatively, the first and second heat exchangers may be,

when the automobile brake compensation device is connected with the ESC system, the automobile is in a static state after the automobile is electrified for the first time, and under the cooperation of the ESC system, the first suction valve, the first oil return pump and the first pressure reducing valve are controlled to be opened so as to pre-store energy for the first energy accumulator, and the second suction valve, the second oil return pump and the second pressure reducing valve are controlled to be opened so as to pre-store energy for the first energy accumulator;

or alternatively, the first and second heat exchangers may be,

when the automobile brake compensation device is connected with the onebox system, the automobile is in a static state after the automobile is electrified for the first time, and under the cooperation of the onebox system, the first suction valve, the first oil return pump and the first pressure reducing valve are controlled to be opened so as to pre-store energy for the first energy accumulator, and the second suction valve, the second oil return pump and the second pressure reducing valve are controlled to be opened so as to pre-store energy for the first energy accumulator.

Specifically, when the brake pedal is stepped on conventionally, conventional braking by stepping on the brake pedal can be achieved through conventional braking paths (a first conventional oil inlet passage and a first oil outlet passage; a second conventional oil inlet passage and a second oil outlet passage); when the vehicle needs to actively brake, namely when the braking force of a brake wheel cylinder is detected to be insufficient, a system matched with the brake compensation device of the application fails, or when the controller needs to brake the wheel in a pressure-increasing way according to the vehicle signal, brake fluid in a main brake hydraulic cylinder can be pumped out from an oil outlet through an oil return pump through an active brake path (a first active oil inlet passage and a first oil outlet passage; a second active oil inlet passage and a second oil outlet passage), so that active pressure-increasing brake is realized; when the brake pedal is stepped on at high speed or hard, the distance between an obstacle and an automobile is smaller than the safety braking distance and the like, emergency braking can be carried out through the compensation braking path, then the pressure-increasing braking on wheels is realized through the active braking path, and the opening of the isolation pressure-limiting valve is regulated through the conventional braking path, so that the pressure-reducing and pressure-maintaining functions on the braking pressure of the wheel cylinder are realized. In summary, the embodiment of the invention can realize the functions of conventional braking, active boosting braking, compensating braking, ABS (anti-lock braking system) and the like.

Example III

Referring to fig. 2, specifically, an embodiment of the present application provides an automobile brake compensation method applied to the automobile brake compensation device according to any one of the first embodiment, where the brake compensation method specifically includes steps S110 to S140 as follows:

step S110, acquiring a whole vehicle control instruction;

the whole vehicle control command is a control command obtained based on current vehicle signals, and comprises a pedal braking command, an active braking command and an emergency braking command, wherein the pedal braking command comprises a pedal stepping signal, the active braking command comprises a comprehensive signal for judging that active braking is needed or braking capacity is insufficient based on the vehicle signals, and the emergency braking command comprises a high-speed or forced pedal stepping signal, a signal for detecting that an obstacle is smaller than a safe braking distance, and the like.

Step S120, selecting a target braking path corresponding to the whole vehicle control instruction according to the whole vehicle control instruction, wherein the target braking path is at least one of a conventional braking path, an active boosting braking path and a compensating braking path;

in one possible implementation manner, the step S120 selects the target braking path corresponding to the whole vehicle control command according to the whole vehicle control command, and specifically includes the following sub-steps:

If the whole vehicle control instruction is a pedal braking instruction, selecting a conventional braking path as a target braking path;

if the whole vehicle control instruction is an active braking instruction, an active pressurizing braking path is selected as a target braking path;

and if the whole vehicle control instruction is an emergency braking instruction, selecting a compensation braking path and an active supercharging braking path as target braking paths.

Step S130, if the target braking path is a normal braking path, performing corresponding normal braking operation according to the normal braking path;

step S140, if the target braking path is an active pressurizing braking path, judging whether the wheels meet locking conditions or not; if yes, opening degrees of the first isolation pressure limiting valve and the second isolation pressure limiting valve are adjusted to prevent the wheel from locking;

step S150, if the target braking path is a compensation braking path, performing corresponding compensation braking operation according to the compensation braking path;

the conventional braking path comprises a path of brake fluid passing through a first conventional oil inlet passage and a first oil outlet passage and a path of brake fluid passing through a second conventional oil inlet passage and a second oil outlet passage, and the conventional braking operation comprises controlling the opening of a first isolation pressure limiting valve and the opening of a second isolation pressure limiting valve; the active pressurizing braking path comprises a path of braking liquid passing through a first suction valve, a first oil return pump and the first oil outlet passage, and a path of braking liquid passing through a second suction valve, a second oil return pump and the second oil outlet passage; the compensating braking path includes a path of brake fluid in a first accumulator through a first pressure relief valve and a first oil outlet, and a path of brake fluid in a second accumulator through a second pressure relief valve and a second oil outlet, and the compensating braking operation includes controlling the first pressure relief valve and the second pressure relief valve to open.

Specifically, if the target braking path is an active pressure increasing braking path, corresponding active pressure increasing braking operation is performed according to the active pressure increasing braking path, specifically, when a first suction valve and a first oil return pump are started, a low-pressure end of the first oil return pump is connected with the first suction valve, a high-pressure end of the first oil return pump is connected with a first oil outlet passage, so that braking fluid in a main braking hydraulic cylinder can be pumped from the low-pressure end to the high-pressure end through the first oil return pump, and if the first oil outlet passage is directly connected with wheel cylinders of a group of wheels, when the pressure of the wheel cylinders is monitored to be overlarge through a first pressure sensor, a first isolation pressure limiting valve can be opened, and the opening degree of the first isolation pressure limiting valve is controlled to realize pressure regulation of the braking wheel cylinders. Similarly, when the second suction valve and the second oil return pump are opened, the low pressure end of the second oil return pump is connected with the second suction valve, and the high pressure end of the second oil return pump is connected with the second oil outlet passage, so that brake fluid in the main brake hydraulic cylinder can be pumped from the low pressure end to the high pressure end through the second oil return pump, and when the second oil outlet passage is directly connected with wheel cylinders of a group of wheels, when the pressure of the wheel cylinders is monitored to be overlarge through the second pressure sensor, the second isolation pressure limiting valve can be opened, and the opening degree of the second isolation pressure limiting valve is controlled to realize the pressure regulation of the wheel cylinders. That is, the anti-lock function of the automobile can be achieved, the brake fluid quantity entering the wheel cylinder can be controlled through the calculated critical brake fluid quantity, and if the brake fluid quantity entering the wheel cylinder exceeds the critical brake fluid quantity, the opening degree of the isolation pressure limiting valve in the conventional oil inlet passage can be reduced, so that the pressure regulation and control of the brake wheel cylinder can be achieved, and the effect of preventing the wheel from locking can be achieved.

It will be appreciated that when the brake pedal is depressed conventionally, conventional braking by depression of the brake pedal may be achieved through conventional braking paths (first conventional oil feed passage and first oil discharge passage; second conventional oil feed passage and second oil discharge passage); when the vehicle needs to actively brake, namely when the braking force of a brake wheel cylinder is detected to be insufficient, a system matched with the brake compensation device of the application fails, or when the controller needs to brake the wheel in a pressure-increasing way according to the vehicle signal, brake fluid in a main brake hydraulic cylinder can be pumped out from an oil outlet through an oil return pump through an active brake path (a first active oil inlet passage and a first oil outlet passage; a second active oil inlet passage and a second oil outlet passage), so that active pressure-increasing brake is realized; when the brake pedal is stepped on at high speed or hard, the distance between an obstacle and an automobile is smaller than the safety braking distance and the like, emergency braking can be carried out through the compensation braking path, then the pressure-increasing braking on wheels is realized through the active braking path, and the opening of the isolation pressure-limiting valve is regulated through the conventional braking path, so that the pressure-reducing and pressure-maintaining functions on the braking pressure of the wheel cylinder are realized. In summary, the embodiment of the invention can realize the functions of conventional braking, active boosting braking, compensating braking, ABS (anti-lock braking system) and the like.

In one possible embodiment, the method for compensating for braking of a vehicle further includes:

when the automobile brake compensation device is independently arranged between the main brake hydraulic cylinder and the brake cylinder of the automobile, the first accumulator is pre-stored by controlling the first suction valve, the first oil return pump and the first pressure reducing valve to be opened, and the second suction valve, the second oil return pump and the second pressure reducing valve to be opened, so that the first accumulator is pre-stored only when the automobile is in a static state after the automobile is electrified for the first time.

In one possible embodiment, the method for compensating for braking of a vehicle further includes:

the automobile brake compensation device is connected with an ABS system and then arranged between a main brake hydraulic cylinder and a brake cylinder of an automobile, and the automobile brake compensation device is linked with the ABS system to realize an ESC function and an AEB function;

or alternatively, the first and second heat exchangers may be,

the automobile brake compensation device is connected with the ESC system and then arranged between a main brake hydraulic cylinder and a brake wheel cylinder of an automobile, and the automobile brake compensation device is linked with the ESC system to realize the AEB enhancement function;

or alternatively, the first and second heat exchangers may be,

and connecting the automobile brake compensation device with the onebox system, and realizing an ABS function, an AEB function and a basic brake function after onebox failure by linkage of the automobile brake compensation device and the onebox system.

In one possible embodiment, the method for compensating for braking of a vehicle further includes:

when the automobile brake compensation device is connected with the ABS system, the automobile is in a static state after the automobile is electrified for the first time, and under the cooperation of the ABS system, the first suction valve, the first oil return pump and the first pressure reducing valve are controlled to be opened so as to pre-store energy for the first energy accumulator, and the second suction valve, the second oil return pump and the second pressure reducing valve are controlled to be opened so as to pre-store energy for the first energy accumulator;

or alternatively, the first and second heat exchangers may be,

when the automobile brake compensation device is connected with the ESC system, the automobile is in a static state after the automobile is electrified for the first time, and under the cooperation of the ESC system, the first suction valve, the first oil return pump and the first pressure reducing valve are controlled to be opened so as to pre-store energy for the first energy accumulator, and the second suction valve, the second oil return pump and the second pressure reducing valve are controlled to be opened so as to pre-store energy for the first energy accumulator;

or alternatively, the first and second heat exchangers may be,

when the automobile brake compensation device is connected with the onebox system, the automobile is in a static state after the automobile is electrified for the first time, and under the cooperation of the onebox system, the first suction valve, the first oil return pump and the first pressure reducing valve are controlled to be opened so as to pre-store energy for the first energy accumulator, and the second suction valve, the second oil return pump and the second pressure reducing valve are controlled to be opened so as to pre-store energy for the first energy accumulator.

As an application scenario, the automobile brake compensation device may be separately connected between the main brake hydraulic cylinder and the brake wheel cylinder of the automobile, for example, in an unmanned vehicle, where in order to avoid a vehicle driving accident, the pre-storing of the accumulator in the automobile brake compensation device cannot be performed in a conventional brake path, but only when the automobile is powered on for the first time or the automobile is in a stationary state after the automobile is powered on, and the pre-storing process at this time is to start the active brake path and the compensating brake path, so as to store the brake fluid in the accumulator. Under the application scene of unmanned vehicles, a conventional braking path in an automobile braking compensation device is not generally used, and because the condition that a brake pedal is stepped does not exist under the application scene, the braking of the vehicle is mainly controlled through an active braking instruction, namely, the basic braking of the vehicle is realized through an active pressurizing braking path, when emergency braking is needed, the compensation braking path is started first, and then an AEB (emergency braking system) function and an ABS (anti-lock braking system) function are realized by combining the active pressurizing braking path and the conventional braking path.

As still another application scenario, some vehicles are provided with an ABS system between a main brake hydraulic cylinder and a brake wheel cylinder of a vehicle, and an automotive brake compensation device in the implementation of the application may be additionally provided between the main brake hydraulic cylinder and the ABS system (specifically, an oil inlet of the automotive brake compensation device may be connected to the main brake hydraulic cylinder, an oil outlet of the automotive brake compensation device may be connected to an oil inlet of the ABS system, and an oil outlet of the ABS system may be connected to the brake wheel cylinder of the vehicle), and an active pressure boost of the brake wheel cylinder of the vehicle may be achieved through an active pressure boost braking path in the automotive brake compensation device, and an emergency brake may be achieved through a compensation braking path and an active pressure boost braking path in the automotive brake compensation device, and further an ESC (electronic stability control system) function and an AEB function may be achieved under the linkage of the automotive brake compensation device and the ABS system. Under the application scene, the pre-energy storage of the energy accumulator in the automobile brake compensation device can be carried out when the automobile is electrified for the first time or the automobile is in a static state after the automobile is electrified, and can also be matched with an ABS system when the automobile is driven, specifically, a valve in the ABS system can be closed, and then an active pressurizing brake path and a compensating brake path are opened, so that brake fluid is stored in the energy accumulator, and the brake fluid cannot enter brake cylinders of wheels at the moment.

As another application scenario, some vehicles are already provided with an ESC system between a main brake hydraulic cylinder and a brake wheel cylinder of a vehicle, and a vehicle brake compensation device in the implementation of the application can be additionally arranged between the main brake hydraulic cylinder and the ESC system (specifically, an oil inlet of the vehicle brake compensation device can be connected with the main brake hydraulic cylinder, an oil outlet of the vehicle brake compensation device is connected with an oil inlet of the ESC system, and an oil outlet of the ESC system is connected with the brake wheel cylinder of the vehicle), so that the AEB function can be enhanced through a compensation braking path and an active pressure increasing braking path in the vehicle brake compensation device and an active braking function of the ESC system. Under the application scene, the pre-energy storage of the energy accumulator in the automobile brake compensation device can be carried out when the automobile is electrified for the first time or the automobile is in a static state after the automobile is electrified, and can also be matched with the ESC system when the automobile is driven, specifically, a valve in the ESC system can be closed, and then an active pressurizing brake path and a compensating brake path are opened, so that brake fluid is stored in the energy accumulator, and the brake fluid cannot enter a brake cylinder of a wheel at the moment.

As still another application scenario, the automobile brake compensation device in the implementation of the present application (specifically, the automobile brake compensation device may be connected between a main brake cylinder and a valve of the onebox system) may be added to a vehicle provided with the onebox system (brake-by-wire system), and when the onebox system fails, the ABS function, the AEB function, and the foundation brake function may be implemented through a normal brake path, an active boost brake path, and a compensation brake path in the automobile brake compensation device, where the foundation brake function is implemented by the active boost brake path. Under the application scene, the pre-energy storage of the energy accumulator in the automobile brake compensation device can be carried out when the automobile is electrified for the first time or the automobile is in a static state after the automobile is electrified, and can also be matched with the onebox system when the automobile is driven, specifically, a valve in the onebox system can be closed, and then an active boosting braking path and a compensating braking path are started.

It should be noted that, the structures, proportions, sizes and the like shown in the drawings attached to the present specification are used for understanding and reading only in conjunction with the disclosure of the present specification, and are not intended to limit the applicable limitations of the present invention, so that any modification of the structures, variation of proportions or adjustment of sizes of the structures, proportions and the like should not be construed as essential to the present invention, and should still fall within the scope of the disclosure of the present invention without affecting the efficacy and achievement of the present invention. Also, the terms such as "upper," "lower," "left," "right," "middle," and "a" and the like recited in the present specification are merely for descriptive purposes and are not intended to limit the scope of the invention, but are intended to provide relative positional changes or modifications without materially altering the technical context in which the invention may be practiced.

The present invention is not limited to the above-mentioned embodiments, but is not limited to the above-mentioned embodiments, and any simple modification, equivalent changes and modification made to the above-mentioned embodiments according to the technical matters of the present invention can be made by those skilled in the art without departing from the scope of the present invention.

Claims (10)

1. A brake compensation device for an automobile, the brake compensation device comprising:

the first oil outlet passage comprises a first end and a second end, a first pressure sensor is arranged between the first end and the second end of the first oil outlet passage, and the second end of the first oil outlet passage is a first oil outlet;

one end of the first conventional oil inlet passage is provided with a first oil inlet, and the other end of the first conventional oil inlet passage is sequentially communicated with a first isolation pressure limiting valve and a first end of the first oil outlet passage;

one end of the first active oil inlet passage is communicated with the first oil inlet, and the other end of the first active oil inlet passage is sequentially communicated with a first suction valve, a first oil return pump and a first end of the first oil outlet passage;

one end of the first compensation oil inlet passage is communicated with the first oil outlet, and the other end of the first compensation oil inlet passage is sequentially communicated with the first pressure reducing valve and the first energy accumulator;

the second oil outlet passage comprises a third end and a fourth end, a second pressure sensor is arranged between the third end and the fourth end of the second oil outlet passage, and the fourth end of the second oil outlet passage is a second oil outlet;

one end of the second conventional oil inlet passage is provided with a second oil inlet, and the other end of the second conventional oil inlet passage is sequentially communicated with a second isolation pressure limiting valve and a third end of the second oil outlet passage;

One end of the second active oil inlet passage is communicated with the second oil inlet, and the other end of the second active oil inlet passage is sequentially communicated with a second suction valve, a second oil return pump and a third end of the second oil outlet passage;

one end of the second compensation oil inlet passage is communicated with the second oil outlet, and the other end of the second compensation oil inlet passage is sequentially communicated with a second pressure reducing valve and a second energy accumulator;

and the motor is respectively connected with the first oil return pump and the second oil return pump.

2. The automotive brake compensation apparatus of claim 1, wherein:

the first oil inlet and the second oil inlet are both connected with a main brake hydraulic cylinder.

3. The automotive brake compensation apparatus of claim 2, wherein:

the first oil outlet is communicated with brake wheel cylinders of two front wheels of the automobile, and the second oil outlet is communicated with brake wheel cylinders of two rear wheels of the automobile;

or alternatively, the first and second heat exchangers may be,

the first oil outlet is communicated with the brake cylinders of the left front wheel and the right rear wheel of the automobile, and the second oil outlet is communicated with the brake cylinders of the right front wheel and the left rear wheel of the automobile.

4. A vehicle brake compensating apparatus as claimed in claim 3, wherein:

the first isolation pressure limiting valve and the second isolation pressure limiting valve are normally open valves;

The first suction valve and the second suction valve are normally closed valves;

the first pressure reducing valve and the second pressure reducing valve are normally closed valves.

5. An automotive brake compensation system, the brake compensation system comprising:

the automobile brake compensation device according to any one of claims 1 to 4;

a controller comprising a memory and a processor, the memory having stored therein a computer program which when executed by the processor performs the steps of: acquiring a whole vehicle control instruction; selecting a target braking path corresponding to the whole vehicle control instruction according to the whole vehicle control instruction, wherein the target braking path is at least one of a conventional braking path, an active boosting braking path and a compensating braking path; if the target braking path is a conventional braking path, performing corresponding conventional braking operation according to the conventional braking path; if the target braking path is an active pressurizing braking path, judging whether the wheels meet locking conditions or not; if yes, opening degrees of the first isolation pressure limiting valve and the second isolation pressure limiting valve are adjusted to prevent the wheel from locking; if the target braking path is a compensation braking path, performing corresponding compensation braking operation according to the compensation braking path; the conventional braking path comprises a path of brake fluid passing through a first conventional oil inlet passage and a first oil outlet passage and a path of brake fluid passing through a second conventional oil inlet passage and a second oil outlet passage, and the conventional braking operation comprises controlling the opening of a first isolation pressure limiting valve and the opening of a second isolation pressure limiting valve; the active pressurizing braking path comprises a path of braking liquid passing through a first suction valve, a first oil return pump and the first oil outlet passage, and a path of braking liquid passing through a second suction valve, a second oil return pump and the second oil outlet passage; the compensating braking path includes a path of brake fluid in a first accumulator through a first pressure relief valve and a first oil outlet, and a path of brake fluid in a second accumulator through a second pressure relief valve and a second oil outlet, and the compensating braking operation includes controlling the first pressure relief valve and the second pressure relief valve to open.

6. An automobile brake compensation method applied to the automobile brake compensation device according to any one of claims 1 to 4, characterized in that the brake compensation method comprises:

acquiring a whole vehicle control instruction;

selecting a target braking path corresponding to the whole vehicle control instruction according to the whole vehicle control instruction, wherein the target braking path is at least one of a conventional braking path, an active boosting braking path and a compensating braking path;

if the target braking path is a conventional braking path, performing corresponding conventional braking operation according to the conventional braking path;

if the target braking path is an active pressurizing braking path, judging whether the wheels meet locking conditions or not; if yes, opening degrees of the first isolation pressure limiting valve and the second isolation pressure limiting valve are adjusted to prevent the wheel from locking;

if the target braking path is a compensation braking path, performing corresponding compensation braking operation according to the compensation braking path;

the conventional braking path comprises a path of brake fluid passing through a first conventional oil inlet passage and a first oil outlet passage and a path of brake fluid passing through a second conventional oil inlet passage and a second oil outlet passage, and the conventional braking operation comprises controlling the opening of a first isolation pressure limiting valve and the opening of a second isolation pressure limiting valve; the active pressurizing braking path comprises a path of braking liquid passing through a first suction valve, a first oil return pump and the first oil outlet passage, and a path of braking liquid passing through a second suction valve, a second oil return pump and the second oil outlet passage; the compensating braking path includes a path of brake fluid in a first accumulator through a first pressure relief valve and a first oil outlet, and a path of brake fluid in a second accumulator through a second pressure relief valve and a second oil outlet, and the compensating braking operation includes controlling the first pressure relief valve and the second pressure relief valve to open.

7. The method for compensating for vehicle braking according to claim 6, wherein selecting a target braking path corresponding to the vehicle control command according to the vehicle control command comprises:

if the whole vehicle control instruction is a pedal braking instruction, a conventional braking path is selected as a target braking path;

if the whole vehicle control instruction is an active braking instruction, an active pressurizing braking path is selected as a target braking path;

and if the whole vehicle control instruction is an emergency braking instruction, selecting a compensation braking path and an active supercharging braking path as target braking paths.

8. The vehicle brake compensation method according to claim 7, characterized in that the vehicle brake compensation method further comprises:

when the automobile brake compensation device is independently arranged between the main brake hydraulic cylinder and the brake cylinder of the automobile, the first accumulator is pre-stored by controlling the first suction valve, the first oil return pump and the first pressure reducing valve to be opened, and the second suction valve, the second oil return pump and the second pressure reducing valve to be opened, so that the first accumulator is pre-stored only when the automobile is in a static state after the automobile is electrified for the first time.

9. The vehicle brake compensation method according to claim 8, characterized in that the vehicle brake compensation method further comprises:

the automobile brake compensation device is connected with the ABS system and then arranged between the main brake hydraulic cylinder and a brake cylinder of an automobile, and the automobile brake compensation device is linked with the ABS system to realize an ESC function and an AEB function;

or alternatively, the first and second heat exchangers may be,

the automobile brake compensation device is connected with the ESC system and then arranged between a main brake hydraulic cylinder and a brake wheel cylinder of an automobile, and the automobile brake compensation device is linked with the ESC system to realize the AEB enhancement function;

or alternatively, the first and second heat exchangers may be,

and connecting the automobile brake compensation device with an onebox system, and realizing the ABS function, the AEB function and the basic brake function after the onebox system fails in a linkage way.

10. The vehicle brake compensation method according to claim 9, characterized in that the vehicle brake compensation method further comprises:

when the automobile brake compensation device is connected with the ABS system, the automobile is in a static state after the automobile is electrified for the first time, and under the cooperation of the ABS system, the first suction valve, the first oil return pump and the first pressure reducing valve are controlled to be opened so as to pre-store energy for the first energy accumulator, and the second suction valve, the second oil return pump and the second pressure reducing valve are controlled to be opened so as to pre-store energy for the first energy accumulator;

Or alternatively, the first and second heat exchangers may be,

when the automobile brake compensation device is connected with the ESC system, the automobile is in a static state after the automobile is powered on for the first time, and under the cooperation of the ESC system, the first suction valve, the first oil return pump and the first pressure reducing valve are controlled to be opened so as to pre-store energy for the first energy accumulator, and the second suction valve, the second oil return pump and the second pressure reducing valve are controlled to be opened so as to pre-store energy for the first energy accumulator;

or alternatively, the first and second heat exchangers may be,

when the automobile brake compensation device is connected with the onebox system, the automobile is in a static state after the automobile is electrified for the first time and under the cooperation of the onebox system, the first suction valve, the first oil return pump and the first pressure reducing valve are controlled to be opened so as to pre-store energy for the first energy accumulator, and the second suction valve, the second oil return pump and the second pressure reducing valve are controlled to be opened so as to pre-store energy for the first energy accumulator.