Redundant brake control method for displacement sensor failure, vehicle and program product

Abstract

The invention discloses a redundant brake control method for displacement sensor failure, a vehicle and a program product, and the method comprises the steps: obtaining a target signal in response to a signal failure instruction of a displacement sensor; wherein the target signals comprise a main cylinder pressure signal, a pedal force signal and a pedal angle signal; determining a fault condition of the target sensor according to the target signal; wherein the target sensor comprises a main cylinder pressure sensor, a pedal force sensor and a pedal angle sensor; based on the fault condition, effective signals in the target signals are converted into braking system target pressure; wherein the target pressure of the braking system is used for pressure building of the servo cylinder, and flow control is effectively achieved. According to the invention, the target pressure is obtained by verifying the signals of the main cylinder pressure sensor, the pedal force sensor and the pedal angle sensor instead of converting the signals of the displacement sensor, so that the braking system can identify the braking intention of a driver under the condition that the displacement sensor fails, and the driving safety of a vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a redundant braking control method for failure of a displacement sensor, a vehicle, and a program product. Background Art

[0002] As automotive braking systems evolve toward brake-by-wire control, decoupled electric power-assisted systems have gradually replaced traditional vacuum boosters. Using the pushrod travel signal output by the displacement sensor, the electronic control system can determine the driver's needs. Specifically, it calculates the target braking pressure based on the pushrod travel signal, thereby controlling the servo motor to increase the hydraulic pressure to the target pressure for braking. If the displacement sensor malfunctions or the signal is invalid, the system will not be able to recognize the driver's needs, resulting in a loss of braking ability and a potential safety hazard. Summary of the Invention

[0003] The main purpose of the embodiments of the present invention is to provide a redundant braking control method, vehicle and program product for displacement sensor failure, in order to solve at least one problem of the prior art.

[0004] To achieve the above objectives, one aspect of an embodiment of the present invention provides a redundant braking control method for a displacement sensor failure, the control method comprising: acquiring a target signal in response to a signal failure instruction of the displacement sensor; The target signals include a master cylinder pressure signal, a pedal force signal, and a pedal angle signal; Determine the fault condition of the target sensor based on the target signal; Among them, the target sensors include the master cylinder pressure sensor, pedal force sensor and pedal angle sensor; Based on the fault condition, the effective signal in the target signal is converted into the target pressure of the braking system; Among them, the brake system target pressure is used to build pressure in the servo cylinder.

[0005] In some embodiments, determining a fault condition of a target sensor according to a target signal includes: determining a fault condition of a master cylinder pressure sensor based on the master cylinder pressure signal; determining a fault condition of a pedal force sensor based on the pedal force signal; A fault condition of the pedal angle sensor is determined based on the pedal angle signal.

[0006] In some embodiments, when the master cylinder pressure sensor and the pedal force sensor are not faulty, converting a valid signal in the target signal into a brake system target pressure based on the fault condition includes: Based on a preset redundant control algorithm, a pedal stroke signal is obtained according to the master cylinder pressure and the master cylinder pressure change rate in the master cylinder pressure signal and the pedal force and the pedal force change rate in the pedal force signal; Convert the pedal travel signal into the brake system target pressure.

[0007] In some embodiments, when the fault condition is a fault of the pedal force sensor, converting a valid signal in the target signal into a target pressure of the braking system based on the fault condition includes: Based on a preset redundant control algorithm, a pedal stroke signal is obtained according to the master cylinder pressure and the master cylinder pressure change rate in the master cylinder pressure signal and the pedal angle and the pedal angle change rate in the pedal angle signal; Convert the pedal travel signal into the brake system target pressure.

[0008] In some embodiments, when the fault condition is a fault in the pedal force sensor and the pedal angle sensor, converting a valid signal in the target signal into a target pressure of the braking system based on the fault condition includes: Based on a preset redundant control algorithm, a pedal stroke signal is obtained according to the master cylinder pressure and the master cylinder pressure change rate in the master cylinder pressure signal; Convert the pedal travel signal into the brake system target pressure.

[0009] In some embodiments, when the fault condition is a fault in the master cylinder pressure sensor, converting a valid signal in the target signal into a brake system target pressure based on the fault condition includes: Based on a preset redundant control algorithm, a pedal stroke signal is obtained according to the pedal force and the pedal force change rate in the pedal force signal; Convert the pedal travel signal into the brake system target pressure.

[0010] In some embodiments, when the fault condition is a fault in the master cylinder pressure sensor and the pedal force sensor, converting a valid signal in the target signal into a brake system target pressure based on the fault condition includes: Based on a preset redundant control algorithm, a pedal stroke signal is obtained according to the pedal angle and the pedal angle change rate in the pedal angle signal; Convert the pedal travel signal into the brake system target pressure.

[0011] In some embodiments, when the fault condition is that all target sensors fail, the method further includes: Adjust the vehicle's braking system into backup mode.

[0012] To achieve the above objectives, another aspect of an embodiment of the present invention proposes a vehicle, which includes a memory, a processor, and a program stored in the memory and executable on the processor. When the program is executed by the processor, the redundant braking control method for displacement sensor failure described above is implemented.

[0013] To achieve the above objectives, another aspect of an embodiment of the present invention provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by a processor, the redundant braking control method for displacement sensor failure is implemented.

[0014] To achieve the above object, another aspect of an embodiment of the present invention provides a computer program product, including a computer program. When the computer program is executed by a processor, the computer program implements the above redundant braking control method for failure of a displacement sensor.

[0015] The embodiment of the present invention obtains a target signal by responding to a signal failure instruction of a displacement sensor; wherein the target signal includes a master cylinder pressure signal, a pedal force signal, and a pedal angle signal; determines the fault condition of the target sensor according to the target signal; wherein the target sensor includes a master cylinder pressure sensor, a pedal force sensor, and a pedal angle sensor; based on the fault condition, converts the valid signal in the target signal into a target pressure of the braking system; wherein the target pressure of the braking system is used to build pressure in the servo cylinder, effectively realizing flow control. The present invention verifies the signals of the master cylinder pressure sensor, the pedal force sensor, and the pedal angle sensor instead of converting the displacement sensor signal to obtain the target pressure, so that the braking system can recognize the driver's braking intention in the event of displacement sensor failure, thereby improving the driving safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of an implementation environment for redundant braking control in the event of displacement sensor failure provided by an embodiment of the present invention; Figure 2 A schematic flow chart of a redundant braking control method for displacement sensor failure provided by an embodiment of the present invention; Figure 3 A schematic diagram of a system architecture for applying a redundant braking control method for displacement sensor failure provided by an embodiment of the present invention; Figure 4 A flowchart illustrating the diagnostic processing logic provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0018] It should be noted that although the system diagrams illustrate functional module divisions and the flowcharts illustrate a logical sequence, in certain circumstances, the steps shown or described may be performed in a sequence that differs from the module divisions in the system or the sequence in the flowcharts. The terms "first / S100," "second / S200," and the like in the specification, claims, and drawings are used to distinguish similar objects and are not necessarily intended to describe a specific sequence or precedence.

[0019] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute a separate or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0020] It is understandable that the redundant braking control method for displacement sensor failure provided in the embodiment of the present invention can be applied to any computer device with data processing and computing capabilities (such as an on-board terminal device or a related control system of the vehicle), and this computer device can be various terminals or servers. When the computer device in the embodiment is a server, the server is an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN (Content Delivery Network), and big data and artificial intelligence platforms. In some embodiments, the terminal is a smart phone, tablet computer, laptop computer, desktop computer, etc., but is not limited to this.

[0021] like Figure 1 FIG. 1 is a schematic diagram of an implementation environment provided by an embodiment of the invention. Figure 1 , the implementation environment includes at least one terminal 102 and a server 101. The terminal 102 and the server 101 can be connected to the network in a wireless or wired manner to complete data transmission and exchange.

[0022] Server 101 can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers. It can also be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN (Content Delivery Network), as well as big data and artificial intelligence platforms.

[0023] In addition, server 101 can also be a node server in a blockchain network. Blockchain is a new application model of computer technologies such as distributed data storage, peer-to-peer transmission, consensus mechanism, and encryption algorithm.

[0024] Terminal 102 may be a smartphone, tablet computer, laptop computer, desktop computer, smart speaker, smartwatch, etc. Terminal 102 may also be a vehicle-mounted terminal of the various device types described above, but is not limited thereto. Terminal 102 and server 101 may be connected directly or indirectly via wired or wireless communication, which is not limited in this embodiment of the present invention.

[0025] Based on the example Figure 1 In the implementation environment shown, an embodiment of the present invention provides a redundant braking control method for a displacement sensor failure. The following is explained using the example of the redundant braking control method for a displacement sensor failure being applied to the server 101. It can be understood that the redundant braking control method for a displacement sensor failure can also be applied to the terminal 102.

[0026] Reference Figure 2 , Figure 2 This is a flowchart of a redundant braking control method for a server with a failed displacement sensor provided by an embodiment of the present invention. The execution subject of the redundant braking control method for a failed displacement sensor can be any of the aforementioned computer devices (including a server or a terminal). Figure 2 , the method may include the following steps: S100, in response to a signal failure instruction of the displacement sensor, acquiring a target signal; The target signals include a master cylinder pressure signal, a pedal force signal, and a pedal angle signal; S200, determining a fault condition of a target sensor according to a target signal; Among them, the target sensors include the master cylinder pressure sensor, pedal force sensor and pedal angle sensor; It should be noted that, in some embodiments, step S200 may include the following steps: determining the fault condition of the master cylinder pressure sensor based on the master cylinder pressure signal; determining the fault condition of the pedal force sensor based on the pedal force signal; and determining the fault condition of the pedal angle sensor based on the pedal angle signal.

[0027] For example, in some specific implementations, the fault condition of the corresponding sensor can be determined based on the integrity of the signal, verification based on the signal transmission protocol, or a sensor status signal carried in the signal.

[0028] S300, based on the fault condition, converting a valid signal in the target signal into a target pressure of the braking system; Among them, the target pressure of the braking system is used to build pressure in the servo cylinder; It should be noted that in some embodiments, when the fault condition is that the master cylinder pressure sensor and the pedal force sensor are not faulty, based on the fault condition, the valid signal in the target signal is converted into the target pressure of the braking system, including: based on a preset redundant control algorithm, the pedal stroke signal is obtained according to the master cylinder pressure and the master cylinder pressure change rate in the master cylinder pressure signal and the pedal force and the pedal force change rate in the pedal force signal; and the pedal stroke signal is converted into the target pressure of the braking system.

[0029] In some embodiments, when the fault condition is a failure of the pedal force sensor, converting the valid signal in the target signal into a target pressure of the braking system based on the fault condition may include the following steps: based on a preset redundant control algorithm, obtaining a pedal stroke signal according to the master cylinder pressure and the master cylinder pressure change rate in the master cylinder pressure signal and the pedal angle and the pedal angle change rate in the pedal angle signal; converting the pedal stroke signal into a target pressure of the braking system.

[0030] In some embodiments, when the fault condition is a fault of the pedal force sensor and the pedal angle sensor, converting the valid signal in the target signal into the target pressure of the braking system based on the fault condition may include the following steps: based on a preset redundant control algorithm, obtaining the pedal stroke signal according to the master cylinder pressure and the master cylinder pressure change rate in the master cylinder pressure signal; converting the pedal stroke signal into the target pressure of the braking system.

[0031] In some embodiments, when the fault condition is a failure of the master cylinder pressure sensor, converting the valid signal in the target signal into the target pressure of the braking system based on the fault condition may include the following steps: based on a preset redundant control algorithm, obtaining a pedal stroke signal according to the pedal force and the pedal force change rate in the pedal force signal; converting the pedal stroke signal into the target pressure of the braking system.

[0032] In some embodiments, when the fault condition is that the master cylinder pressure sensor and the pedal force sensor fail, based on the fault condition, converting the valid signal in the target signal into the target pressure of the braking system can include the following steps: based on a preset redundant control algorithm, obtaining a pedal stroke signal according to the pedal angle and the pedal angle change rate in the pedal angle signal; converting the pedal stroke signal into the target pressure of the braking system.

[0033] For example, in some specific implementations, estimating the pedal stroke based on the master cylinder pressure signal can be achieved by the following scheme: Solution 1a: Static / quasi-static mapping (based on P_mc): A mapping relationship between master cylinder pressure (P_mc) and pedal travel (S_pedal) is established through a large number of calibration tests (under normal operating conditions of the pedal displacement sensor). This relationship can be: Lookup table: stores discrete (P_mc, S_pedal) data point pairs.

[0034] Fitting function: such as polynomial function, piecewise linear function, exponential function, etc. For example: S_pedal=f(P_mc).

[0035] By querying the above-mentioned lookup table or calculating the fitting function, the corresponding estimated pedal stroke value S_pedal_est is output.

[0036] Solution 1b: Dynamic Integral Compensation (based on dP_mc / dt): A pre-calibrated relationship is established between the master cylinder pressure change rate (dP_mc / dt) and pedal speed (V_pedal): V_pedal = g(dP_mc / dt). Here, g is a fitted function that takes into account hydraulic system characteristics (such as volume spring and line losses).

[0037] The current pedal speed V_pedal_est is estimated using the relationship g: V_pedal_est = g(dP_mc / dt). The estimated pedal speed V_pedal_est can then be integrated over time: S_pedal_est = ∫V_pedal_est dt + S0.

[0038] The initial integral value S0 is crucial and can be set to the last valid pedal stroke value at the time of failure, or to an initial value determined based on P_mc at the time of failure combined with the mapping relationship of Scheme 1a.

[0039] Option 1c: Hybrid Model (P_mc + dP_mc / dt): Combines options 1a and 1b. For example, use the static map f(P_mc) from option 1a as the base value. Use the V_pedal_est estimated from option 1b for short-term dynamic correction: S_pedal_est = f(P_mc) + K * ∫ V_pedal_est dt (where K is the correction gain). Alternatively, a more complex observer model (such as a Kalman filter) can be used, taking P_mc and dP_mc / dt as inputs to estimate both S_pedal and V_pedal simultaneously.

[0040] Estimating pedal travel based on the master cylinder pressure signal can be achieved through the following scheme: Solution 2a: Spring Model Mapping (Based on F_pedal): Simplify the pedal mechanism (including the pedal arm, torsion spring, and the reaction force of the power assist mechanism) into a (non-)linear spring system. A pre-calibrated force-displacement characteristic curve is established between pedal force (F_pedal) and pedal travel (S_pedal). This curve is typically nonlinear: S_pedal = h(F_pedal). Read F_pedal and obtain S_pedal_est using a table lookup or calculation function h.

[0041] Solution 2b: Energy Integration / Dynamic Model (Based on dF_pedal / dt): Build a dynamic model that considers the inertia, damping, and stiffness of the pedal mechanism. Using dF_pedal / dt and known mechanism parameters (mass, damping coefficient, and stiffness characteristics), combined with Newton's laws or the principle of energy conservation, estimate pedal acceleration and velocity, which are then integrated to obtain travel. This also requires an initial value, S0.

[0042] Solution 2c: Hybrid Model (F_pedal + Others): This model uses F_pedal as the primary input and combines other signals (such as master cylinder pressure P_mc or booster status) to compensate for the effects of the boost mechanism and improve the accuracy of the h(F_pedal, ...) mapping. For example, S_pedal_est = h(F_pedal, P_mc), where P_mc indirectly reflects the booster's level of assistance.

[0043] Estimating pedal travel based on pedal angle signal can be achieved through the following scheme: Solution 3a: Geometric Conversion (Based on θ_pedal): Pedal travel, S_pedal, is essentially the linear displacement of the pedal end along its trajectory. There is a fixed geometric relationship (typically a circular arc) between the pedal angle, θ_pedal, and S_pedal. Accurately measure the pedal arm length, L, and the center of rotation in advance. Calculate travel using simple trigonometric functions or circular arc formulas: S_pedal = L * sin(θ_pedal - θ0) or S_pedal = L * (θ_pedal - θ0) (for small angle approximations). θ0 is the initial (unpedaled) angle. Read θ_pedal and directly calculate S_pedal_est.

[0044] Solution 3b: Double Integration (Based on ω_pedal): Calculate or read the angular velocity ω_pedal = dθ_pedal / dt in real time. Integrate the angular velocity once to obtain the angular change (although this is not as accurate as using θ_pedal directly), or use ω_pedal directly. Calculate the linear velocity V_pedal = L * ω_pedal (assuming the instantaneous motion direction is perpendicular to the radial direction). Integrate V_pedal over time: S_pedal_est = ∫ V_pedal dt + S0. An initial value S0 is required.

[0045] Solution 3c: Combining angle and angular velocity: Complex combining is usually not necessary. When filtering or noise processing is required, θ_pedal and θ_pedal can be input into a simple filter or observer.

[0046] In some optional implementations, multi-signal fusion estimation can also be used: after the displacement sensor fails, any two or three of the above-mentioned signal sources (more than one of the master cylinder pressure, pedal force, and pedal angle) are used simultaneously to estimate the pedal stroke through an information fusion algorithm to overcome the limitations of a single signal source (such as pressure hysteresis, the force-displacement relationship being affected by the assist force, and angle installation errors), thereby improving the estimation accuracy, robustness, and dynamic response performance.

[0047] Fusion methods include but are not limited to: Weighted average: S_pedal_est_p, S_pedal_est_f, S_pedal_est_a are estimated by their respective methods. According to the current working condition (such as the speed of pressure change, the status of the booster, the estimation confidence), dynamically allocate the weights W_p, W_f, W_a (satisfy W_p + W_f + W_a = 1), and finally the estimated value S_pedal_est = W_p * S_pedal_est_p + W_f * S_pedal_est_f + W_a * S_pedal_est_a.

[0048] Model / Observed-based: Establish a state space model containing the dynamics of the pedal mechanism and the characteristics of the hydraulic circuit. Part or all of the available measurements (P_mc, dP_mc / dt, F_pedal, dF_pedal / dt, θ_pedal, ω_pedal) are used as inputs to the observer. Use algorithms such as Kalman filter (KF), extended Kalman filter (EKF), unscented Kalman filter (UKF), or sliding mode observer (SMO) to estimate the state vector in an optimal or robust manner, where one of the key states is S_pedal. This method can effectively handle noise, partial nonlinearity, and coupling between signals, and usually provides optimal estimation.

[0049] Rule / Logic-based switching: In certain working conditions, preferentially use the most reliable signal source. For example: In the initial stage of braking or low-speed creep braking (low pressure, slow change), the pedal angle signal may be the most accurate and direct. In emergency braking or ABS activation (high pressure, rapid change), the master cylinder pressure signal may be more stable. When a booster fault is detected or in a non-assisted state, the pedal force signal mapping relationship is more certain.

[0050] The system can switch or mix between these signal source estimates according to preset rules.

[0051] In some embodiments, when the fault condition is that both target sensors are faulty, the method can further include the following steps: adjusting the vehicle's braking system into a backup mode.

[0052] Specifically, the main function of the backup mode is to ensure that when the main braking system fails, it can provide basic braking function and ensure the safe driving of the vehicle.

[0053] To explain the principle of the technical scheme of the present application in detail, the overall process of the present application will be described below in conjunction with some specific embodiments. It is easy to understand that the following is an explanation of the technical principle of the present application and cannot be regarded as a limitation of the present application.

[0054] First of all, it needs to be pointed out that the present application proposes a kind of redundancy brake control method for displacement sensor failure of electric power brake system.The program flow of the method is as shown in Figure 3 The redundancy brake control system receives master cylinder pressure signal, pedal force signal, pedal angle signal, judges whether each sensor exists fault, and mutually checks effective signal, converts effective signal into brake system target pressure, and is used for servo cylinder pressure building.Redundancy brake control system includes diagnosis module, signal acquisition module (including displacement sensor, master cylinder pressure sensor, pedal force sensor, pedal angle sensor), signal processing module.

[0055] Specifically, diagnosis processing logic is as shown in Figure 4 Firstly, whether to use redundancy control algorithm and what kind of redundancy control algorithm is used is judged by diagnosis module to collect sensor fault signal, if redundancy control algorithm is used, signal acquisition module collects sensor signal used by redundancy control algorithm by displacement sensor, master cylinder pressure sensor, pedal force sensor, pedal angle sensor, finally, signal processing module obtains pedal stroke signal used for substitution according to redundancy control algorithm using sensor signal and change rate, and calculates brake target pressure.If all sensors are faulty, brake system enters backup mode.

[0056] In some specific embodiments, the priority of redundancy brake control system for calculating target pressure with three sensors is master cylinder pressure sensor> pedal force sensor> pedal angle sensor, and signal credibility level first class is better than second class, according to sensor fault judgment condition, refer to table 1, which is divided into the following seven kinds of results: Table 1

[0057] The technical scheme of the present application will be illustrated below in combination with specific embodiments: Embodiment 1: When system diagnosis result is redundancy control algorithm 1 in the above table, corresponding pedal stroke x1 and pedal stroke x2 are obtained by searching preset master cylinder pressure-pedal stroke corresponding table (calibration parameter table) and pedal force-pedal stroke corresponding table (calibration parameter table) respectively, corresponding adjustment coefficient c1 and adjustment coefficient c2 are obtained by searching master cylinder pressure change rate-adjustment coefficient corresponding table (calibration parameter table) and pedal force-adjustment coefficient corresponding table (calibration parameter table) respectively, adjusted pedal stroke y1=x1*c1 and adjusted pedal stroke y2=x2*c2 are obtained after calculation, and finally, the median value of y1 and y2 is used as pedal stroke z for calculating target pressure, and target pressure is obtained by searching target pressure-pedal stroke corresponding table (calibration parameter table).

[0058] Embodiment 2: The system diagnostic result is that the pedal angle is replaced by the pedal force in the embodiment 1 when the redundancy control algorithm 2 in the above table is used.

[0059] Embodiment 3: The system diagnostic result is that the pedal force is replaced by the master cylinder pressure in the embodiment 3 when the redundancy control algorithm 3 in the above table is used.

[0060] Embodiment 4: The system diagnostic result is that the master cylinder pressure is replaced by the pedal force in the embodiment 3 when the redundancy control algorithm 4 in the above table is used.

[0061] Embodiment 5: The system diagnostic result is that the master cylinder pressure is replaced by the pedal angle in the embodiment 3 when the redundancy control algorithm 5 in the above table is used.

[0062] In summary, the redundancy control method for displacement sensor failure provided by the application can replace the displacement sensor signal with the master cylinder pressure sensor signal, the pedal force sensor signal and the pedal angle sensor signal to calculate the target pressure when the displacement sensor fails, so that the braking system can recognize the braking intention of the driver in the case of displacement sensor failure, and the driving safety of the vehicle is improved.

[0063] The embodiment of the application further provides a vehicle control device, which comprises a memory, a processor and a program stored in the memory and executable on the processor, and the program is executed by the processor to realize the control method of the above embodiment.

[0064] The processor and the memory in the vehicle controller can be connected through a bus. The memory is a non-transient computer readable storage medium, which can be used to store non-transient software programs and non-transitory computer executable programs. In addition, the memory can include a high-speed random access memory, and can also include a non-transient memory, such as at least one disk memory, a flash memory device, or other non-transient solid state memory device. In some embodiments, the memory can optionally include a memory remotely arranged relative to the control processor, and these remote memories can be connected to the control device through a network.

[0065] The non-transient software programs and instructions required for the control method of the above embodiment are stored in the memory, and when executed by the processor, the control method in the above embodiment is executed.

[0066] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0067] An embodiment of the present invention further provides a vehicle, comprising the vehicle control device of the above embodiment.

[0068] The vehicle can be a private car, such as a sedan, SUV, MPV, or pickup truck. It can also be a commercial vehicle, such as a van, bus, small truck, or large trailer. The vehicle must have an electric motor that can output power or store mechanical energy as a generator. If the vehicle is a new energy vehicle, it can be a hybrid or a pure electric vehicle.

[0069] Since the vehicle applies all the technical solutions of the above-mentioned control device or vehicle controller, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here.

[0070] In addition, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to execute the above-mentioned redundant braking control method for displacement sensor failure.

[0071] It is worth noting that since the computer-readable storage medium of an embodiment of the present invention can execute the redundant braking control method for displacement sensor failure of any of the above-mentioned embodiments, the specific implementation methods and technical effects of the computer-readable storage medium of an embodiment of the present invention can refer to the specific implementation methods and technical effects of the redundant braking control method for displacement sensor failure of any of the above-mentioned embodiments.

[0072] In addition, an embodiment of the present invention also provides a computer program product, including a computer program or computer instructions, the computer program or computer instructions are stored in a computer-readable storage medium, the processor of the computer device reads the computer program or computer instructions from the computer-readable storage medium, and the processor executes the computer program or computer instructions, so that the computer device executes the above-mentioned redundant braking control method for displacement sensor failure.

[0073] It is worth noting that since the computer program product of the embodiment of the present invention can execute the redundant braking control method for displacement sensor failure of any of the above-mentioned embodiments, the specific implementation methods and technical effects of the computer program product of the embodiment of the present invention can refer to the specific implementation methods and technical effects of the redundant braking control method for displacement sensor failure of any of the above-mentioned embodiments.

[0074] Those skilled in the art will appreciate that all or some of the steps and systems disclosed above can be implemented as software, firmware, hardware, or any suitable combination thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on computer-readable media, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is well known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVDs) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. Furthermore, as is well known to those skilled in the art, communication media typically includes computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0075] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

Claims

1. A redundant braking control method for displacement sensor failure, characterized in that: The control method comprises: acquiring a target signal in response to a signal failure instruction of the displacement sensor; Wherein, the target signal includes a master cylinder pressure signal, a pedal force signal and a pedal angle signal; determining a fault condition of a target sensor according to the target signal; Wherein, the target sensors include a master cylinder pressure sensor, a pedal force sensor and a pedal angle sensor; Based on the fault condition, converting a valid signal in the target signal into a target pressure of the braking system; The braking system target pressure is used to build pressure in the servo cylinder.

2. The redundant braking control method for displacement sensor failure according to claim 1, characterized in that: Determining a fault condition of a target sensor according to the target signal includes: determining a fault condition of the master cylinder pressure sensor based on the master cylinder pressure signal; determining a fault condition of the pedal force sensor based on the pedal force signal; A fault condition of the pedal angle sensor is determined based on the pedal angle signal.

3. The redundant braking control method for displacement sensor failure according to claim 1, characterized in that: When the fault condition is that the master cylinder pressure sensor and the pedal force sensor are not faulty, converting the valid signal in the target signal into a brake system target pressure based on the fault condition includes: Based on a preset redundant control algorithm, a pedal stroke signal is obtained according to the master cylinder pressure and the master cylinder pressure change rate in the master cylinder pressure signal and the pedal force and the pedal force change rate in the pedal force signal; The pedal travel signal is converted into the brake system target pressure.

4. The redundant braking control method for displacement sensor failure according to claim 1, characterized in that: When the fault condition is that the pedal force sensor fails, converting the valid signal in the target signal into a target pressure of the braking system based on the fault condition includes: Based on a preset redundant control algorithm, a pedal stroke signal is obtained according to the master cylinder pressure and the master cylinder pressure change rate in the master cylinder pressure signal and the pedal angle and the pedal angle change rate in the pedal angle signal; The pedal travel signal is converted into the brake system target pressure.

5. The redundant braking control method for displacement sensor failure according to claim 1, characterized in that: When the fault condition is a fault of the pedal force sensor and the pedal angle sensor, converting a valid signal in the target signal into a target pressure of the braking system based on the fault condition includes: Based on a preset redundant control algorithm, a pedal stroke signal is obtained according to the master cylinder pressure and the master cylinder pressure change rate in the master cylinder pressure signal; The pedal travel signal is converted into the brake system target pressure.

6. The redundant braking control method for displacement sensor failure according to claim 1, characterized in that: When the fault condition is a fault of the master cylinder pressure sensor, converting the valid signal in the target signal into a brake system target pressure based on the fault condition includes: Based on a preset redundant control algorithm, a pedal stroke signal is obtained according to the pedal force and the pedal force change rate in the pedal force signal; The pedal travel signal is converted into the brake system target pressure.

7. The redundant braking control method for displacement sensor failure according to claim 1, characterized in that: When the fault condition is a fault of the master cylinder pressure sensor and the pedal force sensor, converting a valid signal in the target signal into a brake system target pressure based on the fault condition includes: Based on a preset redundant control algorithm, a pedal stroke signal is obtained according to the pedal angle and the pedal angle change rate in the pedal angle signal; The pedal travel signal is converted into the brake system target pressure.

8. The redundant braking control method for displacement sensor failure according to claim 1, characterized in that: When the fault condition is that all target sensors fail, the method further includes: Adjust the vehicle's braking system into backup mode.

9. A vehicle, characterized in that: The method comprises a memory, a processor and a program stored in the memory and executable on the processor, wherein when the program is executed by the processor, the method realizes the redundant braking control method for displacement sensor failure according to any one of claims 1 to 8.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

Images