Redundant control method and system of brake-by-wire system, electronic device and medium

Abstract

The application discloses a redundancy control method and system of a brake-by-wire system, electronic equipment and a medium. The method comprises the following steps: collecting a first SENT signal and a first wake-up signal through a brake-by-wire pedal main controller; collecting a second SENT signal and a second wake-up signal through a brake-by-wire pedal auxiliary controller; if the main central controller fails but the auxiliary central controller works normally, inputting the second SENT signal to the auxiliary central controller; waking up the auxiliary central controller through the second wake-up signal and transmitting a second target braking force to a wheel-end controller, so that the wheel-end controller drives a brake caliper of the brake-by-wire system to act; if the main central controller and the auxiliary central controller both fail, inputting the first SENT signal to the wheel-end controller; waking up the wheel-end controller through the first wake-up signal and driving the brake caliper of the brake-by-wire system to act according to a third target braking force. The application can guarantee the braking safety of a vehicle under degradation failure when the main central controller and the auxiliary central controller both fail.

Description

Technical Field

[0001] This application relates to the field of automotive braking technology, and in particular to a redundancy control method, system, electronic device, and medium for a brake-by-wire system. Background Technology

[0002] Braking-by-wire systems (also known as electromechanical braking, or EMB for short) eliminate the hard connection of traditional hydraulic brakes. They achieve braking by transmitting braking commands through electrical signals and driving the brake calipers with a motor. They have the advantages of fast response speed, high braking accuracy, and high integration, and have become an important development direction for automotive braking technology.

[0003] However, in actual vehicle applications, the existing EMB brake-by-wire solution still has key technical defects: when the main and auxiliary central controllers fail simultaneously during vehicle operation, the electrical signal transmission link of the EMB system is completely interrupted, the brake pedal's brake-by-wire signal cannot be recognized and transmitted, and the brake caliper loses precise control commands, which greatly weakens the vehicle's active braking capability and leads to serious driving safety accidents. Summary of the Invention

[0004] This application aims to propose a redundant control method, system, electronic device, and medium for a brake-by-wire system, which enables the wheel-end controller to read the brake-by-wire pedal signal and execute linear clamping forces of different degrees when both the main and auxiliary central controllers fail simultaneously, thereby ensuring the braking safety of the vehicle under degraded failure conditions.

[0005] In a first aspect, embodiments of this application provide a redundant control method for a brake-by-wire system. The brake-by-wire system includes a main brake-by-wire pedal controller, an auxiliary brake-by-wire pedal controller, a main central controller, an auxiliary central controller, and wheel-end controllers. The main brake-by-wire pedal controller is connected to the main central controller and the wheel-end controllers, and the auxiliary brake-by-wire pedal controller is connected to the auxiliary central controller. The method includes: The first SENT signal and the first wake-up signal are acquired through the main controller of the drive-by-wire pedal; The second SENT signal and the second wake-up signal are acquired through the drive-by-wire pedal auxiliary controller; If the main central controller is working normally, the first SENT signal is input to the main central controller; the main central controller is woken up by the first wake-up signal, and the first target braking force is obtained after the main central controller receives the first SENT signal; the first target braking force is transmitted to the wheel end controller connected to the main central controller so that the wheel end controller drives the brake caliper of the brake-by-wire system to actuate. If the main central controller fails but the auxiliary central controller is working normally, the second SENT signal is input to the auxiliary central controller; the auxiliary central controller is woken up by the second wake-up signal, and the second target braking force is obtained after the auxiliary central controller receives the second SENT signal; the second target braking force is transmitted to the wheel end controller connected to the auxiliary central controller so that the wheel end controller drives the brake caliper of the brake-by-wire system to actuate. If both the main central controller and the auxiliary central controller fail, the first SENT signal is input to the wheel-end controller; the wheel-end controller is woken up by the first wake-up signal, and after receiving the first SENT signal, the wheel-end controller obtains the third target braking force and drives the brake caliper of the brake-by-wire system to operate according to the third target braking force.

[0006] In some implementations, waking up the main central controller via the first wake-up signal includes: During the sleep period of the main central controller, the first wake-up signal is a high-level signal for independent power supply of the entire vehicle; When the pedal is pressed, the high-level signal changes to a low-level signal to wake up the main central controller.

[0007] In some embodiments, after the wheel-end controller actuates the brake caliper of the brake-by-wire system, the method further includes: When the pedal is released, the low-level signal changes to the high-level signal, and the first SENT signal is sent to the main central controller to control the brake caliper of the brake-by-wire system to release the brake.

[0008] In some implementations, the step of acquiring the first target braking force after the main central controller receives the first SENT signal includes: Construct a linear mapping table between pedal travel and braking force; After the main central controller receives the first SENT signal, it obtains the first target braking force from the linear mapping table based on the pedal travel in the first SENT signal.

[0009] In some embodiments, the method further includes, before inputting the first SENT signal to the wheel-end controller: When it is detected that the main central controller and the auxiliary central controller have no power supply signal or no command output within a preset time, it is determined that both the main central controller and the auxiliary central controller have failed.

[0010] In some implementations, the steerable pedal master controller is hardwired to the wheel-end controller to read the first SENT signal and the first wake-up signal from the steerable pedal master controller.

[0011] In some embodiments, after actuating the brake caliper of the brake-by-wire system according to the third target braking force, the method further includes: When the pedal is released, the main controller of the brake-by-wire pedal sends a travel zero signal to the wheel end controller, which then controls the brake caliper of the brake-by-wire system to release the brakes, thereby bringing the vehicle to a stop.

[0012] Secondly, embodiments of this application also provide a redundant control system for a brake-by-wire system. The brake-by-wire system includes a main brake-by-wire pedal controller, an auxiliary brake-by-wire pedal controller, a main central controller, an auxiliary central controller, and wheel-end controllers. The main brake-by-wire pedal controller is connected to the main central controller and the wheel-end controllers. The auxiliary brake-by-wire pedal controller is connected to the auxiliary central controller. The system includes: The first signal acquisition module is used to acquire the first SENT signal and the first wake-up signal through the main controller of the drive-by pedal; The second signal acquisition module is used to acquire the second SENT signal and the second wake-up signal through the drive-by-wire pedal auxiliary controller; The main central controller control module is used to input the first SENT signal to the main central controller if the main central controller is working normally; wake up the main central controller through the first wake-up signal; obtain the first target braking force after the main central controller receives the first SENT signal; and transmit the first target braking force to the wheel end controller connected to the main central controller so that the wheel end controller drives the brake caliper of the brake-by-wire system to actuate. The auxiliary central controller control module is used to input the second SENT signal to the auxiliary central controller if the main central controller fails but the auxiliary central controller is working normally; wake up the auxiliary central controller through the second wake-up signal; obtain the second target braking force after the auxiliary central controller receives the second SENT signal; and transmit the second target braking force to the wheel end controller connected to the auxiliary central controller so that the wheel end controller drives the brake caliper of the brake-by-wire system to actuate. The wheel-end controller control module is used to input the first SENT signal to the wheel-end controller if both the main central controller and the auxiliary central controller fail; wake up the wheel-end controller through the first wake-up signal; obtain the third target braking force after the wheel-end controller receives the first SENT signal; and drive the brake caliper of the brake-by-wire system to operate according to the third target braking force.

[0013] Thirdly, embodiments of this application also provide an electronic device, including at least one control processor and a memory for communicatively connecting to the at least one control processor; the memory stores instructions executable by the at least one control processor, which, when executed by the at least one control processor, enable the at least one control processor to perform a redundant control method for a brake-by-wire system as described above.

[0014] Fourthly, embodiments of this application also provide a computer-readable storage medium storing computer-executable instructions for causing a computer to execute a redundancy control method for a brake-by-wire system as described above.

[0015] Compared with the prior art, this application has the following beneficial effects: The brake-by-wire system of this application includes a main controller for the brake-by-wire pedal, an auxiliary controller for the brake-by-wire pedal, a main central controller, an auxiliary central controller, and a wheel-end controller. The main controller for the brake-by-wire pedal is connected to the main central controller and the wheel-end controller, and the auxiliary controller for the brake-by-wire pedal is connected to the auxiliary central controller. The system acquires a first SENT signal and a first wake-up signal through the main controller of the pedal-by-wire system; it acquires a second SENT signal and a second wake-up signal through the auxiliary controller of the pedal-by-wire system. If the main controller is working normally, the first SENT signal is input to the main controller; the main controller is woken up by the first wake-up signal, and after receiving the first SENT signal, it acquires a first target braking force; the first target braking force is transmitted to the wheel-end controller connected to the main controller, so that the wheel-end controller drives the brake caliper of the brake-by-wire system to actuate; if the main controller fails but the auxiliary controller is working normally, the second SENT signal is input to the auxiliary controller; the auxiliary controller is woken up by the second wake-up signal, and after receiving the second SENT signal, it acquires a second target braking force; the second target braking force is transmitted to the wheel-end controller connected to the auxiliary controller, so that the wheel-end controller drives the brake caliper of the brake-by-wire system to actuate; if both the main controller and the auxiliary controller fail, the first SENT signal is input to the wheel-end controller; the wheel-end controller is woken up by the first wake-up signal, and after receiving the first SENT signal, it acquires a third target braking force, and drives the brake caliper of the brake-by-wire system to actuate according to the third target braking force.

[0016] Thus, when the main central controller fails but the auxiliary central controller is functioning normally, the auxiliary central controller receives the second SENT signal to drive the brake calipers of the subsequent brake-by-wire system. The auxiliary central controller independently acquires signals, enabling EMB brake caliper operation even if the main accelerator pedal controller fails, improving braking safety in the event of a downgraded failure. Since the main accelerator pedal controller can be directly connected to the wheel-end controllers, signals acquired by the main controller can be directly transmitted to the wheel-end controllers. When both the main and auxiliary central controllers fail, the first SENT signal is input to the wheel-end controllers, which directly drive the brake calipers of the subsequent brake-by-wire system. Only a hardwired connection between the main accelerator pedal controller and the wheel-end controllers is required, eliminating the need for additional hardware and ensuring braking safety in the event of a downgraded failure while saving hardware costs. Attached Figure Description

[0017] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a flowchart illustrating an embodiment of the redundant control method for the brake-by-wire system provided in this application; Figure 2 This is a schematic diagram of the connection of the core components of the brake-by-wire system in the preferred embodiment of the redundant control method for the brake-by-wire system provided in this application; Figure 3 This is a schematic diagram of the structure of an embodiment of the redundant control system of the brake-by-wire system provided in this application; Figure 4 This is a schematic diagram of the structure of an embodiment of the electronic device provided in this application. Detailed Implementation

[0018] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0019] In the description of this application, the use of terms such as "first," "second," etc., is for the purpose of distinguishing technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of the technical features indicated.

[0020] In the description of this application, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0021] In the description of this application, it should be noted that, unless otherwise explicitly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0022] To address the problem of serious traffic safety accidents caused by the simultaneous failure of the main and auxiliary central controllers in related technologies, this application proposes a redundant control method, system, electronic equipment, and medium for a brake-by-wire system.

[0023] Reference Figure 1 This application provides a flowchart illustrating a redundancy control method for a brake-by-wire system. This redundancy control method is applied to an electronic device, which may be a server or a mobile terminal, etc. Figure 1 As shown, the brake-by-wire system includes a main controller for the brake-by-wire pedal, an auxiliary controller for the brake-by-wire pedal, a main central controller, an auxiliary central controller, and a wheel-end controller. The main controller for the brake-by-wire pedal is connected to the main central controller and the wheel-end controller, and the auxiliary controller for the brake-by-wire pedal is connected to the auxiliary central controller. The redundant control method of the brake-by-wire system may include the following steps S101 to S105.

[0024] Step S101: Acquire the first SENT signal and the first wake-up signal through the main controller of the drive-by-wire pedal.

[0025] In this step, the drive-by-wire pedal main controller can serve as the main signal acquisition and transmission unit, used to acquire and output the first SENT signal and the first wake-up signal.

[0026] Step S102: Acquire the second SENT signal and the second wake-up signal through the drive-by-wire pedal auxiliary controller.

[0027] In this step, the drive-by-wire pedal auxiliary controller can serve as a backup signal acquisition and transmission unit, used to acquire and output the second SENT signal and the second wake-up signal. The second SENT signal can be a backup signal for the first SENT signal, and the second wake-up signal can be a backup signal for the first wake-up signal.

[0028] Step S103: If the main central controller is working normally, the first SENT signal is input to the main central controller; the main central controller is woken up by the first wake-up signal, and the first target braking force is obtained after the main central controller receives the first SENT signal; the first target braking force is transmitted to the wheel end controller connected to the main central controller so that the wheel end controller drives the brake caliper of the brake-by-wire system to operate.

[0029] In this step, the failure detection module checks whether the main central controller is working properly. If the main central controller is working properly, the first SENT signal is input to the main central controller. During the main central controller's sleep period, the first wake-up signal is a high-level signal for independent power supply to the entire vehicle; when the pedal is pressed, the high-level signal changes to a low-level signal to wake up the main central controller. After the main central controller is woken up, it can receive the first SENT signal. A linear mapping table between pedal travel and braking force is constructed; after the main central controller receives the first SENT signal, it obtains the first target braking force from the linear mapping table based on the pedal travel in the first SENT signal. The first target braking force is transmitted to the wheel-end controller connected to the main central controller, so that the wheel-end controller drives the brake caliper of the brake-by-wire system to actuate. When the pedal is released, the low-level signal changes to a high-level signal, and the first SENT signal is sent to the main central controller to control the brake caliper of the brake-by-wire system to release the brake.

[0030] Step S104: If the main central controller fails but the auxiliary central controller is working normally, the second SENT signal is input to the auxiliary central controller; the auxiliary central controller is woken up by the second wake-up signal, and the second target braking force is obtained after the auxiliary central controller receives the second SENT signal; the second target braking force is transmitted to the wheel end controller connected to the auxiliary central controller so that the wheel end controller drives the brake caliper of the brake-by-wire system to operate.

[0031] In this step, the system detects a power outage, signal transmission failure, or no command output in the main central controller, determining that the main central controller has failed. It then checks whether the auxiliary central controller is functioning correctly. When the auxiliary central controller is detected to be functioning correctly, a second SENT signal is input to it. The auxiliary central controller is then woken up by a second wake-up signal and can receive the second SENT signal. After receiving the second SENT signal, the auxiliary central controller retrieves the second target braking force from the linear mapping table based on the pedal travel information in the second SENT signal. This second target braking force is transmitted to the wheel-end controller connected to the auxiliary central controller, causing the wheel-end controller to drive the brake caliper of the brake-by-wire system. When the pedal is released, the low-level signal transitions to a high-level signal, and the second SENT signal is sent to the auxiliary central controller to release the brake caliper of the brake-by-wire system.

[0032] Step S105: If both the main central controller and the auxiliary central controller fail, the first SENT signal is input to the wheel end controller; the wheel end controller is woken up by the first wake-up signal, and after the wheel end controller receives the first SENT signal, it obtains the third target braking force and drives the brake caliper of the brake-by-wire system to operate according to the third target braking force.

[0033] In this step, if the main central controller and auxiliary central controller are found to have no power supply signal or no command output within a preset time, it is determined that both the main central controller and auxiliary central controller have failed. The steerable pedal main controller is connected to the wheel-end controller via a hardwire to read the first SENT signal and the first wake-up signal from the steerable pedal main controller. The first wake-up signal wakes up the wheel-end controller. After receiving the first SENT signal, the wheel-end controller obtains the third target braking force from the linear mapping table based on the pedal travel in the first SENT signal, and causes the wheel-end controller to drive the brake caliper of the steerable braking system to actuate according to the third target braking force. When the pedal is released, the steerable pedal main controller sends a travel zero signal to the wheel-end controller, which then controls the brake caliper of the steerable braking system to release the brake through the front wheel-end controller, thereby bringing the entire vehicle to a stop.

[0034] To facilitate understanding by those skilled in the art, a set of preferred embodiments is provided below: This embodiment uses the SENT signal and wake-up signal as the basis for the central controller's deceleration. When the central controller fails, it can still transmit signals to the wheel-end controller via the drive-by-wire pedal, precisely and linearly controlling the braking torque to ensure vehicle braking safety in the event of a degraded failure. (Refer to...) Figure 2 The technical solution of this embodiment specifically includes the following contents: 1. The core components of the brake-by-wire system in this embodiment include: (1) The main controller of the drive pedal (PTS M) is the main signal acquisition and transmission unit, which is used to acquire and output the first SENT signal and the first wake-up signal for independent power supply of the whole vehicle.

[0035] (2) The steerable pedal auxiliary controller (PTS R) is a backup signal acquisition and transmission unit, used to acquire and output the second SENT signal and the second wake-up signal for independent power supply to the whole vehicle. The second SENT signal can be a backup signal for the first SENT signal, and the second wake-up signal can be a backup signal for the first wake-up signal. The steerable pedal main controller and the steerable pedal auxiliary controller can acquire signals simultaneously. This realizes signal backup when the main controller fails, and even if the steerable pedal main controller fails, it can still realize EMB brake caliper action, improving the braking safety of the vehicle under degraded failure.

[0036] (3) The main central controller (CCU1) is the main control unit under normal working conditions. It is used to receive the first SENT signal output by the main controller PTS M of the drive-by-wire pedal and control the wheel end controllers WCU corresponding to the four wheels of the vehicle.

[0037] (4) The auxiliary central controller (CCU2) is a primary redundant control unit used to receive the second SENT signal of PTS R and take over EMB braking control.

[0038] (5) The wheel-end controller (WCU) is the local control unit for the four-wheel EMB brake calipers, wherein the front wheel WCU (including the left front wheel WCU FL / right front wheel WCU FR) has a reserved pedal direct drive signal interface. Among them, WCU RL is the left rear wheel and WCU RR is the right rear wheel.

[0039] 2. Redundant control process of brake-by-wire system under different operating conditions.

[0040] (1) Normal operating conditions (CCU1 is working normally).

[0041] After the vehicle is powered on, the brake-by-wire system (EMB system) enters normal operating mode. When the failure detection module detects that CCU1 is working properly, and the driver presses the brake pedal, the pedal-by-wire master controller (PTS M) simultaneously outputs two signals: The first single-sided half-word transmission protocol (SENT) signal is sent to the main central controller. This first SENT signal contains information such as pedal travel, speed, and acceleration. The first wake-up signal is a level signal for independent vehicle power supply. During the main central controller's sleep state, the first wake-up signal is high; it transitions to low when the pedal is depressed, triggering the main central controller to wake up or enter working mode. Upon receiving the first SENT signal, the main central controller determines the first target braking force corresponding to the current pedal travel based on the linear mapping relationship between pedal travel and braking force. A braking command is sent to the four-wheel WCUs (i.e., the wheel-end controllers corresponding to each of the four wheels) to drive the EMB brake calipers according to the first target braking force, achieving normal braking. When the pedal is released, the PTS M restores the first wake-up signal to a high level and simultaneously sends the first SENT signal to CCU1, controlling the EMB brake calipers to release the brakes, allowing the system to enter sleep mode.

[0042] (2) Primary failure condition (CCU1 fails, CCU2 works normally).

[0043] The system detects a power outage, signal transmission failure, or no command output in CCU1, determining that CCU1 has failed. However, when CCU2 is detected to be working normally, the system takes over signal transmission through the Pedal-by-Wire Auxiliary Controller (PTS R), sending the collected pedal travel second SENT signal to the auxiliary central controller CCU2. After receiving the second SENT signal, CCU2 executes the same braking control logic as CCU1, sending braking commands to the four-wheel drive control units (WCUs) to achieve redundant braking control. At this time, the second wake-up signal of PTS R is working normally. If CCU2 is in sleep mode, a level transition of the second wake-up signal can trigger CCU2 to wake up, ensuring braking response.

[0044] (3) Complete failure condition (both CCU1 and CCU2 fail).

[0045] The failure detection module detects that both CCU1 and CCU2 have no power supply signal or no command output within a preset time (e.g., 300ms), and determines that both CCU1 and CCU2 have failed. The Pedal-by-Wire (PTS M) master controller is connected to the wheel-end controller via a hardwire. The Wheel Control Unit (WCU) (FL / FR) reads the first SENT and the first wake-up signal; the first wake-up signal wakes up the wheel-end controller. The front wheel WCU has built-in local control logic that can determine the third target braking force corresponding to the current pedal travel based on the linear mapping relationship between pedal travel and braking force. The wheel-end controller directly drives the EMB brake caliper motor to actuate according to the third target braking force, thereby achieving brake clamping. The greater the pedal travel, the greater the braking force output by the front wheel EMB brake caliper, consistent with the driver's operating habits, achieving linear emergency braking. When the pedal is released, the PTS M sends a travel zero signal, and the front wheel WCU controls the EMB brake caliper to release the brake, bringing the entire vehicle to a stop.

[0046] To better understand the technical solution of this embodiment, the following verification is performed: Normal operating condition verification: After the vehicle is powered on, the driver presses the pedal, the PTS M sends a SENT signal to the CCU1, and at the same time the wake-up signal jumps from 12V to 0V. The CCU1 is woken up and executes braking control. The four-wheel EMB brake calipers respond normally, and the braking force is linearly matched with the pedal travel.

[0047] Primary failure condition verification: The power supply to CCU1 is manually cut off. The failure detection module determines that the failure has occurred. PTS R takes over the signal and sends it. CCU2 receives the SENT signal collected by PTS R and controls the four-wheel brake calipers to move. The braking response is without delay and is consistent with the normal operating condition.

[0048] Complete failure condition verification: The power supply to CCU1 and CCU2 is manually cut off simultaneously. The failure detection module determines that both CCU1 and CCU2 have failed, triggering the direct drive channel. PTS M directly sends a travel signal to the front wheel WCU: When the pedal travel is 40mm, the front wheel EMB brake caliper outputs 12kN of braking force; when the pedal travel is 55mm, the braking force increases to 27kN; the vehicle completes braking and stops within 50m. The braking process is smooth and there is no sudden feeling of control.

[0049] System reset verification: After power supply to CCU1 and CCU2 is restored, the failure detection module determines that the system has returned to normal, the direct drive channel is automatically disconnected, the system returns to the first-level normal working mode, and all performance is normal.

[0050] Reference Figure 3This application also provides a redundant control system for a brake-by-wire system. The brake-by-wire system includes a main controller for the brake-by-wire pedals, an auxiliary controller for the brake-by-wire pedals, a main central controller, an auxiliary central controller, and wheel-end controllers. The main controller for the brake-by-wire pedals is connected to the main central controller and the wheel-end controllers, and the auxiliary controller for the brake-by-wire pedals is connected to the auxiliary central controller. The system includes: The first signal acquisition module 100 is used to acquire the first SENT signal and the first wake-up signal through the main controller of the drive pedal; The second signal acquisition module 200 is used to acquire the second SENT signal and the second wake-up signal through the drive-by pedal auxiliary controller; The main central controller control module 300 is used to input a first SENT signal to the main central controller if the main central controller is working normally; wake up the main central controller through a first wake-up signal; obtain the first target braking force after the main central controller receives the first SENT signal; and transmit the first target braking force to the wheel end controller connected to the main central controller so that the wheel end controller drives the brake caliper of the brake-by-wire system to actuate. The auxiliary central controller control module 400 is used to input a second SENT signal to the auxiliary central controller if the main central controller fails but the auxiliary central controller is working normally; wake up the auxiliary central controller through a second wake-up signal; obtain the second target braking force after the auxiliary central controller receives the second SENT signal; and transmit the second target braking force to the wheel end controller connected to the auxiliary central controller so that the wheel end controller drives the brake caliper of the brake-by-wire system to actuate. The wheel-end controller control module 500 is used to input a first SENT signal to the wheel-end controller if both the main central controller and the auxiliary central controller fail; wake up the wheel-end controller through a first wake-up signal; after receiving the first SENT signal, the wheel-end controller obtains the third target braking force and drives the brake caliper of the brake-by-wire system to operate according to the third target braking force.

[0051] It should be noted that since the redundant control system of the brake-by-wire system in this embodiment is based on the same inventive concept as the redundant control method of the brake-by-wire system described above, the corresponding content in the method embodiment is also applicable to this system embodiment, and will not be described in detail here.

[0052] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of related data must comply with relevant regulations. The acquisition, storage, use and processing of data in the technical solution of this application all comply with the relevant provisions of national laws and regulations.

[0053] Reference Figure 4 This application also provides an electronic device, which includes: At least one memory; At least one processor; At least one program; The program is stored in memory, and the processor executes at least one program to implement the redundancy control method of the brake-by-wire system described above in this disclosure.

[0054] This electronic device can be any smart terminal, including mobile phones, tablets, personal digital assistants (PDAs), and in-vehicle computers.

[0055] The electronic devices according to embodiments of this application will now be described in detail.

[0056] The processor 1600 can be implemented using a general-purpose central processing unit (CPU), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this disclosure. The memory 1700 can be implemented as a read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 1700 can store the operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1700 and is called and executed by the processor 1600 to execute the redundancy control method of the brake-by-wire system of the embodiments of this disclosure.

[0057] The input / output interface 1800 is used to implement information input and output. The communication interface 1900 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.). Bus 2000 transmits information between various components of the device (e.g., processor 1600, memory 1700, input / output interface 1800, and communication interface 1900); The processor 1600, memory 1700, input / output interface 1800 and communication interface 1900 are connected to each other within the device via bus 2000.

[0058] This disclosure also provides a storage medium, which is a computer-readable storage medium storing computer-executable instructions for causing a computer to execute the redundancy control method of the above-described brake-by-wire system.

[0059] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0060] The embodiments described in this disclosure are for the purpose of more clearly illustrating the technical solutions of this disclosure and do not constitute a limitation on the technical solutions provided by this disclosure. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by this disclosure are also applicable to similar technical problems.

[0061] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this disclosure, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0062] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0063] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0064] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0065] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0066] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0067] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0068] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0069] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause an electronic device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks. The embodiments of this application have been described in detail above with reference to the accompanying drawings, but this application is not limited to the above embodiments. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of this application.

[0070] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application.

Claims

1. A redundancy control method for a brake-by-wire system, characterized in that, The brake-by-wire system includes a main controller for the brake-by-wire pedals, an auxiliary controller for the brake-by-wire pedals, a main central controller, an auxiliary central controller, and wheel-end controllers. The main controller for the brake-by-wire pedals is connected to the main central controller and the wheel-end controllers. The auxiliary controller for the brake-by-wire pedals is connected to the auxiliary central controller. The method includes: The first SENT signal and the first wake-up signal are acquired through the main controller of the drive-by-wire pedal; The second SENT signal and the second wake-up signal are acquired through the drive-by-wire pedal auxiliary controller; If the main central controller is working normally, the first SENT signal is input to the main central controller; the main central controller is woken up by the first wake-up signal, and the first target braking force is obtained after the main central controller receives the first SENT signal; the first target braking force is transmitted to the wheel end controller connected to the main central controller so that the wheel end controller drives the brake caliper of the brake-by-wire system to actuate. If the main central controller fails but the auxiliary central controller is working normally, the second SENT signal is input to the auxiliary central controller; the auxiliary central controller is woken up by the second wake-up signal, and the second target braking force is obtained after the auxiliary central controller receives the second SENT signal; the second target braking force is transmitted to the wheel end controller connected to the auxiliary central controller so that the wheel end controller drives the brake caliper of the brake-by-wire system to actuate. If both the main central controller and the auxiliary central controller fail, the first SENT signal is input to the wheel-end controller; the wheel-end controller is woken up by the first wake-up signal, and after receiving the first SENT signal, the wheel-end controller obtains the third target braking force and drives the brake caliper of the brake-by-wire system to operate according to the third target braking force.

2. The redundancy control method for a brake-by-wire system according to claim 1, characterized in that, The step of waking up the main central controller via the first wake-up signal includes: During the sleep period of the main central controller, the first wake-up signal is a high-level signal for independent power supply of the entire vehicle; When the pedal is pressed, the high-level signal changes to a low-level signal to wake up the main central controller.

3. The redundancy control method for a brake-by-wire system according to claim 2, characterized in that, After the wheel-end controller drives the brake caliper of the brake-by-wire system to actuate, the method further includes: When the pedal is released, the low-level signal changes to the high-level signal, and the first SENT signal is sent to the main central controller to control the brake caliper of the brake-by-wire system to release the brake.

4. The redundancy control method for a brake-by-wire system according to claim 1, characterized in that, The step of acquiring the first target braking force after the main central controller receives the first SENT signal includes: Construct a linear mapping table between pedal travel and braking force; After the main central controller receives the first SENT signal, it obtains the first target braking force from the linear mapping table based on the pedal travel in the first SENT signal.

5. The redundancy control method for a brake-by-wire system according to claim 1, characterized in that, Before inputting the first SENT signal to the wheel-end controller, the method further includes: When it is detected that the main central controller and the auxiliary central controller have no power supply signal or no command output within a preset time, it is determined that both the main central controller and the auxiliary central controller have failed.

6. The redundancy control method for a brake-by-wire system according to claim 1, characterized in that, The steerable pedal master controller is connected to the wheel end controller via a hardwire to read the first SENT signal and the first wake-up signal from the steerable pedal master controller.

7. The redundancy control method for a brake-by-wire system according to claim 1, characterized in that, After actuating the brake caliper of the brake-by-wire system according to the third target braking force, the method further includes: When the pedal is released, the main controller of the brake-by-wire pedal sends a travel zero signal to the wheel end controller, which then controls the brake caliper of the brake-by-wire system to release the brakes, thereby bringing the vehicle to a stop.

8. A redundant control system for a brake-by-wire system, characterized in that, The brake-by-wire system includes a main controller for the brake-by-wire pedals, an auxiliary controller for the brake-by-wire pedals, a main central controller, an auxiliary central controller, and wheel-end controllers. The main controller for the brake-by-wire pedals is connected to the main central controller and the wheel-end controllers. The auxiliary controller for the brake-by-wire pedals is connected to the auxiliary central controller. The system includes: The first signal acquisition module is used to acquire the first SENT signal and the first wake-up signal through the main controller of the drive-by pedal; The second signal acquisition module is used to acquire the second SENT signal and the second wake-up signal through the drive-by-wire pedal auxiliary controller; The main central controller control module is used to input the first SENT signal to the main central controller if the main central controller is working normally; wake up the main central controller through the first wake-up signal; obtain the first target braking force after the main central controller receives the first SENT signal; and transmit the first target braking force to the wheel end controller connected to the main central controller so that the wheel end controller drives the brake caliper of the brake-by-wire system to actuate. The auxiliary central controller control module is used to input the second SENT signal to the auxiliary central controller if the main central controller fails but the auxiliary central controller is working normally; wake up the auxiliary central controller through the second wake-up signal; obtain the second target braking force after the auxiliary central controller receives the second SENT signal; and transmit the second target braking force to the wheel end controller connected to the auxiliary central controller so that the wheel end controller drives the brake caliper of the brake-by-wire system to actuate. The wheel-end controller control module is used to input the first SENT signal to the wheel-end controller if both the main central controller and the auxiliary central controller fail; wake up the wheel-end controller through the first wake-up signal; obtain the third target braking force after the wheel-end controller receives the first SENT signal; and drive the brake caliper of the brake-by-wire system to operate according to the third target braking force.

9. An electronic device, characterized in that, It includes at least one control processor and a memory for communicatively connecting to the at least one control processor; the memory stores instructions executable by the at least one control processor, which, when executed by the at least one control processor, enable the at least one control processor to perform a redundancy control method for a brake-by-wire system as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions for causing a computer to perform the redundancy control method of the brake-by-wire system as described in any one of claims 1 to 7.

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