Control method and system for brake backup in autonomous driving

Abstract

The present invention relates to a control method, system, computer storage medium, computer device and vehicle for brake backup in autonomous driving. According to one aspect of the present invention, the control method for brake backup in autonomous driving includes: receiving a state indication of an execution module associated with braking and a state indication of a functional module associated with stability control; determining the braking capacity of the execution module associated with braking based at least in part on the received state indication of the execution module associated with braking and the state indication of the functional module associated with stability control; and allocating a braking command based at least in part on the received state indication of the execution module associated with braking and the determined braking capacity of the execution module associated with braking.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control, and more particularly to a control method, system, computer storage medium, computer device, and vehicle for braking backup in autonomous driving. Background Art

[0002] With the continuous pursuit of safe and comfortable driving experiences by people, autonomous driving technology has become a new development direction for automobiles. Autonomous driving technology relies on the collaborative cooperation of computer vision, radar, monitoring devices, and global positioning systems, etc., enabling vehicles to perform operations such as automatic driving, steering, and braking without the need for active human operation.

[0003] During the autonomous driving control process, since the autonomous driving system completely controls the vehicle, the safety requirements for vehicle control are very high, especially for the safety of the braking system. Currently, the commonly used method to ensure the safety of the braking system is to add hardware to the entire vehicle and use a dual-channel braking system simultaneously, thereby ensuring that braking is not lost. However, this method has high costs, difficult layout, and the same braking pipelines cannot be completely independently controlled. In addition, vehicles without a dual-channel braking system are difficult to upgrade to be equipped with a braking system with advanced autonomous driving functions. Summary of the Invention

[0004] To solve or at least alleviate one or more of the above problems, the following technical solutions are provided.

[0005] According to a first aspect of the present invention, there is provided a control method for braking backup in autonomous driving, which includes: receiving a status indication of an execution module associated with braking and a status indication of a function module associated with stability control; determining the braking ability of the execution module associated with braking at least partially based on the received status indication of the execution module associated with braking and the status indication of the function module associated with stability control; and allocating a braking command at least partially based on the received status indication of the execution module associated with braking and the determined braking ability of the execution module associated with braking.

[0006] According to the control method for braking backup in autonomous driving according to an embodiment of the present invention, wherein the method further includes: performing vehicle stability control at least partially based on the received status indication of the execution module associated with braking.

[0007] According to the control method for braking backup in autonomous driving according to an embodiment of the present invention or any of the above embodiments, wherein the execution module associated with braking includes one or more of the following: a hydraulic braking module, an electric motor torque response module, and an electronic parking module.

[0008] The control method for brake backup in autonomous driving according to an embodiment of the present invention or any one of the above embodiments, wherein the determined braking ability of the execution module associated with braking includes one or more of the following: hydraulic braking torque ability, motor negative torque ability, and dynamic clamping braking torque.

[0009] The control method for brake backup in autonomous driving according to an embodiment of the present invention or any one of the above embodiments, wherein further allocating a braking command based at least in part on the received status indication of the execution module associated with braking and the determined braking ability of the execution module associated with braking includes: in response to the received status indication of the execution module associated with braking indicating that the hydraulic braking module is in a first state, using the motor negative torque to perform braking, and using the hydraulic braking torque to perform the part where the motor negative torque braking is insufficient.

[0010] The control method for brake backup in autonomous driving according to an embodiment of the present invention or any one of the above embodiments, wherein further allocating a braking command based at least in part on the received status indication of the execution module associated with braking and the determined braking ability of the execution module associated with braking includes: in response to the received status indication of the execution module associated with braking indicating that the hydraulic braking module is in a second state, using the hydraulic braking torque to perform braking.

[0011] The control method for brake backup in autonomous driving according to an embodiment of the present invention or any one of the above embodiments, wherein further allocating a braking command based at least in part on the received status indication of the execution module associated with braking and the determined braking ability of the execution module associated with braking includes: in response to the received status indication of the execution module associated with braking indicating that the hydraulic braking module is in a third state, using the motor negative torque to perform braking, and using the dynamic clamping braking torque to perform the part where the motor negative torque braking is insufficient.

[0012] The control method for vehicle stability control according to an embodiment of the present invention or any one of the above embodiments, wherein further performing vehicle stability control based at least in part on the received status indication of the execution module associated with braking includes: in response to the received status indication of the execution module associated with braking indicating that the hydraulic braking module is in a first state, using the function module associated with stability control in the hydraulic braking module to control the hydraulic braking torque and the motor negative torque.

[0013] The control method for brake backup in autonomous driving according to an embodiment of the present invention or any one of the above embodiments, wherein vehicle stability control based at least in part on the received status indication of the execution module associated with braking further includes: in response to the received status indication of the execution module associated with braking indicating that the hydraulic brake module is in a second state, using the function module associated with stability control in the vehicle controller to control the hydraulic brake torque.

[0014] The control method for brake backup in autonomous driving according to an embodiment of the present invention or any one of the above embodiments, wherein vehicle stability control based at least in part on the received status indication of the execution module associated with braking further includes: in response to the received status indication of the execution module associated with braking indicating that the hydraulic brake module is in a third state, using the function module associated with stability control in the vehicle controller to control the motor negative torque and the anti-lock sub-module in the electronic parking module.

[0015] According to a second aspect of the present invention, there is provided a control system for brake backup in autonomous driving, which includes: a receiving unit configured to receive a status indication of an execution module associated with braking and a status indication of a function module associated with stability control; a determining unit configured to determine the braking ability of the execution module associated with braking based at least in part on the received status indication of the execution module associated with braking and the status indication of the function module associated with stability control; and an allocating unit configured to allocate a braking command based at least in part on the received status indication of the execution module associated with braking and the determined braking ability of the execution module associated with braking.

[0016] The control system for brake backup in autonomous driving according to an embodiment of the present invention, wherein the system further includes: a stability control unit configured to perform vehicle stability control based at least in part on the received status indication of the execution module associated with braking.

[0017] The control system for brake backup in autonomous driving according to an embodiment of the present invention or any one of the above embodiments, wherein the allocating unit is further configured to: in response to the received status indication of the execution module associated with braking indicating that the hydraulic brake module is in a first state, use the motor negative torque to perform braking, and use the hydraulic brake torque to perform the part where the motor negative torque braking is insufficient.

[0018] The control system for brake backup in autonomous driving according to an embodiment of the present invention or any one of the above embodiments, wherein the distribution unit is further configured to: in response to the received status indication of the execution module associated with braking, indicate that the hydraulic brake module is in a second state and use hydraulic brake torque to perform braking.

[0019] The control system for brake backup in autonomous driving according to an embodiment of the present invention or any one of the above embodiments, wherein the distribution unit is further configured to: in response to the received status indication of the execution module associated with braking, indicate that the hydraulic brake module is in a third state and use motor negative torque to perform braking, and use dynamic clamping brake torque to perform the part where the motor negative torque braking is insufficient.

[0020] The control system for brake backup in autonomous driving according to an embodiment of the present invention or any one of the above embodiments, wherein the stability control unit is further configured to: in response to the received status indication of the execution module associated with braking, indicate that the hydraulic brake module is in a first state and use the function module associated with stability control in the hydraulic brake module to control hydraulic brake torque and motor negative torque.

[0021] The control system for brake backup in autonomous driving according to an embodiment of the present invention or any one of the above embodiments, wherein the stability control unit is further configured to: in response to the received status indication of the execution module associated with braking, indicate that the hydraulic brake module is in a second state and use the function module associated with stability control in the vehicle controller to control hydraulic brake torque.

[0022] The control system for brake backup in autonomous driving according to an embodiment of the present invention or any one of the above embodiments, wherein the stability control unit is further configured to: in response to the received status indication of the execution module associated with braking, indicate that the hydraulic brake module is in a third state and use the function module associated with stability control in the vehicle controller to control motor negative torque and the anti-lock sub-module in the electronic parking module.

[0023] According to a third aspect of the present invention, there is provided a computer storage medium, the computer storage medium including instructions that, when running, execute the steps of the control method for brake backup in autonomous driving according to the first aspect of the present invention.

[0024] According to a fourth aspect of the present invention, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein when the processor executes the computer program, the steps of the control method for brake backup in automatic driving according to the first aspect of the present invention are implemented.

[0025] According to a fifth aspect of the present invention, a vehicle is provided, the vehicle comprising a control system for brake backup in automatic driving according to the second aspect of the present invention.

[0026] The control scheme for brake backup in autonomous driving according to one or more embodiments of the present invention can provide brake redundancy when the autonomous driving vehicle performs braking, ensure the stability of braking, and reduce the failure rate of braking, thereby improving the safety performance of the braking system under autonomous driving. Brief Description of the Figures

[0027] The above and / or other aspects and advantages of the present invention will become clearer and easier to understand through the following description of various aspects in conjunction with the accompanying drawings, in which the same or similar units are represented by the same reference numerals. In the drawings:

[0028] Figure 1 is a flowchart of a control method for brake backup in automatic driving according to an embodiment of the present invention.

[0029] Figure 2 It is a schematic diagram of a control system for brake backup in autonomous driving according to an embodiment of the present invention.

[0030] Figure 3 is a block diagram of a computer device according to an embodiment of the present invention. Specific implementation method

[0031] The description of the following specific embodiments is merely exemplary in nature and is not intended to limit the disclosed technology or the application and use of the disclosed technology. In addition, it is not intended to be bound by any express or implied theory presented in the aforementioned technical field, background technology or the following specific embodiments.

[0032] In the following detailed description of the embodiments, many specific details are set forth in order to provide a more thorough understanding of the disclosed technology. However, it is apparent to one of ordinary skill in the art that the disclosed technology can be practiced without these specific details. In other instances, well-known features are not described in detail to avoid unnecessarily complicating the description.

[0033] Terms such as "comprising" and "including" indicate that in addition to the units and steps directly and explicitly stated in the specification, the technical solution of the present invention does not exclude the situation of having other units and steps that are not directly or explicitly stated. Terms such as "first" and "second" do not indicate the order of the units in terms of time, space, size, etc., but are only used to distinguish each unit.

[0034] It should be noted that in the context of the present invention, the term "execution module associated with braking" includes but is not limited to a hydraulic braking module, a motor torque response module, an electronic parking module, etc. The term "function module associated with stability control" includes but is not limited to an anti-lock braking system (ABS) module, a drag torque control (DTC) module, a dynamic clamping function (RWU) module, etc.

[0035] Hereinafter, various exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings.

[0036] Figure 1 It is a flowchart of a control method for braking backup in autonomous driving according to an embodiment of the present invention.

[0037] As Figure 1 shown, in step 101, a status indication of an execution module associated with braking and a status indication of a function module associated with stability control are received.

[0038] In one embodiment, the status indication of the execution module associated with braking may include but is not limited to a motor status indication, a braking torque status indication, and an electronic parking status indication, where the motor status indication, the braking torque status indication, and the electronic parking status indication may indicate whether the corresponding execution module associated with braking is in a normal state, a degraded state, or a failure state. In one embodiment, the status indication of the function module associated with stability control may include but is not limited to an anti-lock braking system (ABS) status indication, a drag torque control (DTC) status indication, and a dynamic clamping function (RWU) status indication, where the anti-lock braking system (ABS) status indication, the drag torque control (DTC) status indication, and the dynamic clamping function (RWU) status indication may indicate whether the corresponding function module associated with stability control is in a normal state, a degraded state, or a failure state. It can be understood that the above status indications of the execution module associated with braking and the function module associated with stability control may be reported regularly by the execution module associated with braking and the function module associated with stability control to characterize their status.

[0039] In one embodiment, status indications of an execution module associated with braking, a function module associated with stability control, and various sensors in autonomous driving are received to determine whether the execution module associated with braking, the function module associated with stability control, and the various sensors in autonomous driving are available. As an example, the sensors may include, but are not limited to, wheel speed sensors, inertial sensors, pressure sensors, motor wheel speed sensors, motor actual torque estimation modules, battery charge limit estimation modules, etc.

[0040] In step 103, the braking ability of the execution module associated with braking is determined based at least in part on the received status indication of the execution module associated with braking and the status indication of the function module associated with stability control, wherein the determined braking ability of the execution module associated with braking includes, but is not limited to, hydraulic braking torque ability, motor negative torque ability, and dynamic clamping braking torque, etc.

[0041] In step 105, a braking command is allocated based at least in part on the received status indication of the execution module associated with braking and the determined braking ability of the execution module associated with braking.

[0042] In one embodiment, in response to the received status indication of the execution module associated with braking indicating that the hydraulic braking module is in a normal state, motor negative torque is used to perform braking, and the insufficient part of the motor negative torque for braking is performed using hydraulic braking torque. In another embodiment, in response to the received status indication of the execution module associated with braking indicating that the hydraulic braking module is in a degraded state (e.g., the braking ability of the hydraulic braking module is lower than a preset braking ability threshold), hydraulic braking torque is used to perform braking. It can be understood that in the case where the use of hydraulic braking torque for braking is insufficient, the hydraulic braking module will report a fault to the vehicle controller so that the vehicle controller can timely handle the situation of insufficient hydraulic braking torque for braking. In yet another embodiment, in response to the received status indication of the execution module associated with braking indicating that the hydraulic braking module is in a failed state, motor negative torque is used to perform braking, and the insufficient part of the motor negative torque for braking is performed using dynamic clamping braking torque. It can be understood that in the case where the use of dynamic clamping braking torque for braking is insufficient, the dynamic clamping function module will report a fault to the vehicle controller so that the vehicle controller can timely handle the situation of insufficient hydraulic braking torque for braking.

[0043] In one embodiment, each braking pipeline in the braking system (e.g., the motor negative torque braking pipeline, the hydraulic braking pipeline, the dynamic clamping braking pipeline, etc.) is configured to independently execute braking control in response to receiving the assigned braking command, so that the braking force can be ensured not to be lost in various states of the hydraulic braking module, thereby improving the safety and flexibility of the braking system.

[0044] By distributing the braking commands in the autonomous driving function according to the priorities described in step 105 above, at least partially based on the status indication of the execution module associated with braking and the braking ability of the execution module associated with braking, additional braking redundancy can be provided when the autonomous driving vehicle executes braking, thereby improving the safety of the braking system. In addition, by enabling each braking pipeline in the braking system (e.g., the motor negative torque braking pipeline, the hydraulic braking pipeline, the dynamic clamping braking pipeline, etc.) to be controlled completely independently of each other, the flexibility and safety of the braking system are further improved.

[0045] Optionally, vehicle stability control can be performed at least partially based on the received status indication of the execution module associated with braking ( Figure 1 not shown). In one embodiment, in response to the received status indication of the execution module associated with braking indicating that the hydraulic braking module is in a normal state, a function module associated with stability control within the hydraulic braking module (e.g., using the ABS module) is used to control the hydraulic braking torque and the motor negative torque to prevent wheel lock-up. In another embodiment, in response to the received status indication of the execution module associated with braking indicating that the hydraulic braking module is in a degraded state (e.g., the braking ability of the hydraulic braking module is lower than a preset braking ability threshold), a function module associated with stability control within the vehicle controller (e.g., using the ABS module within the vehicle controller) is used to control the hydraulic braking torque to prevent wheel lock-up. In yet another embodiment, in response to the received status indication of the execution module associated with braking indicating that the hydraulic braking module is in a failed state, a function module associated with stability control within the vehicle controller (e.g., using the DTC module within the vehicle controller) is used to control the motor negative torque and the anti-lock sub-module within the electronic parking module to prevent wheel lock-up.

[0046] The control method for braking backup in autonomous driving proposed according to one aspect of the present invention can provide additional braking redundancy when the autonomous driving vehicle executes braking, ensure the stability of braking, reduce the failure rate of braking, and thus improve the safety performance of the braking system under autonomous driving.

[0047] Figure 2 Schematic diagram of a control system for braking backup in autonomous driving according to an embodiment of the present invention.

[0048] As Figure 2 shown in Figure 2 , the control system 200 for brake backup in autonomous driving includes a receiving unit 210, a determining unit 220, and an allocating unit 230.

[0049] The receiving unit 210 is configured to receive a status indication of an execution module associated with braking and a status indication of a function module associated with stability control.

[0050] In one embodiment, the status indication of the execution module associated with braking may include, but is not limited to, a motor status indication, a brake torque status indication, and an electronic parking brake status indication, where the motor status indication, the brake torque status indication, and the electronic parking brake status indication may indicate whether the corresponding execution module associated with braking is in a normal state, a degraded state, or a failed state. In one embodiment, the status indication of the function module associated with stability control may include, but is not limited to, an anti-lock braking system (ABS) status indication, a drag torque control module (DTC) status indication, and a dynamic clamping function module (RWU) status indication, where the anti-lock braking system (ABS) status indication, the drag torque control module (DTC) status indication, and the dynamic clamping function module (RWU) status indication may indicate whether the corresponding function module associated with stability control is in a normal state, a degraded state, or a failed state. It can be understood that the above status indications of the execution module associated with braking and the function module associated with stability control may be reported periodically by the execution module associated with braking and the function module associated with stability control to characterize their status.

[0051] In one embodiment, the receiving unit 210 is configured to receive a status indication of an execution module associated with braking, a status indication of a function module associated with stability control, and a status indication of each sensor in autonomous driving for the determining unit 220 to determine whether the execution module associated with braking, the function module associated with stability control, and each sensor in autonomous driving are available. As an example, the sensors may include, but are not limited to, wheel speed sensors, inertial sensors, pressure sensors, motor wheel speed sensors, motor actual torque estimation modules, battery charge limit estimation modules, etc.

[0052] The determining unit 220 is configured to determine the braking ability of the execution module associated with braking based at least in part on the received status indication of the execution module associated with braking and the status indication of the function module associated with stability control, where the determined braking ability of the execution module associated with braking includes, but is not limited to, hydraulic brake torque ability, motor negative torque ability, and dynamic clamping brake torque, etc.

[0053] The allocation unit 230 is configured to allocate a braking command at least partially based on the received status indication of the execution module associated with braking and the determined braking ability of the execution module associated with braking.

[0054] In one embodiment, the allocation unit 230 is configured to, in response to the received status indication of the execution module associated with braking, indicate that the hydraulic braking module is in a normal state and use motor negative torque to perform braking, and use hydraulic braking torque to perform the insufficient part of the braking with motor negative torque. In another embodiment, the allocation unit 230 is configured to, in response to the received status indication of the execution module associated with braking, indicate that the hydraulic braking module is in a degraded state (for example, the braking ability of the hydraulic braking module is lower than a preset braking ability threshold) and use hydraulic braking torque to perform braking. It can be understood that in the case where the braking with hydraulic braking torque is insufficient, the hydraulic braking module will report a fault to the vehicle controller so that the vehicle controller can timely handle the situation of insufficient braking with hydraulic braking torque. In yet another embodiment, the allocation unit 230 is configured to, in response to the received status indication of the execution module associated with braking, indicate that the hydraulic braking module is in a failure state and use motor negative torque to perform braking, and use dynamic clamping braking torque to perform the insufficient part of the braking with motor negative torque. It can be understood that in the case where the braking with dynamic clamping braking torque is insufficient, the dynamic clamping function module will report a fault to the vehicle controller so that the vehicle controller can timely handle the situation of insufficient braking with hydraulic braking torque.

[0055] In one embodiment, each braking pipeline in the braking system (such as the motor negative torque braking pipeline, the hydraulic braking pipeline, and the dynamic clamping braking pipeline, etc.) is configured to independently perform braking control in response to the braking command allocated by the allocation unit 230, so that the braking force can be ensured not to be lost in various states of the hydraulic braking module, thereby improving the safety and flexibility of the braking system.

[0056] By configuring the allocation unit 230 to allocate the braking command in the autonomous driving function according to the above-described priority at least partially based on the status indication of the execution module associated with braking and the braking ability of the execution module associated with braking, additional braking redundancy can be provided when the autonomous driving vehicle performs braking, thereby improving the safety of the braking system. In addition, by enabling each braking pipeline in the braking system (such as the motor negative torque braking pipeline, the hydraulic braking pipeline, and the dynamic clamping braking pipeline, etc.) to be controlled completely independently of each other, the flexibility and safety of the braking system are further improved.

[0057] Optionally, the control system 200 for brake backup in autonomous driving may further include a stability control unit ( Figure 2 not shown in the figure), and the stability control unit is configured to perform vehicle stability control at least partially based on the received status indication of the execution module associated with braking. In one embodiment, the stability control unit is configured to, in response to the received status indication of the execution module associated with braking, indicate that the hydraulic brake module is in a normal state and use the function module associated with stability control within the hydraulic brake module (e.g., use the ABS module) to control the hydraulic brake torque and the motor negative torque to prevent wheel lock-up. In another embodiment, the stability control unit is configured to, in response to the received status indication of the execution module associated with braking, indicate that the hydraulic brake module is in a degraded state (e.g., the braking ability of the hydraulic brake module is lower than a preset braking ability threshold) and use the function module associated with stability control within the vehicle controller (e.g., use the ABS module within the vehicle controller) to control the hydraulic brake torque to prevent wheel lock-up. In yet another embodiment, the stability control unit is configured to, in response to the received status indication of the execution module associated with braking, indicate that the hydraulic brake module is in a failed state and use the function module associated with stability control within the vehicle controller (e.g., use the DTC module within the vehicle controller) to control the motor negative torque and the anti-lock sub-module within the electronic parking module to prevent wheel lock-up.

[0058] The control system for brake backup in autonomous driving proposed according to one aspect of the present invention can provide additional braking redundancy when the autonomous driving vehicle performs braking, ensure braking stability, reduce the braking failure rate, and thus improve the safety performance of the braking system under autonomous driving.

[0059] Figure 3 A block diagram of a computer device according to an embodiment of the present invention. As Figure 3 shown in the figure, the computer device 300 includes a memory 310, a processor 320, and a computer program 330 stored on the memory 310 and executable on the processor 320. When the processor 320 executes the computer program 330, it implements the various steps of the control method for brake backup in autonomous driving according to one aspect of the present invention as Figure 1 shown.

[0060] In addition, as described above, the present invention can also be implemented as a computer storage medium in which a program for causing a computer to execute the control method for brake backup in autonomous driving according to one aspect of the present invention is stored.

[0061] Here, as a computer storage medium, various types of computer storage media can be adopted, such as disk types (e.g., magnetic disks, optical disks, etc.), card types (e.g., memory cards, optical cards, etc.), semiconductor memory types (e.g., ROM, non-volatile memories, etc.), tape types (e.g., magnetic tapes, cassette tapes, etc.).

[0062] In applicable cases, various embodiments provided by the present disclosure can be implemented using hardware, software, or a combination of hardware and software. Moreover, in applicable cases, without departing from the scope of the present disclosure, the various hardware components and / or software components described herein can be combined into composite components including software, hardware, and / or both. In applicable cases, without departing from the scope of the present disclosure, the various hardware components and / or software components described herein can be divided into sub-components including software, hardware, or both. Additionally, in applicable cases, it is contemplated that software components can be implemented as hardware components, and vice versa.

[0063] Software according to the present disclosure (such as program code and / or data) can be stored on one or more computer storage media. It is also contemplated that one or more general-purpose or special-purpose computers and / or computer systems connected via a network and / or in other ways can be used to implement the software identified herein. In applicable cases, the order of the various steps described herein can be changed, combined into composite steps, and / or divided into sub-steps to provide the features described herein.

[0064] The embodiments and examples presented herein are provided so as to best illustrate embodiments in accordance with the invention and its specific applications, and thereby enable those skilled in the art to implement and use the invention. However, those skilled in the art will know that the above description and examples are provided for purposes of illustration and exemplification only. The presented description is not intended to cover every aspect of the invention or to limit the invention to the precise form disclosed.

Claims

1. A control method for brake backup in automatic driving, characterized in that: The method comprises: receiving a status indication of an executive module associated with braking and a status indication of a functional module associated with stability control, wherein the executive module associated with braking comprises: a hydraulic brake module, an electric motor torque response module, and an electronic parking module; determining a braking capacity of the executive module associated with braking based at least in part on the received status indication of the executive module associated with braking and the status indication of the functional module associated with stability control; and allocating a braking command based at least in part on the received status indication of the actuator module associated with braking and the determined braking capability of the actuator module associated with braking, Wherein the method further comprises: Performing vehicle stability control based at least in part on the received status indication of an actuator module associated with braking further comprises: In response to the received state indication of the actuator module associated with braking indicating that the hydraulic brake module is in a normal state, using a function module associated with stability control in the hydraulic brake module to control the hydraulic brake torque and the motor negative torque, In response to the received state indication of the actuator module associated with braking indicating that the hydraulic brake module is in a degraded state, the hydraulic brake torque is controlled using a function module associated with stability control in the vehicle controller, In response to the received state indication of the brake-related actuator module indicating that the hydraulic brake module is in a failed state, a function module associated with stability control in a vehicle controller is used to control the motor negative torque and an anti-lock brake submodule in an electronic parking module. 2 . The method of claim 1 , wherein the determined braking capacity of the actuator module associated with the brake comprises one or more of: hydraulic brake torque capacity, electric motor negative torque capacity, and dynamic clamping brake torque.

3. The method of claim 1 or 2, wherein allocating a braking command based at least in part on the received status indication of the actuator module associated with braking and the determined braking capability of the actuator module associated with braking further comprises: In response to the received state indication of the execution module associated with braking indicating that the hydraulic brake module is in the normal state, braking is executed using the motor negative torque, and a part of the braking insufficient by the motor negative torque is executed using the hydraulic brake torque.

4. The method of claim 1 or 2, wherein allocating a braking command based at least in part on the received status indication of the actuator module associated with braking and the determined braking capability of the actuator module associated with braking further comprises: Braking is actuated using hydraulic brake torque in response to the received status indication of an actuation module associated with braking indicating that the hydraulic brake module is in the degraded state.

5. The method of claim 1 or 2, wherein allocating a braking command based at least in part on the received status indication of the actuator module associated with braking and the determined braking capability of the actuator module associated with braking further comprises: In response to the received state indication of the brake-associated actuation module indicating that the hydraulic brake module is in the failure state, braking is actuated using a motor negative torque, where a portion of the motor negative torque actuation braking deficiency is actuated using a dynamic clamping brake torque.

6. A control system for brake backup in automatic driving, characterized in that: The system comprises: A receiving unit configured to receive a status indication of an execution module associated with braking and a status indication of a function module associated with stability control, wherein the execution module associated with braking comprises: a hydraulic brake module, a motor torque response module and an electronic parking module; a determination unit configured to determine a braking capability of an executive module associated with braking based at least in part on the received state indication of the executive module associated with braking and the state indication of the functional module associated with stability control; and an allocating unit configured to allocate a braking command based at least in part on the received status indication of the actuating module associated with braking and the determined braking capability of the actuating module associated with braking, The system further comprises: A stability control unit configured to perform vehicle stability control based at least in part on the received state indication of the actuator module associated with braking, the stability control unit further configured to: In response to the received state indication of the actuator module associated with braking indicating that the hydraulic brake module is in a normal state, using a function module associated with stability control in the hydraulic brake module to control the hydraulic brake torque and the motor negative torque, In response to the received state indication of the actuator module associated with braking indicating that the hydraulic brake module is in a degraded state, the hydraulic brake torque is controlled using a function module associated with stability control in the vehicle controller, In response to the received state indication of the brake-related actuator module indicating that the hydraulic brake module is in a failed state, a function module associated with stability control in a vehicle controller is used to control the motor negative torque and an anti-lock brake submodule in an electronic parking module.

7. The system of claim 6, wherein the allocation unit is further configured to: In response to the received state indication of the execution module associated with braking indicating that the hydraulic brake module is in the normal state, braking is executed using the motor negative torque, and a part of the braking insufficient by the motor negative torque is executed using the hydraulic brake torque.

8. The system of claim 6, wherein the allocation unit is further configured to: Braking is actuated using hydraulic brake torque in response to the received status indication of an actuation module associated with braking indicating that the hydraulic brake module is in the degraded state.

9. The system of claim 6, wherein the dispensing unit is further configured to: In response to the received state indication of the brake-associated actuation module indicating that the hydraulic brake module is in the failure state, braking is actuated using a motor negative torque, where a portion of the motor negative torque actuation braking deficiency is actuated using a dynamic clamping brake torque.

10. A computer storage medium, characterized in that: The computer storage medium comprises instructions which, when executed, perform the method according to any one of claims 1 to 5.

11. A computer device, characterized in that: The computer device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 1 to 5 when executing the program.

12. A vehicle, characterized in that: A control system for brake backup in autonomous driving comprising any one of claims 6 to 9.

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