Brake redundancy control method and brake redundancy control system

Abstract

The present invention discloses a braking redundancy control method and a braking redundancy control system. The method includes: an assisted driving system acquires state monitoring data and sends the state monitoring data to a vehicle controller; when the state monitoring data meets the assisted braking condition, the vehicle controller generates an assisted braking signal and sends the assisted braking signal to a drive control unit and a parking braking system; the drive control unit receives the assisted braking signal and controls a drive motor to perform counter-dragging braking based on the assisted braking signal; the parking braking system receives the assisted braking signal and controls a parking braking component to perform parking braking based on the assisted braking signal. This method can ensure the timeliness and safety of assisted braking, and there is no need to add other hardware configurations, which helps to reduce costs and avoid hardware waste.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and particularly to a braking redundancy control method and a braking redundancy control system. Background Art

[0002] During the autonomous driving or parking process of an autonomous vehicle, since the driver is not in the vehicle and does not participate in vehicle driving, in order to ensure the stability and safety of vehicle driving, redundancy is required for braking or steering backup. In existing autonomous vehicles, generally dual controllers and dual drive motors are used for control. For example, during the vehicle driving process, an electric control booster and an electronic stability control system (i.e., ESC system) are required for dual redundant braking control to decelerate and brake the vehicle; however, when the vehicle integrates a main braking system formed by an electric control booster and an electronic stability control system (hereinafter referred to as the main braking system), an additional ESC system is required for redundant backup. During the vehicle parking process, the P gear parking lock of the vehicle or an electronic parking brake system (i.e., the parking brake system) is required for parking backup. During the driving process, dual controllers and dual electronic parking brake systems (i.e., the parking brake system) are required for redundant backup.

[0003] The existing use of dual controllers and dual drive motors for redundancy leads to an increase in the overall vehicle cost. Moreover, the actual usage times of the backup controllers and drive motors are limited, resulting in a large waste of hardware resources. Summary of the Invention

[0004] Embodiments of the present invention provide a braking redundancy control method and a braking redundancy control system to solve the problems of high cost and waste of hardware resources existing in the existing braking redundancy braking process.

[0005] The present invention provides a braking redundancy control method, including:

[0006] An auxiliary driving system obtains status monitoring data and sends the status monitoring data to a vehicle controller;

[0007] When the status monitoring data satisfies the auxiliary braking condition, the vehicle controller generates an auxiliary braking signal and sends the auxiliary braking signal to a drive control unit and a parking brake system;

[0008] The drive control unit receives the auxiliary braking signal and controls a drive motor to perform counter-dragging braking based on the auxiliary braking signal;

[0009] The parking brake system receives the auxiliary braking signal and controls a parking brake component to perform parking braking based on the auxiliary braking signal.

[0010] Preferably, when the state monitoring data meets the auxiliary braking condition, the vehicle controller generates an auxiliary braking signal, including:

[0011] The vehicle controller analyzes the state monitoring data, obtains the braking state signal corresponding to the main braking system, and generates an auxiliary braking signal when the braking state signal is an invalid state signal.

[0012] Preferably, when the state monitoring data meets the auxiliary braking condition, the vehicle controller generates an auxiliary braking signal and sends the auxiliary braking signal to the drive control unit and the parking braking system, including:

[0013] When the state monitoring data meets the auxiliary braking condition, the vehicle controller generates an auxiliary braking signal and obtains the maximum counter-dragging torque, sends the auxiliary braking signal and the maximum counter-dragging torque to the drive control unit, and sends the auxiliary braking signal to the parking braking system;

[0014] The drive control unit receives the auxiliary braking signal and, based on the auxiliary braking signal, controls the drive motor to perform counter-dragging braking, including:

[0015] The drive control unit receives the auxiliary braking signal and the maximum counter-dragging torque, and based on the auxiliary braking signal and the maximum counter-dragging torque, controls the drive motor to perform counter-dragging braking.

[0016] Preferably, the parking braking system receives the auxiliary braking signal and, based on the auxiliary braking signal, controls the parking braking component to perform parking braking, including:

[0017] The parking braking system receives the auxiliary braking signal, obtains the current vehicle speed of the vehicle, and when the current vehicle speed of the vehicle is less than the target vehicle speed threshold, based on the auxiliary braking signal, controls the parking braking component to perform parking braking.

[0018] Preferably, after the assisted driving system obtains the state monitoring data and sends the state monitoring data to the vehicle controller, the braking redundancy control method further includes:

[0019] When the state monitoring data meets the main braking condition, the vehicle controller generates a main braking signal and sends the main braking signal to the main braking system;

[0020] The main braking system receives the main braking signal and, based on the main braking signal, controls the brake caliper to perform braking through the brake pipeline.

[0021] Preferably, when the state monitoring data meets the main braking condition, the vehicle controller generates a main braking signal, including:

[0022] The vehicle controller analyzes the state monitoring data, obtains the braking state signal and the vehicle state signal corresponding to the main braking system, and generates a main braking signal when the braking state signal is a valid state signal and the vehicle state signal is an emergency braking signal.

[0023] Preferably, the obtaining of the state monitoring data by the assisted driving system includes:

[0024] The assisted driving system sends a state acquisition instruction to the main braking system;

[0025] When the assisted driving system does not obtain a state response signal within the target response period, or the obtained state response signal is an invalid state signal, it determines that the braking state signal is an invalid state signal and uses the braking state signal as the state monitoring data.

[0026] When the obtained state response signal by the assisted driving system is a valid state signal, it determines that the braking state signal is a valid state signal, acquires vehicle state data, determines the vehicle state signal based on the vehicle state data, and uses the braking state signal and the vehicle state signal as the state monitoring data.

[0027] Preferably, the obtaining of the state monitoring data by the assisted driving system includes:

[0028] The assisted driving system real-time acquires the current vehicle speed of the vehicle in the current mode of the vehicle. When the current mode of the vehicle is the autonomous driving mode and the current vehicle speed of the vehicle is less than the standard vehicle speed threshold, it sends a state acquisition instruction to the main braking system every preset time.

[0029] Preferably, after the parking braking system receives the assisted braking signal and controls the parking braking component to perform parking braking based on the assisted braking signal, the braking redundancy control method further includes:

[0030] The assisted driving system acquires the current vehicle speed of the vehicle. When the current vehicle speed of the vehicle is zero, it obtains the vehicle parking data and sends the vehicle parking data to the vehicle controller;

[0031] The vehicle controller receives the vehicle parking data and sends the vehicle parking data to the user terminal.

[0032] The present invention provides a braking redundancy control system, including a vehicle controller, an assisted driving system, a main braking system, a parking braking system, and a drive control unit; the assisted driving system is connected to the main braking system and the vehicle controller; the vehicle controller is connected to the main braking system, the parking braking system, and the drive control unit; the vehicle controller, the main braking system, the parking braking system, the assisted driving system, and the drive control unit cooperate to implement the above braking redundancy control method.

[0033] For the above braking redundancy control method and braking redundancy control system, when the vehicle controller receives the status monitoring data sent by the assisted driving system and meets the assisted braking condition, it can be determined that emergency braking is required but the main braking control cannot be performed. An assisted braking signal needs to be generated and sent to the drive control unit and the parking braking system, so that the drive control unit controls the drive motor to perform reverse dragging braking and the parking braking system controls the parking braking component to perform parking braking. On the one hand, the assisted braking control can be carried out when the status monitoring data meets the assisted braking condition, so as to ensure the timeliness of the assisted braking. On the other hand, the drive control unit and the parking braking system are used to control the drive motor and the parking braking component to perform braking respectively, which can ensure the effectiveness of the assisted braking, so as to achieve the purpose of controlling the vehicle to brake quickly and stop, and avoid the safety risk of continuing to drive when the main braking system fails. Moreover, when the main braking system fails, the vehicle controller can control the drive control unit and the parking braking system to perform assisted braking control, only relying on the existing control systems in the vehicle, without additionally configuring an ESC for redundant backup, which makes the cost of the braking redundancy control process relatively low and can avoid the waste of hardware resources caused by additionally configuring an ESC. Description of the Drawings

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0035] Figure 1 is a schematic diagram of a braking redundancy control system in an embodiment of the present invention;

[0036] Figure 2 is a flowchart of a braking redundancy control method in an embodiment of the present invention;

[0037] Figure 3 is another flowchart of a braking redundancy control method in an embodiment of the present invention;

[0038] Figure 4 is another flowchart of a braking redundancy control method in an embodiment of the present invention;

[0039] Figure 5 is another flowchart of a braking redundancy control method in an embodiment of the present invention. Detailed Embodiments

[0040] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0041] An embodiment of the present invention provides a braking redundancy control method, which is applied to a braking redundancy control system. The braking redundancy control system can achieve braking redundancy control without increasing the hardware cost, and ensure the stability and safety of braking during the driving process of the vehicle.

[0042] In this embodiment, the braking redundancy control system includes a vehicle control unit, an advanced driver assistance system, a main braking system, an electrical park brake system, and a drive control unit; the advanced driver assistance system is connected to the main braking system and the vehicle control unit; the vehicle control unit is connected to the main braking system, the electrical park brake system, and the drive control unit; the vehicle control unit, the main braking system, the electrical park brake system, the advanced driver assistance system, and the drive control unit cooperate to implement the braking redundancy control method provided in the following embodiments. In this example, the main braking system is also connected to the main braking system.

[0043] Among them, the vehicle control unit (VCU) refers to the central control unit of the vehicle and is the core of the entire braking redundancy control system.

[0044] Among them, the advanced driver assistance system (ADAS) uses various sensors installed on the vehicle (millimeter-wave radar, lidar, single / double-eye cameras, and satellite navigation) to sense the surrounding environment at any time during the driving process of the vehicle, collect data, identify, detect, and track static and dynamic objects, and combine navigation map data to perform system operations and analyses, so as to pre-let the driver perceive possible dangers and effectively increase the comfort and safety of vehicle driving.

[0045] Among them, the main braking system (BCS) is a system for realizing main braking control and is a system integrating an electronic control booster and an electronic stability program. The electronic stability program is hereinafter referred to as ESC.

[0046] Among them, the electrical park brake system (EPB) is used to control the parking brake through an electronic circuit.

[0047] Among them, the drive control unit (DCU) is a control unit used to control the operation of the drive motor.

[0048] In one embodiment, as Figure 2 shown, the braking redundancy control method includes the following steps:

[0049] S201: The assisted driving system obtains status monitoring data and sends the status monitoring data to the vehicle controller.

[0050] Among them, the status monitoring data refers to the data determined by analyzing the vehicle status data collected in real time by various sensors on the vehicle by the assisted driving system (including but not limited to millimeter-wave radar, lidar, camera, and vehicle speed sensor). In this example, the status monitoring data includes but is not limited to the braking status signal, the vehicle status signal, and the current vehicle speed of the vehicle.

[0051] Among them, the braking status signal is a signal used to reflect the current status of the main braking system. The braking status signal includes two types: a valid status signal and an invalid status signal. Among them, the valid status signal is a signal used to reflect that the main braking system is currently in an effective state, that is, the main braking system can currently perform main braking control. Correspondingly, the invalid status signal is a signal used to reflect that the main braking system is currently in an invalid state, that is, the main braking system cannot currently perform main braking control.

[0052] Among them, the vehicle status signal is a signal used to reflect whether the vehicle currently needs to perform braking control. The vehicle status signal includes an emergency braking signal and a non-emergency braking signal. Among them, the emergency braking signal is a signal used to reflect that, by analyzing the vehicle status data, it is determined that the vehicle needs to perform braking control. Correspondingly, the non-emergency braking signal is a signal used to reflect that, by analyzing the vehicle status data, it is determined that the vehicle does not need to perform braking control.

[0053] The current vehicle speed of the vehicle is calculated based on the vehicle status data collected in real time to determine the current vehicle speed of the vehicle.

[0054] As an example, when an autonomous vehicle enters the autonomous driving mode, it is necessary to use the assisted driving system to collect the vehicle status data of the vehicle in real time, use the data analysis program built into the assisted driving system to analyze the vehicle status data, obtain the status monitoring data, and then send the status monitoring data to the vehicle controller, so that the vehicle controller can perform intelligent control according to the status monitoring data collected in real time to ensure the safety of the autonomous vehicle when driving in the autonomous driving mode.

[0055] S202: When the status monitoring data of the vehicle controller meets the auxiliary braking condition, the vehicle controller generates an auxiliary braking signal and sends the auxiliary braking signal to the drive control unit and the parking braking system.

[0056] Among them, the auxiliary braking condition is a pre-configured condition for performing auxiliary braking. Generally speaking, the auxiliary braking condition refers to the condition for emergency braking when the main braking system fails. The auxiliary braking signal refers to the signal for controlling other auxiliary braking components to perform auxiliary braking when the main braking system cannot perform main braking control.

[0057] As an example, after receiving the status monitoring data sent by the assisted driving system, the vehicle controller needs to match the status monitoring data with the pre-configured auxiliary braking condition. If the status monitoring data meets the auxiliary braking condition, it can be determined that emergency braking is required but the main braking control cannot be performed. An auxiliary braking signal needs to be generated and sent to the drive control unit and the parking braking system, so that the drive control unit and the parking braking system perform auxiliary braking control according to the auxiliary braking signal.

[0058] In one embodiment, in step S202, when the status monitoring data of the vehicle controller meets the auxiliary braking condition, generating an auxiliary braking signal includes: the vehicle controller analyzes the status monitoring data, obtains the braking status signal corresponding to the main braking system, and generates an auxiliary braking signal when the braking status signal is an invalid status signal.

[0059] Among them, the braking status signal corresponding to the main braking system is a signal used to reflect whether the main braking system can perform braking control.

[0060] As an example, the vehicle controller obtains the braking status signal corresponding to the main braking system from the status monitoring data, so as to determine whether the main braking system can currently perform main braking control according to the braking status signal. In this example, when the braking status signal corresponding to the main braking system is an invalid status signal, it means that the main braking system cannot currently perform main braking control. If the autonomous vehicle continues to drive, there may be a safety risk due to the inability of the main braking system to perform main braking control. At this time, it is determined that there is an emergency braking situation, and an auxiliary braking signal needs to be generated and sent to the drive control unit and the parking braking system, so that the drive control unit and the parking braking system can control the corresponding target braking components to perform auxiliary braking, so that the vehicle can quickly brake to a stop when the main braking system fails, thereby ensuring the safety of vehicle driving. The target braking component here refers to the component connected to the drive control unit or the parking braking system for performing braking operations.

[0061] S203: The drive control unit receives the auxiliary braking signal and controls the drive motor to perform counter-dragging braking based on the auxiliary braking signal.

[0062] As an example, after receiving the auxiliary braking signal sent by the vehicle controller, the drive control unit needs to control the drive motor connected to the drive control unit to perform reverse drag braking according to the auxiliary braking signal, so as to reduce the vehicle speed through the reverse drag braking of the drive motor and achieve the purpose of auxiliary braking.

[0063] For example, when the autonomous vehicle is a two-wheel drive vehicle, the drive control unit can control the front axle of the vehicle to perform reverse drag braking through the drive motor, so that the left front wheel and the right front wheel decelerate, so as to achieve the purpose of controlling the vehicle to decelerate. Another example is that when the autonomous vehicle is a four-wheel drive vehicle, the drive control unit can control the front axle and the rear axle of the vehicle to perform reverse drag braking through the drive motor, so that the left front wheel, the right front wheel, the left rear wheel and the right rear wheel all decelerate, so as to achieve the purpose of controlling the vehicle to decelerate.

[0064] In one embodiment, step S202, that is, when the state monitoring data of the vehicle controller meets the auxiliary braking condition, generating an auxiliary braking signal and sending the auxiliary braking signal to the drive control unit and the parking braking system, includes:

[0065] When the state monitoring data of the vehicle controller meets the auxiliary braking condition, generating an auxiliary braking signal and obtaining the maximum reverse drag torque, sending the auxiliary braking signal and the maximum reverse drag torque to the drive control unit, and sending the auxiliary braking signal to the parking braking system;

[0066] Step S203, that is, the drive control unit receives the auxiliary braking signal and controls the drive motor to perform reverse drag braking based on the auxiliary braking signal, includes:

[0067] The drive control unit receives the auxiliary braking signal and the maximum reverse drag torque, and controls the drive motor to perform reverse drag braking based on the auxiliary braking signal and the maximum reverse drag torque.

[0068] Among them, the maximum reverse drag torque is a pre-configured maximum torque for controlling the drive motor to perform reverse drag braking.

[0069] As an example, when the status monitoring data of the vehicle controller meets the conditions for assisted braking, it can be determined that emergency braking is required but the main braking control cannot be performed. For example, when the braking status signal corresponding to the main braking system in the status monitoring data is an invalid status signal, that is, when the main braking system is in a failure state, an assisted braking signal needs to be generated. In order to ensure the effect of the drive control unit controlling the drive motor for reverse drag braking, the maximum reverse drag torque also needs to be obtained, so as to send the assisted braking signal and the maximum reverse drag torque to the drive control unit together, and send the assisted braking signal to the parking braking system, so that the drive control unit and the parking braking system can control the corresponding target braking components for assisted braking, enabling the vehicle to quickly brake to a stop in the case of the failure of the main braking system, thereby ensuring the safety of vehicle driving.

[0070] As an example, after receiving the assisted braking signal and the maximum reverse drag torque, the drive control unit needs to control the drive motor to perform reverse drag braking with the maximum reverse drag torque according to the assisted braking signal, so as to ensure the efficiency of the drive control unit controlling the drive motor for reverse drag braking.

[0071] S204: The parking braking system receives the assisted braking signal and controls the parking braking component to perform parking braking based on the assisted braking signal.

[0072] Among them, the parking braking component refers to the component connected to the EPS and used to perform parking braking under the control of the EPS. For example, the parking braking component can be a drive caliper.

[0073] As an example, after receiving the assisted braking signal sent by the vehicle controller, the parking braking system determines that the main braking system is currently in a failure state and emergency braking is required. Therefore, it can directly control the parking braking component connected to the parking braking system to perform parking braking based on the assisted braking signal.

[0074] In an embodiment, step S204, that is, the parking braking system receives the assisted braking signal and controls the parking braking component to perform parking braking based on the assisted braking signal, includes:

[0075] The parking braking system receives the assisted braking signal, obtains the current vehicle speed of the vehicle, and when the current vehicle speed of the vehicle is less than the target speed threshold, controls the parking braking component to perform parking braking based on the assisted braking signal.

[0076] Among them, the current vehicle speed of the vehicle refers to the vehicle speed analyzed based on the vehicle state data collected in real time by the assisted driving system. The target vehicle speed threshold is the vehicle speed pre-configured by the system that enables the parking brake system to perform braking control. Since, during the braking control process of the parking brake system, if the current vehicle speed of the vehicle is too high, it will cause a large swing amplitude of the vehicle during the braking process of the parking brake system, resulting in poor stability during the braking process of the vehicle and making it extremely easy to occur vehicle scratches or even safety accidents. Therefore, it is necessary to pre-configure the target vehicle speed threshold to determine whether to collect the braking control of the parking brake system based on the target vehicle speed threshold.

[0077] As an example, when the parking brake system receives the auxiliary braking signal and can obtain the current vehicle speed of the vehicle collected in real time by the assisted driving system through the vehicle control unit, when the current vehicle speed of the vehicle is less than the target vehicle speed threshold, it directly controls the parking brake component connected to the parking brake system to perform parking braking based on the auxiliary braking signal, so as to ensure the stability and safety when the parking brake system controls the parking brake component to perform parking braking. In this example, the parking brake system can receive the current vehicle speed of the vehicle sent by the vehicle control unit while receiving the auxiliary braking signal, or can obtain the current vehicle speed of the vehicle sent by the vehicle control unit after receiving the auxiliary braking signal. The current vehicle speed of the vehicle is collected in real time by the assisted driving system and sent to the vehicle control unit.

[0078] For example, when the braking state signal corresponding to the main braking system of the vehicle controller is an invalid state signal, it indicates that the main braking system cannot perform main braking control currently. If the autonomous vehicle continues to drive, there may be safety risks due to the inability of the main braking system to perform main braking control. At this time, it is determined that there is an emergency braking situation, and an auxiliary braking signal needs to be generated. To ensure the stability and safety of the braking control of the parking braking system, it is also necessary to obtain the current vehicle speed of the vehicle from the status monitoring data sent by the assisted driving system, so as to send the auxiliary braking signal to the drive control unit, and send the auxiliary braking signal and the current vehicle speed of the vehicle to the parking braking system, so that the drive control unit and the parking braking system can control the corresponding target braking components to perform auxiliary braking, enabling the vehicle to quickly brake to a stop when the main braking system fails, thereby ensuring the safety of vehicle driving. That is, when the parking braking system receives the auxiliary braking signal and the current vehicle speed of the vehicle at the same time, when receiving the auxiliary braking signal, if the current vehicle speed of the vehicle it receives is less than the target speed threshold, it can directly control the parking braking component to perform parking braking based on the auxiliary braking signal; if the current vehicle speed of the vehicle it receives is not less than the target speed threshold, it can, after executing step S203, that is, after the drive control unit receives the auxiliary braking signal and controls the drive motor to perform counter-dragging braking based on the auxiliary braking signal, based on the current vehicle speed of the vehicle collected in real time by the assisted driving system, determine that when the current vehicle speed of the vehicle is less than the target speed threshold, and then control the parking braking component to perform parking braking based on the auxiliary braking signal, thereby ensuring the safety and stability of vehicle braking control.

[0079] In the braking redundancy control method provided in this embodiment, when the vehicle controller receives the status monitoring data sent by the assisted driving system and meets the auxiliary braking conditions, it can be determined that emergency braking is required but the main braking control cannot be performed, and an auxiliary braking signal needs to be generated and sent to the drive control unit and the parking braking system, so that the drive control unit controls the drive motor to perform counter-dragging braking and the parking braking system controls the parking braking component to perform parking braking. On the one hand, it can realize auxiliary braking control when the status monitoring data meets the auxiliary braking conditions to ensure the timeliness of auxiliary braking. On the other hand, by using the drive control unit and the parking braking system to control the drive motor and the parking braking component to perform braking respectively, the effectiveness of auxiliary braking can be ensured to achieve the purpose of controlling the vehicle to quickly brake to a stop, so as to avoid the safety risks of the vehicle continuing to drive when the main braking system fails. Moreover, the vehicle controller can, in the case of the failure of the main braking system, control the drive control unit and the parking braking system to perform auxiliary braking control, only relying on the existing control systems in the vehicle, without additionally configuring an ESC for redundant backup, making the braking redundancy control process cost lower and avoiding the waste of hardware resources caused by additionally configuring an ESC.

[0080] In one embodiment, asFigure 3 As shown, the braking redundancy control method further includes the following steps:

[0081] S301: When the assisted driving system acquires status monitoring data, it sends the status monitoring data to the vehicle controller.

[0082] The processing process of step S301 is the same as that of step S201. To avoid repetition, it will not be elaborated here one by one.

[0083] S302: When the status monitoring data received by the vehicle controller meets the main braking condition, the vehicle controller generates a main braking signal and sends the main braking signal to the main braking system.

[0084] Among them, the main braking condition refers to the pre-configured condition for performing main braking. Generally speaking, the main braking condition refers to the condition for braking control when the main braking system is effective. The main braking signal is a signal used to control the main braking system to perform main braking control.

[0085] As an example, in step S303, after the main braking system receives the status monitoring data sent by the assisted driving system, it needs to match the status monitoring data with the pre-configured main braking condition. If the status monitoring data meets the main braking condition, it can be determined that the main braking system is in an effective state and can perform main braking control, and the vehicle is currently in a driving environment where braking control is required. Therefore, the vehicle controller needs to generate a main braking signal and send the main braking signal to the main braking system so that the main braking system can perform main braking control according to the main braking signal.

[0086] In an embodiment, in step S302, when the status monitoring data received by the vehicle controller meets the main braking condition, the vehicle controller generates a main braking signal, including: the vehicle controller analyzes the status monitoring data, obtains the braking status signal corresponding to the main braking system and the vehicle status signal. When the braking status signal is an effective status signal and the vehicle status signal is an emergency braking signal, the vehicle controller generates a main braking signal.

[0087] Among them, the vehicle status signal is a signal used to reflect whether the vehicle currently needs to perform braking control. The vehicle status signal includes an emergency braking signal and a non-emergency braking signal. Among them, the emergency braking signal is a signal used to reflect that after analyzing the vehicle status data, it is determined that the vehicle needs to perform braking control. Correspondingly, the non-emergency braking signal is a signal used to reflect that after analyzing the vehicle status data, it is determined that the vehicle does not need to perform braking control.

[0088] As an example, in step S302, when the braking state signal is a valid state signal, the vehicle controller determines that the main braking system is currently in a valid state and can perform main braking control; moreover, when the vehicle state signal is an emergency braking signal, it is determined that the vehicle is currently in an environment where emergency braking is required. At this time, the vehicle controller can generate a main braking signal and send the main braking signal to the main braking system, so that the main braking system performs main braking control, enabling the vehicle to quickly brake to a stop in an environment where emergency braking is required.

[0089] S303: The main braking system receives the main braking signal and, based on the main braking signal, controls the brake caliper to brake through the brake pipeline.

[0090] As an example, in step S303, after the main braking system receives the main braking signal sent by the vehicle controller, it can, based on the main braking signal, control the brake caliper to brake through the brake pipeline. Specifically, it can, based on the main braking signal, control the brake pipeline to transfer the brake fluid, so as to transfer the brake fluid from the master cylinder to the brake wheel cylinder of the vehicle wheel. The brake fluid in the brake wheel cylinder forms a braking torque, and based on this braking torque, the brake caliper is controlled to brake, so that the vehicle wheel brakes to a stop, for the purpose of quickly stopping, so as to achieve main braking control through the main braking system when the vehicle is in an environment where emergency braking is required, to ensure the safety of vehicle driving.

[0091] In one embodiment, after the main braking system receives the main braking signal and, based on the main braking signal, controls the brake caliper to brake through the brake pipeline, the braking redundancy control method further includes: the main braking system generates a parking braking signal and sends the parking braking signal to the parking braking system. The parking braking system receives the parking braking signal and, based on the parking braking signal, controls the parking braking component to perform parking braking.

[0092] Wherein, the parking braking signal is a signal formed by the main braking system for controlling the parking braking system to perform parking braking.

[0093] As an example, during the process of the main braking system performing main braking control based on the main braking signal, it can form a parking braking signal and send the parking braking signal to the parking braking system, so that when the parking braking system receives the parking braking signal, it can control the parking braking component to perform parking braking, so as to achieve braking control of the brake caliper corresponding to the brake pipeline through the main braking system when the main braking system is in a valid state, and perform braking control together through the parking braking system to control the parking braking component, which helps to improve the braking control efficiency, enabling the vehicle to quickly brake to a stop and ensuring the safety of the driving process.

[0094] In one embodiment, as Figure 4As shown, in step S201, the assisted driving system obtains status monitoring data, including:

[0095] S401: The assisted driving system sends a status acquisition instruction to the main braking system.

[0096] S402: When the assisted driving system does not obtain a status response signal within the target response period, or the obtained status response signal is an invalid status signal, it determines that the braking status signal is an invalid status signal and uses the braking status signal as the status monitoring data.

[0097] S403: When the obtained status response signal is a valid status signal, the assisted driving system determines that the braking status signal is a valid status signal, acquires vehicle status data, determines a vehicle status signal based on the vehicle status data, and uses the braking status signal and the vehicle status signal as the status monitoring data.

[0098] Among them, the status acquisition instruction is an instruction for acquiring the current status of the main braking system. The target response period is a pre-configured period for responding to the status acquisition instruction. The status response signal is a signal for the main braking system to respond to the status acquisition instruction sent by the assisted driving system, and the status response signal includes two types: a valid status signal and an invalid status signal. Among them, the valid status signal is a signal for reflecting that the main braking system is currently in an effective state, that is, the main braking system can currently perform main braking control. Correspondingly, the invalid status signal is a signal for reflecting that the main braking system is currently in an invalid state, that is, the main braking system cannot currently perform main braking control. The vehicle status data is data acquired in real time by the assisted driving system through various sensors for evaluating whether to enter an emergency state.

[0099] As an example, in step S401, the assisted driving system can send a status acquisition instruction to the main braking system every preset time interval (such as 10 ms) to monitor the current status of the main braking system to determine whether the main braking system can perform main braking control, which helps to ensure the feasibility of vehicle braking control.

[0100] As an example, in step S402, after the assisted driving system sends the status acquisition instruction, it starts timing and waits to receive the status response signal sent by the main braking system within the target response period. In one case, if the assisted driving system does not obtain the status response signal sent by the main braking system within the target response period, it is determined that the status acquisition instruction sent by the assisted driving system to the main braking system is unsuccessful, or the status response signal sent by the main braking system to the assisted driving system is unsuccessful. By default, the main braking system is in an invalid state. Therefore, it can be determined that its braking status signal is an invalid status signal, and this braking status signal can be sent to the vehicle controller as status monitoring data, so that the vehicle controller can directly perform emergency braking based on this braking status signal to form an assisted braking signal to control the drive control unit and the parking braking system to perform assisted braking. In another case, if the assisted driving system can obtain the status response signal sent by the main braking system within the target response period, but this status response signal is an invalid status signal, it can also be determined that its braking status signal is an invalid status signal, and this braking status signal can be sent to the vehicle controller as status monitoring data, so that the vehicle controller can directly perform emergency braking based on this braking status signal to form an assisted braking signal to control the drive control unit and the parking braking system to perform assisted braking.

[0101] As an example, in step S403, after the assisted driving system sends the status acquisition instruction, it starts calculating. If the assisted driving system can receive the status response signal sent by the main braking system within the target response period, that is, this status response signal is a valid status signal, it indicates that the main braking system is currently in an effective state and can perform main braking control. At this time, the assisted driving system needs to collect vehicle status data through various sensors connected to it, and then evaluate the collected vehicle status data with the pre-set emergency status conditions for evaluating whether it is an emergency state; if the vehicle status data meets the emergency status conditions, it is determined that its vehicle status signal is an emergency braking signal; otherwise, if the vehicle status data meets the emergency status conditions, it is determined that its vehicle status signal is a non-emergency braking signal. For example, when the distance between an autonomous vehicle and its preceding vehicle is less than the pre-set safe distance, it is determined that the emergency status conditions are met, and its vehicle status signal is determined to be an emergency braking signal.

[0102] In this embodiment, when the assisted driving system fails to obtain a status response signal within the target response cycle, or the obtained status response signal is an invalid status signal, it can determine that the main braking system is in a failure state, that is, it can obtain that the braking status signal is an invalid status signal, and send it to the vehicle controller as status monitoring data, so that when the main braking system is in a failure state, the vehicle controller can control the drive control unit and the parking braking system to perform assisted braking. When the assisted driving system receives a status response signal as a valid status signal, it needs to determine that the braking status signal is a valid status signal, collect vehicle status data, determine the vehicle status signal based on the vehicle status data, and send the braking status signal and the vehicle status signal, so that when the main braking system is in a valid state, the vehicle controller can control the main braking system to perform main braking control to ensure the realization of braking redundancy control without additional cost.

[0103] In one embodiment, the assisted driving system sends a status acquisition instruction to the main braking system, including: the assisted driving system real-time acquires the current vehicle speed of the vehicle in the current mode of the vehicle. When the current mode of the vehicle is the autonomous driving mode and the current vehicle speed of the vehicle is less than the standard vehicle speed threshold, a status acquisition instruction is sent to the main braking system every preset time.

[0104] Wherein, the current mode of the vehicle refers to the driving mode in which the vehicle is currently located. The standard vehicle speed threshold refers to the vehicle speed threshold used to evaluate whether it is necessary to control the vehicle to brake. The standard vehicle speed threshold is the vehicle speed at which braking control can be performed during the autonomous driving process of the vehicle determined according to relevant industry standards. For example, 15 km / h. The preset time is the time preset for generating and sending the status acquisition instruction.

[0105] As an example, the assisted driving system needs to acquire the current vehicle speed of the vehicle in the current mode of the vehicle. Only when the current mode of the vehicle is the autonomous driving mode and the current vehicle speed of the vehicle is less than the standard vehicle speed threshold, it indicates that it meets the preconditions for braking control of the vehicle in the autonomous driving mode. At this time, the assisted driving system needs to send a status acquisition instruction to the main braking system every preset time, so as to wait for the status response signal feedback by the main braking system within the target response cycle and execute step S402 or step S403. It can be understood that when the current mode of the vehicle is not the autonomous driving mode but the manual driving mode, and the current vehicle speed of the vehicle is not less than the standard vehicle speed threshold, it indicates that it does not meet the preconditions for braking control of the vehicle in the autonomous driving mode, and there is no need to send a status acquisition instruction to the main braking system every preset time.

[0106] In one embodiment, as Figure 5 shown, after the parking braking system receives the assisted braking signal and controls the parking braking component to perform parking braking based on the assisted braking signal, the braking redundancy control method further includes:

[0107] S501: The assisted driving system collects the current vehicle speed of the vehicle. When the current vehicle speed of the vehicle is zero, it obtains the vehicle parking data and sends the vehicle parking data to the vehicle controller.

[0108] S502: The vehicle controller receives the vehicle parking data and sends the vehicle parking data to the user terminal.

[0109] Wherein, the vehicle parking data refers to the data formed when the vehicle parks. The vehicle parking data includes but is not limited to the vehicle parking signal and the current vehicle position. The vehicle parking signal is a signal used to reflect that the vehicle is currently in a parked state. The current vehicle position is used to reflect the position where the vehicle currently parks. The vehicle owner terminal is a mobile terminal bound to the autonomous vehicle.

[0110] As an example, the assisted driving system collects the current vehicle speed of the vehicle in real time. When the current vehicle speed of the vehicle is zero, the assisted driving system needs to form a vehicle parking signal, collect the vehicle parking data, and send the vehicle parking signal and the vehicle parking data to the vehicle controller. After receiving the vehicle parking data, the vehicle controller needs to send the vehicle parking data to the user terminal so that the user corresponding to the user terminal can know the vehicle parking data.

[0111] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0112] Those of ordinary skill in the art can understand that all or part of the processes in the above-described method embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the above-described method embodiments. Among them, any reference to a memory, storage, database, or other medium used in the various embodiments provided in the present application can include non-volatile and / or volatile memories. Non-volatile memories can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memories can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.

[0113] Those skilled in the art can clearly understand that for the convenience and brevity of description, only the above-mentioned division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0114] The above-described embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or equivalently replace some of the technical features. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention and should all be included in the protection scope of the present invention.

Claims

1. A braking redundancy control method, characterized in that, Including: The assisted driving system acquires status monitoring data and sends the status monitoring data to the vehicle controller. The status monitoring data is data determined by analyzing vehicle status data and includes a braking status signal. The braking status signal is a signal used to reflect the current status of the main braking system. When the status monitoring data meets the assisted braking condition, the vehicle controller generates an assisted braking signal and sends the assisted braking signal to the drive control unit and the parking braking system. The assisted braking condition refers to the condition for emergency braking when the main braking system fails. The assisted braking signal is a signal used to control other assisted braking components to perform assisted braking when the main braking system cannot perform main braking control. The drive control unit receives the assisted braking signal and controls the drive motor to perform counter-dragging braking based on the assisted braking signal. The parking braking system receives the assisted braking signal and controls the parking braking component to perform parking braking based on the assisted braking signal.

2. The braking redundancy control method according to claim 1, characterized in that When the status monitoring data meets the assisted braking condition, the vehicle controller generates an assisted braking signal, including: The vehicle controller analyzes the status monitoring data, acquires the braking status signal corresponding to the main braking system, and generates an assisted braking signal when the braking status signal is an invalid status signal.

3. The braking redundancy control method according to claim 1, characterized in that, When the status monitoring data meets the assisted braking condition, the vehicle controller generates an assisted braking signal and sends the assisted braking signal to the drive control unit and the parking braking system, including: When the status monitoring data meets the assisted braking condition, the vehicle controller generates an assisted braking signal and acquires the maximum counter-dragging torque, sends the assisted braking signal and the maximum counter-dragging torque to the drive control unit, and sends the assisted braking signal to the parking braking system. The drive control unit receives the assisted braking signal and controls the drive motor to perform counter-dragging braking based on the assisted braking signal, including: The drive control unit receives the assisted braking signal and the maximum counter-dragging torque, and controls the drive motor to perform counter-dragging braking based on the assisted braking signal and the maximum counter-dragging torque.

4. The braking redundancy control method according to claim 1, characterized in that The parking braking system receives the assisted braking signal and controls the parking braking component to perform parking braking based on the assisted braking signal, including: The parking braking system receives the assisted braking signal, acquires the current vehicle speed of the vehicle, and controls the parking braking component to perform parking braking based on the assisted braking signal when the current vehicle speed of the vehicle is less than the target vehicle speed threshold.

5. The braking redundancy control method according to claim 1, characterized in that After the assisted driving system acquires the status monitoring data and sends the status monitoring data to the vehicle controller, the braking redundancy control method further includes: When the status monitoring data meets the main braking condition, the vehicle controller generates a main braking signal and sends the main braking signal to the main braking system. The main braking system receives the main braking signal and controls the brake caliper to perform braking through the brake pipeline based on the main braking signal.

6. The braking redundancy control method according to claim 5, characterized in that When the status monitoring data meets the main braking condition, the vehicle controller generates a main braking signal, including: The vehicle controller analyzes the state monitoring data, obtains the braking state signal and the vehicle state signal corresponding to the main braking system, and generates a main braking signal when the braking state signal is a valid state signal and the vehicle state signal is an emergency braking signal.

7. The braking redundancy control method according to claim 1, wherein The state monitoring data obtained by the assisted driving system includes: The assisted driving system sends a state acquisition instruction to the main braking system; When the assisted driving system does not obtain a state response signal within the target response period, or the obtained state response signal is an invalid state signal, it determines that the braking state signal is an invalid state signal, and uses the braking state signal as the state monitoring data; When the state response signal obtained by the assisted driving system is a valid state signal, it determines that the braking state signal is a valid state signal, collects vehicle state data, determines the vehicle state signal based on the vehicle state data, and uses the braking state signal and the vehicle state signal as the state monitoring data.

8. The braking redundancy control method according to claim 7, wherein The state monitoring data obtained by the assisted driving system includes: The assisted driving system continuously collects the current vehicle speed of the vehicle in the current mode of the vehicle. When the current mode of the vehicle is the autonomous driving mode and the current vehicle speed of the vehicle is less than the standard vehicle speed threshold, it sends a state acquisition instruction to the main braking system every preset time.

9. The braking redundancy control method according to claim 1, wherein, After the parking braking system receives the assisted braking signal and controls the parking braking component to perform parking braking based on the assisted braking signal, the braking redundancy control method further includes: The assisted driving system collects the current vehicle speed of the vehicle. When the current vehicle speed of the vehicle is zero, it obtains the vehicle parking data and sends the vehicle parking data to the vehicle controller; The vehicle controller receives the vehicle parking data and sends the vehicle parking data to the user terminal.

10. A braking redundancy control system, comprising a vehicle controller, an assisted driving system, a main braking system, a parking braking system, and a drive control unit; the assisted driving system is connected to the main braking system and the vehicle controller; the vehicle controller is connected to the main braking system, the parking braking system, and the drive control unit; characterized in that, The vehicle controller, the main braking system, the parking braking system, the assisted driving system, and the drive control unit cooperate to implement the braking redundancy control method according to any one of claims 1-9.

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