Vehicle braking device, vehicle braking method, and autonomous driving vehicle

Abstract

The present disclosure provides a vehicle braking device, a vehicle braking method and an autonomous driving vehicle, which relate to the field of artificial intelligence, and in particular to the field of autonomous driving. The specific implementation scheme is as follows: the device includes a wire control brake mechanism, a first controller, a brake pedal mechanism and a redundant brake mechanism, the first controller is electrically connected to the wire control brake mechanism, the first controller is configured to obtain first state information of the wire control brake mechanism, and send a first control instruction when determining that the wire control brake mechanism fails; the redundant brake mechanism is electrically connected to the first controller, and the redundant brake mechanism is configured to push the brake pedal mechanism downward to brake the vehicle according to the first control instruction.

Description

Technical Field

[0001] The present disclosure relates to the field of artificial intelligence technology, and in particular to the field of autonomous driving. More specifically, the present disclosure provides a vehicle braking device, a vehicle braking method, and an autonomous driving vehicle. Background Art

[0002] With the continuous development of autonomous driving technology, the driving method has gradually changed from assisted driving by a main driver or a co-driver to driving without a safety officer. The safety requirements of autonomous driving for vehicles have also increased with the change in driving methods. Summary of the invention

[0003] The present disclosure provides a vehicle braking device, a vehicle braking method, and an autonomous driving vehicle.

[0004] According to one aspect of the present disclosure, a vehicle braking device is provided, comprising: a brake-by-wire mechanism; a first controller electrically connected to the brake-by-wire mechanism, the first controller being configured to obtain first status information of the brake-by-wire mechanism and to send a first control instruction when it is determined that the brake-by-wire mechanism is faulty; a brake pedal mechanism; and a redundant brake mechanism electrically connected to the first controller, the redundant brake mechanism being configured to push the brake pedal mechanism downward to brake the vehicle according to the first control instruction.

[0005] According to another aspect of the present disclosure, a vehicle braking method is provided, which is applied to the vehicle braking equipment as described above; the method comprises: a first controller determines first state information of a brake-by-wire mechanism; in response to determining that a fault occurs in the brake-by-wire mechanism, the first controller sends a first control instruction to a redundant braking mechanism; and the redundant braking mechanism pushes a brake pedal mechanism to brake the vehicle according to the first control instruction.

[0006] According to another aspect of the present disclosure, there is provided an autonomous driving vehicle comprising the above-mentioned vehicle braking device.

[0007] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0009] Figure 1 is a schematic structural diagram of a vehicle brake device according to an embodiment of the present disclosure;

[0010] Figure 2 is a schematic structural diagram of a vehicle brake device according to another embodiment of the present disclosure;

[0011] Figure 3 is a schematic structural diagram of a vehicle brake device according to another embodiment of the present disclosure;

[0012] Figure 4 is a schematic structural diagram of a vehicle brake device according to another embodiment of the present disclosure;

[0013] Figure 5A is a schematic structural diagram of a redundant braking mechanism according to an embodiment of the present disclosure;

[0014] Figure 5B is a schematic structural diagram of a redundant braking mechanism in different positions according to an embodiment of the present disclosure;

[0015] Figure 6 is a schematic structural diagram of a control device in a redundant braking mechanism according to an embodiment of the present disclosure;

[0016] Figure 7 is a schematic flow chart of a vehicle braking method according to an embodiment of the present disclosure;

[0017] Figure 8 is a schematic diagram of a vehicle braking method according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0018] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0019] In some technical solutions, vehicle braking can be achieved through a controller, a wire-controlled brake mechanism and an actuator, wherein the wire-controlled brake mechanism includes a control element and a mechanical component, the mechanical component may be a hydraulic pump, and the control element may drive the hydraulic pump to operate by electronic control. The actuator may include mechanical hydraulic components such as hydraulic pipelines, a brake master cylinder, and a brake disc.

[0020] During operation, the controller determines behavioral decisions based on the environmental information collected by the sensor, and sends instructions to the control element in the wire control brake mechanism when deceleration is required. The control element controls the action of the hydraulic pump in the wire control brake unit. The hydraulic pump drives the brake master cylinder by adjusting the hydraulic pressure. The brake master cylinder drives the brake disc to clamp the wheel through hydraulic or mechanical means, thereby achieving vehicle deceleration.

[0021] However, in actual applications, although the actuator can use pure mechanical hydraulic components with a low failure rate, the controller and the wire-controlled brake mechanism work by electronic control. Failure of the controller and / or the wire-controlled brake mechanism will cause the vehicle to be unable to brake, thereby causing safety risks.

[0022] The disclosed embodiments aim to propose a vehicle braking device and a vehicle braking method, which can achieve vehicle braking by pushing a brake pedal mechanism through a redundant braking mechanism in the event of a failure of the brake-by-wire mechanism, ensuring that the vehicle can still be parked safely after a failure of the brake-by-wire mechanism, thereby improving the safety of autonomous driving.

[0023] The vehicle braking device and vehicle braking method provided by the embodiments of the present disclosure can be applied to autonomous driving vehicles, and are particularly suitable for scenarios where there is no safety officer in the autonomous driving vehicle.

[0024] The technical solution provided by the present disclosure will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] Figure 1 is a schematic structural diagram of a vehicle brake device according to an embodiment of the present disclosure.

[0026] like Figure 1 As shown, Figure 1 The solid lines in may represent electrical connections, and the dotted lines may represent mechanical connections. The vehicle brake device 100 may include a brake-by-wire mechanism 110 , a first controller 120 , a brake pedal mechanism 130 , and a redundant brake mechanism 140 .

[0027] The brake-by-wire mechanism 110 is used to brake the vehicle. For example, the brake-by-wire mechanism 110 includes a control element and a mechanical component. The mechanical component may include a hydraulic pump.

[0028] The first controller 120 is electrically connected to the brake-by-wire mechanism 110 via a first CAN bus or other means.

[0029] The first controller 120 is configured to obtain first state information of the brake-by-wire mechanism 110, and the first state information indicates whether the brake-by-wire mechanism 110 is faulty. For example, the brake-by-wire mechanism 110 may send a fault instruction to the first controller 120 after a fault occurs to itself, and the fault instruction may be used as the first state information. For another example, the brake-by-wire mechanism 110 sends a heartbeat request to the first controller 120 at a predetermined period, and the first controller 120 starts timing after receiving each heartbeat request, and detects whether the next heartbeat request is received within a first predetermined time period, and if received, it indicates that the brake-by-wire mechanism 110 is in a working state, and if not received, it indicates that the brake-by-wire mechanism 110 is faulty. The first state information of the brake-by-wire mechanism 110 can be determined simply, accurately and conveniently in the above manner.

[0030] The first controller 120 is configured to determine whether the brake-by-wire mechanism 110 is faulty based on the first state information, and, if a fault is determined, send a first control instruction to the redundant brake mechanism 140. For example, whether the brake-by-wire mechanism 110 is faulty is determined by detecting whether a fault instruction or a heartbeat request sent by the brake-by-wire mechanism 110 is received.

[0031] The brake pedal mechanism 130 may include, for example, a pedal body and a connecting rod. In the case of manual driving, the user can brake the vehicle by stepping down the pedal body.

[0032] The redundant brake mechanism 140 is provided in the vehicle and is located near the brake pedal mechanism 130. For example, the clutch can be omitted in an automatic transmission vehicle, and the redundant brake mechanism 140 can be provided at the position of the clutch, thereby preventing the redundant brake mechanism 140 from affecting the user's driving and realizing human-machine co-driving. In the actual installation process, for example, a mounting hole can be provided in the vehicle compartment, and then the redundant brake mechanism 140 can be fixed by bolts, etc. In addition, the redundant brake mechanism 140 can be powered on or equipped with a battery as required.

[0033] The redundant brake mechanism 140 is electrically connected to the first controller 120 , and is configured to push the brake pedal mechanism 130 to move downward to brake the vehicle according to the first control instruction.

[0034] The redundant brake mechanism 140 may include, for example, a telescopic rod, one end of which may be hinged to the vehicle floor, and the other end of which may be hinged to the brake pedal mechanism 130 , and the position of the brake pedal mechanism 130 may be adjusted by the telescopic movement of the telescopic rod.

[0035] In some technical solutions, when braking is required, the vehicle is braked by the wire control brake mechanism 110. Compared with the above technical solutions, the technical solution provided by the embodiment of the present disclosure is provided with a redundant brake mechanism 140. In the case of a failure of the wire control brake mechanism 110, the redundant brake mechanism 140 can be controlled by the first controller 120 to move, so that the redundant brake mechanism 140 pushes the brake pedal mechanism 130 downward to achieve vehicle braking. Therefore, safe parking can be ensured after a failure of the wire control brake mechanism 110, alleviating the safety risks caused by the autonomous driving vehicle being only equipped with the wire control brake mechanism 110, thereby improving the safety and reliability of vehicle braking.

[0036] In addition, the technical solution provided by the embodiment of the present disclosure has no special requirements on the form of the vehicle braking system (such as hydraulic pressure, pneumatic pressure), and there is no need to make major changes to the original braking system of the vehicle. In practical applications, the vehicle can be configured before leaving the factory, and a vehicle that is only equipped with a set of wire control brake mechanism 110 when leaving the factory can also be modified. For example, a redundant braking mechanism 140 is added to the vehicle, and the control logic of the first controller 120 is updated to achieve a redundant braking effect. Therefore, the technical solution provided by the embodiment of the present disclosure has a wide range of applications.

[0037] It can be understood that, since the redundant brake mechanism 140 can replace the manually pushed brake pedal mechanism 130, this technical solution is not only applicable to manned driving scenarios, but also to unmanned driving scenarios.

[0038] Figure 2 is a schematic structural diagram of a vehicle brake device according to another embodiment of the present disclosure.

[0039] like Figure 2 As shown, Figure 2 The solid lines in may represent electrical connections, and the dashed lines may represent mechanical connections. The vehicle brake device 200 may include a brake-by-wire mechanism 210 , a first controller 220 , a brake pedal mechanism 230 , and a redundant brake mechanism 240 .

[0040] The structures of the brake-by-wire mechanism 210 , the first controller 220 , the brake pedal mechanism 230 , and the redundant brake mechanism 240 may refer to the above description and will not be described again here.

[0041] In this embodiment, the first controller 220 is further configured to send a second control instruction when it is determined that the brake-by-wire mechanism 210 is not faulty. Accordingly, the brake-by-wire mechanism 210 is further configured to brake the vehicle according to the second control instruction.

[0042] According to the technical solution provided by the embodiment of the present disclosure, when the brake-by-wire mechanism 210 is not faulty, the brake-by-wire mechanism 210 can realize vehicle braking, and at this time, the first controller 220 may not send the first control instruction to the redundant brake mechanism 240. Compared with the redundant brake mechanism 240 that realizes braking by mechanical transmission, the brake-by-wire mechanism 210 is controlled by electronic control, so the brake-by-wire mechanism 210 brakes more timely and with higher braking accuracy.

[0043] Figure 3 is a schematic structural diagram of a vehicle brake device according to another embodiment of the present disclosure.

[0044] like Figure 3 As shown, Figure 3The solid lines in may represent electrical connections, and the dashed lines may represent mechanical connections. The vehicle brake device 300 may include a brake-by-wire mechanism 310 , a first controller 320 , a brake pedal mechanism 330 , a redundant brake mechanism 340 , and a second controller 350 .

[0045] The structures of the brake-by-wire mechanism 310 , the first controller 320 , the brake pedal mechanism 330 , and the redundant brake mechanism 340 may refer to the above description and will not be described again here.

[0046] The second controller 350 is electrically connected to the brake-by-wire mechanism 310 , and the second controller 350 is configured to send a third control instruction to the brake-by-wire mechanism 310 .

[0047] The first controller 320 is also electrically connected to the second controller 350 via a second CAN bus or other means. Accordingly, the first controller 320 is also configured to obtain the second state information of the second controller, and the second state information indicates whether the second controller 350 is faulty. For example, the second controller 350 can send a fault instruction to the first controller 320 after a fault occurs to itself, and the fault instruction can be used as the second state information. For another example, the second controller 350 sends a heartbeat request to the first controller 320 at a predetermined period, and the first controller 320 starts timing after each heartbeat request is received, and detects whether the next mood request is received within the second predetermined time period. If received, it indicates that the second controller 350 is in working state, and if not received, it indicates that the second controller 350 is faulty. The second state information of the second controller 350 can be determined simply, accurately and conveniently in the above manner.

[0048] The first controller 320 is further configured to determine priority information based on the second state information, and the priority information represents the priority of the first controller 320 and the second controller 350. For example, when the second controller 350 is not faulty, the priority of the second controller 350 is higher than that of the first controller 320, and "0" can be used as the priority information at this time. For another example, when the second controller 350 is faulty, the priority of the second controller 350 is lower than that of the first controller 320, and "1" can be used as the priority information at this time. In addition, the first controller 320 is further configured to send priority information to the brake-by-wire mechanism 310.

[0049] The brake-by-wire mechanism 310 is further configured to brake the vehicle according to one of the second control instruction and the third control instruction based on the priority information. For example, when the second controller 350 is not faulty, the brake-by-wire mechanism 310 brakes the vehicle according to the third control instruction. For another example, when the second controller 350 is faulty, the brake-by-wire mechanism 310 brakes the vehicle according to the second control instruction.

[0050] According to the technical solution provided by the embodiment of the present disclosure, when the brake-by-wire mechanism 310 is not faulty and the second controller 350 is not faulty, the second controller 350 controls the brake-by-wire mechanism 310 to achieve braking. When the brake-by-wire mechanism 310 is not faulty and the second controller 350 is faulty, the first controller 320 controls the brake-by-wire mechanism 310 to achieve braking. It can be seen that the second controller 350 and the first controller 320 are backups for each other, and can play a role of backup redundancy, thereby further improving braking safety.

[0051] According to another embodiment of the present disclosure, the second controller may also be electrically connected to the redundant braking mechanism, and the second controller may be configured to detect the first state information of the wire control brake mechanism and the third state information of the first controller. When both the wire control brake mechanism and the first controller fail, the second controller may replace the first controller to send the first control instruction to the redundant braking mechanism, thereby achieving vehicle braking. The embodiment of the present disclosure can perform braking when both the wire control brake mechanism and the first controller fail, and the wire control brake mechanism and the redundant braking mechanism serve as backup for each other, thereby improving braking safety.

[0052] According to another embodiment of the present disclosure, the second controller may not be electrically connected to the redundant braking mechanism, that is, the action of the redundant braking mechanism is not controlled by the second controller, thereby simplifying the control logic and alleviating the problem of failure to brake in time due to complex control logic.

[0053] Figure 4 is a schematic structural diagram of a vehicle brake device according to another embodiment of the present disclosure.

[0054] like Figure 4 As shown, Figure 4 The solid lines in the figure may represent electrical connections, and the dotted lines may represent mechanical connections or hydraulic connections. The vehicle brake device 400 may include a brake-by-wire mechanism 410, a first controller 420, a brake pedal mechanism 430, a redundant brake mechanism 440, a second controller 450, and an actuator 460. In some embodiments, the vehicle brake device 400 may omit the second controller 450 as required.

[0055] The structures of the brake-by-wire mechanism 410 , the first controller 420 , the brake pedal mechanism 430 , the redundant brake mechanism 440 and the second controller 450 may refer to the above description and will not be described again here.

[0056] The actuator 460 may include mechanical hydraulic components such as hydraulic pipelines, a brake master cylinder 461 , and a brake disc 462 .

[0057] The actuator 460 is in transmission connection with the brake pedal mechanism 430. For example, the connecting rod in the brake pedal mechanism 430 may be in transmission connection with the piston of the brake master cylinder 461. When the pedal body or the connecting rod in the brake pedal is pushed downward, the connecting rod drives the piston of the brake master cylinder 461 to move, so that the actuator 460 is activated. After the actuator 460 is activated, the brake master cylinder 461 drives the brake disc 462 to contact the wheel of the vehicle through hydraulic or mechanical means, thereby achieving braking.

[0058] The actuator 460 is electrically connected to the brake-by-wire mechanism 410, and controls the actuator 460 to start. For example, the brake-by-wire mechanism 410 controls the brake master cylinder 461 to actuate, and then the brake master cylinder 461 drives the brake disc 462 to achieve braking. In the case where the vehicle brake device 400 is not equipped with the second controller 450, the actuator 460 can control the actuator 460 to start according to the second control instruction. In the case where the vehicle brake device 400 is equipped with the second controller 450, the actuator 460 can control the actuator 460 to start according to one of the second control instruction and the third control instruction.

[0059] In the technical solution provided by the embodiment of the present disclosure, the brake pedal mechanism 430 and the brake-by-wire mechanism 410 can both be activated by controlling the actuator 460 to achieve vehicle braking. The brake pedal mechanism 430 and the brake-by-wire mechanism 410 do not need to be equipped with a set of actuators 460 respectively, thereby simplifying the vehicle structure.

[0060] Figure 5A is a schematic structural diagram of a redundant braking mechanism according to an embodiment of the present disclosure, Figure 5B is a schematic structural diagram of a redundant braking mechanism in different positions according to an embodiment of the present disclosure.

[0061] like Figure 5A As shown, the redundant brake mechanism 540 may include a drive portion and a swing arm 544 .

[0062] The driving end of the driving unit is connected to the end of the swing arm 544 by transmission, and is used to drive the swing arm 544 to swing from the initial position to the target position according to the received first control instruction. For example, the driving unit may include a control device 541, a motor 542 and a reducer 543, and the control device 541 is used to receive the first control instruction and control the motor 542 to rotate according to the first control instruction. The motor shaft of the motor 542 can be connected to the power input end of the reducer 543 by transmission, and the power output end of the reducer 543 is connected to the end of the swing arm 544 by transmission, so as to realize the swing of the swing arm 544 between the initial position and the target position. It should be understood that the swing arm 544 can have multiple target positions.

[0063] like Figure 5BAs shown, reference numeral 544 denotes a swing arm at an initial position, reference numeral 544 ′ denotes a swing arm at a target position, reference numeral 530 denotes a brake pedal mechanism that is not depressed, and reference numeral 530 ′ denotes a brake pedal mechanism that has been depressed.

[0064] The swing arm 544 is used to press down the brake pedal mechanism 530. When the swing arm 544 is in the initial position, the swing arm 544 is separated from the brake pedal mechanism 530. When the swing arm 544' is in the target position, the swing arm 544 pushes the brake pedal mechanism 530' downward.

[0065] The redundant brake mechanism 540 provided in the embodiment of the present disclosure can achieve the effect of pushing the brake pedal mechanism 530, and has a simple structure, which is more convenient to install and use in a location with limited space. In addition, when braking is not required, the swing arm 544 is separated from the brake pedal mechanism 530 to avoid interference with the brake pedal mechanism 530.

[0066] In some embodiments, the redundant brake mechanism 540 may further include a position sensor, which may detect the position of a gear, and the gear may be installed at a motor shaft, a power input end of the reducer 543, a power output end of the reducer 543, and other positions. The position sensor is electrically connected to the control device 541, and sends the detected position information to the control device 541. The control device 541 implements closed-loop control through the position information. For example, the instruction of the control device 541 instructs the brake pedal mechanism 530 to move to the 50% position, and the position sensor detects whether the brake pedal mechanism 530 moves to the 50% position, thereby implementing closed-loop control.

[0067] Figure 6 is a schematic structural diagram of a control device in a redundant braking mechanism according to an embodiment of the present disclosure.

[0068] like Figure 6 As shown, the control device 641 in the redundant braking mechanism may include a power module 6411 , a transceiver 6412 , a position detection module 6413 , a drive bridge 6414 and a micro control unit 6415 .

[0069] In practical applications, the power module 6411 is electrically connected to the power supply device, thereby realizing power supply to the control device 641. The transceiver 6412 is electrically connected to the first controller through a line, thereby receiving the first control instruction of the first controller. The position detection module 6413 is electrically connected to the position sensor 645. The drive bridge 6414 is electrically connected to the motor 642.

[0070] During operation, the position sensor 645 sends the detected actual position information to the position detection module 6413. The microcontroller unit 6415 generates a drive signal based on the target position and the actual position information, and then converts it into a pulse width modulation signal through the drive bridge 6414 to drive the motor 642 to operate, so that the rotor of the motor 642 rotates to a predetermined position, thereby realizing closed-loop control of the position of the brake pedal mechanism.

[0071] Figure 7 is a schematic flow chart of a vehicle braking method according to an embodiment of the present disclosure.

[0072] like Figure 7 As shown, the braking method 700 may include operations S710 to S730. The vehicle braking method 700 may be applied to any of the above-mentioned vehicle braking devices.

[0073] In operation S710 , the first controller 720 determines first state information of the brake-by-wire mechanism 710 .

[0074] In response to determining that the brake-by-wire mechanism 710 fails, the first controller 720 sends a first control instruction to the redundant brake mechanism 740 in operation S720 .

[0075] In operation S730 , the redundant brake mechanism 740 pushes the brake pedal mechanism 730 to brake the vehicle according to the first control command.

[0076] According to the technical solution provided by the embodiment of the present disclosure, in the case of a failure of the brake-by-wire mechanism 710, the redundant brake mechanism 740 can be controlled by the first controller 720 to move, so that the redundant brake mechanism 740 pushes the brake pedal mechanism 730 downward, thereby achieving vehicle braking. Therefore, safe parking can be ensured after a failure of the brake-by-wire mechanism 710, alleviating the safety risk caused by the automatic driving vehicle being equipped with only the brake-by-wire mechanism 710, thereby improving the safety and reliability of vehicle braking.

[0077] Figure 8 is a schematic diagram of a vehicle braking method according to an embodiment of the present disclosure.

[0078] like Figure 8 As shown, Figure 8 The dotted line in the figure may represent a mechanical connection or a hydraulic connection. The first controller 820 determines the first state information of the brake-by-wire mechanism 810. For example, the first controller 820 determines that the brake-by-wire mechanism 810 fails when it is determined that the first predetermined condition is satisfied, wherein the first predetermined condition includes at least one of the following: the first controller 820 receives a fault instruction from the brake-by-wire mechanism 810; and the first controller 820 does not receive a heartbeat signal from the brake-by-wire mechanism 810 within a first predetermined time period.

[0079] The first controller 820 determines whether the brake-by-wire mechanism 810 fails based on the first status information.

[0080] When it is determined that the brake-by-wire mechanism 810 fails, the first controller 820 sends a first control instruction 801 to the redundant brake mechanism 840. Accordingly, the redundant brake mechanism 840 pushes the brake pedal mechanism 830 to brake the vehicle according to the first control instruction 801. For example, the actuator 860 is activated during the downward movement of the brake pedal mechanism 830, and the actuator 860 contacts the wheel of the vehicle to achieve braking.

[0081] When it is determined that the brake-by-wire mechanism 810 has not failed, the first controller 820 sends a second control instruction 802 to the brake-by-wire mechanism 810 .

[0082] In addition, the vehicle brake device can determine whether to be equipped with the second controller 850 according to actual needs. For example, in the case of simplifying the control logic and reducing the cost of the vehicle brake device, the second controller 850 can be omitted. For example, in the case where it is necessary to equip the first controller 820 with a backup device to play a role of backup redundancy, the second controller 850 can be equipped.

[0083] In some embodiments, the vehicle braking device is not equipped with a second controller 850. Accordingly, the brake-by-wire mechanism 810 can brake the vehicle according to the second control instruction 802. For example, the brake-by-wire mechanism 810 can control the actuator 860 to start according to the second control instruction 802, and the actuator 860 contacts the wheels of the vehicle to achieve braking.

[0084] In other embodiments, the vehicle braking system is equipped with a second controller 850 , and the second controller 850 sends a third control instruction 804 to the brake-by-wire mechanism 810 .

[0085] Accordingly, the first controller 820 also determines the second state information of the second controller 850. For example, the first controller 820 determines that the second controller 850 fails when it is determined that the second predetermined condition is satisfied, wherein the second predetermined condition includes at least one of the following: the first controller 820 receives a fault instruction from the second controller 850; and the first controller 820 does not receive a heartbeat signal from the second controller 850 within a second predetermined time period. Then the first controller 820 determines the priority information 803 indicating the priority of the first controller 820 and the second controller 850 according to the second state information, and sends the priority information 803 to the brake-by-wire mechanism 810. For example, if the second controller 850 is not faulty, "0" is used as the priority information 803, and if the second controller 850 is faulty, "1" is used as the priority information 803.

[0086] The brake-by-wire mechanism 810 brakes the vehicle according to one of the second control instruction 802 and the third control instruction 804 based on the priority information 803. For example, if the priority information 803 is "0", the vehicle is braked according to the third control instruction 804, and if the priority information 803 is "1", the vehicle is braked according to the second control instruction 802. During the actual braking process, the brake-by-wire mechanism 810 can control the actuator 860 to start, and the actuator 860 contacts the wheels of the vehicle to achieve braking.

[0087] The present disclosure also provides an autonomous driving vehicle, comprising any one of the above-mentioned vehicle braking devices.

[0088] In the technical solution of the present disclosure, the collection, storage, use, processing, transmission, provision and disclosure of user personal information involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0089] In the technical solution of the present disclosure, the user's authorization or consent is obtained before obtaining or collecting the user's personal information.

[0090] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0091] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A vehicle braking device, comprising: A first controller is electrically connected to a brake-by-wire mechanism, wherein the first controller is configured to obtain first state information of the brake-by-wire mechanism, and send a first control instruction when it is determined that the brake-by-wire mechanism is faulty, and send a second control instruction when it is determined that the brake-by-wire mechanism is not faulty; the first controller is also configured to obtain second state information of a second controller, and send priority information determined based on the second state information to the brake-by-wire mechanism; wherein the second state information indicates whether the second controller is faulty; when the second controller is not faulty, the priority of the second controller is higher than that of the first controller; when the second controller is faulty, the priority of the second controller is lower than that of the first controller; The second controller is electrically connected to the first controller and the wire control brake mechanism, and the second controller is configured to send a third control instruction to the wire control brake mechanism; the second controller is electrically connected to the redundant brake mechanism, and the second controller is configured to detect first state information of the wire control brake mechanism and third state information of the first controller, and when both the wire control brake mechanism and the first controller fail, the second controller replaces the first controller to send the first control instruction to the redundant brake mechanism; The brake-by-wire mechanism is configured to brake the vehicle according to one of the second control instruction and the third control instruction based on the priority information; brake pedal mechanism; and The redundant braking mechanism is electrically connected to the first controller, and is configured to push the brake pedal mechanism to move downward to brake the vehicle according to the first control instruction.

2. The device according to claim 1, wherein: The brake-by-wire mechanism is further configured to brake the vehicle according to the second control command.

3. The device according to claim 2, further comprising: an actuator, drivingly connected to the brake pedal mechanism and electrically connected to the brake-by-wire mechanism, the actuator being configured to contact the wheels of the vehicle to brake after being activated; wherein the brake pedal mechanism is configured to activate the actuator during downward movement; and The brake-by-wire mechanism is further configured to control the actuator to start according to the second control instruction.

4. The device according to any one of claims 1 to 3, wherein: The redundant braking mechanism comprises: A driving unit; a driving end of the driving unit is connected to the end of the swing arm and is used to drive the swing arm to swing from an initial position to a target position according to the first control instruction received; and The swing arm is separated from the brake pedal mechanism when the swing arm is in the initial position; and pushes the brake pedal mechanism downward when the swing arm is in the target position.

5. A vehicle braking method, applied to the vehicle braking device as claimed in claim 1; the method comprising: The first controller determines first state information of the brake-by-wire mechanism; In response to determining that the brake-by-wire mechanism fails, the first controller sends a first control instruction to a redundant brake mechanism; The redundant brake mechanism pushes the brake pedal mechanism to brake the vehicle according to the first control instruction; In response to determining that the brake-by-wire mechanism has not failed, the first controller sends a second control instruction to the brake-by-wire mechanism; The vehicle braking device further includes a second controller; the method further includes: The first controller determines second state information of the second controller; The first controller determines priority information indicating a priority between the first controller and the second controller according to the second state information; The first controller sends the priority information to the brake-by-wire mechanism; The second controller sends a third control instruction to the brake-by-wire mechanism; The brake-by-wire mechanism brakes the vehicle according to one of the second control instruction and the third control instruction based on the priority information; The second controller is electrically connected to the redundant braking mechanism, and detects first state information of the wire control braking mechanism and third state information of the first controller. When both the wire control braking mechanism and the first controller fail, the second controller replaces the first controller to send the first control instruction to the redundant braking mechanism.

6. The method according to claim 5, wherein: The first controller determines the first state information of the brake-by-wire mechanism including: The first controller determines that the brake-by-wire mechanism fails when it is determined that a first predetermined condition is satisfied, wherein the first predetermined condition includes at least one of the following: The first controller receives a fault instruction from the brake-by-wire mechanism; and The first controller does not receive a heartbeat signal from the brake-by-wire mechanism within a first predetermined period of time.

7. The method according to claim 5 or 6, further comprising: The brake-by-wire mechanism brakes the vehicle according to the second control instruction.

8. The method according to claim 5, wherein: The first controller determining the second state information of the second controller includes: The first controller determines that the second controller fails when determining that a second predetermined condition is satisfied, wherein the second predetermined condition includes at least one of the following: The first controller receives a fault instruction from the second controller; and The first controller does not receive a heartbeat signal from the second controller within a second predetermined period of time.

9. The method according to claim 7, wherein: The vehicle braking device further includes an actuator; and the method further includes: The actuator is activated during the downward movement of the brake pedal mechanism; The brake-by-wire mechanism controls the actuator to start according to the second control instruction; After the actuator is activated, it contacts the wheels of the vehicle to perform braking.

10. An autonomous driving vehicle comprising the vehicle braking device according to any one of claims 1 to 4.

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