Low-speed unmanned intelligent driving redundancy braking method and system

Abstract

The application provides a low-speed unmanned intelligent driving redundancy braking method, which is used on a braking redundancy execution mechanism composed of an EPB controller and an ESP; the EPB controller is connected with a low-speed intelligent driving controller, the ESP and a VCU, and includes a main control EPB and an auxiliary control EPB which are backup to each other; the method comprises the following steps: after determining that the EPB controller and the low-speed intelligent driving controller establish communication, the failure conditions of the main control EPB and the auxiliary control EPB are detected; if it is detected that the main control EPB or the auxiliary control EPB has a failure, then a low-speed unmanned intelligent driving task issued by the low-speed intelligent driving controller is combined, one without failure among the main control EPB and the auxiliary control EPB is enabled to execute a longitudinal control decision, and the ESP or the VCU is requested to cooperate to complete the low-speed unmanned intelligent driving task. By implementing the application, the problem that the intelligent driving task cannot be continuously completed under the condition of single-point failure of the braking system is solved, the vehicle is ensured to really enter a safe state, and cost is saved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automobile braking technology, in particular to a low-speed unmanned intelligent driving redundancy braking method and system. BACKGROUND

[0002] Low-speed intelligent driving is applied to remote parking, valet parking, self-learning parking and other scenarios. For example, when remote parking, the driver is not on the vehicle, and the intelligent driving task is completed through a remote parking auxiliary system, solving the embarrassing situation of being unable to open the vehicle door after parking.

[0003] Currently, during low-speed intelligent driving, if the service brake system fails, the driver cannot take over the vehicle and handle the accident in the first time. Even if the parking system sends a failure prompt to the user outside the vehicle and requests to take over the vehicle, if the user's takeover ability is insufficient, the takeover time is insufficient, or the user ignores the prompt, it may lead to a serious problem that the accident cannot be handled in time. At the same time, considering the parking failure (even if the service brake stops the vehicle), it may not be able to effectively avoid accidents (the vehicle may slide down the slope when parked on a slope). Therefore, both the service brake and the parking brake should consider redundancy design.

[0004] In the prior art, ESP+iBooster+P block mechanism is used to realize the redundancy architecture design of the brake, but there are the following shortcomings: (1) the mechanism redundancy is large, the cost is high, and it is difficult to simultaneously consider fuel vehicles and electric vehicles, the main reason being that iBooster as the service brake main actuator, its cost is much higher than that of the vacuum booster system, and iBooster is not suitable for fuel vehicles; (2) the longitudinal control module is integrated in the ESP controller, once the ESP master control fails, the system cannot continue to complete the intelligent driving task, the main reason being that iBooster has no wheel speed signal, and it is not a complete replacement relationship with ESP (Electronic Stability Program, vehicle body electronic stability control system), and cannot be integrated with VMC longitudinal control, in the case of single-point failure of the brake system, it cannot continue to complete the intelligent driving task.

[0005] Therefore, it is necessary to provide a low-speed unmanned intelligent driving redundancy braking method, which can solve the problem that the intelligent driving task cannot be continued in the case of single-point failure of the brake system, and also avoids using the P block mechanism and the high-cost iBooster actuator, thereby saving costs. SUMMARY

[0006] The technical problem to be solved by the embodiments of the present application is to provide a low-speed unmanned intelligent driving redundancy braking method and system, which can solve the problem that the intelligent driving task cannot be continued in the case of single-point failure of the brake system, and ensure that the vehicle truly enters a safe state, and also saves costs.

[0007] To solve the above technical problems, the embodiment of the present application provides a low-speed unmanned intelligent driving redundancy braking method, which is used on a braking redundancy execution mechanism composed of an EPB controller and a vehicle body electronic stability system ESP; the EPB controller is connected with a low-speed intelligent driving controller, the ESP and a vehicle control unit VCU, and includes a main control EPB and an auxiliary control EPB which are backups of each other; the method includes the following steps:

[0008] After it is determined that the EPB controller and the low-speed intelligent driving controller establish communication, the failure conditions of the main control EPB and the auxiliary control EPB are detected;

[0009] If it is detected that the main control EPB or the auxiliary control EPB has a failure, the low-speed unmanned intelligent driving task issued by the low-speed intelligent driving controller is combined to let a failure-free one of the main control EPB and the auxiliary control EPB execute a longitudinal control decision, and the ESP or the VCU is requested to cooperate to complete the low-speed unmanned intelligent driving task; if the ESP is failure-free, the ESP is requested to cooperate to complete the low-speed unmanned intelligent driving task; otherwise, if the ESP has a failure, the VCU is requested to cooperate to complete the low-speed unmanned intelligent driving task.

[0010] The method further includes the following steps:

[0011] If it is detected that the low-speed unmanned intelligent driving task is interrupted before being completed, a failure-free one of the main control EPB and the auxiliary control EPB is let to execute a longitudinal control decision, and the VCU is requested to cooperate to complete a local parking.

[0012] The method further includes the following steps:

[0013] If it is detected that the main control EPB and the auxiliary control EPB both have failures, and the low-speed unmanned intelligent driving task is interrupted before being completed, the ESP is let to keep pressure for a certain time, and then an alarm is sent to prompt a driver to take over control.

[0014] The main control EPB and the auxiliary control EPB both execute a longitudinal control decision by integrating the same VMC control software.

[0015] The embodiment of the present application also provides a low-speed unmanned intelligent driving redundancy braking system, which is used on a braking redundancy execution mechanism composed of an EPB controller and a vehicle body electronic stability system ESP; the EPB controller is connected with a low-speed intelligent driving controller, the ESP and a vehicle control unit VCU, and includes a main control EPB and an auxiliary control EPB which are backups of each other; the system includes the following components:

[0016] A single point fault detection unit is configured to detect a fault of the master EPB and the auxiliary EPB after determining that the EPB controller establishes communication with the low-speed intelligent driving controller.

[0017] A task continuation execution unit is configured to, if a fault of the master EPB or the auxiliary EPB is detected, execute a longitudinal control decision by the one without fault among the master EPB and the auxiliary EPB in combination with a low-speed unmanned intelligent driving task issued by the low-speed intelligent driving controller, and request the ESP or the VCU to cooperate to complete the low-speed unmanned intelligent driving task, wherein if the ESP is without fault, the ESP is requested to cooperate to complete the low-speed unmanned intelligent driving task, otherwise, if the ESP is with fault, the VCU is requested to cooperate to complete the low-speed unmanned intelligent driving task.

[0018] Further comprising:

[0019] A task interruption on-site parking unit is configured to, if it is detected that the low-speed unmanned intelligent driving task is interrupted before completion, execute a longitudinal control decision by the one without fault among the master EPB and the auxiliary EPB, and request the VCU to cooperate to complete on-site parking.

[0020] Further comprising:

[0021] A task interruption alarm unit is configured to, if it is detected that the master EPB and the auxiliary EPB are both with fault, so that the low-speed unmanned intelligent driving task is interrupted before completion, let the ESP maintain pressure for a certain time, and then issue an alarm to prompt the driver to take over the control.

[0022] The master EPB and the auxiliary EPB both execute the longitudinal control decision by integrating the same VMC control software.

[0023] The embodiment of the present application has the following beneficial effects:

[0024] 1. The master EPB and the auxiliary EPB designed as backups execute the longitudinal control decision (i.e., the longitudinal control of the integrated VMC (Vehicle Motion Control)), which can solve the problem that the intelligent driving task cannot be continued after the single point failure of the braking system, so as to ensure that the vehicle really enters a safe state, i.e., the vehicle is parked in a safe position, rather than being braked to a stop at the original position.

[0025] 2. The main control EPB and auxiliary control EPB (i.e., dual-chip integrated EPB controller) selected in this invention have the advantage of low cost. Combined with the traditional ESP, they form a redundant braking actuator, greatly optimizing the design of the redundant braking actuator. This avoids the use of the more expensive IBooster actuator and eliminates the P-gear locking mechanism, saving costs, enhancing layout convenience, simplifying system complexity, and significantly improving parking safety performance; low cost.

[0026] 3. This invention enhances the safety of braking redundancy (such as EPB and ESP redundancy) and parking redundancy (such as main control EPB and auxiliary control EPB redundancy), providing a more perfect braking solution for low-speed intelligent driving. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, obtaining other drawings based on these drawings without creative effort still falls within the scope of the present invention.

[0028] Figure 1 A flowchart of a low-speed unmanned intelligent driving redundant braking method provided in an embodiment of the present invention;

[0029] Figure 2 This is a schematic diagram of the low-speed unmanned intelligent driving redundant braking architecture in a low-speed unmanned intelligent driving redundant braking method provided in an embodiment of the present invention.

[0030] Figure 3 A flowchart illustrating an application scenario of a low-speed unmanned intelligent driving redundant braking method provided in an embodiment of the present invention;

[0031] Figure 4 This is a schematic diagram of a low-speed unmanned intelligent driving redundant braking system provided in an embodiment of the present invention. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings.

[0033] like Figure 1 As shown in the figure, a low-speed unmanned intelligent driving redundant braking method is provided in an embodiment of the present invention, which is used on a braking redundant actuator composed of an EPB controller and an ESP; as Figure 2As shown, the EPB controller is connected with the low-speed intelligent driving controller ADAS, ESP and VCU, including the main control EPB and the auxiliary control EPB which are backup to each other, and the main control EPB and the auxiliary control EPB both execute the longitudinal control decision through the VMC control software integrated with the same.

[0034] The method comprises the following steps:

[0035] Step S1, after determining that the EPB controller and the low-speed intelligent driving controller establish communication, detecting the failure condition of the main control EPB and the auxiliary control EPB;

[0036] Step S2, if it is detected that the main control EPB or the auxiliary control EPB has a failure, combining the low-speed unmanned intelligent driving task issued by the low-speed intelligent driving controller to let the non-failed one of the main control EPB and the auxiliary control EPB execute the longitudinal control decision, and requesting the ESP or the VCU to cooperate to complete the low-speed unmanned intelligent driving task; wherein, if the ESP is not failed, the ESP cooperates to complete the low-speed unmanned intelligent driving task; otherwise, if the ESP has a failure, the VCU cooperates to complete the low-speed unmanned intelligent driving task.

[0037] The specific process is that, in step S1, whether the EPB controller and the low-speed intelligent driving controller establish communication is judged by detecting the handshake condition of the two; if the two establish handshake successfully, it is indicated that the two have established communication, and the intelligent driving function of the vehicle can be activated at the same time. Once the low-speed intelligent driving controller issues a low-speed unmanned intelligent driving task (such as a parking task), the EPB controller can extract intelligent driving control instructions (such as vehicle speed, distance and the like) for longitudinal control decision according to the task.

[0038] In the process of activating the intelligent driving function, the single-point failure condition of the braking system is detected, that is, the single-point failure condition of the main control EPB and the auxiliary control EPB is detected. It should be noted that if the main control EPB and the auxiliary control EPB all have a failure, the EPB controller and the low-speed intelligent driving controller cannot establish communication, that is, the low-speed intelligent driving controller cannot issue a task and the EPB controller cannot execute the task.

[0039] In step S2, the EPB controller has a single-point failure condition, that is, the main control EPB or the auxiliary control EPB has a failure, and the non-failed auxiliary control EPB or the non-failed main control EPB can extract the low-speed unmanned intelligent driving task (such as a parking task) issued by the low-speed intelligent driving controller to obtain the corresponding intelligent driving control instructions (such as vehicle speed, distance and the like) to execute the longitudinal control decision in the VMC control software.

[0040] If the ESP is functioning correctly, it generates a corresponding braking request and sends it to the ESP. The ESP then assists in completing low-speed autonomous driving tasks (such as parking) and ensures that the vehicle comes to a safe stop after the low-speed autonomous driving task is completed.

[0041] If the ESP malfunctions, it generates a corresponding torque / gear request and sends it to the VCU. The VCU then assists in completing low-speed autonomous driving tasks (such as parking) and ensures the vehicle comes to a safe stop after the low-speed autonomous driving task is completed. Specifically, the process of the VCU assisting in completing the low-speed autonomous driving task is as follows: If the vehicle speed is above a certain speed, the EPB executes a dynamic braking command, activating hydraulic or EPB dynamic braking, allowing the VCU to control the vehicle to decelerate for the low-speed autonomous driving task; once the vehicle speed drops to a lower level, a static clamping command is executed, driving the EPB to statically clamp, allowing the VCU to control the vehicle to continue decelerating for the low-speed autonomous driving task until completion. Afterward, the gear is shifted to N (Neutral), and the EPB clamps again to engage P (Park) to complete parking.

[0042] It is understandable that if both the main control EPB and the auxiliary control EPB are fault-free, then as long as either the main control EPB or the auxiliary control EPB is selected to execute the longitudinal control decision, it can cooperate with the ESP or VCU to complete the low-speed unmanned intelligent driving task and achieve safe parking of the vehicle. The specific implementation method is the same as step S2, and will not be repeated here.

[0043] It should be noted that a simultaneous failure of the main control EPB, auxiliary control EPB, and ESP is not considered, as it would pose a significant safety hazard to the vehicle.

[0044] In this embodiment of the invention, if the low-speed unmanned intelligent driving task is interrupted during the activation of the intelligent driving function (e.g., by a manual interruption via an interruption command or a new task), the fault-free one of the main control EPB and auxiliary control EPB can execute the longitudinal control decision and request the VCU to cooperate in completing the local parking. At this time, the fault-free EPB performs dynamic braking or static braking to decelerate, and simultaneously requests the VCU to cooperate in recovering braking torque to achieve local parking.

[0045] In this embodiment of the invention, if the intelligent driving function is activated, and a fault is detected in both the main control EPB and the auxiliary control EPB, causing the low-speed unmanned intelligent driving task to be forcibly interrupted (such as a system interruption due to CAN communication failure), the ESP will be kept pressurized for a certain period of time (such as 5 seconds). After the ESP pressurization time has exceeded the limit, an alarm will be triggered through the HMI instrument cluster to prompt the driver to take over control.

[0046] like Figure 3 As shown, the application scenarios of a low-speed unmanned intelligent driving redundant braking method provided by an embodiment of the present invention are further explained:

[0047] First step, EPB controller and low-speed intelligent driving controller ADAS establish handshake;

[0048] Second step, after the handshake is successful, intelligent driving is activated, and the EPB controller executes longitudinal control decision according to the intelligent driving control speed / distance instruction obtained by the task;

[0049] Third step, judge whether the main control EPB is faulty; if not, execute the fourth step; if yes, jump to the eighth step;

[0050] Fourth step, judge whether the task is interrupted; if not, execute the fifth step; if yes, jump to the thirteenth step;

[0051] Fifth step, judge whether the ESP is faulty; if not, execute the sixth step; if yes, jump to the seventh step

[0052] Sixth step, the main control EPB continues to execute the longitudinal control decision and requests the ESP to complete the task;

[0053] Seventh step, the main control EPB continues to execute the longitudinal control decision and requests the VCU to complete the task;

[0054] Eighth step, judge whether the auxiliary control EPB is faulty; if not, execute the ninth step; if yes, jump to the fifteenth step;

[0055] Ninth step, judge whether the task is interrupted; if not, execute the tenth step; if yes, jump to the fourteenth step;

[0056] Tenth step, judge whether the ESP is faulty; if not, execute the eleventh step; if yes, jump to the twelfth step

[0057] Eleventh step, the auxiliary control EPB continues to execute the longitudinal control decision and requests the ESP to complete the task;

[0058] Twelfth step, the auxiliary control EPB continues to execute the longitudinal control decision and requests the VCU to complete the task;

[0059] Thirteenth step, the main control EPB executes dynamic braking or static braking, and simultaneously requests the VCU to complete the on-site parking;

[0060] Fourteenth step, the auxiliary control EPB executes dynamic braking or static braking, and simultaneously requests the VCU to complete the on-site parking;

[0061] Fifteenth step, let the ESP keep pressure for 5S, and after the ESP pressure keeping time has exceeded 5S, the HMI combination instrument is used to alarm and prompt the driver to take over the control.

[0062] As Figure 4As shown, in the embodiment of the present application, a low-speed unmanned intelligent driving redundant brake system is provided on a brake redundancy actuator composed of an EPB controller and an ESP; the EPB controller is connected with a low-speed intelligent driving controller, an ESP and a VCU, and includes a main control EPB and an auxiliary control EPB which are backup to each other;

[0063] The system comprises:

[0064] A single-point fault detection unit 110 is configured to detect a fault condition of the main control EPB and the auxiliary control EPB after determining that the EPB controller and the low-speed intelligent driving controller establish communication;

[0065] A task continuation execution unit 120 is configured to, if it is detected that the main control EPB or the auxiliary control EPB has a fault, execute a longitudinal control decision by the one without fault among the main control EPB and the auxiliary control EPB in combination with a low-speed unmanned intelligent driving task issued by the low-speed intelligent driving controller, and request the ESP or the VCU to cooperate to complete the low-speed unmanned intelligent driving task; if the ESP is fault-free, the ESP cooperates to complete the low-speed unmanned intelligent driving task; otherwise, if the ESP has a fault, the VCU cooperates to complete the low-speed unmanned intelligent driving task.

[0066] The system further comprises:

[0067] A task interruption on-site parking unit is configured to, if it is detected that the low-speed unmanned intelligent driving task is interrupted before being completed, execute a longitudinal control decision by the one without fault among the main control EPB and the auxiliary control EPB, and request the VCU to cooperate to complete on-site parking.

[0068] The system further comprises:

[0069] A task interruption alarm unit is configured to, if it is detected that the low-speed unmanned intelligent driving task is interrupted before being completed due to the fact that both the main control EPB and the auxiliary control EPB have a fault, let the ESP maintain pressure for a certain time and then issue an alarm to prompt the driver to take over the control.

[0070] The main control EPB and the auxiliary control EPB both execute a longitudinal control decision by integrating the same VMC control software.

[0071] The embodiment of the present application has the following beneficial effects:

[0072] 1、The application can solve the problem that the intelligent driving task cannot be continued after the single point failure of the brake system by the longitudinal control decision (i.e. the longitudinal control of the integrated VMC) of the backup designed main control EPB and auxiliary control EPB, thereby ensuring that the vehicle truly enters a safe state, i.e. stopping the vehicle at a safe position instead of stopping in place.

[0073] 2、The selected main control EPB and auxiliary control EPB (i.e. the double-chip integrated EPB controller) has a low-cost advantage, and it cooperates with the traditional ESP to form a brake redundancy execution mechanism, greatly optimizing the design of the brake redundancy execution mechanism, avoiding the use of the high-cost IBooster actuator, and canceling the P-gear locking mechanism, thereby saving cost, enhancing layout convenience, simplifying the complexity of the system, and greatly improving the parking safety performance.

[0074] 3、The application enhances the safety of brake redundancy (such as EPB and ESP redundancy) and parking redundancy (such as main control EPB and auxiliary control EPB redundancy), and provides a relatively perfect brake solution for low-speed intelligent driving.

[0075] It is worth noting that in the above system embodiment, each system unit included is only divided according to functional logic, but is not limited to the above division, as long as the corresponding function can be realized; in addition, the specific name of each functional unit is only for easy mutual differentiation, and is not used to limit the protection scope of the application.

[0076] Those skilled in the art can understand that all or part of the steps of the above-mentioned embodiment methods can be completed by programs instructing related hardware, and the programs can be stored in a computer readable storage medium, such as ROM / RAM, magnetic disk, optical disc, etc.

[0077] The above disclosure is only the preferred embodiment of the application, and of course cannot limit the scope of the application, so equivalent changes made according to the claims of the application are still within the scope of the application.

Claims

1. A low-speed unmanned intelligent driving redundancy braking method, characterized in that, The application relates to a method for executing a braking redundancy actuator composed of an EPB controller and a vehicle body electronic stability system ESP; the EPB controller is connected with a low-speed intelligent driving controller, the ESP and a vehicle controller VCU, and comprises a main control EPB and an auxiliary control EPB which are backups of each other; the method comprises the following steps: After it is determined that the EPB controller and the low-speed intelligent driving controller establish communication, the fault conditions of the main control EPB and the auxiliary control EPB are detected; If it is detected that the main control EPB or the auxiliary control EPB has a fault, a longitudinal control decision is executed by one of the main control EPB and the auxiliary control EPB which is fault-free in combination with a low-speed unmanned intelligent driving task issued by the low-speed intelligent driving controller, and the ESP or the VCU is requested to cooperate to complete the low-speed unmanned intelligent driving task; if the ESP is fault-free, the ESP is requested to cooperate to complete the low-speed unmanned intelligent driving task; otherwise, if the ESP has a fault, the VCU is requested to cooperate to complete the low-speed unmanned intelligent driving task.

2. The low-speed unmanned intelligent driving redundancy braking method of claim 1, wherein, The method further comprises: If it is detected that the low-speed unmanned intelligent driving task is interrupted before being completed, a longitudinal control decision is executed by one of the main control EPB and the auxiliary control EPB which is fault-free, and the VCU is requested to cooperate to complete on-site parking.

3. The low-speed unmanned intelligent driving redundancy braking method of claim 2, wherein, The method further comprises: If it is detected that the main control EPB and the auxiliary control EPB both have faults, so that the low-speed unmanned intelligent driving task is interrupted before being completed, the ESP is requested to keep pressure for a certain time, and then an alarm is sent to prompt the driver to take over the control.

4. The low-speed unmanned intelligent driving redundancy brake method of any one of claims 1-3, wherein, The main control EPB and the auxiliary control EPB both execute longitudinal control decisions by integrating the same VMC control software.

5. A low-speed unmanned intelligent driving redundant brake system, characterized in that, The application relates to a method for executing a braking redundancy actuator composed of an EPB controller and a vehicle body electronic stability system ESP; the EPB controller is connected with a low-speed intelligent driving controller, the ESP and a vehicle controller VCU, and comprises a main control EPB and an auxiliary control EPB which are backups of each other; the system comprises: A single-point fault detection unit is arranged to detect the fault conditions of the main control EPB and the auxiliary control EPB after it is determined that the EPB controller and the low-speed intelligent driving controller establish communication; A task continuation execution unit is arranged to execute a longitudinal control decision by one of the main control EPB and the auxiliary control EPB which is fault-free in combination with a low-speed unmanned intelligent driving task issued by the low-speed intelligent driving controller if it is detected that the main control EPB or the auxiliary control EPB has a fault, and the ESP or the VCU is requested to cooperate to complete the low-speed unmanned intelligent driving task; if the ESP is fault-free, the ESP is requested to cooperate to complete the low-speed unmanned intelligent driving task; otherwise, if the ESP has a fault, the VCU is requested to cooperate to complete the low-speed unmanned intelligent driving task.

6. The low speed unmanned intelligent driving redundant brake system of claim 5, wherein, Further comprising: A task interruption on-site parking unit is arranged to execute a longitudinal control decision by one of the main control EPB and the auxiliary control EPB which is fault-free if it is detected that the low-speed unmanned intelligent driving task is interrupted before being completed, and the VCU is requested to cooperate to complete on-site parking.

7. The low speed unmanned intelligent driving redundant brake system of claim 6, wherein, Further comprising: The task interruption alarm unit is used for detecting that the main control EPB and the auxiliary control EPB are both faulty, so that when the low-speed unmanned intelligent driving task is interrupted before being completed, the ESP is kept for a certain time, and then an alarm is sent to prompt the driver to take over the control.

8. The low-speed unmanned intelligent driving redundant brake system of any one of claims 5-7, wherein, The main control EPB and the auxiliary control EPB both execute longitudinal control decisions by integrating the same VMC control software.

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