Redundant braking method and device, electronic equipment and storage medium

Abstract

The application provides a redundancy braking method, system, electronic device and storage medium. The vehicle braking system comprises a power supply device, a vehicle controller, a redundancy controller for controlling a parking brake, and a brake controller for controlling an electronic hydraulic brake. The vehicle controller is connected with the redundancy controller and the brake controller. The power supply device comprises a main control power supply and a backup power supply. The backup power supply is separately connected with the redundancy controller. The redundancy braking method comprises the following steps: monitoring the working states of the power supply device, the vehicle controller, the parking brake and the electronic hydraulic brake; if one of the power supply device, the vehicle controller, the parking brake and the electronic hydraulic brake is in an abnormal working state, braking the vehicle based on a corresponding control strategy. The redundancy braking method provided by the application can timely find the failure of part of the functions in the vehicle braking system and safely brake the vehicle by implementing the corresponding control strategy.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of braking, in particular, to a redundant braking method, system, electronic device and storage medium. BACKGROUND

[0002] With the development of automatic driving, drive-by-wire vehicles gradually become the mainstream configuration requirement of automatic driving, and the brake signal transmission in the drive-by-wire vehicle adopts CAN signal, canceling the mechanical hard connection. When part of the vehicle braking system is faulty, for example, DC converter failure, hydraulic brake failure, automatic driving level remote control communication loss and vehicle controller failure, etc., how to brake the vehicle in an emergency to protect the safety of the user becomes a crucial problem. SUMMARY

[0003] The purpose of the embodiments of the present application is to provide a redundant braking method, system, electronic device and storage medium, so as to brake the vehicle with the corresponding control strategy when part of the vehicle braking system fails; mainly detecting the working state of the power supply device, the vehicle controller and the electronic hydraulic brake, the redundant controller, and giving the corresponding braking strategy when a fault occurs to brake, realizing the emergency braking of the vehicle.

[0004] In a first aspect, the embodiments of the present application provide a redundant braking method, characterized in that it is applied to a vehicle braking system, the vehicle braking system comprising a power supply device, a vehicle controller, a redundant controller for controlling a parking brake, and a brake controller for controlling an electronic hydraulic brake, the vehicle controller being connected with the redundant controller and the brake controller; the power supply device comprising a main control power supply and a backup power supply, the backup power supply being connected with the redundant controller alone; the redundant braking method comprising: monitoring the working state of the power supply device, the vehicle controller, the parking brake and the electronic hydraulic brake; if one of the power supply device, the vehicle controller, the parking brake and the electronic hydraulic brake is in an abnormal working state, braking the vehicle based on a corresponding control strategy.

[0005] In the above implementation process, the embodiments of the present application judge the working state of the power supply device, the vehicle controller, the parking brake and the electronic hydraulic brake, and if one of them fails, the vehicle is braked based on a corresponding control strategy. Using the redundant braking method provided by the embodiments of the present application can realize that the partial function failure in the vehicle braking system is discovered in time, and the corresponding control strategy is implemented to brake the vehicle safely.

[0006] Optionally, in the embodiment of the present application, the power supply device further comprises a direct current converter. If it is judged that one of the power supply device, the vehicle control unit, the parking brake and the electronic hydraulic brake is in an abnormal working state, the vehicle is braked based on a corresponding control strategy, including: if it is judged that the direct current converter of the power supply device is in an abnormal working state, the vehicle is braked based on a first control strategy; wherein the abnormal working state of the direct current converter includes the inability to continuously supply power to the main control power supply. Wherein the first control strategy includes: the vehicle control unit controls the vehicle to run at a limited speed according to the first fault information representing that the direct current converter is in an abnormal working state; if it is judged that the output voltage of the main power supply is less than a preset voltage, the vehicle control unit sends a braking signal to the brake controller, and the electronic hydraulic brake controller brakes the vehicle according to the braking signal; the vehicle control unit requests the redundant controller to control the parking brake to brake the vehicle when the vehicle speed is reduced to a preset vehicle speed.

[0007] In the above implementation process, when it is monitored that the direct current converter is in an abnormal working state, the vehicle control unit first sends a braking signal to the brake controller; further, after the brake controller receives the braking signal, the electronic hydraulic brake brakes the vehicle according to the control signal. Under the control of the electronic hydraulic brake, when the vehicle speed gradually decreases to or approaches a preset vehicle speed, the preset vehicle speed may be 3km / h, for example. The redundant controller controls the parking brake to further brake the vehicle. The first braking strategy provided by the embodiment of the present application is a double braking strategy. When the direct current converter fails, the double braking strategy brakes the failed vehicle, thereby ensuring the safe braking of the vehicle.

[0008] Optionally, in the embodiment of the present application, if it is judged that one of the power supply device, the vehicle control unit, the parking brake and the electronic hydraulic brake is in an abnormal working state, the vehicle is braked based on a corresponding control strategy, including: if it is judged that the main control power supply of the power supply device is in an abnormal working state, the vehicle is braked based on a second control strategy; wherein the abnormal working state of the main control power supply includes the loss of power supply of the main control power supply. Wherein the second control strategy includes: the redundant controller switches the power supply from the main control power supply to the standby power supply, and controls the parking brake to brake the vehicle.

[0009] In the above implementation process, when the main control power supply fails, the vehicle control unit cannot be powered, that is, the vehicle control unit may lose the control ability of the vehicle. Since the redundant controller does not rely on the main control power supply for power supply, the parking brake is activated directly by the redundant controller. The vehicle is braked by the parking brake, thereby ensuring that the vehicle can be safely controlled to stop when the output voltage of the main control power supply is abnormal.

[0010] Optionally, in the embodiments of the present application, if one of the power supply device, the vehicle controller, the parking brake and the electronic hydraulic brake is determined to be in an abnormal working state, the vehicle is braked based on a corresponding control strategy, including: if the vehicle controller is determined to be in an abnormal working state, the vehicle is braked based on a third control strategy; wherein the abnormal working state of the vehicle controller includes that the electronic hydraulic brake cannot detect an external signal including a signal sent by the vehicle controller. The third control strategy includes: braking the vehicle by the electronic hydraulic brake controller.

[0011] In the above implementation process, when the electronic hydraulic brake cannot detect an external signal including a signal sent by the vehicle controller; that is, the vehicle controller cannot send a signal, or the Can bus fails, the electronic hydraulic brake actively brakes the faulty vehicle. This ensures that the vehicle can be safely stopped when the vehicle controller fails and the communication network fails.

[0012] Optionally, in the embodiments of the present application, if one of the power supply device, the vehicle controller, the parking brake and the electronic hydraulic brake is determined to be in an abnormal working state, the vehicle is braked based on a corresponding control strategy, including: if the parking brake is determined to be in an abnormal working state, the vehicle is braked based on a fourth control strategy; wherein the abnormal working state of the parking brake includes that the actual brake pressure value of the parking brake is lower than the target brake pressure value. The fourth control strategy includes: the vehicle controller sends a brake signal to the brake controller according to second fault information representing that the parking brake is in an abnormal working state; and the brake controller controls the electronic hydraulic brake to brake the vehicle according to the brake signal.

[0013] In the above implementation process, when the actual brake pressure value of the parking brake does not match the target brake pressure value, the parking brake is determined to be faulty; the vehicle controller sends a brake signal to the brake controller according to second fault information representing that the parking brake is in an abnormal working state; further, the brake controller receives the brake signal and sends the brake signal to the electronic hydraulic brake, and the electronic hydraulic brake brakes the faulty vehicle according to the brake signal. This realizes safe braking of the faulty vehicle when the brake pressure value of the parking brake does not match the target brake pressure value.

[0014] Optionally, in the embodiment of the present application, if one of the power supply device, the vehicle controller, the parking brake and the electronic hydraulic brake is in an abnormal working state, the vehicle is braked based on a corresponding control strategy, including: if the electronic hydraulic brake is in an abnormal working state, the vehicle is braked based on a fifth control strategy; wherein the abnormal working state of the electronic hydraulic brake includes that the actual brake pressure value of the electronic hydraulic brake is lower than the target brake pressure value. The fifth control strategy includes: the vehicle controller sends a control signal to the redundant controller according to the third fault information representing that the electronic hydraulic brake is in an abnormal working state; and the redundant controller controls the parking brake to brake the vehicle according to the control signal.

[0015] In the above implementation process, when the actual brake pressure value of the electronic hydraulic brake does not match the target brake pressure value, the electronic hydraulic brake fails; a control signal is sent to the redundant controller according to the third fault information representing that the electronic hydraulic brake fails; further, the redundant controller activates the parking brake to brake the faulty vehicle according to the control signal. The faulty vehicle can be safely braked when the brake pressure value of the electronic hydraulic brake does not match the target brake pressure value.

[0016] Optionally, in the embodiment of the present application, monitoring the working states of the power supply device, the vehicle controller, the parking brake and the electronic hydraulic brake includes: monitoring by the vehicle controller whether the voltage of the main control power supply is lower than a first preset voltage; or monitoring by the redundant controller whether the main control power supply loses power; or monitoring by the electronic hydraulic brake controller whether the output signal of the vehicle controller can be continuously received; or monitoring by the vehicle controller whether the actual brake pressure value of the parking brake reaches the target brake pressure value; or monitoring by the vehicle controller whether the brake pressure value of the electronic hydraulic brake reaches the target pressure value.

[0017] In the above implementation process, different parts are detected by corresponding devices to accurately determine the faulty part, so that the faulty vehicle is stopped by a corresponding control strategy.

[0018] Optionally, in the embodiment of the present application, after the vehicle is braked based on the corresponding control strategy, the working states of the power supply device, the vehicle controller, the parking brake and the electronic hydraulic brake are monitored, and it is determined whether the power supply device, the vehicle controller, the parking brake and the electronic hydraulic brake are in a normal working state. If the power supply device, the vehicle controller, the parking brake and the electronic hydraulic brake are in a normal working state, the corresponding control strategy is stopped.

[0019] In the above implementation process, when a part of the vehicle braking system fails, a corresponding control strategy is implemented to safely brake the vehicle; when it is detected that the fault of the part is resolved, the corresponding control strategy is stopped.

[0020] Optionally, in the embodiment of the present application, the vehicle braking system further comprises an emergency braking button; the emergency braking button is connected with the electronic hydraulic brake and the vehicle controller, and is configured to control the electronic hydraulic brake and the parking brake to brake the vehicle.

[0021] In the implementation process, the emergency braking button is arranged at a position inside the vehicle which is visible and convenient to operate; the emergency braking button is a separate communication mode independent of the vehicle communication network; and the electronic hydraulic brake can provide emergency braking when the vehicle controller fails.

[0022] In a second aspect, the embodiment of the present application provides a vehicle braking system, which comprises a vehicle controller, a redundant controller configured to control a parking brake, a brake controller configured to control an electronic hydraulic brake, and a power supply device; the vehicle controller is connected with the parking controller and the brake controller; the power supply device comprises a main power supply and a backup power supply, and the backup power supply is separately connected with the redundant controller. The redundant controller is configured to monitor the working states of the power supply device and the vehicle controller. The vehicle controller is configured to monitor the working states of the power supply device, the redundant controller and the electronic hydraulic brake. The redundant controller is further configured to brake the vehicle based on a corresponding control strategy when one of the power supply device, the vehicle controller and the electronic hydraulic brake is in an abnormal working state. The vehicle controller is further configured to brake the vehicle based on a corresponding control strategy when one of the power supply device, the redundant controller and the electronic hydraulic brake is in an abnormal working state.

[0023] In a third aspect, the embodiment of the present application provides an electronic device, which comprises a memory and a processor; the memory stores program instructions; and the processor reads and runs the program instructions to execute the steps in any implementation manner of the first aspect.

[0024] In a fourth aspect, the embodiment of the present application further provides a computer readable storage medium, which stores computer program instructions; and the computer program instructions are read and run by a processor to execute the steps in any implementation manner of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0026] Figure 1 The flowchart of the redundant braking method provided by the embodiment of the present application;

[0027] Figure 2 The first control strategy flowchart provided for the embodiment of the present application is as follows:

[0028] Figure 3 The second control strategy flowchart provided for the embodiment of the present application is as follows:

[0029] Figure 4 The third control strategy flowchart provided for the embodiment of the present application is as follows:

[0030] Figure 5 The fourth control strategy flowchart provided for the embodiment of the present application is as follows:

[0031] Figure 6 The fifth control strategy flowchart provided for the embodiment of the present application is as follows:

[0032] Figure 7 The vehicle braking system composition schematic diagram provided for the embodiment of the present application is as follows:

[0033] Figure 8 The structure schematic diagram of the electronic device provided for the embodiment of the present application is as follows. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. For example, the flowcharts and block diagrams in the drawings show the possible implementation architecture, functions and operations of the systems, methods and computer program products according to the embodiments of the present application. In this regard, each block in the flowcharts or block diagrams can represent a module, a program segment or a part of code, which contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in different orders from those noted in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and sometimes they can be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and the combination of blocks in the block diagrams and / or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions. In addition, the functional modules in each embodiment of the present application can be integrated together to form a separate part, or each module can exist independently, or two or more modules can be integrated to form a separate part.

[0035] The applicant found in the research process that the vehicle braking system part failure, such as power supply device suddenly power off or power failure, resulting in brake failure; brake failure can lead to great security risks. The current vehicle braking system in the vehicle braking system part failure, there is no effective solution; make driving safety can not be guaranteed.

[0036] Based on this, the present braking scheme by detecting the working state of the power supply device, vehicle controller, electronic hydraulic brake and redundant controller; any one of which appears failure, brake with the corresponding control strategy; and can be timely to determine whether the vehicle successfully brake after executing the control strategy, if the occurrence of the car, then with the corresponding strategy to deal with the car situation; so as to ensure that the vehicle braking system failure in time to stop driving.

[0037] Please refer to Figure 1 , Figure 1 The flow chart of the redundancy braking method provided by the embodiment of the present application; the redundancy braking method is applied to the vehicle braking system. The vehicle braking system generally includes power supply device, vehicle controller, redundant controller for controlling the parking brake, brake controller for controlling the electronic hydraulic brake.

[0038] It is worth noting that the power supply device includes main control power supply and standby power supply; wherein, the standby power supply is connected with the redundant controller, and separately supplies power for the redundant controller.

[0039] It should be noted that the brake controller is mainly used for accepting or issuing relevant control instructions, and the electronic hydraulic brake is mainly responsible for mechanical braking.

[0040] The redundancy braking method includes:

[0041] Step S100: monitoring the working state of the power supply device, vehicle controller, parking brake and electronic hydraulic brake.

[0042] In the step S100, the working states of the power supply device, the vehicle controller, the parking brake and the electronic hydraulic brake are monitored respectively. It should be noted that the vehicle controller (VCU) is a core control component of the whole vehicle, which can collect signals of each part of the vehicle and perform identification processing; the vehicle controller can realize the core electronic control unit of the vehicle control decision; the driving intention of the driver is searched by collecting signals such as the accelerator pedal, the gear, the brake pedal and the like; the running state control instruction of the vehicle is sent to the power system, the brake system, the steering system, the power battery system by the vehicle controller after judging and processing the vehicle state (vehicle speed, deceleration, acceleration, temperature and the like) information, while the working mode of the vehicle accessory power system is controlled; the vehicle controller has the vehicle system fault diagnosis protection and storage function. The redundant controller in the embodiment of the application can be understood as a second controller of the vehicle, which mainly works in the brake system of the vehicle.

[0043] Step S101: If one of the power supply device, the vehicle controller, the parking brake and the electronic hydraulic brake is in an abnormal working state, the vehicle is braked based on the corresponding control strategy.

[0044] In the step S101, if one of the power supply device, the vehicle controller, the parking brake and the electronic hydraulic brake is in an abnormal working state, the vehicle is braked based on the corresponding control strategy. For example, when the vehicle controller fails, it cannot control the electronic hydraulic brake, and in the embodiment of the application, the redundant controller is used to control the parking brake to brake.

[0045] By Figure 1 It can be known that, in the embodiment of the application, the working states of the power supply device, the vehicle controller, the parking brake and the electronic hydraulic brake are monitored, if one of them fails, the vehicle is braked based on the corresponding control strategy. The redundant braking method provided by the embodiment of the application can realize that the partial function failure in the vehicle braking system is found in time, and the corresponding control strategy is implemented to brake the vehicle safely.

[0046] Please refer to Figure 2 , Figure 2 the first control strategy flowchart provided by the embodiment of the application; the method comprises:

[0047] Step S200: If the DC converter of the power supply device is in an abnormal working state, the vehicle is braked based on the first control strategy.

[0048] In the step S200, the working state of the DC converter is detected and judged, if the working state of the DC converter is abnormal, the vehicle is braked based on the first control strategy.

[0049] It should be noted that the DC converter (DC-DC converter or DC transformer) is a circuit or a mechanical and electrical device for converting electrical energy, which can convert a DC power supply into a DC power supply with different voltages (or approximately DC). Its power range can be from small (low voltage power supply) to large (high voltage power supply); in this application, small power is converted into large power.

[0050] Wherein, the abnormal working state of the DC converter includes the main control power supply cannot be continuously supplied. When the working state of the DC converter is abnormal, the main control power supply cannot be continuously supplied; the vehicle is controlled by the vehicle controller to travel at a limited speed; further, it is judged whether the output voltage of the main power supply is less than 9V, if the output voltage of the main power supply is less than 9V, the controller signal is sent by the vehicle controller, and the electronic hydraulic brake controller brakes the vehicle according to the brake signal.

[0051] Step S201: the vehicle controller controls the vehicle to travel at a limited speed according to the first fault information representing that the DC converter is in an abnormal working state.

[0052] In the above step S201, when the working state of the DC converter is abnormal, the vehicle controller controls the vehicle to travel at a limited speed according to the first fault information representing that the DC converter is abnormal.

[0053] Step S202: it is judged whether the output voltage of the main control power supply is less than a preset voltage.

[0054] Step S203: if it is judged that the output voltage of the main control power supply is less than the preset voltage, the brake signal is sent by the vehicle controller to the brake controller, and the electronic hydraulic brake controller brakes the vehicle according to the brake signal.

[0055] In the above steps S202-S203, if it is judged that the output voltage of the main control power supply is less than the preset voltage, for example, less than 9V; the brake signal is sent by the vehicle controller to the brake controller, and the electronic hydraulic brake controller brakes the vehicle according to the brake signal.

[0056] Step S204: the vehicle controller requests the redundant controller to control the parking brake to brake the vehicle when the vehicle speed is reduced to a preset vehicle speed.

[0057] In the above step S204, when the vehicle speed of the fault vehicle is reduced to a preset vehicle speed, the vehicle controller requests the redundant controller to further brake the vehicle. It should be noted that the vehicle speed in the embodiment of the application is reduced to a preset vehicle speed, in some cases, when the vehicle speed approaches the preset vehicle speed, the redundant brake controller controls the parking brake to brake the vehicle; the preset vehicle speed can be 3km / h, but the 3km / h provided by the embodiment of the application cannot be limited as the preset vehicle speed.

[0058] Through Figure 2It can be known that when the DC converter is in the abnormal working state, the vehicle controller controls the vehicle to run at a limited speed according to the first fault information representing that the DC converter is in the abnormal working state; further, if it is judged that the output voltage of the main power supply is less than the preset voltage, the vehicle controller sends a braking signal to the brake controller, and the electronic hydraulic brake brakes the vehicle according to the control signal. Under the control of the electronic hydraulic brake, when the vehicle speed gradually decreases to the preset vehicle speed, the redundancy controller controls the parking brake to further brake the vehicle. The first braking strategy provided in the embodiment of the application is a double braking strategy, and the vehicle is braked by the double braking strategy when the DC converter fails, so that the safe braking of the vehicle is ensured.

[0059] Please refer to Figure 3 , Figure 3 The second control strategy flowchart provided in the embodiment of the application; the method comprises:

[0060] Step S300: if it is judged that the main control power supply of the power supply device is in an abnormal working state, the vehicle is braked based on the second control strategy.

[0061] In the above step S300, when the main control power supply of the power supply device is in an abnormal working state, the vehicle is braked based on the second control strategy; it should be noted that in the embodiment of the application, in the vehicle Ready state, the power-off of the main control power supply generally means that the output voltage of the main control power supply is lower than 9V; for example, when the output voltages of the DC converter and the main control power supply are both lower than 9V (that is, the vehicle is unexpectedly powered off and the main control power supply fails), the working state of the main control power supply is directly judged to be abnormal.

[0062] Step S301: the redundancy controller switches the power supply from the main control power supply to the standby power supply, and controls the parking brake to brake the vehicle.

[0063] In the above step S301, the power supply of the redundancy controller is switched from the main control power supply to the standby power supply

[0064] By Figure 3 It can be known that when the main control power supply fails, the vehicle controller cannot be powered, that is, the vehicle controller may lose the control ability of the vehicle; since the redundancy controller is not powered by the main control power supply, the parking brake is activated directly by the redundancy controller; the vehicle is braked by the parking brake, so that the vehicle can be safely controlled to stop when the output voltage of the main control power supply is abnormal.

[0065] Please refer to Figure 4 , Figure 4 The third control strategy flowchart provided in the embodiment of the application; the method comprises:

[0066] Step S400: If the vehicle controller is determined to be in an abnormal working state, brake the vehicle based on a third control strategy.

[0067] In step S400, if the vehicle controller is determined to be in an abnormal working state, brake the vehicle based on a third control strategy. It should be noted that the abnormality of the vehicle controller mainly refers to that the electronic hydraulic brake cannot detect the external signal including the signal sent by the vehicle controller.

[0068] For example, the fault can be caused by a failure of the vehicle controller, which cannot send signals, so that the electronic hydraulic brake cannot detect the signals of the vehicle controller; at this time, the vehicle is braked by the third control strategy.

[0069] For example, the fault can also be caused by a failure of the communication network (Can bus failure), so that the electronic hydraulic brake cannot detect the external signal, and the vehicle is braked by the third control strategy.

[0070] In a possible implementation, when the electronic hydraulic brake of the vehicle fails to receive the control signal of the vehicle controller, but can receive the control signal of the motor controller, the electronic hydraulic brake will brake at the speed according to the speed sent by the motor controller. Thus, the vehicle can be safely braked when the electronic hydraulic brake cannot receive the control signal of the vehicle controller.

[0071] As can be understood by those skilled in the art, the power supply device, the redundant controller, the vehicle controller and the electronic hydraulic brake are connected to the Can bus through the Can interface. The data exchange between the control units is carried out on the same platform, and the Can bus can be understood as a "highway" for data exchange. The Can bus can generally control the engine, the transmission, the ESP and the like. Meanwhile, the Can bus is an open system and can be adapted to various transmission media. The Can bus has the characteristics of high reliability, convenient use, large data density, fast data transmission, double-line transmission, strong anti-interference ability and high reliability of data transmission. More importantly, the Can bus has a self-diagnosis function and can identify the faults related to the Can bus. In the embodiments of the present application, the power supply device, the vehicle controller, the redundant controller and the electronic hydraulic brake are connected to the Can bus through the Can interface, the vehicle communication is carried out using the Can communication network, the communication can be carried out at a relatively fast communication rate, and the fault signals of the vehicle network can be reliably and timely captured.

[0072] Step S401: Brake the vehicle by the electronic hydraulic brake controller.

[0073] In step S401, the third control strategy mainly includes braking the vehicle by the electronic hydraulic brake.

[0074] By Figure 4 It can be seen that when the electronic hydraulic brake cannot detect the external signal including the signal sent by the vehicle controller; that is, the vehicle controller cannot send a signal, or the Can bus fails, the vehicle is braked by the electronic hydraulic brake. It is ensured that the vehicle can be safely stopped when the vehicle controller fails and the communication network fails.

[0075] Please refer to Figure 5 , Figure 5 The fourth control strategy flowchart provided for the embodiments of the application; the method comprises:

[0076] Step S500: If it is judged that the parking brake is in an abnormal working state, the vehicle is braked based on the fourth control strategy.

[0077] In the above step S500, when the actual brake pressure value of the parking brake does not match the target brake pressure value, it is determined that the working state of the parking brake is abnormal.

[0078] Step S501: The vehicle controller sends a brake signal to the brake controller according to the second fault information representing that the parking brake is in an abnormal working state.

[0079] In the above step S501, when the parking brake fails, the parking brake can no longer control the vehicle braking; at this time, the vehicle controller can detect the parking brake failure, and after the vehicle controller detects the parking brake failure, a brake signal is sent to the brake controller according to the second fault signal representing the abnormal working state.

[0080] Step S502: The brake controller controls the electronic hydraulic brake to brake the vehicle according to the brake signal.

[0081] In the above step S502, the brake controller receives the brake signal and sends the brake signal to the electronic hydraulic brake, and the electronic hydraulic brake brakes the faulty vehicle according to the brake signal.

[0082] By Figure 5 It can be seen that when the actual brake pressure value of the parking brake does not match the target brake pressure value, it is determined that the parking brake fails; the vehicle controller sends a brake signal to the brake controller according to the second fault information representing that the parking brake is in an abnormal working state; further, the brake controller receives the brake signal and sends the brake signal to the electronic hydraulic brake, and the electronic hydraulic brake brakes the faulty vehicle according to the brake signal. The faulty vehicle can be safely braked when the brake pressure value of the parking brake does not match the target brake pressure value.

[0083] Please refer to Figure 6 , Figure 6A flowchart of the fifth control strategy provided in this application embodiment; the method includes:

[0084] Step S600: If it is determined that the electro-hydraulic brake is in an abnormal working state, then brake the vehicle based on the fifth control strategy.

[0085] In step S600 above, if the actual braking pressure value of the electro-hydraulic brake does not match the target braking pressure value, the electro-hydraulic brake is also deemed to be in an abnormal operating state. It is understood that during the electro-hydraulic brake braking process, the driver creates braking pressure in the wheel cylinders based on adjustments to the master cylinder of the braking system, while the electronic braking system provides the braking system working pressure based on the hydraulic transmission pressure reservoir. If a discrepancy is detected between the working pressure and the target pressure, the electro-hydraulic brake is determined to be faulty.

[0086] Step S601: The vehicle controller sends a control signal to the redundant controller based on the third fault information indicating that the electro-hydraulic brake is in an abnormal working state.

[0087] In step S601 above, when the electro-hydraulic brake fails, the electro-hydraulic brake can no longer control the vehicle braking. At this time, the vehicle controller can detect the electro-hydraulic brake failure. After detecting the electro-hydraulic brake failure, the vehicle controller sends a control signal to the redundant controller according to the second fault information that characterizes the electro-hydraulic brake failure.

[0088] Step S602: The redundant controller controls the parking brake to brake the vehicle according to the control signal.

[0089] In step S602 above, after receiving the control signal, the redundant controller sends the control signal to the parking brake, and the parking brake controls the faulty vehicle according to the control signal.

[0090] pass Figure 6 It is known that when the actual braking pressure value of the electro-hydraulic brake does not match the target braking pressure value, the electro-hydraulic brake malfunctions. Based on the third fault information characterizing the electro-hydraulic brake malfunction, a control signal is sent to the redundant controller. Furthermore, the redundant controller activates the parking brake to brake the malfunctioning vehicle based on this control signal. This achieves safe braking of the malfunctioning vehicle even when the electro-hydraulic brake's braking pressure value does not match the target braking pressure value.

[0091] In an optional embodiment, the redundancy braking method provided by the embodiments of the present application further comprises: braking the vehicle by the electronic hydraulic brake after the vehicle is braked by the electronic hydraulic brake; detecting that the running speed of the vehicle is slowly reduced or increased by the vehicle controller; and braking the vehicle by the parking brake controlled by the redundancy controller if it is determined that the running speed of the vehicle is slowly reduced or increased. For example, if the vehicle needs to be braked, the system first executes the brake instruction to brake the vehicle by the electronic hydraulic brake. If the speed of the vehicle is still increasing after the brake instruction is executed, it is proved that the braking of the vehicle by the electronic hydraulic brake through the brake instruction fails, that is, the common coasting condition. At this time, the redundancy controller controls the parking brake to brake the vehicle; thus the vehicle can be safely stopped in the case of failure of the electronic hydraulic brake.

[0092] In an optional embodiment, the working states of the power supply device, the vehicle controller, the parking brake and the electronic hydraulic brake are monitored, which comprises monitoring whether the voltage of the main control power supply is lower than a first preset voltage by the vehicle controller; for example, the first preset voltage in the embodiments of the present application can be 10.6V, that is, when the voltage of the main control power supply is lower than 10.6V, the vehicle controller requests braking. It should be noted that the value of the first preset voltage can be changed according to the actual situation, and 10.6V in the embodiments of the present application is only exemplary and should not be a limitation of the first preset voltage in the embodiments of the present application.

[0093] The redundancy controller monitors whether the main control power supply is powered off; the redundancy controller detects whether the voltage of the main control power supply is 0; and the voltage of the main control power supply being directly 0 indicates that the main control power supply is directly powered off and the main control power supply is faulty. It should be noted that the voltage of the main control power supply being 0 in the embodiments of the present application does not necessarily mean 0V, and in actual application, it can be close to 0V or 0V, and the working state of the main control power supply is judged as abnormal.

[0094] The electronic hydraulic brake controller monitors whether the output signal of the vehicle controller can be continuously received; that is, when the electronic hydraulic brake cannot receive the output signal of the vehicle controller, it is determined that the working state of the vehicle controller is abnormal.

[0095] The vehicle controller monitors whether the actual braking pressure value of the parking brake reaches the target braking pressure value; and the vehicle controller monitors whether the braking pressure value of the electronic hydraulic brake reaches the target pressure value. The electronic hydraulic brake and the parking brake have braking pressure when they work, and whether the braking pressure value is accurate is related to whether the vehicle can be safely braked; if the actual pressure value of the electronic hydraulic brake or the parking brake does not conform to the target braking pressure value, especially if the actual braking pressure value is less than the target braking pressure value, it is proved that the electronic hydraulic brake or the parking brake is faulty.

[0096] In an optional embodiment, after braking the vehicle based on the corresponding control strategy, the working states of the power supply device, the vehicle controller, the parking brake and the electronic hydraulic brake are measured, and it is determined whether the power supply device, the vehicle controller, the parking brake and the electronic hydraulic brake are in normal working states. If it is determined that the power supply device, the vehicle controller, the parking brake and the electronic hydraulic brake are in normal working states, the corresponding control strategy is stopped.

[0097] In an optional embodiment, the vehicle braking system further comprises an emergency brake button, which is connected with the electronic hydraulic brake and the vehicle controller, and is used to control the electronic hydraulic brake and the parking brake to brake the vehicle.

[0098] Figure 7 A schematic diagram of the vehicle braking system provided by the embodiments of the present application is shown in FIG. 1. The vehicle braking system 100 comprises a vehicle controller 130, a redundant controller 120 for controlling a parking brake 121, a brake controller 150 for controlling an electronic hydraulic brake 140, and a power supply device 110. The vehicle controller 130 is connected with the parking controller and the brake controller 150. The power supply device 110 comprises a main power supply 112 and a backup power supply 113. The backup power supply 113 is separately connected with the redundant controller 120.

[0099] The redundant controller 120 is configured to monitor the working states of the power supply device 110 and the vehicle controller 130. The vehicle controller 130 is configured to monitor the working states of the power supply device 110, the redundant controller 120 and the electronic hydraulic brake 140. The redundant controller 120 is further configured to brake the vehicle based on a corresponding control strategy when one of the power supply device 110, the vehicle controller 130 and the electronic hydraulic brake 140 is in an abnormal working state. The vehicle controller 130 is further configured to brake the vehicle based on a corresponding control strategy when one of the power supply device 110, the redundant controller 120 and the electronic hydraulic brake 140 is in an abnormal working state.

[0100] The power supply device 110 further comprises a direct current converter 111. If one of the power supply device 110, the vehicle controller 130, the parking brake 121 and the electronic hydraulic brake 140 is in an abnormal working state, the vehicle is braked based on a corresponding control strategy, including: if the direct current converter 111 of the power supply device 110 is in an abnormal working state, the vehicle is braked based on a first control strategy; wherein the abnormal working state of the direct current converter 111 includes a speed limit state, and the voltage of the main power supply 112 is lower than a preset voltage. Wherein the first control strategy includes: the vehicle controller 130 sends a braking signal to the brake controller 150 according to first fault information indicating that the direct current converter 111 is in an abnormal working state; the electronic hydraulic brake controller 150 brakes the vehicle according to the braking signal; and the vehicle controller 130 requests the redundant controller 120 to control the parking brake 121 to brake the vehicle when the vehicle speed is reduced to 0.

[0101] In an optional embodiment, if one of the power supply device 110, the vehicle controller 130, the parking brake 121 and the electronic hydraulic brake 140 is in an abnormal working state, braking the vehicle based on a corresponding control strategy includes: if the main power supply 112 of the power supply device 110 is in an abnormal working state, the vehicle is braked based on a second control strategy; wherein the abnormal working state of the main power supply 112 includes that the main power supply 112 loses power. Wherein the second control strategy includes: the redundant controller 120 switches the power supply from the main power supply 112 to the backup power supply 113, and controls the parking brake 121 to brake the vehicle.

[0102] In an optional embodiment, if one of the power supply device 110, the vehicle controller 130, the parking brake 121 and the electronic hydraulic brake 140 is in an abnormal working state, braking the vehicle based on a corresponding control strategy includes: if the vehicle controller 130 is in an abnormal working state, the vehicle is braked based on a third control strategy; wherein the abnormal working state of the vehicle controller 130 includes that the electronic hydraulic brake 140 cannot detect external signals including signals sent by the vehicle controller 130. Wherein the third control strategy includes: the vehicle is braked by the electronic hydraulic brake controller 150.

[0103] In an optional embodiment, in the embodiments of the present application, if it is determined that one of the power supply device 110, the vehicle controller 130, the parking brake 121 and the electronic hydraulic brake 140 is in an abnormal working state, the vehicle is braked based on a corresponding control strategy, including: if it is determined that the parking brake 121 is in an abnormal working state, the vehicle is braked based on a fourth control strategy; wherein the abnormal working state of the parking brake 121 includes that the actual brake pressure value of the parking brake 121 is lower than the target brake pressure value. The fourth control strategy includes: the vehicle controller 130 sends a brake signal to the brake controller 150 according to the second fault information indicating that the parking brake 121 is in an abnormal working state; the brake controller 150 controls the electronic hydraulic brake 140 to brake the vehicle according to the brake signal.

[0104] In an optional embodiment, in the embodiments of the present application, if it is determined that one of the power supply device 110, the vehicle controller 130, the parking brake 121 and the electronic hydraulic brake 140 is in an abnormal working state, the vehicle is braked based on a corresponding control strategy, including: if it is determined that the electronic hydraulic brake 140 is in an abnormal working state, the vehicle is braked based on a fifth control strategy; wherein the abnormal working state of the electronic hydraulic brake 140 includes that the actual brake pressure value of the electronic hydraulic brake 140 is lower than the target brake pressure value. The fifth control strategy includes: the vehicle controller 130 sends a control signal to the redundant controller 120 according to the third fault information indicating that the electronic hydraulic brake 140 is in an abnormal working state; the redundant controller 120 controls the parking brake 121 to brake the vehicle according to the control signal.

[0105] In an optional embodiment, monitoring the working states of the power supply device 110, the vehicle controller 130, the parking brake 121 and the electronic hydraulic brake 140 includes: monitoring, by the vehicle controller 130, whether the voltage of the main control power supply 112 is lower than a first preset voltage; or monitoring, by the redundant controller 120, whether the main control power supply 112 is powered off; or monitoring, by the electronic hydraulic brake controller 150, whether the output signal of the vehicle controller 130 can be continuously received; or monitoring, by the vehicle controller 130, whether the actual brake pressure value of the parking brake 121 reaches the target brake pressure value; or monitoring, by the vehicle controller 130, whether the brake pressure value of the electronic hydraulic brake 140 reaches the target pressure value.

[0106] In an optional embodiment, after the vehicle is braked based on the corresponding control strategy, the working states of the power supply device 110, the vehicle controller 130, the parking brake 121 and the electronic hydraulic brake 140 are monitored, and it is determined whether the power supply device 110, the vehicle controller 130, the parking brake 121 and the electronic hydraulic brake 140 are in normal working states. If it is determined that the power supply device 110, the vehicle controller 130, the parking brake 121 and the electronic hydraulic brake 140 are in normal working states, the corresponding control strategy is stopped.

[0107] In an optional embodiment, the vehicle braking system further comprises an emergency brake button 160; the emergency brake button 160 is connected with the electronic hydraulic brake 140 and the vehicle controller 130, and is used for controlling the electronic hydraulic brake 140 and the parking brake 121 to brake the vehicle.

[0108] Please refer to Figure 8 , Figure 8 A structural schematic diagram of an electronic device provided in an embodiment of the present application. An electronic device 300 provided in an embodiment of the present application comprises a processor 301 and a memory 302, the memory 302 storing machine readable instructions executable by the processor 301, the machine readable instructions being executed by the processor 301 to perform the method as above.

[0109] Based on the same inventive concept, an embodiment of the present application further provides a computer readable storage medium, the computer readable storage medium storing computer program instructions, the computer program instructions being read and run by a processor to perform the steps in any of the above implementation manners.

[0110] The computer readable storage medium can be a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM) and the like various media capable of storing program codes. The storage medium is used to store programs, and the processor executes the programs after receiving execution instructions. The method performed by the electronic terminal defined by the processes disclosed in any of the embodiments of the present application can be applied to the processor or implemented by the processor.

[0111] In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented by other manners. The apparatus embodiments described above are merely schematic, for example, the division of the units is merely a logical function division, and another division manner can be used in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units or components shown or discussed can be indirect coupling or communication connection through some communication interfaces, apparatuses or units, and can be electrical, mechanical or other forms.

[0112] In addition, the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0113] Furthermore, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0114] Alternatively, all or part of the units can be implemented by software, hardware, firmware, or any combination thereof. When implemented by software, all or part of the units can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated.

[0115] The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.).

[0116] In this paper, such as first and second relationship terms are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the term "include", "contain" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment. Without more limitations, the elements defined by the statement "include" do not exclude the presence of other identical elements in the process, method, article or equipment including the elements.

[0117] The above merely provides an example of the present application, and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A redundant braking method, characterized by, The application is applied to a vehicle braking system, the vehicle braking system comprises a power supply device, a vehicle controller, a redundant controller for controlling a parking brake, a brake controller for controlling an electronic hydraulic brake, the vehicle controller is connected with the redundant controller and the brake controller; the power supply device comprises a main control power supply, a backup power supply and a direct current converter, the backup power supply is connected with the redundant controller alone; The redundant braking method comprises: Monitoring the working states of the power supply device, the vehicle controller, the parking brake and the electronic hydraulic brake; If one of the power supply device, the vehicle controller, the parking brake and the electronic hydraulic brake is in an abnormal working state, braking the vehicle based on a corresponding control strategy; If the direct current converter of the power supply device is in an abnormal working state, braking the vehicle based on a first control strategy; wherein the abnormal working state of the direct current converter comprises that the direct current converter cannot continuously supply power to the main control power supply; wherein the first control strategy comprises that the vehicle controller controls the vehicle to run at a limited speed according to first fault information representing that the direct current converter is in an abnormal working state; determining whether the output voltage of the main control power supply is less than a preset voltage; if the output voltage of the main control power supply is less than the preset voltage, sending a braking signal to the brake controller by the vehicle controller, and braking the vehicle according to the braking signal by the control electronic hydraulic brake; when the speed of the vehicle is reduced to a preset vehicle speed, requesting the redundant controller to control the parking brake to brake the vehicle; if the vehicle controller is in an abnormal working state, braking the vehicle based on a third control strategy; wherein the abnormal working state of the vehicle controller comprises that the electronic hydraulic brake cannot detect an external signal including the signal sent by the vehicle controller; wherein the third control strategy comprises braking the vehicle by the electronic hydraulic brake; If the parking brake is in an abnormal working state, braking the vehicle based on a fourth control strategy; wherein the abnormal working state of the parking brake comprises that the actual braking pressure value of the parking brake is lower than a target braking pressure value; the fourth control strategy comprises that the vehicle controller sends a braking signal to the brake controller according to second fault information representing that the parking brake is in an abnormal working state; the brake controller controls the electronic hydraulic brake to brake the vehicle according to the braking signal. If one of the power supply device, the vehicle controller, the parking brake and the electronic hydraulic brake is in an abnormal working state, braking the vehicle based on a corresponding control strategy; 2. The method of claim 1, wherein, ​ if it is determined that the master power supply of the power supply device is in an abnormal working state, braking the vehicle based on a second control strategy; wherein the abnormal working state of the master power supply includes power loss of the master power supply; wherein the second control strategy comprises: the redundant controller switches the power supply from the master power supply to the backup power supply, and controls the parking brake to brake the vehicle.

3. The method of claim 1, wherein, if it is determined that one of the power supply device, the vehicle controller, the parking brake and the electronic hydraulic brake is in an abnormal working state, braking the vehicle based on a corresponding control strategy, comprising: if it is determined that the electronic hydraulic brake is in an abnormal working state, braking the vehicle based on a fifth control strategy; wherein the abnormal working state of the electronic hydraulic brake includes that the actual brake pressure value of the electronic hydraulic brake is lower than the target brake pressure value; the fifth control strategy comprises: the vehicle controller sends a control signal to the redundant controller according to third fault information representing that the electronic hydraulic brake is in an abnormal working state; the redundant controller controls the parking brake to brake the vehicle according to the control signal.

4. The method according to any one of claims 1 to 3, characterized in that, the monitoring of the working states of the power supply device, the vehicle controller, the parking brake and the electronic hydraulic brake, comprising: monitoring, by the vehicle controller, whether the voltage of the master power supply is lower than a first preset voltage; or monitoring, by the redundant controller, whether the master power supply loses power; or monitoring, by the electronic hydraulic brake, whether it can continuously receive the output signal of the vehicle controller; or monitoring, by the vehicle controller, whether the actual brake pressure value of the parking brake reaches the target brake pressure value; or monitoring, by the vehicle controller, whether the brake pressure value of the electronic hydraulic brake reaches the target pressure value.

5. The method according to any one of claims 1 to 3, characterized in that, after the braking of the vehicle based on the corresponding control strategy, the method further comprises: monitoring the working states of the power supply device, the vehicle controller, the parking brake and the electronic hydraulic brake, and determining whether the power supply device, the vehicle controller, the parking brake and the electronic hydraulic brake are in normal working states; if the power supply device, the vehicle controller, the parking brake and the electronic hydraulic brake are in normal working states, stopping the corresponding control strategy.

6. The method according to any one of claims 1 to 3, characterized in that, The vehicle braking system further comprises an emergency brake button; the emergency brake button is connected with the electronic hydraulic brake and the vehicle controller, and is used to control the electronic hydraulic brake and the parking brake to brake the vehicle.

7. A vehicle brake system characterized by, The vehicle braking system comprises a vehicle controller, a redundant controller controlling a parking brake, a brake controller controlling an electronic hydraulic brake and a power supply device; the vehicle controller is connected with the parking brake and the brake controller; the power supply device comprises a master power supply, a backup power supply and a direct current converter; the backup power supply is connected with the redundant controller alone; wherein the redundant controller is configured to monitor the working states of the power supply device and the vehicle controller; The vehicle controller is configured to monitor the working states of the power supply device, the redundancy controller and the electronic hydraulic brake; The redundancy controller is further configured to brake the vehicle based on a corresponding control strategy when one of the power supply device, the vehicle controller and the electronic hydraulic brake is in an abnormal working state; The vehicle controller is further configured to brake the vehicle based on a corresponding control strategy when one of the power supply device, the redundancy controller and the electronic hydraulic brake is in an abnormal working state; The judgment of the abnormal working state and the corresponding control strategy include: If the DC converter of the power supply device is judged to be in an abnormal working state, the vehicle is braked based on a first control strategy; the abnormal working state of the DC converter includes the inability to continuously supply power to the main control power supply; the first control strategy includes: the vehicle controller controls the vehicle to run at a limited speed according to first fault information representing that the DC converter is in an abnormal working state; it is judged whether the output voltage of the main control power supply is less than a preset voltage; if the output voltage of the main control power supply is less than the preset voltage, the vehicle controller sends a braking signal to the brake controller, and the control electronic hydraulic brake brakes the vehicle according to the braking signal; the vehicle controller requests the redundancy controller to control the parking brake to brake the vehicle when the vehicle speed is reduced to a preset vehicle speed; if the vehicle controller is judged to be in an abnormal working state, the vehicle is braked based on a third control strategy; the abnormal working state of the vehicle controller includes that the electronic hydraulic brake cannot detect external signals including signals sent by the vehicle controller; the third control strategy includes: the electronic hydraulic brake brakes the vehicle; If the parking brake is judged to be in an abnormal working state, the vehicle is braked based on a fourth control strategy; the abnormal working state of the parking brake includes that the actual brake pressure value of the parking brake is lower than the target brake pressure value; the fourth control strategy includes: the vehicle controller sends a braking signal to the brake controller according to second fault information representing that the parking brake is in an abnormal working state; the brake controller controls the electronic hydraulic brake to brake the vehicle according to the braking signal.

8. An electronic device, comprising: The electronic device includes a memory and a processor, the memory stores program instructions, and the processor executes the program instructions to perform the steps in the method of any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer program instructions, and the computer program instructions are executed by a processor to perform the steps in the method of any one of claims 1-6.

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