Brake Control Method, Device, Equipment and Medium Based on Dual-Channel Controller

Abstract

An embodiment of the present disclosure discloses a braking control method, device, equipment and medium based on a dual-channel controller. The method includes: receiving a first braking control instruction sent from an autonomous driving main controller and a second braking control instruction sent from a safety monitoring controller respectively; at least arbitrating the first braking control instruction and the second braking control instruction to determine a target braking control instruction to be responded to; and controlling vehicle braking based on the target braking control instruction. The present disclosure realizes the ability of the dual-channel controller to simultaneously control vehicle braking. When the safety monitoring system detects the failure of the autonomous driving main controller, a control method that can independently brake the vehicle is provided to improve the driving safety of the vehicle when the autonomous driving main controller fails.

Description

Technical Field

[0001] The present disclosure relates to the field of autonomous driving technology, and particularly to a braking control method, device, equipment, and medium based on a dual-channel controller. Background Art

[0002] Electro-hydraulic braking is one of the core actuating components of an autonomous driving system. For each vehicle with autonomous driving capabilities, the domain controller typically plans the driving trajectory of the drive-by-wire vehicle based on data from vehicle body sensors, information such as high-precision maps, and generates braking control instructions for the drive-by-wire chassis according to the trajectory information.

[0003] The autonomous driving system is a relatively complex systems engineering. Any main controller of autonomous driving may malfunction, which may cause the vehicle to deviate from the expected driving path and may lead to serious accidents. Therefore, it is very important to improve the driving safety of the autonomous driving system. Summary of the Invention

[0004] To solve the above technical problems or at least partially solve the above technical problems, embodiments of the present disclosure provide a braking control method, device, equipment, and medium based on a dual-channel controller, which realizes the ability of the dual-channel controller to simultaneously control vehicle braking. When the safety monitoring system detects the failure of the main controller of autonomous driving, a control method that can independently brake the vehicle is provided to improve the driving safety of the vehicle when the main controller of autonomous driving fails.

[0005] In a first aspect, embodiments of the present disclosure provide a braking control method based on a dual-channel controller, the method comprising:

[0006] Receiving a first braking control instruction sent from a main controller of autonomous driving and a second braking control instruction sent from a safety monitoring controller;

[0007] Arbitrating at least the first braking control instruction and the second braking control instruction to determine a target braking control instruction to be responded to;

[0008] Controlling vehicle braking based on the target braking control instruction.

[0009] In a second aspect, embodiments of the present disclosure further provide a braking control device based on a dual-channel controller, the device comprising:

[0010] A dual-channel braking control instruction receiving module, configured to receive a first braking control instruction sent from a main controller of autonomous driving and a second braking control instruction sent from a safety monitoring controller;

[0011] A braking control instruction arbitration module, configured to at least arbitrate the first braking control instruction and the second braking control instruction to determine a target braking control instruction to be responded to;

[0012] A braking execution module, configured to control vehicle braking based on the target braking control instruction.

[0013] In a third aspect, an embodiment of the present disclosure further provides an electronic device, including: one or more processors; a storage device for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the braking control method based on a dual-channel controller as described above.

[0014] In a fourth aspect, an embodiment of the present disclosure further provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the braking control method based on a dual-channel controller as described above is implemented.

[0015] A braking control method, device, equipment, and medium based on a dual-channel controller provided by an embodiment of the present disclosure, by receiving a first braking control instruction sent from an autonomous driving main controller and a second braking control instruction sent from a safety monitoring controller respectively; at least arbitrating the first braking control instruction and the second braking control instruction to determine a target braking control instruction to be responded to; and controlling vehicle braking based on the target braking control instruction, realizes the ability of the dual-channel controller to simultaneously control vehicle braking, and when the safety monitoring system detects that the autonomous driving main controller fails, provides a control method that can independently brake the vehicle, so as to improve the driving safety of the vehicle when the autonomous driving main controller fails. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In combination with the accompanying drawings and with reference to the following specific embodiments, the above and other features, advantages, and aspects of the various embodiments of the present disclosure will become more obvious. Throughout the drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic, and the original elements and elements are not necessarily drawn to scale.

[0017] Figure 1 It is a flowchart of a braking control method based on a dual-channel controller in an embodiment of the present disclosure;

[0018] Figure 2 It is a schematic diagram of a process for determining the validity of a braking control instruction in an embodiment of the present disclosure;

[0019] Figure 3A schematic diagram of a process in an embodiment of the present disclosure for feeding back the braking oil pressure represented by the target braking control instruction to the braking actuator, and reading the oil pressure fed back by the braking actuator in real time for abnormal monitoring;

[0020] Figure 4 A schematic diagram of a process in an embodiment of the present disclosure for determining the braking control oil pressure according to the brake pedal displacement signal;

[0021] Figure 5 A schematic diagram of the structure of a braking control device based on a dual-channel controller in an embodiment of the present disclosure;

[0022] Figure 6 A schematic diagram of the working process of a dual-channel braking control instruction receiving module 511 in an embodiment of the present disclosure;

[0023] Figure 7 A schematic diagram of the working process of a braking control instruction arbitration module 512 in an embodiment of the present disclosure;

[0024] Figure 8 A schematic diagram of the structure of an electronic device in an embodiment of the present disclosure. Detailed implementation manners

[0025] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although some embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for illustrative purposes and are not used to limit the protection scope of the present disclosure.

[0026] It should be noted that concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence relationship of the functions performed by these devices, modules or units.

[0027] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only for illustrative purposes and do not limit the scope of these messages or information.

[0028] Figure 1 A flowchart of a braking control method based on a dual-channel controller in an embodiment of the present disclosure. This method can be executed by a braking control device based on a dual-channel controller, which can be implemented in a software and / or hardware manner, and the device can be configured in an electronic device. As Figure 1 shown, the method can specifically include the following steps:

[0029] S110. Receive a first braking control instruction sent from the main controller of autonomous driving and a second braking control instruction sent from the safety monitoring controller respectively.

[0030] Among them, the vehicle's VCU receives the first braking control instruction sent from the main controller of autonomous driving and the second braking control instruction sent from the safety monitoring controller respectively through the vehicle's CAN bus, and then the vehicle's VCU sends the first braking control instruction and the second braking control instruction to the vehicle's wire braking system. In other words, the main controller of autonomous driving sends the first braking control instruction to the vehicle's CAN bus, the safety monitoring controller sends the second braking control instruction to the vehicle's CAN bus, and the vehicle's VCU obtains the first braking control instruction and the second braking control instruction from the vehicle's CAN bus respectively.

[0031] The main controller of autonomous driving is the main controller of the autonomous driving system, and the safety monitoring controller is the main controller of the safety monitoring system. For safety considerations and to further ensure the driving safety of the autonomous driving system, an independent safety monitoring system can be installed on the vehicle. When the autonomous driving vehicle does not drive along the expected route, the safety monitoring system can independently control the vehicle to stop.

[0032] Exemplarily, the safety monitoring controller triggers the second braking control instruction when it detects that the vehicle does not drive along the specified route.

[0033] Further, after receiving the first braking control instruction sent from the main controller of autonomous driving and the second braking control instruction sent from the safety monitoring controller respectively, the method further includes:

[0034] Respectively determine the validity of the first braking control instruction and / or the second braking control instruction, and discard the first braking control instruction and / or the second braking control instruction determined to be invalid.

[0035] The step of respectively determining the validity of the first braking control instruction and / or the second braking control instruction includes:

[0036] When the first braking control instruction indicates that the current driving mode of the vehicle is the autonomous driving mode and the first braking control instruction is a true instruction, it is determined that the first braking control instruction is a valid instruction; when the second braking control instruction indicates that the current driving mode of the vehicle is the autonomous driving mode and the second braking control instruction is a true instruction, it is determined that the second braking control instruction is a valid instruction.

[0037] Specifically, when the driving mode is the manual driving mode, the main controllers of the automatic driving system and the safety monitoring system will not send corresponding braking control instructions. Therefore, only the braking control instructions received in the automatic driving mode may be valid control instructions. The meaning that the first braking control instruction is a true instruction is that the first braking control instruction is an instruction that conforms to the communication protocol of the CAN bus. Only the instructions that conform to the communication protocol of the CAN bus can be correctly transmitted through the CAN bus. Further, it can be determined whether the braking control instruction is an instruction that conforms to the communication protocol of the CAN bus and whether there is no communication anomaly by determining whether the preset valid bit in the braking control instruction is the expected data. If the preset valid bit in the braking control instruction is the expected data, it can be determined that the braking control instruction is a true instruction. Further, if the braking oil pressure included in the braking control instruction exceeds the preset range, it can be automatically corrected to the braking oil pressure within the preset range to improve the stability of braking and reduce the occurrence of the situation where braking cannot be performed due to abnormal braking oil pressure caused by some program errors. Correspondingly, referring to Figure 2 As shown in the schematic diagram of the process for determining the validity of the braking control instruction, when it is determined that the valid bit of the first braking control instruction is true and indicates the automatic driving mode, it is determined that the first braking control instruction is a valid instruction; when it is determined that the valid bit of the second braking control instruction is true and indicates the automatic driving mode, it is determined that the second braking control instruction is a valid instruction. Further, arbitration processing is performed on the valid instructions to determine the target braking control instruction to be responded to.

[0038] S120. Arbitrate at least the first braking control instruction and the second braking control instruction to determine the target braking control instruction to be responded to.

[0039] When the first braking control instruction and the second braking control instruction are received simultaneously, which braking control instruction to respond to needs to be based on the goal of ensuring vehicle driving safety, and a target braking control instruction is selected from the first braking control instruction and the second braking control instruction through a certain logic as the braking control instruction to be responded to. The process of selecting a target braking control instruction from the first braking control instruction and the second braking control instruction as the braking control instruction to be responded to is the process of arbitrating the first braking control instruction and the second braking control instruction.

[0040] Exemplarily, the at least arbitrating the first braking control instruction and the second braking control instruction to determine the target braking control instruction to be responded to includes:

[0041] Arbitrate the first braking control instruction and the second braking control instruction to determine an intermediate result, and determine the target braking control instruction to be responded based on the intermediate result;

[0042] Among them, arbitrating the first braking control instruction and the second braking control instruction to determine an intermediate result includes any one of the following:

[0043] If the first braking control instruction is a valid instruction and the second braking control instruction is an invalid instruction, determine the first braking control instruction as the intermediate result;

[0044] If the first braking control instruction is an invalid instruction and the second braking control instruction is a valid instruction, determine the second braking control instruction as the intermediate result;

[0045] If both the first braking control instruction and the second braking control instruction are valid instructions, determine the intermediate result from the first braking control instruction and the second braking control instruction based on a set rule.

[0046] Further, determining the intermediate result from the first braking control instruction and the second braking control instruction based on a set rule includes any one of the following:

[0047] Compare the first braking oil pressure included in the first braking control instruction with the second braking oil pressure included in the second braking control instruction. If the first braking oil pressure is greater than the second braking oil pressure, determine the first braking control instruction as the intermediate result; if the second braking oil pressure is greater than the first braking oil pressure, determine the second braking control instruction as the intermediate result;

[0048] Randomly select one from the first braking control instruction and the second braking control instruction as the intermediate result;

[0049] Select a pre-specified one from the first braking control instruction and the second braking control instruction as the intermediate result.

[0050] Optionally, determining the target braking control instruction to be responded based on the intermediate result includes: directly determining the intermediate result as the target braking control instruction.

[0051] S130. Control vehicle braking based on the target braking control instruction.

[0052] Among them, controlling vehicle braking based on the target braking control instruction includes:

[0053] Feed back the braking oil pressure represented by the target braking control instruction to the braking actuator, and control the vehicle braking by the braking actuator according to the braking oil pressure. Specifically, after feeding back the braking oil pressure represented by the target braking control instruction to the braking actuator, the oil pressure fed back by the braking actuator is read in real time, and whether there is an abnormality in the braking execution process is monitored according to the fed-back oil pressure. For example, if the oil pressure fed back by the braking actuator is smaller than the braking oil pressure within a set time period, it means that the braking degree executed by the braking actuator is insufficient. At this time, driving risks are likely to occur, and this situation can be determined as an abnormality in the braking execution process. Correspondingly, refer to, for example, Figure 3 A schematic diagram of the process of feeding back the braking oil pressure represented by the target braking control instruction to the braking actuator, reading the oil pressure fed back by the braking actuator in real time, and performing abnormal monitoring, as shown.

[0054] In some embodiments, the method further includes:

[0055] Receive a third braking control instruction from the brake pedal, where the third braking control instruction includes the displacement information of the brake pedal; determine the third braking oil pressure corresponding to the third braking control instruction according to the mapping relationship between the pedal displacement and the braking oil pressure. That is, in addition to the automatic driving main controller and the safety monitoring controller being able to control the vehicle braking, manual operation can also perform autonomous braking on the vehicle. By supporting multiple braking control instructions, the driving safety of the vehicle can be improved. Correspondingly, refer to, for example, Figure 4 A schematic diagram of the process of determining the braking control oil pressure according to the brake pedal displacement signal, as shown.

[0056] Correspondingly, determining the target braking control instruction to be responded based on the intermediate result includes at least one of the following:

[0057] Determine the first braking control instruction or the second braking control instruction represented by the intermediate result as the target braking control instruction;

[0058] Compare the first braking oil pressure or the second braking oil pressure corresponding to the intermediate result with the third braking oil pressure. If the third braking oil pressure is greater than the first braking oil pressure or the second braking oil pressure corresponding to the intermediate result, determine the third braking control instruction as the target braking control instruction; if the third braking oil pressure is less than the first braking oil pressure or the second braking oil pressure corresponding to the intermediate result, determine the first braking control instruction or the second braking control instruction represented by the intermediate result as the target braking control instruction. For example, if the essence of the intermediate result is the first braking control instruction, compare the first braking oil pressure included in the first braking control instruction with the third braking oil pressure. If the third braking oil pressure is greater than the first braking oil pressure, determine the third braking control instruction as the target braking control instruction. If the third braking oil pressure is less than the first braking oil pressure, determine the first braking control instruction as the target braking control instruction. Similarly, if the essence of the intermediate result is the second braking control instruction, compare the second braking oil pressure included in the second braking control instruction with the third braking oil pressure. If the third braking oil pressure is greater than the second braking oil pressure, determine the third braking control instruction as the target braking control instruction. If the third braking oil pressure is less than the second braking oil pressure, determine the second braking control instruction as the target braking control instruction.

[0059] The braking control method based on a dual-channel controller provided in this embodiment realizes the ability of the dual-channel controller to simultaneously control vehicle braking by receiving the first braking control instruction sent from the main controller of autonomous driving and the second braking control instruction sent from the safety monitoring controller respectively; at least arbitrating the first braking control instruction and the second braking control instruction to determine the target braking control instruction to be responded; and controlling vehicle braking based on the target braking control instruction. When the safety monitoring system detects the failure of the main controller of autonomous driving, a control method that can independently brake the vehicle is provided to improve the driving safety of the vehicle when the main controller of autonomous driving fails.

[0060] Based on the above embodiment, the present disclosure embodiment also provides a braking control device based on a dual-channel controller, and this braking control device is integrated in the electronic brake system of the vehicle. Refer to Figure 5 As shown in the structural schematic diagram of a braking control device based on a dual-channel controller, the braking control device based on a dual-channel controller is integrated in the electronic brake system 510 of the vehicle. The braking control device based on a dual-channel controller includes: a dual-channel braking control instruction receiving module 511, a braking control instruction arbitration module 512, and a braking execution module 513.

[0061] Among them, the dual-channel braking control instruction receiving module 511 is used to receive the first braking control instruction sent by the main autonomous driving controller and the second braking control instruction sent by the safety monitoring controller respectively. Specifically, the main autonomous driving controller 520 sends the first braking control instruction to the vehicle's CAN bus, and the safety monitoring controller 530 sends the second braking control instruction to the vehicle's CAN bus. The vehicle's VCU 540 obtains the first braking control instruction and the second braking control instruction from the vehicle's CAN bus respectively, and the dual-channel braking control instruction receiving module 511 obtains the first braking control instruction and the second braking control instruction from the vehicle's VCU 540. The dual-channel braking control instruction receiving module 511 has two CAN control id interfaces. One CAN control id interface is used to receive the first braking control instruction sent by the main autonomous driving controller, and the other CAN control id interface is used to receive the second braking control instruction sent by the safety monitoring controller.

[0062] Refer to the schematic diagram of the working process of a dual-channel braking control instruction receiving module 511 as shown in Figure 6 Figure. The dual-channel braking control instruction receiving module 511 receives the first braking control instruction sent by the main autonomous driving controller through one CAN control id1 interface, and uses the other CAN control id2 interface to receive the second braking control instruction sent by the safety monitoring controller. Then, the first braking control instruction and / or the second braking control instruction are respectively judged for validity, and the judged invalid first braking control instruction and / or second braking control instruction are discarded, and the judged valid first braking control instruction and / or second braking control instruction are output to the braking control instruction arbitration module 512.

[0063] Specifically, when the first braking control instruction indicates that the current driving mode of the vehicle is the autonomous driving mode and the first braking control instruction is a true instruction, it is determined that the first braking control instruction is a valid instruction; when the second braking control instruction indicates that the current driving mode of the vehicle is the autonomous driving mode and the second braking control instruction is a true instruction, it is determined that the second braking control instruction is a valid instruction.

[0064] Further, the braking control instruction arbitration module 512 is configured to arbitrate at least the first braking control instruction and the second braking control instruction to determine a target braking control instruction to be responded; specifically, arbitrate the first braking control instruction and the second braking control instruction to determine an intermediate result, and determine the target braking control instruction to be responded based on the intermediate result; wherein, arbitrating the first braking control instruction and the second braking control instruction to determine an intermediate result includes any one of the following: if the first braking control instruction is a valid instruction and the second braking control instruction is an invalid instruction, determining the first braking control instruction as the intermediate result; if the first braking control instruction is an invalid instruction and the second braking control instruction is a valid instruction, determining the second braking control instruction as the intermediate result; if both the first braking control instruction and the second braking control instruction are valid instructions, determining the intermediate result from the first braking control instruction and the second braking control instruction based on a set rule. Determining the intermediate result from the first braking control instruction and the second braking control instruction based on a set rule includes any one of the following: comparing a first braking oil pressure included in the first braking control instruction with a second braking oil pressure included in the second braking control instruction, if the first braking oil pressure is greater than the second braking oil pressure, determining the first braking control instruction as the intermediate result; if the second braking oil pressure is greater than the first braking oil pressure, determining the second braking control instruction as the intermediate result; randomly selecting one from the first braking control instruction and the second braking control instruction as the intermediate result; designating one of the first braking control instruction and the second braking control instruction in advance as the intermediate result.

[0065] Refer to, for example Figure 7Schematic diagram of the working process of a braking control instruction arbitration module 512, which is also used to receive a third braking control instruction from a brake pedal, where the third braking control instruction includes displacement information of the brake pedal; determine a third braking oil pressure corresponding to the third braking control instruction according to the mapping relationship between the pedal displacement and the braking oil pressure; determine the first braking control instruction or the second braking control instruction represented by the intermediate result as the target braking control instruction; compare the first braking oil pressure or the second braking oil pressure corresponding to the intermediate result with the third braking oil pressure. If the third braking oil pressure is greater than the first braking oil pressure or the second braking oil pressure corresponding to the intermediate result, then determine the third braking control instruction as the target braking control instruction; if the third braking oil pressure is less than the first braking oil pressure or the second braking oil pressure corresponding to the intermediate result, then determine the first braking control instruction or the second braking control instruction represented by the intermediate result as the target braking control instruction, and output the braking oil pressure corresponding to the target braking control instruction to a braking execution module 513. The braking execution module 513 is used to control vehicle braking based on the target braking control instruction, specifically by sending the braking oil pressure to a braking actuator 550 to perform a braking action through the braking actuator 550.

[0066] The braking control device based on a dual-channel controller provided in an embodiment of the present disclosure can execute the steps in the braking control method based on a dual-channel controller provided in the method embodiment of the present disclosure, and the execution steps and beneficial effects are not described herein again.

[0067] Figure 8 It is a schematic diagram of the structure of an electronic device in an embodiment of the present disclosure. Specifically refer to the following Figure 8 which shows a schematic diagram of the structure suitable for an electronic device 500 in an embodiment of the present disclosure. Figure 8 The electronic device shown is only an example and should not impose any limitations on the functions and usage scope of the embodiments of the present disclosure.

[0068] As Figure 8 shown, the electronic device 500 may include a processing device (such as a central processing unit, a graphics processing unit, etc.) 501, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 502 or a program loaded from a storage device 508 into a random access memory (RAM) 503 to implement the method of the embodiments as described in the present disclosure. In the RAM 503, various programs and data required for the operation of the electronic device 500 are also stored. The processing device 501, the ROM 502, and the RAM 503 are connected to each other through a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0069] In particular, according to embodiments of the present disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product that includes a computer program carried on a non-transitory computer-readable medium. The computer program includes program code for performing the methods shown in the flowcharts, thereby implementing the braking control method based on a dual-channel controller as described above. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device 509, or installed from a storage device 508, or installed from a ROM 502. When the computer program is executed by a processing device 501, the above-mentioned functions defined in the methods of the embodiments of the present disclosure are performed.

[0070] It should be noted that the computer-readable medium in the present disclosure can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In the present disclosure, the computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0071] The above computer-readable medium may be included in the above electronic device; or it may exist separately and not be assembled into the electronic device. The above computer-readable medium carries one or more programs, and when the one or more programs are executed by the electronic device, the electronic device is caused to: receive a first braking control instruction sent from an autonomous driving main controller and a second braking control instruction sent from a safety monitoring controller respectively; at least arbitrate the first braking control instruction and the second braking control instruction to determine a target braking control instruction to be responded to; and control vehicle braking based on the target braking control instruction.

[0072] Optionally, when the one or more programs are executed by the electronic device, the electronic device may also perform the other steps described in the above embodiments.

[0073] In the context of the present disclosure, a machine-readable medium may be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media would include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0074] The above description is only a preferred embodiment of the present disclosure and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by the specific combination of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosure concept. For example, technical solutions formed by mutually replacing the above features with (but not limited to) technical features having similar functions disclosed in the present disclosure.

Claims

1. A braking control method based on a dual-channel controller, characterized in that The method includes: Receiving a first braking control instruction sent from an autonomous driving main controller and a second braking control instruction sent from a safety monitoring controller respectively; Arbitrating at least the first braking control instruction and the second braking control instruction to determine a target braking control instruction to be responded to; Controlling vehicle braking based on the target braking control instruction; Before arbitrating the first braking control instruction and the second braking control instruction, the method further includes: Respectively determining the validity of the first braking control instruction and / or the second braking control instruction, and discarding the first braking control instruction and / or the second braking control instruction determined to be invalid; The respectively determining the validity of the first braking control instruction and / or the second braking control instruction includes: When the first braking control instruction indicates that the current driving mode of the vehicle is the autonomous driving mode and the first braking control instruction is a true instruction, determining that the first braking control instruction is a valid instruction; When the second braking control instruction indicates that the current driving mode of the vehicle is the autonomous driving mode and the second braking control instruction is a true instruction, determining that the second braking control instruction is a valid instruction; The at least arbitrating the first braking control instruction and the second braking control instruction to determine a target braking control instruction to be responded to includes: Arbitrating the first braking control instruction and the second braking control instruction to determine an intermediate result, and determining the target braking control instruction to be responded to based on the intermediate result; Wherein, arbitrating the first braking control instruction and the second braking control instruction to determine an intermediate result includes any one of the following: If the first braking control instruction is a valid instruction and the second braking control instruction is an invalid instruction, determining the first braking control instruction as the intermediate result; If the first braking control instruction is an invalid instruction and the second braking control instruction is a valid instruction, determining the second braking control instruction as the intermediate result; If both the first braking control instruction and the second braking control instruction are valid instructions, determining the intermediate result from the first braking control instruction and the second braking control instruction based on a set rule.

2. The method according to claim 1, wherein The determining the intermediate result from the first braking control instruction and the second braking control instruction based on a set rule includes any one of the following: Comparing the first braking oil pressure included in the first braking control instruction with the second braking oil pressure included in the second braking control instruction. If the first braking oil pressure is greater than the second braking oil pressure, determining the first braking control instruction as the intermediate result; if the second braking oil pressure is greater than the first braking oil pressure, determining the second braking control instruction as the intermediate result; Randomly selecting one from the first braking control instruction and the second braking control instruction as the intermediate result; Designating one of the first braking control instruction and the second braking control instruction in advance as the intermediate result.

3. The method according to claim 1, wherein The method further includes: Receive a third braking control instruction from the brake pedal, where the third braking control instruction includes displacement information of the brake pedal; Determine a third braking oil pressure corresponding to the third braking control instruction according to the mapping relationship between the pedal displacement and the braking oil pressure; Correspondingly, determining the target braking control instruction to be responded based on the intermediate result includes at least one of the following: Determine the first braking control instruction or the second braking control instruction represented by the intermediate result as the target braking control instruction; Compare the first braking oil pressure or the second braking oil pressure corresponding to the intermediate result with the third braking oil pressure. If the third braking oil pressure is greater than the first braking oil pressure or the second braking oil pressure corresponding to the intermediate result, determine the third braking control instruction as the target braking control instruction; if the third braking oil pressure is less than the first braking oil pressure or the second braking oil pressure corresponding to the intermediate result, determine the first braking control instruction or the second braking control instruction represented by the intermediate result as the target braking control instruction.

4. The method according to claim 3, characterized in that, Controlling vehicle braking based on the target braking control instruction includes: Feed back the braking oil pressure represented by the target braking control instruction to the braking actuator, and control vehicle braking by the braking actuator according to the braking oil pressure; Wherein, the safety monitoring controller triggers the second braking control instruction when it detects that the vehicle is not driving along the specified route.

5. A braking control device based on a dual-channel controller, characterized in that, It includes: A dual-channel braking control instruction receiving module, configured to receive a first braking control instruction sent from the main autonomous driving controller and a second braking control instruction sent from the safety monitoring controller respectively; A braking control instruction arbitration module, configured to at least arbitrate the first braking control instruction and the second braking control instruction to determine the target braking control instruction to be responded; before arbitrating the first braking control instruction and the second braking control instruction, it further includes: respectively determining the validity of the first braking control instruction and / or the second braking control instruction, and discarding the first braking control instruction and / or the second braking control instruction determined to be invalid; respectively determining the validity of the first braking control instruction and / or the second braking control instruction includes: when the first braking control instruction indicates that the current driving mode of the vehicle is the autonomous driving mode and the first braking control instruction is a true instruction, determine that the first braking control instruction is a valid instruction; when the second braking control instruction indicates that the current driving mode of the vehicle is the autonomous driving mode and the second braking control instruction is a true instruction, determine that the second braking control instruction is a valid instruction; Said at least arbitrating the first braking control instruction and the second braking control instruction to determine the target braking control instruction to be responded includes: ​ Arbitrate the first braking control instruction and the second braking control instruction to determine an intermediate result, and determine the target braking control instruction to be responded based on the intermediate result; wherein, arbitrating the first braking control instruction and the second braking control instruction to determine the intermediate result includes any one of the following: If the first braking control instruction is a valid instruction and the second braking control instruction is an invalid instruction, determine the first braking control instruction as the intermediate result; If the first braking control instruction is an invalid instruction and the second braking control instruction is a valid instruction, determine the second braking control instruction as the intermediate result; If both the first braking control instruction and the second braking control instruction are valid instructions, determine the intermediate result from the first braking control instruction and the second braking control instruction based on a set rule.

6. An electronic device, characterized in that, The electronic device includes: One or more processors; A storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1-4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by a processor, the method according to any one of claims 1-4 is implemented.

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