A vehicle automatic emergency braking redundancy control system and method

Abstract

The present application relates to a kind of vehicle automatic emergency braking redundancy control system and method, its system includes: ADAS system, IPB integrated braking system and RBU redundancy braking system, AEB system and ESA system are equipped in the ADAS system;The ADAS system is configured to, in response to the failure signal of IPB integrated braking system, based on the maximum braking time delay difference of RBU redundancy braking system and IPB integrated braking system, the trigger time of the collision detection of the AEB system is adjusted;The AEB system is configured to determine whether the vehicle can avoid collision, and according to the judgment result of avoiding collision, brake request is sent to RBU redundancy braking system or automatic steering collision avoidance request is sent to ESA system.The present application realizes the function of automatic emergency braking when IPB function fails, to avoid or reduce collision injury or trigger ESA function to avoid collision.

Description

Technical Field

[0001] This invention belongs to the field of vehicle intelligent control technology, specifically relating to a redundant control system and method for automatic emergency braking of vehicles. Background Technology

[0002] The current common approach is to suppress the Automatic Emergency Braking (AEB) function if the Interruptible Braking (IPB) malfunctions. When AEB is triggered, it indicates that a collision ahead is imminent, and the estimated time to collision (TTC) is usually less than 1.5 seconds. At this point, if the IPB malfunctions, the feasibility of the driver performing emergency braking to avoid a collision or mitigate the damage is extremely low, because statistically, the normal human reaction time is 1.2 seconds, and a collision is already unavoidable at this time.

[0003] In an existing redundant braking method, a brake backup unit is connected to the two front wheels and two electronic parking actuators, and is used to respond to parking brake commands and perform parking brake. Two electronic parking controllers are used as a brake backup scheme to respond to service brake commands and perform service brake when the integrated electronic booster fails.

[0004] The above braking methods do not adequately consider the inability to use the electronic parking brake as a backup for service braking at high speeds, as using electronic parking brakes at high speeds carries a high risk of loss of control, and continuous use of electronic parking brakes at high speeds can cause serious damage. They also do not consider extreme conditions, such as AEB activation. These conditions require significant braking force, and electronic parking brakes cannot provide the necessary deceleration to avoid a collision or significantly reduce the damage. Furthermore, some vehicles currently use the ESC electronic stability control system for braking; when the IPB (Independent Braking System) malfunctions, ESC braking will be unavailable. Summary of the Invention

[0005] To address or mitigate the safety risks arising from IPB (Integrated Emergency Braking) failures and improve vehicle braking safety, a first aspect of this invention provides a redundant automatic emergency braking control system for vehicles, comprising an ADAS (Advanced Driver Assistance System), an IPB integrated braking system, and an RBU (Remote Braking Unit) redundant braking system. The ADAS, IPB, and RBU are each connected to a vehicle bus. The ADAS includes an AEB (Automatic Emergency Braking) system and an ESA (Electronic Steering) system. The ADAS is configured to, in response to a fault signal from the IPB integrated braking system, adjust the collision detection trigger time of the AEB system based on the difference in maximum braking delay between the RBU and IPB systems. The AEB is configured to determine whether the vehicle can avoid a collision and, based on the collision avoidance determination, issue a braking request to the RBU or an automatic steering collision avoidance request to the ESA.

[0006] In some embodiments of the present invention, the step of adjusting the collision detection trigger time of the AEB system in response to a fault signal from the IPB integrated braking system, based on the difference in the time delay between the RBU redundant braking system and the IPB integrated braking system in reaching maximum braking force, includes: after the ADAS system and the RBU redundant braking system respectively receive the same IPB fault signal, calculating the difference in the time delay between the RBU redundant braking system and the IPB integrated braking system in reaching maximum braking force; and determining the advance amount of the collision detection trigger time of the AEB system based on the difference in the maximum braking time delay.

[0007] Furthermore, the advance time of the collision detection is greater than or equal to 0.4 seconds.

[0008] In some embodiments of the present invention, the step of determining whether the vehicle can avoid a collision and issuing a braking request to the RBU redundant braking system or an automatic steering collision avoidance request to the ESA system based on the collision avoidance determination result includes: the AEB system determining whether a collision has occurred based on the vehicle's current speed, collision time, braking capacity of the RBU redundant braking system, and the maximum deceleration allowed by the RBU redundant braking system; if the AEB system triggers an avoidable collision or there is no collision avoidance path, the RBU redundant braking system executes the corresponding request; otherwise, the AEB system issues an automatic steering collision avoidance request to the ESA system.

[0009] Furthermore, the step of sending a request to the ESA system to trigger automatic steering to avoid collision includes: if the AEB system determines that the current vehicle is in an unavoidable collision and there is a path that can avoid the collision, then it sends a request to the ESA system to trigger automatic steering to avoid collision.

[0010] In the above embodiments, iBooster is configured to perform braking operations equivalent to those of an RBU redundant braking system.

[0011] A second aspect of the present invention provides a vehicle automatic emergency braking redundancy control method, comprising: an ADAS system responding to a fault signal of an IPB integrated braking system, adjusting the collision detection trigger time of the AEB system based on the difference in maximum braking delay between the RBU redundant braking system and the IPB integrated braking system; the AEB system determining whether the vehicle can avoid a collision, and issuing a braking request to the RBU redundant braking system or an automatic steering collision avoidance request to the ESA system based on the collision avoidance determination result.

[0012] Furthermore, the process of determining whether the vehicle can avoid a collision and issuing a braking request to the RBU redundant braking system or an automatic steering collision avoidance request to the ESA system based on the collision avoidance determination result includes: the AEB system determining whether a collision has occurred based on the vehicle's current speed, collision time, the automatic capability of the RBU redundant braking system, and the maximum deceleration allowed by the RBU redundant braking system; if the AEB system triggers an avoidable collision or there is no collision avoidance path, the RBU redundant braking system executes the corresponding request; otherwise, the AEB system issues an automatic steering collision avoidance request to the ESA system.

[0013] A third aspect of the present invention provides an electronic device comprising: one or more processors; and a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle automatic emergency braking redundancy control method provided in the second aspect of the present invention.

[0014] In a fourth aspect, the present invention provides a computer-readable medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the vehicle automatic emergency braking redundancy control method provided in the second aspect of the present invention.

[0015] The beneficial effects of this invention are:

[0016] This invention relates to a redundant control system and method for automatic emergency braking of a vehicle. The system includes an ADAS system, an IPB integrated braking system, and an RBU redundant braking system. The ADAS system includes an AEB system and an ESA system. The ADAS system is configured to, in response to a fault signal from the IPB integrated braking system, adjust the collision detection trigger time of the AEB system based on the difference in maximum braking delay between the RBU redundant braking system and the IPB integrated braking system. The AEB system is configured to determine whether the vehicle can avoid a collision, and based on the collision avoidance determination result, issue a braking request to the RBU redundant braking system or an automatic steering collision avoidance request to the ESA system. As can be seen, in this invention, the RBU redundant braking system serves as a redundant braking method for the IPB. By utilizing the difference in maximum braking delay between the RBU redundant braking system and the IPB integrated braking system, it is ensured that the RBU redundant braking system can generate braking in a timely manner. Furthermore, ADAS further determines the execution mode of the braking request based on parameters such as vehicle speed, collision time, and braking capacity: braking or steering. This enables the automatic emergency braking function to be executed even when the IPB function fails, in order to avoid or mitigate collision damage or trigger the ESA function to avoid a collision. Attached Figure Description

[0017] Figure 1This is a schematic diagram of the structure of a vehicle automatic emergency braking redundancy control system in some embodiments of the present invention;

[0018] Figure 2 This is one of the schematic diagrams illustrating the working principle of the vehicle automatic emergency braking redundancy control system in some embodiments of the present invention;

[0019] Figure 3 This is a second schematic diagram illustrating the working principle of the vehicle automatic emergency braking redundancy control method in some embodiments of the present invention.

[0020] Figure 4 This is a third schematic diagram illustrating the working principle of the vehicle automatic emergency braking redundancy control method in some embodiments of the present invention.

[0021] Figure 5 This is a schematic diagram of the structure of an intelligent vehicle in some embodiments of the present invention;

[0022] Figure 6 This is a basic flowchart of a vehicle automatic emergency braking redundancy control method in some embodiments of the present invention.

[0023] Figure 7 This is a schematic diagram of the structure of an electronic device in some embodiments of the present invention.

[0024] Figure Labels

[0025] 1. ADAS system, 2. IPB integrated braking system, 3. RBU redundant braking system, 4. Vehicle bus, 5. Wheels. Detailed Implementation

[0026] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0027] For ease of explanation, one or more terms or concepts related to braking in intelligent vehicles involved in this disclosure are explained as follows: ADAS: Advanced Driver Assist Systems; IPB: Integrated Power Brake; AEB: Automatic Emergency Braking.

[0028] ESP: Electronic Stability Program, also known as vehicle stability system or ESC, works by monitoring tire slippage and vehicle dynamics to limit slippage and loss of control.

[0029] TTC: Time To Collision; RBU: Redundancy Braking Unit; EPB: Electrical Park Brake; ESA: Emergency Steering Assist; EHPS: Electro Hydraulic Power Steering.

[0030] refer to Figure 1 In a first aspect, the present invention provides a redundant automatic emergency braking control system for a vehicle, comprising an ADAS system 1, an IPB integrated braking system 2, and an RBU redundant braking system 3, wherein the ADAS system 1, the IPB integrated braking system 2, and the RBU redundant braking system 3 are respectively connected to a vehicle bus 4. The ADAS system includes an AEB system and an ESA system, comprising: the ADAS system 1 being configured to, in response to a fault signal from the IPB integrated braking system 2, adjust the collision detection trigger time of the AEB system based on the difference in maximum braking delay between the RBU redundant braking system 3 and the IPB integrated braking system 2; the AEB system being configured to, determine whether the vehicle can avoid a collision, and, based on the collision avoidance determination result, issue a braking request to the RBU redundant braking system 3 or an automatic steering collision avoidance request to the ESA system. Ultimately, the RBU redundant braking system 3 or the ESA system controls the wheels 5 to achieve deceleration braking or steering.

[0031] Specifically, when the IPB integrated braking system 2 malfunctions, it sends an IPB (short for IPB integrated braking system) fault signal to the vehicle bus. The ADAS system 1 and the RBU redundant braking system 3 receive the IPB fault signal from the vehicle bus. If the ADAS system 1 detects a collision risk ahead and triggers AEB, the AEB automatic emergency braking system sends a target deceleration request to the vehicle bus. At this time, IPB braking will be unavailable, and the AEB braking request will be handled by the RBU redundant braking system. If the RBU cannot avoid a collision and a collision avoidance path exists, the ESA collision avoidance function is triggered.

[0032] refer to Figure 2In some embodiments of the present invention, the adjustment of the collision detection trigger time of the AEB system in response to a fault signal from the IPB integrated braking system, based on the difference in the time delay between the RBU redundant braking system and the IPB integrated braking system in reaching maximum braking force, includes: after the ADAS system and the RBU redundant braking system respectively receive the same IPB fault signal, calculating the difference in the time delay between the RBU redundant braking system and the IPB integrated braking system in reaching maximum braking force; and determining the advance amount of the collision detection trigger time of the AEB system based on the difference in the maximum braking time delay. Specifically, when the ADAS system continuously receives an IPB system fault, considering that the delay of the RBU redundant braking actuator in reaching maximum braking force is approximately 1000ms, which is about 400ms later than IPB, the AEB function needs to be triggered 0.5s earlier to achieve the effect of IPB braking. Therefore, the TTC time of AEB triggering needs to be increased by 0.5s based on the original TTC0.

[0033] Furthermore, the advance time of the collision detection trigger is greater than or equal to 0.4 seconds. It can be understood that the advance time of the collision detection trigger is equal to the difference between TTC0 and TTC1. Therefore, the aforementioned 0.4 seconds or 0.5 seconds can be determined based on the specific braking parameters of the vehicle's AEB and IPB. In actual implementation, the judgment delay of AEB and the propagation delay of issuing the braking request to IPB need to be considered; therefore, the advance time of the collision detection trigger is slightly greater than 0.4 seconds.

[0034] refer to Figure 3 In some embodiments of the present invention, the step of determining whether the vehicle can avoid a collision and issuing a braking request to the RBU redundant braking system or an automatic steering collision avoidance request to the ESA system based on the collision avoidance determination result includes: the AEB system determining whether a collision has occurred based on the vehicle's current speed, collision time, braking capacity of the RBU redundant braking system, and the maximum deceleration allowed by the RBU redundant braking system; if the AEB system triggers an avoidable collision or there is no collision avoidance path, the RBU redundant braking system executes the corresponding request; otherwise, the AEB system issues an automatic steering collision avoidance request to the ESA system.

[0035] Furthermore, the step of sending a request to the ESA system to trigger automatic steering to avoid collision includes: if the AEB system determines that the current vehicle is in an unavoidable collision and there is a path that can avoid the collision, then it sends a request to the ESA system to trigger automatic steering to avoid collision.

[0036] Specifically, the ADAS system continuously monitors for forward collision risks. When a collision risk exists and reaches the TTC1 threshold for triggering AEB (Autonomous Emergency Braking), the ADAS system determines whether collision avoidance is possible under TTC1 conditions. If collision avoidance is not possible but an avoidance path exists, ESA (Electronic Steering) is triggered. If collision avoidance is possible, AEB (Autonomous Emergency Braking) is triggered, and AEB sends an AEB request for braking deceleration to the vehicle's bus. Ultimately, the RBU (Roadside Bus) executes the braking request, and the EAS executes the steering collision avoidance request. After the collision risk disappears, the ADAS system returns to its initial state. This is understandable. Figure 3 The diagram illustrates redundant control of automatic emergency braking of a vehicle on a solid line, with the ADAS system acting as the decision-making system, the RBU redundant braking system, and the ESA system acting as the execution system (mechanism).

[0037] refer to Figure 4 When the vehicle's IPB integrated braking system is a combination of iBooster and ESP, and only ESP fails, iBooster and RBU redundant braking system can work together to complete the braking deceleration requested by AEB. That is, when the AEB function can complete the collision avoidance or there is no collision avoidance path, the AEB system sends a braking request to the vehicle bus. The RBU redundant braking system will allocate deceleration to the iBooster and RBU redundant braking system controller according to the AEB requested deceleration value and the braking capacity of iBooster and RBU redundant braking system.

[0038] refer to Figure 5In some embodiments or scenarios, the aforementioned vehicle automatic emergency braking redundancy control system is deployed on an intelligent vehicle, which includes multiple components on vehicle 201 of one aspect of this disclosure. While certain aspects of this disclosure are particularly useful for specific types of vehicles, the vehicle can be any type of vehicle, including but not limited to automobiles, trucks, motorcycles, buses, recreational vehicles, etc. The vehicle may have one or more computing devices, such as computing device 210 containing one or more processors 220, memory 230, and other components typically found in general-purpose computing devices. Memory 230 stores information accessible by one or more processors 220, including instructions 234 and data 232 that can be executed or otherwise used by the processors 220. Memory 230 can store any type of information accessible by the processor, including computing device-readable media, or other media that store data that can be read by means of electronic devices, such as hard disk drives, memory cards, read-only memory, random access memory, digital video discs or other optical discs, and other writable and read-only memories. Systems and methods may include different combinations of the foregoing, whereby different portions of instructions and data are stored on different types of media. Instructions 234 can be any set of instructions that are executed directly by the processor (such as machine code) or indirectly (such as scripts). For example, instructions can be stored as computing device code on a computing device-readable medium. In this regard, the terms "instruction" and "program" are used interchangeably herein. Instructions can be stored in object code format for direct processing by the processor, or stored in any other computing device language, including scripts or collections of standalone source code modules that are interpreted on demand or pre-compiled. The functions, methods, and routines of instructions are explained in more detail below. Data 232 can be retrieved, stored, or modified by processor 220 according to instructions 234. For example, although the claimed subject matter is not limited to any particular data structure, data can be stored in computing device registers, as a table with multiple different fields and records in a relational database, an XML document, or a flat file. Data can also be formatted in any computing device-readable format. Processor 220 can be any one or more conventional processors, such as a commercially available CPU. Alternatively, one or more processors can be special-purpose devices, such as ASICs or other hardware-based processors. Although Figure 5While the processor, memory, and other components of computing device 210 are shown functionally within the same box, those skilled in the art will understand that a processor, computing device, or memory may actually include multiple processors, computing devices, or memories that may or may not be stored in the same physical housing. For example, memory 230 may be a hard disk drive and / or other storage media located in a housing different from computing device 210. Therefore, references to processors or computing devices will be understood to include references to a collection of processors or computing devices or memories that may or may not operate in parallel. Computing device 210 may include all components typically used in combination with computing devices (such as the processor and memory described above) and one or more user inputs 250 (e.g., mouse, keyboard, touchscreen, and / or microphone) and various electronic displays (e.g., a monitor with a screen or any other electronic device operable to display information). In this example, the vehicle includes one or more interior displays 252 and one or more speakers 254 to provide information or an audiovisual experience. In this respect, the displays 252 may be located within the passenger compartment of vehicle 201 and may be used by computing device 210 to provide information to passengers or maintenance personnel inside or near vehicle 201. The computing device 210 may also include one or more wireless network connectors 256 for communicating with other computing devices, such as client computing devices and server computing devices described in detail below. Wireless network connectivity may include short-range communication protocols such as Bluetooth, Bluetooth Low Energy (LE), cellular connectivity, and various configurations and protocols including the Internet, World Wide Web, intranet, virtual private network, wide area network, local area network, private network using one or more proprietary communication protocols, Ethernet, Wi-Fi, and HTTP, and various combinations thereof. The computing device 210 of vehicle 201 may also send information to or receive information from other computing devices (not shown), such as computing devices that contain or otherwise store additional map or perception data. In one example, the computing device 210 may control computing devices integrated into an autonomous driving computing system of vehicle 201. The autonomous driving computing system is capable of communicating with various components of the vehicle to control the movement of vehicle 201 according to primary vehicle control code stored in memory 230. For example, computing device 210 can communicate with various systems of vehicle 201, such as deceleration system 260, acceleration system 262, steering system 264, signal system 266, navigation system 268, positioning system 270, sensing system 272 and power system 274 (i.e., the vehicle's engine or motor), in order to control the movement, speed, etc. of vehicle 201 according to instructions 234 from memory 230.Similarly, although these systems are shown as being external to the computing device 210, in practice, these systems can also be integrated into the computing device 210, as embodiments of an autonomous driving computing system, an intelligent assisted driving computing system, or a redundant braking system for controlling the vehicle 201.

[0039] refer to Figure 6 In a second aspect, the present invention provides a vehicle automatic emergency braking redundancy control method, comprising: S100. The ADAS system responds to a fault signal of the IPB integrated braking system and adjusts the collision detection trigger time of the AEB system based on the difference in maximum braking delay between the RBU redundant braking system and the IPB integrated braking system; S200. The AEB system determines whether the vehicle can avoid a collision, and based on the collision avoidance determination result, issues a braking request to the RBU redundant braking system or an automatic steering collision avoidance request to the ESA system.

[0040] Furthermore, in step S200 of some embodiments, the step of determining whether the vehicle can avoid a collision and, based on the collision avoidance determination result, issuing a braking request to the RBU redundant braking system or an automatic steering collision avoidance request to the ESA system includes: the AAEB system determining whether a collision has occurred based on the vehicle's current speed, collision time, the automatic capability of the RBU redundant braking system, and the maximum deceleration allowed by the RBU redundant braking system; if the AEB system triggers an avoidable collision or there is no collision avoidance path, the RBU redundant braking system executes the corresponding request; otherwise, the AEB system issues an automatic steering collision avoidance request to the ESA system. The specific execution steps of the above-described vehicle automatic emergency braking redundancy control method can be found in [reference needed]. Figures 2 to 4 This will not be elaborated upon here.

[0041] Example 3

[0042] refer to Figure 7 A third aspect of the present invention provides an electronic device comprising: one or more processors; and a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle automatic emergency braking redundancy control method of the second aspect of the present invention.

[0043] Electronic device 500 may include a processing unit (e.g., a central processing unit, a graphics processing unit, etc.) 501, which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 502 or a program loaded from storage device 508 into random access memory (RAM) 503. RAM 503 also stores various programs and data required for the operation of electronic device 500. The processing unit 501, ROM 502, and RAM 503 are interconnected via bus 504. Input / output (I / O) interface 505 is also connected to bus 504.

[0044] Typically, the following devices can be connected to I / O interface 505: input devices 506 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 507 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 508 including, for example, hard disks; and communication devices 509. Communication device 509 allows electronic device 500 to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 7 An electronic device 500 with various devices is shown; however, it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed alternatively. Figure 7 Each box shown can represent a device or multiple devices as needed.

[0045] Specifically, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, 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, it performs the functions defined in the methods of embodiments of this disclosure. It should be noted that the computer-readable medium described in embodiments of this disclosure can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A 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 thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having 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 fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In embodiments of this disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in connection with an instruction execution system, apparatus, or device. In embodiments of this disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0046] The aforementioned computer-readable medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device. The aforementioned computer-readable medium carries one or more computer programs, which, when executed by the electronic device, cause the electronic device to:

[0047] Computer program code for performing the operations of embodiments of this disclosure can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages—such as Java, Smalltalk, C++, and Python—and conventional procedural programming languages—such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0048] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0049] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A redundant control system for automatic emergency braking of a vehicle, comprising an ADAS system, an IPB integrated braking system, and an RBU redundant braking system, wherein the ADAS system, the IPB integrated braking system, and the RBU redundant braking system are respectively connected to a vehicle bus, and the ADAS system includes an AEB system and an ESA system, characterized in that, include: The ADAS system is configured to, in response to a fault signal from the IPB integrated braking system, adjust the collision detection trigger time of the AEB system based on the difference in maximum braking delay between the RBU redundant braking system and the IPB integrated braking system. The AEB system is configured to determine whether the vehicle can avoid a collision, and based on the collision avoidance determination, to issue a braking request to the RBU redundant braking system or an automatic steering collision avoidance request to the ESA system.

2. The vehicle automatic emergency braking redundancy control system according to claim 1, characterized in that, The adjustment of the collision detection trigger time of the AEB system in response to a fault signal from the IPB integrated braking system, based on the difference in the time delay between the RBU redundant braking system and the IPB integrated braking system in reaching maximum braking force, includes: After the ADAS system and the RBU redundant braking system receive the same IPB fault signal, they calculate the difference in the time delay between the RBU redundant braking system and the IPB integrated braking system in reaching the maximum braking force. Based on the difference in maximum braking delay, the advance amount of the collision detection trigger time of the AEB system is determined.

3. The vehicle automatic emergency braking redundancy control system according to claim 2, characterized in that, The collision detection trigger time has an advance of 0.4 seconds or more.

4. The vehicle automatic emergency braking redundancy control system according to claim 1, characterized in that, The process of determining whether the vehicle can avoid a collision, and issuing a braking request to the RBU redundant braking system or an automatic steering collision avoidance request to the ESA system based on the collision avoidance determination, includes: The AEB system determines whether a collision has occurred based on the vehicle's current speed, collision time, braking capacity of the RBU redundant braking system, and the maximum deceleration allowed by the RBU redundant braking system. If the AEB system triggers an avoidable collision or there is no collision avoidance path, the RBU redundant braking system executes the corresponding request. Otherwise, the AEB system sends a request to the ESA system to trigger automatic steering to avoid a collision.

5. The vehicle automatic emergency braking redundancy control system according to claim 4, characterized in that, The request to the ESA system to trigger automatic steering to avoid collision includes: If the AEB system determines that a collision is unavoidable for the current vehicle and there is a path that can avoid the collision, it sends a request to the ESA system to trigger automatic steering to avoid the collision.

6. The vehicle automatic emergency braking redundancy control system according to any one of claims 1 to 5, characterized in that, Also includes: iBooster is configured to perform braking operations equivalent to those of an RBU redundant braking system.

7. A redundancy control method for automatic emergency braking of a vehicle, characterized in that, include: In response to a fault signal from the IPB integrated braking system, the ADAS system adjusts the collision detection trigger time of the AEB system based on the difference in maximum braking delay between the RBU redundant braking system and the IPB integrated braking system. The AEB system determines whether the vehicle can avoid a collision, and based on the collision avoidance judgment, sends a braking request to the RBU redundant braking system or an automatic steering collision avoidance request to the ESA system.

8. The vehicle automatic emergency braking redundancy control method according to claim 7, characterized in that, The process of determining whether a collision can be avoided and, based on the collision avoidance determination, issuing a braking request to the RBU redundant braking system or an automatic steering collision avoidance request to the ESA system includes: the AEB system determining whether a collision has occurred based on the vehicle's current speed, the collision time, the automatic capability of the RBU redundant braking system, and the maximum deceleration allowed by the RBU redundant braking system. If the AEB system triggers an avoidable collision or there is no collision avoidance path, the RBU redundant braking system executes the corresponding request. Otherwise, the AEB system sends a request to the ESA system to trigger automatic steering to avoid a collision.

9. An electronic device, comprising: One or more processors; A storage device for storing one or more programs that, when executed by one or more processors, cause the one or more processors to implement the vehicle automatic emergency braking redundancy control method as described in claim 7 or 8.

10. A computer-readable medium having a computer program stored thereon, wherein, When the computer program is executed by the processor, it implements the vehicle automatic emergency braking redundancy control method as described in claim 7 or 8.

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