Brake-by-wire redundancy control method and device, automobile and storage medium

Abstract

The application relates to a brake-by-wire redundancy control method and device, an automobile and a computer readable storage medium. The method comprises the following steps: sending a driving brake acceleration request, judging whether an electronic brake controller, a vehicle body electronic stability controller and an electronic parking brake controller are normally operated; if all are normally operated, controlling a normal response to the driving brake acceleration request, otherwise, controlling a response to the driving brake acceleration request or a parking brake acceleration request; sending a parking brake acceleration request, judging whether the electronic brake controller, the vehicle body electronic stability controller and the electronic parking brake controller are normally operated; if all are normally operated, controlling the electronic parking brake controller to normally respond to the parking brake acceleration request, otherwise, controlling a response to the driving brake acceleration request with a maximum brake acceleration. Therefore, the problem of vehicle brake failure is effectively solved without increasing additional hardware and controlling the cost of the whole vehicle brake system, and the safety of the vehicle is improved.

Description

Technical Field

[0001] This application belongs to the field of automotive safety optimization technology, specifically relating to a brake-by-wire redundancy control method, device, automobile, and computer-readable storage medium. Background Technology

[0002] With the rapid development of science and technology, autonomous driving in the automotive field has also flourished. Ensuring the continuous safe operation of autonomous vehicles has become an increasingly important research topic. A common autonomous driving system structure replaces traditional mechanical braking, steering, and drive systems with drive-by-wire systems, with the autonomous driving controller using CAN communication to control these systems. However, if the braking system malfunctions or the CAN communication fails, the entire vehicle will face safety risks.

[0003] Currently, redundant control of autonomous driving in automobiles generally involves redundant backup brake-by-wire systems with multiple systems, multiple control chips, and multiple braking sampling information. However, redundant systems with multiple systems and multiple control chips increase the complexity of the braking system, and the weight and cost of the vehicle will increase accordingly. Redundant backup brake-by-wire systems with multiple braking sampling information, since only the parking brake assists after the service brake fails, may have safety issues such as tail-swing after braking at high speeds or low ground adhesion coefficients. Summary of the Invention

[0004] The purpose of this application is to provide a brake-by-wire redundancy control method, device, vehicle, and computer-readable storage medium, which effectively solves the problem of vehicle braking failure caused by a single or multiple faults in the braking system without adding extra hardware or controlling the cost of the entire vehicle braking system, and enables the continuous and safe operation of autonomous vehicles.

[0005] This application discloses a brake-by-wire redundancy control method applied to the braking system of an autonomous vehicle. The braking system of the autonomous vehicle includes an electronic power-assisted brake controller, an electronic stability controller, and an electronic parking brake controller. The method includes:

[0006] Send a service braking acceleration request and determine whether the electronic power brake controller, electronic stability controller and electronic parking brake controller are operating normally;

[0007] If all systems are operating normally, the braking system will respond normally to the service braking acceleration request; otherwise, the electronic power-assisted brake controller and / or the electronic stability controller will respond to the service braking acceleration request, or the electronic parking brake controller will respond to the parking braking acceleration request.

[0008] Send a parking brake acceleration request and determine whether the electronic power assist brake controller, electronic stability controller and electronic parking brake controller are operating normally;

[0009] If both are operating normally, the electronic parking brake controller will respond normally to the parking brake acceleration request; otherwise, the electronic power assist brake controller or the vehicle electronic stability controller will respond to the service brake acceleration request with maximum braking acceleration.

[0010] In one exemplary embodiment of this application, the step of sending a service braking acceleration request and determining whether the electronic power-assisted brake controller, the electronic stability controller, and the electronic parking brake controller are operating normally further includes:

[0011] Determine whether the electronic parking brake controller receives communication from the electronic power assist brake controller and the electronic stability controller;

[0012] If the electronic parking brake controller fails to receive communication from the electronic power assist brake controller and the electronic stability controller, it controls the electronic parking brake controller to respond to the parking brake acceleration request with maximum braking acceleration.

[0013] In one exemplary embodiment of this application, after the step of determining whether the electronic parking brake controller receives communication from the electronic power-assisted brake controller and the electronic stability controller, the method includes:

[0014] If the electronic parking brake controller receives communication from the electronic power assist brake controller or the electronic stability controller;

[0015] Then determine whether the fault flag bits of the electronic power brake controller and the electronic stability controller are 0;

[0016] If not, determine whether the fault flag bit of the electronic power brake controller is 1;

[0017] If the fault flag bit of the electronic power-assisted brake controller is 1, then the electronic stability controller is controlled to respond to the service braking acceleration request.

[0018] In one exemplary embodiment of this application, after the step of determining whether the fault flag bit of the electronic power-assisted brake controller is 1, the method includes:

[0019] If the fault flag bit of the electronic power-assisted brake controller is 0, then determine whether the fault flag bit of the electronic stability controller is 1.

[0020] If the fault flag bit of the electronic stability controller is 1, the electronic parking brake controller is controlled to obtain the braking acceleration by looking up a table based on the real-time vehicle speed, and the electronic parking brake controller is controlled to respond to the parking brake acceleration request.

[0021] In one exemplary embodiment of this application, after the step of determining whether the fault flag bits of the electronic power-assisted brake controller and the electronic stability controller are 0, the method further includes:

[0022] If so, determine whether the vehicle electronic stability controller has received communication from the electronic power brake controller;

[0023] If the electronic stability controller cannot receive communication from the electronic power brake controller, it controls the electronic stability controller to respond to the service braking acceleration request.

[0024] In one exemplary embodiment of this application, after the step of determining whether the vehicle electronic stability controller has received communication from the electronic power-assisted brake controller, the method includes:

[0025] If the vehicle electronic stability controller receives communication from the electronic power-assisted brake controller, it detects whether the master cylinder pressure of the electronic power-assisted brake controller has dropped;

[0026] If the master cylinder pressure of the electronic power-assisted brake controller drops, the electronic power-assisted brake controller and the vehicle electronic stability controller are controlled to respond to the service braking acceleration request.

[0027] If the master cylinder pressure of the electronic power-assisted brake controller does not drop, then the electronic power-assisted brake controller is controlled to respond to the service braking acceleration request.

[0028] In one exemplary embodiment of this application, the step of sending a parking brake acceleration request and determining whether the electronic power-assisted brake controller, the electronic stability controller, and the electronic parking brake controller are operating normally further includes:

[0029] Determine whether the communication between the electronic power-assisted brake controller and the electronic stability controller receives communication from the electronic parking brake controller;

[0030] If not, determine whether the fault flag bit of the electronic power brake controller is 1;

[0031] If the fault flag bit of the electronic power-assisted brake controller is 1, then the electronic stability controller is controlled to respond to the service braking acceleration request with maximum braking acceleration.

[0032] In one exemplary embodiment of this application, after the step of determining whether the fault flag bit of the electronic power-assisted brake controller is 1, the method further includes:

[0033] If the fault flag bit of the electronic power-assisted brake controller is 0, then the electronic power-assisted brake controller is controlled to respond to the service braking acceleration request with the maximum braking acceleration.

[0034] In one exemplary embodiment of this application, after the step of determining whether the communication between the electronic power-assisted brake controller and the electronic stability controller has been received by the communication between the electronic parking brake controller, the method further includes:

[0035] If so, determine whether the fault flag bit of the electronic parking brake controller is 0;

[0036] If the fault flag bit of the electronic parking brake controller is 0, then the electronic parking brake controller is controlled to respond to the parking brake acceleration request.

[0037] In one exemplary embodiment of this application, the braking system of the autonomous vehicle includes a first CAN bus and a second CAN bus. The electronic power-assisted brake controller, the electronic stability controller, and the electronic parking brake controller are all connected to the first CAN bus and the second CAN bus, and at least one of them is connected to the first CAN bus or the second CAN bus.

[0038] In one exemplary embodiment of this application, the maximum braking acceleration range is -8 m / s². 2 up to -10m / s 2 .

[0039] This application also discloses a brake-by-wire redundancy control device applied to the braking system of an autonomous vehicle. The braking system of the autonomous vehicle includes an electronic power-assisted brake controller, an electronic stability controller, and an electronic parking brake controller. The brake-by-wire redundancy control device includes:

[0040] The first judgment module is used to send a driving braking acceleration request and determine whether the electronic power brake controller, the electronic stability controller and the electronic parking brake controller are operating normally.

[0041] The first control module is used to control the braking system to respond normally to the service braking acceleration request if all are operating normally, and otherwise control the electronic power-assisted brake controller and / or the vehicle electronic stability controller to respond to the service braking acceleration request, or control the electronic parking brake controller to respond to the parking braking acceleration request.

[0042] The second judgment module is used to send a parking brake acceleration request and determine whether the electronic power brake controller, the electronic stability controller and the electronic parking brake controller are operating normally.

[0043] The second control module is used to control the electronic parking brake controller to respond normally to the parking brake acceleration request if both are operating normally, and otherwise control the electronic power assist brake controller or the vehicle electronic stability controller to respond to the service brake acceleration request with maximum braking acceleration.

[0044] This application also discloses an automobile, including: a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other through the communication bus;

[0045] The memory is used to store at least one executable instruction that causes the processor to perform the operation of the line-controlled braking redundancy control method as described above.

[0046] Another aspect of this application discloses a computer-readable storage medium storing at least one executable instruction that, when executed on a brake-by-wire redundancy control device / vehicle, causes the brake-by-wire redundancy control device / vehicle to perform the operation of the brake-by-wire redundancy control method as described above.

[0047] In this embodiment, the brake-by-wire redundancy control method is applied to the braking system of an autonomous vehicle. The braking system includes an electronic power-assisted brake controller, an electronic stability controller, and an electronic parking brake controller. The technical solution of this application determines whether the electronic power-assisted brake controller, electronic stability controller, and electronic parking brake controller are operating normally when a service braking acceleration request is sent, thereby controlling the braking system to operate normally, or controlling the electronic power-assisted brake controller and electronic stability controller to respond to the service braking acceleration request, or controlling the electronic parking brake controller to respond to the parking braking acceleration request; and when a parking braking acceleration request is sent, determines whether the electronic power-assisted brake controller, electronic stability controller, and electronic parking brake controller are operating normally, thereby controlling the electronic parking brake controller to respond normally to the parking braking acceleration request, or controlling the electronic power-assisted brake controller to respond to the service braking acceleration request with maximum braking acceleration, or controlling the electronic stability controller to respond to the service braking acceleration request with maximum braking acceleration. The technical solution of this application effectively solves the problem of vehicle braking failure caused by a single or multiple faults in the braking system without adding extra hardware and controlling the cost of the vehicle braking system. It enables redundant control between vehicle service brakes and between service brakes and parking brakes, thereby enabling the continuous and safe operation of autonomous vehicles.

[0048] The above description is merely an overview of the technical solutions of the embodiments of the present invention. In order to better understand the technical means of the embodiments of the present invention and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0049] The accompanying drawings, incorporated in and forming part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without inventive effort. The drawings herein are for illustrating the inventive concept of this application and are not entirely equivalent to the structure of the actual product protected by this application.

[0050] Figure 1 A flowchart illustrating an embodiment of the line-controlled dynamic redundancy control method of this application is shown;

[0051] Figure 2 A flowchart of an embodiment of the service braking strategy in the line-controlled braking redundancy control method of this application is shown;

[0052] Figure 3 A flowchart of an embodiment of the parking brake strategy in the line-controlled braking redundancy control method of this application is shown;

[0053] Figures 4-11 The diagram shows the structural schematics of the service brake controller and the parking brake controller in the linear control dynamic redundancy control method of this application;

[0054] Figure 12 A schematic diagram of an embodiment of the brake-by-wire redundancy control device provided by the present invention is shown.

[0055] Figure 13 A schematic diagram of an embodiment of the wire-controlled braking redundancy control implementation device provided by the present invention is shown. Detailed Implementation

[0056] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided to make this application more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art.

[0057] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0058] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments. It should be noted that the technical features involved in the various embodiments described below can be combined with each other as long as they do not conflict with each other. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present application, and should not be construed as limiting the present application.

[0059] The brake-by-wire redundancy control method disclosed in this application is applied to vehicles, and the vehicles provided in this application can be autonomous vehicles such as gasoline vehicles, diesel vehicles, electric vehicles, or hybrid vehicles. In some embodiments, the vehicle provided in this application includes a braking system, which includes an electronic power-assisted brake controller (Booster), an electronic stability controller (ESC), and an electronic parking brake controller (EPB). In autonomous vehicles, the braking system is controlled via CAN communication; however, if the braking system malfunctions or the CAN communication becomes abnormal, the entire vehicle will face safety risks.

[0060] Traditional technologies offer solutions for braking system failures. One approach is a dual-redundant backup brake-by-wire system based on two separate systems. While this effectively addresses safety issues in the event of a single braking system failure, the use of two brake-by-wire systems increases system complexity and consequently, vehicle weight and cost. Another dual-redundant backup brake-by-wire system based on two control chips provides redundancy between the front and rear braking systems, improving overall braking safety and reliability. However, the use of multiple control chips also increases overall vehicle control costs. Yet another approach involves using multiple braking sampling information inputs to determine the braking system failure stage and ultimately assisting braking through the electronic parking brake (EPB). While this method can distinguish whether the vehicle is in a state of abnormal brake assist and apply the parking brake accordingly, the risk of skidding after braking remains, especially at higher speeds or with low ground adhesion, as only the parking brake assists after the service brake fails. Finally, a control method that implements a composite function degradation mode and failure protection has been proposed. Although this method can achieve redundant backup braking after braking failure through the electric drive system, if the battery SOC is high, the electric drive system can provide a small or even no recovery current. Otherwise, the battery will have an overcharge safety problem, and the braking effect will be limited.

[0061] Based on the above problems, in one embodiment, reference is made to... Figure 1 As for Figure 3 As shown, this embodiment provides a brake-by-wire redundancy control method, which includes:

[0062] Step S100: Send a service braking acceleration request and determine whether the electronic power assist brake controller, electronic stability controller and electronic parking brake controller are operating normally.

[0063] Step S200: If all are operating normally, control the braking system to respond normally to the service braking acceleration request; otherwise, control the electronic power-assisted brake controller and / or the vehicle electronic stability controller to respond to the service braking acceleration request, or control the electronic parking brake controller to respond to the parking braking acceleration request.

[0064] In this embodiment, after sending a service braking acceleration request, the ADAS system of the autonomous vehicle determines whether the electronic power-assisted brake controller, the electronic stability controller, and the electronic parking brake controller are operating normally. Specifically, this includes determining whether the electronic parking brake controller receives communication from both the electronic power-assisted brake controller and the electronic stability controller. If the electronic parking brake controller fails to receive communication from either the electronic power-assisted brake controller or the electronic stability controller, it controls the electronic parking brake controller to respond to the parking braking acceleration request a with maximum braking acceleration. max1 This embodiment can determine that the electronic power-assisted brake controller and the electronic stability controller may be malfunctioning or operating abnormally. In this case, the electronic parking brake controller is controlled to respond to the parking brake acceleration request with the maximum braking acceleration, thereby achieving vehicle braking.

[0065] It should be noted that the service braking acceleration request can also be issued by the remote control, and the maximum braking acceleration of the electronic parking brake controller can be in the range of -8m / s². 2 up to -10m / s 2 For example, the maximum braking acceleration of an electronic parking brake controller can be -8 m / s². 2 -10m / s 2 The specific settings are determined based on the actual application and are not limited here.

[0066] Furthermore, if the electronic parking brake controller receives communication from the electronic power-assisted brake controller or the electronic stability controller, it will continue to determine whether the fault flag bit of the electronic power-assisted brake controller and the electronic stability controller is 0.

[0067] If either the fault flag bit of the electronic power brake controller or the electronic stability controller is not 0, it indicates that at least one of the electronic power brake controllers or the electronic stability controller is faulty. The system then checks if the fault flag bit of the electronic power brake controller is 1. If the fault flag bit of the electronic power brake controller is 1, it indicates that the electronic power brake controller is faulty, and the system then controls the electronic stability controller to respond to the service braking acceleration request. brk This allows the vehicle to brake.

[0068] Furthermore, if the fault flag of the electronic power brake controller is 0, it indicates that the electronic power brake controller is operating normally, and the system continues to check if the fault flag of the electronic stability controller is 1; if the fault flag of the electronic stability controller is 1, it indicates that the electronic stability controller is operating abnormally and has a fault, and the system then controls the electronic parking brake controller to obtain the braking acceleration from a table based on the real-time vehicle speed, and controls the electronic parking brake controller to respond to the parking brake acceleration request a. EPBThis allows the vehicle to brake.

[0069] Furthermore, if the fault flag bits of both the electronic power-assisted brake controller and the electronic stability controller are 0, it indicates that both the electronic power-assisted brake controller and the electronic stability controller are operating normally. The system then proceeds to determine whether the electronic stability controller can receive communication from the electronic power-assisted brake controller. If the electronic stability controller cannot receive communication from the electronic power-assisted brake controller, it controls the electronic stability controller to respond to the service braking acceleration request. brk This allows the vehicle to brake.

[0070] If the Electronic Stability Controller receives communication from the Electronic Power Brake Controller, it further checks whether there is a drop in the master cylinder pressure of the Electronic Power Brake Controller; if there is a drop in the master cylinder pressure of the Electronic Power Brake Controller, it controls the Electronic Power Brake Controller and the Electronic Stability Controller to respond to the service braking acceleration request. brk This achieves vehicle braking; if the master cylinder pressure of the electronic power-assisted brake controller does not drop, then the electronic power-assisted brake controller is controlled to respond to the service braking acceleration request a. brk This allows the vehicle to brake.

[0071] Understandably, when the fault flags for the electronic power brake controller and the electronic stability control system are 0, it indicates that the electronic power brake controller and the electronic stability control system are operating normally; when the fault flags are 1, it indicates that the electronic power brake controller and the electronic stability control system are operating abnormally and have a fault. Similarly, when the fault flag for the electronic power brake controller is 1, it indicates that the electronic power brake controller is operating abnormally and has a fault; when the fault flag is 0, it indicates that the electronic power brake controller is operating normally.

[0072] Furthermore, in one embodiment, reference is made to... Figure 1 As for Figure 3 As shown, in step S300, a parking brake acceleration request is sent, and it is determined whether the electronic power assist brake controller, the electronic stability controller and the electronic parking brake controller are operating normally.

[0073] In step S400, if all operations are normal, the electronic parking brake controller is controlled to respond normally to the parking brake acceleration request; otherwise, the electronic power assist brake controller or the vehicle electronic stability controller is controlled to respond to the service brake acceleration request with maximum braking acceleration.

[0074] In this embodiment, after sending the parking brake acceleration request, the determination of whether the electronic power-assisted brake controller, the electronic stability controller, and the electronic parking brake controller are operating normally specifically includes: determining whether the electronic power-assisted brake controller and the electronic stability controller receive communication from the electronic parking brake controller; if the electronic power-assisted brake controller and the electronic stability controller cannot receive communication from the electronic parking brake controller, then it continues to determine whether the fault flag bit of the electronic power-assisted brake controller is 1; if the fault flag bit of the electronic power-assisted brake controller is 1, it indicates that the electronic power-assisted brake controller is operating abnormally and has a fault. At this time, the electronic stability controller is controlled to respond to the service brake acceleration request a with the maximum braking acceleration. max2 This is to achieve vehicle braking.

[0075] It should be noted that the maximum braking acceleration of the electronic stability controller can be in the range of -8m / s². 2 up to -10m / s 2 The settings are based on the actual application and are not specifically limited here.

[0076] Furthermore, if the fault flag bit of the electronic power-assisted brake controller is 0, it indicates that the electronic power-assisted brake controller is operating normally. In this case, the electronic power-assisted brake controller is controlled to respond to the service braking acceleration request with maximum braking acceleration. max3 This is to achieve vehicle braking.

[0077] It should be noted that the maximum braking acceleration of the electronic power-assisted brake controller can be in the range of -8m / s². 2 up to -10m / s 2 The settings are based on the actual application and are not specifically limited here.

[0078] Furthermore, if the electronic power brake controller and the electronic stability controller can receive communication from the electronic parking brake controller, then it continues to determine whether the fault flag bit of the electronic parking brake controller is 0; if the fault flag bit of the electronic parking brake controller is 0, it means that the electronic parking brake controller is operating normally, and at this time, the electronic parking brake controller is controlled to respond to the parking brake acceleration request to achieve vehicle braking.

[0079] It should be noted that, in the above embodiments, the vehicle's braking system includes a first CAN bus and a second CAN bus. The electronic power-assisted brake controller, the electronic stability controller, and the electronic parking brake controller are all connected to the first CAN bus and the second CAN bus, and at least one of them is connected to either the first CAN bus or the second CAN bus. That is, referring to... Figure 4 As for Figure 11As shown, the electronic power-assisted brake controller, electronic stability controller, and electronic parking brake controller can be simultaneously located on the first CAN bus or the second CAN bus. Through vehicle control, redundant control is achieved between the two service brake controllers and one parking brake controller, preventing damage to any one or two of the three brake controllers. Braking control can also be performed using the remaining brake controllers. Furthermore, the electronic power-assisted brake controller and electronic stability controller can be located on the first CAN bus, and the electronic parking brake controller can be located on the second CAN bus; alternatively, the electronic power-assisted brake controller and electronic parking brake controller can be located on the first CAN bus. The electronic stability controller (ESC) is located on the second CAN bus; alternatively, the ESC and electronic parking brake controllers can be located on the first CAN bus, and the electronic power-assisted brake controller on the second CAN bus. Through vehicle control, the three brake controllers can be arbitrarily located on the first and second CAN buses, enabling redundant control between the two service brake controllers and the one parking brake controller. This prevents braking control from being achieved even if one or two of the three brake controllers fail, as the remaining controllers can still control braking. Alternatively, even if any CAN bus fails, braking control signals can still be transmitted through the remaining CAN buses. This scheme allows for redundant configuration of the electronic power-assisted brake controller, ESC, and electronic parking brake controllers, as well as redundancy on the first and second CAN buses. By assigning brake controllers to different CAN buses, a backup braking system is ensured in the event of a single CAN network failure. Furthermore, redundant braking is implemented based on separate backups for the service and parking brakes. This effectively solves the problem of braking failure in autonomous vehicles due to single or multiple brake system failures, ensuring the continuous and safe operation of autonomous vehicles. At the same time, no additional hardware is needed, thus controlling the cost of the entire vehicle braking system.

[0080] Figure 12 A schematic diagram of the linear control dynamic redundancy control device in this application is shown. Figure 12 As shown, the brake-by-wire redundancy control device 700 is applied to the braking system of an autonomous vehicle. The braking system of the autonomous vehicle includes an electronic power-assisted brake controller, a vehicle electronic stability controller, and an electronic parking brake controller. The brake-by-wire redundancy control device 700 includes: a first judgment module 710, a first control module 720, a second judgment module 730, and a second control module 740.

[0081] The first judgment module 710 is used to send a service braking acceleration request and determine whether the electronic power brake controller, the vehicle electronic stability controller and the electronic parking brake controller are operating normally.

[0082] The first control module 720 is used to control the braking system to respond normally to the service braking acceleration request if both are operating normally; otherwise, it controls the electronic power-assisted brake controller and / or the vehicle electronic stability controller to respond to the service braking acceleration request, or controls the electronic parking brake controller to respond to the parking braking acceleration request.

[0083] The second judgment module 730 is used to send a parking brake acceleration request and determine whether the electronic power brake controller, the electronic stability controller and the electronic parking brake controller are operating normally.

[0084] The second control module 740 is used to control the electronic parking brake controller to respond normally to the parking brake acceleration request if both are operating normally, and otherwise control the electronic power assist brake controller or the vehicle electronic stability controller to respond to the service brake acceleration request with the maximum braking acceleration.

[0085] In one alternative, the first judgment module 710 is further configured to determine whether the electronic parking brake controller receives communication from the electronic power assist brake controller and the vehicle electronic stability controller.

[0086] The first control module 720 is further configured to control the electronic parking brake controller to respond to the parking brake acceleration request with the maximum braking acceleration if the electronic parking brake controller fails to receive communication from the electronic power assist brake controller and the vehicle electronic stability controller.

[0087] In one alternative, the first judgment module 710 is further configured to determine whether the electronic parking brake controller receives communication from the electronic power assist brake controller and the vehicle electronic stability controller.

[0088] If the electronic parking brake controller fails to receive communication from the electronic power assist brake controller and the electronic stability controller, it controls the electronic parking brake controller to respond to the parking brake acceleration request with maximum braking acceleration.

[0089] In one alternative approach, the first determination module 710 is further configured to determine if the electronic parking brake controller receives communication from the electronic power assist brake controller or the vehicle electronic stability controller.

[0090] Then determine whether the fault flag bits of the electronic power brake controller and the electronic stability controller are 0;

[0091] If not, determine whether the fault flag bit of the electronic power brake controller is 1;

[0092] The first control module 720 is further configured to control the vehicle electronic stability controller to respond to the service braking acceleration request if the fault flag bit of the electronic power-assisted brake controller is 1.

[0093] In one alternative, the first judgment module 710 is further configured to determine whether the fault flag bit of the vehicle electronic stability controller is 1 if the fault flag bit of the electronic power-assisted brake controller is 0.

[0094] The first control module 720 is further configured to, if the fault flag bit of the electronic stability controller is 1, control the electronic parking brake controller to obtain the braking acceleration by looking up a table based on the real-time vehicle speed, and control the electronic parking brake controller to respond to the parking brake acceleration request.

[0095] In one alternative, the first judgment module 710 is further configured to determine whether the vehicle electronic stability controller has received communication from the electronic power-assisted brake controller if the condition is met.

[0096] The first control module 720 is further configured to control the electronic stability controller to respond to the service braking acceleration request if the electronic stability controller cannot receive communication from the electronic power-assisted brake controller.

[0097] In an alternative embodiment, the first judgment module 710 is further configured to detect whether the master cylinder pressure of the electronic power-assisted brake controller has dropped if the vehicle electronic stability controller receives communication from the electronic power-assisted brake controller.

[0098] The first control module 720 is also used to control the electronic power-assisted brake controller and the vehicle electronic stability controller to respond to the service braking acceleration request if the master cylinder pressure of the electronic power-assisted brake controller drops.

[0099] If the master cylinder pressure of the electronic power-assisted brake controller does not drop, then the electronic power-assisted brake controller is controlled to respond to the service braking acceleration request.

[0100] In one alternative, the second judgment module 730 is further configured to determine whether the communication between the electronic power-assisted brake controller and the vehicle electronic stability controller has received the communication from the electronic parking brake controller.

[0101] If not, determine whether the fault flag bit of the electronic power brake controller is 1;

[0102] The second control module 740 is further configured to control the vehicle electronic stability controller to respond to the service braking acceleration request with maximum braking acceleration if the fault flag bit of the electronic power-assisted brake controller is 1.

[0103] In an alternative embodiment, the second control module 740 is further configured to control the electronic power-assisted brake controller to respond to the service braking acceleration request with maximum braking acceleration if the fault flag bit of the electronic power-assisted brake controller is 0.

[0104] In an alternative embodiment, the second judgment module 730 is further configured to determine whether the fault flag bit of the electronic parking brake controller is 0 if the fault flag bit is 0.

[0105] The second control module 740 is further configured to control the electronic parking brake controller to respond to a parking brake acceleration request if the fault flag bit of the electronic parking brake controller is 0.

[0106] In this embodiment, the brake-by-wire redundancy control device includes a first judgment module 710, a first control module 720, a second judgment module 730, and a second control module 740. The brake-by-wire redundancy control device is applied to the braking system of an autonomous vehicle. The braking system of the autonomous vehicle includes an electronic power-assisted brake controller, an electronic stability controller, and an electronic parking brake controller. In this application, the first judgment module 710, upon sending a service braking acceleration request, judges whether the electronic power-assisted brake controller, the electronic stability controller, and the electronic parking brake controller are operating normally, thereby controlling the braking system to operate normally through the first control module 720. Alternatively, the electronic power-assisted brake controller and the electronic stability controller may respond to a service braking acceleration request or control the electronic parking brake controller to respond to a parking braking acceleration request; and the second judgment module 730, upon sending a parking braking acceleration request, determines whether the electronic power-assisted brake controller, the electronic stability controller, and the electronic parking brake controller are operating normally, thereby controlling the electronic parking brake controller to respond normally to the parking braking acceleration request, or controlling the electronic power-assisted brake controller to respond to the service braking acceleration request with maximum braking acceleration, or controlling the electronic stability controller to respond to the service braking acceleration request with maximum braking acceleration. Through the technical solution of this application, without adding extra hardware and controlling the cost of the entire vehicle braking system, the problem of vehicle braking failure due to a single or multiple faults in the braking system is effectively solved. It enables redundant control between vehicle service brakes and between service brakes and parking brakes, thereby ensuring the continuous and safe operation of autonomous vehicles.

[0107] Figure 13The diagram shows a structural schematic of the vehicle of the present invention. The specific embodiments of the present invention do not limit the specific implementation of the vehicle.

[0108] like Figure 13 As shown, the vehicle may include: a processor 802, a communications interface 804, a memory 806, and a communications bus 808.

[0109] The processor 802, communication interface 804, and memory 806 communicate with each other via communication bus 808. Communication interface 804 is used to communicate with other network elements, such as clients or other servers. Processor 802 executes program 810, specifically performing the relevant steps described above in the embodiment of the line-controlled braking redundancy control method.

[0110] Specifically, program 810 may include program code, which includes computer-executable instructions.

[0111] The processor 802 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention. The vehicle may include one or more processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0112] Memory 806 is used to store program 810. Memory 806 may have high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0113] Specifically, program 810 can be called by processor 802 to cause the car to perform the following operations:

[0114] Send a service braking acceleration request and determine whether the electronic power brake controller, electronic stability controller and electronic parking brake controller are operating normally;

[0115] If all systems are operating normally, the braking system will respond normally to the service braking acceleration request; otherwise, the electronic power-assisted brake controller and / or the electronic stability controller will respond to the service braking acceleration request, or the electronic parking brake controller will respond to the parking braking acceleration request.

[0116] Send a parking brake acceleration request and determine whether the electronic power assist brake controller, electronic stability controller and electronic parking brake controller are operating normally;

[0117] If both are operating normally, the electronic parking brake controller will respond normally to the parking brake acceleration request; otherwise, the electronic power assist brake controller or the vehicle electronic stability controller will respond to the service brake acceleration request with maximum braking acceleration.

[0118] In an alternative approach, program 810 can be invoked by processor 802 to cause the vehicle to perform the following operations:

[0119] Determine whether the electronic parking brake controller receives communication from the electronic power assist brake controller and the electronic stability controller;

[0120] If the electronic parking brake controller fails to receive communication from the electronic power assist brake controller and the electronic stability controller, it controls the electronic parking brake controller to respond to the parking brake acceleration request with maximum braking acceleration.

[0121] In an alternative approach, program 810 can be invoked by processor 802 to cause the vehicle to perform the following operations:

[0122] If the electronic parking brake controller receives communication from the electronic power assist brake controller or the electronic stability controller;

[0123] Then determine whether the fault flag bits of the electronic power brake controller and the electronic stability controller are 0;

[0124] If not, determine whether the fault flag bit of the electronic power brake controller is 1;

[0125] If the fault flag bit of the electronic power-assisted brake controller is 1, then the electronic stability controller is controlled to respond to the service braking acceleration request.

[0126] In an alternative approach, program 810 can be invoked by processor 802 to cause the vehicle to perform the following operations:

[0127] If the fault flag bit of the electronic power-assisted brake controller is 0, then determine whether the fault flag bit of the electronic stability controller is 1.

[0128] If the fault flag bit of the electronic stability controller is 1, the electronic parking brake controller is controlled to obtain the braking acceleration by looking up a table based on the real-time vehicle speed, and the electronic parking brake controller is controlled to respond to the parking brake acceleration request.

[0129] In an alternative approach, program 810 can be invoked by processor 802 to cause the vehicle to perform the following operations:

[0130] If so, determine whether the vehicle electronic stability controller has received communication from the electronic power brake controller;

[0131] If the electronic stability controller cannot receive communication from the electronic power brake controller, it controls the electronic stability controller to respond to the service braking acceleration request.

[0132] In an alternative approach, program 810 can be invoked by processor 802 to cause the vehicle to perform the following operations:

[0133] If the vehicle electronic stability controller receives communication from the electronic power-assisted brake controller, it detects whether the master cylinder pressure of the electronic power-assisted brake controller has dropped;

[0134] If the master cylinder pressure of the electronic power-assisted brake controller drops, the electronic power-assisted brake controller and the vehicle electronic stability controller are controlled to respond to the service braking acceleration request.

[0135] If the master cylinder pressure of the electronic power-assisted brake controller does not drop, then the electronic power-assisted brake controller is controlled to respond to the service braking acceleration request.

[0136] In an alternative approach, program 810 can be invoked by processor 802 to cause the vehicle to perform the following operations:

[0137] Determine whether the communication between the electronic power-assisted brake controller and the electronic stability controller receives communication from the electronic parking brake controller;

[0138] If not, determine whether the fault flag bit of the electronic power brake controller is 1;

[0139] If the fault flag bit of the electronic power-assisted brake controller is 1, then the electronic stability controller is controlled to respond to the service braking acceleration request with maximum braking acceleration.

[0140] In an alternative approach, program 810 can be invoked by processor 802 to cause the vehicle to perform the following operations:

[0141] If the fault flag bit of the electronic power-assisted brake controller is 0, then the electronic power-assisted brake controller is controlled to respond to the service braking acceleration request with the maximum braking acceleration.

[0142] In an alternative approach, program 810 can be invoked by processor 802 to cause the vehicle to perform the following operations:

[0143] If so, determine whether the fault flag bit of the electronic parking brake controller is 0;

[0144] If the fault flag bit of the electronic parking brake controller is 0, then the electronic parking brake controller is controlled to respond to the parking brake acceleration request.

[0145] The brake-by-wire redundancy control method of this invention determines whether the electronic power-assisted brake controller, electronic stability controller, and electronic parking brake controller are operating normally when a service braking acceleration request is sent. This determines whether the braking system operates normally, or whether the electronic power-assisted brake controller and electronic stability controller respond to the service braking acceleration request, or whether the electronic parking brake controller responds to the parking braking acceleration request. Similarly, when a parking braking acceleration request is sent, the method determines whether the electronic power-assisted brake controller, electronic stability controller, and electronic parking brake controller are operating normally. This determines whether the electronic parking brake controller responds normally to the parking braking acceleration request, or whether the electronic power-assisted brake controller responds to the service braking acceleration request with maximum braking acceleration, or whether the electronic stability controller responds to the service braking acceleration request with maximum braking acceleration. This technical solution effectively solves the problem of vehicle braking failure due to a single or multiple faults in the braking system without adding extra hardware or controlling the overall vehicle braking system cost. It enables redundant control between vehicle service brakes and between service brakes and parking brakes, thereby ensuring the continuous and safe operation of autonomous vehicles.

[0146] This invention provides a computer-readable storage medium storing at least one executable instruction. When the executable instruction is executed on a line-controlled braking redundancy control device or a vehicle, it causes the line-controlled braking redundancy control device or vehicle to perform the line-controlled braking redundancy control method in any of the above-described method embodiments.

[0147] The executable instructions stored in the computer-readable storage medium provided in this invention can, upon receiving a service braking acceleration request, determine whether the electronic power-assisted brake controller, the electronic stability controller, and the electronic parking brake controller are operating normally, thereby controlling the braking system to operate normally, or controlling the electronic power-assisted brake controller and the electronic stability controller to respond to the service braking acceleration request, or controlling the electronic parking brake controller to respond to the parking braking acceleration request; and upon receiving a parking braking acceleration request, determine whether the electronic power-assisted brake controller, the electronic stability controller, and the electronic parking brake controller are operating normally, thereby controlling the electronic parking brake controller to respond normally to the parking braking acceleration request, or controlling the electronic power-assisted brake controller to respond to the service braking acceleration request with maximum braking acceleration, or controlling the electronic stability controller to respond to the service braking acceleration request with maximum braking acceleration. Through the technical solution of this application, without adding additional hardware and controlling the cost of the entire vehicle braking system, the problem of vehicle braking failure due to a single or multiple faults in the braking system can be effectively solved. It enables redundant control between vehicle service brakes and between service brakes and parking brakes, thereby ensuring the continuous and safe operation of autonomous vehicles.

[0148] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. Furthermore, the embodiments of this invention are not directed to any particular programming language.

[0149] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. Similarly, for the sake of brevity and to aid in understanding one or more aspects of the invention, in the description of exemplary embodiments of the invention above, various features of the embodiments are sometimes grouped together in a single embodiment, figure, or description thereof. The claims, which follow the detailed description, are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of the invention.

[0150] Those skilled in the art will understand that the modules in the device of the embodiment can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiment can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components, except that at least some of such features and / or processes or units are mutually exclusive.

[0151] It should be noted that the above embodiments are illustrative of the invention and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting the order of execution.

Claims

1. A brake-by-wire redundancy control method, applied to the braking system of an autonomous vehicle, wherein the braking system of the autonomous vehicle includes an electronic power-assisted brake controller, an electronic stability controller, and an electronic parking brake controller, characterized in that, The method includes: Send a service braking acceleration request and determine whether the electronic power brake controller, electronic stability controller and electronic parking brake controller are operating normally; If all systems are operating normally, the braking system will respond normally to the service braking acceleration request; otherwise, the electronic power-assisted brake controller and / or the electronic stability controller will respond to the service braking acceleration request, or the electronic parking brake controller will respond to the parking braking acceleration request. Send a parking brake acceleration request and determine whether the electronic power assist brake controller, electronic stability controller and electronic parking brake controller are operating normally; If both are operating normally, the electronic parking brake controller is controlled to respond normally to the parking brake acceleration request; otherwise, the electronic power assist brake controller or the vehicle electronic stability controller is controlled to respond to the service brake acceleration request with the maximum braking acceleration. The step of sending a service braking acceleration request and determining whether the electronic power-assisted brake controller, the electronic stability controller, and the electronic parking brake controller are operating normally further includes: Determine whether the electronic parking brake controller receives communication from the electronic power assist brake controller and the electronic stability controller; If the electronic parking brake controller fails to receive communication from the electronic power brake controller and the electronic stability controller, then the electronic parking brake controller is controlled to respond to the parking brake acceleration request with the maximum braking acceleration. The step of determining whether the electronic parking brake controller receives communication from the electronic power assist brake controller and the electronic stability controller includes: If the electronic parking brake controller receives communication from the electronic power assist brake controller or the electronic stability controller; Then determine whether the fault flag bits of the electronic power brake controller and the electronic stability controller are 0; If not, determine whether the fault flag bit of the electronic power brake controller is 1; If the fault flag bit of the electronic power-assisted brake controller is 1, then the electronic stability controller is controlled to respond to the service braking acceleration request. The step of determining whether the fault flag bit of the electronic power-assisted brake controller is 1 includes the following: If the fault flag bit of the electronic power-assisted brake controller is 0, then determine whether the fault flag bit of the electronic stability controller is 1. If the fault flag bit of the electronic stability controller is 1, the electronic parking brake controller is controlled to obtain the braking acceleration by looking up a table according to the real-time vehicle speed, and the electronic parking brake controller is controlled to respond to the parking brake acceleration request. The step of determining whether the fault flag bits of the electronic power-assisted brake controller and the electronic stability controller are 0 further includes: If so, determine whether the vehicle electronic stability controller has received communication from the electronic power brake controller; If the electronic stability controller cannot receive communication from the electronic power brake controller, it controls the electronic stability controller to respond to the service braking acceleration request.

2. The line-controlled braking redundancy control method according to claim 1, characterized in that, After the step of determining whether the vehicle electronic stability controller has received communication from the electronic power-assisted brake controller, the following steps are included: If the vehicle electronic stability controller receives communication from the electronic power-assisted brake controller, it detects whether the master cylinder pressure of the electronic power-assisted brake controller has dropped; If the master cylinder pressure of the electronic power-assisted brake controller drops, the electronic power-assisted brake controller and the vehicle electronic stability controller are controlled to respond to the service braking acceleration request. If the master cylinder pressure of the electronic power-assisted brake controller does not drop, then the electronic power-assisted brake controller is controlled to respond to the service braking acceleration request.

3. The line-controlled braking redundancy control method according to claim 1, characterized in that, The steps of sending a parking brake acceleration request and determining whether the electronic power-assisted brake controller, the electronic stability controller, and the electronic parking brake controller are operating normally further include: Determine whether the communication between the electronic power-assisted brake controller and the electronic stability controller receives communication from the electronic parking brake controller; If not, determine whether the fault flag bit of the electronic power brake controller is 1; If the fault flag bit of the electronic power-assisted brake controller is 1, then the electronic stability controller is controlled to respond to the service braking acceleration request with maximum braking acceleration.

4. The line-controlled braking redundancy control method according to claim 3, characterized in that, After the step of determining whether the fault flag bit of the electronic power-assisted brake controller is 1, the method further includes: If the fault flag bit of the electronic power-assisted brake controller is 0, then the electronic power-assisted brake controller is controlled to respond to the service braking acceleration request with the maximum braking acceleration.

5. The line-controlled braking redundancy control method according to claim 3, characterized in that, After determining whether the communication between the electronic power-assisted brake controller and the electronic stability controller has been received by the electronic parking brake controller, the method further includes: If so, determine whether the fault flag bit of the electronic parking brake controller is 0; If the fault flag bit of the electronic parking brake controller is 0, then the electronic parking brake controller is controlled to respond to the parking brake acceleration request.

6. The brake-by-wire redundancy control method according to any one of claims 1-5, characterized in that, The braking system of the autonomous vehicle includes a first CAN bus and a second CAN bus. The electronic power-assisted brake controller, the electronic stability controller and the electronic parking brake controller are all connected to the first CAN bus and the second CAN bus, and at least one of them is connected to the first CAN bus or the second CAN bus.

7. The line-controlled braking redundancy control method according to claim 1, 3, or 4, characterized in that, The maximum braking acceleration range is -8 m / s². 2 up to -10m / s 2 .

8. A brake-by-wire redundancy control device, applied to the braking system of an autonomous vehicle, the braking system of the autonomous vehicle comprising an electronic power-assisted brake controller, an electronic stability controller, and an electronic parking brake controller, characterized in that, The linear braking redundancy control device includes: The first judgment module is used to send a driving braking acceleration request and determine whether the electronic power brake controller, the electronic stability controller and the electronic parking brake controller are operating normally. The first control module is used to control the braking system to respond normally to the service braking acceleration request if all are operating normally, and otherwise control the electronic power-assisted brake controller and / or the vehicle electronic stability controller to respond to the service braking acceleration request, or control the electronic parking brake controller to respond to the parking braking acceleration request. The second judgment module is used to send a parking brake acceleration request and determine whether the electronic power brake controller, the electronic stability controller and the electronic parking brake controller are operating normally. The second control module is used to control the electronic parking brake controller to respond normally to the parking brake acceleration request if both are operating normally, and otherwise control the electronic power brake controller or the vehicle electronic stability controller to respond to the service brake acceleration request with the maximum braking acceleration. The first judgment module is further used to determine whether the electronic parking brake controller receives communication from the electronic power assist brake controller and the vehicle electronic stability controller. The first control module is also configured to control the electronic parking brake controller to respond to the parking brake acceleration request with the maximum braking acceleration if the electronic parking brake controller fails to receive communication from the electronic power assist brake controller and the electronic stability controller. The first judgment module is further configured to determine if the electronic parking brake controller receives communication from the electronic power assist brake controller or the vehicle electronic stability controller. Then determine whether the fault flag bits of the electronic power brake controller and the electronic stability controller are 0; If not, determine whether the fault flag bit of the electronic power brake controller is 1; The first control module is further configured to control the vehicle electronic stability controller to respond to the service braking acceleration request if the fault flag bit of the electronic power-assisted brake controller is 1. The first judgment module is further configured to determine whether the fault flag bit of the vehicle electronic stability controller is 1 if the fault flag bit of the electronic power-assisted brake controller is 0. The first control module is further configured to, if the fault flag bit of the electronic stability controller is 1, control the electronic parking brake controller to obtain the braking acceleration by looking up a table based on the real-time vehicle speed, and control the electronic parking brake controller to respond to the parking brake acceleration request. The first judgment module is further configured to determine whether the vehicle electronic stability controller has received communication from the electronic power assist brake controller if the condition is met. The first control module is further configured to control the electronic stability controller to respond to the service braking acceleration request if the electronic stability controller cannot receive communication from the electronic power-assisted brake controller.

9. A car, characterized in that, include: The processor, memory, communication interface, and communication bus are provided, wherein the processor, memory, and communication interface communicate with each other via the communication bus. The memory is used to store at least one executable instruction that causes the processor to perform the operation of the line-controlled braking redundancy control method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The storage medium stores at least one executable instruction, which, when executed on the line-controlled braking redundancy control device, causes the line-controlled braking redundancy control device to perform the operation of the line-controlled braking redundancy control method as described in any one of claims 1-7.

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