Degradation control method and device for redundant vehicle electronic mechanical braking system

Abstract

The present application relates to the field of vehicle industry technology, and in particular to a method and device for degrading a redundant vehicle electronic mechanical brake system. The method comprises: generating a redundant row vector matrix based on signals from a plurality of redundant backup automatic systems of the vehicle; activating the redundant vehicle electronic mechanical brake system of the vehicle and detecting the current fault type of the vehicle when the vehicle electronic mechanical brake system is determined to have failed based on the redundant row vector matrix; obtaining a failure intervention braking force threshold of the redundant vehicle electronic mechanical brake system based on the fault type, and executing a corresponding degrading control action based on the failure intervention braking force threshold. This solves the problems in the related art, such as low vehicle safety performance and slow braking response speed, which result in the inability to fully independently control a single wheel of the vehicle and the lack of a complete degrading control strategy.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle industry, and in particular to a degradation control method and device for a redundant vehicle electronic mechanical braking system. Background Art

[0002] Intelligent vehicles, emerging products resulting from the integration of artificial intelligence (AI) technology with the modern automotive industry, are evolving into fully autonomous, wheeled machines that integrate networked communications, multi-source sensing, autonomous decision-making, safety, efficiency, and maneuverability. Braking performance is crucial for vehicle safety, and effective braking under diverse operating conditions is crucial. Similarly, effective degradation control modes are crucial for improving intelligent vehicle safety and achieving smooth transitions in the event of a failure.

[0003] In related technologies, when a communication failure occurs between vehicle systems, the control commands of a redundant controller can be used to control the vehicle, ensuring that the autonomous driving function remains intact or degraded. Alternatively, redundant first and second links can be set based on the control logic of the EMB (ElectroMechanical Brake) brake-by-wire. When a failure occurs in any of the redundant first and second links, the EMB brake-by-wire can be redundantly controlled through another fault-free link to achieve vehicle braking and ensure vehicle safety.

[0004] However, in related technologies, most sensors do not have redundant backup, vehicle safety performance is not high, and the braking response speed is slow, resulting in the inability to fully independently control a single wheel of the vehicle. In addition, the braking system is relatively independent and lacks a complete degradation control strategy, which urgently needs improvement. Summary of the Invention

[0005] The present application provides a degradation control method and device for a redundant vehicle electronic mechanical braking system to address the problems in the related art, such as low vehicle safety performance, slow braking response speed, inability to fully independently control a single wheel of the vehicle, and lack of a complete degradation control strategy.

[0006] A first aspect embodiment of the present application provides a degradation control method for a redundant vehicle electronic mechanical braking system, comprising the following steps: generating a redundant row vector matrix based on signals of redundant backups of multiple automatic systems of a vehicle; when it is determined based on the redundant row vector matrix that the vehicle electronic mechanical braking system of the vehicle has failed, starting the redundant vehicle electronic mechanical braking system of the vehicle and detecting the current fault type of the vehicle; obtaining a failure intervention braking force threshold of the redundant vehicle electronic mechanical braking system according to the fault type, and performing corresponding degradation control actions according to the failure intervention braking force threshold.

[0007] Optionally, in one embodiment of the present application, obtaining the failure intervention braking force threshold of the redundant vehicle electronic mechanical braking system according to the fault type includes: obtaining the ideal braking force of the vehicle electronic mechanical braking system for each wheel; determining the braking torque of each wheel according to the ideal braking force of each wheel; and determining the corresponding degradation control action according to the braking torque of each wheel and a preset drive intervention threshold, steering intervention threshold, and suspension intervention threshold.

[0008] Optionally, in one embodiment of the present application, before starting the redundant vehicle electronic mechanical braking system of the vehicle, it also includes: determining whether the number of columns and the number of rows of the redundant row vector matrix vector are consistent; if the number of columns is inconsistent with the number of rows, determining that the vehicle electronic mechanical braking system has failed.

[0009] Optionally, in one embodiment of the present application, the redundant vehicle electronic mechanical braking system communicates with the multiple automatic systems and / or the vehicle electronic mechanical braking system using CANFD (Controller Area Network with Flexible Data-rates).

[0010] Optionally, in one embodiment of the present application, the method further includes: controlling the vehicle to perform a degradation control reminder based on the degradation control action.

[0011] A second aspect of the present application provides a degradation control device for a redundant vehicle electronic mechanical braking system, comprising: a generation module for generating a redundant row vector matrix based on signals of redundant backups of multiple automatic systems of the vehicle; a detection module for starting the redundant vehicle electronic mechanical braking system of the vehicle and detecting the current fault type of the vehicle when it is determined based on the redundant row vector matrix that the vehicle electronic mechanical braking system of the vehicle has failed; a degradation control module for obtaining a failure intervention braking force threshold of the redundant vehicle electronic mechanical braking system according to the fault type, and performing corresponding degradation control actions according to the failure intervention braking force threshold.

[0012] Optionally, in one embodiment of the present application, the degradation control module includes: an acquisition unit for acquiring the ideal braking force of the vehicle's electronic mechanical braking system for each wheel; a first determination unit for determining the braking torque of each wheel based on the ideal braking force of each wheel; and a second determination unit for determining the corresponding degradation control action based on the braking torque of each wheel and a preset drive intervention threshold, steering intervention threshold, and suspension intervention threshold.

[0013] Optionally, in one embodiment of the present application, it also includes: a judgment module for judging whether the number of columns and rows of the redundant row vector matrix vector are consistent before starting the redundant vehicle electronic mechanical braking system of the vehicle; and a determination module for determining that the vehicle electronic mechanical braking system has failed when the number of columns is inconsistent with the number of rows.

[0014] Optionally, in one embodiment of the present application, the redundant vehicle electronic mechanical braking system communicates with the multiple automatic systems and / or the vehicle electronic mechanical braking system using CANFD.

[0015] Optionally, in one embodiment of the present application, the system further includes: a reminder module, configured to control the vehicle to perform a degradation control reminder based on the degradation control action.

[0016] A third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the degradation control method for a redundant vehicle electronic mechanical braking system as described in the above embodiment.

[0017] A fourth aspect of the present application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-mentioned degradation control method for a redundant vehicle electronic mechanical braking system.

[0018] A fifth aspect of the present application provides a computer program product, including a computer program, which, when executed, implements the above-mentioned degradation control method for a redundant vehicle electronic mechanical braking system.

[0019] Based on the generated redundant row vector matrix, the embodiments of the present application can activate the vehicle's redundant electronic mechanical braking system when it is determined that the vehicle's electronic mechanical braking system has failed, and can perform corresponding degradation control actions based on the vehicle's current fault type, thereby improving the vehicle's braking response speed. Furthermore, the embodiments can perform corresponding degradation control actions based on the vehicle's current fault type, improving the vehicle's inherent safety and establishing a complete degradation control strategy. This solves the problems in related technologies such as low vehicle safety performance, slow braking response speed, the inability to fully independently control a single wheel of the vehicle, and the lack of a complete degradation control strategy.

[0020] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0022] Figure 1 A schematic diagram of the structure of a redundant vehicle electro-mechanical braking system provided according to an embodiment of the present application;

[0023] Figure 2 This is a flowchart of a degradation control method for a redundant vehicle electro-mechanical braking system according to an embodiment of the present application;

[0024] Figure 3 A schematic diagram of the structure of the anti-roll and anti-rollover functions provided according to one embodiment of the present application;

[0025] Figure 4 Schematic diagram of a block diagram of a degradation control device for a redundant vehicle electro-mechanical braking system according to an embodiment of the present application;

[0026] Figure 5 A schematic structural diagram of a vehicle provided according to an embodiment of the present application.

[0027] Among them, 10-wire-controlled drive system, 20-wire-controlled steering system, 30-intelligent suspension system, 40-vehicle electronic mechanical braking system, 401, 402, 403, 404-EMB brake actuators corresponding to each wheel of the vehicle, 405-EMB main controller, 406-EMB auxiliary controller, 407, 408, 409, 410-redundant wheel speed sensors, 411-redundant stroke sensor, 412, 413, 414, 415-drive motors corresponding to each wheel; 50-redundant vehicle electronic mechanical braking system degradation control device; 100-generation module, 200-detection module, 300-degradation control module; 501-memory, 502-processor, 503-communication interface. DETAILED DESCRIPTION

[0028] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0029] The following describes a method and apparatus for degrading a redundant vehicle electronic mechanical braking system according to an embodiment of the present application with reference to the accompanying drawings. To address the issues mentioned in the background art above, such as low vehicle safety performance and slow braking response speed, which result in the inability to fully independently control a single vehicle wheel and the lack of a complete degrading control strategy, the present application provides a method for degrading a redundant vehicle electronic mechanical braking system. In this method, based on a generated redundant row vector matrix, upon determining that a vehicle electronic mechanical braking system has failed, the redundant vehicle electronic mechanical braking system of the vehicle is activated, and corresponding degrading control actions are executed based on the current fault type of the vehicle, thereby improving the braking response speed of the vehicle and enabling the execution of corresponding degrading control actions based on the current fault type of the vehicle, thereby improving the inherent safety of the vehicle and establishing a complete degrading control strategy. This method solves the problems in the related art, such as low vehicle safety performance and slow braking response speed, which result in the inability to fully independently control a single vehicle wheel and the lack of a complete degrading control strategy.

[0030] Before explaining the degradation control method of the redundant vehicle electronic mechanical brake system provided in the embodiment of the present application, the structure of the redundant vehicle electronic mechanical brake system involved in the embodiment of the present application is first illustrated by example.

[0031] Specifically, Figure 1 Schematic diagram of the structure of a redundant vehicle electro-mechanical braking system provided according to an embodiment of the present application.

[0032] The embodiment of the present application may include, but is not limited to, multiple automatic systems and a vehicle electronic mechanical braking system 40. The multiple automatic systems may include, but are not limited to, three coupled chassis systems, which may be: a drive-by-wire system 10, a steer-by-wire system 20, and an intelligent suspension system 30.

[0033] Furthermore, in an embodiment of the present application, the vehicle electronic mechanical braking system 40 may include, but is not limited to, an EMB brake actuator 401 , an EMB brake actuator 402 , an EMB brake actuator 403 and an EMB brake actuator 404 corresponding to each wheel of the vehicle, an EMB main controller 405 and an EMB auxiliary controller 406 .

[0034] Furthermore, in an embodiment of the present application, the multiple automatic systems may include, but are not limited to, redundant wheel speed sensors 407, 408, 409, and 410 corresponding to each wheel, one redundant stroke sensor 411, and drive motors 412, 413, 414, and 415 corresponding to each wheel.

[0035] In addition, the redundant vehicle electronic mechanical braking system 40 of the embodiment of the present application communicates with multiple automatic systems and the vehicle electronic mechanical braking system 40 using CANFD, and the multiple automatic systems can communicate through hard lines.

[0036] Specifically, Figure 2 The present invention provides a flowchart of a degradation control method for a redundant vehicle electro-mechanical braking system according to an embodiment of the present application.

[0037] like Figure 2 As shown, the degradation control method of the redundant vehicle electronic mechanical brake system includes the following steps:

[0038] In step S201 , a redundant row vector matrix is ​​generated based on redundant backup signals of multiple automatic systems of the vehicle.

[0039] It is understandable that if Figure 1 As shown, the multiple automatic systems in the embodiment of the present application may include, but are not limited to, a drive-by-wire system, a steering-by-wire system, and an intelligent suspension system. Generally speaking, for the signal inputs of multiple automatic systems, most are independent signals without redundant backup, and the signals involved may be, but are not limited to: wheel speed sensor signal WSn, stroke sensor signal P, steering wheel angle signal, IMU (Inertial Measurement Unit) signal, etc., thereby forming a signal matrix [WS1 WS2 WS3 WS4 P...], that is, under normal circumstances, the embodiment of the present application can form a 1*N signal matrix. In addition, it can be understood by those skilled in the art that in this case, in the embodiment of the present application, if any value in the column vector deviates, the entire system may have problems, thereby reducing the braking efficiency.

[0040] Furthermore, in actual implementation, the embodiment of the present application can employ redundant backup based on signals of multiple automatic systems of the vehicle to generate a redundant row vector matrix, wherein the redundant row vector matrix can be expressed as:

[0041]

[0042] That is to say, the embodiment of the present application can form a complete signal matrix by establishing a redundant row vector matrix, and can still output a valid signal when a single cell fails.

[0043] In step S202 , when it is determined based on the redundant row vector matrix that the vehicle electronic mechanical brake system of the vehicle fails, the redundant vehicle electronic mechanical brake system of the vehicle is started to detect the current fault type of the vehicle.

[0044] It is understandable that if Figure 1As shown, the vehicle electronic mechanical braking system of the embodiment of the present application may include two sets of main controllers: an EMB main controller and a redundant backup EMB main controller. In the embodiment of the present application, the EMB main controller and the redundant backup EMB main controller can receive signals on an equal basis, and communicate between the two using CANFD, and establish connections with multiple automatic systems through multi-channel CANFD.

[0045] For example, in a normal state, the EMB primary controller is used as the primary controller. If the EMB primary controller fails, the EMB secondary controller performs interaction and control. Furthermore, in an embodiment of the present application, only when the vehicle's EMB system is determined to have failed does the redundant EMB system activate and further detect the vehicle's current fault type.

[0046] In addition, during actual implementation, the vehicle electronic mechanical braking system of the embodiment of the present application can be established based on a redundant row vector matrix.

[0047] Optionally, in one embodiment of the present application, before starting the vehicle's redundant vehicle electronic mechanical braking system, it also includes: determining whether the number of columns and rows of the redundant row vector matrix vector are consistent; if the number of columns and the number of rows are inconsistent, determining that the vehicle electronic mechanical braking system has failed.

[0048] It can be understood that in the redundant row vector matrix of the embodiment of the present application, the invalid signal in any row vector will not affect the entire system as long as the number of columns of the column vector is inconsistent, and the valid signal can be judged by taking the average of the two signals.

[0049] As a possible implementation method, the embodiment of the present application can determine whether the number of columns and rows of the redundant row vector matrix are consistent, and when the number of columns and rows are inconsistent, determine that the vehicle's electronic mechanical braking system has failed.

[0050] In step S203 , a failure intervention braking force threshold of the redundant vehicle electro-mechanical brake system is obtained according to the fault type, and a corresponding degradation control action is performed according to the failure intervention braking force threshold.

[0051] It can be understood that the braking force threshold may include, but is not limited to, a driving intervention threshold, a steering intervention threshold, a suspension intervention threshold, etc., and this application does not impose any specific restrictions.

[0052] As a possible implementation method, the embodiment of the present application can obtain the failure intervention braking force threshold according to the fault type, and then perform corresponding degradation control actions.

[0053] Optionally, in one embodiment of the present application, obtaining the failure intervention braking force threshold of the redundant vehicle electro-mechanical braking system according to the failure type includes: obtaining the ideal braking force of the vehicle electro-mechanical braking system for each wheel; determining the braking torque of each wheel according to the ideal braking force of each wheel; and determining the corresponding degradation control actions according to the braking torque of each wheel and the preset drive intervention threshold, steering intervention threshold, and suspension intervention threshold.

[0054] As a possible implementation manner, it is assumed in the embodiment of the present application that the obtained ideal braking force of each wheel can be expressed as [Ffr1 Ffr2 Ffr3 Ffr4], the primary threshold braking force for drive intervention can be expressed as [Ffr11 Ffr21 Ffr31 Ffr41], the secondary threshold braking force for steering intervention can be expressed as [Ffr12 Ffr22 Ffr32 Ffr42], and the tertiary threshold braking force for suspension intervention can be expressed as [Ffr13 Ffr23 Ffr33 Ffr43].

[0055] Further, in the normal state in the embodiment of the present application, the vehicle electro-mechanical braking system works independently and can control four wheels W1, W2, W3, and W4 to brake, and thus can generate braking torques [Ffr1 Ffr2 Ffr3 Ffr4].

[0056] In some embodiments, when the requirements for the vehicle in the embodiment of the present application are higher, such as higher acceleration Ffn < Ffrn, or the slip rate exceeds the standard Ffn > Ffrn, in this case, the by-wire drive system in the embodiment of the present application can intervene first, and the by-wire drive system can provide additional braking forces [Ffq1 Ffq2 Ffq3 Ffq4] such that Ffn + Ffqn = Ffrn.

[0057] In some embodiments, when the requirements for the vehicle in the embodiment of the present application are higher, for example, steering or the like may cause the vehicle to deviate, and thus reach the secondary threshold for steering intervention. In this case, the by-wire steering system in the embodiment of the present application intervenes and generates a rotational torque of the vehicle through the change in the front wheel angle to compensate for the braking force, [Ffs1 Ffs2 Ffs3 Ffs4], and satisfies Ffn + Ffqn + Ffsn = Ffrn, where Ffsn * L conforms to the ideal adjusted rotational torque, and L is the lever arm of the wheel from the center of the steering torque.

[0058] In some embodiments, when the road surface is too uneven, the vehicle body loses stability and produces multi-degree-of-freedom shaking, the center of mass of the vehicle body is subjected to large lateral and longitudinal forces, and roll or pitch motion occurs, causing the vehicle to roll over, and when the embodiment of the present application reaches the third-level threshold of suspension intervention [Ffr13 Ffr23 Ffr33 Ffr43], the anti-roll function of the intelligent suspension system will intervene. In addition, the field road environment is harsh, and an excessively high center of gravity of the vehicle body may make the vehicle more prone to rollover during cornering and steering maneuvers. Among them, the structural schematic diagram of the anti-roll function and anti-rollover function provided in the embodiment of the present application can be as follows Figure 3 shown.

[0059] In some embodiments, the reaching of the intervention threshold of the embodiment of the present application may include, but is not limited to, vehicle failure in addition to the vehicle's extreme operating conditions. This application does not impose specific limitations. For example, in the embodiment of the present application, if the actuator fails, other systems can be introduced to supplement. It can be understood that the execution strategy of the degraded control action in the embodiment of the present application can be as shown in Table 1, where Table 1 is a table of execution strategies for the degraded control action of the redundant vehicle electromechanical braking system provided according to one embodiment of the present application.

[0060] Table 1

[0061]

[0062] Optionally, in one embodiment of the present application, the method further includes: controlling the vehicle to perform a degradation control reminder based on the degradation control action.

[0063] It is understandable that the downgrade control reminder can be made in a variety of ways, including but not limited to: visual reminders, such as the embodiment of the present application can display a warning light or message on the vehicle's dashboard or information display screen; auditory reminders, such as the embodiment of the present application can emit a specific warning sound or voice prompt by the vehicle's audio system; tactile reminders, such as the embodiment of the present application can use the steering wheel or seat vibration reminder, etc., and this application does not impose specific restrictions.

[0064] As a possible implementation method, the embodiment of the present application can implement a downgrade control reminder based on the downgrade control action, thereby promptly informing the driver of the light box that may exist in the braking system and suggesting that the driver slow down or stop for inspection.

[0065] Optionally, in one embodiment of the present application, the redundant vehicle electronic mechanical braking system communicates with the plurality of automatic systems and / or the vehicle electronic mechanical braking system using CANFD.

[0066] That is, in some embodiments, the redundant vehicle electronic mechanical braking system of the present application embodiment communicates with multiple automatic systems using CAN FD.

[0067] In some embodiments, CAN FD is used when the redundant vehicle electronic mechanical braking system of the embodiment of the present application communicates with the vehicle electronic mechanical braking system.

[0068] In some embodiments, the redundant vehicle electronic mechanical braking system of the present application embodiment communicates with multiple automatic systems and the vehicle electronic mechanical braking system using CAN FD.

[0069] According to the degradation control method for a redundant vehicle electronic mechanical braking system proposed in an embodiment of the present application, based on a generated redundant row vector matrix, the redundant vehicle electronic mechanical braking system can be activated upon determining that the vehicle's vehicle electronic mechanical braking system has failed. The method can also execute corresponding degradation control actions based on the vehicle's current fault type, thereby improving the vehicle's braking response speed. Furthermore, the method can execute corresponding degradation control actions based on the vehicle's current fault type, improving the vehicle's inherent safety and establishing a complete degradation control strategy. This solves the problems in related technologies such as low vehicle safety performance, slow braking response speed, the inability to fully independently control a single wheel of the vehicle, and the lack of a complete degradation control strategy.

[0070] Next, a degradation control device for a redundant vehicle electro-mechanical braking system according to an embodiment of the present application will be described with reference to the accompanying drawings.

[0071] Figure 4 Schematic diagram of a block diagram of a degradation control device for a redundant vehicle electro-mechanical braking system according to an embodiment of the present application.

[0072] like Figure 4 As shown, the degradation control device 50 of the redundant vehicle electronic mechanical brake system includes: a generation module 100 , a detection module 200 and a degradation control module 300 .

[0073] The generating module 100 is used to generate a redundant row vector matrix based on redundant backup signals of multiple automatic systems of the vehicle.

[0074] The detection module 200 is configured to activate the redundant vehicle electronic mechanical braking system of the vehicle and detect a current fault type of the vehicle when it is determined based on the redundant row vector matrix that the vehicle electronic mechanical braking system has failed.

[0075] The degradation control module 300 is configured to obtain a failure intervention braking force threshold of the redundant vehicle electromechanical brake system according to the fault type, and perform corresponding degradation control actions according to the failure intervention braking force threshold.

[0076] Optionally, in one embodiment of the present application, the degradation control module 300 includes: an acquisition unit, a first determination unit, and a second determination unit.

[0077] The acquisition unit is used to acquire the ideal braking force of the vehicle's electronic mechanical braking system for each wheel.

[0078] The first determining unit is configured to determine the braking torque of each wheel according to the ideal braking force of each wheel.

[0079] The second determining unit is configured to determine a corresponding degradation control action according to the braking torque of each wheel and a preset driving intervention threshold, a steering intervention threshold, and a suspension intervention threshold.

[0080] Optionally, in one embodiment of the present application, it further includes: a judgment module and a determination module.

[0081] The judgment module is used to judge whether the number of columns and rows of the redundant row vector matrix vector are consistent before starting the redundant vehicle electronic mechanical braking system of the vehicle.

[0082] The determination module is used to determine that the vehicle's electronic mechanical braking system has failed when the number of columns and the number of rows are inconsistent.

[0083] Optionally, in one embodiment of the present application, the redundant vehicle electronic mechanical braking system communicates with the plurality of automatic systems and / or the vehicle electronic mechanical braking system using CANFD.

[0084] Optionally, in one embodiment of the present application, it further includes: a reminder module.

[0085] The reminder module is used to control the vehicle to perform degradation control reminder based on the degradation control action.

[0086] It should be noted that the above explanation of the embodiment of the degradation control method of the redundant vehicle electronic mechanical brake system is also applicable to the degradation control device of the redundant vehicle electronic mechanical brake system of this embodiment, and will not be repeated here.

[0087] The degradation control device for a redundant vehicle electronic mechanical braking system proposed in an embodiment of the present application can, based on a generated redundant row vector matrix, activate the vehicle's redundant vehicle electronic mechanical braking system upon determining that the vehicle's electronic mechanical braking system has failed. It can also execute corresponding degradation control actions based on the vehicle's current fault type, thereby improving the vehicle's braking response speed. Furthermore, it can execute corresponding degradation control actions based on the vehicle's current fault type, improving the vehicle's inherent safety and establishing a complete degradation control strategy. This solves the problems of low vehicle safety performance and slow braking response speed in related technologies, resulting in the inability to fully independently control a single wheel of the vehicle and the lack of a complete degradation control strategy.

[0088] Figure 5This is a schematic diagram of the structure of a vehicle provided according to an embodiment of the present application. The vehicle may include:

[0089] Memory 501 , processor 502 , and computer programs stored in the memory 501 and executable on the processor 502 .

[0090] When the processor 502 executes the program, the degradation control method of the redundant vehicle electro-mechanical brake system provided in the above embodiment is implemented.

[0091] Furthermore, the vehicle further comprises:

[0092] The communication interface 503 is used for communication between the memory 501 and the processor 502 .

[0093] The memory 501 is used to store computer programs that can be run on the processor 502 .

[0094] The memory 501 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0095] If the memory 501, the processor 502, and the communication interface 503 are implemented independently, the communication interface 503, the memory 501, and the processor 502 can be connected to each other via a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0096] Optionally, in a specific implementation, if the memory 501, the processor 502 and the communication interface 503 are integrated on a chip, the memory 501, the processor 502 and the communication interface 503 can communicate with each other through an internal interface.

[0097] The processor 502 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0098] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned degradation control method for a redundant vehicle electronic mechanical braking system.

[0099] An embodiment of the present application further provides a computer program product, including a computer program, which, when executed, implements the above-mentioned degradation control method for a redundant vehicle electronic mechanical braking system.

[0100] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0101] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this application, "N" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0102] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing a custom logical function or process step, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed in a different order than shown or discussed, including performing functions in a substantially simultaneous manner or in a reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application pertain.

[0103] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or N wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program can be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing it in other suitable ways as necessary, and then storing it in a computer memory.

[0104] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiment, the N steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented using hardware, as in another embodiment, it can be implemented using any one or a combination of the following technologies known in the art: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0105] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0106] In addition, the functional units in the various embodiments of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into a module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0107] The storage medium mentioned above may be a read-only memory, a magnetic disk, or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application. Persons skilled in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A degradation control method for a redundant vehicle electromechanical brake system, characterized in that: The following steps are involved: Generate a redundant row vector matrix based on redundant backup signals of multiple automatic systems of the vehicle; In a case where it is determined based on the redundant row vector matrix that the vehicle electronic mechanical brake system of the vehicle fails, starting the redundant vehicle electronic mechanical brake system of the vehicle and detecting a current fault type of the vehicle; obtaining a failure intervention braking force threshold of the redundant vehicle electronic mechanical braking system according to the fault type, and executing a corresponding degradation control action according to the failure intervention braking force threshold; Wherein, obtaining the failure intervention braking force threshold of the redundant vehicle electronic mechanical braking system according to the fault type includes: Obtaining an ideal braking force of the vehicle's electronic mechanical braking system on each wheel; determining the braking torque of each wheel according to the ideal braking force of each wheel; determining the corresponding degradation control action according to the braking torque of each wheel and a preset driving intervention threshold, a steering intervention threshold, and a suspension intervention threshold; Prior to activating a redundant vehicle electro-mechanical braking system of the vehicle, further comprising: Determine whether the number of columns and rows of the redundant row vector matrix vector are consistent; If the column number is inconsistent with the row number, it is determined that the vehicle electronic mechanical braking system has failed.

2. The method according to claim 1, characterized in that The redundant vehicle electro-mechanical brake system communicates with the plurality of automatic systems and / or the vehicle electro-mechanical brake system using a Controller Area Network (CAN) Flexible Data-rate (CANFD).

3. The method according to claim 1, characterized in that Also includes: Based on the degradation control action, the vehicle is controlled to perform a degradation control reminder.

4. A degradation control device for a redundant vehicle electromechanical brake system, characterized in that: The degradation control method of the redundant vehicle electronic mechanical braking system according to any one of claims 1 to 3 is adopted, wherein the device comprises: A generating module, configured to generate a redundant row vector matrix based on signals of redundant backups of multiple automatic systems of the vehicle; a detection module, configured to, when it is determined based on the redundant row vector matrix that the vehicle electronic mechanical braking system of the vehicle has failed, activate the redundant vehicle electronic mechanical braking system of the vehicle and detect a current fault type of the vehicle; The degradation control module is configured to obtain a failure intervention braking force threshold of the redundant vehicle electronic mechanical braking system according to the fault type, and perform corresponding degradation control actions according to the failure intervention braking force threshold.

5. The device according to claim 4, characterized in that The degradation control module includes: an acquisition unit, configured to acquire an ideal braking force of each wheel by the vehicle's electronic mechanical braking system; a first determining unit, configured to determine the braking torque of each wheel according to the ideal braking force of each wheel; The second determining unit is configured to determine the corresponding degradation control action according to the braking torque of each wheel and a preset driving intervention threshold, a steering intervention threshold, and a suspension intervention threshold.

6. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the degradation control method for a redundant vehicle electronic mechanical braking system according to any one of claims 1 to 3.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the degradation control method of the redundant vehicle electronic mechanical brake system according to any one of claims 1 to 3.

8. A computer program product, characterized in that The invention comprises a computer program, which is used to implement the degradation control method of the redundant vehicle electronic mechanical braking system as claimed in any one of claims 1 to 3 when the program is executed.

Images