Redundant brake-by-wire system, control method and equipment thereof, medium and vehicle

Abstract

The invention discloses a redundant brake-by-wire system and a control method and device thereof, a medium and a vehicle, the system comprises a main control unit and a redundant control unit, the redundant control unit is used for recognizing and processing the brake intention of a driver according to the fault condition of the main control unit when the main control unit breaks down, and the brake intention of the driver is determined according to the fault condition of the main control unit. And braking control is conducted on the vehicle according to the intention recognition result. The embodiment of the invention can improve the braking efficiency of the vehicle, and can be widely applied to the technical field of brake-by-wire.

Description

Technical Field

[0001] The present application relates to the technical field of wire-controlled braking, and in particular to a redundant wire-controlled braking system and a control method, device, medium and vehicle thereof. Background Art

[0002] With the development and application of intelligent driving technology, higher requirements are placed on the safety of automobile braking systems. Autonomous driving requires that the braking system be equipped with redundant braking units for backup to perform redundant pressure building functions in the event of failure of the main braking unit, so as to perform normal braking. In related technologies, redundant braking units can only take over the braking system by receiving signals from the upper-level intelligent driving controller during the intelligent driving control process, and cannot take over the braking system by judging the driver's braking intention, resulting in a significant reduction in braking performance, and unable to provide drivers with higher safety guarantees, affecting braking efficiency.

[0003] In summary, the technical problems existing in the relevant technologies need to be improved. Summary of the invention

[0004] The main purpose of the embodiments of the present application is to propose a redundant wire-controlled braking system and its control method, equipment, medium and vehicle, which can improve braking efficiency and vehicle safety.

[0005] To achieve the above object, one aspect of an embodiment of the present application provides a redundant brake-by-wire system, the system comprising a main control unit and a redundant control unit, the main control unit communicating with the redundant control unit via a controller area network bus;

[0006] Wherein, the main control unit is used to perform braking control on the vehicle in normal mode;

[0007] The redundant control unit is used to identify and process the driver's braking intention according to the failure condition of the main control unit when the main control unit fails, and to perform braking control on the vehicle according to the intention recognition result.

[0008] In some embodiments, the main control unit includes a brake pedal travel sensor, a main controller, a first power management chip and a second power management chip;

[0009] Wherein, the brake pedal travel sensor outputs a sensing signal to the main controller, and transmits the sensing signal to the redundant control unit via a hard line;

[0010] The main controller is used to perform braking control on the vehicle according to the sensor signal in a normal mode;

[0011] The first power management chip is connected to the brake pedal travel sensor and the main controller respectively to provide power for the brake pedal travel sensor and the main controller;

[0012] One end of the second power management chip is connected to the brake pedal travel sensor, and the other end of the second power management chip is connected to the redundant control unit to provide power for the brake pedal travel sensor when a power supply failure occurs in the main control unit.

[0013] To achieve the above object, another aspect of an embodiment of the present application provides a control method for a redundant brake-by-wire system, which is applied to the redundant brake-by-wire system as described above. The method comprises the following steps:

[0014] Performing signal verification processing on the brake pedal travel sensor to obtain a signal verification result;

[0015] When the signal verification result indicates that the brake pedal travel sensor fails, the redundant control unit takes over the braking system to brake the vehicle;

[0016] When the signal verification result shows that the brake pedal travel sensor is operating normally, a fault detection process is performed on the main control unit to obtain fault information;

[0017] The redundant control unit identifies and processes the driver's intention according to the fault information, and brakes the vehicle according to the intention identification result.

[0018] In some embodiments, the signal verification processing of the brake pedal travel sensor to obtain the signal verification result includes the following steps:

[0019] Performing two-way sensor signal acquisition processing on the brake pedal travel sensor to obtain a first sensor signal and a second sensor signal;

[0020] The first sensing signal and the second sensing signal are verified to obtain the signal verification result.

[0021] In some embodiments, when the signal verification result indicates that the brake pedal travel sensor fails, the redundant control unit takes over the braking system to brake the vehicle, including the following steps:

[0022] When the signal verification result indicates that the brake pedal travel sensor is faulty, the main control unit is downgraded to obtain a downgrade state signal;

[0023] The degradation status signal is sent to the redundant control unit through the main control unit, and the redundant control unit takes over the braking system to brake the vehicle.

[0024] In some embodiments, the step of taking over the braking system by the redundant control unit to brake the vehicle comprises the following steps:

[0025] Obtain external operation instructions;

[0026] The braking system is converted into a mechanical backup state through the redundant control unit according to the external operation instruction to brake the vehicle.

[0027] In some embodiments, the identifying and processing the driver's intention by the redundant control unit according to the fault information, and braking the vehicle according to the intention identification result, comprises the following steps:

[0028] When the fault information indicates that the main control unit has a pressure building fault, the redundant control unit communicates with the main control unit via a bus to obtain a bus sensor signal;

[0029] Recognizing the driver's intention according to the bus sensor signal to obtain an intention recognition result;

[0030] The redundant control unit generates a brake assist force by building up pressure to brake the vehicle according to the intention recognition result.

[0031] In some embodiments, the obtaining of a bus sensor signal by performing bus communication between the redundant control unit and the main control unit comprises the following steps:

[0032] Performing degradation processing on the main control unit to obtain a degradation state signal;

[0033] The degraded state signal is sent to the redundant control unit by the main control unit, and the redundant control unit acquires and processes the sensor signal of the main control unit to obtain the bus sensor signal.

[0034] In some embodiments, the method of identifying the driver's intention by the redundant control unit according to the fault information and braking the vehicle according to the intention identification result further includes the following steps:

[0035] When the fault information indicates that a circuit fault occurs in the main control unit, hard-line communication is performed between the redundant control unit and the brake pedal travel sensor to obtain a hard-line sensor signal;

[0036] Recognizing the driver's intention according to the hard-wire sensor signal to obtain an intention recognition result;

[0037] The redundant control unit generates a brake assist force by building up pressure to brake the vehicle according to the intention recognition result.

[0038] In some embodiments, the step of performing hard-line communication between the redundant control unit and the brake pedal travel sensor to obtain a hard-line sensor signal comprises the following steps:

[0039] Sending a failure status signal to the redundant control unit through the main control unit;

[0040] According to the failure status signal, hard-line communication is performed to the brake pedal travel sensor through the redundant control unit to obtain a hard-line sensor signal.

[0041] In some embodiments, the method of identifying the driver's intention by the redundant control unit according to the fault information and braking the vehicle according to the intention identification result further includes the following steps:

[0042] When the fault information indicates that the main control unit has a power supply failure, the redundant control unit supplies power to the brake pedal travel sensor and performs hard-wire communication to obtain a hard-wire sensor signal;

[0043] Recognizing the driver's intention according to the hard-wire sensor signal to obtain an intention recognition result;

[0044] The redundant control unit generates a brake assist force by building up pressure to brake the vehicle according to the intention recognition result.

[0045] In some embodiments, the step of supplying power and performing hard-wire communication with the brake pedal travel sensor through the redundant control unit to obtain a hard-wire sensor signal comprises the following steps:

[0046] The enable state of the second power management chip of the main control unit is turned on by the redundant control unit, and the first voltage is output to the second power management chip;

[0047] converting the first voltage into a second voltage by the second power management chip, and outputting the second voltage to the brake pedal travel sensor;

[0048] The hard-line sensor signal is obtained by performing hard-line communication with the redundant control unit through the brake pedal travel sensor.

[0049] To achieve the above-mentioned purpose, another aspect of an embodiment of the present application provides an electronic device, the electronic device comprising a memory and a processor, the memory storing a computer program, and the processor implementing the above-mentioned method when executing the computer program.

[0050] To achieve the above objective, another aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described above is implemented.

[0051] To achieve the above objective, another aspect of an embodiment of the present application provides a vehicle, the vehicle comprising a redundant brake-by-wire control system or an electronic device as described above.

[0052] The embodiments of the present application include at least the following beneficial effects: The present application provides a redundant brake-by-wire system and its control method, device, medium and vehicle. The redundant brake-by-wire system of the scheme includes a main control unit and a redundant control unit, wherein the redundant control unit is used to identify and process the driver's braking intention according to the failure of the main control unit when the main control unit fails, and to perform braking control on the vehicle according to the intention recognition result. The embodiments of the present application analyze the failure of the main control unit through the redundant control unit, and can take over the braking system by identifying the driver's braking intention after the main control unit fails, thereby improving the braking efficiency and vehicle safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 is a schematic diagram of the system architecture of a redundant wire-controlled brake system provided in an embodiment of the present application;

[0054] Figure 2 is a schematic structural diagram of a redundant wire-controlled brake system provided in an embodiment of the present application;

[0055] Figure 3 is a flow chart of a control method of a redundant brake-by-wire system provided in an embodiment of the present application;

[0056] Figure 4 yes Figure 3 Flow chart of step S301 in FIG.

[0057] Figure 5 yes Figure 3 Flow chart of step S302 in FIG.

[0058] Figure 6 yes Figure 3 An implementation flow chart of step S304 in FIG.

[0059] Figure 7 yes Figure 3 Another implementation flowchart of step S304 in FIG.

[0060] Figure 8 yes Figure 3 Another implementation flow chart of step S304 in FIG.

[0061] Fig. 9 It is a specific implementation flow chart of a control method provided in an embodiment of the present application;

[0062] Fig.10 It is a schematic diagram of the hardware structure of the electronic device provided in the embodiment of the present application. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is further described in detail below in conjunction with the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present application. They are only examples of systems and methods consistent with some aspects of the embodiments of the present application as detailed in the attached claims.

[0064] It is understood that the terms "first", "second", etc. used in this application can be used to describe various concepts in this article, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another concept. For example, without departing from the scope of the embodiment of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein can be interpreted as "at the time of" or "when" or "in response to determination".

[0065] The terms "at least one", "multiple", "each", "any", etc. used in this application, at least one includes one, two or more, multiple includes two or more, each refers to each of the corresponding multiple, and any refers to any one of the multiple.

[0066] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0067] Before describing the embodiments of the present application in detail, some nouns and terms involved in the embodiments of the present application are first described. The nouns and terms involved in the embodiments of the present application are subject to the following explanations.

[0068] The wire control brake system is an emerging automotive braking technology that eliminates the direct mechanical connection between the brake pedal and the brake, and instead uses electronic sensors to collect the driver's braking intentions, processes these signals through an electronic control unit, and ultimately controls the brake actuator to output braking force.

[0069] Redundant control is a control method that uses a certain or multiple number of devices or components to form a control system. When a device or component fails and is damaged, it can be switched to a backup device or component through hardware, software or manual methods to replace the device or component damaged by the failure, keep the system working normally, and minimize the downtime loss caused by the control device due to accidents.

[0070] With the development and application of intelligent driving technology, higher requirements are placed on the safety of automobile braking systems. Autonomous driving regulations require that braking systems at L3 driving levels and above be equipped with redundant braking units for backup in addition to the main braking unit for auxiliary braking. In the event that the main pressure-building function of the main braking unit fails, the redundant braking unit is required to replace the main braking unit for the redundant pressure-building function, thereby performing normal braking to execute the instructions of the autonomous driving system.

[0071] In the related art, there is a method in which the system requests the redundant control unit to take over the system when the main control unit fails. That is, when the system detects that the main control unit fails, the system wakes up or issues corresponding instructions to the redundant control unit, requesting the redundant braking unit to take over the braking system for braking control. However, in actual applications, it is found that the redundant control unit intelligently receives the signal of the upper-level intelligent driving controller to take over the braking system, and cannot judge the driver's braking intention, causing the redundant control unit to put the system into a backup state, greatly reducing the braking efficiency, and failing to provide the driver with higher safety protection.

[0072] For example, the main brake unit includes a master cylinder and a servo cylinder system having a first cavity and a second cavity connected in series; the redundant brake unit includes a redundant pressure building module, and the redundant pressure building module includes a redundant motor and a plunger pump, one end of the plunger pump is connected to the fluid storage tank, and the other end of the plunger pump is connected to the first cavity of the master cylinder; when the main control unit fails, the system will request the redundant control unit to take over the braking control, and the braking pressure is established by the plunger pump in the redundant control unit to achieve the redundancy. In this way, when the main control unit fails, the system will request the redundant brake system to take over the braking control, and the braking pressure is established by the plunger pump in the redundant brake unit to achieve the redundancy. However, the redundant brake unit cannot judge the driver's braking intention, the braking efficiency is greatly reduced, and it cannot provide the driver with higher safety protection, which affects the driving experience.

[0073] In view of this, a redundant brake-by-wire system and its control method, device, medium and vehicle are provided in an embodiment of the present application. In this scheme, the system includes a main control unit and a redundant control unit. The main control unit communicates with the redundant control unit via a controller area network bus, wherein the main control unit is used to perform braking control on the vehicle in normal mode; the redundant control unit is used to identify and process the driver's braking intention according to the failure of the main control unit when the main control unit fails, and perform braking control on the vehicle according to the intention recognition result. The redundant brake-by-wire system of the embodiment of the present application can intervene to identify the driver's braking intention and take over the braking control when the main control unit fails, thereby improving braking efficiency and vehicle safety.

[0074] The control method of the redundant brake-by-wire system provided in the embodiment of the present application relates to the technical field of brake-by-wire technology. The control method of the redundant brake-by-wire system provided in the embodiment of the present application is applied to the redundant brake-by-wire system, and the control method can be stored in a server, or can be software stored in a terminal or a server. In some embodiments, the terminal can be a vehicle-mounted terminal, but is not limited to this; the server side can be configured as an independent physical server, or can be configured as a server cluster or distributed system composed of multiple physical servers, and can also be configured as a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. The server can also be a node server in a blockchain network; the software can be an application that implements the control method of the redundant brake-by-wire system, etc., but is not limited to the above forms.

[0075] The present application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc. The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0076] It should be noted that in each specific implementation of the present application, when it comes to the need to perform relevant processing based on data related to user identity or characteristics such as user information, user behavior data, user historical data, and user location information, the user's permission or consent will be obtained first, and the collection, use, and processing of these data will comply with relevant laws, regulations, and standards. In addition, when the embodiment of the present application needs to obtain the user's sensitive personal information, the user's separate permission or consent will be obtained through a pop-up window or by jumping to a confirmation page. After clearly obtaining the user's separate permission or consent, the necessary user-related data for the normal operation of the embodiment of the present application will be obtained.

[0077] See also Figure 1 , Figure 1 1 is a schematic diagram of the system architecture of a redundant wire-controlled brake system provided by an embodiment of the present application. In one aspect, an embodiment of the present application provides a redundant wire-controlled brake system, the system comprising a main control unit and a redundant control unit, the main control unit communicating with the redundant control unit via a controller area network bus;

[0078] Wherein, the main control unit is used to perform braking control on the vehicle in normal mode;

[0079] The redundant control unit is used to identify and process the driver's braking intention according to the failure condition of the main control unit when the main control unit fails, and to perform braking control on the vehicle according to the intention recognition result.

[0080] In the embodiment of the present application, the redundant wire control brake system includes a main control unit and a redundant control unit, wherein the redundant wire control brake system is an advanced form of electronic control brake system, which combines the advantages of the wire control brake system with the reliability of redundant design, and aims to improve the braking performance, safety and autonomous driving capabilities of the vehicle. It realizes the autonomous driving mode through the main control unit, and can autonomously take braking actions according to the vehicle condition and driving environment, such as the automatic brake assist system (AEB) function, to reduce the risk of collision. When the main braking system fails, the redundant control unit can also provide sufficient braking force to maintain braking control and braking stability control. Specifically, the redundant control unit in the embodiment of the present application can identify and process the driver's braking intention according to the fault condition of the main control unit, so as to control the vehicle braking according to the intention recognition result. The embodiment of the present application can perform braking control according to different fault conditions of the main control unit and in combination with the driver's braking intention, thereby improving braking efficiency and vehicle safety.

[0081] In some embodiments, the main control unit includes a brake pedal travel sensor, a main controller, a first power management chip and a second power management chip;

[0082] Wherein, the brake pedal travel sensor outputs a sensing signal to the main controller, and transmits the sensing signal to the redundant control unit via a hard line;

[0083] The main controller is used to perform braking control on the vehicle according to the sensor signal in a normal mode;

[0084] The first power management chip is connected to the brake pedal travel sensor and the main controller respectively to provide power for the brake pedal travel sensor and the main controller;

[0085] One end of the second power management chip is connected to the brake pedal travel sensor, and the other end of the second power management chip is connected to the redundant control unit to provide power for the brake pedal travel sensor when a power supply failure occurs in the main control unit.

[0086] In the embodiment of the present application, the main control unit includes a brake pedal travel sensor, a main controller, a first power management chip and a second power management chip, and the redundant control unit includes a slave controller and a third power management chip. Figure 2 , Figure 2 It is a structural diagram of a redundant brake-by-wire system provided in an embodiment of the present application. Among them, the main control unit and the redundant control unit are each installed with a connector, and CAN / CANFD (Controller Area Network Bus / Controller Area Network Flexible Data Rate) communication is performed on the connector. The brake pedal travel sensor can monitor the degree to which the driver presses the brake pedal by monitoring the brake pedal, and convert this information into an electrical signal and transmit it to the automotive electronic control unit (ECU), thereby achieving precise control of the vehicle's braking system. In the embodiment of the present application, the brake pedal travel sensor outputs a sensor signal to the main controller, and transmits the sensor signal to the redundant control unit through a hard line, which enables the redundant control unit to assist in monitoring the sensor signal and improve the signal monitoring efficiency. Among them, the brake pedal travel sensor outputs two sensor signals ( Figure 2In the figure, output 1 and output 2 are outputs to the main controller and the redundant control unit. When the main controller is in normal mode, that is, in normal working state, it can control the braking of the vehicle according to the received sensor signal. The first power management chip is connected to the brake pedal travel sensor and the main controller respectively, and can provide power to the brake pedal travel sensor and the main controller respectively. In the embodiment of the present application, the first power management chip provides 5V power supply to the brake pedal travel sensor and 3.3V power supply to the main controller. One end of the second power management chip is connected to the brake pedal travel sensor, and the other end is connected to the redundant control unit. When a power supply failure occurs in the main control unit, the second power management chip receives the power provided by the redundant control unit to power the brake pedal travel sensor, so that the brake pedal travel sensor can work normally. Specifically, the second power management chip is physically isolated from other devices in the main control unit, and its enable pin and power supply pin are transmitted to the two terminals of the connector of the main control unit, and are transmitted to the two corresponding terminals of the connector of the redundant control unit through hard wires, and are respectively connected to the slave controller and the third power management chip of the redundant control unit. The third power management chip provides 12V power to the second power management chip. From Figure 2 It can be seen that the first power management chip in the main control unit and the third power management chip in the redundant control unit are externally awakened by the vehicle battery. The main control unit also includes a first transistor Q1, a second transistor Q2, a first diode D1 and a second diode D2, and the redundant control unit also includes a third transistor Q3 and a fourth transistor Q4, wherein the main function of the diode is unidirectional conduction, that is, current is only allowed to flow in one direction, and the current is almost blocked in the other direction. The main function of the transistor is to control the change of the output current by the change of the input current, and can be used as an electronic switch to realize the on-off control of the circuit. The embodiment of the present application introduces an independent second power management chip in the main control unit, which can externally power the brake pedal travel sensor and independently communicate, so that the redundant control unit can judge the driver's intention according to the sensor signal of the brake pedal travel sensor, thereby actively building pressure to achieve the effect of brake assist, thereby improving the braking efficiency, and no additional sensors are required, the structure is simple, and the use cost is reduced.

[0087] Figure 3 is an optional flow chart of a control method for a redundant brake-by-wire system provided in an embodiment of the present application. Figure 3 The method may include but is not limited to steps S301 to S304.

[0088] Step S301, performing signal verification processing on the brake pedal travel sensor to obtain a signal verification result;

[0089] Step S302, when the signal verification result indicates that the brake pedal travel sensor fails, the redundant control unit takes over the braking system to brake the vehicle;

[0090] Step S303, when the signal verification result shows that the brake pedal travel sensor works normally, a fault detection process is performed on the main control unit to obtain fault information;

[0091] Step S304: the redundant control unit identifies the driver's intention according to the fault information, and brakes the vehicle according to the intention identification result.

[0092] In the steps S301 to S304 shown in the embodiment of the present application, a signal verification result is obtained by performing signal verification processing on the brake pedal travel sensor, and the signal verification result is used to detect whether the brake pedal travel sensor fails. When the signal verification result shows that the brake pedal travel sensor fails, the redundant control unit takes over the braking system to brake the vehicle. At this time, the brake pedal travel sensor fails, and the main control unit cannot recognize the driver's braking intention for braking processing. The main control unit communicates with the redundant control unit so that the redundant control unit takes over the braking system to brake the vehicle. When the signal verification result shows that the brake pedal travel sensor works normally, the main control unit is subjected to fault detection processing to obtain fault information, so that the redundant control unit recognizes and processes the driver's intention according to the fault information, and brakes the vehicle according to the intention recognition result. The redundant control unit in the embodiment of the present application can communicate with the main control unit, and brake the vehicle according to the fault condition of the main control unit combined with the intention recognition result, thereby improving the braking efficiency.

[0093] In step S301 of some embodiments, a signal verification process is performed on the brake pedal travel sensor to obtain a signal verification result.

[0094] In an embodiment of the present application, the sensor signal sent by the brake pedal travel sensor can be detected by the main control unit, and the sensor signal sent by the brake pedal travel sensor can also be detected by the redundant control unit. Specifically, the main control unit can determine whether the brake pedal travel sensor is faulty based on the specific sensor signal value. For example, the voltage value of the sensor signal should usually be within a certain standard range. When it exceeds the standard range, it is determined that the brake pedal travel sensor is faulty. The sensor signal received by the main control unit can also be compared with the sensor signal received by the redundant control unit. If the signals are inconsistent, it is determined that a fault has occurred, but the present invention is not limited to this.

[0095] In step S302 of some embodiments, when the signal verification result indicates that the brake pedal travel sensor is faulty, the redundant control unit takes over the braking system to brake the vehicle;

[0096] In an embodiment of the present application, when the signal verification result is that the brake pedal travel sensor is faulty, since the brake pedal travel sensor is part of the main controller, the main controller cannot identify the driver's intention through the sensor signal to perform automatic driving. Therefore, the main controller notifies the redundant control unit to take over the braking system to brake the vehicle, so that the vehicle can be safely decelerated to a parking state.

[0097] In step S303 of some embodiments, when the signal verification result shows that the brake pedal travel sensor is working normally, a fault detection process is performed on the main control unit to obtain fault information;

[0098] In the embodiment of the present application, when the signal verification result shows that the brake pedal travel sensor is working normally, it is necessary to perform fault detection processing on the main control unit to obtain fault information. When the main controller is working normally, the vehicle is braked by the main controller, and the redundant control unit is in a standby state, and only the signal of the brake pedal travel sensor is monitored and verified.

[0099] In step S304 of some embodiments, the driver's intention is identified and processed by the redundant control unit according to the fault information, and the vehicle is braked according to the intention identification result.

[0100] In an embodiment of the present application, when the fault information indicates that a fault occurs in the main control unit, the redundant control unit is notified to take over the system according to different fault conditions, and the driver's intention is identified and processed, so that the vehicle is braked according to the intention identification result, thereby improving the braking efficiency of the vehicle.

[0101] See also Figure 4 In step S301 of some embodiments, the signal verification processing of the brake pedal travel sensor to obtain the signal verification result includes the following steps:

[0102] Step S401, performing two-way sensor signal acquisition processing on the brake pedal travel sensor to obtain a first sensor signal and a second sensor signal;

[0103] Step S402: Verify the first sensing signal and the second sensing signal to obtain the signal verification result.

[0104] In step S401 of some embodiments, the embodiment of the present application outputs two signals from the brake pedal travel sensor to the main controller (MCU) of the main control unit for judgment, obtains a first sensor signal and a second sensor signal, and can perform signal verification on the brake pedal travel sensor to obtain a signal verification result by verifying the two signals with each other. It is conceivable that the embodiment of the present application can also output two signals from the brake pedal travel sensor to the slave controller of the redundant control unit for judgment, and the redundant control unit only monitors and verifies the signal of the brake pedal travel sensor, thereby improving the monitoring efficiency.

[0105] In step S402 of some embodiments, the signal values ​​of the first sensor signal and the second sensor signal can be directly compared. When the comparison result is that the two signals are inconsistent, it can be determined that the brake pedal travel sensor has a fault. When the comparison result is that the two signals are consistent, it can be determined that the brake pedal travel sensor is in normal working condition and no fault has occurred.

[0106] The embodiment of the present application can determine whether the brake pedal travel sensor has a fault by detecting the signal of the brake pedal travel sensor, thereby notifying the redundant control unit to take over the system to brake the vehicle when the brake pedal travel sensor has a fault, thereby improving vehicle safety.

[0107] See also Figure 5 In step S302 of some embodiments, when the signal verification result indicates that the brake pedal travel sensor fails, the redundant control unit takes over the braking system to brake the vehicle, including the following steps:

[0108] Step S501, when the signal verification result indicates that the brake pedal travel sensor is faulty, the main control unit is downgraded to obtain a downgrade state signal;

[0109] Step S502: sending the degradation status signal to the redundant control unit through the main control unit, and taking over the braking system to brake the vehicle through the redundant control unit.

[0110] In an embodiment of the present application, when the signal verification result is that the brake pedal travel sensor is faulty, the main control unit can be downgraded, and the downgraded status signal can be sent to the redundant control unit through the main control unit, and the redundant control unit can take over the braking system to brake the vehicle. At this time, it can be detected whether the driver is operating the vehicle, and the driver's operating behavior can be detected by other sensors, such as turning the steering wheel and other operations, so that the redundant control unit enters the mechanical backup mode and safely decelerates to a stop. In an embodiment of the present application, the redundant control unit obtains the downgraded status signal of the main control unit to take over the braking system to brake the vehicle. The system can be taken over directly according to the notification of the main control unit without taking over through the notification of the upper system, thereby improving the braking efficiency.

[0111] In step S502 of some embodiments, the taking over of the braking system by the redundant control unit to brake the vehicle includes the following steps:

[0112] Obtain external operation instructions;

[0113] The braking system is converted into a mechanical backup state through the redundant control unit according to the external operation instruction to brake the vehicle.

[0114] In the embodiment of the present application, the external operation instruction is the driver's operation instruction. At this time, the driver's braking intention cannot be obtained through the brake pedal travel sensor, but the driver's operation instruction can also be obtained through other sensors, so that the braking system is converted to a mechanical backup state through a redundant control unit according to the external operation instruction, wherein the mechanical backup mode means that when the electronic braking system of the vehicle fails, the driver's braking force is directly transmitted through a mechanical structure (such as a brake pedal, a master brake cylinder, a brake wheel cylinder, etc.) to ensure that the vehicle can generate sufficient deceleration and stop safely. The embodiment of the present application brakes the vehicle by taking over the braking system through a redundant control unit, and can enter a mechanical backup state to safely stop the vehicle when the driver's braking intention cannot be identified, thereby improving the safety of the vehicle.

[0115] See also Figure 6 In step S304 of some embodiments, the identifying and processing the driver's intention by the redundant control unit according to the fault information, and braking the vehicle according to the intention identification result, includes the following steps:

[0116] Step S601, when the fault information is that the main control unit has a pressure building fault, the redundant control unit communicates with the main control unit via a bus to obtain a bus sensor signal;

[0117] Step S602, identifying the driver's intention according to the bus sensor signal to obtain an intention recognition result;

[0118] Step S603: According to the intention recognition result, the redundant control unit generates a brake booster to brake the vehicle.

[0119] In an embodiment of the present application, when the fault information is that a pressure building failure occurs in the main control unit, the redundant control unit communicates with the main control unit via the bus to obtain a bus sensor signal, wherein the pressure building failure includes motor failure, internal leakage and other fault conditions, and the vehicle cannot be braked. At this time, the main control unit communicates with the redundant control unit via the bus, and the fault occurs to the redundant control unit, but at this time the main control unit can also normally receive the signal of the brake pedal travel sensor, thereby transmitting the signal as a bus sensor signal to the redundant control unit. The redundant control unit can identify and process the driver's braking intention based on the bus sensor signal to obtain an intention recognition result, and then build pressure and generate braking assistance to brake the vehicle based on the intention recognition result. The embodiment of the present application can take over the braking system when a pressure building failure occurs in the main control unit, and identify the braking intention based on the bus sensor signal sent by the main control unit, thereby braking the vehicle.

[0120] In step S601 of some embodiments, the performing bus communication between the redundant control unit and the main control unit to obtain a bus sensor signal includes the following steps:

[0121] Performing degradation processing on the main control unit to obtain a degradation state signal;

[0122] The degraded state signal is sent to the redundant control unit by the main control unit, and the redundant control unit acquires and processes the sensor signal of the main control unit to obtain the bus sensor signal.

[0123] In the embodiment of the present application, since a pressure building failure occurs in the main control unit, the main control unit is degraded to obtain a degraded status signal, and the degraded status signal is sent to the redundant control unit, and the redundant control unit acquires and processes the sensor signal received by the main control unit to obtain a bus sensor signal. In the embodiment of the present application, the redundant control unit can acquire and process the sensor signal according to the degraded status signal sent by the main control unit to obtain a bus sensor signal, so that the driver's braking intention can be identified according to the bus sensor signal, thereby improving the braking efficiency.

[0124] See also Figure 7In step S304 of some embodiments, the identification and processing of the driver's intention by the redundant control unit according to the fault information, and braking the vehicle according to the intention identification result, further includes the following steps:

[0125] Step S701, when the fault information indicates that a circuit fault occurs in the main control unit, hard-line communication is performed with the brake pedal travel sensor through the redundant control unit to obtain a hard-line sensor signal;

[0126] Step S702, identifying the driver's intention according to the hard-line sensor signal to obtain an intention recognition result;

[0127] Step S703: According to the intention recognition result, the redundant control unit generates a brake booster to brake the vehicle.

[0128] In the embodiment of the present application, when the fault information indicates that the main control unit has a circuit fault, the main controller may fail, the power management chip may fail, or the short circuit may occur. At this time, the main control unit can no longer process the brake pedal travel sensor signal, and communication abnormality occurs. When the redundant control unit receives the main control unit in a failed state through the controller local bus, it will judge the pedal signal status on the controller local bus and the hard line in turn. If the system is in L3 driving mode, the redundant control unit will take over. If the brake pedal travel sensor signal received by the redundant control unit through the controller local bus is invalid, and the hard line signal is valid, it is determined that the hard line signal of the brake pedal travel sensor is valid, but the main control unit loses the pressure building and signal processing capabilities. At this time, the redundant control unit judges the driver's intention through the brake pedal travel sensor signal received by the hard line, thereby actively building pressure to achieve the effect of brake boost. It should be noted that at this time, the enable state of the second power management chip in the main controller of the slave controller of the redundant control unit is disabled, and the second power management chip does not output 5V voltage. The embodiment of the present application recognizes the driver's braking intention through the hard line sensor signal, which can improve the braking efficiency of the vehicle.

[0129] In step S701 of some embodiments, performing hard-line communication with the brake pedal travel sensor through the redundant control unit to obtain a hard-line sensor signal includes the following steps:

[0130] Sending a failure status signal to the redundant control unit through the main control unit;

[0131] According to the failure status signal, hard-line communication is performed to the brake pedal travel sensor through the redundant control unit to obtain a hard-line sensor signal.

[0132] In an embodiment of the present application, when the main control unit is in a circuit failure, the main control unit sends a failure status signal to the redundant control unit, thereby performing hard-wire communication with the brake pedal travel sensor through the redundant control unit to obtain the hard-wire sensor signal. The driver's braking intention can be identified based on the hard-wire sensor signal, thereby improving the braking efficiency of the vehicle.

[0133] See also Figure 8 In step S304 of some embodiments, the identification and processing of the driver's intention by the redundant control unit according to the fault information, and braking the vehicle according to the intention identification result, further includes the following steps:

[0134] Step S801, when the fault information indicates that a power supply failure occurs to the main control unit, the redundant control unit supplies power to the brake pedal travel sensor and performs hard-wire communication to obtain a hard-wire sensor signal;

[0135] Step S802, identifying the driver's intention according to the hard-line sensor signal to obtain an intention recognition result;

[0136] Step S803: According to the intention recognition result, the redundant control unit generates a brake booster to brake the vehicle.

[0137] In the embodiment of the present application, when the fault information indicates that the main control unit has a power supply failure, the wiring harness may be broken, the power supply may be severely damaged, and the main control unit may fail completely and the communication may be lost. The redundant control unit cannot receive the controller local bus signal and the pedal signal status on the hard line. At this time, the redundant control unit determines that the main control unit has a power supply failure and fails completely. If the system is in L3 driving mode, the redundant control unit will take over. If the driver is controlling the vehicle at this time, the slave controller (MCU) of the redundant control unit changes the enable state of the second power management chip of the main control unit to on. At this time, the second power management chip in the main control unit receives the 12V voltage provided by the redundant control unit and outputs a 5V voltage to the brake pedal travel sensor. At this time, the brake pedal travel sensor resumes power supply and outputs a pedal signal to the slave controller of the redundant control unit. At this time, the redundant control unit judges the driver's intention through the brake pedal travel sensor signal received by the hard line, thereby actively building pressure to achieve the effect of brake boost, thereby improving the braking efficiency of the vehicle.

[0138] In step S801 of some embodiments, the step of supplying power and performing hard-wire communication with the brake pedal travel sensor through the redundant control unit to obtain a hard-wire sensor signal includes the following steps:

[0139] The enable state of the second power management chip of the main control unit is turned on by the redundant control unit, and the first voltage is output to the second power management chip;

[0140] converting the first voltage into a second voltage by the second power management chip, and outputting the second voltage to the brake pedal travel sensor;

[0141] The hard-line sensor signal is obtained by performing hard-line communication with the redundant control unit through the brake pedal travel sensor.

[0142] In an embodiment of the present application, the redundant control unit turns on the enable state of the second power management chip of the main control unit, outputs a first voltage to the second power management chip, and then converts the first voltage into a second voltage suitable for powering the brake pedal travel sensor through the second power management chip, and outputs the second voltage to the brake pedal travel sensor, so that the brake pedal travel sensor can work normally, thereby performing hard-wired communication with the redundant control unit through the brake pedal travel sensor, and sending the corresponding sensor signal as a hard-wired sensor signal to the redundant control unit, so that the redundant control unit can identify the driver's braking intention based on the hard-wired sensor signal, thereby improving the braking efficiency of the vehicle.

[0143] The following is a detailed description of the embodiments of the present invention with reference to specific application examples:

[0144] See also Fig. 9, the embodiment of the present application detects whether the main circuit of the main control unit (IBC) is normal through the main control unit. When the main circuit fails, the CAN signal of the brake pedal travel sensor (PTS) is set to an invalid state. When the main circuit works normally, the brake pedal travel sensor signal is verified. When the signal verification fails, the braking system is downgraded to a mechanical backup. When the signal verification passes, it is determined whether the main control unit has the pressure building capability. If it has the pressure building capability, the system braking capability is normal. Otherwise, the brake pedal travel sensor signal is output to the redundant control unit (RBU). The redundant control unit detects whether the power supply of the main control unit is normal. When the power supply of the main control unit is normal, the signal of the brake pedal travel sensor is verified. When the signal verification fails, the system is downgraded to a mechanical backup. Otherwise, it is determined whether the vehicle is in the L3 level automatic driving state. If not, the second power management chip (PMIC2) is enabled by the redundant control unit, and the hard-wired signal of the brake pedal travel sensor is received to determine the driver's braking intention and establish the braking pressure. When the signal verification passes, it is determined whether the vehicle is in the L3 level automatic driving state. If not, the hard-wired signal of the brake pedal travel sensor is received to determine the driver's braking intention and establish the braking pressure. When the redundant control unit receives the brake pedal travel sensor signal output by the main control, it determines the driver's braking intention based on the bus signal and builds up braking pressure. When it is determined that the vehicle is in L3 autonomous driving state, an external braking request can be executed to brake the vehicle.

[0145] The embodiment of the present application also provides an electronic device, the electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the control method of the redundant wire control brake system when executing the computer program. The electronic device can be any intelligent terminal including a tablet computer, a vehicle-mounted computer, etc.

[0146] It can be understood that the contents of the above method embodiments are all applicable to the present device embodiments, the functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0147] See also Fig.10 , Fig.10 The hardware structure of an electronic device of another embodiment is illustrated, and the electronic device includes:

[0148] The processor 1001 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0149] The memory 1002 may be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 1002 may store an operating system and other application programs. When the technical solution provided in the embodiments of this specification is implemented by software or firmware, the relevant program code is stored in the memory 1002, and the processor 1001 calls and executes the control method of the redundant wire control brake system of the embodiment of the present application;

[0150] Input / output interface 1003, used to implement information input and output;

[0151] The communication interface 1004 is used to realize the communication interaction between the device and other devices. The communication can be realized through a wired manner (such as USB, network cable, etc.) or a wireless manner (such as mobile network, WIFI, Bluetooth, etc.);

[0152] A bus 1005 , which transmits information between various components of the device (e.g., the processor 1001 , the memory 1002 , the input / output interface 1003 , and the communication interface 1004 );

[0153] The processor 1001 , the memory 1002 , the input / output interface 1003 and the communication interface 1004 are connected to each other in communication within the device via the bus 1005 .

[0154] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the control method of the redundant brake-by-wire system is implemented.

[0155] It can be understood that the contents of the above method embodiments are all applicable to the present storage medium embodiments, the functions specifically implemented by the present storage medium embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0156] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0157] The present application provides a redundant brake-by-wire system and its control method, device, medium and vehicle. The redundant brake-by-wire system of the scheme includes a main control unit and a redundant control unit, wherein the redundant control unit is used to identify and process the driver's braking intention according to the fault condition of the main control unit when the main control unit fails, and to perform braking control on the vehicle according to the intention recognition result. The embodiment of the present application analyzes the fault condition of the main control unit through the redundant control unit, and can take over the braking system by identifying the driver's braking intention after the main control unit fails, thereby improving the braking efficiency and vehicle safety. The redundant brake-by-wire system of the embodiment of the present application can identify the driver's braking intention when the main brake unit fails, does not rely on other external signal inputs, and replaces the main brake unit with the redundant control unit to achieve braking assistance, thereby improving the braking efficiency.

[0158] The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0159] Those skilled in the art will appreciate that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0160] The system embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0161] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0162] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0163] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0164] In the several embodiments provided in the present application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of systems or units, which can be electrical, mechanical or other forms.

[0165] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0166] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0167] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0168] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present invention should be within the scope of the rights of the present invention.

Claims

1. A redundant brake-by-wire system, characterized in that: The system comprises a main control unit and a redundant control unit, wherein the main control unit communicates with the redundant control unit via a controller area network bus; Wherein, the main control unit is used to perform braking control on the vehicle in normal mode; The redundant control unit is used to identify and process the driver's braking intention according to the failure condition of the main control unit when the main control unit fails, and to perform braking control on the vehicle according to the intention recognition result.

2. The system according to claim 1, characterized in that The main control unit includes a brake pedal travel sensor, a main controller, a first power management chip and a second power management chip; Wherein, the brake pedal travel sensor outputs a sensing signal to the main controller, and transmits the sensing signal to the redundant control unit via a hard line; The main controller is used to perform braking control on the vehicle according to the sensor signal in a normal mode; The first power management chip is connected to the brake pedal travel sensor and the main controller respectively to provide power for the brake pedal travel sensor and the main controller; One end of the second power management chip is connected to the brake pedal travel sensor, and the other end of the second power management chip is connected to the redundant control unit to provide power for the brake pedal travel sensor when a power supply failure occurs in the main control unit.

3. A control method for a redundant brake-by-wire system, characterized in that: Applied to the redundant brake-by-wire system according to any one of claims 1 to 2, the method comprises the following steps: Performing signal verification processing on the brake pedal travel sensor to obtain a signal verification result; When the signal verification result indicates that the brake pedal travel sensor fails, the redundant control unit takes over the braking system to brake the vehicle; When the signal verification result shows that the brake pedal travel sensor is operating normally, a fault detection process is performed on the main control unit to obtain fault information; The redundant control unit identifies and processes the driver's intention according to the fault information, and brakes the vehicle according to the intention identification result.

4. The method according to claim 3, characterized in that The signal verification process of the brake pedal travel sensor is performed to obtain a signal verification result, including the following steps: Performing two-way sensor signal acquisition processing on the brake pedal travel sensor to obtain a first sensor signal and a second sensor signal; The first sensing signal and the second sensing signal are verified to obtain the signal verification result.

5. The method according to claim 3, characterized in that: When the signal verification result indicates that the brake pedal travel sensor fails, the redundant control unit takes over the braking system to brake the vehicle, comprising the following steps: When the signal verification result indicates that the brake pedal travel sensor is faulty, the main control unit is downgraded to obtain a downgrade state signal; The degradation status signal is sent to the redundant control unit through the main control unit, and the redundant control unit takes over the braking system to brake the vehicle.

6. The method according to claim 5, characterized in that The method of braking the vehicle by taking over the braking system through the redundant control unit comprises the following steps: Obtain external operation instructions; The braking system is converted into a mechanical backup state through the redundant control unit according to the external operation instruction to brake the vehicle.

7. The method according to claim 3, characterized in that The method of identifying the intention of the driver by the redundant control unit according to the fault information and braking the vehicle according to the intention identification result comprises the following steps: When the fault information indicates that the main control unit has a pressure building fault, the redundant control unit communicates with the main control unit via a bus to obtain a bus sensor signal; Recognizing the driver's intention according to the bus sensor signal to obtain an intention recognition result; The redundant control unit generates a brake assist force by building up pressure to brake the vehicle according to the intention recognition result.

8. The method according to claim 7, characterized in that The method of performing bus communication between the redundant control unit and the main control unit to obtain a bus sensor signal comprises the following steps: Performing degradation processing on the main control unit to obtain a degradation state signal; The degraded state signal is sent to the redundant control unit by the main control unit, and the redundant control unit acquires and processes the sensor signal of the main control unit to obtain the bus sensor signal.

9. The method according to claim 3, characterized in that: The method of identifying the driver's intention by the redundant control unit according to the fault information and braking the vehicle according to the intention identification result also includes the following steps: When the fault information indicates that a circuit fault occurs in the main control unit, hard-line communication is performed between the redundant control unit and the brake pedal travel sensor to obtain a hard-line sensor signal; Recognizing the driver's intention according to the hard-wire sensor signal to obtain an intention recognition result; The redundant control unit generates a brake assist force by building up pressure to brake the vehicle according to the intention recognition result.

10. The method according to claim 9, characterized in that The method of performing hard-line communication with the brake pedal travel sensor through the redundant control unit to obtain a hard-line sensor signal includes the following steps: Sending a failure status signal to the redundant control unit through the main control unit; According to the failure status signal, hard-line communication is performed to the brake pedal travel sensor through the redundant control unit to obtain a hard-line sensor signal.

11. The method according to claim 3, characterized in that The method of identifying the driver's intention by the redundant control unit according to the fault information and braking the vehicle according to the intention identification result also includes the following steps: When the fault information indicates that the main control unit has a power supply failure, the redundant control unit supplies power to the brake pedal travel sensor and performs hard-wire communication to obtain a hard-wire sensor signal; Recognizing the driver's intention according to the hard-wire sensor signal to obtain an intention recognition result; The redundant control unit generates a brake assist force by building up pressure to brake the vehicle according to the intention recognition result.

12. The method according to claim 11, characterized in that The method of supplying power and communicating with the brake pedal travel sensor through the redundant control unit to obtain a hard-line sensor signal includes the following steps: The enable state of the second power management chip of the main control unit is turned on by the redundant control unit, and the first voltage is output to the second power management chip; converting the first voltage into a second voltage by the second power management chip, and outputting the second voltage to the brake pedal travel sensor; The hard-line sensor signal is obtained by performing hard-line communication with the redundant control unit through the brake pedal travel sensor.

13. An electronic device, characterized in that: The electronic device comprises a memory and a processor, the memory stores a computer program, and the processor implements the method according to any one of claims 3 to 12 when executing the computer program.

14. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 3 to 12 is implemented.

15. A vehicle, characterized in that: It comprises a redundant brake-by-wire control system as claimed in any one of claims 1 to 2 or an electronic device as claimed in claim 13.

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