A redundant brake-by-wire system, control method, device, medium and vehicle thereof

Abstract

The application discloses a redundant brake-by-wire system and a control method, equipment, medium and vehicle thereof. The system comprises a main control unit and a redundant control unit. The redundant control unit is used for identifying and processing the brake intention of a driver according to the fault condition of the main control unit when the main control unit fails, and performing brake control on the vehicle according to the intention identification result. The embodiment of the application can improve the brake efficiency of the vehicle and can be widely applied to the technical field of brake-by-wire.

Description

Technical Field

[0001] This application relates to the field of brake-by-wire technology, and in particular to a redundant brake-by-wire system and its control method, equipment, medium, and vehicle. Background Technology

[0002] With the development and application of intelligent driving technology, higher requirements have been placed on the safety of automotive braking systems. Autonomous driving requires braking systems to be equipped with redundant braking units for backup, enabling redundant pressure build-up and normal braking in the event of a primary braking unit failure. However, in related technologies, redundant braking units can only take over the braking system by receiving signals from the upper-level intelligent driving controller during intelligent driving control. They cannot take over the braking system by judging the driver's braking intentions, resulting in significantly reduced braking efficiency and failing to provide the driver with adequate safety assurance, thus affecting braking effectiveness.

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

[0004] The main objective of this application is to propose a redundant brake-by-wire system and its control method, device, medium, and vehicle, which can improve braking efficiency and vehicle safety.

[0005] To achieve the above objectives, one aspect of this application provides a redundant brake-by-wire system, the system comprising 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;

[0006] The main control unit is used to control the vehicle's braking in normal mode.

[0007] The redundant control unit is used to identify and process the driver's braking intention based on the fault condition of the main control unit when the main control unit fails, and to perform braking control on the vehicle based on the intention identification 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] 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 hardwire.

[0010] The main controller is used to control the braking of the vehicle based on the sensor signals in normal mode.

[0011] The first power management chip is connected to the brake pedal travel sensor and the main controller respectively, and provides power to 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, providing power to the brake pedal travel sensor when the main control unit experiences a power supply failure.

[0013] To achieve the above objectives, another aspect of this application proposes a control method for a redundant brake-by-wire system, applied to the redundant brake-by-wire system as described above. The method includes the following steps:

[0014] The brake pedal travel sensor undergoes signal verification processing to obtain the signal verification result.

[0015] 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.

[0016] When the signal verification result indicates that the brake pedal travel sensor is working normally, the main control unit performs fault detection processing to obtain fault information.

[0017] Based on the fault information, the redundant control unit identifies and processes the driver's intention, and brakes the vehicle based on 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] The brake pedal travel sensor is processed by acquiring two sensing signals to obtain a first sensing signal and a second sensing 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 is faulty, 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 status signal.

[0023] The main control unit sends the degraded status signal to the redundant control unit, which then takes over the braking system to brake the vehicle.

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

[0025] Obtain external operation commands;

[0026] According to the external operation command, the redundant control unit switches the braking system to mechanical backup state and brakes the vehicle.

[0027] In some embodiments, the step of recognizing and processing the driver's intention through the redundant control unit based on the fault information, and braking the vehicle based on the intention recognition result, includes the following steps:

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

[0029] The driver's intention is identified and processed based on the bus sensor signals to obtain the intention recognition result;

[0030] Based on the intent recognition result, the redundant control unit generates braking assistance to brake the vehicle by building up pressure.

[0031] In some embodiments, obtaining bus sensor signals through bus communication between the redundant control unit and the main control unit includes the following steps:

[0032] The main control unit is downgraded to obtain a downgrade status signal;

[0033] The main control unit sends the degradation status signal to the redundant control unit, which then processes the sensor signals from the main control unit to obtain the bus sensor signal.

[0034] In some embodiments, the step of recognizing and processing the driver's intention through the redundant control unit based on the fault information, and braking the vehicle based on the intention recognition result, further includes the following steps:

[0035] When the fault information indicates a circuit fault in the main control unit, the redundant control unit communicates with the brake pedal travel sensor via a hardwired connection to obtain the hardwired sensor signal.

[0036] The driver's intention is identified and processed based on the hard-wired sensor signal to obtain the intention recognition result;

[0037] Based on the intent recognition result, the redundant control unit generates braking assistance to brake the vehicle by building up pressure.

[0038] In some embodiments, the step of obtaining a hard-wired sensor signal through hard-wired communication between the redundant control unit and the brake pedal travel sensor includes the following steps:

[0039] The main control unit sends a failure status signal to the redundant control unit.

[0040] Based on the failure status signal, the redundant control unit communicates with the brake pedal travel sensor via hardwire to obtain the hardwire sensor signal.

[0041] In some embodiments, the step of recognizing and processing the driver's intention through the redundant control unit based on the fault information, and braking the vehicle based on the intention recognition result, further includes the following steps:

[0042] When the fault information indicates a power supply failure in the main control unit, the brake pedal travel sensor is powered and hard-wired communicated through the redundant control unit to obtain the hard-wired sensor signal.

[0043] The driver's intention is identified and processed based on the hard-wired sensor signal to obtain the intention recognition result;

[0044] Based on the intent recognition result, the redundant control unit generates braking assistance to brake the vehicle by building up pressure.

[0045] In some embodiments, the step of powering and hard-wired communicating with the brake pedal travel sensor through the redundant control unit to obtain the hard-wired sensor signal includes the following steps:

[0046] The redundant control unit enables the second power management chip of the main control unit and outputs a first voltage to the second power management chip.

[0047] The second power management chip converts the first voltage into a second voltage and outputs the second voltage to the brake pedal travel sensor.

[0048] The brake pedal travel sensor communicates with the redundant control unit via hardwire to obtain the hardwire sensor signal.

[0049] To achieve the above objectives, another aspect of this application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the method described above.

[0050] To achieve the above objectives, another aspect of the embodiments of this application proposes a computer-readable storage medium storing a computer program that, when executed by a processor, implements the methods described above.

[0051] To achieve the above objectives, another aspect of the embodiments of this application proposes a vehicle, which includes a redundant brake-by-wire control system or an electronic device as described above.

[0052] The embodiments of this application include at least the following beneficial effects: This application provides a redundant brake-by-wire system and its control method, device, medium, and vehicle. The redundant brake-by-wire system of this solution includes a main control unit and a redundant control unit. The redundant control unit is used to identify and process the driver's braking intention based on the fault condition of the main control unit when the main control unit fails, and to control the vehicle's braking based on the intention identification result. By analyzing the fault condition of the main control unit through the redundant control unit, the embodiments of this application can take over the braking system by identifying the driver's braking intention after the main control unit fails, thereby improving braking efficiency and vehicle safety. Attached Figure Description

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

[0054] Figure 2 This is a schematic diagram of a redundant brake-by-wire system provided in an embodiment of this application;

[0055] Figure 3 This is a flowchart of a control method for a redundant brake-by-wire system provided in an embodiment of this application;

[0056] Figure 4 yes Figure 3 The flowchart of step S301 in the process;

[0057] Figure 5 yes Figure 3 The flowchart of step S302 in the document;

[0058] Figure 6 yes Figure 3 A flowchart of one implementation of step S304 in the process;

[0059] Figure 7 yes Figure 3 Another implementation flowchart of step S304 in the process;

[0060] Figure 8 yes Figure 3 Another implementation flowchart of step S304 in the process;

[0061] Figure 9 This is a flowchart illustrating a specific implementation of a control method provided in an embodiment of this application;

[0062] Figure 10 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0063] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit it. In the following description, when referring to the accompanying 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 those of this application; they are merely examples of systems and methods consistent with some aspects of the embodiments of this application as detailed in the appended claims.

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

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

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

[0067] Before providing a detailed description of the embodiments of this application, some of the nouns and terms involved in the embodiments of this application will be explained first. The nouns and terms involved in the embodiments of this application are subject to the following interpretations.

[0068] Brake-by-wire is an emerging automotive braking technology that eliminates the direct mechanical connection between the brake pedal and the brake. Instead, it 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] Redundancy control is a control method that uses a certain number or multiples of equipment or components to form a control system. When a piece of equipment or component fails and is damaged, it can be switched over to serve as a backup equipment or component through hardware, software, or manual means to replace the damaged equipment or component, maintain the normal operation of the system, and minimize the downtime losses caused by unexpected events.

[0070] With the development and application of intelligent driving technology, higher requirements have been placed on the safety of automotive braking systems. Autonomous driving regulations require braking systems at Level 3 and above to be equipped with a redundant braking unit in addition to the main braking unit for auxiliary braking. In the event of a failure in the main braking unit's pressure-building function, the redundant braking unit must replace the main braking unit to perform redundant pressure-building, thereby enabling normal braking and executing the instructions of the autonomous driving system.

[0071] In related technologies, there is a method where the system requests a redundant control unit to take over the system when the main control unit fails. That is, when the system detects a failure in the main control unit, it wakes up or issues a corresponding command to the redundant control unit, requesting the redundant braking unit to take over the braking system for braking control. However, in practical applications, it has been found that the redundant control unit can only receive signals from the upper-level intelligent driving controller to take over the braking system, and cannot determine the driver's braking intention. This causes the redundant control unit to put the system into a backup state, significantly reducing braking efficiency and failing to provide the driver with higher safety assurance.

[0072] For example, the main braking unit includes a master cylinder and a servo cylinder system with a first chamber and a second chamber connected in series; the redundant braking unit includes a redundant pressure-building module, which includes a redundant motor and a plunger pump. One end of the plunger pump is connected to a reservoir, and the other end is connected to the first chamber of the master cylinder. When the main control unit fails, the system requests the redundant control unit to take over braking control, establishing braking pressure through the plunger pump in the redundant control unit to achieve redundancy. In this method, when the main control unit fails, the system requests the redundant braking system to take over braking control, establishing braking pressure through the plunger pump in the redundant braking unit to achieve redundancy. However, the redundant braking unit cannot determine the driver's braking intention, significantly reducing braking efficiency and failing to provide the driver with higher safety assurance, thus affecting the driving experience.

[0073] In view of this, this application provides a redundant brake-by-wire system and its control method, device, medium, and vehicle. 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 (CLAN) bus. The main control unit is used to control the vehicle's braking in normal mode. The redundant control unit is used to identify and process the driver's braking intention based on the main control unit's failure status, and then control the vehicle's braking based on the intention identification result. The redundant brake-by-wire system of this application can intervene to identify the driver's braking intention and take over braking control in the event of a main control unit failure, improving braking efficiency and vehicle safety.

[0074] The control method for a redundant brake-by-wire system provided in this application relates to the field of brake-by-wire technology. The control method for a redundant brake-by-wire system provided in this application is applied to a redundant brake-by-wire system. This control method can be stored in a server, or it can be software stored in a terminal or server. In some embodiments, the terminal can be an in-vehicle terminal, but is not limited thereto; the server can be configured as an independent physical server, or as a server cluster or distributed system composed of multiple physical servers, or it can be configured as a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, 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 implementing the control method for the redundant brake-by-wire system, etc., but is not limited to the above forms.

[0075] This application can be used in a wide variety of general-purpose or special-purpose computer system environments or configurations. Examples include: 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, and distributed computing environments including any of the above systems or devices. This 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. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0076] It should be noted that in all specific embodiments of this application, when processing data related to user identity or characteristics, such as user information, user behavior data, user historical data, and user location information, user permission or consent is obtained first. Furthermore, the collection, use, and processing of this data comply with relevant laws, regulations, and standards. In addition, when embodiments of this application require access to sensitive personal information of users, separate permission or consent from the user is obtained through pop-ups or redirection to confirmation pages. Only after obtaining the user's separate permission or consent is the necessary user-related data required for the proper functioning of these embodiments acquired.

[0077] Please see Figure 1 , Figure 1 This is a schematic diagram of the system architecture of a redundant brake-by-wire system provided in an embodiment of this application. One aspect of this application proposes a redundant brake-by-wire system, which includes a main control unit and redundant control units. The main control unit communicates with the redundant control units via a controller area network (CLAN) bus.

[0078] The main control unit is used to control the vehicle's braking in normal mode.

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

[0080] In this embodiment, the redundant brake-by-wire system includes a main control unit and a redundant control unit. The redundant brake-by-wire system is an advanced form of electronic braking system, combining the advantages of brake-by-wire systems with the reliability of redundant design, aiming to improve vehicle braking performance, safety, and autonomous driving capabilities. It achieves autonomous driving mode through the main control unit, enabling it to autonomously take braking actions based on vehicle conditions and the driving environment, such as the Automatic Braking Assist (AEB) function, to reduce collision risk. Even when the main braking system malfunctions, the redundant control unit can still provide sufficient braking force to maintain braking control and braking stability. Specifically, the redundant control unit in this embodiment can identify and process the driver's braking intention based on the fault condition of the main control unit, and then control the vehicle's braking based on the intention identification result. This embodiment can perform braking control based on different fault conditions of the main control unit and the driver's braking intention, 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] 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 hardwire.

[0083] The main controller is used to control the braking of the vehicle based on the sensor signals in normal mode.

[0084] The first power management chip is connected to the brake pedal travel sensor and the main controller respectively, and provides power to 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, providing power to the brake pedal travel sensor when the main control unit experiences a power supply failure.

[0086] In this embodiment, the main control unit includes a brake pedal travel sensor, a main controller, a first power management chip, and a second power management chip. The redundant control unit includes a slave controller and a third power management chip. Please refer to [link to relevant documentation]. Figure 2 , Figure 2 This is a schematic diagram of a redundant brake-by-wire system provided in an embodiment of this application. The main control unit and the redundant control unit are each equipped with a connector, and communicate via CAN / CANFD (Controller Area Network Bus / Controller Area Network Flexible Data Rate) through the connector. The brake pedal travel sensor monitors the degree to which the driver depresses the brake pedal and converts this information into an electrical signal, which is then transmitted to the vehicle's electronic control unit (ECU) to achieve precise control of the vehicle's braking system. In this embodiment, 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 wire, enabling the redundant control unit to perform auxiliary monitoring of the sensing signal and improve signal monitoring efficiency. The brake pedal travel sensor outputs two sensing signals (…). Figure 2Outputs 1 and 2 are routed to the main controller and redundant control unit. In normal mode, i.e., during normal operation, the main controller can control the vehicle's braking based on the received sensor signals. A first power management chip is connected to both the brake pedal travel sensor and the main controller, providing power to both respectively. In this embodiment, the first power management chip provides 5V to the brake pedal travel sensor and 3.3V to the main controller. A second power management chip is connected at one end to the brake pedal travel sensor and at the other end to the redundant control unit. When the main control unit experiences a power failure, the second power management chip receives power from the redundant control unit to power the brake pedal travel sensor, enabling it to operate normally. Specifically, the second power management chip is physically isolated from other devices within the main control unit. Its enable and power supply pins are transmitted to two terminals of the main control unit's connector, and then through hardwired connections to two corresponding terminals of the redundant control unit's connector, connecting to the slave controller and the third power management chip of the redundant control unit, respectively. The third power management chip provides 12V power to the second power management chip. Figure 2 As can be seen, the vehicle battery externally wakes up the first power management chip in the main control unit and the third power management chip in the redundant control unit. The main control unit also includes a first transistor Q1, a second transistor Q2, a first diode D1, and a second diode D2. The redundant control unit includes a third transistor Q3 and a fourth transistor Q4. The diodes primarily function as unidirectional conductors, allowing current to flow only in one direction while almost completely blocking current in the other. The transistors primarily function to control the output current by varying the input current, and can be used as electronic switches to control the on / off state of the circuit. This embodiment introduces an independent second power management chip into the main control unit, enabling external power supply and independent communication to the brake pedal travel sensor. This allows the redundant control unit to determine the driver's intention based on the sensor signal from the brake pedal travel sensor, thereby actively building pressure to achieve brake assist, improving braking efficiency. Furthermore, it eliminates the need for additional sensors, resulting in a simple structure and reduced operating costs.

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

[0088] Step S301: Perform signal verification processing on the brake pedal travel sensor to obtain the signal verification result;

[0089] Step S302: 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.

[0090] Step S303: When the signal verification result indicates that the brake pedal travel sensor is working normally, perform fault detection processing on the main control unit to obtain fault information;

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

[0092] Steps S301 to S304 of this embodiment involve performing signal verification processing on the brake pedal travel sensor to obtain a signal verification result. This result is used to detect whether the brake pedal travel sensor has malfunctioned. When the signal verification result indicates a brake pedal travel sensor malfunction, the redundant control unit takes over the braking system to brake the vehicle. In this case, the main control unit cannot recognize the driver's braking intention and therefore cannot perform braking processing. The main control unit communicates with the redundant control unit, enabling the redundant control unit to take over the braking system and brake the vehicle. Conversely, when the signal verification result indicates the brake pedal travel sensor is functioning normally, the main control unit undergoes fault detection processing to obtain fault information. The redundant control unit then recognizes the driver's intention based on this fault information and brakes the vehicle based on the intention recognition result. In this embodiment, the redundant control unit can communicate with the main control unit and brake the vehicle based on the main control unit's fault status combined with the intention recognition result, thus improving braking efficiency.

[0093] In step S301 of some embodiments, the brake pedal travel sensor is subjected to signal verification processing to obtain the signal verification result.

[0094] In this embodiment, the sensor signal sent by the brake pedal travel sensor can be detected by the main control unit or by the redundant control unit. Specifically, the main control unit can determine whether the brake pedal travel sensor is faulty by measuring the magnitude of the specific sensor signal value. For example, the voltage value of the sensor signal should generally be within a certain standard range. When it exceeds the standard range, the brake pedal travel sensor is judged to be faulty. Alternatively, the sensor signal received by the main control unit can be compared with the sensor signal received by the redundant control unit. If the signals are inconsistent, a fault is judged to have occurred. This is not limited to these methods.

[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 this embodiment of the application, when the signal verification result indicates that the brake pedal travel sensor is faulty, since the brake pedal travel sensor is a component of the main controller, the main controller cannot identify the driver's intention through the sensor signal to perform autonomous driving. Therefore, the main controller notifies the redundant control unit to take over the braking system to brake the vehicle and safely decelerate the vehicle to a stop.

[0097] In step S303 of some embodiments, when the signal verification result indicates that the brake pedal travel sensor is working normally, the main control unit is subjected to fault detection processing to obtain fault information.

[0098] In this embodiment, when the signal verification result indicates that the brake pedal travel sensor is working normally, fault detection processing needs to be performed on the main control unit to obtain fault information. When the main controller is working normally, the vehicle is braked through the main controller, putting the redundant control unit in standby mode, and only monitoring and verifying the signal of the brake pedal travel sensor.

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

[0100] In this embodiment, when the fault information is found to be faulty in the main control unit, the redundant control unit is notified to take over the system according to different fault conditions. The driver's intention is identified and processed, and the vehicle is braked according to the intention identification result to improve the braking efficiency of the vehicle.

[0101] Please see 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: Perform two-channel sensing signal acquisition processing on the brake pedal travel sensor to obtain the first sensing signal and the second sensing signal.

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

[0104] In step S401 of some embodiments, this application embodiment outputs two signals from the brake pedal travel sensor to the main controller (MCU) of the main control unit for judgment, obtaining a first sensing signal and a second sensing signal. By cross-verifying the two signals, the brake pedal travel sensor signal can be verified to obtain a signal verification result. It is conceivable that this application embodiment can also output two signals from the brake pedal travel sensor to the slave controller of the redundant control unit for judgment. By having the redundant control unit monitor and verify only the signal from the brake pedal travel sensor, monitoring efficiency is improved.

[0105] In step S402 of some embodiments, the signal values ​​of the first sensing signal and the second sensing 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 failed. 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 has not failed.

[0106] This application embodiment detects the signal of the brake pedal travel sensor to determine whether the brake pedal travel sensor has malfunctioned. When the brake pedal travel sensor malfunctions, the redundant control unit is notified to take over the system to brake the vehicle, thereby improving vehicle safety.

[0107] Please see Figure 5 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, which includes 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 status signal.

[0109] In step S502, the main control unit sends the degraded status signal to the redundant control unit, and the redundant control unit takes over the braking system to brake the vehicle.

[0110] In this embodiment, when the signal verification result indicates a fault in the brake pedal travel sensor, the main control unit can be downgraded. The main control unit sends a downgrade status signal to the redundant control unit, which then takes over the braking system to brake the vehicle. At this time, it is possible to detect whether the driver is operating the vehicle; other sensors can detect driver actions, such as turning the steering wheel. The redundant control unit then enters a mechanical backup mode to safely decelerate to a stop. This embodiment, by obtaining the downgrade status signal from the main control unit through the redundant control unit and taking over the braking system, directly takes over the system based on the notification from the main control unit, without needing notification from an upper-level system, thus improving braking efficiency.

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

[0112] Obtain external operation commands;

[0113] According to the external operation command, the redundant control unit switches the braking system to mechanical backup state and brakes the vehicle.

[0114] In this embodiment, the external operation command is the driver's operation command. At this time, it is necessary to obtain the driver's braking intention through the brake pedal travel sensor, but other sensors can still be used to obtain the driver's operation command. Based on the external operation command, the redundant control unit switches the braking system to a mechanical backup state. The mechanical backup mode means that when the vehicle's electronic braking system malfunctions, the driver's braking force is directly transmitted through mechanical structures (such as the brake pedal, master cylinder, and wheel cylinders) to ensure the vehicle can generate sufficient deceleration and stop safely. This embodiment, by having the redundant control unit take over the braking system to brake the vehicle, can enter a mechanical backup state to safely stop the vehicle even when the driver's braking intention cannot be recognized, thus improving vehicle safety.

[0115] Please see Figure 6 In step S304 of some embodiments, the step of recognizing the driver's intention through the redundant control unit based on the fault information and braking the vehicle based on the intention recognition result includes the following steps:

[0116] Step S601: When the fault information indicates that the main control unit has a pressure build-up fault, the redundant control unit communicates with the main control unit via bus to obtain the bus sensor signal.

[0117] Step S602: The driver's intention is identified based on the bus sensor signal to obtain the intention recognition result;

[0118] Step S603: Based on the intent recognition result, the redundant control unit performs pressure build-up to generate braking assistance and brake the vehicle.

[0119] In this embodiment, when the main control unit experiences a pressure build-up fault, a redundant control unit communicates with the main control unit via a bus to obtain bus sensor signals. Pressure build-up faults include motor failures, internal leaks, and other malfunctions that prevent vehicle braking. In this situation, the main control unit communicates with the redundant control unit to report the fault, while the main control unit can still receive signals from the brake pedal travel sensor and transmit these signals as bus sensor signals to the redundant control unit. The redundant control unit can then identify the driver's braking intention based on the bus sensor signals, obtain the intention recognition result, and generate braking assistance to brake the vehicle based on the intention recognition result. This embodiment can take over the braking system when the main control unit experiences a pressure build-up fault and identify the braking intention based on the bus sensor signals sent by the main control unit, thereby braking the vehicle.

[0120] In step S601 of some embodiments, obtaining bus sensor signals through bus communication between the redundant control unit and the main control unit includes the following steps:

[0121] The main control unit is downgraded to obtain a downgrade status signal;

[0122] The main control unit sends the degradation status signal to the redundant control unit, which then processes the sensor signals from the main control unit to obtain the bus sensor signal.

[0123] In this embodiment, due to a pressure build-up fault in the main control unit, a degradation status signal is obtained by degrading the main control unit. This degradation status signal is then sent to a redundant control unit. The redundant control unit acquires and processes the sensor signals received by the main control unit to obtain bus sensor signals. This embodiment allows the redundant control unit to acquire and process sensor signals based on the degradation status signal sent by the main control unit to obtain bus sensor signals. This enables the identification of the driver's braking intention based on the bus sensor signals, thus improving braking efficiency.

[0124] Please see Figure 7In step S304 of some embodiments, the step of recognizing and processing the driver's intention through the redundant control unit based on the fault information and braking the vehicle based on the intention recognition result further includes the following steps:

[0125] Step S701: When the fault information indicates a circuit fault in the main control unit, the redundant control unit communicates with the brake pedal travel sensor via a hardwire to obtain the hardwire sensor signal.

[0126] Step S702: The driver's intention is identified based on the hard-wire sensor signal to obtain the intention recognition result;

[0127] Step S703: Based on the intent recognition result, the redundant control unit performs pressure build-up to generate braking assistance and brake the vehicle.

[0128] In this embodiment, when the fault information indicates a circuit failure in the main control unit, this could be due to a main controller failure, a power management chip failure, a short circuit, or other issues. In this case, the main control unit is unable to process the brake pedal travel sensor signal, resulting in a communication anomaly. When the redundant control unit receives a message indicating the main control unit is in a failed state via the controller local area bus, it sequentially checks the pedal signal status on the controller local area bus and the hardwired signal. 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 via the controller local area bus is invalid, but the hardwired signal is valid, it is determined that the brake pedal travel sensor hardwired signal is valid, but the main control unit has lost its voltage build-up and signal processing capabilities. In this case, the redundant control unit uses the brake pedal travel sensor signal received via the hardwired signal to determine the driver's intention and actively builds up voltage to achieve brake assist. It should be noted that at this time, the slave controller of the redundant control unit disables the second power management chip in the main controller, and the second power management chip does not output 5V. This embodiment uses the hardwired sensor signal to identify the driver's braking intention, which can improve the vehicle's braking efficiency.

[0129] In step S701 of some embodiments, obtaining the hard-wired sensor signal through hard-wired communication between the redundant control unit and the brake pedal travel sensor includes the following steps:

[0130] The main control unit sends a failure status signal to the redundant control unit.

[0131] Based on the failure status signal, the redundant control unit communicates with the brake pedal travel sensor via hardwire to obtain the hardwire sensor signal.

[0132] In this embodiment, when the main control unit is in a circuit fault, the main control unit sends a failure status signal to the redundant control unit, thereby enabling the redundant control unit to perform hard-wire communication with the brake pedal travel sensor to obtain the hard-wire sensor signal. Based on the hard-wire sensor signal, the driver's braking intention can be identified, thus improving the vehicle's braking efficiency.

[0133] Please see Figure 8 In step S304 of some embodiments, the step of recognizing and processing the driver's intention through the redundant control unit based on the fault information and braking the vehicle based on the intention recognition result further includes the following steps:

[0134] Step S801: When the fault information indicates a power supply failure in the main control unit, the brake pedal travel sensor is powered and hard-wired via the redundant control unit to obtain the hard-wired sensor signal.

[0135] Step S802: The driver's intention is identified based on the hard-wire sensor signal to obtain the intention recognition result;

[0136] Step S803: Based on the intent recognition result, the redundant control unit performs pressure build-up to generate braking assistance and brake the vehicle.

[0137] In this embodiment, when the fault information indicates a power supply failure in the main control unit, which may involve wiring harness breakage or severe power depletion, the main control unit completely fails and communication is lost. The redundant control unit cannot receive the controller local area bus signal or the pedal signal status on the hardwired connection. Therefore, the redundant control unit determines that the main control unit has experienced a power supply failure and becomes completely ineffective. If the system is in L3 driving mode, the redundant control unit will take over. If the driver is operating the vehicle at this time, the slave controller (MCU) of the redundant control unit enables the second power management chip of the main control unit. The second power management chip in the main control unit receives the 12V voltage provided by the redundant control unit and outputs 5V to the brake pedal travel sensor. The brake pedal travel sensor then regains power and outputs a pedal signal to the slave controller of the redundant control unit. The redundant control unit then uses the brake pedal travel sensor signal received via the hardwired connection to determine the driver's intention and actively builds up pressure to achieve brake assist, thus improving the vehicle's braking efficiency.

[0138] In step S801 of some embodiments, the step of powering and hard-wired communicating with the brake pedal travel sensor through the redundant control unit to obtain the hard-wired sensor signal includes the following steps:

[0139] The redundant control unit enables the second power management chip of the main control unit and outputs a first voltage to the second power management chip.

[0140] The second power management chip converts the first voltage into a second voltage and outputs the second voltage to the brake pedal travel sensor.

[0141] The brake pedal travel sensor communicates with the redundant control unit via hardwire to obtain the hardwire sensor signal.

[0142] In this embodiment, the redundant control unit enables 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. The second power management chip then outputs the second voltage to the brake pedal travel sensor, enabling the brake pedal travel sensor to work normally. This allows the brake pedal travel sensor to communicate with the redundant control unit via hardwired communication, sending corresponding sensor signals as hardwired sensor signals to the redundant control unit. This enables the redundant control unit to identify the driver's braking intention based on the hardwired sensor signals, thereby improving the vehicle's braking efficiency.

[0143] The solutions of this application embodiment will be described in detail and explained below with reference to specific application examples:

[0144] Please see Figure 9In this embodiment, the main control unit (IBC) detects whether its main circuit is normal. When the main circuit fails, the CAN signal of the brake pedal travel sensor (PTS) is set to invalid. When the main circuit is working normally, the brake pedal travel sensor signal is verified. If the signal verification fails, the braking system is downgraded to mechanical backup. If the signal verification passes, it is determined whether the IBC has pressure-building capability. If it does, 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 to the IBC is normal. When the power supply to the IBC is normal, the brake pedal travel sensor signal is verified. If the signal verification fails, the system is downgraded to mechanical backup; otherwise, it determines whether the vehicle is in Level 3 autonomous driving mode. If not, the redundant control unit enables the second power management chip (PMIC2) to receive the hard-wired signal from the brake pedal travel sensor to determine the driver's braking intention and establish braking pressure. When the signal verification passes, it is determined whether the vehicle is in Level 3 autonomous driving mode. If not, the hard-wired signal from the brake pedal travel sensor is received to determine the driver's braking intention and establish braking pressure. When the redundant control unit receives the brake pedal travel sensor signal from the main control output, it determines the driver's braking intention based on the bus signal and establishes braking pressure. When it determines that the vehicle is in Level 3 autonomous driving mode, it can execute an external braking request to brake the vehicle.

[0145] This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the control method of the redundant-line braking system described above. This electronic device can be any smart terminal, including tablet computers, in-vehicle computers, etc.

[0146] It is understood that the content of the above method embodiments is applicable to this device embodiment. The specific functions implemented by this device embodiment 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] Please see Figure 10 , Figure 10 The hardware structure of an electronic device according to another embodiment is illustrated. The electronic device includes:

[0148] The processor 1001 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, 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 this application.

[0149] The memory 1002 can be implemented as a read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 1002 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1002 and is called and executed by the processor 1001 to execute the control method of the redundant line-controlled braking system of the embodiments of this application.

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

[0151] The communication interface 1004 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

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

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

[0154] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the control method of the redundant line-controlled braking system described above.

[0155] It is understood that the content of the above method embodiments is applicable to this storage medium embodiment. The specific functions implemented in this storage medium embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

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

[0157] This application provides a redundant brake-by-wire system and its control method, device, medium, and vehicle. The redundant brake-by-wire system includes a main control unit and redundant control units. The redundant control units, when the main control unit fails, identify and process the driver's braking intention based on the failure status of the main control unit, and then control the vehicle's braking based on the intention identification result. This application embodiment analyzes the failure status of the main control unit using redundant control units, enabling the system to take over the braking system by identifying the driver's braking intention after the main control unit fails, thereby improving braking efficiency and vehicle safety. This application embodiment's redundant brake-by-wire system can identify the driver's braking intention in the event of main braking unit failure, and without relying on other external signal inputs, uses redundant control units to replace the main braking unit to provide braking assistance, thus improving braking efficiency.

[0158] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

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

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

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

[0162] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0163] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0164] In the embodiments provided in this 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 merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between systems or units may be electrical, mechanical, or other forms.

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

[0166] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0167] If the integrated unit is implemented as 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 this application, in essence, 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. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0168] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A redundant brake-by-wire system, characterized in that, The system includes a main control unit and a redundant control unit, and the main control unit communicates with the redundant control unit through a controller area network bus; The main control unit is used to control the vehicle's braking in normal mode. The redundant control unit is used to identify and process the driver's braking intention based on the fault condition of the main control unit when the main control unit fails, and to perform braking control on the vehicle based on the intention identification result. The redundant control unit is used to identify and process the driver's braking intention based on the fault condition of the main control unit when the main control unit fails, and to perform braking control on the vehicle based on the intention identification result, including: The brake pedal travel sensor undergoes signal verification processing to obtain the signal verification result. 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. When the signal verification result indicates that the brake pedal travel sensor is working normally, the main control unit performs fault detection processing to obtain fault information. When the fault information indicates that the main control unit has a pressure build-up fault, the redundant control unit communicates with the main control unit via bus to obtain the bus sensor signal. The driver's intention is identified and processed based on the bus sensor signals to obtain the intention recognition result; Based on the intent recognition result, the redundant control unit generates braking assistance to brake the vehicle by building up pressure.

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. 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 hardwire. The main controller is used to control the braking of the vehicle based on the sensor signals in normal mode. The first power management chip is connected to the brake pedal travel sensor and the main controller respectively, and provides power to 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, providing power to the brake pedal travel sensor when the main control unit experiences a power supply failure.

3. A control method for a redundant linear braking system, characterized in that, Applied to the redundant brake-by-wire system as described in any one of claims 1 to 2, the method comprises the following steps: The brake pedal travel sensor undergoes signal verification processing to obtain the signal verification result. 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. When the signal verification result indicates that the brake pedal travel sensor is working normally, the main control unit performs fault detection processing to obtain fault information. Based on the fault information, the redundant control unit identifies and processes the driver's intention, and brakes the vehicle based on the intention identification result. The step of identifying and processing the driver's intention through the redundant control unit based on the fault information, and braking the vehicle based on the intention identification result, includes the following steps: When the fault information indicates that the main control unit has a pressure build-up fault, the redundant control unit communicates with the main control unit via bus to obtain the bus sensor signal. The driver's intention is identified and processed based on the bus sensor signals to obtain the intention recognition result; Based on the intent recognition result, the redundant control unit generates braking assistance to brake the vehicle by building up pressure.

4. The method according to claim 3, characterized in that, The process of verifying the signal of the brake pedal travel sensor to obtain the signal verification result includes the following steps: The brake pedal travel sensor is processed by acquiring two sensing signals to obtain a first sensing signal and a second sensing 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 is faulty, the redundant control unit takes over the braking system to brake the vehicle, including 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 status signal. The main control unit sends the degraded status signal to the redundant control unit, which then takes over the braking system to brake the vehicle.

6. The method according to claim 5, characterized in that, The step of taking over the braking system to brake the vehicle through the redundant control unit includes the following steps: Obtain external operation commands; According to the external operation command, the redundant control unit switches the braking system to mechanical backup state and brakes the vehicle.

7. The method according to claim 3, characterized in that, The step of obtaining bus sensor signals through bus communication between the redundant control unit and the main control unit includes the following steps: The main control unit is downgraded to obtain a downgrade status signal; The main control unit sends the degradation status signal to the redundant control unit, which then processes the sensor signals from the main control unit to obtain the bus sensor signal.

8. The method according to claim 3, characterized in that, The step of identifying and processing the driver's intention through the redundant control unit based on the fault information, and braking the vehicle based on the intention identification result, further includes the following steps: When the fault information indicates a circuit fault in the main control unit, the redundant control unit communicates with the brake pedal travel sensor via a hardwired connection to obtain the hardwired sensor signal. The driver's intention is identified and processed based on the hard-wired sensor signal to obtain the intention recognition result; Based on the intent recognition result, the redundant control unit generates braking assistance to brake the vehicle by building up pressure.

9. The method according to claim 8, characterized in that, The step of obtaining a hard-wired sensor signal through hard-wired communication between the redundant control unit and the brake pedal travel sensor includes the following steps: The main control unit sends a failure status signal to the redundant control unit. Based on the failure status signal, the redundant control unit communicates with the brake pedal travel sensor via hardwire to obtain the hardwire sensor signal.

10. The method according to claim 3, characterized in that, The step of identifying and processing the driver's intention through the redundant control unit based on the fault information, and braking the vehicle based on the intention identification result, further includes the following steps: When the fault information indicates a power supply failure in the main control unit, the brake pedal travel sensor is powered and hard-wired communicated through the redundant control unit to obtain the hard-wired sensor signal. The driver's intention is identified and processed based on the hard-wired sensor signal to obtain the intention recognition result; Based on the intent recognition result, the redundant control unit generates braking assistance to brake the vehicle by building up pressure.

11. The method according to claim 10, characterized in that, The process of supplying power and communicating hard-wired with the brake pedal travel sensor through the redundant control unit to obtain the hard-wired sensor signal includes the following steps: The redundant control unit enables the second power management chip of the main control unit and outputs a first voltage to the second power management chip. The second power management chip converts the first voltage into a second voltage and outputs the second voltage to the brake pedal travel sensor. The brake pedal travel sensor communicates with the redundant control unit via hardwire to obtain the hardwire sensor signal.

12. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the method according to any one of claims 3 to 11.

13. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method of any one of claims 3 to 11.

14. A vehicle, characterized in that, This includes a control system with redundant brake-by-wire as described in any one of claims 1 to 2, or an electronic device as described in claim 12.

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