Fault processing method and device of vehicle braking system, electronic equipment and medium

Abstract

The invention relates to a fault processing method and device for a vehicle braking system, electronic equipment and a medium. The method is applied to a master controller unit of a vehicle braking system and can comprise the steps that state information of a slave controller unit is obtained; under the condition that the state information indicates that the current operation state is not matched with the target state, determining a target fault type of the slave controller unit; under the condition that the target fault type is a functional braking fault type, repairing the fault according to a fault processing mode corresponding to the functional fault type; and when the target fault type is the brake communication fault type, starting the first data transmission line. According to the technical scheme provided by the invention, the reliability and safety of the braking system are improved, the safety of drivers and passengers in the driving process of the vehicle is guaranteed, the fault processing flow is optimized, and the situation that the vehicle directly enters a stagnation state due to the fact that a traditional braking system goes wrong is avoided.

Description

Technical Field

[0001] The present application relates to the field of vehicle braking technology, and in particular to a method, device, electronic equipment and medium for handling a fault of a vehicle braking system. Background Art

[0002] In the vehicle braking system, two or more microcontroller units (MCU) are generally used for collaborative processing. Among them, one is the host MCU, which is mainly responsible for application logic operations and external network communication; while the other slave MCUs focus on real-time acquisition and processing of high-frequency data, and then upload these processing results to the host MCU. The traditional dual MCU communication method uses a four-wire SPI interface. However, this communication method is not flexible enough when dealing with hardware failures in the communication line. Once one of the data transmission line or the data receiving line breaks, the communication function of the entire braking system will be interrupted immediately. In this case, the slave MCU will automatically enter the function lock state because it cannot receive instructions from the host MCU. This may not only cause safety hazards during driving, but also greatly reduce the experience of drivers and passengers. Summary of the invention

[0003] The present application provides a vehicle brake system fault handling method, device, electronic device and medium to at least solve the problems in the related art such as how to improve the communication reliability of the communication system. The technical solution of the present application is as follows:

[0004] According to a first aspect of an embodiment of the present application, a fault handling method for a vehicle brake system is provided, which is applied to a controller unit of the vehicle brake system, comprising:

[0005] Acquire status information of a slave controller unit; the slave controller unit is used to transmit vehicle braking data to the master controller unit; the status information represents the current operating state of the slave controller unit;

[0006] In the case where the state information indicates that the current operating state does not match the target state, determining a target fault type of the slave controller unit; the target state indicates that the slave controller unit is in a normal operating state;

[0007] In the case where the target fault type is a functional braking fault type, repairing the fault according to a fault handling method corresponding to the functional fault type;

[0008] In the case where the target fault type is a brake communication fault type, a first data transmission line is started; the first data transmission line is a backup communication line between the master controller unit and the slave controller unit.

[0009] According to a second aspect of an embodiment of the present application, a fault handling method for a vehicle brake system is provided, which is applied to a slave controller unit of the vehicle brake system, comprising:

[0010] Collect vehicle braking data from vehicle sensors;

[0011] Performing data verification processing on the braking data, and determining that the slave controller unit is in an abnormal state when it is verified that the braking data does not match the predicted verification data;

[0012] Determining a first duty cycle signal according to the abnormal state; the first duty cycle signal is used to indicate that the state information of the slave controller unit is in an abnormal state;

[0013] The first duty cycle signal is sent to a main controller unit.

[0014] According to a third aspect of an embodiment of the present application, a fault handling device for a vehicle brake system is provided, which is applied to a main controller unit of the vehicle brake system, comprising:

[0015] An acquisition module, used for acquiring status information of a slave controller unit; the slave controller unit is used for transmitting vehicle braking data to the master controller unit; the status information represents the current operating status of the slave controller unit;

[0016] a fault type determination module, configured to determine a target fault type of the slave controller unit when the state information indicates that the current operating state does not match a target state; the target state indicates that the slave controller unit is in a normal operating state;

[0017] A functional fault determination module, configured to, when the target fault type is a functional braking fault type, repair the fault according to a fault handling method corresponding to the functional fault type;

[0018] The communication fault determination module is used to start a first data transmission line when the target fault type is a braking communication fault type; the first data transmission line is a backup communication line between the main controller unit and the slave controller unit.

[0019] According to a fourth aspect of an embodiment of the present application, an electronic device is provided, comprising: a processor; and a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement a method as described in any one of the above-mentioned first aspects.

[0020] According to the fifth aspect of the embodiments of the present application, a computer-readable storage medium is provided. When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device can execute any method described in the first aspect of the embodiments of the present application.

[0021] According to a sixth aspect of an embodiment of the present application, a computer program product is provided, comprising computer instructions, which, when executed by a processor, enable a computer to execute any one of the methods described in the first aspect of the embodiment of the present application.

[0022] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application.

[0023] The technical solution provided by the embodiments of the present application brings at least the following beneficial effects:

[0024] By acquiring the status information of the slave controller unit and detecting whether the current operating state in the status information matches the target state, it is possible to quickly detect whether the slave controller unit has a fault, thereby improving the reliability of the braking system;

[0025] When the target fault type is a functional brake fault type, fault repair according to the fault handling method can effectively avoid safety hazards caused by the brake system and improve driving safety;

[0026] When the target fault type is a braking fault, the first data transmission line is driven to mechanically communicate, thereby ensuring the communication stability between the main controller unit and the slave controller unit, while also improving the robustness of the braking system and avoiding vehicle stagnation due to communication failure.

[0027] Other features and aspects of the present application will become apparent from the following detailed description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions and advantages of the embodiments of this specification or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0029] Figure 1 It is a schematic diagram of an application environment according to an exemplary embodiment.

[0030] Figure 2 The following is a flow chart of a method for troubleshooting a vehicle braking system according to an exemplary embodiment. Figure 1 .

[0031] Figure 3 The figure is a schematic diagram showing a communication line of a braking system according to an exemplary embodiment.

[0032] Figure 4 is an operation flow chart of a main controller unit according to an exemplary embodiment.

[0033] Figure 5 The following is a flow chart of a method for troubleshooting a vehicle braking system according to an exemplary embodiment. Figure 2 .

[0034] Figure 6 A device frame of a fault processing device for a vehicle brake system according to an exemplary embodiment is shown. Figure 1 .

[0035] Figure 7 A device frame of a fault processing device for a vehicle brake system according to an exemplary embodiment is shown. Figure 2 .

[0036] Figure 8 The present invention is a frame diagram of an electronic device for a method for handling a fault of a vehicle braking system according to an exemplary embodiment. Figure 1 .

[0037] Fig. 9 The present invention is a frame diagram of an electronic device for a fault handling method of a vehicle braking system according to an exemplary embodiment. Figure 2 . DETAILED DESCRIPTION

[0038] In order to enable ordinary persons in the art to better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application specification will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application specification. Obviously, the described embodiments are only part of the embodiments of the specification, not all of the embodiments. Based on the embodiments in the present specification, all other embodiments obtained by ordinary persons in the art without creative work are within the scope of protection of the present invention.

[0039] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention 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 interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or server that includes 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.

[0040] Various exemplary embodiments, features and aspects of the present application will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0041] The word "exemplary" used exclusively herein means "serving as an example, embodiment or illustrative". Any embodiment described herein as "exemplary" is not necessarily to be construed as being superior or better than other embodiments. The term "and / or" herein is merely a description of an association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent the following three situations: A exists alone, A and B exist at the same time, and B exists alone. In addition, the term "at least one" herein represents any combination of at least two of any one or more of a plurality of types. For example, including at least one of A, B, and C may represent any one or more elements selected from the set consisting of A, B, and C.

[0042] Unless otherwise specified, the directions in this document should be understood as follows: the direction closer to the user is the front, and the direction away from the user is the rear.

[0043] In addition, in order to better illustrate the present application, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present application can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present application.

[0044] See also Figure 1 , Figure 1 is a schematic diagram of an application environment according to an exemplary embodiment. Figure 1 As shown, the application environment may include a master controller unit 01 and a slave controller unit 02 .

[0045] In an optional embodiment, the main controller unit 01 can be used to execute the main application logic of the braking system, including data processing, algorithm operation and decision making.

[0046] In an optional embodiment, the slave controller unit 02 may be used to collect sensor data and upload the sensor data to the master controller unit 01 for analysis and processing.

[0047] In addition, it should be noted that Figure 1 What is shown is only one application environment of a vehicle brake system fault handling method provided by the present application.

[0048] In the embodiments of this specification, the master controller unit 01 and the slave controller unit 02 may be directly or indirectly connected via a serial peripheral interface (SPI), and this application does not impose any limitation thereto.

[0049] It should be noted that the following figure shows a possible order of steps, which is not actually limited to this order. Some steps can be executed in parallel without relying on each other. The user information (including but not limited to user device information, user personal information, user behavior information, etc.) and data (including but not limited to data for display, training data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0050] Before introducing the method embodiments provided in the present application, a brief introduction is first given to the application scenarios, relevant terms or nouns that may be involved in the method embodiments of the present application to facilitate understanding by technicians in the field of the present application.

[0051] The vehicle braking system is a key component to ensure the safe driving of the vehicle. Its main function is to ensure driving safety and enable the car to decelerate, stop and park stably. The vehicle braking system mainly includes the service braking system, that is, the foot brake, which is the most important device in the braking system and undertakes most of the braking tasks. Its working principle is that when the driver steps on the brake pedal, the pedal force is converted into wheel braking force through the brake master cylinder and brake slave cylinder, so that the car slows down until it stops.

[0052] The parking brake system, also known as the handbrake, is used to stabilize the vehicle after it stops to prevent it from sliding when it is parked on a slope. The emergency brake system can provide additional braking force when the brake system fails, ensuring that the vehicle can be quickly decelerated and stopped. The auxiliary brake system mainly increases the resistance of the transmission system to prevent the car from sliding too fast, but it can only slow down the car, not stop it.

[0053] Figure 2FIG. 1 is a flow chart showing a method for troubleshooting a vehicle braking system according to an exemplary embodiment. Figure 2 As shown, the fault handling method of the vehicle braking system is applied to the main controller unit of the vehicle braking system and may include the following steps.

[0054] In step S201, status information of the slave controller unit is acquired.

[0055] In the embodiments of this specification, the main controller unit is the main MCU in the braking system, which is used to control the operation of the braking system. The slave controller unit is the slave MCU in the braking system, which is used to collect vehicle braking data and upload the vehicle braking data to the main controller unit. The status information can represent the current operating state of the slave controller unit, for example, when the slave controller unit collects vehicle braking data, the monitored functional operating state and communication operating state of the slave controller unit or the result state after verification and analysis of the data after collection.

[0056] Figure 3 FIG. 1 is a schematic diagram of a communication line of a braking system according to an exemplary embodiment. Figure 3 As shown in the figure, the master MCU is the master controller unit, and the slave MCU is the slave controller unit. The master controller unit and the slave controller unit are connected using a serial peripheral interface SPI, that is, Figure 3 The six-wire communication in the master controller unit and the slave controller unit include a clock signal line (CLK, Clock), a master send slave receive line (MOSI, Master Out Slave In), a master receive slave send line (MISO, Master In Slave Out) and a chip select signal line (CS, Chip Select).

[0057] Among them, the clock signal line CLK at the main controller unit end, that is, the main MCU end, is a clock signal generated by the main controller unit and is used to synchronize data transmission. The master-slave-transmit line MOSI at the main MCU end is a data line output by the main controller unit and input by the slave controller unit. The master-slave-transmit line MISO at the main MCU end is a data line input by the main controller unit and output by the slave controller unit. The chip select signal line CS at the main MCU end is a signal line used by the main controller device to select the slave controller unit to communicate with it.

[0058] The clock signal line CLK from the slave controller unit, that is, the slave MCU, is used to receive the clock signal from the master device to synchronize its own data sampling or transmission. The master-send slave-receive line MOSI from the MCU is used to receive data from the master controller unit. The master-receive slave-transmit line MISO from the MCU is used to send data to the master controller unit. The chip select signal line CS from the MCU, when this line is pulled low, indicates that the slave controller unit is selected and ready to communicate; when it is pulled high, it indicates the unselected state.

[0059] The clock signal line CLK at the master MCU end is connected to the clock signal line CLK at the slave MCU end, the master transmit and slave receive line MOSI at the master MCU end is connected to the master receive and slave transmit line MISO at the slave MCU end, the master receive and slave transmit line MISO at the master MCU end is connected to the master transmit and slave receive line MOSI at the slave MCU end, and the chip select signal line CS at the master MCU end is connected to the chip select signal line CS at the slave MCU end.

[0060] The master MCU and slave MCU ends of the present application are further provided with two additional connection lines on the basis of the original four-wire communication, namely, the status indication line of the master MCU end, namely, PWM IN, which is used to receive the duty cycle pulse (PWM, Pulse Width Modulation) signal sent from the slave controller unit; the reset line RESET CTRL of the master MCU end is used to send the fault handling method to the slave controller unit.

[0061] The status indication line of the slave MCU, namely PWM OUT, is used to transmit the status information of the slave controller unit to the master controller unit and is connected to the status indication line of the master MCU. The reset line PORST of the slave MCU is used to receive the fault handling method and perform fault handling according to the fault handling method and is connected to the reset line of the master MCU.

[0062] Figure 4 FIG. 1 is a flowchart showing an operation of a main controller unit according to an exemplary embodiment. Figure 4 As shown, before obtaining the status information of the slave controller unit, the master controller unit first starts the timer for timing processing. If the master controller unit does not receive the status information of the slave controller unit, that is, the duty cycle signal, within the preset time period, the master controller unit sends a restart instruction to the slave controller. After the slave controller unit restarts according to the restart instruction, the master controller unit resets the timer to zero and performs timing processing again. Furthermore, within the preset time period, the slave controller unit re-collects data and status information and sends it to the master controller unit.

[0063] In a possible implementation, the main controller unit receives the status information sent by the status indication line of the slave MCU through the status indication line of the main MCU. The slave controller unit uses a duty cycle signal to characterize the status information. The status information may include that the current operating state in the slave controller unit is in a normal operating state and that the current operating state of the slave controller unit is in an abnormal operating state. The abnormal operating state may include data verification abnormality, communication line abnormality, sensor abnormality, etc., which is not limited in this application.

[0064] In step S203, when the state information indicates that the current operating state does not match the target state, a target fault type of the slave controller unit is determined.

[0065] In the embodiments of this specification, the target state can be used to indicate that the slave controller unit is in a normal operating state. For example, the slave controller unit sends accurate vehicle braking data to the master controller unit within a preset time period.

[0066] In a possible implementation, after receiving the status information, the master controller unit immediately analyzes and processes the status information of the slave controller unit. When it is analyzed that the current operating state in the status information does not match the target state, it is determined that the slave controller unit has a fault. Then, according to the fault of the slave controller unit, the corresponding target fault type is determined. There are two types of target fault types, namely, a functional braking fault type, that is, a functional component in the slave controller unit has a fault; and a braking communication fault type, that is, a communication line of the slave controller unit has a fault.

[0067] In another possible implementation, when the status information indicates that the current operating status matches the target controller status, vehicle braking data is received; and braking processing is performed on the target vehicle according to the vehicle braking data.

[0068] When it is analyzed that the current operating state matches the target state, that is, the current operating state of the slave controller unit is a normal operating state, the main controller unit obtains the vehicle braking data from the master receiving and slave transmitting line MISO.

[0069] Among them, vehicle braking data may include brake temperature data, that is, the temperature sensor monitors the temperature changes of the brake during the braking process; brake pressure data, monitoring the pressure changes inside the brake through the pressure sensor; vehicle condition data, the vehicle condition data around the vehicle obtained by the on-board camera, that is, the lidar, etc., which is not limited in this application.

[0070] In step S205, when the target fault type is a functional braking fault type, the fault is repaired according to the fault handling method corresponding to the functional fault type.

[0071] In the embodiments of this specification, fault handling methods may include function degradation, reset and restart, etc., which are not limited in this application.

[0072] In a possible implementation, when the brake communication fault type is abnormal data in the vehicle brake data, the functional unit corresponding to the abnormal data is shut down according to the fault handling method.

[0073] When the main controller unit detects that the fault is abnormal data in the vehicle braking data, it immediately verifies the abnormal data and determines that the abnormal data is sent by a functional unit of the slave controller unit, such as a sensor corresponding to the slave controller unit. The functional unit is then downgraded to avoid continued transmission of abnormal data from the slave controller unit, thereby affecting the vehicle's braking and reducing driving safety.

[0074] Among them, functional degradation can be temporarily shutting down the abnormal functional unit, or it can be downgrading the functional unit to a perception unit without data transmission, which is not limited in this application.

[0075] In one possible implementation, when the main controller unit detects that the target fault type is a functional braking fault type, the corresponding information of the functional braking fault occurring in the vehicle from the controller unit can be transmitted to the user through the vehicle's central control screen to inform the user that the vehicle's braking system needs maintenance, thereby improving the interactive experience between the vehicle and the user and also improving the vehicle's driving safety.

[0076] In step S207 , when the target fault type is a brake communication fault type, the first data transmission line is started.

[0077] The first data transmission line may refer to a backup communication line of the master controller unit and the slave controller unit.

[0078] In a possible implementation, when the type of the braking communication fault is a communication line fault, the second data transmission line is closed and the target data transmission line is started.

[0079] The second data transmission line may be used to represent a line for data transmission when the slave controller unit is in a normal operating state, that is, a transmission line corresponding to the serial peripheral interface SPI.

[0080] In the case where the type of brake communication fault is a communication line fault, the communication line fault may refer to the inability of the slave controller unit to send data to the master controller unit, or the inability of the slave controller unit to receive the control instructions and data sent by the master controller unit. Specifically, the communication line fault may refer to the disconnection of any one of the clock signal line CLK, the master-slave receiving line MOSI, the master-slave receiving line MISO, and the chip select signal line CS in the master controller unit or the slave controller unit. For example, when the master-slave receiving line MOSI is disconnected, it means that the master controller unit cannot transmit the corresponding control instruction to the slave controller unit; if the clock signal line is broken, the master controller unit or the slave controller unit cannot perform timing processing, and this application does not limit this. At this time, the main control module immediately stops the clock signal line CLK, the master-slave receiving line MOSI, the master-slave receiving line MISO, and the chip select signal line CS in the master controller unit and the slave controller unit, that is, the second data transmission line is closed. Then the first data transmission line in the status indication line, that is, the backup communication line, is started. Further, the master controller unit and the slave controller unit can transmit data through the first data transmission line, thereby ensuring that the vehicle can maintain accurate braking of the vehicle even when the communication line is disconnected.

[0081] However, when the main controller unit detects a communication line fault, the communication line fault is reported to the user end, and the user can perform corresponding maintenance of the brake system based on the reported information, for example, promptly send the vehicle to a maintenance station for brake system maintenance.

[0082] In a possible implementation, when the braking communication fault type is a frame count error or a cyclic redundancy check (CRC) error, the master controller unit sends a restart instruction to the slave controller unit.

[0083] Among them, the Frame count error may refer to the inconsistency between the number of frames counted by the receiver and the number of frames counted by the sender during the data transmission process, that is, the number of frames received by the main controller unit and the number of frames sent by the slave controller unit are inconsistent. Possible reasons include data interruption during transmission, data packet loss, etc.; CRC error may be caused by bit errors in data transmission or data storage. CRC is a technology widely used to detect data transmission or storage errors. It generates a check code by performing a specific algorithm on the data and verifies it using the same algorithm in the main controller unit. If the data of the main controller unit does not match the check code, it means that an error has occurred in the data transmission process.

[0084] In the case where the brake communication fault type is a frame count error or a cyclic redundancy check (CRC) error, it is caused by an error during the transmission process, and the main controller unit needs to reset and restart the SPI communication line. After the restart, the data is sent again, and the main controller unit performs a data check on the sent vehicle brake data. When the check results in the same data, it means that the communication has returned to normal. If the check results in the data still being abnormal, the second data transmission line is closed, and the first data transmission line is started accordingly.

[0085] Figure 5 FIG. 1 is a flow chart showing a method for troubleshooting a vehicle braking system according to an exemplary embodiment. Figure 4 As shown, a slave controller unit is applied to a vehicle braking system.

[0086] In step S501 , vehicle braking data from a vehicle sensor is collected.

[0087] The vehicle sensor may refer to a detection device on the vehicle, which is used to detect vehicle braking data related to the vehicle braking system.

[0088] In a possible implementation, a slave controller unit sends a collection instruction to each vehicle sensor, and the vehicle sensor collects vehicle braking data according to the collection instruction, and sends the vehicle braking data to a data verification module in the slave controller unit for data verification.

[0089] In step S503, data verification processing is performed on the vehicle braking data. When it is verified that the braking data does not match the predicted verification data, it is determined that the slave controller unit is in an abnormal state.

[0090] In the embodiments of the present specification, the predicted verification data may refer to verification data calculated by the data verification module according to a preset model.

[0091] In a possible implementation, the slave controller unit can perform data verification on the collected vehicle braking data. The data content format of the slave controller unit may include a Head identifier, which is used to identify the beginning of the vehicle braking data to ensure that the receiving end can accurately identify the starting position of the data packet; a Frame count value, which is used to record the sequence number of the current data packet to help the receiving end identify the order of the data packets and ensure the continuity of the data; the communication data is the information actually transmitted, which can be various types of data, such as sensor readings, control instructions, etc. The Checksum value is used to check the integrity of the data to ensure that the data has not been tampered with or damaged during transmission. The slave controller unit determines whether the vehicle braking data is the same as the predicted verification data based on the above content, or whether the number of vehicle braking data is consistent with the number of predicted verification data. When it is verified that the vehicle braking data does not match the predicted verification data, it indicates that the slave controller unit is in an abnormal situation.

[0092] In step S505 , a first duty cycle signal is determined according to the abnormal state.

[0093] In the embodiment of this specification, the first duty cycle signal is used to indicate that the status information of the slave controller unit is in an abnormal state.

[0094] In a possible implementation, the specific location and cause of the fault of the slave controller unit are determined according to the abnormal state of the slave controller unit, and further, the fault type of the slave controller unit is converted into a corresponding first duty cycle signal. For example, when the front camera of the vehicle fails, the first duty cycle signal is set to 25%; when the main transmission and slave reception fail, the first duty cycle is set to 30%. This application does not limit the corresponding relationship of the first duty cycle signal.

[0095] In step S507 , a first duty cycle signal is sent to the main controller unit.

[0096] The master controller unit immediately analyzes the first duty cycle signal to obtain status information of the slave controller unit, and performs specific fault processing on the slave controller unit according to the status information.

[0097] In another possible implementation, data verification processing is performed on the vehicle braking data, and when it is verified that the vehicle braking data matches the predicted verification data, it is determined that the slave controller unit is in a normal operating state;

[0098] At this time, the slave controller unit determines the second duty cycle that the status indicator line needs to send according to the normal operating state, and the second duty cycle indicates that the status information of the slave controller unit is in a normal operating state. Exemplarily, when the vehicle braking data obtained from the slave controller is verified to be correct and the communication line between the main controller unit and the slave controller unit is normal, the second duty cycle signal is set to 50%. Further, the second duty cycle signal, i.e., 50%, is sent to the main controller unit through the status indicator line. After the main controller unit analyzes the second duty cycle signal and obtains that the status information of the slave controller unit is in a normal operating state, the corresponding vehicle braking data is immediately obtained to perform vehicle braking.

[0099] Figure 6 is a device block diagram of a fault processing device for a vehicle braking system according to an exemplary embodiment. Figure 6 , applied to a main controller unit, the device may include:

[0100] The acquisition module 601 is used to acquire the status information of the slave controller unit; the slave controller unit is used to transmit the vehicle braking data to the master controller unit; the status information represents the current operating state of the slave controller unit;

[0101] The fault type determination module 603 is used to determine the target fault type of the slave controller unit when the state information indicates that the current operating state does not match the target state; the target state indicates that the slave controller unit is in a normal operating state;

[0102] The functional fault determination module 605 is used to repair the fault according to the fault handling method corresponding to the functional fault type when the target fault type is a functional braking fault type;

[0103] In a possible implementation, the functional failure determination module 605 includes:

[0104] The downgrade module is used to downgrade the functional unit corresponding to the slave controller unit according to the fault handling method when the functional brake fault type is abnormal data in the vehicle brake data.

[0105] The communication fault determination module 607 is used to start the first data transmission line when the target fault type is a braking communication fault type; the first data transmission line is a backup communication line between the master controller unit and the slave controller unit.

[0106] In a possible implementation, the communication failure determination module 607 includes:

[0107] A first line starting module is used to close the second data transmission line and start the first data transmission line when the type of brake communication fault is a communication line fault, and the second data transmission line is used to represent a line for data transmission when the slave controller unit is in a normal operating state;

[0108] In a possible implementation, the communication failure determination module 607 further includes:

[0109] The restart module is used to send a restart instruction to the slave controller unit according to a fault handling method when the functional fault type is a counter timeout fault.

[0110] The braking data acquisition module is used to acquire vehicle braking data according to the first data transmission line.

[0111] In a possible implementation, the fault handling device further includes:

[0112] Receiving module: when the state information indicates that the current operating state matches the target state, receiving the vehicle braking data; performing braking processing on the target vehicle according to the vehicle braking data.

[0113] Figure 7 is a device block diagram of a fault processing device for a vehicle braking system according to an exemplary embodiment. Figure 7 , applied to a slave controller unit, the device may include:

[0114] The acquisition module 701 is used to acquire vehicle braking data from vehicle sensors;

[0115] A verification module 703 is used to perform data verification processing on the vehicle braking data, and determine that the slave controller unit is in an abnormal state when it is verified that the vehicle braking data does not match the predicted verification data;

[0116] A first duty cycle determining module 705 is used to determine a first duty cycle signal according to the abnormal state; the first duty cycle signal is used to indicate that the state information of the slave controller unit is in an abnormal state;

[0117] The sending module 707 is used to send the first duty cycle signal to the main controller unit.

[0118] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0119] Figure 8is a block diagram of an electronic device for a vehicle brake system fault processing method according to an exemplary embodiment. The electronic device may be a vehicle brake system fault processing method, and its internal structure diagram may be as shown in FIG. Figure 8 As shown. The electronic device includes a processor, a memory, a network interface, a display screen and an input device connected through a system bus. Among them, the processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the electronic device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for fault handling of a vehicle braking system is implemented. The display screen of the electronic device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the electronic device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the housing of the electronic device, or an external keyboard, touchpad or mouse, etc.

[0120] Those skilled in the art will understand that Figure 8 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the electronic device to which the scheme of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0121] Fig. 9 is a block diagram of an electronic device for a method for handling a fault of a vehicle brake system according to an exemplary embodiment. The electronic device may be a slave controller unit, and its internal structure diagram may be as shown in FIG. Fig. 9 As shown. The electronic device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the electronic device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for fault handling of a vehicle braking system is implemented.

[0122] Those skilled in the art will understand that Fig. 9 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the electronic device to which the scheme of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0123] In an exemplary embodiment, an electronic device is also provided, comprising: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement a fault handling method for a vehicle braking system as in an embodiment of the present application.

[0124] In an exemplary embodiment, a computer-readable storage medium is also provided, and when the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the fault handling method of the vehicle brake system in the embodiment of the present application. The computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0125] In an exemplary embodiment, a computer program product including instructions is also provided. When the computer program product is run on a computer, the computer is enabled to execute the fault handling method of the vehicle braking system in the embodiment of the present application.

[0126] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing related hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0127] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0128] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A method for troubleshooting a vehicle braking system, characterized in that: A main controller unit applied to a vehicle braking system, the main controller unit being used to control the operation of the braking system, comprising: Acquire status information of a slave controller unit; the slave controller unit is used to transmit vehicle braking data to the master controller unit; the status information represents the current operating state of the slave controller unit; In the case where the state information indicates that the current operating state does not match a target state, determining a target fault type of the slave controller unit; the target state indicates that the slave controller unit is in a normal operating state; In the case where the target fault type is a functional braking fault type, repairing the fault according to a fault handling method corresponding to the functional fault type; In the case where the target fault type is a brake communication fault type, a first data transmission line is started; the first data transmission line is a backup communication line between the master controller unit and the slave controller unit.

2. The method for troubleshooting a vehicle brake system according to claim 1, characterized in that: When the target fault type is a brake communication fault type, starting the first data transmission line includes: When the brake communication fault type is a communication line fault, closing the second data transmission line and starting the first data transmission line, the second data transmission line is used to represent a line for data transmission when the slave controller unit is in the normal operating state; The vehicle braking data is acquired according to the first data transmission line.

3. The fault handling method of the vehicle brake system according to claim 1, characterized in that: When the target fault type is a functional braking fault type, repairing the fault according to the fault handling method corresponding to the functional fault type includes: When the functional braking fault type is abnormal data appearing in the vehicle braking data, the functional unit corresponding to the slave controller unit is downgraded according to the fault handling method.

4. The method for troubleshooting a vehicle brake system according to claim 1, characterized in that: When the target fault type is a functional braking fault type, repairing the fault according to the fault handling method corresponding to the functional fault type includes: In the case where the functional fault type is a counter timeout fault, a restart instruction is sent to the slave controller unit according to the fault handling method.

5. The method for troubleshooting a vehicle brake system according to claim 1, characterized in that: The method further comprises: receiving the vehicle braking data if the state information indicates that the current operating state matches the target state; The target vehicle is braked according to the vehicle braking data.

6. A method for troubleshooting a vehicle braking system, characterized in that: A slave controller unit applied to the vehicle braking system comprises: Collect vehicle braking data from vehicle sensors; Performing data verification processing on the vehicle braking data, and determining that the slave controller unit is in an abnormal state when it is verified that the vehicle braking data does not match the predicted verification data; Determining a first duty cycle signal according to the abnormal state; the first duty cycle signal is used to indicate that the state information of the slave controller unit is in an abnormal state; The first duty cycle signal is sent to a main controller unit.

7. The method for troubleshooting a vehicle brake system according to claim 6, characterized in that: The method further comprises: Performing data verification processing on the vehicle braking data, and determining that the slave controller unit is in a normal operating state when it is verified that the vehicle braking data matches the predicted verification data; Determining a second duty cycle signal according to the normal operating state; the second duty cycle signal is used to indicate that the state information of the slave controller unit is in a normal operating state; The second duty cycle signal is sent to the main controller unit.

8. A fault handling device for a vehicle braking system, characterized in that: A main controller unit applied to the vehicle braking system comprises: An acquisition module, used for acquiring status information of a slave controller unit; the slave controller unit is used for transmitting vehicle braking data to the master controller unit; the status information represents the current operating status of the slave controller unit; a fault type determination module, configured to determine a target fault type of the slave controller unit when the state information indicates that the current operating state does not match a target state; the target state indicates that the slave controller unit is in a normal operating state; A functional fault determination module, configured to, when the target fault type is a functional braking fault type, repair the fault according to a fault handling method corresponding to the functional fault type; The communication fault determination module is used to start a first data transmission line when the target fault type is a braking communication fault type; the first data transmission line is a backup communication line between the main controller unit and the slave controller unit.

9. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the fault handling method of the vehicle braking system as described in any one of claims 1 to 5.

10. A computer-readable storage medium, characterized in that: When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the fault handling method for a vehicle brake system as claimed in any one of claims 1 to 5.

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