Emergency stop redundant braking system and method, relieving method and vehicle

Abstract

The invention belongs to the technical field of vehicle automatic driving and control, and discloses an emergency stop redundant braking system and method, a relieving method and a vehicle. The main controller unit is configured to be capable of communicating through the first communication line and the second communication line, and is used for communicating through the first communication line and / or the second communication line to obtain an emergency stop signal; at least part of the auxiliary controller unit is configured to communicate through the first communication line and the second communication line; the main controller unit is used for connecting and communicating with the at least one auxiliary controller unit through a first communication line and forwarding an emergency stop signal; at least a part of the auxiliary controller units can also obtain the emergency stop signal through the second communication line; and the at least one auxiliary controller unit is used for performing braking control according to the emergency stop signal. The auxiliary controller unit can obtain the emergency stop signal through the second communication line, and the reliability of the braking system is guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle automatic driving and control, and in particular relates to an emergency stop redundant braking system, method, release method and vehicle. Background Art

[0002] In an autonomous driving system, vehicles need to perform emergency braking when they encounter accidents such as collisions and failures. Once the control system is disconnected, the lack of emergency braking redundancy measures will lead to very serious consequences. In related technologies, redundant braking is usually achieved by adding a braking execution unit or an emergency braking trigger mechanism. However, when the main controller fails, the emergency braking redundancy measures will still fail. Summary of the invention

[0003] In view of this, embodiments of the present invention provide an emergency stop redundant braking system, method, release method and vehicle to solve the problems in the prior art.

[0004] A first aspect of an embodiment of the present invention provides an emergency stop redundant braking system, comprising:

[0005] A first communication line and a second communication line; a main controller unit, the main controller unit is configured to be able to communicate through the first communication line and the second communication line, and the main controller unit is used to obtain an emergency stop signal and / or an emergency stop release signal through the first communication line and / or the second communication line; at least one auxiliary controller unit, at least part of the auxiliary controller units are configured to communicate through the first communication line and the second communication line; the main controller unit is used to connect and communicate with the at least one auxiliary controller unit through the first communication line, and forward the emergency stop signal and / or the emergency stop release signal; at least part of the auxiliary controller units can also obtain the emergency stop signal and / or the emergency stop release signal through the second communication line; the at least one auxiliary controller unit is used to perform braking control according to the emergency stop signal and / or the emergency stop release signal.

[0006] The emergency stop redundant braking system according to the embodiment of the present invention can enable at least some auxiliary controller units to obtain emergency stop signals and / or emergency stop release signals through the second communication line, thereby ensuring the reliability of the entire redundant braking system when the main controller unit fails.

[0007] In addition, the emergency stop redundant braking system according to the above embodiment of the present invention may also have the following additional technical features:

[0008] According to some embodiments of the present invention, at least two of the auxiliary controller units are connected to communicate with each other through the first communication line and / or the second communication line and forward the emergency stop signal and / or the emergency stop release signal.

[0009] According to some embodiments of the present invention, the auxiliary controller unit includes a first controller and a second controller; the first controller is used to output a corresponding braking torque according to the received emergency stop signal to achieve vehicle braking; the second controller is used to output a corresponding braking torque according to the received emergency stop signal to achieve vehicle braking, and if the braking of the first controller takes effect, the second controller delays a predetermined time to take effect.

[0010] Optionally, the auxiliary controller unit also includes a third controller; the main controller unit is used to send a drive motor stop instruction to the third controller according to the received emergency stop signal, so that the third controller controls the drive motor to stop working.

[0011] Optionally, the third controller is used to control the drive motor to reverse according to the received emergency stop signal to achieve vehicle braking when the braking of the first controller and / or the second controller fails.

[0012] According to some embodiments of the present invention, the emergency stop redundant braking system further includes: the first controller is further used to release the corresponding braking torque according to the received emergency stop release signal; the second controller is further used to release the corresponding braking torque according to the received emergency stop release signal.

[0013] According to some embodiments of the present invention, the emergency stop redundant braking system further includes: the main controller unit, configured to send a drive motor power-on instruction to the third controller according to the received emergency stop release signal, so that the third controller controls the drive motor to resume operation.

[0014] Optionally, the first controller, the second controller and the third controller are respectively a service brake unit, a parking brake unit and a drive control unit.

[0015] According to some embodiments of the present invention, the emergency stop redundant braking system also includes: an emergency stop signal generator, which is used to send the emergency stop signal and / or the emergency stop release signal to the main controller unit and at least part of the auxiliary controller units through the first communication line and / or the second communication line.

[0016] Optionally, the emergency stop signal generator includes a first type of emergency stop signal generator and / or a second type of emergency stop signal generator; the first type of emergency stop signal generator is used to send the emergency stop signal and / or the emergency stop release signal through the first communication line; the second type of emergency stop signal generator is used to send the emergency stop signal and / or the emergency stop release signal through the second communication line.

[0017] According to some embodiments of the present invention, the first communication line and the second communication line are a soft-wire communication line and a hard-wire communication line, respectively.

[0018] A second aspect of an embodiment of the present invention provides an emergency stop redundant braking method, which is applied to an auxiliary controller unit. The method includes: when an emergency stop signal is received through a first communication line and / or a second communication line, at least one auxiliary controller unit performs braking control according to the emergency stop signal.

[0019] The emergency stop redundant braking method according to the embodiment of the present invention is applied to the auxiliary controller unit, so that the auxiliary controller unit can obtain the emergency stop signal through the second communication line, thereby ensuring the reliability of the entire redundant braking system when the main controller unit fails.

[0020] In addition, the emergency stop redundant braking method according to the above embodiment of the present invention may also have the following additional technical features:

[0021] According to some embodiments of the present invention, the auxiliary controller unit includes a first controller and a second controller; the at least one auxiliary controller unit performs braking control according to the emergency stop signal, including: the first controller outputs a corresponding braking torque according to the received emergency stop signal to achieve vehicle braking; the second controller outputs a corresponding braking torque according to the received emergency stop signal to achieve vehicle braking, and if the braking of the first controller takes effect, the second controller delays the effect for a predetermined time.

[0022] Optionally, the auxiliary controller unit also includes a third controller; the at least one auxiliary controller unit performs braking control according to the emergency stop signal, including: when the main controller unit sends a drive motor stop instruction to the third controller according to the received emergency stop signal, the third controller controls the drive motor to stop working according to the drive motor stop instruction.

[0023] Optionally, the at least one auxiliary controller unit performing braking control according to the emergency stop signal also includes: when the braking of the first controller and / or the second controller fails, the third controller controls the drive motor to reverse according to the received emergency stop signal to achieve vehicle braking.

[0024] A third aspect of an embodiment of the present invention provides an emergency stop redundant brake release method, which is applied to an auxiliary controller unit, including: when an emergency stop release signal is received through a first communication line and / or a second communication line, at least one auxiliary controller unit releases braking control according to the emergency stop release signal.

[0025] The emergency stop redundant brake release method according to an embodiment of the present invention is applied to an auxiliary controller unit, so that the auxiliary controller unit can obtain an emergency stop release signal through the first communication line and / or the second communication line, and can intelligently release the emergency stop state after the fault is eliminated.

[0026] In addition, the emergency stop redundant brake release method according to the above embodiment of the present invention may also have the following additional technical features:

[0027] According to some embodiments of the present invention, the at least one auxiliary controller unit releases the braking control according to the emergency stop release signal, including: if there are multiple emergency stop signal generators, then when the multiple emergency stop signal generators all release the emergency stop state, the at least one auxiliary controller unit releases the braking control according to the emergency stop release signal.

[0028] According to some embodiments of the present invention, the auxiliary controller unit includes a first controller and a second controller; the at least one auxiliary controller unit releases the braking control according to the emergency stop release signal, including: the first controller releases the corresponding braking torque according to the received emergency stop release signal to release the vehicle brakes; the second controller releases the corresponding braking torque according to the received emergency stop release signal to release the vehicle brakes.

[0029] According to some embodiments of the present invention, the auxiliary controller unit also includes: a third controller; the at least one auxiliary controller unit releases the braking control according to the emergency stop release signal and further includes: when the main controller unit sends a drive motor power-on instruction to the third controller according to the received emergency stop release signal, the third controller controls the drive motor to resume operation according to the drive motor power-on instruction.

[0030] Optionally, the at least one auxiliary controller unit releases the brake control according to the emergency stop release signal, including: if at least one of the auxiliary controller units fails to release the emergency stop state correctly, reporting an abnormality and controlling the parking brake to remain pulled up.

[0031] Optionally, the at least one auxiliary controller unit releases the brake control according to the emergency stop release signal, including: if at least one of the auxiliary controller units fails to release the emergency stop state correctly, reporting an abnormality and controlling the parking brake to remain pulled up.

[0032] The fourth aspect of the embodiments of the present invention provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the method as described in any one of the embodiments of the second aspect of the present invention or the embodiments of the third aspect of the present invention.

[0033] According to the computer-readable storage medium of an embodiment of the present invention, using the method described in the second and third aspects of the present invention, by enabling the auxiliary controller unit to obtain the emergency stop signal and / or the emergency stop release signal through the second communication line, the reliability of the entire emergency stop redundant braking system can be guaranteed and the system emergency stop state can be intelligently released after the fault is eliminated.

[0034] A fifth aspect of an embodiment of the present invention provides an auxiliary controller unit, comprising a processor and a memory, wherein the memory is used to store computer instructions, and the processor is used to call the computer instructions from the memory to execute the emergency stop redundant braking method as described in any one of the second aspects or the emergency stop redundant braking release method as described in any one of the third aspects.

[0035] A sixth aspect of an embodiment of the present invention provides a vehicle, comprising an emergency stop redundant braking system as described in the embodiment of the first aspect of the present invention, or an auxiliary controller unit as described in the embodiment of the fifth aspect of the present invention.

[0036] According to the vehicle of the embodiment of the present invention, by utilizing the emergency stop redundant braking system described in the embodiment of the first aspect of the present invention or the auxiliary controller unit described in the embodiment of the fifth aspect of the present invention, by enabling the auxiliary controller unit to obtain the emergency stop signal and / or the emergency stop release signal through the first communication line and / or the second communication line, the reliability of the vehicle's emergency stop redundant braking system can be guaranteed and the vehicle can intelligently release the system's emergency stop state after the fault is eliminated.

[0037] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description or learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0039] Figure 1 is a schematic diagram of the system structure of an emergency stop redundant braking system provided by an embodiment of the present invention;

[0040] Figure 2 is a schematic diagram of a first communication line of an emergency stop redundant braking system provided by an embodiment of the present invention;

[0041] Figure 3 is a schematic diagram of a second communication line of the emergency stop redundant braking system provided by an embodiment of the present invention;

[0042] Figure 4 It is a schematic diagram of the implementation flow of the emergency stop redundant braking method provided by an embodiment of the present invention;

[0043] Figure 5 It is a schematic diagram of the implementation flow of the emergency stop redundant braking method provided by an embodiment of the present invention;

[0044] Figure 6 It is a schematic diagram of the implementation flow of the emergency stop redundant brake release method provided by an embodiment of the present invention;

[0045] Figure 7 It is a schematic diagram of the implementation flow of the emergency stop redundant brake release method provided by an embodiment of the present invention;

[0046] Figure 8 is an exemplary diagram of an auxiliary controller unit provided by an embodiment of the present invention;

[0047] Fig. 9 Schematic diagram of an emergency stop signal generator provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0048] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present invention.

[0049] In order to illustrate the technical solution of the present invention, a specific embodiment is provided below for illustration.

[0050] Figure 1 An emergency stop redundant braking system according to an embodiment of the first aspect of the present invention is exemplarily shown. The redundant braking system comprises a first communication network 1, a second communication network 2, a main controller unit 3 and at least one auxiliary controller unit 4. In the first communication network 1, the main controller unit 3 can be connected to at least one auxiliary controller unit 4 via a first communication line 51 to forward information or data, such as an emergency stop signal and / or an emergency stop release signal.

[0051] In the second communication network 2, the main controller unit 3 can obtain the emergency stop signal and / or the emergency stop release signal through the second communication line 52. At least part of the auxiliary controller units 4 can obtain the emergency stop signal and / or the emergency stop release signal through the second communication line 52.

[0052] In this embodiment, the main controller unit 3 can obtain the emergency stop signal and / or the emergency stop release signal through the first communication line 51 and / or the second communication line 52. At least some of the auxiliary controller units 4 can obtain the emergency stop signal and / or the emergency stop release signal through the second communication line 52. At least one auxiliary controller unit 4 is used to perform braking control according to the emergency stop signal and / or the emergency stop release signal.

[0053] An emergency stop redundant braking system of the present application may be a redundant braking system of an intelligent driving vehicle, such as Figure 1 As shown, the first communication network 1 and the second communication network 2 adopt independent communication modes and serve as backup communications for each other. Among them, the first communication network 1 is an emergency stop control network with the main controller 3 as the main body. The main controller unit 3 can obtain the emergency stop signal and / or the emergency stop release signal through the first communication line 51, and communicate with at least one auxiliary controller unit 4 through the first communication line 51 and forward the emergency stop signal and / or the emergency stop release signal; the second communication network 2 is a decentralized distributed communication network. The main controller unit 3 can obtain the emergency stop signal and / or the emergency stop release signal through the second communication line 52. In addition, at least some of the auxiliary controller units 4 can also obtain the emergency stop signal and / or the emergency stop release signal through the second communication line 52. By setting up the second communication network 2 of distributed communication, the communication capability of the redundant braking system can still be guaranteed when the first communication network 1 fails. In addition, since the second communication network 2 adopts a decentralized communication structure, when the main controller unit 3 fails, at least some of the auxiliary controller units 4 can still obtain the emergency stop signal and / or the emergency stop release signal through the second communication line 52, so the redundant braking capability is guaranteed.

[0054] In some embodiments, reference Figure 1 At least two auxiliary controller units 4 are connected to each other for communication and forwarding emergency stop signals and / or emergency stop release signals through the first communication line and / or the second communication line. By increasing the communication lines between the auxiliary controller units 4, the anti-destruction capability of the communication system can be enhanced.

[0055] Preferably, the plurality of auxiliary controller units 4 are connected to each other for communication via the first communication line 51 and / or the second communication line 52 and forward the emergency stop signal and / or the emergency stop release signal. Figure 1As shown, the auxiliary controller unit 4 includes a first controller 41, a second controller 42 and a third controller 43, and the first controller 41, the second controller 42 and the third controller 43 are connected and communicated with each other through a first communication line 51 and a second communication line 52. Each auxiliary controller unit 4 is connected through a first communication line 51 and a second communication line 52, so that even if a fault or an unexpected situation causes some of the communication lines to fail, the entire redundant braking system can maintain braking energy with the support of the remaining communication lines.

[0056] Reference Figure 2 , due to a communication failure, the main controller unit 3 is disconnected from the second controller 42 in the first communication network 1, but since the first controller 41 is connected to the second controller 42 through the first communication line 51, the first controller 41 can forward the signal or data from the main controller unit 3 to the second controller 42, so that the second controller 42 can still ensure the coordinated braking with the main controller unit 3. Similarly, in the first communication network, the first controller 41 and the third controller 43 are disconnected, but since the second controller 42 is respectively connected to the first controller 41 and the third controller 43 through the first communication line 51, the first controller 4 can still communicate with the third controller 43 through the second controller 42.

[0057] In some embodiments, the emergency stop redundant braking system includes at least two auxiliary controller units 4. Preferably, the auxiliary controller unit 4 includes a first controller 41 and a second controller 42; the first controller 41 is used to output a corresponding braking torque according to the received emergency stop signal to achieve vehicle braking; the second controller is used to output a corresponding braking torque according to the received emergency stop signal to achieve vehicle braking, and if the braking of the first controller takes effect, the second controller takes effect after a predetermined time delay.

[0058] As an example, the present embodiment is explained with the first controller and the second controller being the service brake unit and the parking brake unit, respectively. After receiving the emergency stop signal, the first controller 41 controls the hydraulic brake mechanism to output the braking torque, and the braking torque acts on the brake caliper to brake the vehicle. If the braking of the first controller 41 takes effect, the second controller 42 will receive a signal indicating that the braking of the first controller 41 takes effect. After receiving the signal that the braking of the first controller 41 takes effect, the second controller 42 delays for a predetermined time, such as 1 second, and then controls the parking caliper to act on the vehicle to achieve parking braking; if the braking of the first controller 41 fails, the second controller 42 controls the hydraulic brake mechanism to output the braking torque after receiving the emergency stop signal, and the braking torque acts on the parking caliper to brake the vehicle. Usually, the predetermined time for the second controller 42 to take effect does not exceed 2 seconds.

[0059] Furthermore, the first controller is also used to release the corresponding braking torque according to the received emergency stop release signal; the second controller is also used to release the corresponding braking torque according to the received emergency stop release signal.

[0060] As an example, the present embodiment is explained with the first controller and the second controller being the service brake unit and the parking brake unit, respectively. After receiving the emergency stop release signal, the first controller 41 controls the hydraulic brake mechanism to output torque, releases the braking torque acting on the brake caliper, and releases the vehicle from the braking control. After receiving the emergency stop release signal, the second controller 42 controls the hydraulic brake mechanism to output torque, releases the braking torque acting on the parking caliper, and releases the vehicle from the braking control.

[0061] In some embodiments, the auxiliary controller unit 4 of the emergency stop redundant braking system also includes a third controller 43; the main controller unit 3 is used to send a drive motor stop instruction to the third controller 43 according to the received emergency stop signal, so that the third controller 43 controls the drive motor to stop working.

[0062] As an example, the present embodiment is explained by taking the third controller as a driving control unit as an example. Figure 1 , after receiving the emergency stop signal, the main controller unit 3 sends a drive motor stop instruction to the third controller 43, so that the third controller 43 controls the drive motor to stop working. If the main controller unit 3 receives an emergency stop signal through the first communication line 51, it sends a drive motor stop instruction to the third controller 43 through the first communication line 51; if the main controller unit 3 receives an emergency stop signal through the second communication line 52, after receiving the emergency stop signal, the optocoupler in the control circuit board is turned on to output the drive motor stop instruction; the main controller unit 3 can also use other methods in the prior art to send the drive motor stop instruction, which is not limited here. After receiving the drive motor stop instruction, the third controller 43 can stop the drive motor by cutting off the power, or can use other methods in the prior art to control the drive motor to stop, which is not limited here.

[0063] Furthermore, the main controller unit 3 is used to send a drive motor power-on instruction to the third controller 43 according to the received emergency stop release signal, so that the third controller 43 controls the drive motor to resume operation.

[0064] As an example, the present embodiment is explained by taking the third controller as the drive control unit. After receiving the emergency stop release signal, the main controller unit 3 sends a drive motor power-on instruction to the third controller 43, so that the third controller 43 controls the drive motor to resume work. If the main controller unit 3 receives the emergency stop release signal through the first communication line 51, the drive motor power-on instruction is sent to the third controller 43 through the first communication line 51; if the main controller unit 3 receives the emergency stop release signal through the second communication line 52, the optocoupler in the control circuit board is turned on after receiving the emergency stop release signal to output the drive motor power-on instruction; the main controller unit 3 can also use other methods in the prior art to send the drive motor power-on instruction, which is not limited here. The third controller 43 can control the drive motor to power on after receiving the drive motor power-on instruction.

[0065] In some embodiments, the third controller 43 of the emergency stop redundant braking system is used to control the drive motor to reverse according to the received emergency stop signal to achieve vehicle braking when the first controller 41 and / or the second controller 42 fail to brake. This embodiment can further ensure the reliability of the emergency stop redundant braking system by setting an abnormal braking control method.

[0066] Preferably, the first controller, the second controller and the third controller are respectively a service brake unit, a parking brake unit and a drive control unit.

[0067] In some embodiments, the redundant braking system of the present invention further includes an emergency stop signal generator 6, which is used to send an emergency stop signal and / or an emergency stop release signal to the main controller unit 3 and at least part of the auxiliary controller units 4 through the first communication line 51 and / or the second communication line 52. Figure 1 As shown, the emergency stop signal generator 6 sends an emergency stop signal and / or an emergency stop release signal to the main controller unit 3 through the first communication line 51 and the second communication line 52, and the emergency stop signal generator 6 also sends an emergency stop signal and / or an emergency stop release signal to at least one auxiliary controller unit 4 through the second communication line 52.

[0068] Preferably, each auxiliary controller unit 4 can be connected to the emergency stop signal generator 6 through the second communication line 52 to obtain the emergency stop signal. By increasing the ways to obtain the emergency stop signal, the anti-destruction capability of the second communication network 2 can be increased. Figure 3As shown, the auxiliary controller unit 4 includes a first controller 41, a second controller 42 and a third controller 43, and each auxiliary controller unit 4 is connected to communicate with the emergency stop signal generator 6 through a second communication line 52. Due to a communication failure, the second controller 42 in the second communication network 2 cannot obtain the emergency stop signal and / or the emergency stop release signal issued by the emergency stop signal generator 6 through the second communication line 52. At this time, since the first controller 41 and the third controller 43 can communicate with the second controller 42 through the second communication line 52, the emergency stop signal and / or the emergency stop release signal issued by the emergency stop signal generator 6 will be forwarded to the second controller 42 through the first controller 41 and / or the third controller 43, and the braking ability of the second controller 42 can still be guaranteed.

[0069] In some embodiments, the emergency stop signal generator 6 includes a first type emergency stop signal generator 61 and / or a second type emergency stop signal generator 62; the first type emergency stop signal generator 61 is used to send an emergency stop signal through the first communication line 51; the second type emergency stop signal generator 62 is used to send an emergency stop signal through the second communication line 52. Fig. 9 The emergency stop signal generator 6 may include an emergency stop switch and / or a collision switch and / or an automatic driving controller and / or a remote control receiver and / or a cloud control receiver. The automatic driving controller, the remote control receiver, and the cloud control receiver belong to the first type of emergency stop signal generator 61, which is used to send an emergency stop signal through the first communication line 51; the emergency stop switch and the collision switch belong to the second type of emergency stop signal generator 62, which is used to send an emergency stop signal through the second communication line 52.

[0070] As an example, the emergency stop switch can be a push-type switch. In an emergency, the user sends an emergency stop signal by pressing the emergency stop switch, and the main controller unit 3 and the auxiliary controller unit 4 control the vehicle braking after receiving the emergency stop signal; the collision switch can be a sensor for detecting whether the vehicle has collided. When the vehicle collides, the sensor sends an emergency stop signal to the main controller unit 3 and the auxiliary controller unit 4 through the circuit; the automatic driving controller can use data from the vehicle sensor to determine whether the vehicle needs emergency braking, and send an emergency stop signal when braking is required; the remote control receiver is used to receive data and instructions from the remote control center or operator and convert them into commands that the vehicle control system can understand; the cloud control receiver allows the vehicle to receive data and instructions through the cloud platform and convert them into commands that the vehicle control system can understand.

[0071] In some embodiments, the first communication line 51 and the second communication line 52 are a soft-wire communication line and a hard-wire communication line, respectively. Soft-wire communication and hard-wire communication use two different signal transmission methods. Hard-wire communication refers to signals transmitted directly through physical lines (such as car cables), which can be analog signals or digital signals. Hard-wire communication does not involve complex signal conversion or encoding, and the transmission and reception of signals are relatively direct. Exemplarily, the emergency stop signal transmitted through the hard-wire communication line can be a simple switch signal or a 4-20mA analog signal directly transmitted through the car cable. Soft-wire communication involves the transmission of data through a certain communication protocol. These data need to be converted into digital signals before transmission and transmitted through a communication network. Common soft-wire communication lines include RS485, Modbus, CAN bus, etc. Adding a hard-wire communication line does not require additional communication cables, which provides an extra layer of protection for the transmission of emergency stop signals without increasing costs.

[0072] Figure 4 An emergency stop redundant braking method according to an embodiment of the second aspect of the present invention is exemplarily shown, and the method is applied to an auxiliary controller unit, comprising:

[0073] When an emergency stop signal is received through the first communication line 51 and / or the second communication line 52, at least one auxiliary controller unit 4 performs brake control according to the emergency stop signal.

[0074] In this embodiment, the realization of emergency stop redundant braking is jointly guaranteed by the first communication network 1 and the second communication network 2. At least one auxiliary controller unit 4 can obtain the emergency stop signal forwarded by the main controller unit 3 through the first communication line 51, and can also obtain the emergency stop signal from the emergency stop signal generator 6 through the second communication line 52, and can also obtain the emergency stop signal forwarded by other auxiliary controller units 4 through the first communication line 51 and / or the second communication line 52. At least one auxiliary controller unit 4 controls the hydraulic brake system, the service brake system, the parking brake system, the drive system, etc. to perform redundant braking according to the emergency stop signal. In this embodiment, the reliability of the emergency stop redundant braking method is guaranteed by two different types of communication networks. When the first communication network 1 fails, the second communication network 2 can still guarantee the redundant emergency stop braking measures of the auxiliary controller unit 4, which maximizes the driving safety. In addition, the auxiliary controller unit 4 can directly obtain the emergency stop signal through the second communication line 52, so when the main controller unit 3 fails, the auxiliary controller unit 4 can still perform braking control according to the emergency stop signal, which guarantees the reliability of the emergency stop redundant braking system.

[0075] In some embodiments of the present application, the auxiliary controller unit includes a first controller and a second controller; at least one auxiliary controller unit performs braking control according to an emergency stop signal including:

[0076] S501, the first controller outputs a corresponding braking torque according to the received emergency stop signal to achieve vehicle braking;

[0077] S502: If the braking of the first controller fails, the second controller outputs a corresponding braking torque according to the received emergency stop signal to achieve vehicle braking; otherwise, the second controller delays outputting the corresponding braking torque to achieve vehicle braking.

[0078] As an example, the present embodiment is explained with the first controller and the second controller being respectively a service brake unit and a parking brake unit. Figure 5 As shown, in some embodiments of the present application, the emergency stop redundant braking method of the present application includes multiple braking circuits. The first braking circuit is: after receiving the emergency stop signal, the first controller 41 controls the hydraulic brake mechanism to output the braking torque, and the braking torque acts on the brake caliper to brake the vehicle. The second braking circuit is: determine whether the braking of the first controller 41 is effective. If the braking of the first controller 41 is effective, the second controller 42 delays a predetermined time, for example, 1 second, and then controls the parking caliper to act on the vehicle to achieve parking braking; otherwise, the second controller 42 controls the hydraulic brake mechanism to output the braking torque after receiving the emergency stop signal, and the braking torque acts on the parking caliper to brake the vehicle. The reliability of the emergency stop redundant braking method can be further guaranteed by setting multiple circuits for parallel braking.

[0079] The second controller 42 may determine whether the braking of the first controller 41 is effective according to whether a signal indicating that the braking of the first controller 41 is effective is received, or other methods in the prior art may be used.

[0080] In some embodiments of the present application, the auxiliary controller 4 unit further includes a third controller 43; at least one auxiliary controller unit 4 performs braking control according to the emergency stop signal including:

[0081] S503: When the main controller unit 3 sends a driving motor stop instruction to the third controller 43 according to the received emergency stop signal, the third controller 43 controls the driving motor to stop working according to the driving motor stop instruction.

[0082] As an example, the third controller 43 is taken as a driving control unit to explain this embodiment. Figure 5As shown, in some embodiments of the present application, the emergency stop redundant braking method of the present application also includes: the main controller unit 3 controls the third controller 43 to send a drive motor stop instruction after receiving the emergency stop signal. The third controller 43 can stop the drive motor by powering off after receiving the drive motor stop instruction, or can use other methods in the prior art to control the drive motor to stop. Among them, the main controller unit 3 sends the drive motor stop instruction to the third controller 43 through the first communication line 51 after receiving the emergency stop signal through the first communication line 51; the main controller unit 3 controls the optocoupler in the circuit board to turn on to output the drive motor stop instruction after receiving the emergency stop signal through the second communication line 52; the main controller unit 3 can also use other methods in the prior art to send the drive motor stop instruction.

[0083] In some embodiments of the present application, at least one auxiliary controller unit 4 performs braking control according to the emergency stop signal further comprising:

[0084] S504: When the first controller 41 and / or the second controller 42 fails to brake, the third controller 43 controls the driving motor to reverse according to the received emergency stop signal to achieve vehicle braking.

[0085] refer to Figure 5 In some embodiments of the present application, the emergency stop redundant braking method of the present application further includes an abnormal braking circuit. When any one of the first controller 41 and the second controller 42 fails to brake, the third controller 43 controls the motor to reversely brake. By setting an abnormal braking circuit on the basis of the three-way braking circuit, an auxiliary deceleration means can be provided when the emergency stop braking of some controller units fails, so as to ensure the safety of passengers as much as possible.

[0086] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0087] Figure 6 An emergency stop redundant brake release method according to an embodiment of the third aspect of the present invention is exemplarily shown, and the method is applied to an auxiliary controller unit, comprising:

[0088] When receiving the emergency stop release signal through the first communication line 51 and / or the second communication line 52, at least one auxiliary controller unit 4 releases the brake control according to the emergency stop release signal.

[0089] In this embodiment, the realization of emergency stop redundant braking is jointly guaranteed by the first communication network 1 and / or the second communication network 2. At least one auxiliary controller unit 4 can obtain the emergency stop release signal forwarded by the main controller unit 3 through the first communication line 51, and can also obtain the emergency stop release signal issued by the emergency stop signal generator through the second communication line 52, and can also receive the emergency stop release signal forwarded by other auxiliary controller units 4 through the first communication line 51 and / or the second communication line 52. The auxiliary controller unit 4 controls the hydraulic brake system, the service brake system, the parking brake system, the drive system, etc. to release the redundant braking according to the emergency stop release signal. This embodiment designs an emergency stop release method, and at least one auxiliary controller unit 4 can transmit the emergency stop release signal through the first communication network 1 and / or the second communication network 2 to realize the transition from the emergency stop redundant braking state to the standby state after the fault is cleared.

[0090] In some embodiments of the present application, in the emergency stop redundant brake release method, at least one auxiliary controller unit 4 releases the brake control according to the emergency stop release signal, including:

[0091] S601. If there are multiple emergency stop signal generators, when the multiple emergency stop signal generators are released from the emergency stop state, at least one auxiliary controller unit releases the braking control according to the emergency stop release signal.

[0092] In this embodiment, the emergency stop signal generator 6 may include multiple ones. When the emergency stop redundant brake is released, it is necessary for multiple emergency stop signal generators 6 to release the emergency stop state, and at least one auxiliary controller unit 4 will release the braking control according to the emergency stop release signal. The release of the emergency stop state by multiple emergency stop signal generators 6 can be that multiple emergency stop signal generators 6 send emergency stop release signals, or it can be determined whether multiple emergency stop signal generators 6 are in the emergency stop state or other related technical solutions, which are not limited here. In a multi-trigger emergency stop redundant braking system, the safety of passengers on the vehicle can only be guaranteed when all factors that trigger the emergency stop braking are repaired or eliminated and then the braking control is released.

[0093] Further, in some embodiments of the present application, the auxiliary controller unit 4 includes a first controller 41 and a second controller 42; at least one auxiliary controller unit 4 releases the redundant brake according to the emergency stop release signal and further includes:

[0094] S701, the first controller releases the corresponding braking torque according to the received emergency stop release signal to release the vehicle brake;

[0095] S702: The second controller releases the corresponding braking torque according to the received emergency stop release signal to release the vehicle brakes.

[0096] refer to Figure 7As shown, in this embodiment, the emergency stop redundant brake release method of the present application includes two brake release circuits. The first release circuit is: after receiving the emergency stop release signal, the first controller 41 controls the hydraulic brake mechanism to output torque, releases the braking torque acting on the brake caliper, and releases the vehicle's brake control. The second release circuit is: after receiving the emergency stop release signal, the second controller 42 controls the hydraulic brake mechanism to output torque, releases the braking torque acting on the parking caliper, and releases the vehicle's brake control. This solution can quickly release the brake control by releasing the brake control in parallel through multiple circuits after receiving the emergency stop release signal.

[0097] Further, in some embodiments of the present application, the auxiliary controller unit 4 further includes a third controller 43; at least one auxiliary controller unit 4 releases the redundant brake according to the emergency stop release signal and further includes:

[0098] S703: When the main controller unit sends a drive motor power-on instruction to the third controller according to the received emergency stop release signal, the third controller controls the drive motor to resume operation according to the drive motor power-on instruction.

[0099] refer to Figure 7 As shown, in this embodiment, the emergency stop redundant brake release method also includes: after the main controller unit 3 obtains the emergency stop release signal through the first communication line 51 and / or the second communication line 52, it sends a drive motor power-on instruction to the third controller 43. After receiving the drive motor power-on instruction, the third controller 43 can restore the drive motor to work by restoring power supply, or use other methods in the prior art to control the drive motor to power on. Among them, after the main controller unit 3 receives the emergency stop release signal through the first communication line 51, it sends the drive motor power-on instruction to the third controller 43 through the first communication line 51; after the main controller unit 3 receives the emergency stop release signal through the second communication line 52, it controls the optocoupler in the circuit board to be non-conductive to output the drive motor power-on instruction; the main controller unit 3 can also use other methods in the prior art to send the drive motor power-on instruction.

[0100] Further, in some embodiments of the present application, at least one auxiliary controller unit 4 releases the brake control according to the emergency stop release signal and further includes:

[0101] S704: If at least one auxiliary controller unit fails to release the emergency stop state correctly, an abnormality is reported and the parking brake is controlled to remain pulled up.

[0102] like Figure 7As shown, in this embodiment, the emergency stop redundant brake release method also includes abnormal control measures. When at least one auxiliary controller unit 4 fails to release the emergency stop state correctly, it is considered that the system emergency stop release process is abnormal. At this time, the abnormality can be reported through the main control chip (MCU) and the parking brake can be controlled to remain pulled up. By designing the emergency stop release abnormal control method, it can be ensured that the system will not enter the standby state when some controller units fail to release the brake control normally, further ensuring driving safety.

[0103] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0104] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by a computer program, or by controlling related hardware through a computer program. The computer program may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0105] To this end, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored, and the computer program can be loaded by a processor to execute the steps of any emergency stop redundant braking method and / or any emergency stop redundant braking release method provided in the embodiment of the present application. For example, the computer program can execute the following steps:

[0106] When receiving an emergency stop signal forwarded by the main controller unit through the first communication line, and / or receiving an emergency stop signal through the second communication line, at least one auxiliary controller unit performs braking control according to the emergency stop signal.

[0107] The specific implementation methods and corresponding beneficial effects of the above operations can be found in the previous embodiments and will not be described in detail here.

[0108] The computer-readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0109] Since the computer program stored in the computer-readable storage medium can execute the steps of any emergency stop redundant braking method and / or any emergency stop redundant braking release method provided in the embodiments of the present application, the beneficial effects that can be achieved by any emergency stop redundant braking method and / or any emergency stop redundant braking release method provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0110] According to one aspect of the present application, a computer program product or a computer program is provided, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes any of the above-mentioned emergency stop redundant braking methods and / or any of the emergency stop redundant braking release methods.

[0111] The present application embodiment also provides an auxiliary controller unit 8, such as Figure 8 As shown, the auxiliary controller unit 8 includes a memory 80 and a processor 81, the memory 80 is used to store a computer program 82, and the processor 81 is used to call the computer program 82 from the memory 80 to execute a method such as any one of the above-mentioned redundant braking method or emergency stop redundant braking release method embodiments.

[0112] An embodiment of the present application also provides a vehicle, comprising the emergency stop redundant braking system or the computer-readable storage medium or the auxiliary controller unit 8 as described above.

[0113] Each embodiment in this application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device and equipment embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0114] The above describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0115] The present application may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present application.

[0116] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0117] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0118] The computer program instructions for performing the operation of the present application can be assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions can be executed completely on a user's computer, partially on a user's computer, executed as an independent software package, partially on a user's computer, partially on a remote computer, or completely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet). In some embodiments, by using the state information of a computer-readable program instruction to personalize an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA) or a programmable logic array (PLA), the electronic circuit can execute a computer-readable program instruction, thereby realizing various aspects of the present application.

[0119] Various aspects of the present application are described herein with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer-readable program instructions.

[0120] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0121] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0122] The flowchart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a part of a module, program segment or instruction, and the part of the module, program segment or instruction contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of the boxes in the block diagram and / or flowchart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that it is equivalent to implement it by hardware, implement it by software, and implement it by combining software and hardware.

[0123] It can be understood that the various embodiments of the present application can be combined arbitrarily to achieve different technical effects.

[0124] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. An emergency stop redundant braking system, characterized in that: include: a first communication line and a second communication line; A main controller unit, the main controller unit is configured to be able to communicate through the first communication line and the second communication line, and the main controller unit is used to obtain an emergency stop signal and / or an emergency stop release signal through the first communication line and / or the second communication line; at least one auxiliary controller unit, at least some of the auxiliary controller units being configured to communicate via the first communication link and the second communication link; The main controller unit is used to connect and communicate with the at least one auxiliary controller unit through the first communication line, and forward the emergency stop signal and / or the emergency stop release signal; At least part of the auxiliary controller units can also obtain the emergency stop signal and / or the emergency stop release signal through the second communication line; The at least one auxiliary controller unit is used to perform braking control according to the emergency stop signal and / or the emergency stop release signal.

2. The emergency stop redundant braking system according to claim 1, characterized in that: At least two of the auxiliary controller units are connected to communicate with each other through the first communication line and / or the second communication line and forward the emergency stop signal and / or the emergency stop release signal.

3. The emergency stop redundant braking system according to claim 2, characterized in that: The auxiliary controller unit includes a first controller and a second controller; The first controller is used to output a corresponding braking torque according to the received emergency stop signal to achieve braking of the vehicle; The second controller is used to output a corresponding braking torque according to the received emergency stop signal to achieve vehicle braking, and if the braking of the first controller is effective, the second controller will delay the effectiveness for a predetermined time.

4. The emergency stop redundant braking system according to claim 3, characterized in that: The auxiliary controller unit further comprises a third controller; The main controller unit is used to send a drive motor stop instruction to the third controller according to the received emergency stop signal, so that the third controller controls the drive motor to stop working.

5. The emergency stop redundant braking system according to claim 4, characterized in that: The third controller is used to control the drive motor to reverse according to the received emergency stop signal to achieve vehicle braking when the first controller and / or the second controller fails to brake.

6. The emergency stop redundant braking system according to claim 3, characterized in that: Also includes: The first controller is also used to release the corresponding braking torque according to the received emergency stop release signal; The second controller is further configured to release the corresponding braking torque according to the received emergency stop release signal.

7. The emergency stop redundant braking system according to claim 4, characterized in that: Also includes: The main controller unit is used to send a drive motor power-on instruction to the third controller according to the received emergency stop release signal, so that the third controller controls the drive motor to resume work.

8. The emergency stop redundant braking system according to any one of claims 4 or 7, characterized in that: The first controller, the second controller and the third controller are a service brake unit, a parking brake unit and a drive control unit, respectively.

9. The emergency stop redundant braking system according to claim 1, characterized in that: Also includes: An emergency stop signal generator, the emergency stop signal generator is used to send the emergency stop signal and / or the emergency stop release signal to the main controller unit and at least part of the auxiliary controller units through the first communication line and / or the second communication line.

10. The emergency stop redundant braking system according to claim 9, characterized in that: The emergency stop signal generator includes a first type of emergency stop signal generator and / or a second type of emergency stop signal generator; The first type of emergency stop signal generator is used to send the emergency stop signal and / or the emergency stop release signal through the first communication line; The second type of emergency stop signal generator is used to send the emergency stop signal and / or the emergency stop release signal through the second communication line.

11. The emergency stop redundant braking system according to claim 1, characterized in that: The first communication line and the second communication line are a soft-wire communication line and a hard-wire communication line, respectively.

12. An emergency stop redundant braking method, applied to an auxiliary controller unit, characterized in that: The method comprises: When an emergency stop signal is received through the first communication line and / or the second communication line, at least one auxiliary controller unit performs brake control according to the emergency stop signal.

13. The emergency stop redundant braking method according to claim 12, characterized in that: The auxiliary controller unit includes a first controller and a second controller; the at least one auxiliary controller unit performs braking control according to the emergency stop signal, including: The first controller outputs a corresponding braking torque according to the received emergency stop signal to achieve braking of the vehicle; The second controller outputs a corresponding braking torque according to the received emergency stop signal to achieve vehicle braking, and if the braking of the first controller takes effect, the second controller takes effect after a delay of a predetermined time.

14. The emergency stop redundant braking method according to claim 13, characterized in that: The auxiliary controller unit further includes a third controller; the at least one auxiliary controller unit performs braking control according to the emergency stop signal, including: When the main controller unit sends a drive motor stop instruction to the third controller according to the received emergency stop signal, the third controller controls the drive motor to stop working according to the drive motor stop instruction.

15. The emergency stop redundant braking method according to claim 14, characterized in that: The at least one auxiliary controller unit performing brake control according to the emergency stop signal further comprises: When the first controller and / or the second controller fails to brake, the third controller controls the drive motor to reverse according to the received emergency stop signal to achieve vehicle braking.

16. A method for releasing redundant emergency stop brakes, applied to an auxiliary controller unit, characterized in that: The method comprises: When an emergency stop release signal is received through the first communication line and / or the second communication line, at least one auxiliary controller unit releases the brake control according to the emergency stop release signal.

17. The method for releasing redundant emergency stop brake according to claim 16, characterized in that: The at least one auxiliary controller unit releases the brake control according to the emergency stop release signal, comprising: If there are multiple emergency stop signal generators, when the multiple emergency stop signal generators are all released from the emergency stop state, the at least one auxiliary controller unit releases the braking control according to the emergency stop release signal.

18. The method for releasing redundant emergency stop brake according to claim 16, characterized in that: The auxiliary controller unit includes a first controller and a second controller; the at least one auxiliary controller unit releases the brake control according to the emergency stop release signal, including: The first controller releases the corresponding braking torque according to the received emergency stop release signal to release the vehicle brake; The second controller releases the corresponding braking torque according to the received emergency stop release signal to release the vehicle brakes.

19. The method for releasing redundant emergency stop brake according to claim 18, characterized in that: The auxiliary controller unit further includes: a third controller; the at least one auxiliary controller unit releases the brake control according to the emergency stop release signal and further includes: When the main controller unit sends a drive motor power-on instruction to the third controller according to the received emergency stop release signal, the third controller controls the drive motor to resume operation according to the drive motor power-on instruction.

20. The method for releasing redundant emergency stop brake according to claim 16, characterized in that: The at least one auxiliary controller unit releases the brake control according to the emergency stop release signal, comprising: If at least one of the auxiliary controller units fails to release the emergency stop state correctly, an abnormality is reported and the parking brake is controlled to remain pulled up.

21. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 12 to 20 is implemented.

22. An auxiliary controller unit, comprising a processor and a memory, wherein the memory is used to store computer instructions, and the processor is used to call the computer instructions from the memory to execute the emergency stop redundant braking method as described in any one of claims 12 to 15 or the emergency stop redundant braking release method as described in any one of claims 16 to 20.

23. A vehicle, characterized in that: The vehicle comprises the emergency stop redundant braking system according to any one of claims 1 to 11, or the computer readable storage medium according to claim 21, or the auxiliary controller unit according to claim 22.

Images