Vehicle braking method and device

Abstract

The invention provides a vehicle braking method. Target braking information is obtained through three or more than three sensors; first target deceleration is determined through the first controller according to the target braking information, a first braking request is sent to an actuator, and the first braking request is used for requesting the actuator to conduct deceleration operation through the first target deceleration; the first braking request is verified, and whether the first braking request is valid or not is judged; the method is suitable for an electronic mechanical braking system completely decoupled from a pedal, through the design of a plurality of sensors, a plurality of controllers and validity verification, under the condition that any single node, such as any sensor or controller, in the system fails, the first braking request is effectively controlled to execute the first braking request, and the braking efficiency of the electronic mechanical braking system is greatly improved. The target brake pedal stroke and / or target brake pedal force of the driver can be obtained, the brake request of the driver is determined, and normal brake of the vehicle is guaranteed.

Description

Technical Field

[0001] The present disclosure relates to the technical field of natural language processing, and in particular to a vehicle braking method and device. Background Art

[0002] Due to the electro-mechanical braking system, the driver's braking intention is completely decoupled from the brake actuator, and the driver cannot generate any substantial braking force by pressing the simulated pedal. Therefore, for the electro-mechanical braking system, how to ensure that the correct braking intention is obtained is the most critical. Summary of the invention

[0003] The present disclosure provides a vehicle braking method, device, electronic device and storage medium.

[0004] According to a first aspect of the present disclosure, a vehicle braking method is provided, the method comprising: acquiring target braking information through three or more sensors, wherein the target braking information includes a target brake pedal travel and / or a target brake pedal force; determining a first target deceleration according to the target braking information through a first controller, and sending a first braking request to an actuator, wherein the first braking request is used to request the actuator to perform a deceleration operation using the first target deceleration; verifying the first braking request to determine whether the first braking request is valid; and controlling the actuator to execute the first braking request in response to the first braking request being valid.

[0005] In some embodiments, after determining whether the first braking request is valid, the method further includes: in response to the first braking request being invalid, determining a second target deceleration according to the target braking information by a second controller, and sending a second braking request to the actuator, wherein the second braking request is used to request the actuator to perform a deceleration operation using the second target deceleration; verifying the second braking request to determine whether the second braking request is valid; and in response to the second braking request being valid, controlling the actuator to execute the second braking request.

[0006] In some embodiments, after determining whether the second braking request is valid, the method further includes: in response to the second braking request being invalid, requesting a negative torque from the motor through the central domain controller to stop the vehicle.

[0007] In some embodiments, the three or more sensors include a first sensor, a second sensor and a third sensor, wherein obtaining target braking information through the three or more sensors includes: verifying the first sensor to determine whether the first sensor is valid; in response to the first sensor being valid, verifying the second sensor to determine whether the second sensor is valid; in response to the second sensor being invalid, verifying the third sensor to determine whether the second sensor is valid; in response to the third sensor being valid, determining the target brake pedal stroke and / or target brake pedal force based on the brake pedal stroke and / or brake pedal force obtained from the first sensor and the third sensor.

[0008] In some embodiments, after determining whether the second sensor is valid, the method further includes: in response to the second sensor being valid, determining a target brake pedal travel and / or target brake pedal force based on the brake pedal travel and / or brake pedal force obtained from the first sensor and the second sensor.

[0009] In some embodiments, after determining whether the third sensor is valid, the method further includes: in response to the third sensor being invalid, determining a target brake pedal travel and / or target brake pedal force based on the brake pedal travel and / or brake pedal force obtained from the first sensor.

[0010] In some embodiments, after determining whether the first sensor is valid, the method further includes: in response to the first sensor being invalid, verifying the second sensor to determine whether the second sensor is valid; in response to the second sensor being valid, verifying the third sensor to determine whether the third sensor is valid; in response to the third sensor being valid, determining the target brake pedal travel and / or target brake pedal force based on the brake pedal travel and / or brake pedal force obtained from the second sensor and the third sensor.

[0011] In some embodiments, after determining whether the third sensor is valid, the method further includes: in response to the third sensor being invalid, determining a target brake pedal travel and / or target brake pedal force based on the brake pedal travel and / or brake pedal force obtained from the second sensor.

[0012] In some embodiments, after determining whether the second sensor is valid, the method also includes: in response to the second sensor being invalid, verifying the third sensor to determine whether the third sensor is valid; in response to the third sensor being valid, determining the target brake pedal travel and / or target brake pedal force based on the brake pedal travel and / or brake pedal force obtained from the third sensor.

[0013] In some embodiments, after determining whether the third sensor is valid, the method further includes: in response to the third sensor being invalid, determining a preset brake pedal travel and / or a preset pedal force as a target brake pedal travel and / or a target brake pedal force.

[0014] In some embodiments, determining the first target deceleration according to the target braking information by the first controller includes: performing brake pedal feel table lookup processing according to the target brake pedal travel and / or target brake pedal force by the first controller to obtain a basic target deceleration; performing brake pedal force compensation processing according to the speed of the target brake pedal travel and / or target brake pedal force by the first controller to obtain a compensated target deceleration; and fusing the basic target deceleration with the compensated target deceleration to determine the first target deceleration.

[0015] According to a second aspect of the present disclosure, a vehicle braking device is provided, which includes: an acquisition unit, used to acquire target braking information through three or more sensors, wherein the target braking information includes a target brake pedal travel and / or a target brake pedal force; a request unit, used to determine a first target deceleration according to the target braking information through a first controller, and send a first braking request to an actuator, wherein the first braking request is used to request the actuator to perform a deceleration operation using the first target deceleration; a verification unit, used to verify the first braking request and determine whether the first braking request is valid; and an execution unit, used to control the actuator to execute the first braking request in response to the first braking request being valid.

[0016] According to a third aspect of the present disclosure, a vehicle is provided, comprising: three or more sensors; two or more controllers; and an actuator; the vehicle is capable of executing the method described in the first aspect of the present disclosure.

[0017] In some embodiments, at least two of the three or more sensors are powered independently.

[0018] In some embodiments, at least two of the two or more controllers are independently powered and maintain two independent communications with the actuator.

[0019] According to the fourth aspect of the present disclosure, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method described in the first aspect of the present disclosure.

[0020] According to a fifth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable a computer to execute the method described in the embodiment of the first aspect of the present disclosure.

[0021] According to a sixth aspect of the present disclosure, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the method described in the embodiment of the first aspect of the present disclosure is implemented.

[0022] An embodiment of the present disclosure provides a vehicle braking method, the method comprising: obtaining target braking information through three or more sensors, wherein the target braking information includes a target brake pedal travel and / or a target brake pedal force; determining a first target deceleration according to the target braking information through a first controller, and sending a first braking request to an actuator, wherein the first braking request is used to request the actuator to perform a deceleration operation using the first target deceleration; verifying the first braking request to determine whether the first braking request is valid; in response to the first braking request being valid, controlling the actuator to execute the first braking request. The method of the present disclosure is applicable to an electronic mechanical braking system that is completely decoupled from a pedal. Through the design of multiple sensors, multiple controllers and validity verification, in the event that any single node in the system, such as any sensor or controller, fails, the driver's target brake pedal travel and / or target brake pedal force can be obtained to determine the driver's braking request and ensure normal braking of the vehicle.

[0023] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0025] Figure 1 A schematic flow chart of a vehicle braking method provided in an embodiment of the present disclosure;

[0026] Figure 2 A schematic flow chart of a vehicle braking method provided in an embodiment of the present disclosure;

[0027] Figure 3 An example diagram for identifying a driver's braking intention provided by an embodiment of the present disclosure;

[0028] Figure 4 An exemplary diagram of a vehicle braking method provided by an embodiment of the present disclosure;

[0029] Figure 5 An example diagram of a redundant backup of a driver's braking intention provided by an embodiment of the present disclosure;

[0030] Figure 6 A schematic flow chart of a vehicle braking method provided in an embodiment of the present disclosure;

[0031] Figure 7 An example diagram for obtaining a target brake pedal stroke and / or a target pedal stroke provided by an embodiment of the present disclosure;

[0032] Figure 8 A schematic flow chart of a vehicle braking method provided in an embodiment of the present disclosure;

[0033] Fig. 9 A schematic structural diagram of a vehicle braking device provided in an embodiment of the present disclosure;

[0034] Fig.10 A schematic block diagram of an exemplary electronic device provided for an embodiment of the present disclosure. DETAILED DESCRIPTION

[0035] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0036] Since the electronic mechanical braking system is completely decoupled from the pedal and there is no hydraulic or mechanical backup, the driver's braking intention can only be obtained through the pedal travel sensor. If the pedal travel sensor fails, the driver's braking intention cannot be obtained, and the driver cannot generate braking force after stepping on the brake, which is very dangerous.

[0037] To this end, the present disclosure proposes a vehicle braking method, which is for an electronic mechanical braking system that is completely decoupled from the pedal. In the event of failure of any single node, the accurate braking intention of the driver can be ensured, the vehicle can implement the correct deceleration and parking strategy, and the hazards caused by excessive or insufficient braking can be avoided.

[0038] The present disclosure provides a vehicle, which includes: three or more sensors; two or more controllers; and an actuator.

[0039] In an embodiment of the present disclosure, the vehicle adopts an electronic mechanical brake (EMB), the pedal is completely decoupled from the brake actuator, and the driver cannot generate any substantial braking force by stepping on the simulated pedal.

[0040] In some embodiments of the present disclosure, at least two sensors among three or more sensors of the vehicle are powered independently.

[0041] In some embodiments of the present disclosure, the electronic mechanical braking system of the vehicle is composed of a controller and a brake, including a first controller, a second controller and an actuator.

[0042] In some embodiments of the present disclosure, the first controller and the second controller are powered independently and the first controller and the second controller respectively maintain independent communication with the actuator.

[0043] In some embodiments of the present disclosure, Figure 1 An example diagram of a vehicle braking architecture provided in the present invention, wherein the vehicle includes three sensors, namely Sensor1, Sensor2, and Sensor3, and adopts an electronic mechanical braking system. The electronic mechanical braking system includes two controllers, namely EMB-A and EMB-B, including actuators EMB-FL, EMB-FR, EMB-RL, and EMB-RR. The actuators EMB-FL, EMB-FR, EMB-RL, and EMB-RR perform braking operations by controlling the four tires of the vehicle respectively.

[0044] Further, such as Figure 1 As shown, Sensor1, Sensor2, and Sensor3 are independently powered through different power supply circuits. Sensor1, Sensor2, and Sensor3 communicate with EMB-A and EMB-B through channel A and channel B respectively. EMB-A and EMB-B communicate independently with actuators EMB-FL, EMB-FR, EMB-RL, and EMB-RR respectively. EMB-A and EMB-B identify the driver's braking intention based on the outputs of sensors Sensor1, Sensor2, and Sensor3, and output the driver's braking request to the actuator for braking.

[0045] A vehicle braking method, device, and electronic device proposed in the present disclosure are described in detail below with reference to the accompanying drawings.

[0046] Figure 2 The following is a flow chart of a vehicle braking method provided by an embodiment of the present disclosure, which can be applied to the above-mentioned vehicle. Figure 3 An example diagram for identifying a driver's braking intention is shown for the present disclosure.

[0047] like Figure 2 As shown, the method includes steps 101-104:

[0048] Step 101 : Acquire target braking information through three or more sensors, wherein the target braking information includes a target brake pedal travel and / or a target brake pedal force.

[0049] In the embodiments of the present disclosure, Figure 3 As shown, in the method for identifying the driver's braking intention disclosed in the present invention, after the driver steps on the brake pedal, the target brake pedal stroke and / or target brake pedal force is determined, specifically, the target brake pedal stroke and / or target brake pedal force is determined through the output of the sensor.

[0050] In some embodiments, the sensor is a sensor in a pedal simulator, and the output of the sensor is a brake pedal travel and / or a brake pedal force generated when the driver steps on the brake pedal.

[0051] In some embodiments, the vehicle includes three or more sensors, obtains outputs of the three or more sensors, and processes the outputs of the three or more sensors to determine a target brake pedal travel and / or a target brake pedal force.

[0052] In some embodiments, the target brake pedal travel and / or target brake pedal force is the brake pedal travel and / or brake pedal force expected by the driver, which is simulated based on the output of the sensor in the pedal simulator and interprets the driver's braking intention when the driver steps on the brake pedal.

[0053] In some embodiments, at least two of the three or more sensors are independently powered. The method also includes verifying the validity of the three or more sensors, determining the target brake pedal stroke and / or target brake pedal force based on the outputs of the valid sensors, and when all sensors fail, determining a pre-set default value as the target brake pedal stroke and / or target brake pedal force to prevent the driver's intention from being unable to be obtained due to the failure of any sensor.

[0054] In some embodiments, using Figure 1 The vehicle braking architecture shown verifies the validity of Sensor1, Sensor2, and Sensor3 through the outputs of Sensor1, Sensor2, and Sensor3, and determines the target brake pedal stroke and / or target brake pedal force based on the outputs of the valid sensors. When Sensor1, Sensor2, and Sensor3 all fail, the pre-set default values ​​are determined as the target brake pedal stroke and / or target brake pedal force.

[0055] Step 102: Determine a first target deceleration according to the target braking information through a first controller, and send a first braking request to an actuator.

[0056] The first braking request carries the first target deceleration, and the first braking request is used to request the actuator to perform a deceleration operation using the first target deceleration.

[0057] In the embodiments of the present disclosure, Figure 3As shown, in the method for identifying the driver's braking intention disclosed in the present invention, the driver's braking request is calculated according to the target brake pedal travel and / or the target brake pedal force, the target deceleration is output to the actuator, and the actuator is controlled to execute the braking request, thereby achieving vehicle braking.

[0058] In an embodiment of the present disclosure, the driver braking request calculation includes determining a target deceleration by a controller according to a target brake pedal travel and / or a target brake pedal force.

[0059] In some embodiments, Figure 4 As shown, determining the target deceleration according to the target braking information by the controller includes: the controller performs brake pedal feel table lookup processing according to the target brake pedal stroke and / or target brake pedal force to obtain a basic target deceleration, and the obtained basic target deceleration can be directly determined as the target deceleration, or the controller performs brake pedal force compensation processing according to the speed of the target brake pedal stroke and / or target brake pedal force to obtain a compensated target deceleration. Further, the basic target deceleration is merged with the compensated target deceleration to determine the target deceleration, which is not limited by the present disclosure.

[0060] Step 103: Verify the first braking request to determine whether the first braking request is valid.

[0061] Step 104 : In response to the first braking request being valid, controlling the actuator to execute the first braking request.

[0062] In some embodiments, after determining whether the first braking request is valid, the method further includes: in response to the first braking request being invalid, determining a second target deceleration according to the target braking information by a second controller, and sending a second braking request to the actuator, wherein the second braking request is used to request the actuator to perform a deceleration operation using the second target deceleration; verifying the second braking request to determine whether the second braking request is valid; and in response to the second braking request being valid, controlling the actuator to execute the second braking request.

[0063] In some embodiments, after determining whether the second braking request is valid, the method further includes: in response to the second braking request being invalid, requesting a negative torque from the motor through the central domain controller to stop the vehicle.

[0064] In an embodiment of the present disclosure, in order to prevent the situation where the driver's intention cannot be obtained due to the failure of any controller node and the driver cannot generate braking force after stepping on the brake, the vehicle has at least two controllers that are independently powered and communicate with each other independently, including a first controller and a second controller.

[0065] In some embodiments, first, according to the target brake pedal travel and / or the target brake pedal force, a first braking request is calculated by a first controller to determine a first target deceleration, and a first braking request is sent to an actuator to verify the first braking request. If the first braking request is valid, the actuator is controlled to execute the first braking request. If the first braking request is invalid, a second braking request is calculated by a second controller to determine a second target deceleration, and a second braking request is sent to the actuator to verify the second braking request. If the second braking request is valid, the actuator is controlled to execute the second braking request. Furthermore, if the second braking request is also invalid, a negative torque is requested from the motor through the central domain controller XCU to stop the vehicle.

[0066] In some embodiments, using Figure 1 The vehicle braking architecture shown in FIG. 1 is a first controller EMB-A and a second controller EMB-B. Figure 5 As shown, the validity of the braking request issued by EMB-A is checked. If valid, the actuators EMB-FL, EMB-FR, EMB-RL and EMB-RR are controlled to execute the braking request issued by EMB-A; if invalid, the validity of the braking request issued by EMB-A is checked. If valid, the actuators EMB-FL, EMB-FR, EMB-RL and EMB-RR are controlled to execute the braking request issued by EMB-B; if invalid, a negative torque is requested from the motor through the central domain controller to stop the vehicle.

[0067] In summary, according to an embodiment of the present disclosure, the method includes: obtaining target braking information through three or more sensors, wherein the target braking information includes a target brake pedal stroke and / or a target brake pedal force; determining a first target deceleration according to the target braking information through a first controller, and sending a first braking request to an actuator, wherein the first braking request is used to request the actuator to use the first target deceleration to perform a deceleration operation; verifying the first braking request to determine whether the first braking request is valid; in response to the first braking request being valid, controlling the actuator to execute the first braking request. The method of the present disclosure is applicable to an electronic mechanical braking system that is completely decoupled from a pedal. Through the design of multiple sensors, multiple controllers and validity verification, in the event that a single braking request in the system fails, the driver's target brake pedal stroke and / or target brake pedal force can still be obtained to determine a valid braking request. Even if all braking requests fail, the system will still give a default target deceleration value to ensure normal braking of the vehicle.

[0068] Figure 6 A schematic diagram of a vehicle braking method provided in an embodiment of the present disclosure. Figure 2 Further disclosure of the corresponding embodiments.

[0069] For ease of understanding, Figure 7 A schematic diagram showing a method for acquiring a target pedal travel and / or brake pedal force.

[0070] like Figure 3 As shown, the method includes steps 201-207. Among them, steps 201-204 are Figure 2 Further disclosure of step 101 in the embodiments.

[0071] It should be noted that in the embodiment of the present disclosure, the vehicle simultaneously uses three sensors to obtain target braking information, including a first sensor, a second sensor and a third sensor, wherein the target braking information includes brake pedal travel and / or brake pedal force. When the vehicle simultaneously uses more than three sensors to obtain target braking information, the method design of the embodiment of the present disclosure can be referred to and will not be repeated here.

[0072] Step 301: Verify the first sensor to determine whether the first sensor is valid.

[0073] Step 302: In response to the first sensor being valid, verify the second sensor to determine whether the second sensor is valid.

[0074] Furthermore, after determining whether the second sensor is valid, the method also includes: in response to the second sensor being valid, determining a target brake pedal stroke and / or target brake pedal force based on the brake pedal stroke and / or brake pedal force obtained from the first sensor and the second sensor.

[0075] In some embodiments, using Figure 1 In the vehicle braking architecture shown in FIG. 1 , the first sensor is Sensor1 and the second sensor is Sensor2. Figure 7 As shown, firstly, the validity of Sensor1 is checked to determine whether Sensor1 is valid. If Sensor1 is valid, the validity of Sensor2 is checked to determine whether Sensor2 is valid. If Sensor2 is valid, the brake pedal stroke and / or brake pedal force obtained from Sensor1 and Sensor2 are processed to obtain the target brake pedal stroke and / or target brake pedal force.

[0076] In some embodiments, the brake pedal travel and / or brake pedal force obtained from Sensor1 and Sensor2 are processed by weighted summation, averaging, etc., which is not limited in the present disclosure.

[0077] Step 303: In response to the second sensor being invalid, verify the third sensor to determine whether the third sensor is valid.

[0078] In some embodiments, after determining whether the third sensor is valid, the method further includes: in response to the third sensor being invalid, determining a target brake pedal travel and / or target brake pedal force based on the brake pedal travel and / or brake pedal force obtained from the first sensor.

[0079] In some embodiments, using Figure 1 In the vehicle braking architecture shown in FIG. 1 , the first sensor is Sensor1, the second sensor is Sensor2, and the third sensor is Sensor3. Figure 7 As shown, firstly, the validity of Sensor1 is checked to determine whether Sensor1 is valid. If Sensor1 is valid, the validity of Sensor2 is checked to determine whether Sensor2 is valid. If Sensor2 is invalid, the validity of Sensor3 is checked to determine whether Sensor3 is valid. If Sensor3 is invalid, the brake pedal stroke and / or brake pedal force obtained from Sensor1 is processed to obtain the target brake pedal stroke and / or target brake pedal force.

[0080] Step 304 : In response to the third sensor being effective, determine a target brake pedal stroke and / or a target brake pedal force according to the brake pedal stroke and / or the brake pedal force obtained from the first sensor and the third sensor.

[0081] In some embodiments, using Figure 1 In the vehicle braking architecture shown in FIG. 1 , the first sensor is Sensor1, the second sensor is Sensor2, and the third sensor is Sensor3. Figure 7 As shown, firstly, a validity check is performed on Sensor1 to determine whether Sensor1 is valid. If Sensor1 is valid, a validity check is performed on Sensor2 to determine whether Sensor2 is valid. If Sensor2 is invalid, a validity check is performed on Sensor3 to determine whether Sensor3 is valid. If Sensor3 is valid, the brake pedal stroke and / or brake pedal force obtained from Sensor1 and Sensor3 are processed to obtain the target brake pedal stroke and / or target brake pedal force.

[0082] In some embodiments, the brake pedal travel and / or brake pedal force obtained from Sensor1 and Sensor3 are processed by weighted summation, averaging, etc., which is not limited in the present disclosure.

[0083] In some embodiments, after determining whether the first sensor is valid, Figure 8 As shown, it also includes: steps 401-403:

[0084] Step 401: In response to the first sensor being invalid, verify the second sensor to determine whether the second sensor is valid.

[0085] In some embodiments, after determining whether the second sensor is valid, the method also includes: in response to the second sensor being invalid, verifying the third sensor to determine whether the third sensor is valid; in response to the third sensor being valid, determining the target brake pedal travel and / or target brake pedal force based on the brake pedal travel and / or brake pedal force obtained from the third sensor.

[0086] In some embodiments, using Figure 1 In the vehicle braking architecture shown in FIG. 1 , the first sensor is Sensor1, the second sensor is Sensor2, and the third sensor is Sensor3. Figure 7 As shown, firstly, a validity check is performed on Sensor1 to determine whether Sensor1 is valid; if Sensor1 is invalid, a validity check is performed on Sensor2 to determine whether Sensor2 is valid; if Sensor2 is invalid, a validity check is performed on Sensor3 to determine whether Sensor3 is valid; if Sensor3 is valid, the brake pedal stroke and / or brake pedal force obtained from Sensor3 is processed to obtain the target brake pedal stroke and / or target brake pedal force.

[0087] In some embodiments, after determining whether the third sensor is valid, the method further includes: in response to the third sensor being invalid, determining a preset brake pedal travel and / or a preset pedal force as a target brake pedal travel and / or a target brake pedal force.

[0088] In some embodiments, using Figure 1 In the vehicle braking architecture shown in FIG. 1 , the first sensor is Sensor1, the second sensor is Sensor2, and the third sensor is Sensor3. Figure 7 As shown, firstly, the validity of Sensor1 is checked to determine whether Sensor1 is valid. If Sensor1 is invalid, the validity of Sensor2 is checked to determine whether Sensor2 is valid. If Sensor2 is invalid, the validity of Sensor3 is checked to determine whether Sensor3 is valid. If Sensor3 is invalid, the preset target braking stroke or target brake pedal force is output.

[0089] Step 402: In response to the second sensor being valid, verify the third sensor to determine whether the third sensor is valid.

[0090] In some embodiments, after determining whether the third sensor is valid, the method further includes: in response to the third sensor being invalid, determining a target brake pedal travel and / or target brake pedal force based on the brake pedal travel and / or brake pedal force obtained from the second sensor.

[0091] In some embodiments, using Figure 1 In the vehicle braking architecture shown in FIG. 1 , the first sensor is Sensor1, the second sensor is Sensor2, and the third sensor is Sensor3. Figure 7 As shown, firstly, a validity check is performed on Sensor1 to determine whether Sensor1 is valid. If Sensor1 is invalid, a validity check is performed on Sensor2 to determine whether Sensor2 is valid. If Sensor2 is valid, a validity check is performed on Sensor3 to determine whether Sensor3 is valid. If Sensor3 is invalid, the brake pedal stroke and / or brake pedal force obtained from Sensor2 is processed to obtain the target brake pedal stroke and / or target brake pedal force.

[0092] Step 403: In response to the third sensor being effective, determine a target brake pedal stroke and / or a target brake pedal force according to the brake pedal stroke and / or the brake pedal force obtained from the second sensor and the third sensor.

[0093] In some embodiments, using Figure 1 In the vehicle braking architecture shown in FIG. 1 , the first sensor is Sensor1, the second sensor is Sensor2, and the third sensor is Sensor3. Figure 7 As shown, firstly, a validity check is performed on Sensor1 to determine whether Sensor1 is valid. If Sensor1 is invalid, a validity check is performed on Sensor2 to determine whether Sensor2 is valid. If Sensor2 is valid, a validity check is performed on Sensor3 to determine whether Sensor3 is valid. If Sensor3 is valid, the brake pedal stroke and / or brake pedal force obtained from Sensor2 and Sensor3 are processed to obtain the target brake pedal stroke and / or target brake pedal force.

[0094] In some embodiments, the brake pedal travel and / or brake pedal force obtained from Sensor2 and Sensor3 are processed by weighted summation, averaging, etc., which is not limited in the present disclosure.

[0095] Step 305: Determine a first target deceleration according to the target braking information through the first controller, and send a first braking request to the actuator, wherein the first braking request is used to request the actuator to perform a deceleration operation using the first target deceleration.

[0096] In some embodiments, determining the first target deceleration according to the target braking information by the first controller includes: performing brake pedal feel table lookup processing by the first controller according to the target brake pedal travel and / or target brake pedal force to obtain a basic target deceleration, and the obtained basic target deceleration can be directly determined as the target deceleration, or the first controller can perform brake pedal force compensation processing according to the speed of the target brake pedal travel and / or target brake pedal force to obtain a compensated target deceleration, and further, the basic target deceleration is merged with the compensated target deceleration to determine the first target deceleration.

[0097] Step 306: Verify the first braking request to determine whether the first braking request is valid.

[0098] Step 307 : In response to the first braking request being valid, controlling the actuator to execute the first braking request.

[0099] In some embodiments, after determining whether the first braking request is valid, the method further includes: in response to the first braking request being invalid, determining a second target deceleration according to the target braking information by a second controller, and sending a second braking request to the actuator, wherein the second braking request is used to request the actuator to perform a deceleration operation using the second target deceleration; verifying the second braking request to determine whether the second braking request is valid; and in response to the second braking request being valid, controlling the actuator to execute the second braking request.

[0100] In some embodiments, determining the second target deceleration according to the target braking information by the second controller includes: performing brake pedal feel table lookup processing by the second controller according to the target brake pedal travel and / or target brake pedal force to obtain a basic target deceleration, and the obtained basic target deceleration can be directly determined as the target deceleration, or the second controller can perform brake pedal force compensation processing according to the speed of the target brake pedal travel and / or target brake pedal force to obtain a compensated target deceleration, and further, the basic target deceleration is merged with the compensated target deceleration to determine the second target deceleration.

[0101] In some embodiments, after determining whether the second braking request is valid, the method further includes: in response to the second braking request being invalid, requesting a negative torque from the motor through the central domain controller to stop the vehicle.

[0102] The above steps 205-207 refer to Figure 2 Steps 102 - 104 in the illustrated embodiment will not be described in detail here.

[0103] In summary, the present disclosure proposes a vehicle braking method, which is for an electronic mechanical braking system that is completely decoupled from the pedal. When any single node fails, such as any sensor node fails, the accurate braking intention of the driver can be guaranteed, and the vehicle can implement the correct deceleration and parking strategy. After two sensor nodes fail, the driver's target braking intention can still be obtained, and no braking hazard will be caused. Even if all sensor nodes fail, the system will still give a default target brake pedal travel and / or target brake pedal force, and the vehicle can be parked normally.

[0104] Corresponding to the above-mentioned vehicle braking method, the present disclosure proposes a vehicle braking device. Fig. 9 FIG. 4 is a schematic diagram of the structure of a vehicle braking device 400 provided in an embodiment of the present disclosure. Fig. 9 As shown, the device includes: an acquisition unit 410, used to acquire target braking information through three or more sensors, wherein the target braking information includes a target brake pedal stroke and / or a target brake pedal force; a request unit 420, used to determine a first target deceleration according to the target braking information through a first controller, and send a first braking request to an actuator, wherein the first braking request is used to request the actuator to perform a deceleration operation using the first target deceleration; a verification unit 430, used to verify the first braking request and determine whether the first braking request is valid; and an execution unit 440, used to control the actuator to execute the first braking request in response to the first braking request being valid.

[0105] In some embodiments, after determining whether the first braking request is valid, the request unit 420 is further used to: in response to the first braking request being invalid, determine a second target deceleration according to the target braking information through a second controller, and send a second braking request to the actuator, wherein the second braking request is used to request the actuator to use the second target deceleration to perform a deceleration operation; the verification unit 430 is further used to: verify the second braking request to determine whether the second braking request is valid; the execution unit 440 is further used to: in response to the second braking request being valid, control the actuator to execute the second braking request.

[0106] In some embodiments, after determining whether the second braking request is valid, the execution unit 440 is further configured to: in response to the second braking request being invalid, request a negative torque from the motor through the central domain controller to stop the vehicle.

[0107] In some embodiments, the three or more sensors include a first sensor, a second sensor and a third sensor, wherein the verification unit 430 is further used to: verify the first sensor to determine whether the first sensor is valid; in response to the first sensor being valid, verify the second sensor to determine whether the second sensor is valid; in response to the second sensor being invalid, verify the third sensor to determine whether the second sensor is valid; the acquisition unit 410 is further used to: in response to the third sensor being valid, determine the target brake pedal stroke and / or target brake pedal force based on the brake pedal stroke and / or brake pedal force acquired from the first sensor and the third sensor.

[0108] In some embodiments, after determining whether the second sensor is valid, the acquisition unit 410 is also used to: in response to the second sensor being valid, determine the target brake pedal stroke and / or target brake pedal force based on the brake pedal stroke and / or brake pedal force obtained from the first sensor and the second sensor.

[0109] In some embodiments, after determining whether the third sensor is valid, the acquisition unit 410 is also used to: in response to the third sensor being invalid, determine the target brake pedal stroke and / or target brake pedal force based on the brake pedal stroke and / or brake pedal force obtained from the first sensor.

[0110] In some embodiments, after determining whether the first sensor is valid, the verification unit 430 is also used to: in response to the first sensor being invalid, verify the second sensor to determine whether the second sensor is valid; in response to the second sensor being valid, verify the third sensor to determine whether the third sensor is valid; the acquisition unit 410 is also used to: in response to the third sensor being valid, determine the target brake pedal travel and / or target brake pedal force based on the brake pedal travel and / or brake pedal force obtained from the second sensor and the third sensor.

[0111] In some embodiments, after determining whether the third sensor is valid, the acquisition unit 410 is also used to: in response to the third sensor being invalid, determine the target brake pedal travel and / or target brake pedal force based on the brake pedal travel and / or brake pedal force obtained from the second sensor.

[0112] In some embodiments, after determining whether the second sensor is valid, the verification unit 430 is also used to: in response to the second sensor being invalid, verify the third sensor to determine whether the third sensor is valid; the acquisition unit 410 is also used to: in response to the third sensor being valid, determine the target brake pedal stroke and / or target brake pedal force based on the brake pedal stroke and / or brake pedal force acquired from the third sensor.

[0113] In some embodiments, after determining whether the third sensor is valid, the acquisition unit 410 is further used to: in response to the third sensor being invalid, determine a preset brake pedal travel and / or a preset pedal force as a target brake pedal travel and / or a target brake pedal force.

[0114] In some embodiments, determining the first target deceleration according to the target braking information by the first controller includes: performing brake pedal feel table lookup processing according to the target brake pedal travel and / or target brake pedal force by the first controller to obtain a basic target deceleration; performing brake pedal force compensation processing according to the speed of the target brake pedal travel and / or target brake pedal force by the first controller to obtain a compensated target deceleration; and fusing the basic target deceleration with the compensated target deceleration to determine the first target deceleration.

[0115] In summary, according to the vehicle braking device disclosed in the present invention, the acquisition unit, request unit, verification unit and execution unit in the device are suitable for an electronic mechanical braking system that is completely decoupled from the pedal. Through the design of multiple sensors, multiple controllers and validity verification, when any single node in the system, such as any sensor or controller, fails, the driver's target brake pedal travel and / or target brake pedal force can be obtained, the driver's braking request can be determined, and normal braking of the vehicle can be ensured.

[0116] It should be noted that since the device embodiment of the present disclosure corresponds to the above-mentioned method embodiment, the above-mentioned explanation of the method embodiment is also applicable to the device of the present embodiment, and the principle is the same. For details not disclosed in the device embodiment, reference can be made to the above-mentioned method embodiment, and they will not be repeated in this disclosure.

[0117] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

[0118] Fig.10 A schematic block diagram of an example electronic device that can be used to implement an embodiment of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0119] like Fig.10As shown, the device 500 includes a computing unit 501, which can perform various appropriate actions and processes according to a computer program stored in a ROM (Read-Only Memory) 502 or a computer program loaded from a storage unit 508 to a RAM (Random Access Memory) 503. In the RAM 503, various programs and data required for the operation of the device 500 can also be stored. The computing unit 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An I / O (Input / Output) interface 505 is also connected to the bus 504.

[0120] A number of components in the device 500 are connected to the I / O interface 505, including: an input unit 506, such as a keyboard, a mouse, etc.; an output unit 507, such as various types of displays, speakers, etc.; a storage unit 508, such as a disk, an optical disk, etc.; and a communication unit 509, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 509 allows the device 500 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0121] The computing unit 501 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a CPU (Central Processing Unit), a GPU (Graphic Processing Units), various dedicated AI (Artificial Intelligence) computing chips, various computing units running machine learning model algorithms, a DSP (Digital Signal Processor), and any appropriate processor, controller, microcontroller, etc. The computing unit 501 performs the various methods and processes described above, such as a vehicle braking method. For example, in some embodiments, the vehicle braking method may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 508. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 500 via the ROM 502 and / or the communication unit 509. When the computer program is loaded into the RAM 503 and executed by the computing unit 501, one or more steps of the method described above may be performed. Alternatively, in other embodiments, the computing unit 501 may be configured to execute the aforementioned communication method in any other appropriate manner (for example, by means of firmware).

[0122] Various embodiments of the systems and techniques described above herein may be implemented in digital electronic circuit systems, integrated circuit systems, FPGAs (Field Programmable Gate Arrays), ASICs (Application-Specific Integrated Circuits), ASSPs (Application Specific Standard Products), SOCs (System On Chips), CPLDs (Complex Programmable Logic Devices), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: being implemented in one or more computer programs that may be executed and / or interpreted on a programmable system including at least one programmable processor that may be a dedicated or general-purpose programmable processor that may receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0123] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0124] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any suitable combination of the foregoing. More specific examples of machine-readable storage media may include electrical connections based on one or more lines, portable computer disks, hard disks, RAM, ROM, EPROM (Electrically Programmable Read-Only-Memory) or flash memory, optical fiber, CD-ROM (Compact Disc Read-Only Memory), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0125] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (Cathode-Ray Tube) or LCD (Liquid Crystal Display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0126] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: LAN (Local Area Network), WAN (Wide Area Network), the Internet, and blockchain networks.

[0127] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship between the client and the server is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services ("Virtual Private Server", or "VPS" for short). The server may also be a server of a distributed system, or a server combined with a blockchain.

[0128] It should be noted that artificial intelligence is a discipline that studies how computers can simulate certain human thought processes and intelligent behaviors (such as learning, reasoning, thinking, planning, etc.), and includes both hardware-level and software-level technologies. Artificial intelligence hardware technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, and big data processing; artificial intelligence software technologies mainly include computer vision technology, speech recognition technology, natural language processing technology, as well as machine learning / deep learning, big data processing technology, knowledge graph technology, and other major directions.

[0129] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0130] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A vehicle braking method, characterized in that: The method comprises: Acquiring target braking information through three or more sensors, wherein the target braking information includes a target brake pedal travel and / or a target brake pedal force; determining a first target deceleration according to the target braking information by a first controller, and sending a first braking request to an actuator, wherein the first braking request is used to request the actuator to perform a deceleration operation using the first target deceleration; verifying the first braking request to determine whether the first braking request is valid; In response to the first braking request being valid, the actuator is controlled to execute the first braking request.

2. The method according to claim 1, characterized in that After determining whether the first braking request is valid, the method further includes: In response to the first braking request being invalid, determining a second target deceleration according to the target braking information by a second controller, and sending a second braking request to the actuator, wherein the second braking request is used to request the actuator to perform a deceleration operation using the second target deceleration; verifying the second braking request to determine whether the second braking request is valid; In response to the second braking request being valid, the actuator is controlled to execute the second braking request.

3. The method according to claim 2, characterized in that After determining whether the second braking request is valid, the method further includes: In response to the second brake request being invalid, a negative torque is requested from the motor via the central domain controller to stop the vehicle.

4. The method according to any one of claims 1 to 3, characterized in that The three or more sensors include a first sensor, a second sensor, and a third sensor, wherein obtaining target braking information through the three or more sensors includes: Verifying the first sensor to determine whether the first sensor is valid; In response to the first sensor being valid, verifying the second sensor to determine whether the second sensor is valid; In response to the second sensor being invalid, verifying the third sensor to determine whether the second sensor is valid; In response to the third sensor being valid, a target brake pedal stroke and / or a target brake pedal force is determined according to the brake pedal stroke and / or the brake pedal force acquired from the first sensor and the third sensor.

5. The method according to claim 4, characterized in that After determining whether the second sensor is valid, the method further includes: In response to the second sensor being valid, a target brake pedal stroke and / or a target brake pedal force is determined according to the brake pedal stroke and / or the brake pedal force acquired from the first sensor and the second sensor.

6. The method according to claim 4, characterized in that After determining whether the third sensor is valid, the method further includes: In response to the third sensor being invalid, a target brake pedal stroke and / or a target brake pedal force is determined according to the brake pedal stroke and / or the brake pedal force acquired from the first sensor.

7. The method according to claim 4, characterized in that After determining whether the first sensor is valid, the method further includes: In response to the first sensor being invalid, verifying the second sensor to determine whether the second sensor is valid; In response to the second sensor being valid, verifying the third sensor to determine whether the third sensor is valid; In response to the third sensor being valid, a target brake pedal stroke and / or a target brake pedal force is determined according to the brake pedal stroke and / or the brake pedal force acquired from the second sensor and the third sensor.

8. The method according to claim 7, characterized in that After determining whether the third sensor is valid, the method further includes: In response to the third sensor being invalid, a target brake pedal stroke and / or a target brake pedal force is determined according to the brake pedal stroke and / or the brake pedal force acquired from the second sensor.

9. The method according to claim 7, characterized in that: After determining whether the second sensor is valid, the method further includes: In response to the second sensor being invalid, verifying the third sensor to determine whether the third sensor is valid; In response to the third sensor being valid, a target brake pedal stroke and / or a target brake pedal force is determined according to the brake pedal stroke and / or the brake pedal force acquired from the third sensor.

10. The method according to claim 9, characterized in that After determining whether the third sensor is valid, the method further includes: In response to the third sensor being invalid, a preset brake pedal travel and / or a preset pedal force is determined as a target brake pedal travel and / or a target brake pedal force.

11. The method according to any one of claims 1 to 3, characterized in that: Determining the first target deceleration according to the target braking information by the first controller includes: The first controller performs a brake pedal feel table lookup process according to the target brake pedal travel and / or the target brake pedal force to obtain a basic target deceleration; The first controller performs a brake pedal force compensation process according to the target brake pedal stroke and / or the target brake pedal force speed to obtain a compensated target deceleration; The basic target deceleration and the compensated target deceleration are merged to determine a first target deceleration.

12. A vehicle braking device, characterized in that: include: an acquisition unit, configured to acquire target braking information through three or more sensors, wherein the target braking information includes a target brake pedal travel and / or a target brake pedal force; a request unit, configured to determine a first target deceleration according to the target braking information through a first controller, and send a first braking request to an actuator, wherein the first braking request is used to request the actuator to perform a deceleration operation using the first target deceleration; a verification unit, configured to verify the first braking request to determine whether the first braking request is valid; The execution unit is configured to control the actuator to execute the first braking request in response to the first braking request being valid.

13. A vehicle, characterized in that: include: Three or more sensors; two or more controllers; and actuators; the vehicle is capable of executing the method according to any one of claims 1-11.

14. The vehicle according to claim 13, characterized in that At least two of the three or more sensors are powered independently.

15. The vehicle according to any one of claims 13 or 14, characterized in that: At least two of the two or more controllers are independently powered and maintain independent communication with the actuator.

16. An electronic device, comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 11.

17. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-11.

18. A computer program product comprising a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 11.

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