Method, device, equipment, product and medium for controlling braking of vehicle and vehicle

Abstract

The invention discloses a method, device and equipment for controlling vehicle braking, a product, a medium and a vehicle, and relates to the technical field of vehicles. The method is applied to a central controller of a vehicle and comprises the steps that at least three pedal signal values of a brake pedal in the vehicle are obtained; according to the at least three pedal signal values, a target failure mode of the brake pedal is determined, the validity of the at least three pedal signal values in different failure modes is different, and the validity of the pedal signal values is used for representing whether the pedal signal values are within a preset first threshold range or not; according to effective pedal signal values in the target failure mode, the pedal angle target value of the brake pedal is calculated, and the effective pedal signal values are pedal signal values, smaller than a first threshold value, in the at least three pedal signal values; and the pedal angle target value is sent to a wheel end controller of the vehicle, so that the wheel end controller controls the wheel end of the vehicle to apply braking force corresponding to the pedal angle target value.

Description

Technical Field

[0001] This application belongs to the technical field of vehicles, and particularly relates to a method, device, equipment, product, medium and vehicle for controlling vehicle braking. Background Art

[0002] The electronic mechanical brake (EMB) system of a vehicle is one of the research hotspots in the field of wire-controlled chassis. It uses an electronic controller and a mechanical actuator to directly apply braking force to the wheel end, significantly reducing system components. At the same time, it has a faster response speed and higher wheel-end execution flexibility, which is a highly integrated solution for the braking system. In the current EMB system, the brake pedal can collect the driver's braking intention through a sensing method and transmit it to the central controller through a communication network. However, during the processes of signal collection and signal transmission, the pedal signal finally received by the central controller is prone to failures, such as signal loss or signal distortion, which affect the braking function of the vehicle and make the EMB system not have a fault tolerance function. Summary of the Invention

[0003] Embodiments of this application provide a method, device, equipment, product, medium and vehicle for controlling vehicle braking, which can reduce the impact caused by pedal signal failures and enable the electronic mechanical braking system of the vehicle to have a fault tolerance function.

[0004] In a first aspect, embodiments of this application provide a method for controlling vehicle braking, which is applied to the central controller of the vehicle. The method includes:

[0005] Obtain at least three pedal signal values of the brake pedal in the vehicle;

[0006] Determine the target failure mode of the brake pedal according to the at least three pedal signal values. The effectiveness of the at least three pedal signal values is different under different failure modes, and the effectiveness of the pedal signal value is used to represent whether the pedal signal value is within a preset first threshold range;

[0007] Calculate the target pedal angle value of the brake pedal according to the valid pedal signal values under the target failure mode. The valid pedal signal values are the pedal signal values among the at least three pedal signal values that are less than the first threshold;

[0008] Send the target pedal angle value to the wheel-end controller of the vehicle, so that the wheel-end controller controls the wheel end of the vehicle to apply the braking force corresponding to the target pedal angle value.

[0009] In a second aspect, embodiments of this application provide a device for controlling vehicle braking, which is applied to the central controller of the vehicle. The device includes:

[0010] An acquisition module, configured to acquire at least three pedal signal values of a brake pedal in the vehicle;

[0011] A first determination module, configured to determine a target failure mode of the brake pedal according to the at least three pedal signal values. The effectiveness of the at least three pedal signal values is different in different failure modes, and the effectiveness of the pedal signal value is used to indicate whether the pedal signal value is within a preset first threshold range;

[0012] A calculation module, configured to calculate a target value of the pedal angle of the brake pedal according to the valid pedal signal values in the target failure mode. The valid pedal signal values are the pedal signal values within the first threshold range among the at least three pedal signal values;

[0013] A sending module, configured to send the target value of the pedal angle to a wheel-end controller of the vehicle, so that the wheel-end controller controls the wheel end of the vehicle to apply a braking force corresponding to the target value of the pedal angle.

[0014] In a third aspect, an embodiment of the present application provides an electronic device, including: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the method for controlling vehicle braking as described in any one of the above is implemented.

[0015] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the method for controlling vehicle braking as described in any one of the above is implemented.

[0016] In a fifth aspect, an embodiment of the present application provides a computer program product. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device is enabled to execute the method for controlling vehicle braking as described in any one of the above.

[0017] In a sixth aspect, an embodiment of the present application provides a vehicle, including at least one of the following:

[0018] The device for controlling vehicle braking as described above;

[0019] The electronic device as described above;

[0020] The computer-readable storage medium as described above;

[0021] The computer program product as described above.

[0022] The method, device, equipment, product, medium and vehicle for controlling vehicle braking according to the embodiments of the present application are applied to the central controller of the vehicle, and can obtain at least three pedal signal values of the brake pedal in the vehicle; determine the target failure mode of the brake pedal according to the at least three pedal signal values, and the effectiveness of the at least three pedal signal values is different under different failure modes, and the effectiveness of the pedal signal value is used to represent whether the pedal signal value is within a preset first threshold range; calculate the target pedal angle value of the brake pedal according to the valid pedal signal values in the target failure mode, and the valid pedal signal values are the pedal signal values within the first threshold range among the at least three pedal signal values; send the target pedal angle value to the wheel-end controller of the vehicle, so that the wheel-end controller controls the wheel-end of the vehicle to apply the braking force corresponding to the target pedal angle value. In this way, in the embodiments of the present application, by identifying the effectiveness of at least three pedal signal values and calculating the target pedal angle value of the brake pedal only according to the valid pedal signal values, the influence caused by pedal signal faults can be reduced, so that the electro-mechanical braking system of the vehicle has a fault tolerance function, thereby ensuring the braking function of the vehicle and realizing safe driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0024] Figure 1 is a schematic flowchart of the method for controlling vehicle braking provided by the embodiments of the present application;

[0025] Figure 2 is a schematic structural diagram of an EMB brake pedal provided by the embodiments of the present application;

[0026] Figure 3 is a schematic structural diagram of a control system provided by the embodiments of the present application;

[0027] Figure 4 is a schematic flowchart of a scenario embodiment provided by the embodiments of the present application;

[0028] Figure 5 is a schematic structural diagram of the device for controlling vehicle braking provided by the embodiments of the present application;

[0029] Figure 6 is a schematic structural diagram of an electronic device provided by the embodiments of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] The features and exemplary embodiments of various aspects of the present application will be described in detail below. To make the objectives, technical solutions, and advantages of the present application clearer and more understandable, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application and not to limit the present application. For those skilled in the art, the present application can be implemented without some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by showing examples of the present application.

[0031] It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover a non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0032] The electronic mechanical brake (EMB) system of a vehicle is one of the research hotspots in the field of by-wire chassis. It directly applies braking force to the wheel end using an electronic controller and a mechanical actuator, significantly reducing system components. At the same time, it has a faster response speed and higher wheel-end execution flexibility, which is a highly integrated solution for the braking system. In the current EMB system, the braking pedal can collect the driver's braking intention through a sensing method and transmit it to the central controller through a communication network. However, during the processes of signal acquisition and signal transmission, the pedal signal finally received by the central controller is prone to failures, such as signal loss or signal distortion, which affects the braking function of the vehicle and makes the EMB system not have a fault tolerance function.

[0033] To solve the problems of the prior art, embodiments of the present application provide a method, device, equipment, product, medium, and vehicle for controlling vehicle braking. First, the method for controlling vehicle braking provided by the embodiments of the present application will be introduced below.

[0034] Figure 1 The flowchart of the method for controlling vehicle braking provided by an embodiment of the present application is shown. As Figure 1 shown, a method for controlling vehicle braking, which is applied to the central controller of a vehicle, may include the following steps S101 to S104:

[0035] S101. Obtain at least three pedal signal values of the brake pedal in the vehicle;

[0036] S102. Determine the target failure mode of the brake pedal according to the at least three pedal signal values. The effectiveness of the at least three pedal signal values is different under different failure modes, and the effectiveness of the pedal signal value is used to characterize whether the pedal signal value is within a preset first threshold range;

[0037] S103. Calculate the target value of the pedal angle of the brake pedal according to the valid pedal signal values in the target failure mode. The valid pedal signal values are the pedal signal values within the first threshold range among the at least three pedal signal values;

[0038] S104. Send the target value of the pedal angle to the wheel end controller of the vehicle, so that the wheel end controller controls the wheel end of the vehicle to apply the braking force corresponding to the target value of the pedal angle.

[0039] The method for controlling vehicle braking in the embodiments of the present application is applied to the central controller of the vehicle, and can obtain at least three pedal signal values of the brake pedal in the vehicle; determine the target failure mode of the brake pedal according to the at least three pedal signal values. The effectiveness of the at least three pedal signal values is different under different failure modes, and the effectiveness of the pedal signal value is used to characterize whether the pedal signal value is within a preset first threshold range; calculate the target value of the pedal angle of the brake pedal according to the valid pedal signal values in the target failure mode. The valid pedal signal values are the pedal signal values within the first threshold range among the at least three pedal signal values; send the target value of the pedal angle to the wheel end controller of the vehicle, so that the wheel end controller controls the wheel end of the vehicle to apply the braking force corresponding to the target value of the pedal angle. In this way, in the embodiments of the present application, by identifying the effectiveness of at least three pedal signal values and only calculating the target value of the pedal angle of the brake pedal according to the valid pedal signal values, the influence caused by pedal signal failures can be reduced, so that the electro-mechanical braking system of the vehicle has a fault tolerance function, thereby ensuring the braking function of the vehicle and realizing safe driving.

[0040] In S101, the above at least three pedal signals, which are electrical signals that can be represented by current or voltage, are collected by at least one angular displacement sensor, linear displacement sensor, and / or force sensor provided on the brake pedal.

[0041] The above obtaining at least three pedal signal values of the brake pedal in the vehicle, exemplarily, can be that two signals are simultaneously collected by an angular displacement sensor installed on the EMB brake pedal, one signal is collected by a linear displacement sensor that has been installed, and these three pedal signals are transmitted to the central controller through the vehicle-mounted communication network.

[0042] In S102, the above-mentioned target failure mode is a failure mode corresponding to the validity of at least three pedal signal values, and the validity of at least three pedal signal values is different under different failure modes.

[0043] The validity of the above-mentioned pedal signal value can be used to represent whether the pedal signal value is within a preset first threshold range. It should be noted that the first threshold can be a voltage value or a current value preset by the user, and the specific value is set according to the actual needs of the user, and no specific limitation is made here.

[0044] In S103, the above-mentioned valid pedal signal value can be the pedal signal value within the first threshold range among at least three pedal signal values.

[0045] The above-mentioned pedal angle target value of the brake pedal is calculated based on the valid pedal signal value under the target failure mode. Exemplarily, it can be to determine the pedal angle value corresponding to the valid pedal signal value as the pedal angle target value of the brake pedal; or to determine the preset pedal angle value as the pedal angle target value of the brake pedal; or to determine the average value of the pedal angle values corresponding to at least two valid pedal signal values as the pedal angle target value of the brake pedal; or to determine the maximum value of the pedal angle values corresponding to at least two valid pedal signal values as the pedal angle target value of the brake pedal.

[0046] In S104, the above-mentioned sending the pedal angle target value to the wheel-end controller of the vehicle, exemplarily, can be that the central controller sends the pedal angle target value to the wheel-end controller of the vehicle through the in-vehicle communication network.

[0047] As an implementation manner of the present application, in order to obtain a more accurate pedal angle target value, before the above-mentioned S103, the method may further include:

[0048] Verify the pedal angle value corresponding to the valid pedal signal value under the target failure mode to obtain a verification flag bit of the target failure mode, and the verification flag bit is used to represent whether the pedal angle value corresponding to the valid pedal signal value meets the preset rule;

[0049] The above-mentioned S103 may specifically include:

[0050] When the verification flag bit represents that the pedal angle value corresponding to the valid pedal signal value meets the preset rule, calculate the pedal angle target value of the brake pedal according to the valid pedal signal value under the target failure mode.

[0051] The above check flag bit can be used to represent whether the pedal angle value corresponding to the valid pedal signal value meets a preset rule. Among them, the preset rule, by way of example, can be that when there are at least two valid pedal signal values in the target failure mode, whether the pedal angle deviation value between the pedal angle values corresponding to any two valid pedal signal values is less than a preset second threshold; or, it can also be that when there is only one valid pedal signal value in the target failure mode, whether the pedal angle value corresponding to the valid pedal signal value is within a preset third threshold range.

[0052] The above verification of the pedal angle value corresponding to the valid pedal signal value in the target failure mode to obtain the check flag bit of the target failure mode. By way of example, it can be that when there are at least two valid pedal signal values in the target failure mode, at least one pedal angle deviation value in the target failure mode is calculated according to the pedal angle values corresponding to any two valid pedal signal values; the at least one pedal angle deviation value is verified to obtain the check flag bit of the target failure mode, and the check flag bit is used to represent whether each pedal angle deviation value in the at least one pedal angle deviation value is less than a preset second threshold. Or, it can also be that when there is only one valid pedal signal value in the target failure mode, the pedal angle value corresponding to the valid pedal signal value is verified to obtain the check flag bit of the target failure mode, and the check flag bit is used to represent whether the pedal angle value corresponding to the valid pedal signal value is within a preset third threshold range.

[0053] The above, in the case where the check flag bit represents that the pedal angle value corresponding to the valid pedal signal value meets the preset rule, according to the valid pedal signal value in the target failure mode, the pedal angle target value of the brake pedal is calculated. By way of example, it can be that when there are at least two valid pedal signal values in the target failure mode and the check flag bit represents that at least one pedal angle deviation value is less than the second threshold, the average value of the pedal angle values corresponding to the at least two valid pedal signal values is determined as the pedal angle target value of the brake pedal. Or, it can also be that when there is only one valid pedal signal value in the target failure mode and the check flag bit represents that the pedal angle value corresponding to the valid pedal signal value is within the third threshold range, the pedal angle value corresponding to the valid pedal signal value is determined as the pedal angle target value of the brake pedal.

[0054] In the embodiments of the present application, before calculating the target value of the pedal angle of the brake pedal based on the valid pedal signal value in the target failure mode, the pedal angle value corresponding to the valid pedal signal value in the target failure mode is further verified to obtain the verification flag bit of the target failure mode. Only when the verification flag bit indicates that the pedal angle value corresponding to the valid pedal signal value meets the preset rules, can the more accurate target value of the pedal angle be calculated based on the accurate valid pedal signal value, thereby enhancing the fault tolerance function of the electro-mechanical braking system.

[0055] In some embodiments, the verification of the pedal angle value corresponding to the valid pedal signal value in the target failure mode to obtain the verification flag bit of the target failure mode may specifically include:

[0056] When there are at least two valid pedal signal values in the target failure mode, at least one pedal angle deviation value in the target failure mode is calculated based on the pedal angle values corresponding to any two valid pedal signal values;

[0057] The at least one pedal angle deviation value is verified to obtain the verification flag bit of the target failure mode. The verification flag bit is used to indicate whether each pedal angle deviation value in the at least one pedal angle deviation value is less than a preset second threshold;

[0058] When the verification flag bit indicates that the pedal angle value corresponding to the valid pedal signal value meets the preset rules, calculating the target value of the pedal angle of the brake pedal based on the valid pedal signal value in the target failure mode may specifically include:

[0059] When there are at least two valid pedal signal values in the target failure mode and the verification flag bit indicates that at least one pedal angle deviation value is less than the second threshold, the average value of the pedal angle values corresponding to the at least two valid pedal signal values is determined as the target value of the pedal angle of the brake pedal.

[0060] In the embodiments of the present application, when there are at least two valid pedal signal values in the target failure mode, at least one pedal angle deviation value in the target failure mode is calculated based on the pedal angle values corresponding to any two valid pedal signal values and verified to obtain the verification flag bit of the target failure mode. Only when the verification flag bit indicates that at least one pedal angle deviation value is less than the second threshold, the average value of the pedal angle values corresponding to the at least two valid pedal signal values is determined as the target value of the pedal angle of the brake pedal, which can further improve the accuracy of the target value of the pedal angle.

[0061] In some embodiments, the above method may further include:

[0062] When there are at least two valid pedal signal values in the target failure mode, and the check flag bit indicates that all pedal angle deviation values are greater than or equal to the second threshold, the maximum value among the pedal angle values corresponding to the at least two valid pedal signal values is determined as the pedal angle target value of the brake pedal.

[0063] In the embodiments of the present application, when there are at least two valid pedal signal values in the target failure mode, and the check flag bit indicates that all pedal angle deviation values are greater than or equal to the second threshold, it means that all the valid pedal signal values in the target failure mode are unreliable at this time. In order to ensure the braking function of the vehicle as much as possible, the maximum value among the pedal angle values corresponding to the at least two valid pedal signal values can be determined as the pedal angle target value of the brake pedal, so as to further achieve safe driving.

[0064] In some embodiments, the above-mentioned verification of the pedal angle values corresponding to the valid pedal signal values in the target failure mode to obtain the check flag bit of the target failure mode may specifically include:

[0065] When there is only one valid pedal signal value in the target failure mode, the pedal angle value corresponding to the valid pedal signal value is verified to obtain the check flag bit of the target failure mode. The check flag bit is used to indicate whether the pedal angle value corresponding to the valid pedal signal value is within the preset third threshold range;

[0066] When the above-mentioned check flag bit indicates that the pedal angle value corresponding to the valid pedal signal value meets the preset rule, according to the valid pedal signal value in the target failure mode, calculating the pedal angle target value of the brake pedal may specifically include:

[0067] When there is only one valid pedal signal value in the target failure mode, and the check flag bit indicates that the pedal angle value corresponding to the valid pedal signal value is within the third threshold range, the pedal angle value corresponding to the valid pedal signal value is determined as the pedal angle target value of the brake pedal.

[0068] In the embodiments of the present application, when there is only one valid pedal signal value in the target failure mode, only the pedal angle value corresponding to this one valid pedal signal value needs to be verified to obtain the check flag bit of the target failure mode, and only when the check flag bit indicates that at least one pedal angle deviation value is less than the second threshold, the average value of the pedal angle values corresponding to the at least two valid pedal signal values is determined as the pedal angle target value of the brake pedal, which can further improve the accuracy of the pedal angle target value.

[0069] In some embodiments, the above method may further include:

[0070] When there is only one valid pedal signal value in the target failure mode, and the check flag bit indicates that the pedal angle value corresponding to the valid pedal signal value exceeds the third threshold range, the preset pedal angle value is determined as the pedal angle target value of the brake pedal.

[0071] The above preset pedal angle value is an angle value of the brake pedal for ensuring vehicle parking.

[0072] In the embodiment of the present application, when there is only one valid pedal signal value in the target failure mode, and the check flag bit indicates that the pedal angle value corresponding to the valid pedal signal value exceeds the third threshold range, it means that the valid pedal signal value is unreliable in the target failure mode at this time. In order to ensure the braking function of the vehicle as much as possible, the preset pedal angle value is determined as the pedal angle target value of the brake pedal, so as to further achieve safe driving.

[0073] In some embodiments, the check flag bit can also correspond to each pedal signal value. Then, when there is no valid pedal signal value in the target failure mode, that is, when the validity of all pedal signal values is all negative, if at least one check flag bit in the check flag bits of all pedal signal values indicates that the pedal signal value is negative, it means that the at least one path of pedal signal value is actually valid, and the pedal angle value corresponding to the pedal signal value can be used as the output. The preset rule when the validity of the pedal signal value is all negative is: when it is determined that the pedal angle value is within the third threshold range, the check flag bit corresponding to the pedal angle value is marked as negative.

[0074] In some embodiments, the above method may further include:

[0075] When there is no valid pedal signal value in the target failure mode, the preset pedal angle value is determined as the pedal angle target value of the brake pedal.

[0076] The above preset pedal angle value is an angle value of the brake pedal for ensuring vehicle parking.

[0077] In the embodiment of the present application, when there is no valid pedal signal value in the target failure mode, it means that at least three collected pedal signal values are all invalid. In order to ensure the braking function of the vehicle as much as possible, the preset pedal angle value can be determined as the pedal angle target value of the brake pedal, so as to further achieve safe driving.

[0078] To facilitate the understanding of the method for controlling vehicle braking in the embodiment of the present application, the actual application process of this method for controlling vehicle braking is described as follows:

[0079] Such as Figure 2As shown in the figure, an angular displacement sensor is installed on the EMB brake pedal, which can collect two signals at the same time. Another linear displacement sensor is installed, which can also collect one signal. At least three pedal signals can be transmitted to the central controller through the vehicle communication network. The central controller processes the pedal signals and resolves them into four-wheel target braking forces. Finally, the target braking forces are transmitted to the wheel-end controller through the communication network, so as to control the wheel-end to perform the clamping and releasing functions.

[0080] As Figure 3 shown, the embodiment of the present application provides a control system for realizing the angle tolerance of the brake pedal. The functions of each module are as follows:

[0081] 1. EMB brake pedal: According to the driver's braking intention, the angular displacement sensors on the pedal respectively resolve the first pedal signal value and the second pedal signal value. At the same time, the linear displacement sensor resolves the third pedal signal value, and the three signals are transmitted to the central controller;

[0082] 2. Signal validity judgment: Judge whether the first pedal signal value, the second pedal signal value and the third pedal signal value are valid according to the signal valid ranges of the angular displacement sensor and the linear displacement sensor;

[0083] 3. Define failure modes: According to the validity of the first pedal signal value A, the second pedal signal value B and the third pedal signal value C, the failure modes are defined as follows:

[0084] Mode1: A(×)B(×)C(×)

[0085] Mode2: A(√)B(×)C(×)

[0086] Mode3: A(×)B(√)C(×)

[0087] Mode4: A(×)B(×)C(√)

[0088] Mode5: A(×)B(√)C(√)

[0089] Mode6: A(√)B(×)C(√)

[0090] Mode7: A(√)B(√)C(×)

[0091] Mode8: A(√)B(√)C(√)

[0092] 4. Angle signal verification: Under different failure modes, the three pedal signals are respectively compared and verified pairwise;

[0093] 5. Angle analysis: First, perform angle analysis on the original signal values of the three-way pedal. Secondly, combine the failure mode and the verification flag bit to perform pedal angle fault tolerance analysis. Finally, output the final pedal angle.

[0094] As Figure 4 shown, an embodiment of the present application also provides a method for controlling vehicle braking, which is applicable to the above Figure 3 shown control system. Taking the failure of the first pedal signal value as an example, it illustrates how the control system realizes the angle fault tolerance function:

[0095] Collect the three-way pedal signal values; respectively determine whether the three-way pedal signal values exceed the first threshold, and at the same time parse out the three-way pedal angle values; when it is determined that only the first pedal signal value is invalid, define the failure mode in this state (equivalent to the above target failure mode); the angle verification module enters the corresponding verification process according to the failure mode; the angle verification module compares and verifies the second and third pedal angle values to determine whether the deviation between the two exceeds the second threshold; according to different judgment results, give the corresponding verification flag bit; the angle analysis module receives the failure mode and the verification flag bit, and combines the second and third pedal angle values to finally parse out the pedal angle fault tolerance analysis value (equivalent to the above pedal angle target value).

[0096] In the embodiment of the present application, in the case of various failures of the pedal signal, it can ensure that the pedal angle value finally calculated by the central controller, the corresponding wheel end target braking force, and the actual vehicle braking deceleration conform to the driver's braking intention, thereby avoiding vehicle accidents caused by insufficient braking or over-braking. This technical solution can be applied not only to the electro-mechanical braking system but also to other types of braking systems.

[0097] Based on the method for controlling vehicle braking provided in the above embodiment, correspondingly, the present application also provides a specific implementation manner of the device for controlling vehicle braking. Please refer to the following embodiments.

[0098] As Figure 5 shown, the device 500 for controlling vehicle braking provided in the embodiment of the present application is applied to the central controller of the vehicle. The device 500 may include the following modules: an acquisition module 501, a first determination module 502, a calculation module 503, and a sending module 504.

[0099] The acquisition module 501 is used to acquire at least three pedal signal values of the brake pedal in the vehicle;

[0100] The first determination module 502 is used to determine the target failure mode of the brake pedal according to at least three pedal signal values. The effectiveness of the pedal signal values is different in different failure modes, and the effectiveness of the pedal signal value is used to characterize whether the pedal signal value is within the preset first threshold range;

[0101] A calculation module 503, configured to calculate a target pedal angle value of the brake pedal according to valid pedal signal values in a target failure mode, where the valid pedal signal values are pedal signal values less than a first threshold among at least three pedal signal values;

[0102] A sending module 504, configured to send the target pedal angle value to a wheel-end controller of the vehicle, so that the wheel-end controller controls the wheel end of the vehicle to apply a braking force corresponding to the target pedal angle value.

[0103] The device for controlling vehicle braking in the embodiments of the present application is applied to a central controller of the vehicle and can obtain at least three pedal signal values of a brake pedal in the vehicle; determine a target failure mode of the brake pedal according to the at least three pedal signal values, where the effectiveness of the at least three pedal signal values is different in different failure modes, and the effectiveness of the pedal signal value is used to characterize whether the pedal signal value is within a preset first threshold range; calculate a target pedal angle value of the brake pedal according to the valid pedal signal values in the target failure mode, where the valid pedal signal values are pedal signal values less than the first threshold among at least three pedal signal values; send the target pedal angle value to the wheel-end controller of the vehicle, so that the wheel-end controller controls the wheel end of the vehicle to apply a braking force corresponding to the target pedal angle value. In this way, in the embodiments of the present application, by identifying the effectiveness of at least three pedal signal values and calculating the target pedal angle value of the brake pedal only according to the valid pedal signal values, the influence caused by pedal signal faults can be reduced, so that the electro-mechanical braking system of the vehicle has a fault tolerance function, thereby ensuring the braking function of the vehicle and realizing safe driving.

[0104] As an implementation manner of the present application, in order to obtain a more accurate target pedal angle value, the above device 500 may further include:

[0105] A verification module, configured to verify the pedal angle value corresponding to the valid pedal signal value in the target failure mode to obtain a verification flag bit of the target failure mode, where the verification flag bit is used to characterize whether the pedal angle value corresponding to the valid pedal signal value meets a preset rule;

[0106] The above calculation module 503 is specifically configured to calculate a target pedal angle value of the brake pedal according to the valid pedal signal values in the target failure mode when the verification flag bit characterizes that the pedal angle value corresponding to the valid pedal signal value meets the preset rule.

[0107] In some embodiments, the above verification module may specifically include:

[0108] A calculation unit, configured to calculate at least one pedal angle deviation value in a target failure mode when there are at least two valid pedal signal values, based on the pedal angle values corresponding to any two valid pedal signal values.

[0109] A first verification unit, configured to verify at least one pedal angle deviation value to obtain a verification flag bit of the target failure mode, where the verification flag bit is used to indicate whether each pedal angle deviation value in the at least one pedal angle deviation value is less than a preset second threshold.

[0110] The above calculation module 503 may include:

[0111] A first determination unit, configured to determine the average value of the pedal angle values corresponding to at least two valid pedal signal values as the pedal angle target value of the brake pedal when there are at least two valid pedal signal values in the target failure mode and the verification flag bit indicates that at least one pedal angle deviation value is less than the second threshold.

[0112] In some embodiments, the above calculation module 503 may further include:

[0113] A second determination unit, configured to determine the maximum value of the pedal angle values corresponding to at least two valid pedal signal values as the pedal angle target value of the brake pedal when there are at least two valid pedal signal values in the target failure mode and the verification flag bit indicates that at least one pedal angle deviation value is greater than or equal to the second threshold.

[0114] In some embodiments, the above verification module may specifically include:

[0115] A second verification unit, configured to verify the pedal angle value corresponding to the valid pedal signal value to obtain a verification flag bit of the target failure mode when there is only one valid pedal signal value in the target failure mode, where the verification flag bit is used to indicate whether the pedal angle value corresponding to the valid pedal signal value is within a preset third threshold range.

[0116] The above calculation module 503 may include:

[0117] A third determination unit, configured to determine the pedal angle value corresponding to the valid pedal signal value as the pedal angle target value of the brake pedal when there is only one valid pedal signal value in the target failure mode and the verification flag bit indicates that the pedal angle value corresponding to the valid pedal signal value is less than the third threshold.

[0118] In some embodiments, the above calculation module 503 may further include:

[0119] A fourth determination unit, configured to determine a target value of the pedal angle of the brake pedal as a preset pedal angle value when there is only one valid pedal signal value in the target failure mode and the check flag bit indicates that the pedal angle value corresponding to the valid pedal signal value is greater than or equal to a third threshold.

[0120] In some embodiments, the above device 500 may further include:

[0121] A second determination module, configured to determine a target value of the pedal angle of the brake pedal as a preset pedal angle value when there is no valid pedal signal value in the target failure mode.

[0122] Figure 6 FIG. shows a schematic hardware structure diagram of an electronic device provided by an embodiment of the present application.

[0123] The electronic device may include a processor 601 and a memory 602 storing computer program instructions.

[0124] Specifically, the above processor 601 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0125] The memory 602 may include a mass storage for data or instructions. By way of example and not limitation, the memory 602 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In a suitable case, the memory 602 may include a removable or non-removable (or fixed) medium. In a suitable case, the memory 602 may be internal or external to the integrated gateway disaster recovery device. In a specific embodiment, the memory 602 is a non-volatile solid state memory.

[0126] In a specific embodiment, the memory 602 may include a read only memory (ROM), a random access memory (RAM), a magnetic disk storage media device, an optical storage media device, a flash memory device, an electrical, optical, or other physical / tangible memory storage device. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described in reference to the method according to one aspect of the present disclosure.

[0127] The processor 601 reads and executes the computer program instructions stored in the memory 602 to implement any one of the methods for controlling vehicle braking in the above embodiments.

[0128] In one example, the electronic device may further include a communication interface 603 and a bus 610. Among them, as Figure 6 shown, the processor 601, the memory 602, and the communication interface 603 are connected through the bus 610 and complete communication with each other.

[0129] The communication interface 603 is mainly used to implement communication between various modules, devices, units, and / or devices in the embodiments of the present application.

[0130] The bus 610 includes hardware, software, or both, and couples the components of the electronic device to each other. By way of example and not limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses or a combination of two or more of these. In a suitable case, the bus 610 may include one or more buses. Although the embodiments of the present application describe and illustrate specific buses, the present application contemplates any suitable bus or interconnect.

[0131] The electronic device can execute the method for controlling vehicle braking in the embodiments of the present application, thereby implementing the method and device for controlling vehicle braking described in combination with Figure 1 and Figure 5 description.

[0132] In addition, in combination with the method for controlling vehicle braking in the above embodiments, the embodiments of the present application can provide a computer-readable storage medium to implement. Computer program instructions are stored on the computer-readable storage medium; when the computer program instructions are executed by a processor, any one of the methods for controlling vehicle braking in the above embodiments is implemented.

[0133] In combination with the method for controlling vehicle braking in the above embodiments, the embodiments of the present application can provide a computer program product. When the instructions in the computer program product are executed by the processor of the electronic device, the electronic device executes the method for controlling vehicle braking as described above in any item.

[0134] Combined with the method for controlling vehicle braking in the above embodiments, an embodiment of the present application can provide a vehicle to implement the same. The vehicle includes at least one of the following: the device for controlling vehicle braking as described above; the electronic device as described above; the computer-readable storage medium as described above; the computer program product as described above.

[0135] It should be clear that the present application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order between steps after understanding the spirit of the present application.

[0136] The functional blocks shown in the above block diagrams can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application-specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, and so on. When implemented in software, the elements of the present application are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium or transmitted via a data signal carried in a carrier wave on a transmission medium or a communication link. A "machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical discs, hard disks, fiber optic media, radio frequency (RF) links, and so on. The code segment can be downloaded via a computer network such as the Internet, an intranet, and so on.

[0137] It should also be noted that the exemplary embodiments mentioned in the present application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above steps, that is, the steps can be executed in the order mentioned in the embodiments, or different from the order in the embodiments, or several steps can be executed simultaneously.

[0138] As described above with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present disclosure. It should be understood that each block in the flowchart and / or block diagram, and the combination of blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine, such that the instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the functions / actions specified in one or more blocks of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It should also be understood that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can also be implemented by dedicated hardware that performs the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0139] As described above, this is only the specific implementation manner of the present application. Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, modules, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein. It should be understood that the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and these modifications or substitutions should all be covered by the protection scope of the present application.

Claims

1. A method for controlling vehicle braking, characterized in that, A central controller applied to the vehicle, the method includes: Obtain at least three pedal signal values of a brake pedal in the vehicle; Determine a target failure mode of the brake pedal according to the at least three pedal signal values. The effectiveness of the at least three pedal signal values is different under different failure modes, and the effectiveness of the pedal signal value is obtained based on whether the pedal signal value is within a preset first threshold range; Calculate a target pedal angle value of the brake pedal according to the valid pedal signal values in the target failure mode. The valid pedal signal values are the pedal signal values within the first threshold range among the at least three pedal signal values; Send the target pedal angle value to a wheel-end controller of the vehicle, so that the wheel-end controller controls the wheel end of the vehicle to apply a braking force corresponding to the target pedal angle value.

2. The method according to claim 1, wherein Before calculating the target pedal angle value of the brake pedal according to the valid pedal signal values in the target failure mode, the method further includes: Verify the pedal angle value corresponding to the valid pedal signal value in the target failure mode to obtain a verification flag bit of the target failure mode. The verification flag bit is used to characterize whether the pedal angle value corresponding to the valid pedal signal value meets a preset rule; The calculating the target pedal angle value of the brake pedal according to the valid pedal signal values in the target failure mode includes: When the verification flag bit characterizes that the pedal angle value corresponding to the valid pedal signal value meets the preset rule, calculate the target pedal angle value of the brake pedal according to the valid pedal signal values in the target failure mode.

3. The method according to claim 2, wherein The verifying the pedal angle value corresponding to the valid pedal signal value in the target failure mode to obtain the verification flag bit of the target failure mode includes: When there are at least two valid pedal signal values in the target failure mode, calculate at least one pedal angle deviation value in the target failure mode according to the pedal angle values corresponding to any two of the valid pedal signal values; Verify the at least one pedal angle deviation value to obtain the verification flag bit of the target failure mode. The verification flag bit is used to characterize whether each of the pedal angle deviation values in the at least one pedal angle deviation value is less than a preset second threshold; The calculating the target pedal angle value of the brake pedal according to the valid pedal signal values in the target failure mode when the verification flag bit characterizes that the pedal angle value corresponding to the valid pedal signal value meets the preset rule includes: When there are at least two valid pedal signal values in the target failure mode and the verification flag bit characterizes that the at least one pedal angle deviation value is less than the second threshold, determine the average value of the pedal angle values corresponding to the at least two valid pedal signal values as the target pedal angle value of the brake pedal.

4. The method according to claim 2, wherein The verifying the pedal angle value corresponding to the valid pedal signal value in the target failure mode to obtain the verification flag bit of the target failure mode includes: When there is only one valid pedal signal value in the target failure mode, the pedal angle value corresponding to the valid pedal signal value is verified to obtain a verification flag bit for the target failure mode, where the verification flag bit is used to indicate whether the pedal angle value corresponding to the valid pedal signal value is within a preset third threshold range; When the verification flag bit indicates that the pedal angle value corresponding to the valid pedal signal value meets the preset rule, calculating a target pedal angle value of the brake pedal according to the valid pedal signal value in the target failure mode, including: When there is only one valid pedal signal value in the target failure mode and the verification flag bit indicates that the pedal angle value corresponding to the valid pedal signal value is within the third threshold range, the pedal angle value corresponding to the valid pedal signal value is determined as the target pedal angle value of the brake pedal.

5. The method according to claim 1, wherein The method further includes: When there is no valid pedal signal value in the target failure mode, a preset pedal angle value is determined as the target pedal angle value of the brake pedal.

6. A device for controlling vehicle braking, characterized in that, Applied to the central controller of the vehicle, the device includes: An acquisition module, configured to acquire at least three pedal signal values of a brake pedal in the vehicle; A first determination module, configured to determine a target failure mode of the brake pedal according to the at least three pedal signal values, where the effectiveness of the at least three pedal signal values is different in different failure modes, and the effectiveness of the pedal signal value is used to indicate whether the pedal signal value is within a preset first threshold range; A calculation module, configured to calculate a target pedal angle value of the brake pedal according to the valid pedal signal value in the target failure mode, where the valid pedal signal value is the pedal signal value within the first threshold range among the at least three pedal signal values; A sending module, configured to send the target pedal angle value to a wheel end controller of the vehicle, so that the wheel end controller controls the wheel end of the vehicle to apply a braking force corresponding to the target pedal angle value.

7. An electronic device, characterized in that, The device includes: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the method for controlling vehicle braking according to any one of claims 1-5 is implemented.

8. A computer-readable storage medium, characterized in that, Computer program instructions are stored on a computer-readable storage medium, and when the computer program instructions are executed by a processor, the method for controlling vehicle braking according to any one of claims 1-5 is implemented.

9. A computer program product, characterized in that, When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device is caused to execute the method for controlling vehicle braking according to any one of claims 1-5.

10. A vehicle, characterized in that, Including at least one of the following: The device for controlling vehicle braking according to claim 6; The electronic device according to claim 7; The computer-readable storage medium according to claim 8; The computer program product according to claim 9.

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