Redundant braking control method and device and computer readable storage medium

Abstract

The embodiment of the invention relates to the technical field of vehicle control and intelligent driving, and discloses a redundant braking control method and device and a computer readable storage medium. The method comprises the steps that under the condition that a vehicle is in an intelligent driving function activation state, operation data of the vehicle are detected; according to the operation data, the intelligent driving function and the intelligent driving grade corresponding to the intelligent driving function, a target redundant braking module is determined in the composite redundant braking system; and when the main braking module is in the failure state, the target redundant braking module is adopted to take over the main braking module. According to the technical scheme, intervention of the redundant braking module can meet the current braking requirement of the vehicle, the intervention reasonability of the redundant braking module is improved, and the service life of the redundant braking system is guaranteed.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical fields of vehicle control and intelligent driving, and particularly to a redundant braking control method, device and computer-readable storage medium. Background Art

[0002] With the development of technology, the driving capabilities that can be achieved by intelligent driving systems are becoming increasingly rich. Redundant braking can take over in the event of the failure of the main braking system to ensure braking deceleration.

[0003] In the related art, there is a problem of overusing the redundant braking module, which affects the lifespan of the redundant braking module. Summary of the Invention

[0004] In view of the above problems, the embodiments of the present invention provide a redundant braking control method, device and computer-readable storage medium, which are used to solve the problem in the prior art that overusing the redundant braking module leads to a short lifespan of the redundant braking module.

[0005] According to one aspect of the embodiments of the present invention, a redundant braking control method is provided, including: detecting the running data of the vehicle when the intelligent driving function of the vehicle is in an activated state; determining a target redundant braking module in the composite redundant braking system according to the running data, the intelligent driving function and the intelligent driving level corresponding to the intelligent driving function; and when the main braking module is in a failure state, using the target redundant braking module to take over the main braking module.

[0006] According to another aspect of the embodiments of the present invention, a redundant braking control device is provided, including:

[0007] A detection unit, configured to detect the running data of the vehicle when the intelligent driving function of the vehicle is in an activated state;

[0008] A redundancy determination unit, configured to determine a target redundant braking module in the composite redundant braking system according to the running data, the intelligent driving function and the intelligent driving level corresponding to the intelligent driving function;

[0009] A takeover unit, configured to use the target redundant braking module to take over the main braking module when the main braking module is in a failure state.

[0010] According to another aspect of the embodiments of the present invention, an electronic device is provided, including: a processor, a memory, a communication interface and a communication bus. The processor, the memory and the communication interface complete communication with each other through the communication bus; the memory is used to store at least one executable instruction, and the executable instruction causes the processor to perform the following operations:

[0011] When the vehicle is in the state where the intelligent driving function is activated, detect the running data of the vehicle; determine a target redundant braking module in the composite redundant braking system according to the running data, the intelligent driving function, and the intelligent driving level corresponding to the intelligent driving function; when the main braking module is in a failure state, use the target redundant braking module to take over the main braking module.

[0012] According to another aspect of the embodiments of the present invention, there is provided a computer-readable storage medium storing at least one executable instruction, and the executable instruction causes an electronic device / redundant braking control device to perform the following operations:

[0013] When the vehicle is in the state where the intelligent driving function is activated, detect the running data of the vehicle; determine a target redundant braking module in the composite redundant braking system according to the running data, the intelligent driving function, and the intelligent driving level corresponding to the intelligent driving function; when the main braking module is in a failure state, use the target redundant braking module to take over the main braking module.

[0014] According to another aspect of the embodiments of the present invention, there is provided a computer program product including computer-executable instructions, and when the computer-executable instructions are executed by a processor, the redundant braking control method is implemented.

[0015] In the embodiments of the present invention, when the vehicle is in the state where the intelligent driving function is activated, the running data of the vehicle is detected in real time. According to the running data, the intelligent driving function, and the intelligent driving level corresponding to the intelligent driving function, a target redundant braking module is determined in the composite redundant braking system. When the main braking module fails, the currently determined target redundant braking module is used to take over the main braking module. The composite redundant braking system includes multiple redundant braking modules with different braking capabilities. According to the running data, the intelligent driving function, and the intelligent driving level, a target redundant braking module is determined in the composite redundant braking system, that is, the target redundant braking module is determined according to the real-time driving situation of the vehicle. When the braking demand is small, a redundant braking module with weaker braking ability can be used as the target redundant module. When the braking demand is large, a redundant braking module with stronger braking ability can be used as the target redundant module, that is, the redundant braking is classified, so that the intervention of the redundant braking module conforms to the current braking demand of the vehicle, avoiding the intervention of the full-capacity redundant braking system throughout the driving process, solving the problem of overusing the redundant braking module, improving the rationality of the intervention of the redundant braking module, and ensuring the service life of the redundant braking system.

[0016] The above description is only an overview of the technical solutions of the embodiments of the present invention. In order to be able to understand the technical means of the embodiments of the present invention more clearly, it can be implemented according to the content of the description. And in order to make the above and other purposes, features, and advantages of the embodiments of the present invention more obvious and understandable, the following specifically illustrates the embodiments of the present invention. Description of the Drawings

[0017] The accompanying drawings are only used to illustrate the embodiments and are not considered as limiting the present invention. Also, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0018] Figure 1 A flowchart showing a first embodiment of the redundant braking control method provided by the present invention is illustrated;

[0019] Figure 2 A flowchart showing a second embodiment of the redundant braking control method provided by the present invention is illustrated;

[0020] Figure 3 A schematic diagram of the redundant braking control system provided by the present invention is illustrated;

[0021] Figure 4 A schematic diagram of the structure of the redundant braking control device provided by the present invention is illustrated;

[0022] Figure 5 A schematic diagram of the structure of an embodiment of the electronic device provided by the present invention is illustrated. Detailed Embodiments

[0023] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein.

[0024] Figure 1 A flowchart showing a first embodiment of the redundant braking control method of the present invention is illustrated. This method is executed by an electronic device, which can be an in-vehicle terminal. As Figure 1 shown, the method includes the following steps:

[0025] Step 110: Detect the running data of the vehicle when the vehicle is in an intelligent driving function activation state.

[0026] Among them, the intelligent driving functions include driving functions and parking functions. The driving functions include adaptive cruise control function, lane centering function, automatic lane change function, etc.; the parking functions include automatic parking function, remote control parking function, memory parking function, etc.

[0027] The vehicle being in an intelligent driving function activation state means that the intelligent driving function of the vehicle has been successfully turned on and the intelligent driving system is taking over some driving operations. For example, the vehicle can automatically complete some driving tasks through the data obtained by sensors and intelligent driving algorithms.

[0028] Among them, the operation data of the vehicle is used to reflect the real-time operation situation of the vehicle. The operation data may include, but is not limited to: vehicle speed, acceleration, yaw rate, and sensor data; the sensor data may include, but is not limited to: images obtained by on-vehicle cameras, lidar data, millimeter-wave radar data, and ultrasonic radar data.

[0029] Specifically, when the vehicle is in the driving function activation state or the parking function activation state, the operation data of the vehicle is detected in real time through an electronic device; optionally, the operation data includes vehicle speed; optionally, the operation data includes at least one of vehicle speed, acceleration, yaw rate, and sensor data.

[0030] Step 120: Determine a target redundant braking module in the composite redundant braking system according to the operation data, intelligent driving function, and intelligent driving level corresponding to the intelligent driving function.

[0031] Among them, the intelligent driving level is the level of autonomous driving, which can be used to reflect the degree of automation and responsibility attribution. Exemplarily, the levels of autonomous driving include: L1 level, L2 level, L3 level, L4 level, and L5 level; among them, the intelligent driving at L1 level can achieve a single auxiliary operation, such as speed control or steering; the intelligent driving at L2 level can achieve both speed control and steering; the intelligent driving at L3 level can achieve full control in specific scenarios and requires the driver to take over when the system requests; the intelligent driving at L4 level can achieve full autonomous driving within a limited area without driver intervention; the intelligent driving at L5 level can achieve driverless driving in all scenarios and all climates.

[0032] The composite redundant braking system includes multiple redundant braking modules with different braking capabilities; the target redundant braking module is at least one of the multiple redundant braking modules.

[0033] It should be noted that step 120 determines the target redundant braking module in real time according to the operation data, intelligent driving function, and intelligent driving level of the vehicle. Since the operation data changes at any time during the driving process of the vehicle, and the intelligent driving function and intelligent driving level can also be adjusted according to needs, if any one of the operation data, intelligent driving function, or intelligent driving level is different between the previous moment and the next moment, the target redundant braking module between the previous moment and the next moment may be different.

[0034] Optionally, candidate redundant braking modules are determined in the composite redundant braking system according to the intelligent driving level corresponding to the intelligent driving function. For example, if the intelligent driving level is a high-level, the redundant braking module with stronger braking ability in the composite redundant braking system is used as the candidate redundant braking module. If the intelligent driving level is a low-level, the redundant braking module with weaker braking ability in the redundant braking system is used as the candidate redundant braking module. The target redundant braking module is determined from the candidate redundant braking modules according to the operation data and the intelligent driving function. For example, if the intelligent driving function is a parking function, the candidate redundant braking module with weaker braking ability is used as the target redundant braking module. If the intelligent driving function is a driving function and it is determined according to the operation data that the vehicle speed is relatively fast and / or the steering is relatively large, the candidate redundant braking module with stronger braking ability is used as the target redundant braking module. If the intelligent driving function is a driving function and it is determined according to the operation data that the vehicle speed is relatively slow, or the speed is slow and the steering is small, the candidate redundant braking module with weaker braking ability is used as the target redundant braking module.

[0035] Exemplarily, the composite redundant braking system includes: a backup braking module, a dynamic control parking brake module, and an electric braking module. Among them, the above redundant braking modules are arranged in descending order of braking ability as: backup braking module, dynamic control parking brake module, and electric braking module.

[0036] When the intelligent driving level is a high-level, the backup braking module and the electric braking module are used as candidate redundant braking modules. If the intelligent driving function is a parking function, the dynamic control parking brake module is used as the target redundant braking module. If the intelligent driving function is a driving function and it is determined according to the operation data that the vehicle speed is relatively fast and / or the steering is relatively large, the backup braking module is used as the target redundant braking module. If the intelligent driving function is a driving function and it is determined according to the operation data that the vehicle speed is relatively slow, or the speed is slow and the steering is small, the dynamic control parking brake module is used as the target redundant braking module.

[0037] When the intelligent driving level is a low-level, the electric braking module and the dynamic control parking brake module are used as candidate redundant braking modules. If the intelligent driving function is a parking function, the dynamic control parking brake module is used as the target redundant braking module. If the intelligent driving function is a driving function and it is determined according to the operation data that the vehicle speed is relatively fast and / or the steering is relatively large, the dynamic control parking brake module is used as the target redundant braking module. If the intelligent driving function is a driving function and it is determined according to the operation data that the vehicle speed is relatively slow, or the speed is slow and the steering is small, the electric braking module is used as the target redundant braking module.

[0038] Optionally, if the intelligent driving level corresponding to the intelligent driving function is a high-level, the redundant braking module with stronger braking ability in the composite redundant braking system is taken as the target redundant braking module; if the intelligent driving level is a low-level, the target redundant braking module is determined in the composite redundant braking system according to the intelligent driving function and operation data; for example, if the intelligent driving function is a driving function, and it is determined according to the operation data that the vehicle speed is relatively fast and / or the steering is large, the redundant braking module with stronger braking ability in the composite redundant braking system is taken as the target redundant braking module; if the intelligent driving function is a driving function, and it is determined according to the operation data that the vehicle speed is medium and the steering is medium, the redundant braking module with medium braking ability in the composite redundant braking system is taken as the target redundant braking module; if the intelligent driving function is a driving function, and it is determined according to the operation data that the vehicle speed is relatively slow, or the speed is slow and the steering is small, the redundant braking module with weaker braking ability in the composite redundant braking system is taken as the target redundant braking module; if the intelligent driving function is a parking function, the redundant braking module with weaker braking ability in the composite redundant braking system is taken as the target redundant braking module.

[0039] Exemplarily, the composite redundant braking system includes: a backup braking module, a dynamic control parking brake module, and an electric braking module; wherein, the above redundant braking modules are arranged in descending order of braking ability as: the backup braking module, the dynamic control parking brake module, and the electric braking module.

[0040] When the intelligent driving level is a high-level, the backup braking module is taken as the target redundant braking module.

[0041] When the intelligent driving level is a low-level, if the intelligent driving function is a driving function, and it is determined according to the operation data that the vehicle speed is relatively fast and / or the steering is large, the backup braking module is taken as the target redundant braking module; if the intelligent driving function is a driving function, and it is determined according to the operation data that the vehicle speed is medium and the steering is medium, the dynamic control parking brake module and the electric braking module are taken as the target redundant braking modules; if the intelligent driving function is a driving function, and it is determined according to the operation data that the vehicle speed is relatively slow, the dynamic control parking brake module is taken as the target redundant braking module; if the intelligent driving function is a parking function, the dynamic control parking brake module is taken as the target redundant braking module.

[0042] It should be noted that the composite redundant braking system includes multiple redundant braking modules with different braking capabilities. The target redundant braking module is determined in the composite redundant braking system according to the intelligent driving function, intelligent driving level, and operating data of the vehicle, that is, the target redundant braking module is determined according to the real-time driving situation of the vehicle. When the braking demand is small, the redundant braking module with weaker braking ability can be used as the target redundant module. When the braking demand is large, the redundant braking module with stronger braking ability can be used as the target redundant module, so that the intervention of the redundant braking module meets the braking demand, avoiding the intervention of the full-capacity redundant braking system throughout the driving process and ensuring the service life of the redundant braking system.

[0043] Step 130: When the main braking module is in a failure state, the target redundant braking module is used to take over the main braking module.

[0044] Among them, the main braking module provides core braking control for the vehicle; the main braking module includes a sensor, a controller, and an actuator.

[0045] Specifically, during the driving process of the vehicle, it is detected in real time whether the main braking module is in a failure state. For example, it is detected whether the sensor data is abnormal and whether an abnormal signal feedback from the actuator is received. If it is detected that the sensor data is abnormal or an abnormal signal feedback from the actuator is received, it is determined that the main braking module is in a failure state; when the main braking module is in a failure state, the target redundant braking module is started, and the control right is switched to enable the target redundant braking module to take over the main braking module.

[0046] It should be noted that the target redundant braking module is determined in real time according to Step 120. In Step 130, when it is determined that the main braking module is in a failure state, the currently determined target redundant braking module is used. That is to say, in this embodiment, the target redundant braking module is determined in real time, and when the main braking module is in a failure state, the currently determined target redundant braking module is used to take over the main braking module, so that the target redundant braking module meets the current braking demand of the vehicle.

[0047] The redundant braking control method according to the embodiments of the present application, when the vehicle is in the intelligent driving function activation state, the running data of the vehicle is detected in real time. According to the running data, the intelligent driving function, and the intelligent driving level corresponding to the intelligent driving function, a target redundant braking module is determined in the composite redundant braking system, and when the main braking module fails, the currently determined target redundant braking module is used to take over the main braking module; the composite redundant braking system includes multiple redundant braking modules with different braking capabilities. Determining a target redundant braking module in the composite redundant braking system according to the running data, the intelligent driving function, and the intelligent driving level, that is, determining the target redundant braking module according to the real-time driving situation of the vehicle. When the braking demand is small, a redundant braking module with weaker braking ability can be used as the target redundant module. When the braking demand is large, a redundant braking module with stronger braking ability can be used as the target redundant module, that is, grading the redundant braking, so that the intervention of the redundant braking module meets the current braking demand of the vehicle, avoiding the full redundant braking system from intervening throughout the driving process, solving the problem of overusing the redundant braking module, improving the rationality of the intervention of the redundant braking module, and ensuring the service life of the redundant braking system.

[0048] In an alternative manner, the composite redundant braking system includes: a backup braking module, a dynamic control parking brake module, and an electric braking module; determining a target redundant braking module in the composite redundant braking system according to the running data, the intelligent driving function, and the intelligent driving level corresponding to the intelligent driving function includes: when the intelligent driving level corresponding to the intelligent driving function belongs to the high-order interval, using the backup braking module as the target redundant braking module; when the intelligent driving level does not belong to the high-order interval, if the intelligent driving function is the parking function, using the dynamic control parking brake module as the target redundant braking module; when the intelligent driving level does not belong to the high-order interval, if the intelligent driving function is the driving function, determining the target running interval to which the running data belongs, and according to the target running interval, determining the target redundant braking module among the backup braking module, the dynamic control parking brake module, and the electric braking module.

[0049] Among them, the braking ability of the backup braking module is equivalent to that of the main braking module, and there may be differences in the implementation architecture, working logic, and failure mode between the backup braking module and the main braking module.

[0050] The electric braking module decelerates the vehicle by driving the motor to work in reverse (switching from the "motor mode" to the "generator mode"), converting the kinetic energy of the vehicle into electrical energy using the principle of electromagnetic induction, and generating a reverse torque (braking force) at the same time; the dynamic control parking brake module (Dynamic Electronically Controlled Parking Brake, dynamic EPB) has the ability to actively adjust the axle end braking torque under dynamic conditions and can achieve longitudinal dynamics control redundancy; the braking abilities of the dynamic EPB module and the electric braking module are weaker than that of the backup braking module.

[0051] Specifically, when the driving assistance level corresponding to the driving assistance function belongs to the high-level range, the vehicle requires more reliable braking ability. Therefore, the backup braking module is used as the target redundant braking module. Exemplarily, the high-level range includes level L3 and above. That is, when the driving assistance level corresponding to the intelligent function is level L3 or above, the backup braking module is used as the target redundant braking module.

[0052] When the driving assistance level does not belong to the high-level range, the target redundant braking module is determined among the backup braking module, the dynamic control parking brake module, and the electric braking module according to the driving assistance function and the operation data. Exemplarily, the high-level range includes level L3 and above. When the driving assistance level is level L2 or below, the target redundant braking module is determined among the backup braking module, the dynamic control parking brake module, and the electric braking module according to the driving assistance function and the operation data.

[0053] When the driving assistance level does not belong to the high-level range and the driving assistance function is the parking function, the dynamic control parking brake module is used as the target redundant braking module.

[0054] When the driving assistance level does not belong to the high-level range and the driving assistance function is the driving function, determine the target operation range to which the operation data belongs. Optionally, the operation data includes the vehicle speed and the yaw rate. Determine the target vehicle speed range to which the vehicle speed belongs among multiple preset vehicle speed ranges, and determine the target yaw rate range of the yaw rate among multiple preset yaw rate ranges.

[0055] When the target vehicle speed range is the high vehicle speed range, the backup braking module is used as the target redundant braking module; when the target vehicle speed range is the general vehicle speed range and the target yaw rate range is the high angular velocity range, the backup braking module is used as the target redundant braking module.

[0056] When the target vehicle speed range is the general vehicle speed range and the target yaw rate range is not the high angular velocity range, the dynamic control parking brake module and the electric braking module are used as the target redundant braking module; when the target vehicle speed range is the low vehicle speed range and the target yaw rate is the high angular velocity range, the dynamic control parking brake module and the electric braking module are used as the target redundant braking module.

[0057] When the target vehicle speed range is the low vehicle speed range and the target yaw rate range is not the high angular velocity range, the dynamic control parking brake module is used as the target redundant braking module.

[0058] In the above embodiment, when the intelligent driving level corresponding to the intelligent driving function belongs to the high-level interval, the vehicle needs more reliable braking capabilities, so the backup braking module is used as the target redundant braking module. When the intelligent driving level does not belong to the high-level interval, the target redundant braking module is determined according to the intelligent driving function and actual operating data, thereby realizing the grading of redundant braking, so that the target redundant braking module meets the braking requirements of the vehicle, avoiding the intervention of the full redundant braking system throughout the driving process, and ensuring the life of the redundant braking system.

[0059] Optionally, the operating data includes vehicle speed; according to the target operating range, a target redundant braking module is determined among the backup braking module, the dynamic control parking brake module and the electric brake module, including: when the target operating range is the first vehicle speed range, the dynamic control parking brake module is used as the target redundant braking module; when the target operating range is the second vehicle speed range, the dynamic control parking brake module and the electric brake module are used as target redundant braking modules; the vehicle speed in the second speed range is greater than the vehicle speed in the first speed range; when the target operating range is the third vehicle speed range, the backup braking module is used as the target redundant braking module; the vehicle speed in the third speed range is greater than the vehicle speed in the second speed range.

[0060] Among them, the first vehicle speed range is a low vehicle speed range, the second vehicle speed range is a normal vehicle speed range, and the third vehicle speed range is a high vehicle speed range.

[0061] Specifically, the operating data includes vehicle speed, and a target operating range (or target speed range) of the vehicle speed is determined in multiple preset speed ranges; when the target operating range is the first speed range, the dynamic control parking brake module is used as the target redundant brake module, and the specific value of the first speed range can be set according to actual needs; the first speed range can be less than 20km / h, that is, when the vehicle speed is between 0 and 20km / h, the dynamic EPB module is used as the target redundant brake module.

[0062] When the target operation range is the second vehicle speed range, the dynamic control parking brake module and the electric brake module are used as target redundant brake modules; the specific value of the second vehicle speed range can be set according to actual needs; for example, the second vehicle speed range can be [20km / h, 80km / h]. That is, when the vehicle speed is between 20km / h and 80km / h, the dynamic EPB module and the electric brake module are used as target redundant brake modules.

[0063] When the target operating range is the third speed range, the backup brake module is used as the target redundant brake module. The specific value of the third speed range can be set according to actual needs; the second speed range can be greater than 80km / h. That is, when the speed is greater than 80km / h, the backup brake module is used as the target redundant brake module.

[0064] For example,Figure 2 The flowchart of the second embodiment of the redundant braking control method of the present invention is shown; as Figure 2 shown, when the intelligent driving level corresponding to the intelligent driving function belongs to the high-level interval, the backup braking module is used as the target redundant braking module; when the intelligent driving level does not belong to the high-level interval, if the intelligent driving function is the parking function, the dynamic EPB module is used as the target redundant braking module; when the intelligent driving level does not belong to the high-level interval, if the intelligent driving function is the driving function and the vehicle speed is between 0 and 20 km / h, the dynamic EPB module is used as the target redundant braking module; if the intelligent driving function is the driving function and the vehicle speed is between 20 km / h and 80 km / h, the dynamic EPB module and the electric braking module are used as the target redundant braking modules; if the intelligent driving function is the driving function and the vehicle speed is greater than 80 km / h, the backup braking module is used as the target redundant braking module.

[0065] In the above embodiment, when the intelligent driving level is not the high-level intelligent driving level and the intelligent driving function is the driving function, the target redundant braking module is determined by the current vehicle speed of the vehicle. The higher the vehicle speed, the higher the braking demand, and the lower the vehicle speed, the lower the braking demand. The target redundant braking module is determined according to the vehicle speed, and the intervention of the redundant braking module meets the braking demand, avoiding the full amount of the redundant braking system being intervened throughout the driving process, and ensuring the service life of the redundant braking system.

[0066] In an optional manner, after determining the target redundant braking module in the composite redundant braking system according to the operation data, the intelligent driving function and the intelligent driving level corresponding to the intelligent driving function, it further includes: detecting the functional state of the target redundant braking module; when the functional state is the failure state, reducing the intelligent driving level of the intelligent driving function or exiting the intelligent driving function.

[0067] Among them, the functional state of the target redundant braking module can be the failure state or the effective state.

[0068] Specifically, after determining the target redundant braking module according to the intelligent driving level and the operation data, it is detected in real time whether the target redundant braking module is in the effective state. If the target redundant braking module is in the effective state, the vehicle can continue to be in the intelligent driving function activation state. If the target redundant braking module is in the failure state, the intelligent driving level of the intelligent driving function is reduced or the intelligent driving function is exited.

[0069] Reducing the intelligent driving level of the intelligent driving function or exiting the intelligent driving function can be reducing the intelligent driving level in the case where the intelligent driving level belongs to the high-level interval, and exiting the intelligent driving function in the case where the intelligent driving level does not belong to the high-level interval.

[0070] It should be noted that to determine the current target redundant braking module in real time, it is also necessary to detect the functional status of the target redundant braking module in real time, so as to ensure that during the use of the intelligent driving function, the target redundant braking module can take over the main braking module at any time and provide the required braking ability at present, improving the reliability of redundant braking control.

[0071] In an alternative way, reducing the intelligent driving level of the intelligent driving function or exiting the intelligent driving function includes: when the intelligent driving level belongs to the high-order interval, determining a candidate level according to the intelligent driving level, and determining a first candidate redundant braking module in the composite redundant braking system according to the candidate level, the intelligent driving function and the operation data. When the first candidate redundant braking module is in an available state, reducing the intelligent driving level of the intelligent driving function to the candidate level and using the first candidate redundant braking module as the target redundant braking module; when the intelligent driving level does not belong to the high-order interval, sending a takeover prompt and exiting the intelligent driving function in response to the confirmation operation of the takeover prompt.

[0072] In an alternative way, reducing the intelligent driving level of the intelligent driving function or exiting the intelligent driving function further includes: when the first candidate redundant braking module is in a failed state, sending a takeover prompt and exiting the intelligent driving function in response to the confirmation operation of the takeover prompt.

[0073] Among them, the candidate level is one level lower than the intelligent driving level. Exemplarily, if the intelligent driving level is L3 level, the candidate level is L2 level.

[0074] The first candidate redundant braking module includes at least one braking module in the composite redundant braking system.

[0075] Determining the first candidate redundant braking module in the composite redundant braking system according to the candidate level, the intelligent driving function and the operation data is the same as the process of determining the target redundant braking module in the composite redundant braking system according to the operation data, the intelligent driving function and the intelligent driving level corresponding to the intelligent driving function. Therefore, for the specific process of determining the first candidate redundant braking module in the composite redundant braking system according to the candidate level, the intelligent driving function and the operation data, reference can be made to the above description of determining the target redundant braking module in the composite redundant braking system according to the operation data, the intelligent driving function and the intelligent driving level corresponding to the intelligent driving function.

[0076] After determining the first candidate redundant braking module, detect the functional status of the first candidate redundant braking module. If the first candidate redundant braking module is in an effective state, reduce the intelligent driving level to the candidate level; if the first candidate redundant braking module is in a failed state, send a takeover prompt and exit the intelligent driving function in response to the confirmation operation of the takeover prompt.

[0077] Optionally, if the first candidate redundant braking module is in an effective state, lower the intelligent driving level to the candidate level and issue a prompt for lowering the intelligent level.

[0078] Exemplarily, the vehicle is in an activated state of the intelligent driving function at L3 level, and the target redundant braking module is determined to be the standby braking module. In subsequent real-time detections, the standby braking module is in a failed state. Since the L3 level belongs to the high-order interval, the candidate level is determined to be the L2 level. The first candidate redundant braking module is determined according to the L2 level and the current operation data. For example, the first candidate redundant braking module is determined to be the dynamic EPB module. If the dynamic EPB module is in an effective state, then downgrade the intelligent driving function at L3 level to the intelligent driving function at L2 level, and use the dynamic EPB module as the current target redundant braking module; if the dynamic EPB module is in a failed state, then issue a takeover prompt and, in response to the confirmation operation of the takeover prompt, exit the intelligent driving function.

[0079] Exemplarily, the vehicle is in an activated state of the intelligent driving function at L2 level, and the target redundant braking module is determined to be the standby braking module. In subsequent real-time detections, it is in a failed state. Since the L2 level does not belong to the high-order interval, a takeover prompt is issued, and in response to the confirmation operation of the takeover prompt, the intelligent driving function is exited.

[0080] In a specific example, when the vehicle is in an activated state of the parking function at L2 level and the target redundant braking module is the dynamic EPB module, if the dynamic EPB module is in a failed state, then exit the parking function at L2 level.

[0081] When the vehicle is in an activated state of the driving function at L2 level and the vehicle speed < 20 km / h, the target redundant braking module is the dynamic EPB module. If the dynamic EPB module is in a failed state, then exit the driving function at L2 level.

[0082] When the vehicle is in an activated state of the driving function at L2 level and 20 km / h ≤ vehicle speed ≤ 80 km / h, the target redundant braking modules are the dynamic EPB module and the electric braking module. If the dynamic EPB module or the electric braking module is in a failed state, then exit the driving function at L2 level.

[0083] When the vehicle is in an activated state of the driving function at L2 level and the vehicle speed > 80 km / h, the target redundant braking module is the backup braking module. If the backup braking module is in a failed state, then exit the driving function at L2 level.

[0084] When the vehicle is in the activated state of the L3-level intelligent driving function, the target redundant braking module is the backup braking module. If the backup braking module is in a failure state, according to the L2 level, the intelligent driving function, and the current operating data, determine that the first candidate redundant braking module is the dynamic EPB module. If the dynamic EPB module is in a failure state, then exit the driving function at the L3 level; if the dynamic EPB module is in an effective state, then downgrade the L3-level intelligent driving function to the L2-level intelligent driving function.

[0085] In the above embodiment, during the driving process of the vehicle, the functional state of the target redundant braking module is detected in real time, and the intelligent driving level of the intelligent driving function is reduced according to the actual situation, or the intelligent driving level is exited, realizing dynamic adjustment of redundant braking according to the actual situation, balancing between meeting the braking requirements and using the intelligent driving function, and ensuring driving safety.

[0086] In an alternative manner, the redundant braking control method further includes: in response to an activation instruction of the intelligent driving function, determine a second candidate redundant braking module in the composite redundant braking system according to the intelligent driving function, the intelligent driving level corresponding to the intelligent driving function, and the current operating data of the vehicle; activate the intelligent driving function when both the main braking module and the second candidate redundant braking module are in an available state.

[0087] Specifically, the activation instruction of the intelligent driving function can be triggered by the driver through interaction with the electronic device when the driver needs to activate the intelligent driving function. The present application does not limit the manner of initiating the activation instruction of the intelligent driving function.

[0088] Determining the second candidate redundant braking module in the composite redundant braking system according to the intelligent driving function, the intelligent driving level corresponding to the intelligent driving function, and the current operating data of the vehicle is the same as the process of determining the target redundant braking module in the composite redundant braking system according to the operating data, the intelligent driving function, and the intelligent driving level corresponding to the intelligent driving function. Therefore, for the specific process of determining the second candidate redundant braking module in the composite redundant braking system according to the intelligent driving function, the intelligent driving level corresponding to the intelligent driving function, and the current operating data of the vehicle, reference can be made to the above description of determining the target redundant braking module in the composite redundant braking system according to the operating data, the intelligent driving function, and the intelligent driving level corresponding to the intelligent driving function.

[0089] After determining the second candidate redundant braking module, detect the functional states of the main braking module and the second candidate redundant braking module. When both the main braking module and the second candidate redundant braking module are in an available state, activate the intelligent driving function; if the main braking module or the second candidate redundant braking module is in a failure state, then do not activate the intelligent driving function and issue a prompt that the intelligent driving function cannot be activated.

[0090] Exemplarily, in response to an activation instruction for the parking function at L2 level, the second candidate redundant braking module is determined to be the dynamic EPB module. If both the main braking module and the dynamic EPB module are in an available state, the parking function at L2 level is activated.

[0091] In response to an activation instruction for the driving function at L2 level, when the vehicle speed < 20 km / h, the second candidate redundant braking module is determined to be the dynamic EPB module. If both the main braking module and the dynamic EPB module are in an available state, the driving function at L2 level is activated.

[0092] In response to an activation instruction for the driving function at L2 level, when 20 km / h ≤ vehicle speed ≤ 80 km / h, the second candidate redundant braking modules are determined to be the dynamic EPB module and the electric braking module. If the main braking module, the dynamic EPB module, and the electric braking module are all in an available state, the driving function at L2 level is activated.

[0093] In response to an activation instruction for the driving function at L2 level, when the vehicle speed > 80 km / h, the second candidate redundant braking module is determined to be the backup braking module. If both the main braking module and the backup braking module are in an available state, the driving function at L2 level is activated.

[0094] In response to an activation instruction for the intelligent driving function at L3 level, the second candidate redundant braking module is determined to be the backup braking module. If both the main braking module and the backup braking module are in an available state, the intelligent driving function at L3 level is activated.

[0095] In the above embodiments, when activating the intelligent driving function, the second candidate redundant braking module is determined according to the intelligent driving function, the intelligent driving level, and the current operating data. When both the main braking module and the second candidate redundant braking module are in an available state, the intelligent driving function is activated, ensuring driving safety when using the intelligent driving function.

[0096] Exemplarily, the redundant braking control method can be applied to a redundant braking control system as Figure 3 shown. The redundant braking control system includes: an Advanced Driver-assistance Systems (ADS), a main braking module, a backup braking module, an electric braking module, and a dynamic EPB module; the signal transmission between the ADS, the main braking module, the backup braking module, the electric braking module, and the dynamic EPB module is shown in Table 1.

[0097] Table 1

[0098]

[0099] In Table 1, ADS can send a handshake request to the main braking module. After the handshake is successful, it can send a control instruction to the main braking module. ADS can send a handshake request to the backup braking module. After the handshake is successful, it can send a control instruction to the backup braking module. ADS can send a handshake request to the electric braking module. After the handshake is successful, it can send a control instruction to the electric braking module. ADS can send a handshake request to the dynamic EPB module. After the handshake is successful, it can send a control instruction to the dynamic EPB module.

[0100] The main braking module can send the functional status (including available status or failure status) to ADS. The backup braking module can send the functional status to ADS. The electric braking module can send the available status to ADS. The dynamic EPB can send the functional status to ADS.

[0101] The redundant braking provided by the redundant braking control system can be divided into primary redundant braking, secondary redundant braking, and tertiary redundant braking, where:

[0102] Primary redundant braking: Provided by the dynamic EPB module. The dynamic EPB module coordinates the braking force distribution through the ABS system to avoid the rear wheels from locking. It decelerates gradually and directly locks the rear wheels when the speed reaches 5 km / h to achieve rapid parking. Since the braking effect of this function is about 0.2g, it can be used as redundant braking in low braking demand scenarios. For example, scenarios where the intelligent driving level does not belong to the high-level range and the intelligent driving function is the parking function; or scenarios where the intelligent driving level does not belong to the high-level range, the intelligent function is the driving function, and the vehicle speed is less than 20 km / h.

[0103] Secondary redundant braking: Provided by the dynamic EPB module and the electric braking module. The combined braking effect of the two can reach 0.5, and it can be used as redundant braking in medium braking demand scenarios. For example, scenarios where the intelligent driving level does not belong to the high-level range, the intelligent driving function is the driving function, and the vehicle speed is between 20 km / h and 80 km / h.

[0104] Tertiary redundant braking: Provided by the backup braking module and can be used as redundant braking in high braking demand scenarios. For example, scenarios where the intelligent driving level belongs to the high-level range, or scenarios where the intelligent driving function is the driving function and the vehicle speed is greater than 80 km / h.

[0105] The redundant braking control method according to the embodiment of the present application, when the vehicle is in the intelligent driving function activation state, the running data of the vehicle is detected in real time, and according to the running data, the intelligent driving function and the intelligent driving level corresponding to the intelligent driving function, a target redundant braking module is determined in the composite redundant braking system, and when the main braking module fails, the currently determined target redundant braking module is used to take over the main braking module; the composite redundant braking system includes multiple redundant braking modules with different braking capabilities, and according to the running data, the intelligent driving function and the intelligent driving level, a target redundant braking module is determined in the composite redundant braking system, that is, the target redundant braking module is determined according to the real-time driving situation of the vehicle. When the braking demand is small, a redundant braking module with weak braking ability can be used as the target redundant module, and when the braking demand is large, a redundant braking module with strong braking ability can be used as the target redundant module, that is, the redundant braking is classified, so that the intervention of the redundant braking module conforms to the current braking demand of the vehicle, avoiding the full amount of the redundant braking system from intervening throughout the driving process, solving the problem of overusing the redundant braking module, improving the rationality of the intervention of the redundant braking module, and ensuring the service life of the redundant braking system.

[0106] Figure 4 The structural schematic diagram of the embodiment of the redundant braking control device of the present invention is shown. As Figure 4 shown, the device 400 includes: a detection unit 410, a redundancy determination unit 420, and a takeover unit 430.

[0107] The detection unit 410 is used to detect the running data of the vehicle when the vehicle is in the intelligent driving function activation state;

[0108] The redundancy determination unit 420 is used to determine a target redundant braking module in the composite redundant braking system according to the running data, the intelligent driving function and the intelligent driving level corresponding to the intelligent driving function;

[0109] The takeover unit 430 is used to use the target redundant braking module to take over the main braking module when the main braking module is in a failure state.

[0110] In an optional manner, the composite redundant braking system includes: a backup braking module, a dynamic control parking braking module, and an electric braking module; the redundancy determination unit 420 is further used to use the backup braking module as the target redundant braking module when the intelligent driving level corresponding to the intelligent driving function belongs to the high-order interval; when the intelligent driving level does not belong to the high-order interval, if the intelligent driving function is the parking function, the dynamic control parking braking module is used as the target redundant braking module; when the intelligent driving level does not belong to the high-order interval, if the intelligent driving function is the driving function, the target running interval to which the running data belongs is determined, and according to the target running interval, a target redundant braking module is determined among the backup braking module, the dynamic control parking braking module, and the electric braking module.

[0111] In an alternative manner, the operation data includes vehicle speed; the redundancy determination unit 420 is further configured to use the dynamic control parking brake module as the target redundant brake module when the target operation range is the first vehicle speed range; use the dynamic control parking brake module and the electric brake module as the target redundant brake modules when the target operation range is the second vehicle speed range; the vehicle speed of the second vehicle speed range is greater than that of the first vehicle speed range; use the backup brake module as the target redundant brake module when the target operation range is the third vehicle speed range; the vehicle speed of the third vehicle speed range is greater than that of the second vehicle speed range.

[0112] In an alternative manner, the redundant brake control device further includes: a state detection unit 410, configured to detect the functional state of the target redundant brake module; when the functional state is a failure state, reduce the intelligent driving level of the intelligent driving function or exit the intelligent driving function.

[0113] In an alternative manner, the state detection unit 410 is further configured to, when the intelligent driving level belongs to the high-order interval, determine a candidate level according to the intelligent driving level, and determine a first candidate redundant brake module in the composite redundant brake system according to the candidate level, the intelligent driving function, and the operation data; when the first candidate redundant brake module is in an available state, reduce the intelligent driving level of the intelligent driving function to the candidate level, and use the first candidate redundant brake module as the target redundant brake module; when the intelligent driving level does not belong to the high-order interval, issue a takeover prompt, and exit the intelligent driving function in response to the confirmation operation of the takeover prompt.

[0114] In an alternative manner, the state detection unit 410 is further configured to issue a takeover prompt when the first candidate redundant brake module is in a failure state, and exit the intelligent driving function in response to the confirmation operation of the takeover prompt.

[0115] In an alternative manner, the redundant brake control device further includes: an activation unit, configured to, in response to an activation instruction of the intelligent driving function, determine a second candidate redundant brake module in the composite redundant brake system according to the intelligent driving function, the intelligent driving level corresponding to the intelligent driving function, and the current operation data of the vehicle; activate the intelligent driving function when both the main brake module and the second candidate redundant brake module are in an available state.

[0116] The redundant braking control device according to the embodiment of the present application, when the vehicle is in the state where the intelligent driving function is activated, detects the running data of the vehicle in real time, determines a target redundant braking module in the composite redundant braking system according to the running data, the intelligent driving function and the intelligent driving level corresponding to the intelligent driving function, and when the main braking module fails, uses the currently determined target redundant braking module to take over the main braking module; the composite redundant braking system includes multiple redundant braking modules with different braking capabilities. Determining the target redundant braking module in the composite redundant braking system according to the running data, the intelligent driving function and the intelligent driving level, that is, determining the target redundant braking module according to the real-time driving situation of the vehicle, can use the redundant braking module with weaker braking ability as the target redundant module when the braking demand is small, and use the redundant braking module with stronger braking ability as the target redundant module when the braking demand is large, that is, grading the redundant braking, so that the intervention of the redundant braking module conforms to the current braking demand of the vehicle, avoiding the full-scale redundant braking system from intervening throughout the driving process, solving the problem of overusing the redundant braking module, improving the rationality of the intervention of the redundant braking module, and ensuring the service life of the redundant braking system.

[0117] Figure 5 The structural schematic diagram of the embodiment of the electronic device of the present invention is shown. The specific implementation of the electronic device in the specific embodiment of the present invention is not limited.

[0118] As Figure 5 shown, the electronic device may include: a processor 502, a communication interface 504, a memory 506, and a communication bus 508.

[0119] Among them: the processor 502, the communication interface 504, and the memory 506 communicate with each other through the communication bus 508. The communication interface 504 is used to communicate with network elements of other devices such as clients or other servers. The processor 502 is used to execute the program 510, and specifically can execute the relevant steps in the above-mentioned embodiment of the method for redundant braking control.

[0120] Specifically, the program 510 may include program code, and the program code includes computer-executable instructions.

[0121] The processor 502 may be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiment of the present invention. One or more processors included in the electronic device may be of the same type of processor, such as one or more CPUs; or may be of different types of processors, such as one or more CPUs and one or more ASICs.

[0122] A memory 506 for storing a program 510. The memory 506 may include high-speed RAM memory and may also include non-volatile memory, such as at least one disk memory.

[0123] The program 510 can be specifically called by the processor 502 to cause the electronic device to perform the following operations:

[0124] When the vehicle is in a state where the intelligent driving function is activated, detect the running data of the vehicle; determine a target redundant braking module in the composite redundant braking system according to the running data, the intelligent driving function, and the intelligent driving level corresponding to the intelligent driving function; when the main braking module is in a failure state, use the target redundant braking module to take over the main braking module.

[0125] The electronic device according to the embodiment of the present application, when the vehicle is in a state where the intelligent driving function is activated, detects the running data of the vehicle in real time, determines a target redundant braking module in the composite redundant braking system according to the running data, the intelligent driving function, and the intelligent driving level corresponding to the intelligent driving function, and when the main braking module fails, uses the currently determined target redundant braking module to take over the main braking module; the composite redundant braking system includes multiple redundant braking modules with different braking capabilities, and determines the target redundant braking module in the composite redundant braking system according to the running data, the intelligent driving function, and the intelligent driving level, that is, determines the target redundant braking module according to the real-time driving situation of the vehicle. When the braking demand is small, a redundant braking module with weaker braking ability can be used as the target redundant module, and when the braking demand is large, a redundant braking module with stronger braking ability can be used as the target redundant module, that is, classify the redundant braking, so that the intervention of the redundant braking module conforms to the current braking demand of the vehicle, avoids intervening the full redundant braking system throughout the driving process, solves the problem of overusing the redundant braking module, improves the rationality of the intervention of the redundant braking module, and ensures the service life of the redundant braking system.

[0126] The embodiment of the present invention provides a computer-readable storage medium, and the storage medium stores at least one executable instruction. When the executable instruction runs on an electronic device / redundant braking control device, it causes the electronic device / redundant braking control device to execute the redundant braking control method in any of the above method embodiments.

[0127] The executable instruction can be specifically used to cause the electronic device / redundant braking control device to perform the following operations:

[0128] When the vehicle is in the state where the intelligent driving function is activated, detect the operating data of the vehicle; determine the target redundant braking module in the composite redundant braking system according to the operating data, the intelligent driving function, and the intelligent driving level corresponding to the intelligent driving function; when the main braking module is in a failure state, use the target redundant braking module to take over the main braking module.

[0129] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. Additionally, the embodiments of the present invention are not directed to any particular programming language.

[0130] In the specification provided herein, a large number of specific details are set forth. However, it can be understood that the embodiments of the present invention can be practiced without these specific details. Similarly, in order to streamline the present invention and assist in understanding one or more of the various inventive aspects, in the above description of the exemplary embodiments of the present invention, the various features of the embodiments of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. Among them, the claims following the specific implementation manners are hereby expressly incorporated into the specific implementation manners, where each claim itself serves as a separate embodiment of the present invention.

[0131] Those skilled in the art can understand that the modules in the devices in the embodiments can be adaptively changed and disposed in one or more devices different from the embodiments. The modules or units or components in the embodiments can be combined into one module or unit or component, and in addition, they can be divided into multiple sub-modules or sub-units or sub-components. Except that at least some of such features and / or processes or units are mutually exclusive.

[0132] It should be noted that the above embodiments illustrate the present invention rather than limit the present invention, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in the claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention can be implemented by means of hardware including several different elements and by means of a properly programmed computer. In the unit claims listing several devices, several of these devices can be embodied by the same item of hardware. The use of the words first, second, and third, etc. does not denote any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specifically stated, should not be construed as limiting the order of execution.

Claims

1. A redundant braking control method, characterized in that, The method includes: When the vehicle is in a state where the intelligent driving function is activated, detecting the operating data of the vehicle; Determining a target redundant braking module in the composite redundant braking system according to the operating data, the intelligent driving function, and the intelligent driving level corresponding to the intelligent driving function; When the main braking module is in a failure state, using the target redundant braking module to take over the main braking module.

2. The method according to claim 1, characterized in that, The composite redundant braking system includes: a backup braking module, a dynamic control parking braking module, and an electric braking module; The determining a target redundant braking module in the composite redundant braking system according to the operating data, the intelligent driving function, and the intelligent driving level corresponding to the intelligent driving function includes: When the intelligent driving level corresponding to the intelligent driving function belongs to a high-order interval, using the backup braking module as the target redundant braking module; When the intelligent driving level does not belong to the high-order interval, if the intelligent driving function is a parking function, using the dynamic control parking braking module as the target redundant braking module; When the intelligent driving level does not belong to the high-order interval, if the intelligent driving function is a driving function, determining the target operating interval to which the operating data belongs, and according to the target operating interval, determining the target redundant braking module among the backup braking module, the dynamic control parking braking module, and the electric braking module.

3. The method according to claim 2, wherein The operating data includes vehicle speed; the determining the target redundant braking module among the backup braking module, the dynamic control parking braking module, and the electric braking module according to the target operating interval includes: When the target operating interval is the first vehicle speed interval, using the dynamic control parking braking module as the target redundant braking module; When the target operating interval is the second vehicle speed interval, using the dynamic control parking braking module and the electric braking module as the target redundant braking module; the vehicle speed in the second vehicle speed interval is greater than the vehicle speed in the first vehicle speed interval; When the target operating interval is the third vehicle speed interval, using the backup braking module as the target redundant braking module; the vehicle speed in the third vehicle speed interval is greater than the vehicle speed in the second vehicle speed interval.

4. The method according to claim 1, characterized in that After determining the target redundant braking module in the composite redundant braking system according to the operating data, the intelligent driving function, and the intelligent driving level corresponding to the intelligent driving function, it further includes: Detecting the functional state of the target redundant braking module; When the functional state is a failure state, reducing the intelligent driving level of the intelligent driving function or exiting the intelligent driving function.

5. The method according to claim 4, characterized in that The reducing the intelligent driving level of the intelligent driving function or exiting the intelligent driving function includes: When the intelligent driving level belongs to a high-order interval, determining a candidate level according to the intelligent driving level, and determining a first candidate redundant braking module in the composite redundant braking system according to the candidate level, the intelligent driving function, and the operating data; When the first candidate redundant braking module is in an available state, reducing the intelligent driving level of the intelligent driving function to the candidate level, and using the first candidate redundant braking module as the target redundant braking module; When the intelligent driving level does not belong to the high-level interval, a takeover prompt is issued, and in response to the confirmation operation of the takeover prompt, the intelligent driving function is exited.

6. The method according to claim 5, wherein Lowering the intelligent driving level of the intelligent driving function or exiting the intelligent driving function further includes: When the first candidate redundant braking module is in a failed state, a takeover prompt is issued, and in response to the confirmation operation of the takeover prompt, the intelligent driving function is exited.

7. The method according to any one of claims 1 to 6, characterized in that The method further includes: In response to an activation instruction of the intelligent driving function, a second candidate redundant braking module is determined in the composite redundant braking system according to the intelligent driving function, the intelligent driving level corresponding to the intelligent driving function, and the current operation data of the vehicle; When both the main braking module and the second candidate redundant braking module are in an available state, the intelligent driving function is activated.

8. A redundant braking control device, characterized in that The device includes: A detection unit for detecting the operation data of the vehicle when the vehicle is in an intelligent driving function activation state; A redundant determination unit for determining a target redundant braking module in the composite redundant braking system according to the operation data, the intelligent driving function, and the intelligent driving level corresponding to the intelligent driving function; A takeover unit for using the target redundant braking module to take over the main braking module when the main braking module is in a failed state.

9. An electronic device, characterized in that, Includes: A processor, a memory, a communication interface, and a communication bus. The processor, the memory, and the communication interface complete communication with each other through the communication bus; The memory is used to store at least one executable instruction, and the executable instruction causes the processor to execute the operations of the redundant braking control method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, At least one executable instruction is stored in the storage medium. When the executable instruction runs on an electronic device, the electronic device is caused to execute the operations of the redundant braking control method according to any one of claims 1-7.

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