Brake control method, equipment and medium

Abstract

The invention provides a braking control method and device and a medium, and the method comprises the steps that in response to an intelligent driving signal abnormity, the vehicle speed is obtained; in response to the fact that the vehicle speed is larger than a speed threshold value, a brake pedal signal is generated according to a microcontroller, a low-side driving chip and double relays in the universal controller and sent to the integrated brake controller, so that the vehicle is braked; and in response to the fact that the vehicle speed is smaller than or equal to the speed threshold value, a microcontroller in the universal controller is controlled to perform handshake with the integrated brake controller and the power domain controller, and under the condition that handshake succeeds, the vehicle is controlled to brake through the universal controller, the integrated brake controller and the power domain controller. And the gear of the vehicle is controlled to be switched to the parking gear. According to the technical scheme, effective redundant braking is carried out under the conditions of different fault states and vehicle speeds through a dual redundancy mechanism, the driving safety and the comfort of passengers are improved, and the cost of redundant braking is reduced.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and particularly to a braking control method, device, and medium. Background Art

[0002] Existing intelligent driving systems usually rely on a single intelligent driving domain controller to achieve the vehicle's autonomous driving function, covering control operations such as vehicle acceleration, braking, and steering. It mainly uses sensors (such as cameras, radars, etc.) to sense environmental information, and then the intelligent driving domain controller makes decisions and controls.

[0003] However, there are many potential safety hazards in such existing systems. When abnormalities occur in the intelligent driving domain controller, sensors, and communication links, it is difficult to effectively ensure vehicle safety. Existing intelligent driving systems highly rely on the intelligent driving domain controller. Once this controller fails, the vehicle is likely to lose control, thereby triggering serious safety accidents. Existing braking solutions cannot quickly and effectively make the vehicle stop stably, especially in high-speed driving or emergency situations, and the risks are more prominent. Moreover, due to the communication between the intelligent driving domain controller and the chassis control unit being vulnerable to interference or interruption, the braking command cannot be transmitted in a timely manner, greatly increasing the risk of vehicle out of control. Existing redundant braking solutions mainly rely on dual domain control or dedicated hardware, with problems such as high cost and poor compatibility. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, this application aims to provide a braking control method, device, and medium to achieve effective redundant braking through a dual redundancy mechanism in different fault states and vehicle speeds, improve driving safety and passenger comfort, and reduce the cost of redundant braking.

[0005] An embodiment of this application provides a braking control method, which includes: Upon detecting an abnormal intelligent driving signal, obtain the vehicle speed; If the vehicle speed is greater than the speed threshold, generate a brake pedal signal according to the microcontroller, low-side driver chip, and dual relay in the general controller, and send it to the integrated brake controller to make the vehicle stop; If the vehicle speed is less than or equal to the speed threshold, control the microcontroller in the general controller to handshake with the integrated brake controller and the power domain controller respectively. In the case of successful handshake, control the vehicle to stop through the general controller, the integrated brake controller, and the power domain controller, and control the vehicle's gear to be switched to the parking gear; Wherein, the general controller is built-in with a low-side driver chip, a microcontroller, and a dual relay.

[0006] According to the technical solution provided by the embodiment of the present application, optionally, after the microcontroller in the general controller shakes hands with the integrated brake controller and the power domain controller respectively, it includes: In the case of handshake failure, according to the microcontroller, low-side drive chip and double relay in the general controller, generate a brake pedal signal and send it to the integrated brake controller to stop the vehicle.

[0007] According to the technical solution provided by the embodiment of the present application, optionally, the generating a brake pedal signal according to the microcontroller, low-side drive chip and double relay in the general controller includes: Send a drive control signal to the low-side drive chip through the microcontroller in the general controller; Through the low-side drive chip, according to the drive control signal, control the first relay to be in the first target state and the second relay to be in the second target state; Generate a brake pedal signal when the first relay is in the first target state and the second relay is in the second target state; Wherein, when the first relay is in the first target state, the second signal is a high-level signal; when the second relay is in the second target state, the first signal is a low-level signal; when the brake pedal is in the state of being actually depressed, the first signal is a low-level signal and the second signal is a high-level signal.

[0008] According to the technical solution provided by the embodiment of the present application, optionally, the controlling the microcontroller in the general controller to shake hands with the integrated brake controller and the power domain controller respectively includes: Send handshake requests to the integrated brake controller and the power domain controller respectively through the microcontroller of the general controller; When the microcontroller receives the handshake confirmations respectively replied by the integrated brake controller and the power domain controller, determine that the handshake is successful.

[0009] According to the technical solution provided by the embodiment of the present application, optionally, the controlling the vehicle to stop and controlling the gear of the vehicle to be switched to the parking gear through the general controller, the integrated brake controller and the power domain controller includes: Judge whether the vehicle speed is 0; In response to the vehicle speed not being 0, then through the general controller, determine the speed error according to the vehicle speed, determine the current deceleration according to the speed error, and send the current deceleration to the integrated brake controller to control the vehicle to decelerate, and return to execute the step of judging whether the vehicle speed is 0; In response to the vehicle speed being 0, a parking gear shift signal is generated by the general controller and sent to the power domain controller to control the gear of the vehicle to be shifted to the parking gear.

[0010] According to the technical solution provided by the embodiment of the present application, optionally, the general controller determines a speed error according to the vehicle speed, and determines the current deceleration according to the speed error, including: Determine the speed error according to the vehicle speed and the target speed; Determine the target deceleration according to the speed error, a preset proportional coefficient, a preset integral coefficient, and a preset differential coefficient; Determine the current deceleration according to the target deceleration and the deceleration threshold.

[0011] According to the technical solution provided by the embodiment of the present application, optionally, after controlling the vehicle to stop and controlling the gear of the vehicle to be shifted to the parking gear, it further includes: Control the general controller to exit the handshake with the integrated brake controller and the power domain controller respectively.

[0012] According to the technical solution provided by the embodiment of the present application, optionally, before responding to the abnormal intelligent driving signal and obtaining the vehicle speed, it further includes: Receive the heartbeat signal and the power supply voltage of the intelligent driving domain controller; In response to the heartbeat signal not being received within the first preset duration, determine that the intelligent driving signal is abnormal; In response to the duration of the power supply voltage being lower than the preset minimum voltage reaching the second preset duration, determine that the intelligent driving signal is abnormal.

[0013] The embodiment of the present application also provides an electronic device, and the electronic device includes: A processor and a memory; The processor is used to execute the steps of the braking control method as described in any one of the embodiments by calling the program or instruction stored in the memory.

[0014] The embodiment of the present application also provides a computer-readable storage medium, and the computer-readable storage medium stores a program or instruction, and the program or instruction causes a computer to execute the steps of the braking control method as described in any one of the embodiments.

[0015] In summary, the present application proposes a braking control method. When the intelligent driving signal is abnormal, the vehicle speed is obtained. When the vehicle speed is greater than the speed threshold, a brake pedal signal is generated according to the microcontroller, low-side drive chip, and dual relay in the general controller and sent to the integrated brake controller to stop the vehicle. When the intelligent driving signal is abnormal and the vehicle is moving at a high speed, the vehicle braking is controlled by means of hardware redundancy control. When the vehicle speed is less than or equal to the speed threshold, the microcontroller in the general controller is controlled to handshake with the integrated brake controller and the power domain controller respectively. When the handshake is successful, the vehicle is stopped by the general controller, the integrated brake controller, and the power domain controller, and the gear of the vehicle is switched to the parking gear. When the intelligent driving signal is abnormal and the vehicle is moving at a low speed, the vehicle braking is controlled by means of software redundancy control, which realizes improving the passenger comfort while ensuring redundant braking, and only introducing the general controller can effectively reduce the cost of redundant braking. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a flowchart of a braking control method provided by an embodiment of the present application; Figure 2 is a circuit diagram of a hardware redundant brake provided by an embodiment of the present application; Figure 3 is a flowchart of another braking control method provided by an embodiment of the present application; Figure 4 is an architecture diagram of a braking control provided by an embodiment of the present application; Figure 5 is a longitudinal control interface block diagram of a general controller provided by an embodiment of the present application; Figure 6 is a schematic structural diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0017] The present application will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the related invention and are not intended to limit the invention. In addition, it should be noted that only the parts related to the invention are shown in the drawings for the convenience of description.

[0018] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the drawings and embodiments.

[0019] As mentioned in the background art, in response to the problems in the prior art, the present application proposes a braking control method, which is applicable to the situation where redundant braking methods are provided in terms of both software and hardware when problems occur in the intelligent driving domain control of a vehicle. The braking control methods provided in the embodiments of the present application can be executed by an electronic device.

[0020] Figure 1 It is a flowchart of a braking control method provided by an embodiment of the present application. Refer to Figure 1 , the braking control method specifically includes: S110. In response to an abnormal intelligent driving signal, obtain the vehicle speed.

[0021] Among them, the intelligent driving signal is the signal of the intelligent driving domain control of the vehicle. The vehicle speed is used to describe how fast the vehicle is traveling.

[0022] Specifically, monitor whether the intelligent driving signal is normal. When it is determined that the intelligent driving signal is abnormal, it is determined that vehicle braking control cannot be performed through the intelligent driving domain control. Therefore, redundant braking is required. To improve braking safety and comfort, the vehicle speed can be obtained to select an appropriate redundant braking method in combination with the vehicle speed in the subsequent process.

[0023] Based on the above example, before obtaining the vehicle speed in response to an abnormal intelligent driving signal, it is also necessary to monitor the intelligent driving signal to determine whether the intelligent driving signal is normal or abnormal. Specifically, it can be: Receive the heartbeat signal and power supply voltage of the intelligent driving domain controller; In response to the failure to receive the heartbeat signal within the first preset duration, determine that the intelligent driving signal is abnormal; In response to the duration of the power supply voltage being lower than the preset minimum voltage reaching the second preset duration, determine that the intelligent driving signal is abnormal.

[0024] Among them, the heartbeat signal is a method of sending a very small data packet to the other party of the interconnection at regular intervals and judging whether the communication link between the two interconnected parties has been disconnected based on the reply from the other party. The power supply voltage is the current working voltage of the intelligent driving domain controller (Advanced Driving Assistance System, ADAS). The preset minimum voltage is the minimum voltage preset for the normal operation of the intelligent driving domain controller, which can be, for example, 9V. The duration is the duration during which the power supply voltage is continuously lower than the preset minimum voltage. The first preset duration is the duration preset for judging whether the communication status of the intelligent driving domain controller is normal, which can be, for example, 300 ms. The second preset duration is the duration preset for judging whether the power supply voltage of the intelligent driving domain controller is normal, which can be, for example, 500 ms.

[0025] Specifically, the heartbeat signal and the supply voltage of the intelligent driving domain controller can be received through CAN (Controller Area Network). Under normal circumstances, the heartbeat signal of the intelligent driving domain controller can be received in each cycle. If the heartbeat signal has not been received within the first preset duration, which includes multiple cycles, an abnormal situation can be considered to occur, and it is determined that the intelligent driving signal is abnormal. The intelligent driving domain controller needs to work properly under a suitable supply voltage. Therefore, if the duration for which the supply voltage is lower than the preset minimum voltage reaches the second preset duration, it indicates that the intelligent driving domain controller has been in a low-voltage state for a long time and cannot work properly. Therefore, it can be determined that the intelligent driving signal is abnormal.

[0026] S120. In response to the vehicle speed being greater than the speed threshold, a brake pedal signal is generated according to the microcontroller, low-side driver chip, and dual relay in the general controller and sent to the integrated brake controller to stop the vehicle.

[0027] Among them, the speed threshold is a speed value used to measure whether to use hardware redundancy control to stop the vehicle during high-speed movement or software redundancy control to stop the vehicle during low-speed movement. The general controller is built-in with a low-side driver chip, a microcontroller, and a dual relay. The low-side driver (Low-Side Driver, LSD) chip is a switching device used to control the load grounding path. The dual relay is used to simulate two signals input to the integrated brake controller (Integrated Brake Control, IBC). When the intelligent driving domain controller is normal, these two signals can transmit the brake pedal signal through high and low levels. Therefore, the dual relay is respectively connected to the signal lines of these two signals, and the brake pedal signal is transmitted using hardware redundancy control through the conversion of the open / close state. The brake pedal signal includes two signals, both of which are high and low level signals, and the two signals are opposite. The brake pedal signals generated in the two cases are respectively used to represent that the brake pedal is depressed and the brake pedal is not depressed.

[0028] Specifically, if the vehicle speed is greater than the speed threshold, it indicates that there are serious potential safety hazards in driving. Therefore, braking is triggered by simulating the brake pedal signal through the low-side drive hardware signal to avoid the risk of loss of control. That is, the microcontroller in the general controller analyzes the vehicle speed, determines to use hardware redundancy control to stop the vehicle, sends the corresponding signal to the low-side driver chip, converts the open / close state of the dual relay through the low-side driver chip, generates a brake pedal signal, and sends the brake pedal signal to the integrated brake controller to control the vehicle to stop.

[0029] Based on the above example, the following method can be used to generate a brake pedal signal according to the microcontroller, low-side driver chip, and dual relay in the general controller: Send a drive control signal from the microcontroller in the general controller to the low-side drive chip; Through the low-side drive chip, according to the drive control signal, control the first relay to be in the first target state and the second relay to be in the second target state; When the first relay is in the first target state and the second relay is in the second target state, generate a brake pedal signal.

[0030] Among them, the drive control signal is a signal used to trigger the low-side drive chip. The double relay includes a first relay and a second relay. When the first relay is in the first target state, the second signal is a high-level signal; when the second relay is in the second target state, the first signal is a low-level signal. The first target state and the second target state are different states, which can be a closed state or an open state. When the brake pedal is in the actual depressed state, the first signal is a low-level signal and the second signal is a high-level signal.

[0031] Specifically, send a drive control signal from the microcontroller in the general controller to the low-side drive chip to trigger the low-side drive chip. The low-side drive chip receives the drive control signal and performs drive control to make the first relay in the first target state and the second relay in the second target state. When the first relay is in the first target state and the second relay is in the second target state, it can simulate the states of the first signal and the second signal when the brake pedal is in the actual depressed state, that is, make the first signal a low-level signal and the second signal a high-level signal, and jointly generate a brake pedal signal.

[0032] Exemplarily, the circuit diagram of hardware redundant braking is as Figure 2As shown. The general controller is built-in with a low-side driver chip. The microcontroller directly sends a high-level signal or a low-level signal to the low-side driver chip through the General-purpose input / output (GPIO) port to control its conduction and cut-off, so as to control the first relay Relay1 and the second relay Relay2, simulate the brake pedal signal, and make the vehicle stop. Among them, the first relay Relay1 is used to simulate the BLS_S signal state (the second signal) in the brake switch, and the second relay Relay2 is used to simulate the BLS_P signal state (the first signal) in the brake switch. When the brake pedal is depressed, the actual state of the first signal is that BLS_P is 12V (high-level signal), and the actual state of the second signal is that BLS_S is 0V (low-level signal). Therefore, it is necessary to simulate 12V through the second relay Relay2 and simulate 0V through the first relay Relay1. When the relay is closed, it is 12V, and when it is open, it is 0V. It should be noted that when the brake pedal is not depressed, the actual state of the first signal is that BLS_P is 0V (low-level signal), and the actual state of the second signal is that BLS_S is 12V (high-level signal).

[0033] Using the low-side driver chip (LSD) and dual-relay module built into the general controller, the existing hardware resources are reused, and there is no need to add an additional dedicated brake controller, reducing the hardware redundancy cost. The low-side driver chip controls the suction logic (such as high and low level switching) of the dual-relay through GPIO, and can accurately simulate the brake pedal signal to ensure equivalence with the physical pedal action.

[0034] S130. In response to the vehicle speed being less than or equal to the speed threshold, control the microcontroller in the general controller to handshake with the integrated brake controller and the power domain controller respectively. In the case of successful handshake, control the vehicle to stop through the general controller, the integrated brake controller and the power domain controller, and control the gear of the vehicle to be switched to the parking gear.

[0035] Specifically, if the vehicle speed is less than or equal to the speed threshold, it means that although there are serious potential safety hazards in driving, the speed is slow at this time, and the braking process can be carried out by means of software redundant braking to ensure the comfort of braking. Accordingly, control the microcontroller in the general controller to handshake with the integrated brake controller and the power domain controller (Power Domain Control Unit, PDCU) respectively. In the case of normal CAN communication, both handshakes can be successful, and the general controller can control the integrated brake controller and the power domain controller respectively, control the integrated brake controller to decelerate to a stationary state, and control the power domain controller to switch the gear of the vehicle to the parking gear.

[0036] Through a dual redundancy mechanism, that is, a dual-backup braking channel through CAN bus communication control (software redundancy control) and low-side drive hardware signal simulation (hardware redundancy control), it is ensured that when the intelligent driving domain controller fails or the communication is interrupted, braking can still be triggered through an independent path, avoiding the risk of out-of-control caused by single-point failures.

[0037] The braking control method provided by the embodiment of the present application, in response to an abnormal intelligent driving signal, obtains the vehicle speed. In response to the vehicle speed being greater than the speed threshold, a brake pedal signal is generated according to the microcontroller, low-side drive chip, and dual relay in the general controller, and sent to the integrated brake controller to stop the vehicle. When the intelligent driving signal is abnormal and the vehicle is moving at high speed, the vehicle braking is controlled by means of hardware redundancy control. In response to the vehicle speed being less than or equal to the speed threshold, the microcontroller in the general controller is controlled to handshake with the integrated brake controller and the power domain controller respectively. In the case of successful handshake, the vehicle is controlled to stop through the general controller, the integrated brake controller, and the power domain controller, and the gear of the vehicle is controlled to be switched to the parking gear. When the intelligent driving signal is abnormal and the vehicle is moving at low speed, the vehicle braking is controlled by means of software redundancy control, which realizes improving passenger comfort while ensuring redundant braking, and only introducing a general controller can effectively reduce the cost of redundant braking.

[0038] Figure 3 It is a flowchart of another braking control method provided by the embodiment of the present application. On the basis of the above embodiments, in the case of handshake failure, it is confirmed as communication abnormality, and redundant braking control is performed for the communication abnormality situation, and this process is exemplarily illustrated. See Figure 3 , the braking control method specifically includes: S210. In response to an abnormal intelligent driving signal, obtain the vehicle speed, and judge whether the vehicle speed is greater than the speed threshold. If so, execute S220; if not, execute S230.

[0039] S220. Generate a brake pedal signal according to the microcontroller, low-side drive chip, and dual relay in the general controller, and send it to the integrated brake controller to stop the vehicle.

[0040] S230. Control the microcontroller in the general controller to handshake with the integrated brake controller and the power domain controller respectively.

[0041] Specifically, the microcontroller in the general controller can be controlled to handshake with the integrated brake controller and the power domain controller respectively in the following way: Send handshake requests to the integrated brake controller and the power domain controller respectively through the microcontroller of the general controller; When the microcontroller receives the handshake confirmations replied by the integrated brake controller and the power domain controller respectively, it determines that the handshake is successful.

[0042] Among them, the handshake request can be in the form of a message and a data frame, which is to send a message containing specific information, indicating the hope to establish a connection. The handshake confirmation can also be in the form of a message and a data frame, which is a message agreeing to establish a connection for the handshake request. Exemplarily, the message ID of the handshake request is 0x0A1, and the data frame is [0x01, 0x00]; the message ID of the handshake confirmation is 0x0A2, and the data frame is [0x01, 0xAA].

[0043] Specifically, since software redundant braking needs to be executed by the general controller, overall control by the general controller is required, and communication connections need to be established between the general controller and the integrated brake controller and the power domain controller respectively to facilitate braking control. The microcontroller of the general controller sends handshake requests to the integrated brake controller and the power domain controller respectively. If the communication link is normal, the integrated brake controller and the power domain controller can receive the corresponding handshake requests and feedback handshake confirmations. If the communication link is abnormal, the integrated brake controller and the power domain controller may not receive the handshake requests, or the feedback handshake confirmations may not be received by the microcontroller. When the microcontroller receives the handshake confirmations replied by the integrated brake controller and the power domain controller respectively, it can determine that the communication link is normal, determine that the handshake is successful, and establish a connection to facilitate subsequent redundant braking control. The above communication link usually refers to the CAN bus. Interact with the vehicle chassis control units (such as IBC, PDCU) through the standard CAN bus protocol (such as message ID 0x0A1 / 0x0A2) to avoid the development of complex private communication protocols and reduce the system integration difficulty. Quickly establish a control link with the IBC / PDCU through predefined CAN messages (such as data frame [0x01, 0xAA]) to verify the availability of the actuator and avoid invalid braking instructions.

[0044] Exemplarily, Figure 4 is the architecture diagram of braking control, Figure 5 is the block diagram of the longitudinal control interface of the general controller.

[0045] S240. Judge whether the handshake is successful. If the handshake is successful, execute S250; if the handshake fails, execute S270.

[0046] S250. Control the vehicle to stop and control the gear of the vehicle to be switched to the parking gear through the general controller, the integrated brake controller and the power domain controller, and execute S260.

[0047] Specifically, the vehicle can be braked to a stop and the gear of the vehicle can be shifted to the park gear by means of a general controller, an integrated brake controller, and a power domain controller in the following manner: Determine whether the vehicle speed is 0; In response to the vehicle speed not being 0, the general controller determines a speed error based on the vehicle speed, determines a current deceleration based on the speed error, and sends the current deceleration to the integrated brake controller to control the vehicle to decelerate, and returns to execute the step of determining whether the vehicle speed is 0; In response to the vehicle speed being 0, the general controller generates a park gear shift signal and sends the park gear shift signal to the power domain controller to control the gear of the vehicle to be shifted to the park gear.

[0048] Among them, the speed error is the value at which the vehicle speed drops to 0. The current deceleration is the deceleration during the planned decelerated driving in the current cycle. The park gear shift signal is a signal used to trigger the gear of the vehicle to be switched from the current gear to the park gear.

[0049] Specifically, determine whether the vehicle speed is 0. If the vehicle speed is not 0, it means that the vehicle has not completed braking. Therefore, the general controller takes the difference between the vehicle speed and 0 as the speed error, and combines the speed error through the PID (Proportional Integral Derivative) algorithm to calculate the current deceleration, and sends the current deceleration to the integrated brake controller to control the vehicle to decelerate through the integrated brake controller, and returns to execute the step of determining whether the vehicle speed is 0 to enter the braking control of the next cycle. If the vehicle speed is 0, it means that the vehicle has completed braking. For vehicle safety, the general controller generates a park gear shift signal and sends the park gear shift signal to the power domain controller, so that the power domain controller performs gear shifting to switch the gear of the vehicle to the park gear, and controls the EPB (Electrical Park Brake) to perform the pull-up operation.

[0050] Based on the above example, the general controller can determine the speed error according to the vehicle speed and determine the current deceleration according to the speed error in the following manner: Determine the speed error according to the vehicle speed and the target speed; Determine the target deceleration according to the speed error, the preset proportional coefficient, the preset integral coefficient, and the preset differential coefficient; Determine the current deceleration according to the target deceleration and the deceleration threshold.

[0051] Among them, the target speed is 0 km / h in this example. The preset proportional coefficient, preset integral coefficient, and preset derivative coefficient are the coefficient values preset during PID control and can be set according to requirements. The target deceleration is the deceleration obtained through PID calculation. The deceleration threshold is the maximum deceleration that the vehicle can execute and is preset.

[0052] Specifically, the difference between the vehicle speed and the target speed is used as the speed error. Through a preset control function, substituting the speed error, preset proportional coefficient, preset integral coefficient, and preset derivative coefficient, the target deceleration is obtained. The target deceleration is limited by the deceleration threshold, and the limited deceleration is used as the current deceleration.

[0053] Exemplarily, based on the vehicle speed control function of the PID controller, the initial deceleration (preset proportional coefficient) can be set, for example, to 1.8, and the rate of change of speed (preset derivative coefficient) can be limited, for example, to 0.1, and the deceleration threshold can be set, for example, to -5, to dynamically adjust the deceleration required for braking until the vehicle speed drops to 0 km / h. The wheel speed information and acceleration information of the vehicle can be obtained through direct CAN communication. The vehicle speed can be determined through the wheel speed information, and communication with the vehicle chassis control unit (such as IBC, PDCU) can be carried out through the CAN bus. The corresponding PID formula can be written as: u(t)=1.8e(t)+K i ∫e(t)dt+0.1dtde(t) Among them, u(t) is the target deceleration, which needs to be limited by the deceleration threshold later and is the output of the PID controller. e(t) is the speed error, that is, the difference between the expected value and the actual value. The formula can be decomposed into three parts: The first part is the proportional term, which is 1.8e(t). The proportional term is proportional to the error e(t). The preset proportional coefficient is 1.8 (which can be set according to requirements). Its function is to provide a control quantity proportional to the magnitude of the speed error to quickly reduce the error. The second part is the integral term, which is K i ∫e(t)dt. The integral term is proportional to the integral of the speed error e(t). The preset integral coefficient is K i, its function is to eliminate the steady-state error of the system, that is, when the system reaches a stable state, there is still an error. Through the integral term, the controller continuously outputs a control quantity until the error is completely eliminated. The third part is the derivative term, which is 0.1dtde(t). The derivative term is proportional to the derivative of the speed error e(t). The preset derivative coefficient is 0.1 (which can be set according to requirements). Its function is to predict the future error of the system, that is, when the error starts to change, the derivative term provides a control quantity proportional to the error change rate to reduce the overshoot and oscillation of the system. After the vehicle speed reaches 0 km / h, the control switches the gear to the P gear (parking gear) and controls the EPB to be pulled up.

[0054] Dynamically adjust the deceleration based on the vehicle speed, limit the speed change rate, which can avoid the impact caused by sudden braking and take into account ride comfort. After the vehicle speed returns to zero, it can automatically switch to the parking gear and pull up the EPB to prevent the vehicle from rolling and ensure the final stable stop state.

[0055] S260. Control the general controller to exit the handshake with the integrated brake controller and the power domain controller respectively.

[0056] Specifically, after completing the software-based redundant brake control, it is necessary to disconnect the connections between the general controller and the integrated brake controller and the power domain controller respectively. Therefore, control the general controller to exit the handshake with the integrated brake controller and the power domain controller respectively.

[0057] S270. Generate a brake pedal signal according to the microcontroller, low-side drive chip and double relay in the general controller, and send it to the integrated brake controller to stop the vehicle.

[0058] Specifically, since the handshake fails, it indicates that a communication failure has occurred and the software-based redundant braking method cannot be used for brake control. Therefore, only the hardware-based redundant braking method can be used for brake control. The specific hardware-based redundant braking method is the same as the braking methods in S120 and S220, which will not be elaborated here.

[0059] In the above method, according to different faults (software faults and communication faults) and different vehicle speeds, the redundant braking mode is intelligently switched, which can balance the emergency braking requirements and passenger comfort. Moreover, the above method can cover various failure scenarios such as software faults of the intelligent driving domain controller, abnormal power supply, and CAN communication loss, and adapt to complex working conditions. Through the hybrid communication design (software redundancy and hardware redundancy), it can also be extended to other redundant control scenarios (such as steering, power system), improving the fault tolerance of the overall intelligent driving system.

[0060] The braking control method provided by the embodiment of the present application controls the microcontroller in the general controller to handshake with the integrated braking controller and the power domain controller respectively. When the handshake is successful, the vehicle is braked to a stop through the general controller, the integrated braking controller, and the power domain controller, and the gear of the vehicle is switched to the parking gear. Then, the general controller is controlled to exit the handshake with the integrated braking controller and the power domain controller respectively to attempt bus communication. When the communication link is normal, the vehicle braking is controlled in a software redundant braking manner. When the handshake fails, a brake pedal signal is generated according to the microcontroller, the low-side drive chip, and the double relay in the general controller and sent to the integrated braking controller to brake the vehicle to a stop, so that when the communication link is disconnected, the vehicle braking can still be controlled in a hardware redundant braking manner, realizing different redundant control methods in different situations, improving the adaptability to multiple scenarios, and optimizing the safety and comfort of the braking process.

[0061] Figure 6 is a schematic structural diagram of an electronic device provided by an embodiment of the present application. As Figure 6 shown, the electronic device 600 includes one or more processors 601 and a memory 602.

[0062] The processor 601 can be a central processing unit (CPU) or other forms of processing units with data processing capabilities and / or instruction execution capabilities, and can control other components in the electronic device 600 to perform desired functions.

[0063] The memory 602 can include one or more computer program products, and the computer program products can include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory can include, for example, random access memory (RAM) and / or cache memory, etc. The non-volatile memory can include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions can be stored on the computer-readable storage media, and the processor 601 can run the program instructions to implement the braking control method of any embodiment of the present application described above and / or other desired functions. Various contents such as initial external parameters and thresholds can also be stored in the computer-readable storage media.

[0064] In one example, the electronic device 600 may further include: an input device 603 and an output device 604, and these components are interconnected through a bus system and / or other forms of connection mechanisms (not shown). The input device 603 may include, for example, a keyboard, a mouse, and the like. The output device 604 may output various information to the outside, including warning prompt information, braking force, and the like. The output device 604 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, and the like.

[0065] Of course, for simplicity, Figure 6 only some of the components related to the present application in the electronic device 600 are shown, and components such as a bus, an input / output interface, and the like are omitted. In addition, according to specific application scenarios, the electronic device 600 may further include any other appropriate components.

[0066] In addition to the above methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, and when the computer program instructions are run by a processor, the processor is caused to execute the steps of the braking control method provided in any embodiment of the present application.

[0067] The computer program product may be written in any combination of one or more programming languages for programming code to perform the operations of the embodiments of the present application. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The programming code may be executed completely on the user computing device, partially on the user device, executed as an independent software package, partially on the user computing device and partially on a remote computing device, or completely on a remote computing device or server.

[0068] Furthermore, an embodiment of the present application may also be a computer-readable storage medium, on which computer program instructions are stored, and when the computer program instructions are run by a processor, the processor is caused to execute the steps of the braking control method provided in any embodiment of the present application.

[0069] The computer-readable storage medium may adopt any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0070] It should be noted that the terms used in this application are only for describing specific embodiments and do not limit the scope of this application. As shown in the specification and claims of this application, unless the context clearly indicates otherwise, words such as "a", "an", "one", and / or "the" are not specifically singular and may also include the plural. The term "comprising", "including", or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, or device including a series of elements not only includes those elements but also includes other elements not explicitly listed, or further includes elements inherent to such a process, method, or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, or device including the said element.

[0071] It should also be noted that the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to this application. Unless otherwise clearly specified and defined, terms such as "installed", "connected", "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and may be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0072] In this text, specific examples are used to illustrate the principle and implementation mode of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application. The above is only the preferred implementation mode of the present application. It should be noted that due to the limitation of literal expression, and objectively there are infinite specific structures. For those of ordinary skill in the art in this technical field, without departing from the principle of the present invention, several improvements, refinements or changes can be made, or the above technical features can be combined in an appropriate manner; these improvements, refinements, changes or combinations, or directly applying the concept and technical solution of the invention to other occasions without improvement, shall all be regarded as the protection scope of the present application.

Claims

1. A braking control method, characterized in that, Including: In response to an abnormal intelligent driving signal, obtain the vehicle speed; In response to the vehicle speed being greater than the speed threshold, generate a brake pedal signal according to the microcontroller, low-side drive chip, and double relay in the general controller, and send it to the integrated brake controller to stop the vehicle; In response to the vehicle speed being less than or equal to the speed threshold, control the microcontroller in the general controller to handshake with the integrated brake controller and the power domain controller respectively. In the case of successful handshake, control the vehicle to stop through the general controller, the integrated brake controller, and the power domain controller, and control the gear of the vehicle to shift to the parking gear; Wherein, the general controller is internally provided with a low-side drive chip, a microcontroller, and a double relay.

2. The method according to claim 1, wherein After controlling the microcontroller in the general controller to handshake with the integrated brake controller and the power domain controller respectively, it includes: In the case of handshake failure, generate a brake pedal signal according to the microcontroller, low-side drive chip, and double relay in the general controller, and send it to the integrated brake controller to stop the vehicle.

3. The method according to claim 1, wherein The generating of the brake pedal signal according to the microcontroller, low-side drive chip, and double relay in the general controller includes: Send a drive control signal from the microcontroller in the general controller to the low-side drive chip; Through the low-side drive chip, control the first relay to be in the first target state and the second relay to be in the second target state according to the drive control signal; Generate a brake pedal signal when the first relay is in the first target state and the second relay is in the second target state; Wherein, when the first relay is in the first target state, the second signal is a high-level signal; when the second relay is in the second target state, the first signal is a low-level signal; when the brake pedal is in the state of being actually depressed, the first signal is a low-level signal and the second signal is a high-level signal.

4. The method according to claim 1, wherein The controlling the microcontroller in the general controller to handshake with the integrated brake controller and the power domain controller respectively includes: Send handshake requests from the microcontroller of the general controller to the integrated brake controller and the power domain controller respectively; Determine that the handshake is successful when the microcontroller receives the handshake confirmations respectively replied by the integrated brake controller and the power domain controller.

5. The method according to claim 1, characterized in that The controlling the vehicle to stop and controlling the gear of the vehicle to shift to the parking gear through the general controller, the integrated brake controller, and the power domain controller includes: Judge whether the vehicle speed is 0; In response to the vehicle speed not being 0, determine a speed error according to the vehicle speed through the general controller, determine a current deceleration according to the speed error, and send the current deceleration to the integrated brake controller to control the vehicle to decelerate, and return to execute the step of judging whether the vehicle speed is 0; In response to the vehicle speed being 0, a parking gear shift signal is generated by the general controller and sent to the power domain controller to control the gear of the vehicle to shift to the parking gear.

6. The method according to claim 5, wherein The determining, by the general controller, a speed error based on the vehicle speed and determining a current deceleration based on the speed error includes: Determining a speed error based on the vehicle speed and a target speed; Determining a target deceleration based on the speed error, a preset proportional coefficient, a preset integral coefficient, and a preset differential coefficient; Determining a current deceleration based on the target deceleration and a deceleration threshold.

7. The method according to claim 1, characterized in that, After controlling the vehicle to stop and controlling the gear of the vehicle to shift to the parking gear, it further includes: Controlling the general controller to exit the handshake with the integrated brake controller and the power domain controller respectively.

8. The method according to claim 1, characterized in that, Before obtaining the vehicle speed in response to an abnormal intelligent driving signal, it further includes: Receiving a heartbeat signal and a power supply voltage from the intelligent driving domain controller; In response to not receiving the heartbeat signal within a first preset duration, determining that the intelligent driving signal is abnormal; In response to the duration of the power supply voltage being lower than a preset minimum voltage reaching a second preset duration, determining that the intelligent driving signal is abnormal.

9. An electronic device, characterized in that, The electronic device includes: A processor and a memory; The processor is configured to execute the steps of the braking control method according to any one of claims 1 to 8 by calling a program or instruction stored in the memory.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a program or instruction, and the program or instruction causes a computer to execute the steps of the braking control method according to any one of claims 1 to 8.

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