Vehicle control method and device and vehicle

Abstract

The invention provides a vehicle control method and device and a vehicle, the method relates to the field of vehicles, the method is applied to the vehicle, a brake control system of the vehicle is provided with a first monitoring module of a brake pedal, a power control system of the vehicle is provided with a second monitoring module of the brake pedal, and the first monitoring module and the second monitoring module are backups for each other; the method comprises the steps of detecting whether a first monitoring module of a brake pedal has a fault; under the condition that the first monitoring module of the brake pedal breaks down, a braking force request of the vehicle is obtained through a second monitoring module of the brake pedal; and controlling a brake control system and / or a power control system of the vehicle to output brake force based on the brake force request. The method ensures that the braking force request of the driver can be obtained, so that the vehicle outputs the braking force corresponding to the braking force request.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more particularly, to a control method, a control device and a vehicle for a vehicle in the field of vehicles. Background Art

[0002] In the prior art, if it is detected that the brake control system fails, the brake control is usually performed by the backup system of the brake control system itself. However, if the vehicle cannot obtain the opening information of the brake pedal, it may lead to the inability to determine the driver's braking force request.

[0003] Therefore, how to ensure that the driver's braking force request can be obtained is a technical problem to be solved currently. Summary of the Invention

[0004] The present application provides a control method, a control device and a vehicle for a vehicle. The method can obtain the braking force request of the vehicle through the second monitoring module in the case where the first monitoring module of the brake pedal fails, ensuring that the vehicle can obtain the driver's braking force request, so as to ensure that the vehicle can output a braking force based on the braking force request.

[0005] In a first aspect, a control method for a vehicle is provided. The brake control system of the vehicle is configured with a first monitoring module for the brake pedal, and the power control system of the vehicle is configured with a second monitoring module for the brake pedal, and the first monitoring module and the second monitoring module are backups of each other. The method includes:

[0006] Detect whether there is a fault in the first monitoring module of the brake pedal;

[0007] In the case where there is a fault in the first monitoring module of the brake pedal, obtain the braking force request of the vehicle through the second monitoring module of the brake pedal;

[0008] Based on the braking force request, control the brake control system and / or the power control system of the vehicle to output a braking force.

[0009] In an embodiment of the present application, when the first monitoring module of the brake pedal fails, the braking force request of the vehicle is obtained through the second monitoring module; the braking control system and / or the power control system of the vehicle are controlled to output braking force based on the braking force request; since the first monitoring module of the brake pedal in the braking control system of the vehicle and the second monitoring module of the brake pedal in the power control system are backup to each other; therefore, when the first monitoring module fails, the vehicle can obtain the braking force request of the vehicle through the second monitoring module of the brake pedal. Compared with the prior art that directly controls vehicle braking with the maximum braking force when the braking control system fails to detect the braking force request of the brake pedal; the present application can obtain the braking force request through the monitoring module (the second monitoring module) of the brake pedal in the power control system when the monitoring module (the first monitoring module) of the brake pedal in the braking control system fails, ensuring that the vehicle can obtain the braking force request and output the braking force corresponding to the braking force request according to the braking force request, so as to ensure that the braking force requirement of the user for the vehicle can be met.

[0010] In combination with the first aspect, in some implementation manners of the first aspect, it further includes:

[0011] Determine whether there is a fault in the braking function of the braking control system;

[0012] Controlling the braking control system and / or the power control system of the vehicle to output braking force based on the braking force request includes:

[0013] If the braking function is normal, control the braking control system of the vehicle to output braking force based on the braking force request;

[0014] If the braking function has a fault, control the braking control system and / or the power control system of the vehicle to output braking force based on the braking force request.

[0015] In an embodiment of the present application, since the braking function of the braking control system of the vehicle is normal, the vehicle can output braking force through the braking control system; therefore, controlling the braking control system of the vehicle to output braking force based on the braking force request, that is, outputting the braking force corresponding to the braking force request through the braking control system of the vehicle; ensuring that the braking force corresponding to the braking force request is output through the braking control system; when the braking function of the braking control system has a fault, the braking control system may not be able to output the braking force corresponding to the braking force request; therefore, controlling the braking control system and / or the power control system of the vehicle to output braking force based on the braking force request; ensuring that the vehicle can still output braking force when the braking control system fails, so as to meet the braking requirement of the vehicle.

[0016] Combined with the first aspect and the above implementation manners, in some implementation manners of the first aspect, if the braking function fails, based on the braking force request, control the braking control system and / or the power control system of the vehicle to output braking force, including:

[0017] If the braking function fails, determine the type of the failure. The type of the failure includes a first failure type and a second failure type. The first failure type is used to indicate that the braking function fails completely, and the second failure type is used to indicate that the braking function fails partially and can output partial braking force;

[0018] If the type of the failure is the first failure type, based on the braking force request, control the power control system to output braking force;

[0019] If the type of the failure is the second failure type, based on the braking force request, control the braking control system and / or the power control system to output braking force.

[0020] In the embodiments of the present application, since different types of failures have different degrees of influence on the braking force output by the vehicle braking control system; therefore, when the braking function of the braking control system fails, determine the type of the failure, and control the braking control system and / or the power control system to output braking force according to the type of the failure. When the type of the failure is the first failure type, the braking function of the braking control system fails completely, that is, the braking control system of the vehicle cannot output braking force; therefore, output braking force through the power control system of the vehicle; when the type of the failure is the second failure type, the braking function of the braking control system fails partially, that is, the braking control system of the vehicle can output partial braking force; therefore, based on the braking force request, control the braking control system and / or the power control system to output braking force; ensure that the braking force output of the vehicle can be guaranteed through the braking control system and / or the power control system.

[0021] Combined with the first aspect and the above implementation manners, in some implementation manners of the first aspect, if the type of the failure is the first failure type, based on the braking force request, control the power control system to output braking force, including:

[0022] If the type of the failure is the first failure type, determine the maximum braking force that the power control system can provide;

[0023] If the braking force corresponding to the braking force request is less than or equal to the maximum braking force, output the braking force corresponding to the braking force request through the drive motor of the power control system;

[0024] If the braking force corresponding to the braking force request is greater than the maximum braking force, control the power control system to output the maximum braking force, and control the vehicle to execute a safety control strategy. The safety control strategy includes controlling the vehicle to turn on the hazard lights and output a target prompt message, where the target prompt message is used to prompt the driver to control the vehicle to stop.

[0025] In an embodiment of the present application, when the fault type of the vehicle is the first fault type, the vehicle outputs braking force through the power control system; if the braking force request is less than the maximum braking force that the power control system can provide, it means that the power control system can meet the braking requirements of the vehicle. Therefore, the braking force corresponding to the braking force request is output through the power control system; if the braking force request is greater than the maximum braking force, it means that the power control system of the vehicle cannot meet the braking requirements of the vehicle, and there is a safety risk for the vehicle. Therefore, control the power control system to output the maximum braking force to reduce the vehicle speed, and at the same time control the vehicle to execute a safety control strategy (that is, control the vehicle to turn on the hazard lights and output a target prompt message); remind the driver and surrounding vehicles through the safety control strategy, thereby reducing the safety risk of the vehicle.

[0026] Combined with the first aspect and the above implementation, in some implementations of the first aspect, if the fault type is the second fault type, controlling the braking control system and / or the power control system to output braking force based on the braking force request includes:

[0027] If the fault type is the second fault type, determine the maximum braking force that the braking control system can provide;

[0028] If the braking force corresponding to the braking force request is less than or equal to the maximum braking force that the braking control system can provide, output the braking force through the braking control system;

[0029] If the braking force corresponding to the braking force request is greater than the maximum braking force that the braking control system can provide, control the braking control system to output a first braking force and control the power control system to output a second braking force, where the first braking force is the maximum braking force of the braking control system, and the second braking force is the difference between the braking force corresponding to the braking force request and the maximum braking force.

[0030] In an embodiment of the present application, when the fault type is the second fault type, the braking control system of the vehicle can provide partial braking force, and determine the maximum braking force that the braking control system can provide. If the braking force request is less than or equal to the maximum braking force that the braking control system can provide, it means that the braking force output by the braking control system of the vehicle can meet the braking requirements of the vehicle; therefore, output the braking force through the braking control system; if the braking force request is greater than the maximum braking force that the braking control system can provide, it means that the braking force output by the braking control system of the vehicle cannot meet the braking requirements of the vehicle, control the braking control system of the vehicle to output the maximum braking force and control the power control system to output the difference between the braking force request and the maximum braking force; ensure that when the braking force output by the braking control system cannot meet the braking requirements of the vehicle, the braking force corresponding to the braking force request is output through the cooperation of the braking control system and the power control system.

[0031] Combined with the first aspect and the above implementation manners, in some implementation manners of the first aspect, it further includes:

[0032] Determine the sum of the maximum braking force of the power control system and the maximum braking force of the braking control system as the braking force limit value;

[0033] If the braking force corresponding to the braking force request is greater than the braking force limit value, control the vehicle to reduce the limp-home speed in the limp-home mode and prohibit the vehicle from accelerating.

[0034] In the embodiment of the present application, when the fault type of the braking control system is the second fault type, determine the sum of the maximum braking force of the power control system and the maximum braking force of the braking control system as the braking force limit value; this braking force limit value represents the braking force that the vehicle can output; if the braking force request of the vehicle is greater than the braking force limit value, it means that the braking force that the vehicle can output cannot meet the braking demand of the vehicle; there is a safety risk for the vehicle; therefore, control the vehicle to reduce the limp-home speed in the limp-home mode and prohibit the vehicle from accelerating, so as to reduce the safety risk of the vehicle.

[0035] Combined with the first aspect and the above implementation manners, in some implementation manners of the first aspect, if the braking function has a fault, controlling the braking control system and / or the power control system of the vehicle to output a braking force based on the braking force request includes:

[0036] If the braking function of the target wheel in the braking control system has a fault, determine the drive motor in the power control system corresponding to the target wheel based on the position of the target wheel;

[0037] Based on the braking force request, control the drive motor and / or the braking control system to output a braking force.

[0038] In the embodiment of the present application, if the braking function of the target wheel in the braking control system has a fault, then control the drive motor and / or the braking control system corresponding to the wheel to output a braking force, so as to ensure that a braking force can be output for the wheel with the faulty braking function.

[0039] Combined with the first aspect and the above implementation manners, in some implementation manners of the first aspect, there is a first communication link and a second communication link between the braking control system and the power control system of the vehicle, where the first communication link is the communication link connecting the braking control system and the power control system, and the second communication link is the communication link connecting the braking control system to the vehicle gateway, and the gateway is connected to the power control system of the vehicle.

[0040] In an embodiment of the present application, there are two communication links between the braking control system and the power control system of the vehicle, namely the first communication link and the second communication link. The first communication link is the communication link through which the braking control system is connected to the power control system, and the second communication link is the communication link through which the braking control system is connected to the vehicle gateway, and the gateway is connected to the power control system of the vehicle, so as to avoid communication failures between the braking control system and the power control system caused by the failure of a single communication link.

[0041] In a second aspect, a control device for a vehicle is provided, which is applied to the vehicle. The braking control system of the vehicle is configured with a first monitoring module for the brake pedal, and the power control system of the vehicle is configured with a second monitoring module for the brake pedal, and the first monitoring module and the second monitoring module are backup to each other. The control device includes:

[0042] A detection module, configured to detect whether there is a fault in the first monitoring module of the brake pedal;

[0043] A processing module, configured to, when there is a fault in the first monitoring module of the brake pedal, obtain a braking force request of the vehicle through the second monitoring module; and based on the braking force request, control the braking control system and / or the power control system of the vehicle to output a braking force.

[0044] In combination with the second aspect, in some implementation manners of the second aspect, the processing module is specifically configured to: determine whether there is a fault in the braking function of the braking control system; if there is no fault in the braking function, control the braking control system of the vehicle to output a braking force based on the braking force request; if there is a fault in the braking function, control the braking control system and / or the power control system of the vehicle to output a braking force based on the braking force request.

[0045] In combination with the second aspect and the above implementation manners, in some implementation manners of the second aspect, the processing module is specifically configured to: if there is a fault in the braking function, determine the type of the fault, where the type of the fault includes a first fault type and a second fault type. The first fault type is used to indicate that the braking function has completely failed, and the second fault type is used to indicate that the braking function has partially failed and can output a partial braking force; if the type of the fault is the first fault type, control the power control system to output a braking force based on the braking force request; if the type of the fault is the second fault type, control the braking control system and the power control system to output a braking force based on the braking force request.

[0046] Combined with the second aspect and the above implementation manners, in some implementation manners of the second aspect, the processing module is specifically configured to: determine the maximum braking force that the power control system can provide; if the braking force corresponding to the braking force request is less than or equal to the maximum braking force, output, through the drive motor of the power control system, the braking force corresponding to the braking force request; if the braking force corresponding to the braking force request is greater than the maximum braking force, control the power control system to output the maximum braking force, and control the vehicle to execute a safety control strategy, where the safety control strategy includes controlling the vehicle to turn on the hazard lights and output a target prompt message, and the target prompt message is used to prompt the driver to control the vehicle to stop.

[0047] Combined with the second aspect and the above implementation manners, in some implementation manners of the second aspect, the processing module is specifically configured to: determine the maximum braking force that the braking control system can provide; if the braking force corresponding to the braking force request is less than or equal to the maximum braking force that the braking control system can provide, output, through the braking control system, the braking force; if the braking force corresponding to the braking force request is greater than the maximum braking force that the braking control system can provide, control the braking control system to output a first braking force and control the power control system to output a second braking force, where the first braking force is the maximum braking force of the braking control system, and the second braking force is the difference between the braking force corresponding to the braking force request and the maximum braking force.

[0048] Combined with the second aspect and the above implementation manners, in some implementation manners of the second aspect, the processing module is further configured to: determine the sum of the maximum braking force of the power control system and the maximum braking force of the braking control system as the braking force limit value; if the braking force corresponding to the braking force request is greater than the braking force limit value, control the vehicle to reduce the limping speed in the limp mode and prohibit the vehicle from accelerating.

[0049] Combined with the second aspect and the above implementation manners, in some implementation manners of the second aspect, the processing module is specifically configured to: if a braking function of a target wheel in the braking control system fails, based on the position of the target wheel, determine a drive motor in the power control system corresponding to the target wheel; control the drive motor and / or the braking control system to output a braking force based on the braking force request.

[0050] In a third aspect, a vehicle is provided, including a memory and a processor, where the memory is used to store an executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the method in the first aspect or any possible implementation manner of the first aspect.

[0051] In a fourth aspect, a computer program product is provided, where the computer program product includes: computer program code, and when the computer program code runs on a computer, the computer is caused to execute the method in the first aspect or any possible implementation manner of the first aspect.

[0052] In a fifth aspect, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program, and when the computer program is executed, the method in the above-mentioned first aspect or any possible implementation manner of the first aspect is implemented. Description of the Drawings

[0053] Figure 1 is a communication architecture diagram of a vehicle provided by an embodiment of the present application;

[0054] Figure 2 is a schematic flowchart of a vehicle control method provided by an embodiment of the present application;

[0055] Figure 3 is a schematic flowchart of a vehicle control method provided by an embodiment of the present application;

[0056] Figure 4 is a schematic flowchart of another vehicle control method provided by an embodiment of the present application;

[0057] Figure 5 is a schematic flowchart of yet another vehicle control method provided by an embodiment of the present application;

[0058] Figure 6 is a schematic structural diagram of a vehicle control device provided by an embodiment of the present application;

[0059] Figure 7 is a schematic structural diagram of a vehicle provided by an embodiment of the present application. Detailed Embodiments

[0060] Hereinafter, the technical solutions in the present application will be clearly and elaborately described in conjunction with the drawings. Among them, in the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B may represent A or B: "and / or" in the text is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality" means two or more than two.

[0061] Hereinafter, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as implying or suggesting relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0062] In the prior art, when it is detected that the brake control system fails, the brake control is usually performed by the backup system of the brake control system itself. However, if the vehicle cannot obtain the opening information of the brake pedal, it may lead to the inability to determine the driver's braking force request. Therefore, how to ensure that the driver's braking force request can be obtained is a technical problem that needs to be solved currently.

[0063] In view of this, the present application provides a control method, a control device and a vehicle for a vehicle. The method can obtain the braking force request of the vehicle through the second monitoring module when the first monitoring module of the brake pedal fails, ensuring that the vehicle can obtain the driver's braking force request, so as to ensure that the vehicle can output a braking force based on the braking force request.

[0064] Figure 1 It is a communication architecture diagram of a vehicle provided by an embodiment of the present application.

[0065] Exemplarily, as Figure 1 shown in the communication architecture 100 shown, communication is performed between the brake control system and the power control system through two Controller Area Networks (CAN); that is, communication is performed through two communication links, including a first communication link (such as Figure 1 CAN 1 shown) and a second communication link (such as Figure 1 CAN2 shown); wherein, the first communication link is the communication link for the brake control system to connect to the power control system; the second communication link is the communication link for the brake control system to connect to the vehicle gateway, and the gateway connects to the power control system.

[0066] It can be understood that when the braking function of the brake control system fails, the brake control system will send a disabling signal of the braking function failure to the power control system; in order to avoid the inability to communicate between the brake control system and the power control system caused by single-point failure, thereby misjudging the state of the brake control system; two communication links are established between the brake control system and the power control system to ensure the communication link between the brake control system and the power control system. Since the first communication link does not pass through the vehicle gateway, it is avoided that the failure of the gateway causes the failure of both the first communication link and the second communication link.

[0067] It should be noted that a single-point failure refers to a failure caused by a single-point fault and directly leading to a violation of the safety goal. For example, if there is only one communication link between the braking control system and the power control system, and if this communication link fails, resulting in the power control system being unable to receive the disable signal of the braking function sent by the braking control system, and the power control system being unable to take an emergency braking strategy in time, that is, the power control system is unable to output braking force in time, thus affecting the safety of the vehicle; the failure of this communication link is a single-point failure. In this application, by establishing two communication links between the braking control system and the power control system, when one communication link fails, communication can be carried out through the other communication link (the probability of both communication links failing is relatively low). Therefore, it is possible to avoid the communication failure between the braking control system and the power control system caused by the failure of a single communication link.

[0068] Exemplarily, a brake pedal monitoring module is configured in both the braking control system and the power control system; and the brake pedal monitoring module in the braking control system and the brake pedal monitoring module in the power control system are backup to each other; the brake pedal monitoring module is used to monitor the state of the brake pedal (for example, the position, opening degree, etc. of the brake pedal), so as to determine the braking force request of the vehicle. For the sake of distinction, the brake pedal monitoring module in the braking control system is determined as the first monitoring module of the brake pedal, and the brake pedal monitoring module in the power control system is determined as the second monitoring module of the brake pedal.

[0069] Exemplarily, the following combines Figure 1 the communication architecture of Figure 2 to describe in detail the vehicle control method in

[0070] Figure 2 is a schematic flowchart of a vehicle control method provided by an embodiment of this application.

[0071] Exemplarily, Figure 2 the method 200 shown can be executed by a vehicle configured with multiple drive motors (for example, a vehicle with a four-motor architecture); or can be executed by the vehicle's vehicle controller; or can be executed by a processor or chip in the vehicle.

[0072] As Figure 2 shown, the vehicle control method 200 includes S210 to S230, and the following will describe S210 to S230 in detail.

[0073] S210, detect whether there is a fault in the first monitoring module of the brake pedal.

[0074] Among them, the first monitoring module of the brake pedal is the brake pedal monitoring module in the vehicle's brake control system; the first monitoring module of the brake pedal is used to continuously monitor the output signal of the brake pedal sensor to determine the position of the brake pedal, and determine the braking force request of the vehicle according to the position of the brake pedal.

[0075] Exemplarily, if the vehicle does not detect the output signal of the brake pedal sensor, it is determined that the first monitoring module of the brake pedal has a fault; or the brake pedal sensor signal monitored by the first monitoring module is compared with the expected logic. If the brake pedal sensor signal has a large difference from the expected logic, it is determined that the first monitoring module has a fault. For example, in the expected logic, when the brake pedal is depressed, the voltage of the brake pedal sensor signal should change smoothly. If the sensor signal does not conform to the trend of smooth change (for example, the brake pedal sensor signal suddenly changes or remains unchanged), it is determined that the first monitoring module of the brake pedal has a fault.

[0076] Optionally, the monitoring signal of the first monitoring module is compared with the vehicle speed, wheel speed, and hydraulic signal of the vehicle; if any one of the vehicle speed, wheel speed, or hydraulic signal of the vehicle indicates that the vehicle is in an accelerating state, but the monitoring signal of the first monitoring module of the vehicle indicates that the vehicle is in a braking state, it is determined that the monitoring signal of the first monitoring module has a fault, that is, the first monitoring module in the brake control system has a fault.

[0077] S220. When the first monitoring module of the brake pedal has a fault, obtain the braking force request of the vehicle through the second monitoring module of the brake pedal.

[0078] It can be understood that when the first monitoring module of the brake pedal has no fault, the braking force request of the vehicle is obtained through the first monitoring module; when the first monitoring module of the brake pedal has a fault, the braking force request of the vehicle is obtained through the second monitoring module in the power control system; ensure that the vehicle can still obtain the braking force request in the case of a fault in the first monitoring module.

[0079] Exemplarily, when obtaining the braking force request of the vehicle, determine the current position information or current stroke information of the brake pedal (the current stroke information represents the moving distance of the brake pedal from the initial position to the current position) through the first monitoring module or the second monitoring module; determine the braking force request of the vehicle according to the corresponding relationship between the position information or stroke information of the brake pedal and the braking force and the current position information or current stroke information.

[0080] In one implementation, there are a first communication link and a second communication link between the braking control system and the power control system of the vehicle. Among them, the first communication link is the communication link connecting the braking control system and the power control system, and the second communication link is the communication link connecting the braking control system to the vehicle gateway, and the gateway is connected to the power control system of the vehicle.

[0081] Exemplarily, the first communication link is a directly connected communication link between the braking control system and the power control system, that is, the first communication link does not pass through the vehicle gateway; the second communication link is the communication link connecting the vehicle's braking control system to the vehicle gateway, and the gateway is connected to the power control system of the vehicle; that is, the second communication link is the communication link connecting the vehicle's braking control system and the power control system through the gateway.

[0082] It should be noted that when the braking function of the braking control system fails, the braking control system will send a disabling signal of the braking function failure to the power control system, and the power control system outputs braking force to perform emergency braking on the vehicle; therefore, in order to ensure that the power control system can timely obtain the failure state of the braking control system, two communication links, namely the first communication link and the second communication link, are established between the braking control system and the power control system. Since the first communication link does not pass through the vehicle gateway, even when the vehicle gateway fails, the communication link between the braking control system and the power control system can be realized through the first communication link.

[0083] In the embodiments of the present application, there are two communication links, namely the first communication link and the second communication link, between the braking control system and the power control system of the vehicle; the first communication link is the communication link connecting the braking control system to the power control system, and the second communication link is the communication link connecting the braking control system to the vehicle gateway, and the gateway is connected to the power control system of the vehicle; to avoid communication failures between the braking control system and the power control system caused by the failure of a single communication link.

[0084] S230, based on the braking force request, control the braking control system and / or the power control system of the vehicle to output braking force.

[0085] Among them, the braking force request is used to determine the magnitude of the braking force to be output.

[0086] Exemplarily, when outputting braking force, the braking force can be output through the braking control system, or through the power control system, or through the joint output of the braking control system and the power control system. The principles of the braking control system of the vehicle outputting braking force and the power control system outputting braking force are described below.

[0087] Exemplarily, the braking control system of a vehicle includes an energy supply device (including a master cylinder, a brake booster, etc.), a control device, a transmission device, and brakes, etc. Among them, the function of the master cylinder in the energy supply device is to convert the mechanical energy of the driver stepping on the brake pedal into hydraulic energy, providing a pressure source for the braking control system. The brake booster uses the vacuum generated by the engine or an electronic device to provide assistance, helping the driver step on the brake pedal more easily and increasing the braking force. The control device (e.g., an electronic control unit) is used to receive signals from various sensors, such as a brake pedal position sensor, a wheel speed sensor, etc., analyze and process these signals, and control the distribution and adjustment of the braking pressure to achieve the best braking effect. The transmission device includes two types: a hydraulic transmission device and a pneumatic transmission device. Among them, the hydraulic transmission device is used to transmit the hydraulic energy generated by the master cylinder to the brakes of each wheel. The pneumatic transmission device is used to transmit the pressure of compressed air to the brakes. The brake refers to a component installed on the wheel to generate braking force, and the brakes include but are not limited to drum brakes and disc brakes, etc.

[0088] When the driver steps on the brake pedal, the piston in the master cylinder moves under the action of the pedal force, causing the brake fluid in the master cylinder to generate pressure. This pressure is transmitted through the brake lines to the wheel cylinders or brake chambers of each wheel. In a drum brake, the piston in the wheel cylinder pushes the brake shoes outwards under the action of the pressure, making the brake shoes closely contact the inner wall of the rotating brake drum, generating frictional force, thereby preventing the rotation of the brake drum and achieving braking. In a disc brake, the brake caliper presses the friction pads tightly on both sides of the rotating brake disc under the action of the brake fluid pressure, and the rotation of the brake disc is hindered by the frictional force between the friction pads and the brake disc to achieve braking.

[0089] Exemplarily, the ways for the power control system of a vehicle to output braking force include two ways: regenerative braking and drag braking. Among them, regenerative braking refers to braking through the way of energy recovery. The power control system utilizes the reversibility of the drive motor (electric motor). During braking, the drive motor switches to the generator mode. The rotation of the wheels drives the rotor of the drive motor to rotate, causing the drive motor to generate electrical energy (i.e., kinetic energy is converted into electrical energy), and at the same time generating an electromagnetic torque opposite to the rotation direction of the wheels. This electromagnetic torque acts on the wheels, forming a braking force on the vehicle. When braking through the way of energy recovery, the electrical energy generated by the drive motor during braking can be stored in the battery to achieve energy recovery, thereby improving the energy utilization efficiency. Drag braking refers to generating braking force by the drive motor in reverse. Specifically, when performing drag braking on the vehicle, the power control system controls to change the phase sequence of the drive motor, so that the drive motor generates a reverse torque that acts as a retardation to achieve braking.

[0090] In one implementation, it is determined whether there is a fault in the braking function of the braking control system; if there is no fault in the braking function, the braking control system of the vehicle is controlled based on the braking force request to output braking force; if there is a fault in the braking function, the braking control system and / or the power control system of the vehicle are controlled based on the braking force request to output braking force.

[0091] Exemplarily, the vehicle can determine whether there is a fault in the braking function of the braking control system through sensor monitoring; wherein, the sensor monitoring includes monitoring wheel speed sensors, brake pressure sensors, and / or liquid level sensors; the vehicle judges whether the wheels are locked or the rotational speed changes abnormally according to the signals of the wheel speed sensors. If there is a large deviation between the rotational speed of a wheel and that of other wheels, or the rotational speed of the wheel drops too slowly during braking, it indicates that there may be a problem with the braking function of that wheel. The vehicle measures the brake pressure through a brake pressure sensor installed in the brake pipeline. If the brake pipeline fails to establish normal brake pressure when the driver steps on the brake pedal, it indicates that there is a fault in the braking function of the braking control system. If the vehicle detects through the liquid level sensor that the liquid level in the brake fluid reservoir is too low, it indicates that there may be a fault in the braking function of the braking control system.

[0092] Optionally, the vehicle can determine whether there is a fault in the braking function of the braking control system through the logic of the electronic control unit; the vehicle determines the braking force intention applied by the driver by detecting the signal of the travel sensor of the brake pedal; determines the actual braking effect according to the wheel speed sensor and the brake pressure sensor, and determines whether the actual braking effect conforms to the braking force intention of the driver; if the actual braking effect does not conform to the braking force intention of the driver, it indicates that there is a fault in the braking function of the braking control system; if the actual braking effect conforms to the braking force intention of the driver, it indicates that there is no fault in the braking function of the braking control system.

[0093] It can be understood that since there is no fault in the braking function of the braking control system of the vehicle, the vehicle can output braking force through the braking control system; therefore, controlling the braking control system of the vehicle to output braking force based on the braking force request, that is, outputting the braking force corresponding to the braking force request through the braking control system of the vehicle; ensuring that the braking force corresponding to the braking force request is output through the braking control system; when there is a fault in the braking function of the braking control system, the braking control system may not be able to output the braking force corresponding to the braking force request; therefore, controlling the braking control system and / or the power control system of the vehicle to output braking force based on the braking force request; ensuring that the vehicle can still output braking force in the case of the failure of the braking control system, so as to meet the braking requirements of the vehicle.

[0094] Exemplarily, when there is no fault in the braking function of the vehicle's braking control system, the braking control system can normally implement the braking function; therefore, the braking force corresponding to the braking force request is output through the braking control system. When there is a fault in the braking function of the vehicle's braking control system, it is necessary to determine the control system for outputting the braking force and the braking force output by the control system according to the fault type of the braking function and the magnitude of the braking force corresponding to the braking force request.

[0095] Specifically, if there is a fault in the braking function, determine the fault type of the fault. The fault type includes a first fault type and a second fault type. The first fault type is used to indicate that the braking function has completely failed, and the second fault type is used to indicate that the braking function has partially failed and can output partial braking force; if the fault type is the first fault type, control the power control system to output the braking force based on the braking force request; if the fault type is the second fault type, control the braking control system and / or the power control system to output the braking force based on the braking force request.

[0096] Exemplarily, determine the fault type of the braking function of the braking control system, that is, when it is determined that there is a fault in the braking function, determine whether the braking function system can output the braking force; if the braking control system cannot output the braking force, it indicates that the braking function of the braking control system has completely failed (the first fault type); therefore, the braking force is output through the power control system. If the braking control system can output partial braking force, and this partial braking force cannot meet the braking requirements of the vehicle, that is, the braking force output by the braking control system does not match the braking force corresponding to the vehicle braking force request (the second fault type); therefore, the braking force is output through the braking control system and the power control system.

[0097] Exemplarily, the vehicle can compare the driver's braking force intention with the actual braking effect of the vehicle, and determine the fault type of the braking function according to the degree of difference in the comparison; for example, if the braking force corresponding to the vehicle's braking force intention is greater than the actual braking force of the braking effect, determine that the fault type of the braking function is the second fault type; if there is no actual braking effect after performing the braking operation, determine that the fault type of the braking function is the first fault type.

[0098] Optionally, after detecting the target scenario, the braking control system sends a complete disabling signal of the braking function of the braking control system to the power control system. The complete disabling signal indicates that the fault type of the braking function of the braking control system is the first fault type. The target scenario includes: the assist motor is disabled, or the deceleration generated after pressure build-up failure is lower than the preset deceleration (for example, the preset deceleration is 0.3g, which means 0.3 times the gravitational acceleration), or there is a serious brake fluid leak and the brake fluid level in the brake fluid reservoir is lower than the preset level, or the number of wheel cylinder valves with vehicle control failure reaches the preset number (for example, 3). The vehicle can determine the fault type of the braking control system according to the signal sent by the braking control system received by the power control system. If the power control system receives the complete disabling signal of the braking function sent by the braking control system, it is determined that the fault type of the braking function of the braking control system is the first fault type. If the power control system cannot receive the signal of the braking control system on both communication links (the first communication link and the second communication link), and the duration reaches the preset duration (for example, the preset duration is 100 milliseconds), it is determined that the fault type of the braking function of the braking control system is the second fault type.

[0099] Optionally, if the number of wheel cylinder leaks monitored by the vehicle's braking control system is less than the preset number, and the brake fluid in the brake fluid reservoir is not less than the preset level; the output power of the pressure build-up motor is limited, resulting in a reduction in braking ability, but the deceleration that the braking control system can output is greater than the preset deceleration (for example, 0.3g), it is determined that the braking function of the vehicle's braking control system is not completely disabled and can output partial braking force, that is, it is determined that the fault type of the braking function of the braking control system is the second fault type.

[0100] In the embodiments of the present application, since different fault types have different degrees of influence on the braking force output by the vehicle's braking control system; therefore, when there is a fault in the braking function of the braking control system, the fault type is determined, and the braking control system and / or the power control system are controlled to output the braking force according to the fault type. When the fault type is the first fault type, the braking function of the braking control system is completely disabled, that is, the vehicle's braking control system cannot output the braking force; therefore, the braking force is output by the vehicle's power control system. When the fault type is the second fault type, the braking function of the braking control system is partially disabled, that is, the vehicle's braking control system can output partial braking force; therefore, the braking control system and the power control system are controlled to output the braking force based on the braking force request; ensuring that the braking force output of the vehicle can be guaranteed through the two control systems of the braking control system and the power control system.

[0101] Exemplarily, since different fault types have different degrees of influence on the braking force output by the vehicle braking control system; therefore, when the fault type is the first fault type or the second fault type, the ways of outputting the braking force are different; the ways of outputting the braking force in the first fault type and the ways of outputting the braking force in the second fault type will be described in detail below.

[0102] Case 1:

[0103] If the fault type is the first fault type, determine the maximum braking force that the power control system can provide; if the braking force corresponding to the braking force request is less than or equal to the maximum braking force, output the braking force corresponding to the braking force request through the drive motor of the power control system; if the braking force corresponding to the braking force request is greater than the maximum braking force, control the power control system to output the maximum braking force, and control the vehicle to execute a safety control strategy, where the safety control strategy includes controlling the vehicle to turn on the hazard lights and output a target prompt message, and the target prompt message is used to prompt the driver to control the vehicle to stop.

[0104] It can be understood that when the fault type of the vehicle is the first fault type, the vehicle outputs the braking force through the power control system; if the braking force request is less than the maximum braking force that the power control system can provide, it means that the power control system can meet the braking requirements of the vehicle. Therefore, output the braking force corresponding to the braking force request through the power control system; if the braking force request is greater than the maximum braking force, it means that the power control system of the vehicle cannot meet the braking requirements of the vehicle, and there is a safety risk for the vehicle; therefore, control the power control system to output the maximum braking force to reduce the vehicle speed, and at the same time control the vehicle to execute a safety control strategy (that is, control the vehicle to turn on the hazard lights and output a prompt message); through the safety control strategy to remind the driver and surrounding vehicles, thereby reducing the safety risk of the vehicle.

[0105] Exemplarily, determine the maximum braking force that the power control system can provide; the braking force generated by the power control system consists of two parts, including the braking force generated by energy recovery and the braking force generated by back-dragging braking; therefore, the maximum braking force that the power control system can provide is the sum of the maximum braking force generated by energy recovery and the maximum braking force generated by back-dragging braking.

[0106] For the reverse-dragging braking scenario, during reverse-dragging braking, the vehicle achieves the braking effect through the internal resistance of the drive motor; since the temperature of the drive motor rises rapidly during reverse-dragging braking, the power control system will activate the fast heat dissipation mode; for safety considerations, it is necessary to ensure that the temperature of the drive motor is less than or equal to the safe temperature; therefore, in the reverse-dragging braking scenario, the braking force that the vehicle can generate is related to the maximum heat capacity of the motor and the heat dissipation amount during the reverse-dragging time; since the vehicle converts kinetic energy into heat energy, therefore, according to the heat energy that the vehicle drive motor can absorb, the maximum value of the change in kinetic energy of the vehicle under reverse-dragging braking can be determined;

[0107] E c =Q max +Q sac ; (Formula 1)

[0108] Where, E c represents the maximum value of the change in kinetic energy of the vehicle under reverse-dragging braking; Q max represents the maximum heat capacity of the drive motor at the current temperature; Q sac represents the maximum heat dissipation amount in the fast heat dissipation mode during reverse-dragging braking.

[0109] Exemplarily, through the above Formula 1, the maximum value of the change in kinetic energy of the vehicle during the braking process of the drive motor in the reverse-dragging braking scenario can be calculated; furthermore, according to the change in kinetic energy, the change in speed that the drive motor can generate during reverse-dragging braking can be determined, and for the change in speed, the maximum deceleration can be obtained; among them, the change in speed can be obtained from the calculation formula of kinetic energy:

[0110]

[0111] Where, E c represents the maximum value of the change in kinetic energy of the vehicle under reverse-dragging braking; m represents the mass of the vehicle, and v represents the change in speed of the vehicle.

[0112] Exemplarily, according to the above Formula 1, E c is calculated and substituted into Formula 2 to calculate the change in speed, and thus the maximum deceleration under reverse-dragging braking is obtained according to the change in speed. According to Newton's second law (the force received by an object is equal to the product of the mass of the object and the acceleration), the force received by the vehicle is calculated, that is, the maximum braking force in the reverse-dragging braking scenario.

[0113] For the energy recovery scenario, since the energy recovery scenario is related to the power and temperature of the energy storage device in the vehicle; therefore, a correspondence table of different powers and different temperatures of the energy storage device in the vehicle and the recovered energy is measured and calibrated in advance; when the vehicle brakes through energy recovery, according to the correspondence table, the kinetic energy that can be recovered in the energy recovery scenario at the current power and current temperature is determined.

[0114] Exemplarily, if the braking force corresponding to the braking force request is less than or equal to the maximum braking force, the driving motor of the power control system outputs the braking force corresponding to the braking force request; if the braking force corresponding to the braking force request is greater than the maximum braking force, the power control system is controlled to output the maximum braking force, and the vehicle is controlled to execute a safety control strategy.

[0115] For example, if the maximum braking force that the power control system can provide is 3000N, and if the braking force corresponding to the braking force request of the vehicle is 2000N, the power control system outputs a braking force of 2000N to brake the vehicle; if the braking force corresponding to the braking force request is 4000N and the power control system of the vehicle cannot output the braking force corresponding to the braking force request, the power control system is controlled to output the maximum braking force of 3000N. At the same time, the vehicle is controlled to turn on the hazard lights to prompt the surrounding vehicles, and the target prompt message "The vehicle has a braking failure. Please stop the vehicle" is output, so that the driver can brake the vehicle by means of handbrake braking according to the target prompt message.

[0116] It should be noted that the above is an example description of the maximum braking force of the power control system and the braking force corresponding to the vehicle braking force request, which is used to describe the process of the vehicle braking through the power control system; this application does not make any limitations on the specific values of the maximum braking force and the braking force corresponding to the vehicle braking force request.

[0117] Case 2:

[0118] If the fault type is the second fault type, determine the maximum braking force that the braking control system can provide; if the braking force corresponding to the braking force request is less than or equal to the maximum braking force that the braking control system can provide, output the braking force through the braking control system; if the braking force corresponding to the braking force request is greater than the maximum braking force that the braking control system can provide, control the braking control system to output the first braking force and control the power control system to output the second braking force, where the first braking force is the maximum braking force of the braking control system, and the second braking force is the braking force difference between the braking force corresponding to the braking force request and the maximum braking force.

[0119] It can be understood that if the fault type is the second fault type, the vehicle's braking control system can provide partial braking force and determine the maximum braking force that the braking control system can provide. If the braking force request is less than or equal to the maximum braking force that the braking control system can provide, it means that the braking force output by the vehicle's braking control system can meet the braking requirements of the vehicle; therefore, the braking force is output through the braking control system. If the braking force request is greater than the maximum braking force that the braking control system can provide, it means that the braking force output by the vehicle's braking control system cannot meet the braking requirements of the vehicle. In this case, the vehicle's braking control system is controlled to output the maximum braking force and the braking force difference between the braking force request and the maximum braking force is controlled to be output by the power control system, ensuring that when the braking force output by the braking control system cannot meet the braking requirements of the vehicle, the braking force corresponding to the braking force request is output through the coordinated operation of the braking control system and the power control system.

[0120] For example, if there is a fault in the braking function of the braking control system and the maximum braking force that the braking control system can provide is 2000N, when the braking force corresponding to the braking force request of the vehicle is 1000N, a braking force of 1000N is output through the braking control system to brake the vehicle. If the braking force corresponding to the braking force request is 3000N, the braking control system is controlled to output a braking force of 2000N, and at the same time, the vehicle's power control system is controlled to output a braking force of 1000N, so that the sum of the braking force output by the braking control system and the braking force output by the power control system meets the braking force request of the vehicle.

[0121] It should be noted that the above is an example description of the maximum braking force of the braking control system and the braking force request of the vehicle, which is used to describe the process of the vehicle braking through the braking control system and the power control system. The present application does not specifically limit the maximum braking force of the braking control system and the braking force request of the vehicle.

[0122] Optionally, the sum of the maximum braking force of the power control system and the maximum braking force of the braking control system is determined as the braking force limit value. If the braking force corresponding to the braking force request is greater than the braking force limit value, the vehicle is controlled to reduce the limp-home speed in the limp-home mode and the vehicle is prohibited from accelerating.

[0123] It can be understood that when the fault type of the braking control system is the second fault type, the sum of the maximum braking force of the power control system and the maximum braking force of the braking control system is determined as the braking force limit value. This braking force limit value represents the braking force that the vehicle can output. If the braking force request of the vehicle is greater than the braking force limit value, it means that the braking force that the vehicle can output cannot meet the braking requirements of the vehicle, and there is a safety risk for the vehicle. Therefore, the vehicle is controlled to reduce the limp-home speed in the limp-home mode and the vehicle is prohibited from accelerating, thereby reducing the safety risk of the vehicle.

[0124] For example, when the maximum braking force that the power control system can provide is 3000 N and the fault type of the braking control system is the second fault type, the maximum braking force that can be output is 1000 N; then the braking force limit value that the vehicle can provide is 4000 N; if the braking force corresponding to the braking force request of the vehicle is greater than 4000 N, the limp-home speed of the vehicle in the limp-home mode is reduced, and the vehicle is prohibited from accelerating.

[0125] It should be noted that the limp-home mode means an emergency mode adopted when the vehicle encounters certain faults or abnormal conditions to avoid damaging key components such as the engine and transmission, so that the vehicle can continue to drive to the repair location. In the limp-home mode, the maximum driving speed of the vehicle is restricted. In this application, when the braking function of the braking control system of the vehicle fails, the vehicle enters the limp-home mode and the maximum driving speed of the vehicle is restricted; when the braking force request of the vehicle is greater than the braking force limit, the maximum driving speed is reduced, and the vehicle is prohibited from accelerating.

[0126] In one implementation, if the braking function of the target wheel in the braking control system fails, based on the position of the target wheel, the drive motor in the power control system corresponding to the target wheel is determined; the drive motor and / or the braking control system are controlled to output the braking force based on the braking force request.

[0127] Exemplarily, if the fault type of the braking control system is wheel cylinder leakage, based on the position of the wheel cylinder where the wheel cylinder leakage occurs, the position of the target wheel is determined; the target wheel is the wheel in the braking control system where the braking function fails. Since in this case, the target wheel of the vehicle cannot achieve braking and the other wheels except the target wheel can brake normally; therefore, the drive motor corresponding to the position of the target wheel is determined, and the drive motor and / or the braking control system are controlled to output the braking force based on the braking force request.

[0128] Among them, the wheel cylinder (i.e., the brake wheel cylinder) is located near each wheel of the vehicle and is usually connected to the brake drum sleeve in the brake drum control system; the brake wheel cylinder contains one or more pistons. When the brake fluid enters the brake wheel cylinder, the pistons will be under pressure and push the brake fluid into the brake drum sleeve; the brake wheel cylinder is used to apply the braking force to the brake drum on the brake drum sleeve, thereby generating friction to decelerate or stop the rotation of the wheel. If the wheel cylinder leaks, it may cause the braking force provided by the braking control system to decrease.

[0129] In the embodiment of the present application, if the braking function of the target wheel in the braking control system fails, the drive motor and / or the braking control system corresponding to the wheel are controlled to output the braking force to ensure that the braking force can be output for the wheel with the failed braking function.

[0130] Optionally, determine the driver's braking intention and determine whether the driver's braking intention is an emergency braking (if the change slope of the brake pedal stroke exceeds the preset slope or the depth of the brake pedal is greater than the preset depth, it is determined as an emergency braking); if the driver's braking intention is an emergency braking, in the scenario where the pressure building of some circuits fails, apply the maximum braking force to the target wheel, and at the same time, the braking control system confirms the maximum deceleration of the normal braking wheels (wheels other than the target wheel), and requests the corresponding microcontroller unit (MCU), that is, the single-chip microcomputer, to perform anti-drag braking according to the maximum deceleration, so as to avoid vehicle deviation caused by uneven braking force and ensure the safety of the vehicle.

[0131] Among them, the failure of the pressure building circuit of the braking control system means that the circuit used to build the braking pressure in the braking control system fails and cannot normally generate or maintain sufficient braking pressure, thus affecting the braking performance.

[0132] Exemplarily, when the driver's braking intention is an emergency braking, if the pressure building ability of the braking control system is limited, the braking control system will request all motors to brake with the maximum anti-drag braking force, and the braking control system itself also brakes with the maximum braking force.

[0133] In the above embodiment, in the case where the first monitoring module of the brake pedal fails, the braking force request of the vehicle is obtained through the second monitoring module; the braking control system and / or the power control system of the vehicle are controlled based on the braking force request to output the braking force; since the first monitoring module of the brake pedal in the braking control system of the vehicle and the second monitoring module of the brake pedal in the power control system are backup to each other; therefore, in the case where the first monitoring module fails, the vehicle can obtain the braking force request of the vehicle through the second monitoring module of the brake pedal. Compared with the prior art where when the braking control system cannot detect the braking force request of the brake pedal, the vehicle is directly controlled to brake with the maximum braking force; the present application can obtain the braking force request through the monitoring module (the second monitoring module) of the brake pedal in the power control system when the monitoring module (the first monitoring module) of the brake pedal in the braking control system fails, ensure that the vehicle can obtain the braking force request, and output the braking force corresponding to the braking force request according to the braking force request, so as to ensure that the braking force requirement of the user for the vehicle can be met.

[0134] Figure 3 It is a schematic flowchart of a control method for a vehicle provided by an embodiment of the present application.

[0135] Figure 3 The method 300 shown can be executed by a vehicle configured with multiple drive motors; or can be executed by a vehicle's vehicle controller; or can be executed by a processor or chip in the vehicle.

[0136] As Figure 3 shown, the vehicle control method 300 includes S301 to S309, which will be described in detail below.

[0137] S301, detect the brake pedal through the first monitoring module of the brake pedal.

[0138] Exemplarily, detect the brake pedal through the first monitoring module of the brake pedal in the brake control system; the first monitoring module is used to monitor the state of the brake pedal (for example, the position, opening degree, etc. of the brake pedal), so as to determine the braking force request of the vehicle.

[0139] S302, determine whether there is a fault in the first monitoring module; if so, execute S303; if not, execute S304.

[0140] Exemplarily, determine whether there is a fault in the first monitoring module; if the first monitoring module has a fault, obtain the braking force request corresponding to the current state of the brake pedal through the second monitoring module; if the first monitoring module has no fault, obtain the braking force request corresponding to the current state of the brake pedal through the first monitoring module.

[0141] Optionally, the implementation manners of S301 to S302 can refer to the relevant description of S210 in Figure 2 ; details are not described herein again.

[0142] S303, obtain the braking force request corresponding to the current state of the brake pedal through the second monitoring module.

[0143] Exemplarily, the second detection module is the monitoring module of the brake pedal in the power control system; the second monitoring module is a backup for the first monitoring module, and the second monitoring module has the same function as the first monitoring module, that is, the second monitoring module is also used to monitor the state of the brake pedal, so as to determine the braking force request of the vehicle; ensure that when the first monitoring module has a fault, obtain the braking force request of the vehicle through the second monitoring module.

[0144] S304, obtain the braking force request corresponding to the current state of the brake pedal through the first monitoring module.

[0145] Exemplarily, if the first monitoring module has no fault, obtain the braking force request corresponding to the current state of the brake pedal through the first monitoring module.

[0146] Optionally, the implementation manners of S303 to S304 can refer to the relevant description of S220 in Figure 2 ; details are not described herein again.

[0147] S305, determine whether there is a fault in the braking function of the brake control system; if so, execute S306; if not, execute S307.

[0148] Exemplarily, determine whether there is a fault in the braking function of the braking control system; if there is a fault in the braking function of the braking control system, determine the type of fault in the braking function; if there is no fault in the braking function of the braking control system, control the braking control system of the vehicle to output braking force.

[0149] S306, determine the type of fault in the braking function.

[0150] Exemplarily, determine the type of fault in the braking function; the types of faults in the braking function include two types: complete failure of the braking function (i.e., the first type of fault) and incomplete failure of the braking function (i.e., the second type of fault); among them, complete failure of the braking function means that the braking control system cannot output braking force; incomplete failure of the braking function means that the braking control system can output partial braking force, that is, when the type of fault in the braking control system is the second type of fault, the braking force that the braking control system can output is less than the braking force that the braking control system can output when there is no fault.

[0151] S307, control the braking control system of the vehicle to output braking force.

[0152] Exemplarily, when there is no fault in the braking function of the braking control system, the braking control system of the vehicle can control the vehicle to brake normally; therefore, control the braking control system of the vehicle to output braking force.

[0153] S308, if the braking function fails completely, output braking force through the power control system.

[0154] Exemplarily, when there is a fault in the braking function of the braking control system, if the braking function fails completely, it means that the braking control system of the vehicle cannot output braking force; therefore, control the vehicle to brake through the power control system of the vehicle.

[0155] Optionally, the implementation method of S308 can refer to Figure 2 the relevant description of Case 1 in S230; it will not be elaborated here.

[0156] S309, if the braking function is not completely failed, output braking force through the power control system and / or the braking control system.

[0157] Exemplarily, when there is a fault in the braking function of the braking control system, if the braking function is not completely failed, it means that the braking control system of the vehicle can output partial braking force; therefore, output braking force through the power control system and / or the power control system of the vehicle.

[0158] Exemplarily, when outputting braking force through the power control system and / or the braking control system, the braking force is preferentially output through the braking control system. When the braking force output by the braking control system cannot reach the braking force corresponding to the braking force request, the braking force is output through the power control system.

[0159] Optionally, the implementation manner of S309 can refer to Figure 2 the relevant description of Case 2 in S230; details are not described herein again.

[0160] In the embodiments of the present application, when the monitoring module (the first monitoring module) of the brake pedal in the braking control system fails, the braking force request is obtained through the monitoring module (the second monitoring module) of the brake pedal in the power control system, ensuring that the vehicle can obtain the braking force request. In addition, since different fault types have different degrees of influence on the braking force output by the vehicle braking control system; therefore, the braking control system and / or the power control system are controlled according to the fault type to output braking; ensuring that the braking force output of the vehicle can be guaranteed through the braking control system and / or the power control system.

[0161] Figure 4 It is a schematic flowchart of another vehicle control method provided by the embodiments of the present application.

[0162] Figure 4 The method 400 shown can be executed by a vehicle equipped with multiple drive motors; or can be executed by the vehicle's vehicle controller; or can be executed by a processor or chip in the vehicle.

[0163] As Figure 4 shown, the vehicle control method 400 includes S401 to S414, and S401 to S414 are described in detail below.

[0164] S401, obtain the state of the braking control system.

[0165] Exemplarily, obtain the state of the braking control system, and the state of the braking control system is used to determine whether there is a fault in the braking control system, that is, the state of the braking control system is used to determine whether the braking control system is disabled.

[0166] S402, determine whether the first communication link and the second communication link have not received an interaction signal; if so, execute S403; if not, execute S404.

[0167] Exemplarily, determine whether the first communication link and the second communication link have not received an interaction signal. If so, obtain the current vehicle speed information of the vehicle; if not, determine whether a braking control system disable signal is detected.

[0168] S403, determine that the braking control system is disabled.

[0169] Exemplarily, when neither the first communication link nor the second communication link receives the interaction signal sent by the braking control system, it is determined that the braking control system is disabled; or when at least one of the first communication link and the second communication link receives the interaction signal sent by the braking control system, and the interaction signal is the disable signal of the braking control system, it is determined that the braking control system of the vehicle is disabled.

[0170] S404, whether a disable signal of the braking control system is detected; if so, execute S403; if not, execute S401.

[0171] Exemplarily, when at least one of the first communication link and the second communication link receives the interaction signal sent by the braking control system, it is judged whether the interaction signal is the disable signal for controlling the braking control system; that is, it is judged whether a disable signal of the braking control system is detected.

[0172] Exemplarily, if a disable signal of the braking control system is detected, it is determined that the braking control system is disabled; if a disable signal of the braking control system is not detected, the state of the braking control system is acquired again.

[0173] S405, acquire the current vehicle speed.

[0174] Exemplarily, after determining that the braking control system is disabled, the current vehicle speed is acquired.

[0175] S406, whether the vehicle speed sent by the braking control system is valid; if so, execute S407; if not, execute S408.

[0176] Exemplarily, it is judged whether the vehicle speed sent by the braking control system is valid; if so, it is judged whether the vehicle speed is greater than the preset vehicle speed threshold; if not, the vehicle speed is calculated according to the driving motor speed.

[0177] S407, whether the vehicle speed is greater than the preset vehicle speed threshold; if so, execute S409; if not, execute S410.

[0178] Exemplarily, it is judged whether the vehicle speed is greater than the preset vehicle speed threshold; if the vehicle speed is greater than the preset vehicle speed threshold, a prompt message is displayed and the vehicle is controlled to turn on the hazard lights; if the vehicle speed is less than or equal to the preset vehicle speed threshold, the braking state of the vehicle is determined according to the driver's operation.

[0179] Wherein, the preset vehicle speed threshold is the vehicle speed threshold determined according to the maximum braking force that the driving motor can generate. When the vehicle speed is greater than the preset vehicle speed threshold, it means that the maximum braking force of the vehicle driving motor cannot reduce the vehicle speed to 0; when the vehicle speed is greater than the preset vehicle speed threshold, it means that the maximum braking force of the vehicle driving motor can reduce the vehicle speed to 0.

[0180] Optionally, the preset vehicle speed threshold is defined based on the maximum heat dissipation of the drive motor, that is, a value obtained by multiplying the deceleration generated when applying the maximum braking force in the reverse drag braking scenario of the drive motor by the time that the drive motor can withstand and then subtracting a fixed constant.

[0181] S408, calculate the vehicle speed based on the drive motor speed.

[0182] Exemplarily, according to the wheel radius, drive motor speed, and drive motor transmission ratio of the vehicle, the vehicle speed is calculated using Formula 3:

[0183]

[0184] where v represents the vehicle speed, r represents the wheel radius, π represents pi, n m represents the drive motor speed (revolutions per minute), and i represents the transmission ratio of the transmission system (the ratio of the drive motor speed to the wheel speed).

[0185] S409, display a prompt message and control the vehicle to turn on the hazard lights.

[0186] Exemplarily, when the vehicle speed is greater than the preset vehicle speed threshold, the maximum braking force of the drive motor cannot control the vehicle to stop; therefore, a prompt message is displayed and the vehicle is controlled to turn on the hazard lights; for example, prompt the driver in the instrument panel that "the current vehicle has a serious fault, please pull over to the side of the road as soon as possible"; at the same time, the power control system interacts with the body electronics domain to turn on the hazard lights of the vehicle.

[0187] S410, calculate the maximum deceleration of the power control system based on the drive motor temperature and the maximum heat dissipation.

[0188] Exemplarily, calculate the maximum deceleration of the power control system based on the drive motor temperature and the maximum heat dissipation; among them, the method of calculating the maximum deceleration can refer to the relevant embodiments of calculating the maximum deceleration under reverse drag braking in S230.

[0189] S411, determine the braking state of the vehicle according to the driver's operation.

[0190] Exemplarily, determine the braking state of the vehicle according to the driver's operation; the braking state of the vehicle includes emergency braking and non-emergency braking.

[0191] S412, whether the braking state is emergency braking; if so, execute S413; if not, execute S414.

[0192] Exemplarily, determine whether the braking state is emergency braking; if the braking state is emergency braking, control the vehicle to brake according to the maximum deceleration; if the braking state is non-emergency braking, control the vehicle to brake gradually.

[0193] Exemplarily, determine whether the braking state is an emergency braking according to the change slope of the brake pedal travel or the brake pedal depth; when the change slope of the brake pedal travel exceeds a preset slope or the brake pedal depth is greater than a preset depth, determine that the braking state is an emergency braking.

[0194] S413, control the vehicle braking according to the maximum deceleration.

[0195] Exemplarily, if the braking state is an emergency braking, control the vehicle braking according to the maximum deceleration to ensure that the vehicle braking can be quickly controlled to meet the braking requirements in the emergency braking scenario.

[0196] S414, control the vehicle for progressive braking.

[0197] Exemplarily, if the braking state is not an emergency braking, control the vehicle for progressive braking according to the brake pedal travel; wherein, the progressive braking means that the braking force gradually increases during the braking process to achieve smooth and precise braking control; during the progressive braking process, the braking force does not reach the maximum value instantaneously, but gradually increases with time or the increase of the brake pedal travel.

[0198] In the embodiment of the present application, in the case where the braking control system fails, if the vehicle speed is greater than the preset vehicle speed threshold, the maximum braking force of the vehicle power control system cannot control the vehicle braking. Therefore, a prompt message is displayed to prompt the driver to adopt corresponding strategies, and at the same time, the vehicle is controlled to turn on the hazard lights to prompt surrounding vehicles; in addition, different braking strategies are adopted according to the braking state of the vehicle. In the case of emergency braking, the vehicle braking is controlled according to the maximum deceleration to ensure that the vehicle can brake quickly; in the case of non-emergency braking, the vehicle is controlled for progressive braking to achieve smooth and precise braking control.

[0199] Figure 5 It is a schematic flowchart of another vehicle control method provided by the embodiment of the present application.

[0200] Figure 5 The method 500 shown can be executed by a vehicle configured with multiple drive motors; or can be executed by the vehicle's vehicle controller; or can be executed by a processor or chip in the vehicle.

[0201] Such as Figure 5 As shown, the vehicle control method 500 includes S501 to S513, and S501 to S513 will be described in detail below.

[0202] S501, obtain the failure state of the braking control system.

[0203] Exemplarily, in the case where the braking control system failure is detected, determine the failure state of the braking control system; wherein, the failure state is used to determine the fault cause that causes the braking control system to fail.

[0204] It is understandable that the failure of the braking control system refers to the state where the braking control system is not completely disabled and can output partial braking force.

[0205] S502, Check whether there is a failure in building pressure in some circuits; if so, execute S503; if not, execute S509.

[0206] Exemplarily, determine whether there is a failure in building pressure in some circuits; if so, determine that some circuits lose the ability to build pressure; if not, determine that the pressure building ability of all circuits is limited but braking force is generated.

[0207] Among them, the failure of the circuit pressure building in the braking control system means that the circuit used to build the braking pressure in the braking control system fails and cannot normally generate or maintain sufficient braking pressure, thus affecting the braking performance.

[0208] S503, Determine that some circuits lose the ability to build pressure.

[0209] Exemplarily, if there is a failure in building pressure in some circuits, determine that some circuits lose the ability to build pressure.

[0210] S504, Determine the motor corresponding to the circuit that has lost the pressure building ability.

[0211] Exemplarily, in the case where some circuits lose the ability to build pressure, determine the motor (i.e., the drive motor) corresponding to some circuits.

[0212] S505, Determine the maximum counter-dragging deceleration, continuous energy recovery deceleration, and continuous counter-dragging stable deceleration.

[0213] Exemplarily, the braking control system determines the braking ability of the drive motor corresponding to the braking failure position, including determining the maximum counter-dragging deceleration, continuous energy recovery deceleration, and continuous counter-dragging stable deceleration of the drive motor.

[0214] Among them, the maximum counter-dragging deceleration refers to the maximum deceleration that the drive motor can generate during the counter-dragging braking process of the vehicle, that is, the motor performs regenerative braking with maximum capacity, converts the kinetic energy of the vehicle into electrical energy and stores it, and at the same time generates the maximum braking force to decelerate the vehicle; the maximum counter-dragging deceleration is a theoretical limit value and can usually be achieved under specific conditions.

[0215] The continuous energy recovery deceleration refers to the relatively stable deceleration that the vehicle can continuously maintain in the energy recovery mode. The drive motor converts part of the kinetic energy during the vehicle's driving into electrical energy and recovers it into the battery, and at the same time decelerates the vehicle at a certain deceleration. The continuous energy recovery deceleration is usually less than the maximum counter-dragging deceleration and is a deceleration value that can be maintained for a long time after considering various factors such as battery charging capacity, motor heat generation limit, and vehicle driving comfort.

[0216] The continuous reverse drag stable deceleration refers to the deceleration that a vehicle can stably maintain for a long time in the reverse drag braking mode. During the vehicle's driving process, the vehicle can perform reverse drag braking at this stable deceleration under different road conditions or driving conditions, ensuring the consistency and reliability of the braking effect.

[0217] It can be understood that the maximum reverse drag deceleration is related to the maximum heat dissipation of the drive motor and the heat capacity of the power control system. The continuous energy recovery deceleration is related to factors such as battery power, MCU power, and rotational speed. The continuous reverse drag stable deceleration is related to the maximum heat dissipation of the drive motor of the power control system.

[0218] S506, Determine whether the vehicle is in an emergency braking situation; if so, execute S507; if not, execute S508.

[0219] Exemplarily, determine whether the vehicle is in an emergency braking situation; if the vehicle is in an emergency braking situation, determine the maximum deceleration of the non-failed wheels and perform braking according to the maximum deceleration; if the vehicle is not in an emergency braking situation, monitor the driver's brake pedal stroke and perform braking according to the brake pedal stroke.

[0220] S507, Determine the maximum deceleration of the non-failed wheels and perform braking according to the maximum deceleration.

[0221] Exemplarily, the non-failed wheels refer to the wheels that have not lost the pressure building ability. Determine the maximum deceleration of the drive motor corresponding to the non-failed wheels (usually the maximum reverse drag deceleration) as the maximum deceleration of the non-failed wheels; and perform braking on the non-failed wheels according to this maximum deceleration.

[0222] S508, Monitor the driver's brake pedal stroke and perform braking according to the brake pedal stroke.

[0223] Exemplarily, monitor the driver's brake pedal stroke and perform braking according to the brake pedal stroke, that is, gradually increase the braking force as the brake pedal stroke increases to achieve progressive braking.

[0224] Optionally, in the case of braking in a non-emergency braking scenario, the braking control system monitors the driver's braking request, applies braking to the vehicle according to the braking stroke, preferentially calls on the braking ability of the braking control system itself for braking. In the case of insufficient self-braking ability, the braking control system requests to call on the braking ability of the power control system; when the braking control system requests the power control system to perform braking, it preferentially requests energy recovery. When the energy recovery is insufficient, it requests the drive motor to perform reverse drag braking. If the braking force requested by the driver is greater than the stable deceleration of the braking control system + power control system, the power control system reduces the vehicle's limp-home speed and limits the vehicle's acceleration.

[0225] S509. Determine that the full-circuit pressure build-up ability is limited and generate braking force.

[0226] Exemplarily, if the pressure build-up ability of the braking control system is limited and it does not belong to the partial-circuit pressure build-up failure, it is determined that the current vehicle does not have a limited full-circuit pressure build-up ability and the vehicle can generate braking force.

[0227] S510. Determine the braking ability of all motors.

[0228] Exemplarily, in the case where the full-circuit pressure build-up ability of the vehicle is limited, determine the braking ability of each motor of the vehicle.

[0229] S511. Determine the maximum anti-drag deceleration, continuous energy recovery deceleration, and continuous anti-drag stable deceleration.

[0230] Optionally, the implementation manner of S511 can refer to the relevant description in S505 and will not be elaborated here.

[0231] S512. Determine whether the vehicle is in emergency braking; if so, execute S513; if not, execute S508.

[0232] Exemplarily, determine whether the vehicle is in emergency braking. If the vehicle is in emergency braking, the braking control system requests the maximum anti-drag deceleration and the braking control system performs auxiliary braking; if the vehicle is not in emergency braking, monitor the driver's brake pedal travel and perform braking according to the brake pedal travel.

[0233] S513. The braking control system requests the maximum anti-drag deceleration and the braking control system performs auxiliary braking.

[0234] Exemplarily, when the vehicle is in emergency braking, the braking control system requests all drive motors to brake with the maximum anti-drag braking force. At the same time, the braking control system itself also brakes with the maximum boost.

[0235] In the embodiments of the present application, in the case of a full-circuit pressure build-up failure of the braking control system, the braking force is output in coordination by all drive motors and the braking control system to control vehicle braking; in the case of a partial-circuit pressure build-up failure of the braking control system, determine the corresponding drive motor according to the circuit with pressure build-up failure, and apply braking force according to the drive motor to control vehicle braking; ensure that emergency braking can be achieved in different fault states of the braking control system, effectively improving the safety of the vehicle during braking. Based on the multi-motor architecture, the braking control system of the vehicle can accurately adjust and control the braking force applied by the braking control system and the drive control system in partial failure scenarios, thereby improving the safety in emergency braking scenarios.

[0236] The above combines Figures 1 to 5 The above details the control method of the vehicle provided by the embodiments of the present application; the following will combineFigure 6 and Figure 7 Describe the device embodiments of the present application in detail. It should be understood that the devices in the embodiments of the present application can execute various methods in the foregoing embodiments of the present application. That is, for the specific working processes of the following various products, reference can be made to the corresponding processes in the foregoing method embodiments.

[0237] Figure 6 It is a schematic structural diagram of a control device for a vehicle provided by an embodiment of the present application.

[0238] Exemplarily, as Figure 6 shown, the vehicle control device 600 is applied to a vehicle. The braking control system of the vehicle is configured with a first monitoring module for the brake pedal, and the power control system of the vehicle is configured with a second monitoring module for the brake pedal. The first monitoring module and the second monitoring module are backup to each other. The control device 600 includes:

[0239] A detection module 610, configured to detect whether there is a fault in the first monitoring module of the brake pedal;

[0240] A processing module 620, configured to, when there is a fault in the first monitoring module of the brake pedal, obtain a braking force request of the vehicle through the second monitoring module; and based on the braking force request, control the braking control system and / or the power control system of the vehicle to output a braking force.

[0241] Optionally, as an embodiment, the processing module 620 is specifically configured to: determine whether there is a fault in the braking function of the braking control system; if there is no fault in the braking function, control the braking control system of the vehicle to output a braking force based on the braking force request; if there is a fault in the braking function, control the braking control system and / or the power control system of the vehicle to output a braking force based on the braking force request.

[0242] Optionally, as an embodiment, the processing module 620 is specifically configured to: if there is a fault in the braking function, determine the fault type. The fault type includes a first fault type and a second fault type. The first fault type is used to indicate that the braking function fails completely, and the second fault type is used to indicate that the braking function fails partially and can output partial braking force; if the fault type is the first fault type, control the power control system to output a braking force based on the braking force request; if the fault type is the second fault type, control the braking control system and / or the power control system to output a braking force based on the braking force request.

[0243] Optionally, as an embodiment, the processing module 620 is specifically configured to: determine the maximum braking force that the power control system can provide; if the braking force corresponding to the braking force request is less than or equal to the maximum braking force, output the braking force corresponding to the braking force request through the drive motor of the power control system; if the braking force corresponding to the braking force request is greater than the maximum braking force, control the power control system to output the maximum braking force, and control the vehicle to execute a safety control strategy, where the safety control strategy includes controlling the vehicle to turn on the hazard lights and output a target prompt message, and the target prompt message is used to prompt the driver to control the vehicle to stop.

[0244] Optionally, as an embodiment, the processing module 620 is specifically configured to: determine the maximum braking force that the braking control system can provide; if the braking force corresponding to the braking force request is less than or equal to the maximum braking force that the braking control system can provide, output the braking force through the braking control system; if the braking force corresponding to the braking force request is greater than the maximum braking force that the braking control system can provide, control the braking control system to output a first braking force and control the power control system to output a second braking force, where the first braking force is the maximum braking force of the braking control system, and the second braking force is the difference between the braking force corresponding to the braking force request and the maximum braking force.

[0245] Optionally, as an embodiment, the processing module 620 is further configured to: determine the sum of the maximum braking force of the power control system and the maximum braking force of the braking control system as the braking force limit; if the braking force corresponding to the braking force request is greater than the braking force limit, control the vehicle to reduce the limp-home speed in the limp-home mode and prohibit the vehicle from accelerating.

[0246] Optionally, as an embodiment, the processing module 620 is specifically configured to: if a braking function of a target wheel in the braking control system fails, determine a drive motor in the power control system corresponding to the target wheel based on the position of the target wheel; control the drive motor and / or the braking control system to output a braking force based on the braking force request.

[0247] It should be noted that the above control device of the vehicle is embodied in the form of functional units. The term "module" here can be implemented in software and / or hardware forms, and no specific limitation is made thereto.

[0248] For example, the "module" can be a software program, a hardware circuit, or a combination of the two that implements the above functions. The hardware circuit may include an Application Specific Integrated Circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a proprietary processor, or a group of processors, etc.) for executing one or more software or firmware programs, a memory, a merged logic circuit, and / or other suitable components that support the described functions.

[0249] Therefore, the units of each example described in the embodiments of the present application can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of the present application.

[0250] Figure 7 It is a schematic structural diagram of a vehicle provided by an embodiment of the present application.

[0251] Exemplarily, the vehicle 700 includes: a processor 710, a memory 720, and an executable program code 730.

[0252] Exemplarily, the vehicle 700 includes one or more processors 710, and the one or more processors 710 can support the vehicle 700 to implement the control method of the vehicle in the method embodiment. The processor 710 can be a general-purpose processor or a special-purpose processor. For example, the processor 710 can be a central processing unit (CPU), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, such as discrete gate, transistor logic devices, or discrete hardware components.

[0253] Exemplarily, the processor 710 can be used to control the vehicle 700, execute software programs, and process the data of the software programs. The vehicle 700 can also include a communication unit for implementing signal input (reception) and output (transmission).

[0254] Exemplarily, the vehicle 700 can include one or more memories 720, on which there is an executable program code 730, and the executable program code 730 can be run by the processor 710 to generate instructions, so that the processor 710 executes the control method of the vehicle described in the above method embodiment according to the instructions.

[0255] Optionally, data can also be stored in the memory 720. Optionally, the processor 710 can also read the data stored in the memory 720. The data can be stored at the same storage address as the executable program code 730, or the data can be stored at a different storage address from the executable program code 730.

[0256] Exemplarily, the processor 710 and the memory 720 may be provided separately or integrated together. For example, they may be integrated on a system on chip (SOC) of the terminal device.

[0257] Exemplarily, the memory 720 may be used to store the relevant programs of the vehicle control method provided in the embodiments of the present application. The processor 720 may be used to call the executable program code 730 stored in the memory 720 when controlling the vehicle, and execute the vehicle control method of the embodiments of the present application; for example, detecting whether there is a fault in the first monitoring module of the brake pedal; in the case where there is a fault in the first monitoring module of the brake pedal, obtaining the braking force request of the vehicle through the second monitoring module of the brake pedal; and based on the braking force request, controlling the braking control system and / or the power control system of the vehicle to output braking force.

[0258] The present application also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the vehicle control method in any of the foregoing embodiments are implemented.

[0259] Among them, the computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical discs, digital versatile discs (DVDs), compact disc read-only memories (CD-ROMs), microdrives, and magneto-optical discs, read-only memories (ROMs), random access memories (RAMs), erasable programmable read-only memories (EPROMs), electrically erasable programmable read-only memories (EEPROMs), dynamic random access memories (DRAMs), video random access memories (VRAMs), flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0260] The present application also provides a computer program product, when the computer program product runs on a computer, enabling the computer to execute the above-related steps to implement a vehicle control method in the above embodiments.

[0261] In addition, the vehicle provided by the embodiments of the present application may specifically be a chip, a component or a module, and the vehicle may include a processor and a memory connected to each other; wherein, the memory is used to store instructions, and when the vehicle runs, the processor can call and execute the instructions so that the chip executes the control method of a vehicle in the above embodiments.

[0262] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided by the present application are all used to execute the corresponding vehicle control method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding vehicle control method provided above, and will not be elaborated here.

[0263] Through the description of the above embodiments, those skilled in the art can understand that for the convenience and brevity of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0264] In the embodiments provided by the present application, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces, and the indirect coupling or communication connection of the device or unit can be in an electrical, mechanical or other form.

[0265] The above content is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present application, and all should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A control method for a vehicle, characterized in that, The braking control system of the vehicle is configured with a first monitoring module for the brake pedal, and the power control system of the vehicle is configured with a second monitoring module for the brake pedal. The first monitoring module and the second monitoring module are backup to each other. The method includes: Detect whether there is a fault in the first monitoring module of the brake pedal; When there is a fault in the first monitoring module of the brake pedal, obtain the braking force request of the vehicle through the second monitoring module of the brake pedal; Based on the braking force request, control the braking control system and / or the power control system of the vehicle to output braking force.

2. The method according to claim 1, characterized in that, It further includes: Determine whether there is a fault in the braking function of the braking control system; The controlling the braking control system and / or the power control system of the vehicle to output braking force based on the braking force request includes: If there is no fault in the braking function, control the braking control system of the vehicle to output braking force based on the braking force request; If there is a fault in the braking function, control the braking control system and / or the power control system of the vehicle to output braking force based on the braking force request.

3. The method according to claim 2, characterized in that, The controlling the braking control system and / or the power control system of the vehicle to output braking force if there is a fault in the braking function includes: If there is a fault in the braking function, determine the type of the fault. The type of the fault includes a first fault type and a second fault type. The first fault type is used to indicate that the braking function fails completely, and the second fault type is used to indicate that the braking function fails partially and can output partial braking force; If the type of the fault is the first fault type, control the power control system to output the braking force based on the braking force request; If the type of the fault is the second fault type, control the braking control system and / or the power control system to output the braking force based on the braking force request.

4. The method according to claim 3, characterized in that, The controlling the power control system to output the braking force based on the braking force request if the type of the fault is the first fault type includes: If the type of the fault is the first fault type, determine the maximum braking force that the power control system can provide; If the braking force corresponding to the braking force request is less than or equal to the maximum braking force, output the braking force corresponding to the braking force request through the drive motor of the power control system; If the braking force corresponding to the braking force request is greater than the maximum braking force, control the power control system to output the maximum braking force, and control the vehicle to execute a safety control strategy. The safety control strategy includes controlling the vehicle to turn on the hazard lights and output a target prompt message, where the target prompt message is used to prompt the driver to control the vehicle to stop.

5. The method according to claim 3, characterized in that, The controlling the braking control system and / or the power control system to output the braking force based on the braking force request if the type of the fault is the second fault type includes: If the type of the fault is the second fault type, determine the maximum braking force that the braking control system can provide; If the braking force corresponding to the braking force request is less than or equal to the maximum braking force that the braking control system can provide, output the braking force through the braking control system; If the braking force corresponding to the braking force request is greater than the maximum braking force that the braking control system can provide, control the braking control system to output a first braking force and control the power control system to output a second braking force, where the first braking force is the maximum braking force of the braking control system, and the second braking force is the difference between the braking force corresponding to the braking force request and the maximum braking force.

6. The method according to claim 5, characterized in that, Further included: Determine the sum of the maximum braking force of the power control system and the maximum braking force of the braking control system as the braking force limit value; If the braking force corresponding to the braking force request is greater than the braking force limit value, control the vehicle to reduce the limp-home speed in the limp-home mode and prohibit the vehicle from accelerating.

7. The method according to claim 2, characterized in that, When the braking function is faulty, controlling the braking control system and / or the power control system of the vehicle to output a braking force based on the braking force request includes: If the braking function of the target wheel in the braking control system is faulty, determine the drive motor in the power control system corresponding to the target wheel based on the position of the target wheel; Based on the braking force request, control the drive motor and / or the braking control system to output a braking force.

8. The method according to any one of claims 1 to 6, characterized in that, There is a first communication link and a second communication link between the braking control system and the power control system of the vehicle, where the first communication link is the communication link connecting the braking control system and the power control system, and the second communication link is the communication link connecting the braking control system and the vehicle gateway, and the gateway is connected to the power control system of the vehicle.

9. A control device for a vehicle, characterized in that, Applied to a vehicle, the braking control system of the vehicle is configured with a first monitoring module for the brake pedal, the power control system of the vehicle is configured with a second monitoring module for the brake pedal, and the first monitoring module and the second monitoring module are backup to each other. The device includes: A detection module for detecting whether there is a fault in the first monitoring module of the brake pedal; A processing module for, when there is a fault in the first monitoring module of the brake pedal, obtaining the braking force request of the vehicle through the second monitoring module; and based on the braking force request, controlling the braking control system and / or the power control system of the vehicle to output a braking force.

10. A vehicle, characterized in that, The vehicle includes: A memory for storing executable program code; A processor for calling and running the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 8.

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