Intelligent driving vehicle redundant braking control method, device, equipment, medium and product

Abstract

The invention discloses an intelligent driving vehicle redundant braking control method, device and equipment, a medium and a product. The method is also applied to a second motor control unit MCU in the intelligent driving system domain controller. The intelligent driving system domain controller further comprises a first motor control unit MCU and a functional algorithm module. The first MCU and the second MCU are respectively in communication connection with the functional algorithm module; the first MCU is in communication connection with the second MCU, and the method comprises the steps that when it is monitored that the running state of the first MCU is abnormal, vehicle position information, path planning information and running state information of a vehicle are obtained from a function algorithm module; determining an acceleration compensation value according to the vehicle position information, the path planning information and the driving state information; according to the acceleration compensation value, redundant brake pressure is determined; and the redundant brake pressure is output to a chassis controller of the vehicle so as to achieve redundant brake control over the vehicle. According to the technical scheme, the redundant braking control safety and reliability of the intelligent driving vehicle are improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle intelligent driving technology, and in particular to a method, device, equipment, medium and product for redundant braking control of an intelligent driving vehicle. Background Art

[0002] Intelligence is the future of automotive technology. As a crucial component of traffic safety, the braking system must adapt to the demands of advanced autonomous driving. Chassis actuation, a crucial component of autonomous vehicles, requires the brake-by-wire system to provide redundant dynamic support in the event of actuation system failure to ensure safe autonomous driving. However, most existing redundant chassis implementations are not only technically challenging but also prohibitively expensive, making them unaffordable for users. Consequently, existing redundant braking control methods for intelligent vehicles suffer from limitations in safety, cost, and power consumption. Summary of the Invention

[0003] The present invention provides a method, device, equipment, medium and product for redundant braking control of intelligent driving vehicles to improve the safety and reliability of redundant braking control of intelligent driving vehicles and reduce the power consumption and overhead of redundant braking control of intelligent driving vehicles.

[0004] According to one aspect of the present invention, a method for controlling redundant braking of an intelligent driving vehicle is provided, which is applied to a second motor control unit MCU in an intelligent driving system domain controller; the intelligent driving system domain controller also includes a first motor control unit MCU and a functional algorithm module; the first MCU and the second MCU are respectively communicatively connected to the functional algorithm module; the first MCU and the second MCU are communicatively connected, and the method includes:

[0005] When the operating state of the first MCU is detected to be abnormal, the vehicle position information, path planning information and driving state information of the own vehicle are obtained from the functional algorithm module;

[0006] Determining an acceleration compensation value based on the vehicle position information, path planning information, and driving state information;

[0007] determining a redundant brake pressure according to the acceleration compensation value;

[0008] The redundant brake pressure is output to a chassis controller of the own vehicle to implement redundant brake control of the own vehicle.

[0009] According to another aspect of the present invention, a redundant braking control device for an intelligent driving vehicle is provided, which is configured with a second motor control unit MCU in an intelligent driving system domain controller; the intelligent driving system domain controller also includes a first motor control unit MCU and a functional algorithm module; the first MCU and the second MCU are respectively communicatively connected to the functional algorithm module; the first MCU and the second MCU are communicatively connected, and the device includes:

[0010] An operation status monitoring module is used to obtain vehicle position information, path planning information and driving status information of the own vehicle from the function algorithm module when detecting that the operation status of the first MCU is abnormal;

[0011] an acceleration compensation value determination module, configured to determine an acceleration compensation value based on the vehicle position information, path planning information, and driving state information;

[0012] a redundant brake pressure determination module, configured to determine a redundant brake pressure according to the acceleration compensation value;

[0013] The redundant brake control module is used to output the redundant brake pressure to the chassis controller of the own vehicle to achieve redundant brake control of the own vehicle.

[0014] According to another aspect of the present invention, an electronic device is provided, comprising:

[0015] at least one processor; and

[0016] a memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the intelligent driving vehicle redundant braking control method described in any embodiment of the present invention.

[0018] According to another aspect of the present invention, a computer-readable storage medium is provided, which stores computer instructions, and the computer instructions are used to enable a processor to implement the intelligent driving vehicle redundant braking control method described in any embodiment of the present invention when executed.

[0019] According to another aspect of the present invention, a computer program product is provided. The computer program product includes a computer program. When the computer program is executed by a processor, it implements the intelligent driving vehicle redundant braking control method described in any embodiment of the present invention.

[0020] The technical solution of the embodiment of the present invention obtains the vehicle position information, path planning information and driving status information of the own vehicle from the functional algorithm module when the operating status of the first MCU is monitored to be abnormal; determines the acceleration compensation value according to the vehicle position information, path planning information and driving status information; determines the redundant braking pressure according to the acceleration compensation value; and outputs the redundant braking pressure to the chassis controller of the own vehicle to realize redundant braking control of the own vehicle, thereby improving the safety and reliability of the redundant braking control of the intelligent driving vehicle and reducing the power consumption and overhead of the redundant braking control of the intelligent driving vehicle.

[0021] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 This is a flowchart of a redundant braking control method for an intelligent driving vehicle provided according to the first embodiment of the present invention;

[0024] Figure 2A This is a schematic diagram of the system structure of a domain controller of an intelligent driving system provided according to the second embodiment of the present invention;

[0025] Figure 2B This is a flowchart of a redundant braking control method for an intelligent driving vehicle provided according to a second embodiment of the present invention;

[0026] Figure 3 2 is a schematic structural diagram of a redundant braking control device for an intelligent driving vehicle provided according to a third embodiment of the present invention;

[0027] Figure 4 It is a structural diagram of an electronic device that implements the redundant braking control method for an intelligent driving vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] Example 1

[0031] Figure 1 This is a flow chart of a method for redundant braking control of an intelligent driving vehicle provided in Example 1 of the present invention. This embodiment is applicable to the situation where redundant braking control of an intelligent driving vehicle with closed-loop control of brake pressure is performed. The method can be executed by a redundant braking control device for an intelligent driving vehicle. The redundant braking control device for an intelligent driving vehicle can be implemented in the form of hardware and / or software, and the redundant braking control device for an intelligent driving vehicle can be configured in an electronic device.

[0032] The intelligent driving vehicle redundant braking control method of this embodiment is applied to the second motor control unit MCU in the intelligent driving system domain controller; the intelligent driving system domain controller also includes a first motor control unit MCU and a function algorithm module; the first MCU and the second MCU are respectively connected to the function algorithm module in communication; the first MCU and the second MCU are connected in communication, such as Figure 1 As shown, the method includes:

[0033] S110 . When it is detected that the operating state of the first MCU is abnormal, the vehicle position information, path planning information, and driving state information of the own vehicle are obtained from the functional algorithm module.

[0034] S120 : Determine an acceleration compensation value based on the vehicle position information, the path planning information, and the driving state information.

[0035] S130: Determine a redundant braking pressure according to the acceleration compensation value.

[0036] S140: Output the redundant braking pressure to the chassis controller of the own vehicle to implement redundant braking control of the own vehicle.

[0037] The functional algorithm module can be the SOC (System on Chip) in the intelligent driving system domain controller, in which functional algorithms such as perception, positioning, and path planning are deployed. The vehicle intelligent control algorithm is deployed in the first MCU (Motor Control Unit); the intelligent driving vehicle redundant braking control method of this embodiment is deployed in the second MCU. The second MCU has smaller memory than the first MCU and has low overhead and low power consumption.

[0038] The second MCU monitors the operating status of the first MCU in real time and performs a self-check of its operating status. Optionally, if it detects an abnormal operating status of the second MCU, it generates a driver takeover prompt, prompting the driver and prohibiting the vehicle from entering intelligent driving mode.

[0039] When the second MCU detects an abnormal operating state of the first MCU, it obtains the vehicle's location information, path planning information, and driving status information from the functional algorithm module SOC. The obtained information is filtered to make the signal smoother for subsequent data processing.

[0040] In an optional embodiment, the acceleration compensation value is determined based on the vehicle position information, path planning information and driving status information, including: determining the speed compensation value based on the vehicle position information and path planning information; determining the acceleration compensation value based on the driving status information and the speed compensation value.

[0041] Optionally, a speed compensation value is determined based on the vehicle position information and the path planning information, including: selecting a reference path trajectory point from several path trajectory points in the path planning information based on the vehicle position information; determining a longitudinal position error based on the reference path trajectory point and the path starting point in the path planning information; and determining a speed compensation value based on the longitudinal position error.

[0042] The path planning information is a reference path pre-planned by the SOC's path planning algorithm. This reference path includes several path points. Based on the vehicle's position information, the reference path point closest to the vehicle's position is selected from these path points. The longitudinal position error is calculated by subtracting the reference path point from the path starting point in the path planning information. This longitudinal position error is input into the position PID (Proportional-Integral-Derivative Controller), which outputs the velocity compensation value.

[0043] The speed deviation is determined based on the speed compensation value and the vehicle's current speed in the driving status information. This speed deviation is input into the speed PID controller, which outputs the acceleration compensation value. Redundant brake pressure is determined based on the acceleration compensation value.

[0044] In an optional embodiment, redundant braking pressure is determined based on the acceleration compensation value, including: controlling the vehicle to accelerate according to a preset torque percentage and a preset speed parameter, and determining the vehicle acceleration time; determining the vehicle load according to the vehicle acceleration time; and determining redundant braking pressure according to the vehicle load and the acceleration compensation value.

[0045] A preset torque percentage is sent to the engine of the vehicle's chassis, causing it to operate at that fixed torque percentage. Based on a preset speed parameter, the vehicle is accelerated to the preset speed parameter. For example, the torque percentage is set to 15% and the speed parameter is 3 km / h. The time required for the vehicle to accelerate to the preset speed parameter is determined, which is known as the vehicle acceleration time.

[0046] The vehicle load is determined based on the vehicle acceleration time and a preset calibration table. This table, derived from actual vehicle testing, stores the mapping between the vehicle acceleration time and the vehicle load. Table 1 shows this calibration table.

[0047] Table 1

[0048] Acceleration time (s) Vehicle mass (kg) 0.6 3250 (no load) 0.64 3750 0.69 4250 0.74 4750 0.795 5250 0.825 5750 0.905 6250 (full load)

[0049] Vehicle load is calculated using real vehicle testing and table lookup, which greatly reduces software overhead and power consumption while also ensuring braking comfort in the event of system failure.

[0050] Determining the redundant brake pressure based on the vehicle load and the acceleration compensation value. In an optional embodiment, determining the redundant brake pressure based on the vehicle load and the acceleration compensation value includes: obtaining a cross-sectional area of ​​a brake master cylinder of the own vehicle; and determining the redundant brake pressure based on the vehicle load, the acceleration compensation value, and the cross-sectional area of ​​the brake master cylinder.

[0051] For example, based on the vehicle load, the acceleration compensation value, and the cross-sectional area of ​​the master cylinder, the redundant brake pressure may be determined as follows:

[0052]

[0053] Where m represents the vehicle load; a represents the acceleration compensation value; S represents the cross-sectional area of ​​the brake master cylinder; and P represents the redundant brake pressure.

[0054] The technical solution of the embodiment of the present invention obtains the vehicle position information, path planning information and driving status information of the own vehicle from the functional algorithm module when the operating status of the first MCU is monitored to be abnormal; determines the acceleration compensation value according to the vehicle position information, path planning information and driving status information; determines the redundant braking pressure according to the acceleration compensation value; and outputs the redundant braking pressure to the chassis controller of the own vehicle to realize redundant braking control of the own vehicle, thereby improving the safety and reliability of the redundant braking control of the intelligent driving vehicle and reducing the power consumption and overhead of the redundant braking control of the intelligent driving vehicle.

[0055] Example 2

[0056] Figure 2A A schematic diagram of the system structure of an intelligent driving system domain controller provided in the second embodiment of the present invention. The intelligent driving system domain controller includes a first MCU, a second MUC and a functional algorithm module; the first MCU and the second MCU are respectively connected to the functional algorithm module (SOC); the first MCU and the second MCU are connected to each other; the first MCU and the second MCU respectively obtain information such as vehicle position, trajectory points and vehicle speed from the functional algorithm module. The functional algorithm module (SOC) may include perception fusion function, positioning function and path planning function, etc., and receive external sensor signals and chassis signals, etc. The first MCU and the second MCU output control instructions, such as torque, brake pressure and other control instructions.

[0057] Figure 2B This is a flow chart of a redundant braking control method for an intelligent driving vehicle provided in the second embodiment of the present invention. This embodiment provides a preferred example based on the above embodiment.

[0058] like Figure 2B As shown, the method includes the following specific steps:

[0059] S201. When it is detected that the operating state of the first MCU is abnormal, the vehicle position information, path planning information and driving state information of the own vehicle are obtained from the functional algorithm module.

[0060] S202 : Select a reference path trajectory point from a plurality of path trajectory points in the path planning information according to the vehicle position information.

[0061] S203: Determine a longitudinal position error according to the reference path trajectory points and the path starting point in the path planning information.

[0062] S204: Determine a speed compensation value according to the longitudinal position error.

[0063] S205: Determine an acceleration compensation value according to the driving state information and the speed compensation value.

[0064] S206: Control the vehicle to accelerate according to the preset torque percentage and the preset speed parameter, and determine the vehicle acceleration time.

[0065] S207: Determine the vehicle load according to the vehicle acceleration time.

[0066] S208 : Determine a redundant brake pressure according to the vehicle load, the acceleration compensation value, and the cross-sectional area of ​​the brake master cylinder.

[0067] S209: Output the redundant braking pressure to the chassis controller of the own vehicle to implement redundant braking control of the own vehicle.

[0068] Example 3

[0069] Figure 3 A schematic diagram of the structure of a redundant braking control device for an intelligent driving vehicle provided in the third embodiment of the present invention. The redundant braking control device for an intelligent driving vehicle provided in the embodiment of the present invention is applicable to the case where redundant braking control is performed on an intelligent driving vehicle with closed-loop control of brake pressure. The redundant braking control device for an intelligent driving vehicle can be implemented in the form of hardware and / or software. The device is configured in the second motor control unit MCU in the intelligent driving system domain controller; the intelligent driving system domain controller also includes a first motor control unit MCU and a functional algorithm module; the first MCU and the second MCU are respectively communicated with the functional algorithm module; the first MCU and the second MCU are communicated, and include: an operation status monitoring module 301, an initial acceleration compensation value determination module 302, a redundant braking pressure determination module 303 and a redundant braking control module 304.

[0070] in,

[0071] The running status monitoring module 301 is used to obtain the vehicle position information, path planning information and driving status information of the own vehicle from the function algorithm module when detecting that the running status of the first MCU is abnormal;

[0072] an acceleration compensation value determining module 302, configured to determine an acceleration compensation value based on the vehicle position information, path planning information, and driving state information;

[0073] A redundant brake pressure determination module 303 is configured to determine a redundant brake pressure according to the acceleration compensation value;

[0074] The redundant brake control module 304 is configured to output the redundant brake pressure to a chassis controller of the own vehicle, so as to implement redundant brake control of the own vehicle.

[0075] The technical solution of the embodiment of the present invention obtains the vehicle position information, path planning information and driving status information of the own vehicle from the functional algorithm module when the operating status of the first MCU is monitored to be abnormal; determines the acceleration compensation value according to the vehicle position information, path planning information and driving status information; determines the redundant braking pressure according to the acceleration compensation value; and outputs the redundant braking pressure to the chassis controller of the own vehicle to realize redundant braking control of the own vehicle, thereby improving the safety and reliability of the redundant braking control of the intelligent driving vehicle and reducing the power consumption and overhead of the redundant braking control of the intelligent driving vehicle.

[0076] Optionally, the redundant brake pressure determination module 303 includes:

[0077] an acceleration time determination unit, configured to control the vehicle to accelerate according to a preset torque percentage and a preset speed parameter, and determine a vehicle acceleration time;

[0078] a vehicle load determination unit, configured to determine the vehicle load according to the vehicle acceleration time;

[0079] The redundant brake pressure determination unit is configured to determine the redundant brake pressure according to the vehicle load and the acceleration compensation value.

[0080] Optional, redundant brake pressure determination unit, specifically for:

[0081] Obtain the cross-sectional area of ​​the brake master cylinder of the own vehicle;

[0082] A redundant brake pressure is determined based on the vehicle load, the acceleration compensation value, and the master cylinder cross-sectional area.

[0083] Optionally, the acceleration compensation value determination module 302 includes:

[0084] a speed compensation value determining unit, configured to determine a speed compensation value based on the vehicle position information and the path planning information;

[0085] The acceleration compensation value determining unit is configured to determine an acceleration compensation value according to the driving state information and the speed compensation value.

[0086] Optionally, the speed compensation value determination unit is specifically used to:

[0087] selecting a reference path trajectory point from a plurality of path trajectory points in the path planning information according to the vehicle position information;

[0088] Determining a longitudinal position error based on the reference path trajectory points and a path starting point in the path planning information;

[0089] A speed compensation value is determined according to the longitudinal position error.

[0090] Optionally, the device further includes:

[0091] The prompt information generation module is used to generate a driver takeover prompt message if it detects that the operating status of its own second MCU is abnormal.

[0092] The intelligent driving vehicle redundant braking control device provided in an embodiment of the present invention can execute the intelligent driving vehicle redundant braking control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0093] Example 4

[0094] Figure 4 A schematic diagram of the structure of an electronic device 40 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0095] like Figure 4 As shown, the electronic device 40 includes at least one processor 41 and a memory, such as a read-only memory (ROM) 42, a random access memory (RAM) 43, etc., which is communicatively connected to the at least one processor 41. The memory stores a computer program that can be executed by the at least one processor, and the processor 41 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 42 or the computer program loaded from the storage unit 48 into the random access memory (RAM) 43. Various programs and data required for the operation of the electronic device 40 can also be stored in the RAM 43. The processor 41, ROM 42, and RAM 43 are connected to each other via a bus 44. An input / output (I / O) interface 45 is also connected to the bus 44.

[0096] Multiple components in the electronic device 40 are connected to the I / O interface 45, including an input unit 46, such as a keyboard, a mouse, etc.; an output unit 47, such as various types of displays, speakers, etc.; a storage unit 48, such as a magnetic disk, an optical disk, etc.; and a communication unit 49, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 49 allows the electronic device 40 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0097] Processor 41 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of processor 41 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processor, controller, microcontroller, etc. Processor 41 executes the various methods and processes described above, such as the intelligent driving vehicle redundant braking control method.

[0098] In some embodiments, the intelligent driving vehicle redundant braking control method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 48. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 40 via the ROM 42 and / or the communication unit 49. When the computer program is loaded into the RAM 43 and executed by the processor 41, one or more steps of the intelligent driving vehicle redundant braking control method described above can be performed. Alternatively, in other embodiments, the processor 41 can be configured to execute the intelligent driving vehicle redundant braking control method in any other appropriate manner (for example, by means of firmware).

[0099] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0100] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0101] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0102] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0103] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0104] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0105] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0106] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A redundant braking control method for an intelligent driving vehicle, characterized in that: A second motor control unit MCU is used in an intelligent driving system domain controller; the intelligent driving system domain controller also includes a first motor control unit MCU and a functional algorithm module; the first MCU and the second MCU are respectively communicated with the functional algorithm module; The first MCU and the second MCU are communicatively connected, and the method includes: When the operating state of the first MCU is detected to be abnormal, the vehicle position information, path planning information and driving state information of the own vehicle are obtained from the functional algorithm module; Determining an acceleration compensation value based on the vehicle position information, path planning information, and driving state information; determining a redundant brake pressure according to the acceleration compensation value; The redundant brake pressure is output to a chassis controller of the own vehicle to implement redundant brake control of the own vehicle.

2. The method according to claim 1, characterized in that The determining of the redundant braking pressure according to the acceleration compensation value includes: Controlling the vehicle to accelerate according to a preset torque percentage and a preset speed parameter, and determining a vehicle acceleration time; determining a vehicle load according to the vehicle acceleration time; A redundant brake pressure is determined based on the vehicle load and the acceleration compensation value.

3. The method according to claim 2, characterized in that The determining of the redundant brake pressure according to the vehicle load and the acceleration compensation value includes: Obtain the cross-sectional area of ​​the brake master cylinder of the own vehicle; A redundant brake pressure is determined based on the vehicle load, the acceleration compensation value, and the master cylinder cross-sectional area.

4. The method according to claim 1, wherein The determining of the acceleration compensation value according to the vehicle position information, the path planning information, and the driving state information includes: determining a speed compensation value according to the vehicle position information and the path planning information; An acceleration compensation value is determined according to the driving state information and the speed compensation value.

5. The method according to claim 4, characterized in that The determining of the speed compensation value according to the vehicle position information and the path planning information includes: selecting a reference path trajectory point from a plurality of path trajectory points in the path planning information according to the vehicle position information; Determining a longitudinal position error based on the reference path trajectory points and a path starting point in the path planning information; A speed compensation value is determined according to the longitudinal position error.

6. The method according to claim 1, characterized in that The method further comprises: If the operating status of its own second MCU is detected to be abnormal, a driver takeover prompt message will be generated.

7. A redundant braking control device for an intelligent driving vehicle, characterized in that: A second motor control unit MCU is configured in the intelligent driving system domain controller; the intelligent driving system domain controller also includes a first motor control unit MCU and a functional algorithm module; the first MCU and the second MCU are respectively in communication with the functional algorithm module; The first MCU and the second MCU are communicatively connected, and the device includes: An operation status monitoring module is used to obtain vehicle position information, path planning information and driving status information of the own vehicle from the function algorithm module when detecting that the operation status of the first MCU is abnormal; an acceleration compensation value determination module, configured to determine an acceleration compensation value based on the vehicle position information, path planning information, and driving state information; a redundant brake pressure determination module, configured to determine a redundant brake pressure according to the acceleration compensation value; The redundant brake control module is used to output the redundant brake pressure to the chassis controller of the own vehicle to achieve redundant brake control of the own vehicle.

8. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the intelligent driving vehicle redundant braking control method described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the intelligent driving vehicle redundant braking control method according to any one of claims 1 to 6 when executed.

10. A computer program product, characterized in that The computer program product includes a computer program, which, when executed by a processor, implements the intelligent driving vehicle redundant braking control method according to any one of claims 1 to 6.

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