Method and system for determining state of electro-mechanical brake system

Abstract

The invention relates to a state determination method and system for an electromechanical braking system, and the method comprises the steps: obtaining first state information corresponding to first fault information of a basic braking module through a domain controller, and obtaining second state information corresponding to second fault information of an anti-lock braking module; through a domain controller, under the condition that third state information corresponding to fault information from all wheel end controllers is obtained, the state information of a basic braking module, the state information of an anti-lock braking module, the state information of all the wheel end controllers and a first mapping relation table of the state information of the electronic mechanical braking system are obtained based on the state information of the basic braking module, the state information of the anti-lock braking module and the state information of all the wheel end controllers. Fourth state information of the electronic mechanical braking system integrally corresponding to the first state information, the second state information and the four pieces of third state information is obtained; the priority of the state information of the electronic mechanical braking system corresponding to different fault combinations in the first mapping relation table is set according to the fault degree.

Description

Technical Field

[0001] This invention relates to the field of automotive parts technology, specifically to a method and system for determining the state of an electromechanical braking system. Background Technology

[0002] Electro-Mechanical Braking (EMB) systems have two independent domain controllers and four independent wheel-end controllers, enabling independent control of each wheel. This architecture offers strong redundancy, but also results in high system complexity and stringent safety requirements. Even after partial failures, the vehicle's braking capability must be guaranteed to the greatest extent possible. To maximize the braking potential of the EMB system, all potential failures must be combined and categorized, and multi-point failure scenarios must be considered, implementing a multi-level degradation strategy. In contrast, traditional hydraulic braking systems typically have hydraulic or mechanical backups as a fallback mechanism. Their degradation strategies for basic braking and anti-lock braking functions are mostly based on single-point failure analysis, resulting in relatively simplistic strategies that lack detailed grading of the degraded system capabilities. Therefore, traditional single-point failure-based degradation methods are no longer sufficient to meet the development requirements of EMB systems. Summary of the Invention

[0003] One objective of this invention is to provide a method for determining the state of an electromechanical braking system, in order to solve the problem that traditional degradation methods based on single-point failures are no longer sufficient to meet the development requirements of EMB systems; a second objective is to provide an electromechanical braking system; a third objective is to provide an automobile; a fourth objective is to provide a computer-readable storage medium; and a fifth objective is to provide a computer program product.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows: This invention provides a method for determining the state of an electromechanical braking system. The electromechanical braking system includes: a domain controller, a basic braking module of the domain controller, an anti-lock braking module of the domain controller, and four wheel-end controllers. The method for determining the state of the electromechanical braking system includes: The domain controller obtains first status information corresponding to the first fault information of the basic braking module and second status information corresponding to the second fault information of the anti-lock braking module; the first status information indicates whether the domain controller has the ability to generate basic braking control commands, and the second status information indicates whether the domain controller has the ability to generate anti-lock braking control commands. By using the domain controller, upon obtaining the third state information corresponding to the fault information from each wheel-end controller, and based on the state information of the basic braking module, the anti-lock braking module, and each wheel-end controller, and a first mapping table with the state information of the electromechanical braking system, a fourth state information of the electromechanical braking system corresponding to the first state information, the second state information, and the four third state information as a whole is obtained. The third state information characterizes whether the wheel end can perform braking force and / or provide wheel speed. The state information of the electromechanical braking system corresponding to different fault combinations in the first mapping table is prioritized according to the degree of fault.

[0005] Based on the aforementioned technical means, the domain controller acquires the first state information of the basic braking module, the second state information of the anti-lock braking module, and the third state information of each wheel-end controller. Then, based on the first mapping table, the fourth state information of the corresponding electromechanical braking system is determined. Therefore, if at least one of the first state information of the basic braking module, the second state information of the anti-lock braking module, and the third state information of each wheel-end controller degrades, the latest state information of the corresponding electromechanical braking system after the degrade can be determined based on the first mapping table. This maximizes the braking potential of the electromechanical braking system.

[0006] Furthermore, when the domain controller includes a first domain controller and a second domain controller, the step of obtaining the third state information corresponding to the fault information from each wheel-end controller through the domain controller, and based on the state information of the basic braking module, the state information of the anti-lock braking module, and the state information of each wheel-end controller, and a first mapping table with the state information of the electromechanical braking system, to obtain the fourth state information of the electromechanical braking system corresponding to the first state information, the second state information, and the four third state information as a whole, includes: through the first domain controller, under the condition of satisfying the degradation condition of the basic braking control command generation capability, based on the first state information of the basic braking module of the first domain controller, adjusting the basic braking control command... The generation capability of the command is downgraded to obtain fifth state information representing the downgraded capability state. Using the first domain controller, when the third state information corresponding to the fault information from each wheel-end controller is obtained, a sixth state information of the electromechanical braking system corresponding to the fifth state information, the second state information, and the four third state information is obtained based on the first mapping table. Using the second domain controller, when the downgrade condition for the generation capability of the basic braking control command is not met, and the third state information corresponding to the fault information from each wheel-end controller is obtained, a fourth state information of the electromechanical braking system corresponding to the first state information, the second state information, and the four third state information is obtained based on the first mapping table.

[0007] Furthermore, the electromechanical braking system also includes a brake pedal module; the brake pedal module is connected to the first domain controller via a hard-wired dual-channel connection, and also connected to the second domain controller via a hard-wired dual-channel connection; the degradation conditions of the basic braking capability include: the brake pedal signal from the brake pedal module cannot be obtained through either the first domain controller or the second domain controller based on either hard-wired channel; or, the brake pedal signal from the brake pedal module obtained through either the first domain controller or the second domain controller based on the hard-wired dual-channel connection is inconsistent.

[0008] Furthermore, the state determination method of the electromechanical braking system further includes: when the communication between the first domain controller and the second domain controller is normal, if the fourth state information from the second domain controller is obtained through the first domain controller, and the priority level of the sixth state information is higher than the priority level of the fourth state information, then the first control information of each wheel end is generated based on the sixth state information and the third state information of each wheel end.

[0009] Furthermore, the state determination method of the electromechanical braking system further includes: in the event of a communication anomaly between the first domain controller and the second domain controller, generating first control information for each wheel end based on the sixth state information and the third state information of each wheel end through the first domain controller; sending the corresponding first control information and the priority level of the sixth state information to each wheel end controller through the first domain controller; generating second control information for each wheel end based on the fourth state information and the third state information of each wheel end through the second domain controller; sending the corresponding second control information and the priority level of the fourth state information to each wheel end controller through the second domain controller; and responding to the first control information sent by the first domain controller if the priority level of the sixth state information is higher than the priority level of the fourth state information through each wheel end controller.

[0010] Furthermore, when the domain controller includes a first domain controller and a second domain controller, the step of obtaining the third state information corresponding to the fault information from each wheel-end controller through the domain controller, and based on the state information of the basic braking module, the state information of the anti-lock braking module, and the state information of each wheel-end controller, and a first mapping table with the state information of the electromechanical braking system, to obtain the fourth state information of the electromechanical braking system corresponding to the first state information, the second state information, and the four third state information as a whole, includes: through the first domain controller, under the condition of satisfying the degradation condition of the anti-lock braking control command generation capability, based on the second state information of the anti-lock braking module of the first domain controller, adjusting the anti-lock braking control command... The generation capability of the command is downgraded to obtain the seventh state information representing the downgraded capability state. Using the first domain controller, when the third state information corresponding to the fault information from each wheel-end controller is obtained, the eighth state information of the electromechanical braking system, corresponding to the first state information, the seventh state information, and the four third state information, is obtained based on the first mapping table. Using the second domain controller, when the downgrade condition for the generation capability of the anti-lock braking control command is not met, and the third state information corresponding to the fault information from each wheel-end controller is obtained, the fourth state information of the electromechanical braking system, corresponding to the first state information, the second state information, and the four third state information, is obtained based on the first mapping table.

[0011] Furthermore, the method for determining the state of the electromechanical braking system further includes: obtaining response control information fed back by each wheel-end controller through the first domain controller or the second domain controller; the degradation conditions for the generation capability of the anti-lock braking control command include: determining, based on the response control information fed back by each wheel-end controller, that the four wheel-end controllers are not controlled by the same domain controller through the first domain controller or the second domain controller; or, the reference vehicle speed cannot be obtained through the reference vehicle speed determination module of the first domain controller or the reference vehicle speed determination module of the second domain controller.

[0012] Furthermore, when the domain controller includes a first domain controller and a second domain controller, the step of obtaining the third state information corresponding to the fault information from each wheel-end controller through the domain controller, and based on the state information of the basic braking module, the anti-lock braking module, and each wheel-end controller, and a first mapping table with the state information of the electromechanical braking system, to obtain the fourth state information of the electromechanical braking system corresponding to the first state information, the second state information, and the four third state information as a whole, includes: through the first domain controller, when the first wheel-end controller meets the degradation conditions for wheel-end execution capability, based on the third state information of the first wheel-end controller, degrading the execution capability of the first wheel-end controller, and obtaining the table. The ninth state information of the capability status after degradation; the first wheel-end controller is at least one of the four wheel-end controllers, and the second wheel-end controller is the remaining wheel-end controller; through the first domain controller, based on the first mapping relationship table, the tenth state information of the electromechanical braking system corresponding to the first state information, the seventh state information, the ninth state information of the first wheel-end controller, and the third state information of the second wheel-end controller are obtained as a whole; through the second domain controller, when the third state information corresponding to the fault information from each wheel-end controller is obtained, and none of them meet the degradation conditions of wheel-end execution capability, based on the first mapping relationship table, the fourth state information of the electromechanical braking system corresponding to the first state information, the second state information, and the four third state information are obtained as a whole.

[0013] Furthermore, the degradation conditions for the wheel-end actuation capability include at least one of the following: determining, through the first domain controller or the second domain controller, based on first feedback information from each wheel-end controller, that the corresponding wheel speed sensor is faulty; determining, through the first domain controller or the second domain controller, based on second feedback information from each wheel-end controller, that the reference vehicle speed received by the first wheel-end controller is invalid; determining, through the first domain controller or the second domain controller, based on third feedback information from each wheel-end controller, that the brake motor of the electromechanical braking system is faulty. Further, the step of obtaining the first state information corresponding to the first fault information of the basic braking module and the second state information corresponding to the second fault information of the anti-lock braking module through the domain controller includes: obtaining the first fault information of the basic braking module and the second fault information of the anti-lock braking module through the domain controller; obtaining the first state information corresponding to the first fault information based on the second mapping relationship table of the fault information and state information of the basic braking module through the domain controller; and obtaining the second state information corresponding to the second fault information based on the third mapping relationship table of the fault information and state information of the anti-lock braking module through the domain controller.

[0014] This invention provides an electromechanical braking system, which includes: a domain controller, a basic braking module of the domain controller, an anti-lock braking module of the domain controller, and four wheel-end controllers; The domain controller is used to acquire first status information corresponding to the first fault information of the basic braking module, and to acquire second status information corresponding to the second fault information of the anti-lock braking module; the first status information indicates whether the domain controller has the ability to generate basic braking control commands, and the second status information indicates whether the domain controller has the ability to generate anti-lock braking control commands. The domain controller is further configured to, upon acquiring third state information corresponding to fault information from each wheel-end controller, obtain fourth state information of the electromechanical braking system corresponding to the first state information, the second state information, and the four third state information as a whole, based on the state information of the basic braking module, the state information of the anti-lock braking module, and the state information of each wheel-end controller, and a first mapping relationship table with the state information of the electromechanical braking system; the third state information characterizes whether the wheel end can perform braking force and / or provide wheel speed, and the state information of the electromechanical braking system corresponding to different fault combinations in the first mapping relationship table is prioritized according to the degree of fault.

[0015] This invention provides a vehicle, the vehicle including: a processor and a memory configured to store a computer program capable of running on a vehicle controller, wherein the processor is configured to execute the steps of the aforementioned method when running the computer program.

[0016] This invention provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the aforementioned method.

[0017] This invention provides a computer program product, including a computer program or instructions, which, when executed by a processor, implement the steps of the aforementioned method.

[0018] The beneficial effects of this invention are: (1) This invention obtains the first state information of the basic braking module, the second state information of the anti-lock braking module, and the third state information of each wheel-end controller through a domain controller, and then determines the fourth state information of the corresponding electromechanical braking system based on the first mapping table. Based on this, if at least one of the first state information of the basic braking module, the second state information of the anti-lock braking module, and the third state information of each wheel-end controller is degraded, the latest state information of the corresponding electromechanical braking system after the degrade can be determined based on the first mapping table; thereby maximizing the braking potential of the electromechanical braking system. (2) The present invention refines the basic braking function and anti-lock braking function of EMB into different sub-node states. Each sub-node monitors the fault status of its own system and performs sub-node degradation configuration. Then, multiple sub-nodes are merged into the system state of the EMB basic braking and anti-lock braking stability control system, avoiding the arrangement and combination of a large number of fault codes. While realizing multi-level and graded degradation control, it also reduces the complexity of software implementation. Attached Figure Description

[0019] Figure 1 A flowchart illustrating a method for determining the state of an electromechanical braking system provided in an embodiment of the present invention. Figure 1 ; Figure 2 A flowchart illustrating a method for determining the state of an electromechanical braking system provided in an embodiment of the present invention. Figure 2 ; Figure 3 A flowchart illustrating a method for determining the state of an electromechanical braking system provided in an embodiment of the present invention. Figure 3 ; Figure 4 This is a schematic diagram of the electromechanical braking system architecture in an embodiment of the present invention; Figure 5This is a schematic diagram showing the relationship between the electromechanical braking system and the six sub-nodes in an embodiment of the present invention; Figure 6 This is a schematic diagram of the vehicle assembly provided in an embodiment of the present invention. Detailed Implementation

[0020] To gain a more detailed understanding of the features and technical content of the embodiments of the present invention, the implementation of the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The accompanying drawings are for reference and illustration only and are not intended to limit the embodiments of the present invention.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of the invention.

[0022] In the following description, references to "some embodiments," "this embodiment," "this embodiment," and examples, etc., describe a subset of all possible embodiments. However, it is understood that "some embodiments" may be the same subset or different subset of all possible embodiments and may be combined with each other without conflict.

[0023] If the application documents contain similar descriptions such as "first / second", the following explanation shall be added: In the following description, the terms "first / second / third" are used only to distinguish similar objects and do not represent a specific order of objects. It is understood that "first / second / third" may be interchanged in a specific order or sequence where permitted, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein.

[0024] In this embodiment, the term "and / or" is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, object A and / or object B can represent three situations: object A exists alone, object A and object B exist simultaneously, and object B exists alone.

[0025] This invention provides an electro-mechanical braking system (EMB), which includes: a domain controller, a basic braking module of the domain controller, an anti-lock braking module of the domain controller, and four wheel-end controllers, wherein the domain controller is connected to the four wheel-end controllers via a CAN channel.

[0026] Based on this, a method for determining the state of an electromechanical braking system is proposed. Figure 1 A flowchart illustrating the state determination method for an electromechanical braking system provided in this embodiment of the invention. Figure 1 ,like Figure 1As shown, the method for determining the state of the electromechanical braking system includes the following steps: S101: Obtain the first state information corresponding to the first fault information of the basic braking module and the second state information corresponding to the second fault information of the anti-lock braking module through the domain controller; the first state information indicates whether the domain controller has the ability to generate basic braking control commands, and the second state information indicates whether the domain controller has the ability to generate anti-lock braking control commands.

[0027] In this embodiment of the invention, the first state information indicates whether the domain controller has the capability to generate basic braking control commands. In other words, it determines whether the basic braking function of the domain controller has failed. The second state information indicates whether the first domain controller has the capability to generate anti-lock braking control commands. In other words, it determines whether the anti-lock braking function of the first domain controller has failed.

[0028] In some embodiments of the present invention, S101 may include: obtaining first fault information of the basic braking module and obtaining second fault information of the anti-lock braking module through the domain controller; The domain controller obtains the first state information corresponding to the first fault information based on the second mapping table of fault information and state information of the basic braking module. The domain controller obtains the second status information corresponding to the second fault information based on the third mapping table of fault information and status information of the anti-lock braking module.

[0029] In this embodiment of the invention, the second mapping relationship table can be as shown in Table 1 below: Table 1 is a second mapping table between fault information and status information of the basic braking module.

[0030] Based on this, if the first fault information of the basic braking module obtained by the domain controller is a single-path pedal travel fault or a dual-path verification failure, then based on the second mapping table, its corresponding status information is determined to be "off," indicating that the basic braking has failed. If the first fault information of the basic braking module obtained by the domain controller is a fault that does not affect the calculation of the braking request, then based on the second mapping table, its corresponding status information is determined to be "on," indicating that the basic braking is effective.

[0031] In this embodiment of the invention, the third mapping relationship table can be as shown in Table 2 below: Table 2 shows the third mapping relationship between fault information and status information of the anti-lock braking module.

[0032] Based on this, if the domain controller obtains the second fault information of the anti-lock braking module indicating multiple faults that prevent the calculation of the reference vehicle speed, then based on the third mapping table, its corresponding status information is determined to be "off," indicating a failure in stability capability. If the domain controller obtains the second fault information of the anti-lock braking module indicating no related faults causing the failure of the reference vehicle speed, then based on the third mapping table, its corresponding status information is determined to be "on," indicating a valid stability capability.

[0033] S102: Through the domain controller, after obtaining the third state information corresponding to the fault information from each wheel end controller, based on the state information of the basic braking module, the state information of the anti-lock braking module, and the state information of each wheel end controller, and the first mapping relationship table with the state information of the electromechanical braking system, the fourth state information of the electromechanical braking system corresponding to the first state information, the second state information, and the four third state information as a whole is obtained; the third state information characterizes whether the wheel end can perform braking force and / or provide wheel speed, and the state information of the electromechanical braking system corresponding to different fault combinations in the first mapping relationship table is prioritized according to the degree of fault.

[0034] In some embodiments of the present invention, the method for determining the state of an electromechanical braking system further includes: When each wheel-end controller receives a status information acquisition request from the domain controller, it acquires the fault information of each wheel end through each wheel-end controller; Based on the fourth mapping table between wheel end fault information and status information, each wheel end controller determines the third status information corresponding to the fault information of each wheel end and sends it to the domain controller.

[0035] In this embodiment of the invention, the fourth mapping relationship table can be as shown in Table 3 below: Table 3 shows the fourth mapping relationship between wheel end fault information and status information.

[0036] Based on this, if the third fault information for the left front wheel is a fault that does not affect the wheel end's braking force or slip ratio closed-loop control, then based on the fourth mapping table, the third state information for the left front wheel is determined to be On, indicating full functionality. If the third fault information for the right front wheel is a fault that does not affect the wheel end's braking force or slip ratio closed-loop control, then based on the fourth mapping table, the third state information for the right front wheel is determined to be On, indicating full functionality. If the third fault information for the left rear wheel is an EMB brake motor-related fault, resulting in the inability to perform braking force, then based on the fourth mapping table, the third state information for the left rear wheel is determined to be OnlySpd, indicating that only wheel speed can be provided. If the third fault information for the right rear wheel is a simultaneous fault of the wheel speed sensor and brake motor, then based on the fourth mapping table, the third state information for the right rear wheel is determined to be Off, indicating a failure of the wheel end system.

[0037] In some embodiments of the present invention, the domain controller is connected to each wheel-end controller via a first CAN path and a second CAN path, respectively; the state determination method of the electromechanical braking system further includes: The domain controller monitors the path status of the first CAN path and the path status of the second CAN path. Based on the path status of the first CAN path and the path status of the second CAN path, the domain controller determines that the first CAN path and / or the second CAN path are not faulty, and then obtains the third status information corresponding to the fault information of each wheel end controller.

[0038] In this embodiment of the invention, the first mapping relationship table contains a large amount of information, which is difficult to display in a table. Therefore, its contents are described in words as follows: When the third state information of the four wheel ends is 4*ON, the second state information of the anti-lock braking module is ON, and the first state information of the basic braking module is ON, the fourth state information of the electromechanical braking system is ABS_ON, which corresponds to the four wheels having braking capability and the four wheels having anti-lock capability. When the third state information at the four wheel ends is 4*ON, the second state information of the anti-lock braking module is OFF, and the first state information of the basic braking module is ON, the fourth state information of the electromechanical braking system is BBF_ON_wo_S, which corresponds to the four wheels having braking capability and the four wheels not having anti-lock braking capability. When the third state information of the four wheel ends is 3*ON + 1*OnlyFxOn, and the second state information of the anti-lock braking module is ON, and the first state information of the basic braking module is ON, the fourth state information of the electromechanical braking system is ABS_Reduce, which corresponds to the four wheels having braking capability and the three wheels having anti-lock capability. When the third state information of the four wheel ends is 3*ON + 1*OnlyFxOn, the second state information of the anti-lock braking module is OFF, and the first state information of the basic braking module is ON, the fourth state information of the electromechanical braking system is BBF_ON_wo_S, which corresponds to the four wheels having braking capability and the four wheels not having anti-lock braking capability. When the third state information at the four wheel ends is 2*ON + 2*OnlyFxOn, or 1*ON + 3*OnlyFxOn, or 4*OnlyFxOn, and the second state information of the anti-lock braking module is OFF or ON, and the first state information of the basic braking module is ON, the fourth state information of the electromechanical braking system is BBF_ON_wo_S, which corresponds to the four wheels having braking capability and the four wheels not having anti-lock braking capability. When the third state information at the four wheel ends is 3*ON + 1*OnlySpd or 3*ON + 1*OFF, and the second state information of the anti-lock braking module is ON, and the first state information of the basic braking module is ON, the fourth state information of the electromechanical braking system is BBF_3_w_S, which corresponds to three wheels having braking capability and three wheels having anti-lock capability. When the third state information of the four wheel ends is 3*ON + 1*OnlySpd or 3*ON + 1*OFF, and the second state information of the anti-lock braking module is OFF, and the first state information of the basic braking module is ON, the fourth state information of the electromechanical braking system is BBF_3_wo_S, which corresponds to three wheels having braking capability and four wheels not having anti-lock capability. The third state information at each of the four wheel ends is either 2*ON (opposite axis) + 1*OnlyFxOn + 1*OnlySpd, or 2*ON (opposite axis) + 1*OnlyFxOn + 1*OFF, or 2*ON (coaxial) + 1*OnlyFxOn + 1*OnlySpd, or 2*ON (coaxial) + 1*OnlyFxOn + 1*OFF, or 1*ON + 2*OnlyFxOn + 1*OnlySpd, or 1*ON + 2*OnlyFxOn + 1*OFF, or 0*ON + 3*OnlyFxOn + 1*OnlySpd, or 0*ON + 3*OnlyFxOn + When 1*OFF, and the second state information of the anti-lock braking module is OFF or ON, and the first state information of the basic braking module is ON, the fourth state information of the electromechanical braking system is BBF_3_wo_S, which corresponds to three wheels having braking capability and four wheels not having anti-lock capability. When the third state information at the four wheel ends is 2*ON (coaxial) + 2*OnlySpd + 0*OFF, or 2*ON (coaxial) + 1*OnlySpd + 1*OFF, and the second state information of the anti-lock braking module is ON, and the first state information of the basic braking module is ON, the fourth state information of the electromechanical braking system is BBF_2_w_S, which corresponds to two wheels having braking capability and two coaxial wheels having anti-lock capability; When the third state information of the four wheel ends is 2*ON (coaxial) + 2*OnlySpd + 0*OFF, or 2*ON (coaxial) + 1*OnlySpd + 1*OFF, and the second state information of the anti-lock braking module is OFF, and the first state information of the basic braking module is ON, the fourth state information of the electromechanical braking system is BBF_Limited, which corresponds to one or two wheels having braking capability and four wheels not having anti-lock capability; When the third state information of the four wheel ends is a combination of the other wheel ends except those listed, and the second state information of the anti-lock braking module is OFF or ON, and the first state information of the basic braking module is ON, the fourth state information of the electromechanical braking system is BBF_Limited, which corresponds to one or two wheels having braking capability and four wheels not having anti-lock capability. When the third state information at the four wheel ends is 4*OFF, the second state information of the anti-lock braking module is ON or OFF, and the first state information of the basic braking module is ON, the fourth state information of the electromechanical braking system is OFF, which corresponds to the four wheels not having braking ability and the four wheels not having anti-lock braking ability. When the third state information of the four wheel ends is any combination of wheel ends, and the second state information of the anti-lock braking module is ON or OFF, and the first state information of the basic braking module is OFF, the fourth state information of the electromechanical braking system is OFF, which corresponds to the four wheels not having braking ability and the four wheels not having anti-lock braking ability.

[0039] It should be noted that the priority of the fourth state information of the electromechanical braking system gradually decreases from top to bottom.

[0040] Based on this, if the third state information of the four wheel ends is 4*OFF, the second state information of the anti-lock braking module is ON, and the first state information of the basic braking module is ON, the fourth state information of the electromechanical braking system is determined to be OFF based on the contents of the first mapping table, which corresponds to the four wheels not having braking capability and the four wheels not having anti-lock braking capability.

[0041] In this embodiment of the invention, a domain controller acquires the first state information of the basic braking module, the second state information of the anti-lock braking module, and the third state information of each wheel-end controller. Then, based on a first mapping table, the fourth state information of the corresponding electromechanical braking system is determined. Therefore, if at least one of the first state information of the basic braking module, the second state information of the anti-lock braking module, and the third state information of each wheel-end controller degrades, the latest state information of the corresponding electromechanical braking system after the degrade can be determined based on the first mapping table; thereby maximizing the braking potential of the electromechanical braking system.

[0042] In some embodiments of the present invention, when the domain controller includes a first domain controller and a second domain controller, S102 may include the following steps: S201: Through the first domain controller, under the condition that the basic braking control command generation capability is degraded, based on the first state information of the basic braking module of the first domain controller, the basic braking control command generation capability is degraded to obtain the fifth state information characterizing the degraded capability state.

[0043] In this embodiment of the invention, the degradation condition for the generation capability of basic braking control commands is used to indicate that the generation capability of basic braking control commands needs to be downgraded.

[0044] Based on the second mapping table of the above example, i.e. Table 1, if the first state information of the basic braking module of the first domain controller is ON, then the ability to generate basic braking control commands is downgraded, and the first state information ON is updated to the fifth state information OFF.

[0045] S202: Through the first domain controller, after obtaining the third state information corresponding to the fault information from each wheel end controller, based on the first mapping relationship table, the sixth state information of the electromechanical braking system corresponding to the fifth state information, the second state information and the four third state information as a whole is obtained.

[0046] Based on the contents of the first mapping table in the above example, if the fifth state information of the basic braking module of the first domain controller is OFF, the second state information of the anti-lock braking module of the first domain controller is OFF, and the third state information of the four wheel ends is 4*ON, then the sixth state information of the electromechanical braking system is OFF.

[0047] S203: Through the second domain controller, if the degradation condition of the basic braking control command generation capability is not met, and the third state information corresponding to the fault information from each wheel end controller is obtained, the fourth state information of the electromechanical braking system corresponding to the first state information, the second state information and the four third state information are obtained based on the first mapping relationship table.

[0048] Based on the contents of the first mapping table in the above example, if the first state information of the basic braking module of the first domain controller is ON, the second state information of the anti-lock braking module of the first domain controller is OFF, and the third state information of the four wheel ends is 4*ON, then the fourth state information of the electromechanical braking system is BBF_ON_wo_S.

[0049] Based on the above example, it can be concluded that after downgrading the ability to generate basic braking control commands, the priority of the state information of the electromechanical braking system is downgraded.

[0050] In some embodiments of the present invention, the electromechanical braking system further includes: a brake pedal module; the brake pedal module is connected to the first domain controller via a hard-wired dual-channel connection, and is also connected to the second domain controller via a hard-wired dual-channel connection; Based on this, the degradation conditions for the generation capability of the basic braking control command include: Brake pedal signals from the brake pedal module cannot be obtained through either the first domain controller or the second domain controller based on either hardwired channel; Alternatively, the brake pedal signals of the brake pedal module obtained through the first domain controller or the second domain controller based on hard-wired dual channels may be inconsistent.

[0051] In this embodiment of the invention, if the first domain controller fails to acquire a brake pedal signal from the brake pedal module via any hard-wired channel, or if the brake pedal signals acquired via both hard-wired channels are inconsistent, it indicates that the first domain controller meets the degradation condition for generating basic brake control commands. Conversely, if the first domain controller can acquire a brake pedal signal from the brake pedal module via any hard-wired channel, and the brake pedal signals acquired via both hard-wired channels are consistent, it indicates that the first domain controller does not meet the degradation condition for generating basic brake control commands.

[0052] In this embodiment of the invention, if the second domain controller fails to acquire a brake pedal signal from the brake pedal module via any hard-wired channel, or if the brake pedal signals acquired via both hard-wired channels are inconsistent, it indicates that the first domain controller meets the degradation condition for generating basic brake control commands. Conversely, if the second domain controller can acquire a brake pedal signal from the brake pedal module via any hard-wired channel, and the brake pedal signals acquired via both hard-wired channels are consistent, it indicates that the second domain controller does not meet the degradation condition for generating basic brake control commands.

[0053] Furthermore, the method for determining the state of the electromechanical braking system also includes: If the communication between the first domain controller and the second domain controller is normal, and if the fourth status information from the second domain controller is obtained through the first domain controller, and the priority level of the sixth status information is higher than the priority level of the fourth status information, then the first control information for each wheel end is generated based on the sixth status information and the third status information of each wheel end.

[0054] In this embodiment of the invention, a communication line is set between the first domain controller and the second domain controller. When the communication between the first domain controller and the second domain controller is normal, the first domain controller can send the sixth state to the second domain controller, and the second domain controller can send the fourth state to the first domain controller.

[0055] Based on this, if the first domain controller determines, based on the first mapping table, that the priority level of the sixth state information of the electromechanical braking system is higher than the priority level of the fourth state information, then the first domain controller generates first control information for each wheel end based on the determined sixth state information and the third state information of each wheel end, and sends it to each wheel end controller for controlling each wheel.

[0056] Accordingly, based on the first mapping table, the second domain controller determines that the priority level of the fourth state information of the electromechanical braking system is lower than the priority level of the sixth state information. Therefore, the second domain controller does not need to perform wheel-end control operations, etc.

[0057] This is done to ensure that all four wheels are controlled by the same domain controller.

[0058] Furthermore, the method for determining the state of the electromechanical braking system also includes: In the event of a communication failure between the first domain controller and the second domain controller, the first domain controller generates first control information for each wheel end based on the sixth state information and the third state information for each wheel end. In this embodiment of the invention, when communication between the first domain controller and the second domain controller is abnormal, it is explained that the first domain controller cannot obtain the fourth state information from the second domain controller, and the second domain controller cannot obtain the sixth state information from the first domain controller.

[0059] The first domain controller sends the corresponding first control information and the priority level of the sixth state information to each wheel-end controller. The second domain controller generates second control information for each wheel end based on the fourth state information and the third state information for each wheel end. The second domain controller sends the corresponding second control information and the priority level of the fourth status information to each wheel-end controller. If the priority level of the sixth state information is higher than the priority level of the fourth state information, then each wheel-end controller responds to the first control information sent by the first domain controller.

[0060] Accordingly, if the priority level of the sixth state information is lower than the priority level of the fourth state information, then the second control information sent by the second domain controller will be responded to.

[0061] This is done to ensure that all four wheels are controlled by the same domain controller.

[0062] In some embodiments of the present invention, when the domain controller includes a first domain controller and a second domain controller, S102 may include the following steps: S301: Through the first domain controller, under the condition that the generation capability of anti-lock braking control commands is degraded, based on the second state information of the anti-lock braking module of the first domain controller, the generation capability of anti-lock braking control commands is degraded to obtain the seventh state information representing the degraded capability state.

[0063] In this embodiment of the invention, the degradation condition for the ability to generate anti-lock braking control commands is used to indicate that the ability to generate anti-lock braking control commands needs to be downgraded.

[0064] Based on the second mapping table of the above example, i.e. Table 1, if the second state information of the anti-lock braking module of the first domain controller is ON, then the ability to generate anti-lock braking control commands is downgraded, and the first state information ON is updated to the seventh state information OFF.

[0065] S302: Through the first domain controller, after obtaining the third state information corresponding to the fault information from each wheel end controller, the eighth state information of the electromechanical braking system corresponding to the first state information, the seventh state information and the four third state information are obtained based on the first mapping table.

[0066] Based on the contents of the first mapping table in the above example, if the first state information of the basic braking module of the first domain controller is ON, the seventh state information of the anti-lock braking module of the first domain controller is OFF, and the third state information of the four wheel ends is 4*ON, then the eighth state information of the electromechanical braking system is BBF_ON_wo_S.

[0067] S303: Through the second domain controller, if the degradation condition of the anti-lock braking control command generation capability is not met, and the third state information corresponding to the fault information from each wheel end controller is obtained, the fourth state information of the electromechanical braking system corresponding to the first state information, the second state information and the four third state information are obtained based on the first mapping relationship table.

[0068] Based on the contents of the first mapping table in the above example, if the first state information of the basic braking module of the first domain controller is ON, the second state information of the anti-lock braking module of the first domain controller is ON, and the third state information of the four wheel ends is 4*ON, then the fourth state information of the electromechanical braking system is ABS_ON.

[0069] Based on the above example, it can be concluded that after downgrading the ability to generate anti-lock braking control commands, the priority of the state information of the electromechanical braking system is downgraded.

[0070] In some embodiments of the present invention, the method for determining the state of the electromechanical braking system further includes: The response control information fed back by each wheel-end controller is obtained through the first domain controller or the second domain controller; The degradation conditions for the ability to generate anti-lock braking control commands include: Based on the response control information fed back by each wheel-end controller, the first domain controller or the second domain controller determines that the four wheel-end controllers are not controlled by the same domain controller. Alternatively, the reference vehicle speed cannot be obtained through the reference vehicle speed determination module of the first domain controller or the reference vehicle speed determination module of the second domain controller.

[0071] In this embodiment of the invention, if the first domain controller determines, based on the response control information fed back by each wheel-end controller, that the four wheel-end controllers are not controlled by the same first domain controller, or that the reference vehicle speed determination module of the first domain controller cannot obtain the reference vehicle speed, then the first domain controller meets the degradation condition for generating anti-lock braking control commands. Conversely, if the first domain controller determines, based on the response control information fed back by each wheel-end controller, that the four wheel-end controllers are controlled by the same first domain controller, or that the reference vehicle speed determination module of the first domain controller can obtain the reference vehicle speed, then the first domain controller does not meet the degradation condition for generating anti-lock braking control commands.

[0072] In this embodiment of the invention, if the second domain controller determines, based on the response control information fed back by each wheel-end controller, that the four wheel-end controllers are not controlled by the same second domain controller, or that the reference vehicle speed determination module of the second domain controller cannot obtain the reference vehicle speed, then the second domain controller meets the degradation condition for generating anti-lock braking control commands. Conversely, if the second domain controller determines, based on the response control information fed back by each wheel-end controller, that the four wheel-end controllers are controlled by the same second domain controller, or that the reference vehicle speed determination module of the second domain controller can obtain the reference vehicle speed, then the second domain controller does not meet the degradation condition for generating anti-lock braking control commands.

[0073] Furthermore, the method for determining the state of the electromechanical braking system also includes: If the communication between the first domain controller and the second domain controller is normal, and if the fourth status information from the second domain controller is obtained through the first domain controller, and the priority level of the eighth status information is higher than the priority level of the fourth status information, then the third control information of each wheel end is generated based on the eighth status information and the third status information of each wheel end.

[0074] In this embodiment of the invention, a communication line is set between the first domain controller and the second domain controller. When the communication between the first domain controller and the second domain controller is normal, the first domain controller can send the eighth state to the second domain controller, and the second domain controller can send the fourth state to the first domain controller.

[0075] Based on this, if the first domain controller determines, based on the first mapping table, that the priority level of the eighth state information of the electromechanical braking system is higher than the priority level of the fourth state information, then the first domain controller further generates first control information for each wheel end based on the determined eighth state information and the third state information of each wheel end, and sends it to each wheel end controller for controlling each wheel.

[0076] Accordingly, based on the first mapping table, the second domain controller determines that the priority level of the fourth state information of the electromechanical braking system is lower than the priority level of the eighth state information. Therefore, the second domain controller does not need to perform wheel-end control operations, etc.

[0077] This is done to ensure that all four wheels are controlled by the same domain controller.

[0078] Furthermore, the method for determining the state of the electromechanical braking system also includes: In the event of a communication failure between the first domain controller and the second domain controller, the first domain controller generates third control information for each wheel end based on the eighth state information and the third state information of each wheel end. In this embodiment of the invention, when communication between the first domain controller and the second domain controller is abnormal, it is explained that the first domain controller cannot obtain the fourth state information from the second domain controller, and the second domain controller cannot obtain the eighth state information from the first domain controller.

[0079] The first domain controller sends the corresponding third control information and the priority level of the eighth state information to each wheel-end controller. The second domain controller generates fourth control information for each wheel end based on the fourth state information and the third state information of each wheel end. The second domain controller sends the corresponding fourth control information and the priority level of the fourth status information to each wheel-end controller. If the priority level of the eighth state information is higher than the priority level of the fourth state information, then each wheel-end controller responds to the third control information sent by the first domain controller.

[0080] Accordingly, if the priority level of the eighth state information is lower than the priority level of the fourth state information, then the fourth control information sent by the second domain controller will be responded to.

[0081] This is done to ensure that all four wheels are controlled by the same domain controller.

[0082] In some embodiments of the present invention, when the domain controller includes a first domain controller and a second domain controller, when the domain controller obtains the third state information corresponding to the fault information from each wheel-end controller, based on the state information of the basic braking module, the state information of the anti-lock braking module, and the state information of each wheel-end controller, and a first mapping table with the state information of the electromechanical braking system, the fourth state information of the electromechanical braking system corresponding to the first state information, the second state information, and the four third state information as a whole is obtained, including: Through the first domain controller, when the first wheel-end controller meets the degradation conditions of the wheel-end execution capability, the execution capability of the first wheel-end controller is degraded based on the third state information of the first wheel-end controller to obtain the ninth state information representing the capability state after degradation; the first wheel-end controller is at least one of the four wheel-end controllers, and the second wheel-end controller is the remaining wheel-end controllers. In this embodiment of the invention, the degradation condition of wheel-end execution capability is used to indicate that the execution capability of the wheel end needs to be degraded.

[0083] Based on the second mapping relationship table of the above example, namely Table 1, if the third state information of the first wheel-end controller is ON, then based on the satisfied degradation conditions, the execution capability of the wheel end is downgraded accordingly, and the third state information ON can be updated to the ninth state information OnlyFxOn or OnlySpd or OFF.

[0084] Based on the first mapping table, the first domain controller obtains the tenth state information of the electromechanical braking system, which is the overall correspondence between the first state information, the seventh state information, the ninth state information of the first wheel end controller, and the third state information of the second wheel end controller. Based on the contents of the first mapping table in the above example, if the first state information of the basic braking module of the first domain controller is ON, the seventh state information of the anti-lock braking module of the first domain controller is OFF, and the ninth state information of the two first wheel end controllers is OnlySpd and the third state information of the two second wheel end controllers is ON, then the eighth state information of the electromechanical braking system is BBF_Limited.

[0085] When the second domain controller obtains the third state information corresponding to the fault information from each wheel-end controller, and none of them meet the degradation conditions for wheel-end execution capability, it obtains the fourth state information of the electromechanical braking system corresponding to the first state information, the second state information, and the four third state information as a whole based on the first mapping table.

[0086] Based on the contents of the first mapping table in the above example, if the first state information of the basic braking module of the first domain controller is ON, the second state information of the anti-lock braking module of the first domain controller is ON, and the third state information of the four wheel ends is 4*ON, then the fourth state information of the electromechanical braking system is ABS_ON.

[0087] In some embodiments of the present invention, the degradation conditions of the wheel-end execution capability include at least one of the following: Based on the first feedback information from each wheel-end controller, the first domain controller or the second domain controller determines that the corresponding wheel speed sensor is faulty. Among them, wheel speed sensor malfunctions can include missing teeth or open circuits.

[0088] Based on the second feedback information from each wheel-end controller, the reference vehicle speed received by the first wheel-end controller is determined to be invalid by the first domain controller or the second domain controller. Based on third feedback information from each wheel-end controller, the first or second domain controller determines that the brake motor of the electromechanical braking system has malfunctioned.

[0089] For example, when the third state information of the first wheel-end controller is ON, if it is determined that the wheel speed sensor corresponding to the first wheel-end controller is faulty, or that the reference vehicle speed received by the first wheel-end controller is invalid, then the third state information ON is updated to the ninth state information OnlyFxOn. When the third state information of the first wheel-end controller is ON, if it is determined that the brake motor of the electromechanical braking system is faulty, then the third state information ON is updated to the ninth state information OnlySpd. When the third state information of the first wheel-end controller is ON, if it is determined that the wheel speed sensor corresponding to the first wheel-end controller is faulty, or that the reference vehicle speed received by the first wheel-end controller is invalid, and it is also determined that the brake motor of the electromechanical braking system is faulty, then the third state information ON is updated to the ninth state information OFF.

[0090] Furthermore, the method for determining the state of the electromechanical braking system also includes: If communication between the first domain controller and the second domain controller is normal, and if the fourth status information from the second domain controller is obtained through the first domain controller, and the priority level of the tenth status information is higher than the priority level of the fourth status information, then the fifth control information for each wheel end is generated based on the tenth status information, the ninth status information of the first wheel end controller, and the third status information of the second wheel end controller.

[0091] In this embodiment of the invention, a communication line is set between the first domain controller and the second domain controller. When the communication between the first domain controller and the second domain controller is normal, the first domain controller can send the tenth state to the second domain controller, and the second domain controller can send the fourth state to the first domain controller.

[0092] Based on this, if the first domain controller determines, based on the first mapping table, that the priority level of the tenth state information of the electromechanical braking system is higher than the priority level of the fourth state information, then the first domain controller further generates third control information for each wheel end based on the determined tenth state information, the ninth state information of the first wheel end controller, and the third state information of the second wheel end controller, and sends it to each wheel end controller for controlling each wheel.

[0093] Accordingly, based on the first mapping table, the second domain controller determines that the priority level of the fourth state information of the electromechanical braking system is lower than the priority level of the tenth state information. Therefore, the second domain controller does not need to perform wheel-end control operations, etc.

[0094] This is done to ensure that all four wheels are controlled by the same domain controller.

[0095] Furthermore, the method for determining the state of the electromechanical braking system also includes: In the event of a communication failure between the first domain controller and the second domain controller, the first domain controller generates fifth control information for each wheel end based on the tenth state information, the ninth state information of the first wheel end controller, and the third state information of the second wheel end controller. In this embodiment of the invention, when communication between the first domain controller and the second domain controller is abnormal, it is explained that the first domain controller cannot obtain the fourth state information from the second domain controller, and the second domain controller cannot obtain the eighth state information from the first domain controller.

[0096] The first domain controller sends the corresponding fifth control information and the priority level of the eighth status information to each wheel-end controller. The second domain controller generates sixth control information for each wheel end based on the fourth state information and the third state information of each wheel end. The second domain controller sends the corresponding sixth control information and the priority level of the fourth status information to each wheel-end controller. If the priority level of the tenth state information is higher than the priority level of the fourth state information, then each wheel-end controller responds to the fifth control information sent by the first domain controller.

[0097] Accordingly, if the priority level of the tenth state information is lower than the priority level of the fourth state information, then the sixth control information sent by the second domain controller will be responded to.

[0098] This is done to ensure that all four wheels are controlled by the same domain controller.

[0099] In some embodiments of the present invention, the method for determining the state of the electromechanical braking system further includes: In the event that the third state information corresponding to the fault information of each wheel-end controller cannot be obtained through the domain controller, the third state information of each wheel-end controller is set to state information that cannot perform braking force and cannot provide wheel speed.

[0100] In some embodiments of the present invention, the domain controller is connected to each wheel-end controller via a first CAN path and a second CAN path, respectively; the state determination method of the electromechanical braking system further includes: The domain controller monitors the path status of the first CAN path and the path status of the second CAN path. If the domain controller determines that the first CAN path and the second CAN path are faulty based on the path status of the first CAN path and the second CAN path, then the third status information corresponding to the fault information of each wheel end controller cannot be obtained.

[0101] Based on the above embodiments, this invention provides an electromechanical braking system architecture. Figure 4 This is a schematic diagram of the electromechanical braking system architecture in an embodiment of the present invention, such as... Figure 4 As shown, the electromechanical braking system 40 includes: a brake pedal module 41, a main domain controller 42 (i.e., the first domain controller), an auxiliary domain controller 43 (i.e., the second domain controller), a left front wheel end controller 44, a right front wheel end controller 45, a left rear wheel end controller 46, and a right rear wheel end controller 47. The brake pedal module 41 is connected to the main domain controller 42 via a hard-wired dual-channel connection, and is also connected to the auxiliary domain controller 43 via a hard-wired dual-channel connection. The main domain controller 42 is connected to the left front wheel controller 44, the right front wheel controller 45, the left rear wheel controller 46, and the right rear wheel controller 47 via the main CAN path, respectively. The auxiliary domain controller 43 is connected to the left front wheel controller 44, the right front wheel controller 45, the left rear wheel controller 46, and the right rear wheel controller 47 via the auxiliary CAN path, respectively. Furthermore, this embodiment of the invention provides a schematic diagram showing the relationship between an electromechanical braking system and six sub-nodes. Figure 5 This is a schematic diagram illustrating the relationship between the electromechanical braking system and the six sub-nodes in an embodiment of the present invention, as shown below. Figure 5 As shown, where: The primary domain controller obtains TargetState_EMB_Pri, which is the primary EMB target state, including the states of six child nodes: TargetState_BBF_Pri (the state information of the primary domain controller's basic braking module), TargetState_ABSC_Pri (the state information of the primary domain controller's anti-lock braking module), TargetState_FL, TargetState_FR, TargetState_RL, and TargetState_RR (the state information of the four wheel ends). The secondary domain controller obtains TargetState_EMB_Sec, which is the secondary EMB target state, including the states of six sub-nodes: TargetState_BBF_Sec (state information of the basic braking module of the secondary domain controller), TargetState_ABSC_Sec (state information of the anti-lock braking module of the secondary domain controller), TargetState_FL, TargetState_FR, TargetState_RL, and TargetState_RR (state information of the four wheel ends).

[0102] Based on this, a method for determining the state of an electromechanical braking system is proposed, including the following steps: 1. According to Figure 4 The system architecture shown divides the entire EMB basic braking and anti-lock braking system into functional parts and defines the states of subsystems, and then classifies and maps the potential faults of each subsystem. The system state definitions and fault type mapping relationships of the wheel terminal system, central basic braking, and central stability control are shown in Tables 4, 2, and 3.

[0103] 2. The master and auxiliary domain controllers receive the system status of the four wheel terminals from the two CAN channels respectively, and monitor the master-auxiliary CAN communication. If the redundant communication is lost, the wheel terminal node is considered to be completely failed; otherwise, the received system status is used directly.

[0104] 3. The main and auxiliary domain controllers each monitor the dual-path hard-wired brake pedal travel signals. When any one path fails or the deviation verification between the two paths fails, the corresponding BBF function node is downgraded.

[0105] 4. The wheel end needs to provide real-time feedback on whether the current response is a control request from the main or auxiliary domain controller. When the four wheel controllers are not controlled by the same domain controller, the corresponding domain controller needs to downgrade the system state of the central stability control, i.e., the ABSC state. At the same time, the EMB system state will be downgraded to the basic braking capability of the corresponding level. See the first mapping relationship table for details. 5. Based on the basic braking capability and ABS anti-lock braking stability control capability, the overall EMB system status is classified into levels, and the system status priority is defined as follows: a. ABS_On - ABS system is fully functional; b. ABS_Reduce - Three wheels can perform anti-lock braking control, and the other wheel can only perform braking force; c. BBF_On_Wo_S - No anti-lock braking function, all four wheels can perform braking; d. BBF_3_W_S - Three wheels can perform anti-lock braking control; e. BBF_3_Wo_S - Three wheels have braking capability, but the system has no anti-lock braking function; f. BBF_2_w_S - Two wheels can perform braking force and have anti-lock braking function; g. BBF_Limited - Only one or two wheels can perform braking, but the system has no anti-lock braking function; h. OFF - The system is completely faulty.

[0106] 6. Based on the system states of the four wheel terminals, the central basic braking state, and the central stability control system state, a system state characterizing the current EMB braking and anti-lock braking capabilities is generated by mapping, as shown in the first mapping relationship table, thereby realizing multi-level hierarchical degradation and control of the EMB system.

[0107] 7. The primary and secondary domain controllers exchange their respective EMB system statuses in real time via dual-channel CAN communication. Arbitration is then performed based on the priority of the EMB system status, with the controller having the highest priority winning wheel-end control and issuing an enable flag to control the wheel-end to execute braking force or slip ratio closed-loop control. This ensures that all four actuators are controlled by the same upper-level brain during ABS control. When primary-secondary redundant communication is lost, both primary and secondary domain controllers send their respective system status levels and wheel-end enable requests, which are then arbitrated and executed by the wheel-end based on the priority of the primary and secondary system statuses.

[0108] based on Figure 4 The electromechanical braking system shown in this embodiment of the invention provides a method for determining the state of the electromechanical braking system, comprising the following steps: The domain controller is used to acquire first status information corresponding to the first fault information of the basic braking module, and to acquire second status information corresponding to the second fault information of the anti-lock braking module; the first status information indicates whether the domain controller has the ability to generate basic braking control commands, and the second status information indicates whether the domain controller has the ability to generate anti-lock braking control commands. The domain controller is further configured to, upon acquiring third state information corresponding to fault information from each wheel-end controller, obtain fourth state information of the electromechanical braking system corresponding to the first state information, the second state information, and the four third state information as a whole, based on the state information of the basic braking module, the state information of the anti-lock braking module, and the state information of each wheel-end controller, and a first mapping relationship table with the state information of the electromechanical braking system; the third state information characterizes whether the wheel end can perform braking force and / or provide wheel speed, and the state information of the electromechanical braking system corresponding to different fault combinations in the first mapping relationship table is prioritized according to the degree of fault.

[0109] In this embodiment of the invention, a domain controller acquires the first state information of the basic braking module, the second state information of the anti-lock braking module, and the third state information of each wheel-end controller. Then, based on a first mapping table, the fourth state information of the corresponding electromechanical braking system is determined. Therefore, if at least one of the first state information of the basic braking module, the second state information of the anti-lock braking module, and the third state information of each wheel-end controller degrades, the latest state information of the corresponding electromechanical braking system after the degrade can be determined based on the first mapping table; thereby maximizing the braking potential of the electromechanical braking system.

[0110] In some embodiments of the present invention, when the domain controller includes a first domain controller and a second domain controller, the first domain controller, i.e., the main domain controller 42, is used to, when the degradation condition for the generation capability of the basic braking control command is met, perform degradation processing on the generation capability of the basic braking control command based on the first state information of the basic braking module of the first domain controller to obtain fifth state information characterizing the degraded capability state; the first domain controller, i.e., the main domain controller 42, is also used to, when the third state information corresponding to the fault information from each wheel end controller is obtained, obtain the sixth state information of the electromechanical braking system corresponding to the fifth state information, the second state information, and the four third state information as a whole based on the first mapping table; the second domain controller, i.e., the auxiliary main domain controller 43, is used to, when the degradation condition for the generation capability of the basic braking control command is not met, and the third state information corresponding to the fault information from each wheel end controller is obtained, obtain the fourth state information of the electromechanical braking system corresponding to the first state information, the second state information, and the four third state information as a whole based on the first mapping table.

[0111] In some embodiments of the present invention, the electromechanical braking system further includes: a brake pedal module 41; the brake pedal module is connected to the first domain controller via a hard-wired dual-channel connection, and is also connected to the second domain controller via a hard-wired dual-channel connection; the degradation conditions for the generation capability of the basic braking control command include: the brake pedal signal from the brake pedal module cannot be obtained through either the first domain controller or the second domain controller based on either hard-wired channel; or, the brake pedal signal from the brake pedal module obtained through either the first domain controller or the second domain controller based on the hard-wired dual-channel connection is inconsistent.

[0112] In some embodiments of the present invention, when the communication between the first domain controller and the second domain controller is normal, if the first domain controller, i.e. the master domain controller 42, obtains the fourth state information from the second domain controller, and the priority level of the sixth state information is higher than the priority level of the fourth state information, then the first control information of each wheel end is generated based on the sixth state information and the third state information of each wheel end.

[0113] In some embodiments of the present invention, in the event of a communication anomaly between the first domain controller and the second domain controller, the first domain controller, i.e., the primary domain controller 42, is further configured to generate first control information for each wheel end based on the sixth state information and the third state information of each wheel end; the first domain controller, i.e., the primary domain controller 42, is further configured to send the corresponding first control information and the priority level of the sixth state information to each wheel end controller; the second domain controller, i.e., the secondary primary domain controller 43, is further configured to generate second control information for each wheel end based on the fourth state information and the third state information of each wheel end; the second domain controller, i.e., the secondary primary domain controller 43, is further configured to send the corresponding second control information and the priority level of the fourth state information to each wheel end controller; each wheel end controller is configured to respond to the first control information sent by the first domain controller if the priority level of the sixth state information is higher than the priority level of the fourth state information.

[0114] In some embodiments of the present invention, when the domain controller includes a first domain controller and a second domain controller, the first domain controller, i.e., the main domain controller 42, is further configured to, when the degradation condition for the generation capability of the anti-lock braking control command is met, perform degradation processing on the generation capability of the anti-lock braking control command based on the second state information of the anti-lock braking module of the first domain controller to obtain seventh state information characterizing the degraded capability state; the first domain controller, i.e., the main domain controller 42, is further configured to, when the third state information corresponding to the fault information from each wheel end controller is obtained, obtain the eighth state information of the electromechanical braking system corresponding to the first state information, the seventh state information, and the four third state information as a whole based on the first mapping table; the second domain controller, i.e., the auxiliary main domain controller 43, is further configured to, when the degradation condition for the generation capability of the anti-lock braking control command is not met, and the third state information corresponding to the fault information from each wheel end controller is obtained, obtain the fourth state information of the electromechanical braking system corresponding to the first state information, the second state information, and the four third state information as a whole based on the first mapping table.

[0115] In some embodiments of the present invention, the first domain controller or the second domain controller is further configured to acquire response control information fed back by each wheel-end controller; the degradation conditions for the generation capability of the anti-lock braking control command include: determining, based on the response control information fed back by each wheel-end controller, that the four wheel-end controllers are not controlled by the same domain controller; or, the reference vehicle speed cannot be acquired by the reference vehicle speed determination module of the first domain controller or the reference vehicle speed determination module of the second domain controller.

[0116] In some embodiments of the present invention, when the domain controller includes a first domain controller and a second domain controller, the first domain controller, i.e., the master domain controller 42, is further configured to, when the first wheel-end controller meets the degradation condition of wheel-end execution capability, perform degradation processing on the execution capability of the first wheel-end controller based on the third state information of the first wheel-end controller to obtain ninth state information characterizing the capability state after degradation; the first wheel-end controller is at least one of four wheel-end controllers, and the second wheel-end controller is the remaining wheel-end controllers; the first domain controller, i.e., the master domain controller 42, is further configured to, based on the first mapping relationship table, obtain the tenth state information of the electromechanical braking system corresponding to the first state information, the seventh state information, the ninth state information of the first wheel-end controller, and the third state information of the second wheel-end controller as a whole; the second domain controller, i.e., the auxiliary master domain controller 43, is further configured to, when the third state information corresponding to the fault information from each wheel-end controller is obtained, and none of them meet the degradation condition of wheel-end execution capability, obtain the fourth state information of the electromechanical braking system corresponding to the first state information, the second state information, and the four third state information as a whole based on the first mapping relationship table.

[0117] In some embodiments of the present invention, the degradation conditions of the wheel-end actuation capability include at least one of the following: determining, through the first domain controller or the second domain controller, based on first feedback information from each wheel-end controller, that the corresponding wheel speed sensor is faulty; determining, through the first domain controller or the second domain controller, based on second feedback information from each wheel-end controller, that the reference vehicle speed received by the first wheel-end controller is invalid; determining, through the first domain controller or the second domain controller, based on third feedback information from each wheel-end controller, that the brake motor of the electromechanical braking system is faulty.

[0118] In some embodiments of the present invention, the domain controller is further configured to acquire first fault information of the basic braking module and second fault information of the anti-lock braking module; the domain controller is further configured to obtain first state information corresponding to the first fault information based on a second mapping table of fault information and state information of the basic braking module; the domain controller is further configured to obtain second state information corresponding to the second fault information based on a third mapping table of fault information and state information of the anti-lock braking module.

[0119] This invention also provides another vehicle. Figure 6 This is a schematic diagram of the structure of the vehicle provided in an embodiment of the present invention, such as... Figure 6As shown, the vehicle 60 includes: a processor 601 and a memory 602 configured to store computer programs capable of running on the processor; The processor 601 is configured to execute the method steps in the foregoing embodiments when running a computer program.

[0120] Of course, in practical applications, such as Figure 6 As shown, the various components in the vehicle 60 are coupled together via a bus system 603. It is understood that the bus system 603 is used to enable communication between these components. In addition to a data bus, the bus system 603 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in... Figure 6 The general designated all buses as Bus System 603.

[0121] In practical applications, the aforementioned processor can be at least one of the following: Application-Specific Integrated Circuit (ASIC), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field-Programmable Gate Array (FPGA), controller, microcontroller, and microprocessor. It is understood that, for different devices, the electronic devices used to implement the functions of the aforementioned processor can also be other types, and this embodiment of the invention does not impose specific limitations.

[0122] The aforementioned memory can be volatile memory, such as random access memory (RAM). Access memory); or non-volatile memory, such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid-state drive (SSD); or a combination of the above types of memory, and providing instructions and data to the processor.

[0123] In an exemplary embodiment, the present invention also provides a computer-readable storage medium for storing a computer program.

[0124] Optionally, the computer-readable storage medium can be applied to any of the methods in the embodiments of the present invention, and the computer program causes the computer to execute the corresponding processes implemented by the processor in the various methods of the embodiments of the present invention. For the sake of brevity, these will not be described in detail here.

[0125] In the several embodiments provided by this invention, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0126] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0127] Furthermore, in the various embodiments of the present invention, all functional units can be integrated into one processing module, or each unit can be a separate unit, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional units. Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0128] The methods disclosed in the several method embodiments provided by this invention can be arbitrarily combined without conflict to obtain new method embodiments.

[0129] The features disclosed in the several product embodiments provided by this invention can be arbitrarily combined without conflict to obtain new product embodiments.

[0130] The features disclosed in the several method or device embodiments provided by the present invention can be arbitrarily combined without conflict to obtain new method or device embodiments.

[0131] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for determining the state of an electromechanical braking system, characterized in that, The electromechanical braking system includes: a domain controller, a basic braking module of the domain controller, an anti-lock braking module of the domain controller, and four wheel-end controllers; the state determination method of the electromechanical braking system includes: The domain controller obtains first status information corresponding to the first fault information of the basic braking module and second status information corresponding to the second fault information of the anti-lock braking module; the first status information indicates whether the domain controller has the ability to generate basic braking control commands, and the second status information indicates whether the domain controller has the ability to generate anti-lock braking control commands. By using the domain controller, upon obtaining the third state information corresponding to the fault information from each wheel-end controller, and based on the state information of the basic braking module, the anti-lock braking module, and each wheel-end controller, and a first mapping table with the state information of the electromechanical braking system, a fourth state information of the electromechanical braking system corresponding to the first state information, the second state information, and the four third state information as a whole is obtained. The third state information characterizes whether the wheel end can perform braking force and / or provide wheel speed. The state information of the electromechanical braking system corresponding to different fault combinations in the first mapping table is prioritized according to the degree of fault.

2. The method for determining the state of an electromechanical braking system according to claim 1, characterized in that, When the domain controller includes a first domain controller and a second domain controller, and the third state information corresponding to the fault information from each wheel-end controller is obtained through the domain controller, based on the state information of the basic braking module, the state information of the anti-lock braking module, and the state information of each wheel-end controller, and a first mapping table with the state information of the electromechanical braking system, a fourth state information of the electromechanical braking system corresponding to the first state information, the second state information, and the four third state information as a whole is obtained, including: Through the first domain controller, under the condition that the basic braking control command generation capability is degraded, based on the first state information of the basic braking module of the first domain controller, the basic braking control command generation capability is degraded to obtain the fifth state information characterizing the degraded capability state. By using the first domain controller, after obtaining the third state information corresponding to the fault information from each wheel end controller, the sixth state information of the electromechanical braking system corresponding to the fifth state information, the second state information, and the four third state information as a whole is obtained based on the first mapping table. In the case where the degradation condition for generating the basic braking control command is not met, and the third state information corresponding to the fault information from each wheel-end controller is obtained, the fourth state information of the electromechanical braking system corresponding to the first state information, the second state information, and the four third state information are obtained based on the first mapping table.

3. The method for determining the state of an electromechanical braking system according to claim 2, characterized in that, The electromechanical braking system further includes: a brake pedal module; the brake pedal module is connected to the first domain controller via a hardwired dual-channel connection, and also connected to the second domain controller via a hardwired dual-channel connection; the degradation conditions for the generation capability of the basic braking control commands include: Brake pedal signals from the brake pedal module cannot be obtained through either the first domain controller or the second domain controller based on either hardwired channel; Alternatively, the brake pedal signals of the brake pedal module obtained through the first domain controller or the second domain controller based on hard-wired dual channels may be inconsistent.

4. The method for determining the state of an electromechanical braking system according to claim 2, characterized in that, The method for determining the state of the electromechanical braking system also includes: If the communication between the first domain controller and the second domain controller is normal, and if the fourth status information from the second domain controller is obtained through the first domain controller, and the priority level of the sixth status information is higher than the priority level of the fourth status information, then the first control information for each wheel end is generated based on the sixth status information and the third status information of each wheel end.

5. The method for determining the state of an electromechanical braking system according to claim 2, characterized in that, The method for determining the state of the electromechanical braking system also includes: In the event of a communication failure between the first domain controller and the second domain controller, the first domain controller generates first control information for each wheel end based on the sixth state information and the third state information for each wheel end. The first domain controller sends the corresponding first control information and the priority level of the sixth state information to each wheel-end controller. The second domain controller generates second control information for each wheel end based on the fourth state information and the third state information for each wheel end. The second domain controller sends the corresponding second control information and the priority level of the fourth status information to each wheel-end controller. If the priority level of the sixth state information is higher than the priority level of the fourth state information, then each wheel-end controller responds to the first control information sent by the first domain controller.

6. The method for determining the state of an electromechanical braking system according to claim 1, characterized in that, When the domain controller includes a first domain controller and a second domain controller, and the third state information corresponding to the fault information from each wheel-end controller is obtained through the domain controller, based on the state information of the basic braking module, the state information of the anti-lock braking module, and the state information of each wheel-end controller, and a first mapping table with the state information of the electromechanical braking system, a fourth state information of the electromechanical braking system corresponding to the first state information, the second state information, and the four third state information as a whole is obtained, including: Through the first domain controller, under the condition that the generation capability of the anti-lock braking control command is degraded, based on the second state information of the anti-lock braking module of the first domain controller, the generation capability of the anti-lock braking control command is degraded to obtain the seventh state information characterizing the degraded capability state. By using the first domain controller, after obtaining the third state information corresponding to the fault information from each wheel end controller, the eighth state information of the electromechanical braking system corresponding to the first state information, the seventh state information, and the four third state information as a whole is obtained based on the first mapping table. In the case where the degradation condition for generating the anti-lock braking control command is not met, and the third state information corresponding to the fault information from each wheel-end controller is obtained, the fourth state information of the electromechanical braking system corresponding to the first state information, the second state information, and the four third state information are obtained based on the first mapping table.

7. The method for determining the state of an electromechanical braking system according to claim 6, characterized in that, The method for determining the state of the electromechanical braking system also includes: The response control information fed back by each wheel-end controller is obtained through the first domain controller or the second domain controller; The degradation conditions for the ability to generate anti-lock braking control commands include: Based on the response control information fed back by each wheel-end controller, the first domain controller or the second domain controller determines that the four wheel-end controllers are not controlled by the same domain controller. Alternatively, the reference vehicle speed cannot be obtained through the reference vehicle speed determination module of the first domain controller or the reference vehicle speed determination module of the second domain controller.

8. The method for determining the state of an electromechanical braking system according to claim 1, characterized in that, When the domain controller includes a first domain controller and a second domain controller, and the third state information corresponding to the fault information from each wheel-end controller is obtained through the domain controller, based on the state information of the basic braking module, the state information of the anti-lock braking module, and the state information of each wheel-end controller, and a first mapping table with the state information of the electromechanical braking system, a fourth state information of the electromechanical braking system corresponding to the first state information, the second state information, and the four third state information as a whole is obtained, including: Through the first domain controller, when the first wheel-end controller meets the degradation conditions of the wheel-end execution capability, the execution capability of the first wheel-end controller is degraded based on the third state information of the first wheel-end controller to obtain the ninth state information representing the capability state after degradation; the first wheel-end controller is at least one of the four wheel-end controllers, and the second wheel-end controller is the remaining wheel-end controllers. Based on the first mapping table, the first domain controller obtains the tenth state information of the electromechanical braking system, which is the overall correspondence between the first state information, the seventh state information, the ninth state information of the first wheel end controller, and the third state information of the second wheel end controller. When the second domain controller obtains the third state information corresponding to the fault information from each wheel-end controller, and none of them meet the degradation conditions for wheel-end execution capability, it obtains the fourth state information of the electromechanical braking system corresponding to the first state information, the second state information, and the four third state information as a whole based on the first mapping table.

9. The method for determining the state of an electromechanical braking system according to claim 8, characterized in that, The degradation conditions for the wheel-end execution capability include at least one of the following: Based on the first feedback information from each wheel-end controller, the first domain controller or the second domain controller determines that the corresponding wheel speed sensor is faulty. Based on the second feedback information from each wheel-end controller, the reference vehicle speed received by the first wheel-end controller is determined to be invalid by the first domain controller or the second domain controller. Based on third feedback information from each wheel-end controller, the first or second domain controller determines that the brake motor of the electromechanical braking system has malfunctioned.

10. The method for determining the state of an electromechanical braking system according to any one of claims 1 to 9, characterized in that, The step of obtaining first state information corresponding to the first fault information of the basic braking module and second state information corresponding to the second fault information of the anti-lock braking module through the domain controller includes: The domain controller obtains the first fault information of the basic braking module and the second fault information of the anti-lock braking module. The domain controller obtains the first state information corresponding to the first fault information based on the second mapping table of fault information and state information of the basic braking module. The domain controller obtains the second status information corresponding to the second fault information based on the third mapping table of fault information and status information of the anti-lock braking module.

11. An electromechanical braking system, characterized in that, The electromechanical braking system includes: a domain controller, a basic braking module of the domain controller, an anti-lock braking module of the domain controller, and four wheel-end controllers; The domain controller is used to acquire first status information corresponding to the first fault information of the basic braking module, and to acquire second status information corresponding to the second fault information of the anti-lock braking module; the first status information indicates whether the domain controller has the ability to generate basic braking control commands, and the second status information indicates whether the domain controller has the ability to generate anti-lock braking control commands. The domain controller is further configured to, upon acquiring third state information corresponding to fault information from each wheel-end controller, obtain fourth state information of the electromechanical braking system corresponding to the first state information, the second state information, and the four third state information as a whole, based on the state information of the basic braking module, the state information of the anti-lock braking module, and the state information of each wheel-end controller, and a first mapping relationship table with the state information of the electromechanical braking system; the third state information characterizes whether the wheel end can perform braking force and / or provide wheel speed, and the state information of the electromechanical braking system corresponding to different fault combinations in the first mapping relationship table is prioritized according to the degree of fault.

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