Multi-redundancy braking method, device, equipment and vehicle

Abstract

The invention relates to the technical field of vehicle control, and discloses a multi-redundancy braking method, device and equipment and a vehicle, the fault state of a braking system of a target vehicle is obtained, and the target vehicle at least comprises a vehicle body stabilizing system, a hydraulic braking system and a parking braking system; under the condition that the vehicle body stabilizing system works normally, the vehicle body stabilizing system is controlled to conduct vehicle braking; under the condition that the vehicle body stabilizing system breaks down, the hydraulic braking system is controlled to conduct vehicle braking; and under the condition that the vehicle body stabilizing system and the hydraulic braking system both break down, the parking braking system is controlled to brake the vehicle. The multi-stage redundant braking system has the beneficial effects that the parking braking system serves as a braking control system, a multi-stage redundant braking scheme comprising the vehicle body stabilizing system, the hydraulic braking system and the parking braking system is designed, and the driving safety of the target vehicle can be ensured through the parking braking system under the condition that other braking systems fail.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a multi-redundant braking method, device, equipment, and vehicle. Background Technology

[0002] For vehicles equipped with intelligent driving functions, there are typically two braking units: a main braking unit and an auxiliary braking unit. These units acquire the vehicle's braking intentions, generate corresponding braking commands, and control the Electronic Parking Brake (EPB) system to apply the brakes. However, in real-world scenarios, the EPB system, as the executor of the braking commands, often cannot independently control the calipers to apply the brakes if both the main and auxiliary braking units fail. This results in the inability to guarantee the driver's braking request in emergency situations, compromising vehicle safety during driving. Summary of the Invention

[0003] This application provides a multi-redundant braking method, device, equipment, and vehicle that uses the parking brake system as a braking control system and designs a multi-level redundant braking scheme that includes a vehicle stability system, a hydraulic braking system, and a parking brake system. In the event of failure of other braking systems, the parking brake system can ensure the driving safety of the target vehicle.

[0004] To achieve the above objectives, the main technical solutions adopted in this application include: In a first aspect, embodiments of this application provide a multi-redundant braking method, the method comprising: Obtain the braking system fault status of the target vehicle; wherein the target vehicle includes at least a vehicle stability system, a hydraulic braking system, and a parking brake system; When the braking system malfunction indicates that the vehicle stability system is working normally, control the vehicle stability system to brake the vehicle. When the braking system failure status indicates that the vehicle stability system has malfunctioned, the hydraulic braking system is controlled to brake the vehicle. When the braking system failure status indicates that both the vehicle stability system and the hydraulic braking system have failed, the parking brake system is controlled to brake the vehicle.

[0005] The multi-redundant braking method proposed in this application includes a vehicle stability system, a hydraulic braking system, and a parking brake system in the target vehicle. Each system can function as a braking control system to perform braking control according to the braking intention. When the vehicle stability system is working normally, it controls and executes vehicle braking commands. When the vehicle stability system malfunctions, the hydraulic braking system controls and executes vehicle braking commands. When the hydraulic braking system malfunctions, the parking brake system controls and executes vehicle braking commands. Compared with related technologies, this application designs a multi-level redundant braking scheme for the target vehicle that includes multiple braking systems. Based on the fault states of each braking system, it controls the corresponding braking system to perform vehicle braking step by step. Therefore, when any braking system fails, the next-level braking system can take over the braking task. Furthermore, even if other braking systems fail, the parking brake system can still take over the braking task, actively generating and executing braking commands, ensuring the driving safety of the target vehicle.

[0006] Optionally, the parking brake system includes two brake calipers; the method further includes: When the braking system malfunction indicates that both the vehicle stability system and the hydraulic braking system are working normally, the parking brake system is controlled in coordination by the vehicle stability system and the hydraulic braking system to brake the vehicle.

[0007] Optionally, the step of coordinating the vehicle stability system and the hydraulic braking system to control the parking brake system for vehicle braking includes: The parking brake system receives a first braking signal from the vehicle stability system and a second braking signal from the hydraulic braking system. The first braking signal and the second braking signal are compared. If the first braking signal and the second braking signal indicate the same braking operation, the two brake calipers are controlled to perform the braking operation together.

[0008] Optionally, the step of coordinating the vehicle stability system and the hydraulic braking system to control the parking brake system for vehicle braking includes: When the parking brake system receives a braking signal from either the vehicle stability system or the hydraulic braking system, a communication verification is performed between the vehicle stability system and the hydraulic braking system to obtain a system verification result. The braking system that sends the braking signal to the parking brake system is considered a normal system, and the braking system that does not send the braking signal to the parking brake system is considered a failed system. If the system verification result indicates that the failed system is in a communication failure, the two brake calipers are controlled according to the braking signal sent by the normal system to brake the vehicle.

[0009] Optionally, when the braking system failure state indicates a malfunction in the vehicle stability system, controlling the hydraulic braking system to brake the vehicle includes: When the braking system failure state indicates that the vehicle stability system has failed, and the hydraulic braking system has experienced a motor failure while the backup hydraulic system is working normally, the parking brake system and the backup hydraulic system of the hydraulic braking system are controlled to brake the vehicle. When the braking system failure status indicates that the vehicle stability system has failed, or that the hydraulic braking system has experienced a motor failure and backup hydraulic failure, the parking brake system is controlled to brake the vehicle based on the communication signal of the hydraulic braking system.

[0010] Optionally, when the braking system failure state indicates that both the vehicle stability system and the hydraulic braking system have failed, controlling the parking brake system to brake the vehicle includes: Obtain the driving status of the target vehicle; When the driving state indicates that the target vehicle is in an unstable state, the parking brake system is adjusted to stabilize the braking force based on the driving behavior error of the target vehicle, so that the target vehicle can drive stably.

[0011] Optionally, the driving state includes the expected yaw rate of the target vehicle, the actual yaw rate, the desired driving direction, and the lateral acceleration; the driving behavior error includes a first behavior error and a second behavior error; the step of adjusting the braking force of the parking brake system based on the driving behavior error of the target vehicle includes: When the first behavioral error indicates that the target vehicle has a steering error, braking force is applied to the rear wheels of the target vehicle on the outside or inside of the curve; wherein, the first behavioral error is calculated based on the expected value of the yaw rate and the actual value of the yaw rate. When the second behavior error indicates that the longitudinal axis of the target vehicle deviates from the desired driving direction, braking force is simultaneously applied to the rear wheels of the target vehicle; wherein, the second behavior error is obtained by error analysis based on the desired driving direction and the lateral acceleration.

[0012] Secondly, embodiments of this application provide a multi-redundant braking device, the device comprising: A brake fault acquisition module is used to acquire the brake system fault status of a target vehicle; wherein the target vehicle includes at least a vehicle stability system, a hydraulic braking system, and a parking brake system; The first vehicle braking module is used to control the vehicle stability system to brake the vehicle when the braking system failure state indicates that the vehicle stability system is working normally. The second vehicle braking module is used to control the hydraulic braking system to brake the vehicle when the braking system failure state indicates that the vehicle stability system has failed. The third vehicle braking module is used to control the parking brake system to brake the vehicle when the braking system failure state indicates that both the vehicle stability system and the hydraulic braking system have failed.

[0013] Thirdly, embodiments of this application provide a computer device, including: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the method described in any of the above embodiments.

[0014] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer instructions, which are used to cause a computer to perform the method described in any one of the above embodiments.

[0015] Fifthly, embodiments of this application provide a computer program product, including computer instructions, which are used to cause a computer to perform the method described in any of the above embodiments. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 A step diagram of the multi-redundant braking method provided in the embodiments of this application; Figure 2a This is a schematic diagram of the system architecture of the THREE BOX solution in the embodiments of this application; Figure 2b This is a schematic diagram of the system architecture of the TWO BOX solution in the embodiments of this application; Figure 3aThis is a schematic diagram of the control strategy for the rear wheel brake caliper under the THREE BOX scheme in the embodiments of this application; Figure 3b This is a schematic diagram of the control strategy for the rear wheel brake caliper under the TWO BOX scheme in the embodiments of this application; Figure 4 This is a diagram illustrating the steps of coordinated braking by the vehicle stability system and the hydraulic braking system in an embodiment of this application. Figure 5 This is a diagram illustrating the processing steps when a failure occurs in the coordinated braking system, as described in this application embodiment. Figure 6 This is a diagram illustrating the steps involved in handling a malfunction in the hydraulic braking system as described in this application embodiment. Figure 7 A backup braking flowchart for the hydraulic braking system in this application embodiment when the hydraulic system is operating normally in case of motor failure. Figure 8 This is a diagram illustrating the steps of controlling the parking brake system to brake the vehicle in an embodiment of this application; Figure 9 This is a flowchart illustrating the process of controlling the parking brake system to brake the vehicle in an embodiment of this application; Figure 10 This is a flowchart illustrating the steps of braking force stabilization adjustment in an embodiment of this application; Figure 11 A block diagram of a multi-redundant braking device provided in the embodiments of this application; Figure 12 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0019] For vehicles equipped with intelligent driving functions, there are typically two braking units: a main braking unit and an auxiliary braking unit. The main and auxiliary braking systems respectively acquire the vehicle's braking intentions, generate corresponding braking commands, and control the Electronic Parking Brake (EPB) system to apply the brakes. However, in real-world scenarios, the EPB system, as the executor of the braking commands, often cannot independently control the calipers to apply the brakes if both the main and auxiliary braking units fail. This results in the inability to guarantee the driver's braking request in emergency situations, impacting vehicle safety during driving.

[0020] To address the aforementioned issues, this application provides a multi-redundant braking method, apparatus, device, and vehicle that acquires the braking system fault status of a target vehicle. The target vehicle includes at least a vehicle stability system, a hydraulic braking system, and a parking brake system. When the braking system fault status indicates that the vehicle stability system is operating normally, the vehicle stability system is controlled to brake. When the braking system fault status indicates that the vehicle stability system has malfunctioned, the hydraulic braking system is controlled to brake. When the braking system fault status indicates that both the vehicle stability system and the hydraulic braking system have malfunctioned, the parking brake system is controlled to brake.

[0021] The multi-redundant braking method provided in this application includes a vehicle stability system, a hydraulic braking system, and a parking brake system in the target vehicle. Each system can function as a braking control system to perform braking control according to the braking intention. When the vehicle stability system is working normally, the vehicle braking command is controlled and executed through the vehicle stability system. When the vehicle stability system malfunctions, the vehicle braking command is controlled and executed through the hydraulic braking system. When the hydraulic braking system malfunctions, the vehicle braking command is controlled and executed through the parking brake system.

[0022] Compared with related technologies, this application designs a multi-level redundant braking scheme for the target vehicle, incorporating multiple braking systems. Based on the fault states of each braking system, it controls the corresponding braking system level by level to perform vehicle braking. Therefore, in the event of a failure in any braking system, the next-level braking system can take over the braking task. Furthermore, even if other braking systems fail, the parking brake system can still take over the braking task, actively generating and executing braking commands, thus ensuring the driving safety of the target vehicle.

[0023] According to an embodiment of this application, a multi-redundancy braking method embodiment is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0024] Reference Figure 1 As shown, this embodiment provides a multi-redundant braking method, which includes: S100. Obtain the fault status of the braking system of the target vehicle; wherein the target vehicle includes at least a vehicle stability system, a hydraulic braking system, and a parking brake system.

[0025] S200. When the braking system malfunction indicates that the vehicle stability system is working normally, control the vehicle stability system to brake the vehicle.

[0026] S300. In the event that the vehicle stability system has malfunctioned, the hydraulic braking system is controlled to brake the vehicle.

[0027] S400. When the braking system fault status indicates that both the vehicle stability system and the hydraulic braking system have failed, control the parking brake system to brake the vehicle.

[0028] The target vehicle is equipped with a multi-stage braking system, including at least a vehicle stability system, a hydraulic braking system, and a parking brake system, forming a three-box braking architecture. The vehicle stability system can be an Electronic Stability Control (ESC) system, which assesses the stability of the target vehicle based on its body posture and driving state, and intervenes with braking when the target vehicle shows signs of instability to ensure smooth driving. The hydraulic braking system can be an Electro-Hydraulic Braking (EHB) system, which acquires the braking intent of the target vehicle, generates and executes braking commands matching the braking intent, enabling the target vehicle to maintain a controllable and stable driving state. The parking brake system can be an Electronic Parking Brake system, comprising a brake control unit and a brake execution unit. The brake control unit can acquire the driving state of the target vehicle and the braking intent, thereby generating matching braking commands. The braking actuator can be a unit structure that actually executes braking commands, and may include mechanical calipers or electronic brake calipers, etc. The braking actuator can receive braking commands from the vehicle stability system, the hydraulic braking system and its own braking control unit and execute braking.

[0029] Reference Figure 2a As shown, the target vehicle includes a vehicle stability system, a hydraulic braking system, and a parking brake system. The vehicle stability system and the hydraulic braking system obtain the driving status from the target vehicle through a communication connection. The driving status can be transmitted to the vehicle stability system and the hydraulic braking system in the form of CAN signals. The driving status includes at least wheel speed signals, MCU (Motor Control Unit) torque signals, EPS (Electric Power Steering) signals, and IMU (Inertial Measurement Unit) signals. The wheel speed signals can be obtained through wheel speed sensors located at the wheel ends, and the wheel speed sensors can be dual-chip wheel speed sensors. The hydraulic braking system can also integrate pedal position signals, which can be obtained through pedal position sensors and transmitted to the hydraulic braking system in a dual-path manner. The pedal position signals undergo signal parsing processing in the hydraulic braking system, and the parsed signals are transmitted to other braking systems via CAN lines or hard wires. The vehicle stability system, hydraulic braking system, and parking brake system are interconnected to exchange braking commands or driving status, or to perform fault detection through signal exchange to determine the fault status of any braking system.

[0030] Specifically, the target vehicle employs multiple braking systems to form a multi-level redundant braking scheme. Based on the fault status of each braking system, the corresponding system is controlled level by level to apply braking force to the vehicle. The vehicle stability control system has a higher control priority than the hydraulic braking system, which in turn has a higher control priority than the parking brake system. During the vehicle's operation, fault detection is performed on each braking system to obtain its fault status. Based on these fault statuses, the various braking systems are controlled level by level to effectively brake the target vehicle.

[0031] When a braking system malfunction indicates that the vehicle stability system is functioning normally, the vehicle stability system generates and executes braking commands to apply brakes to the vehicle. In this situation, the vehicle stability system can identify the driver's braking intention based on the pedal position signal output by the hydraulic braking system, and generate corresponding braking commands based on the braking intention and the target vehicle's driving state to apply hydraulic braking to the target vehicle. It is understood that the braking commands generated by the vehicle stability system can be executed by either the vehicle stability system's own braking execution unit or the parking brake system's braking execution unit, and these units can be located at all wheel ends of the target vehicle.

[0032] When a vehicle stability system malfunctions, the fault types can include actuator unit failure and control unit failure. Actuator unit failure can be a motor failure, leading to a decrease in the active boost capability of the vehicle stability system, severely affecting its braking ability. Control unit failure can be a communication failure, causing the vehicle stability system's braking control unit to be unable to communicate with the target vehicle's overall braking architecture. This can result in the inability to obtain braking intent and driving status, and may also prevent the transmission of braking commands, thus preventing the vehicle stability system from braking the target vehicle.

[0033] In cases where the vehicle stability system malfunctions, a braking system failure indicates a problem with the braking system. The hydraulic braking system then takes over the braking task. It identifies the driver's braking intention based on the pedal position signal and generates a corresponding braking command based on this intention and the vehicle's driving state to apply hydraulic braking to the target vehicle. It is understood that the braking command generated by the hydraulic braking system can be executed by either the hydraulic braking system's own braking actuator or the parking brake system's braking actuator, which can be located at each wheel end of the target vehicle. In some embodiments, the hydraulic braking system can also predict the wheel slippage of the target vehicle based on the driving state and generate dynamic commands based on this slippage to control the parking brake system's braking actuator for dynamic braking, thereby improving the vehicle's driving stability.

[0034] When a hydraulic braking system malfunctions, the fault types can include actuator unit failure, control unit failure, and backup unit failure. Actuator unit failure can be a motor failure, causing the hydraulic braking system to fail to build braking pressure and thus unable to execute braking commands, severely impacting the vehicle's driving safety. Control unit failure can be a communication failure, preventing the hydraulic braking system from not only receiving braking intent and driving status but also from sending braking commands, thus preventing the system from braking the vehicle. Backup unit failure can be the failure of the backup hydraulic braking unit, preventing the system from braking using the backup unit. If a backup unit failure occurs simultaneously with an actuator unit failure, the vehicle may completely lose its braking capability.

[0035] In cases where both the vehicle stability system and the hydraulic braking system have failed and braking is impossible, the parking brake system takes over the braking task. Responding to the driver's operation of the brake switch in the parking brake system, it generates a braking command matching the driver's braking intention and controls its own braking execution unit to apply the braking command. In some embodiments, the parking brake system can make braking decisions based on the target vehicle's driving status, actively generating a braking command even without driver operation of the brake switch, and applying the braking command to ensure the vehicle's driving safety.

[0036] In some embodiments, the target vehicle may also be equipped with only a hydraulic braking system and a parking brake system to form a two-box braking architecture, such as... Figure 2b As shown in the diagram. In this embodiment, the hydraulic braking system obtains the driving status from the target vehicle through a communication connection and may integrate a pedal position signal. After parsing, the pedal position signal is transmitted to the parking brake system via a CAN bus or hardwired connection. The hydraulic braking system and the parking brake system communicate with each other to exchange braking commands or driving status, or to perform fault detection through signal exchange. In these embodiments, the hydraulic braking system may be installed only on the front wheels of the target vehicle to brake the front wheels hydraulically; the rear wheels of the target vehicle may be equipped with a parking brake system to brake the rear wheels with calipers, thereby reducing the system complexity caused by the hydraulic lines in the hydraulic braking system and lowering the overall cost of the braking architecture.

[0037] Similarly, during the target vehicle's operation, fault detection is performed on multiple braking systems to obtain their fault states. Based on these fault states, the various braking systems are controlled sequentially to effectively brake the target vehicle. When the brake system fault state indicates that the hydraulic braking system is operating normally, the braking intention is identified through the hydraulic braking system, and a corresponding braking command is generated to brake the vehicle. When the brake system fault state indicates that the hydraulic braking system has malfunctioned, the braking intention is identified through the parking brake system, and a corresponding braking command is generated to brake the vehicle.

[0038] The multi-redundant braking method provided in this embodiment includes a vehicle stability system, a hydraulic braking system, and a parking brake system in the target vehicle. Each system can serve as a braking control system to perform braking control according to the braking intention. When the vehicle stability system is working normally, the vehicle braking command is controlled and executed through the vehicle stability system. When the vehicle stability system malfunctions, the vehicle braking command is controlled and executed through the hydraulic braking system. When the hydraulic braking system malfunctions, the vehicle braking command is controlled and executed through the parking brake system.

[0039] Compared with related technologies, this application designs a multi-level redundant braking scheme for the target vehicle, incorporating multiple braking systems. Based on the fault states of each braking system, it controls the corresponding braking system level by level to perform vehicle braking. Therefore, in the event of a failure in any braking system, the next-level braking system can take over the braking task. Furthermore, even if other braking systems fail, the parking brake system can still take over the braking task, actively generating and executing braking commands, thus ensuring the driving safety of the target vehicle.

[0040] As one embodiment of this application, the parking brake system includes two brake calipers; the method further includes: S500. When the braking system malfunction indicates that both the vehicle stability system and the hydraulic braking system are working normally, the vehicle stability system and the hydraulic braking system work together to control the parking brake system to brake the vehicle.

[0041] Reference Figure 3a As shown, in this embodiment, when the vehicle stability system and the hydraulic braking system are working normally simultaneously, the parking brake system can also be controlled to brake the vehicle based on the coordinated operation of the vehicle stability system and the hydraulic braking system. Taking the rear wheel brake calipers as an example, the parking brake system can include two brake calipers: a left rear wheel brake caliper that brakes the left rear wheel of the target vehicle, and a right rear wheel brake caliper that brakes the right rear wheel of the target vehicle. The parking brake system can control the left and right rear wheel brake calipers separately by issuing control commands. The control commands received by the left and right rear wheel brake calipers can be the same to ensure the smooth driving of the target vehicle; the control commands can also be different to utilize the braking force difference between the left and right rear wheels to achieve specific safety goals, such as anti-lock braking or anti-skid.

[0042] Furthermore, the vehicle stability system and the hydraulic braking system are communicatively connected to the parking brake system, exchanging signals with it. Upon receiving braking commands from both the vehicle stability system and the hydraulic braking system, the parking brake system generates control commands corresponding to the left and right rear brake calipers, respectively, to control both calipers for braking. The vehicle stability system and the hydraulic braking system are communicatively connected, allowing for signal exchange for fault detection to determine the condition of either braking system. Understandably, in the event of a malfunction in either the vehicle stability system or the hydraulic braking system, the parking brake system can take over the braking task of the target vehicle, applying its own generated braking commands.

[0043] In some embodiments, when the target vehicle employs a TWO BOX braking architecture, the parking brake system can also be controlled based on the hydraulic braking system for vehicle braking. The brake control unit of the hydraulic braking system can be a dual-chip control unit, such as... Figure 3b As shown, the hydraulic braking system is communicatively connected to the parking brake system and exchanges signals with it. After receiving braking commands from each chip in the hydraulic braking system, the parking brake system generates control commands corresponding to the left and right rear brake calipers respectively, to control the two calipers to brake. It can be understood that in the event of a failure in the hydraulic braking system, the parking brake system can take over the braking task of the target vehicle and brake the vehicle using its own generated braking commands.

[0044] Reference Figure 4 As shown, in one embodiment of this application, the parking brake system is controlled in coordination by the vehicle stability system and the hydraulic braking system to brake the vehicle, including: S510. Receives a first braking signal from the vehicle stability system and a second braking signal from the hydraulic braking system via the parking brake system.

[0045] S520. Compare the first braking signal and the second braking signal. If the first braking signal and the second braking signal indicate the same braking operation, control the two brake calipers to perform the braking operation together.

[0046] Specifically, when both the vehicle stability system and the hydraulic braking system are functioning normally, the vehicle stability system can identify the driver's braking intention based on the pedal position signal output by the hydraulic braking system, and generate a corresponding first braking signal based on the braking intention and the driving state of the target vehicle. Correspondingly, the hydraulic braking system can identify the driver's braking intention based on the pedal position signal, and generate a corresponding second braking signal based on the braking intention and the driving state of the target vehicle.

[0047] Furthermore, the vehicle stability system and the hydraulic braking system send the generated braking signals to the parking brake system via a communication connection. Upon receiving the first and second braking signals, the parking brake system compares them in its own braking control unit to determine if they indicate the same braking operation. If the first and second braking signals indicate the same braking operation, the system controls both brake calipers to perform the braking operation simultaneously, enabling the left and right rear wheels of the target vehicle to brake synchronously.

[0048] When the first and second braking signals indicate different braking operations, the vehicle stability system and the hydraulic braking system exchange signals to trigger self-checks for both systems. Based on the self-check results, the cause of the malfunction leading to the different braking operations indicated by the first and second braking signals is determined. Based on this cause, the actual braking operation that the brake calipers should perform is determined, and both brake calipers are controlled to perform this braking operation simultaneously, enabling the left and right rear wheels of the target vehicle to brake synchronously.

[0049] Understandably, by coordinating the vehicle stability control system and the hydraulic braking system to control the parking brake system, the synchronicity between the two brake calipers can be ensured, thereby improving the vehicle's driving stability. Furthermore, in the event of a malfunction in either braking system, the specific fault location can be determined by comparing the first and second braking signals. Based on the fault location and the fault condition, arbitration is then performed between the first and second braking signals to determine the optimal braking command, thus significantly improving the vehicle's driving safety.

[0050] Reference Figure 5 As shown, in one embodiment of this application, the parking brake system is controlled in coordination by the vehicle stability system and the hydraulic braking system to brake the vehicle, including: S530. When the parking brake system receives a braking signal from either the vehicle stability system or the hydraulic braking system, communication verification is performed between the vehicle stability system and the hydraulic braking system to obtain a system verification result; wherein, the braking system that sends a braking signal to the parking brake system is considered a normal system, and the braking system that does not send a braking signal to the parking brake system is considered a failed system.

[0051] S540. If the system verification result indicates that the system is in a communication failure, control the two brake calipers according to the braking signal sent by the normal system to brake the vehicle.

[0052] Specifically, a braking system that sends a braking signal to the parking brake system is considered a normal system, while a braking system that does not send a braking signal to the parking brake system is considered a failed system. When the parking brake system receives a braking signal from either the vehicle stability system or the hydraulic braking system, which is a normal system, the vehicle stability system and the hydraulic braking system are controlled to interact with each other to verify communication between them, determine whether their respective communication capabilities have failed, and obtain the system verification result.

[0053] If the system verification results indicate that the failed system is in a communication failure state, and the braking signal generated by the failed system is the same as the braking signal of the normal system, the vehicle stability system and the hydraulic braking system generate the same braking signal. However, due to the communication failure, the failed system cannot send the braking signal to the parking brake system. At this time, the two brake calipers are controlled according to the braking signal sent by the normal system to brake the vehicle.

[0054] When system verification results indicate that the failed system is in another fault condition, it may be unable to generate a correct braking signal, thus making it impossible to determine the correctness of the braking signal generated by the normal system by comparing the two braking signals. In this case, the braking signal generated by the normal system is ignored, and the corresponding braking signal is generated by the parking brake system's own braking control system to control the two brake calipers.

[0055] Reference Figure 6 As shown, in one embodiment of this application, when the braking system failure state indicates a malfunction in the vehicle stability system, controlling the hydraulic braking system to brake the vehicle includes: S310. When the braking system failure status indicates that the vehicle stability system has failed, the hydraulic braking system has experienced a motor failure, but the backup hydraulic system is working normally, control the parking brake system and the backup hydraulic system of the hydraulic braking system to brake the vehicle.

[0056] S320. In the event that the vehicle stability system has malfunctioned, the hydraulic braking system has experienced a motor failure, and the backup hydraulic system has failed, the parking brake system is controlled to brake the vehicle based on the communication signal of the hydraulic braking system.

[0057] Specifically, when a motor failure occurs in the hydraulic braking system, the system cannot establish braking pressure using the main hydraulic braking unit, thus failing to execute braking commands and severely impacting the vehicle's driving safety. However, if only the motor fails in the hydraulic braking system, while communication functions are normal and the backup hydraulic braking unit is operating normally, the backup unit can take over the braking task from the main unit. It generates corresponding braking commands based on the driver's braking intention and the vehicle's driving status to apply hydraulic braking to the target vehicle.

[0058] Reference Figure 7As shown, even if only the motor fails in the hydraulic braking system and the backup hydraulic braking unit is unable to operate, but the communication function is normal, the hydraulic braking system can still obtain the driving status of the target vehicle. The hydraulic braking system then sends the driving status to the parking brake system in the form of a communication signal, controls the parking brake system to generate a braking command based on the driving status, and brakes the vehicle according to the braking command to ensure the driving safety of the target vehicle.

[0059] Reference Figure 8 As shown, in one embodiment of this application, when the braking system failure state indicates that both the vehicle stability system and the hydraulic braking system have failed, controlling the parking brake system to brake the vehicle includes: S410. Obtain the driving status of the target vehicle.

[0060] S420. When the target vehicle is in an unstable state, the parking brake system is adjusted to stabilize the braking force based on the driving behavior error of the target vehicle, so that the target vehicle can drive stably.

[0061] Reference Figure 9 As shown, the driving state of the target vehicle can include the accelerator pedal signal, MCU torque signal, pedal position signal, EPS signal, and IMU signal, where the IMU signal includes the yaw rate of the target vehicle. After acquiring the driving state of the target vehicle, the parking brake system obtains the driver's braking intention based on the pedal position signal, and performs a dynamic driving state determination based on the accelerator pedal signal, MCU torque signal, and IMU signal before the brake pedal position changes. The dynamic driving state determination process can include: if the values ​​of the accelerator pedal signal and MCU torque signal are within a preset range, the target vehicle is determined to be in motion; for a target vehicle in motion, if the IMU signal value is within a first dynamic range, the target vehicle is determined to be in a constant speed driving state; if the IMU signal value is within a second dynamic range, the target vehicle is determined to be in a decelerating forward driving state or an accelerating reverse driving state; if the IMU signal value is within a third dynamic range, the target vehicle is determined to be in an accelerating forward driving state or a decelerating reverse driving state. The center of the first dynamic range can be zero; the maximum boundary value of the second dynamic range is less than the minimum boundary value of the first dynamic range, and all values ​​in the second dynamic range are negative; the minimum boundary value of the third dynamic range is greater than the maximum boundary value of the first dynamic range, and all values ​​in the third dynamic range are positive.

[0062] Furthermore, while the target vehicle is in motion, the expected behavior of the target vehicle is analyzed based on its driving state to obtain the expected driving behavior. The expected driving behavior is compared with the driving state; if an error exists between the expected driving behavior and the driving state, the target vehicle is determined to be in an unstable state. At this point, the error between the expected driving behavior and the driving state is calculated to obtain the driving behavior error of the target vehicle. Based on this error, the braking force of the parking brake system is adjusted to stabilize the braking force applied to the wheels by each braking actuator in the parking brake system, thereby preventing phenomena such as wheel lock-up or sideslip and ensuring the stable driving of the target vehicle.

[0063] Reference Figure 10 As shown, in one embodiment of this application, the driving state includes the expected value of the yaw rate of the target vehicle, the actual value of the yaw rate, the expected driving direction, and the lateral acceleration; the driving behavior error includes a first behavior error and a second behavior error; the parking brake system is adjusted for braking force stability based on the driving behavior error of the target vehicle, including: S422. When the first line error indicates that the target vehicle has a steering error, apply braking force to the rear wheels of the target vehicle on the outside or inside of the curve; wherein, the first line error is calculated based on the expected value of the yaw rate and the actual value of the yaw rate.

[0064] S424. When the second behavior error indicates that the longitudinal axis of the target vehicle deviates from the desired driving direction, braking force is simultaneously applied to the rear wheels of the target vehicle; wherein, the second behavior error is obtained by error analysis based on the desired driving direction and lateral acceleration.

[0065] The driving state includes the target vehicle's expected yaw rate, actual yaw rate, desired direction of travel, and lateral acceleration. The expected yaw rate can be calculated based on the target vehicle's driving state and represents the driver's steering intention during driving. For example, the expected yaw rate can be expressed as: in, This represents the expected value of the yaw rate. The speed of the target vehicle; The steering angle signal for the target vehicle; The wheelbase of the target vehicle; The understeering gradient of the target vehicle. The desired driving direction can be obtained from the steering wheel angle signal and vehicle speed of the target vehicle, while the actual yaw rate and lateral acceleration can be obtained from the IMU signal of the target vehicle.

[0066] Driving behavior errors can be obtained through error analysis based on the target vehicle's driving state. The first behavior error can be calculated based on the expected and actual yaw rates of the target vehicle. The second behavior error can be obtained through error analysis based on the target vehicle's desired driving direction and lateral acceleration. For example, the first behavior error can be expressed as: in, The first line represents the error. This is the actual value of the yaw rate.

[0067] Specifically, the first and second behavior errors of the target vehicle are obtained based on the driving status. The first behavior error is used to determine whether the target vehicle has a steering error. Steering errors include understeer and oversteer. Understeer occurs when the actual steering angle of the target vehicle is less than the driver's desired steering angle, and the first behavior error exceeds a preset error threshold. Oversteer occurs when the actual steering angle of the target vehicle is greater than the driver's desired steering angle, and the first behavior error exceeds a preset error threshold. For example, the criteria for determining understeer can be expressed as: The criteria for over-steering can be expressed as: .

[0068] Furthermore, in the event of understeer, the parking brake system can be controlled to apply braking force to the rear wheels on the inside of the curve, generating a yaw moment and mitigating the understeer. Conversely, in the event of oversteer, the parking brake system can be controlled to apply braking force to the rear wheels on the outside of the curve, generating a yaw moment and mitigating the oversteer. It is understood that the yaw moment generated during oversteer is in the opposite direction to the yaw moment generated during understeer.

[0069] Furthermore, based on the second behavioral error of the target vehicle, it is determined whether the target vehicle has deviated from its driving direction. Driving direction deviation can be expressed as the target vehicle's longitudinal axis deviating from the desired driving direction, resulting in a large body slip angle. In this case, the parking brake system can be controlled to simultaneously apply braking force to the rear wheels of the target vehicle to reduce its lateral speed, preventing complete wheel lock-up and loss of control, thus mitigating the driving direction deviation.

[0070] Accordingly, please refer to Figure 11 This application provides a multi-redundant braking device, which includes: The brake fault acquisition module 1110 is used to acquire the brake system fault status of the target vehicle; wherein the target vehicle includes at least a vehicle stability system, a hydraulic braking system and a parking brake system.

[0071] The first vehicle braking module 1120 is used to control the vehicle stability system to brake the vehicle when the vehicle stability system is operating normally in the case of a braking system failure state.

[0072] The second vehicle braking module 1130 is used to control the hydraulic braking system to brake the vehicle when the vehicle stability system malfunctions, indicating a braking system failure.

[0073] The third vehicle braking module 1140 is used to control the parking brake system to brake the vehicle when the vehicle stability system and the hydraulic braking system both fail.

[0074] In some alternative embodiments, the device further includes: The vehicle cooperative braking module is used to control the parking brake system in coordination with the vehicle stability system and the hydraulic braking system to brake the vehicle when the braking system failure status indicates that both the vehicle stability system and the hydraulic braking system are working normally.

[0075] In some alternative implementations, the vehicle cooperative braking module includes: The brake signal receiving unit is used to receive a first brake signal sent by the vehicle stability system and a second brake signal sent by the hydraulic brake system through the parking brake system.

[0076] The brake signal comparison unit is used to compare the first brake signal and the second brake signal. When the first brake signal and the second brake signal indicate the same braking operation, it controls the two brake calipers to perform the braking operation together.

[0077] In some alternative implementations, the vehicle cooperative braking module further includes: The system communication verification unit is used to perform communication verification between the vehicle stability system and the hydraulic braking system when the parking brake system receives a braking signal from either the vehicle stability system or the hydraulic braking system, and obtain the system verification result. The braking system that sends a braking signal to the parking brake system is considered a normal system, and the braking system that does not send a braking signal to the parking brake system is considered a failed system.

[0078] The caliper joint control unit is used to control the two brake calipers to perform vehicle braking based on the braking signal sent by the normal system when the system verification result indicates that the system is in a communication failure.

[0079] In some alternative implementations, the second vehicle braking module 1130 includes: The backup braking unit is used to control the parking brake system and the backup hydraulic system of the hydraulic brake system to brake the vehicle when the braking system failure indicates that the vehicle stability system has failed, the hydraulic braking system has experienced a motor failure, but the backup hydraulic system is working normally.

[0080] The communication braking unit is used to control the parking brake system to brake the vehicle based on the communication signal of the hydraulic braking system when the vehicle stability system fails, the hydraulic braking system experiences a motor failure, and the backup hydraulic system fails.

[0081] In some alternative implementations, the third vehicle braking module 1140 includes: The driving status acquisition unit is used to acquire the driving status of the target vehicle.

[0082] The brake stability adjustment unit is used to adjust the braking force of the parking brake system based on the driving behavior error of the target vehicle when the target vehicle is in an unstable state during driving, so as to make the target vehicle drive stably.

[0083] In some alternative implementations, the braking stability adjustment unit includes: The first vehicle stabilization subunit is used to apply braking force to the rear wheels of the target vehicle on the outside or inside of the curve when the first behavior error indicates that the target vehicle has a steering error; wherein, the first behavior error is calculated based on the expected value of the yaw rate and the actual value of the yaw rate.

[0084] The second vehicle stabilization subunit is used to simultaneously apply braking force to the rear wheels of the target vehicle when the target vehicle's longitudinal axis deviates from the desired driving direction, as indicated by the second behavior error. The second behavior error is obtained by error analysis based on the desired driving direction and lateral acceleration.

[0085] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0086] In this embodiment, the multi-redundant braking device is presented in the form of a functional unit. Here, a unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0087] Please see Figure 12 , Figure 12 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application, such as... Figure 12 As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 12 Take a processor 10 as an example.

[0088] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0089] The memory 20 stores instructions executable by at least one processor 10 to cause the at least one processor 10 to perform the method shown in the above embodiments.

[0090] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0091] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0092] The computer device also includes a communication interface 30 for communicating with other devices or communication networks.

[0093] This application also provides a computer-readable storage medium. The methods described in this application can be implemented in hardware or firmware, or implemented as recordable on a storage medium, or implemented as computer code downloaded over a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and subsequently stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the methods shown in the above embodiments are implemented.

[0094] This application provides a computer program product including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the method of any embodiment of this application.

[0095] Although embodiments of this application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of this application, and all such modifications and variations fall within the scope defined by the appended claims.

[0096] The systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, a computer can be, for example, a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email device, game console, tablet computer, wearable device, or any combination of these devices.

[0097] For ease of description, the above devices are described separately by function as various units. Of course, in implementing this application, the functions of each unit can be implemented in one or more software and / or hardware.

[0098] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0099] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0100] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0101] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0102] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0103] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0104] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

[0105] Although embodiments of this application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of this application, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A multiple-redundancy braking method, characterized by, The method includes: Obtain the braking system fault status of the target vehicle; wherein the target vehicle includes at least a vehicle stability system, a hydraulic braking system, and a parking brake system; When the braking system malfunction indicates that the vehicle stability system is working normally, control the vehicle stability system to brake the vehicle. When the braking system failure status indicates that the vehicle stability system has malfunctioned, the hydraulic braking system is controlled to brake the vehicle. When the braking system failure status indicates that both the vehicle stability system and the hydraulic braking system have failed, the parking brake system is controlled to brake the vehicle.

2. The method of claim 1, wherein, The parking brake system includes two brake calipers; the method further includes: When the braking system malfunction indicates that both the vehicle stability system and the hydraulic braking system are working normally, the parking brake system is controlled in coordination by the vehicle stability system and the hydraulic braking system to brake the vehicle.

3. The method of claim 2, wherein, The method of coordinating the vehicle stability system and the hydraulic braking system to control the parking brake system for vehicle braking includes: The parking brake system receives a first braking signal from the vehicle stability system and a second braking signal from the hydraulic braking system. The first braking signal and the second braking signal are compared. If the first braking signal and the second braking signal indicate the same braking operation, the two brake calipers are controlled to perform the braking operation together.

4. The method according to claim 2, characterized in that, The method of coordinating the vehicle stability system and the hydraulic braking system to control the parking brake system for vehicle braking includes: When the parking brake system receives a braking signal from either the vehicle stability system or the hydraulic braking system, a communication verification is performed between the vehicle stability system and the hydraulic braking system to obtain a system verification result. The braking system that sends the braking signal to the parking brake system is considered a normal system, and the braking system that does not send the braking signal to the parking brake system is considered a failed system. If the system verification result indicates that the failed system is in a communication failure, the two brake calipers are controlled according to the braking signal sent by the normal system to brake the vehicle.

5. The method according to claim 1, characterized in that, When the braking system malfunction indicates a failure in the vehicle stability system, controlling the hydraulic braking system to brake the vehicle includes: When the braking system failure state indicates that the vehicle stability system has failed, and the hydraulic braking system has experienced a motor failure while the backup hydraulic system is working normally, the parking brake system and the backup hydraulic system of the hydraulic braking system are controlled to brake the vehicle. When the braking system failure status indicates that the vehicle stability system has failed, or that the hydraulic braking system has experienced a motor failure and backup hydraulic failure, the parking brake system is controlled to brake the vehicle based on the communication signal of the hydraulic braking system.

6. The method according to claim 1, characterized in that, When the braking system failure state indicates that both the vehicle stability system and the hydraulic braking system have failed, controlling the parking brake system to brake the vehicle includes: Obtain the driving status of the target vehicle; When the driving state indicates that the target vehicle is in an unstable state, the parking brake system is adjusted to stabilize the braking force based on the driving behavior error of the target vehicle, so that the target vehicle can drive stably.

7. The method according to claim 6, characterized in that, The driving state includes the expected yaw rate of the target vehicle, the actual yaw rate, the expected driving direction, and the lateral acceleration. The driving behavior error includes a first behavior error and a second behavior error. The step of adjusting the braking force of the parking brake system based on the driving behavior error of the target vehicle includes: When the first behavioral error indicates that the target vehicle has a steering error, braking force is applied to the rear wheels of the target vehicle on the outside or inside of the curve; wherein, the first behavioral error is calculated based on the expected value of the yaw rate and the actual value of the yaw rate. When the second behavior error indicates that the longitudinal axis of the target vehicle deviates from the desired driving direction, braking force is simultaneously applied to the rear wheels of the target vehicle; wherein, the second behavior error is obtained by error analysis based on the desired driving direction and the lateral acceleration.

8. A multi-redundant braking device, characterized in that, The device includes: A brake fault acquisition module is used to acquire the brake system fault status of a target vehicle; wherein the target vehicle includes at least a vehicle stability system, a hydraulic braking system, and a parking brake system; The first vehicle braking module is used to control the vehicle stability system to brake the vehicle when the braking system failure state indicates that the vehicle stability system is working normally. The second vehicle braking module is used to control the hydraulic braking system to brake the vehicle when the braking system failure state indicates that the vehicle stability system has failed. The third vehicle braking module is used to control the parking brake system to brake the vehicle when the braking system failure state indicates that both the vehicle stability system and the hydraulic braking system have failed.

9. A computer device, characterized in that, include: A memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, the processor executing the computer instructions to perform the method of any one of claims 1 to 7.

10. A vehicle, characterized in that, The vehicle is braked using the method described in any one of claims 1 to 7.

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